TeijinSeiki Manuals 1488 PDF

Vigo Servo AR Series
Instruction Manual
- Applied models -
Servo actuator : AR15/30/60/135/H7/H17/H24/10H
Servo amplifier : ARN15-A/30-A/60-A/135-A
Software version (See page7-5 for details) : From 01.10
Before attempting to operate this product, you should thoroughly

read and fully understand all the contents of this manual.
Specifications are subject to change without notice.
Carefully note the precautions on pages 1-4,5,6,7

before turning on the power supply.
TMF00007E 01/Oct.'03
For your safety
• To prevent accidents, strictly follow the procedures and cautions noted in this manual.
Safety information for the prevention of danger is given in "1. ON SAFETY" in this manual.
From Chapter 2, safety information is given for any task or operation that is potentially dangerous and each
of these messages is prefaced with the appropriate signal word.
• A warning label marked (electrical shock) is affixed to the servo amplifier front panel.
Be careful to avoid injury from shock, as electrical circuits are incorporated in the area near this label. (See
pages 5-1,3)
•
This manual provides general guidelines, precautions and warnings for the safe operation of this machine.
If this machine is used in ways other than those described in this manual, unforeseen problems or accidents
may occur, and we shall bear no liability or responsibility for the consequences.
• This manual contains important information you must know about the AR series servo system, which
consists of a servo actuator and a servo amplifier, its safety features, and necessary operating precautions.
Be sure to read it thoroughly before attempting to transport, install, wire, operate, service or inspect the
servo system.
• Please be sure to deliver this instruction manual to all administrators and operators charged with the
operation of this machine.
They must carefully read this manual and fully understand its contents, and should not let anyone who is
not familiar with the contents of this manual operate or inspect this machine.
Keep this manual available near the equipment at all times so that it can be immediately referred to
whenever necessary.
• Look up the name, address and phone number of our nearest dealer or branch office listed on the back
page of this manual, and post the information prominently for quick reference.
WARNING
All machine operators must read "1. ON SAFETY" in this manual carefully
and thoroughly.
Do not turn on the machine's power supply until all the noted precautions have
been studied and understood.
Very serious accidents may occur if this instruction is not observed.
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Contents
Page
To comply UL and/or CUL standard

Preface
1. ON SAFETY 1-1 Alert Symbol 1-1
1-2 WARNING 1-1
1-3 CAUTION 1-3
1-4 Precautions for Initial Turning-on of the 1-4
Power Supply
2. SPECIFICATIONS 2-1 Definitions of Model Codes 2-1
2-2 Table of Specifications 2-2
2-3 Ambient Conditions for Use 2-6
3. OVERVIEW 3-1 Equipment Features 3-1
3-2 Basic Command Methods 3-3
4. INSTALLATION 4-1 Servo Actuator 4-1
4-2 Servo Amplifier 4-4
5. WIRING 5-1 Names of Parts 5-1
5-2 Connector Pin Layout and Connections 5-4
5-3 Battery 5-19
5-4 Wiring Diagram 5-20
6. RUN 6-1 Run Sequence 6-1
6-2 Power ON 6-3
6-3 Trial Run 6-5
6-4 Origin Setting 6-7
6-5 Control Functions 6-9
7. SETTING METHODS 7-1 Overview of Setting Methods 7-1
7-2 Detailed Description of Display Modes 7-3
7-3 Display Mode Operation Methods 7-6
7-4 Parameter Setting Methods 7-7
7-5 Detailed Description of Parameters 7-9
7-6 List of Parameters 7-28
7-7 Positioning Data Setting Method 7-33
7-8 Initialization 7-35
8. COMMUNICATIONS 8-1 Specifications 8-1
8-2 Communication Contents 8-1
8-3 Transmission Format 8-1
8-4 Detailed Description of Transmission Contents 8-3
9. ALARMS 9-1
10. SELECTION 10-1 General Selection Method 10-1

10-2 Details of Selection Methods 10-2
11. EXTERNAL DIMENSIONS 11-1 Servo Actuator 11-1
11-2 Servo Amplifier 11-18
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CAUTION
To comply UL and/or CUL standard,

please keep in mind the following points.
This equipment is to be installed in an enclosure that provides a pollution degree 2

(controlled) environment (Normally, only nonconductive pollution.
However, temporary conductivity caused by condensation may be expected.
These devices are suitable for factory wiring using Nos.2 1 AWG copper wire.
Use 60 75 wire or the equivalent for ARN15 and ARN30.
Use 75 wire or the equivalent for ARN60 and ARN135.
Tighten field wiring terminal (TB1 TB3) to 4.4 lb-in for ARN15 and ARN30.
Tighten field wiring terminal (TB1) to 11.0 lb-in for ARN60 and ARN135.
Tighten field wiring terminal (TB3) to 4.4 lb-in for ARN60 and ARN135.
Suitable for use on a circuit capable of delivering not more than

5000 rms symmetrical amperes, 240 volts maximum,
when protected by circuit breaker having an interrupting rating
not less than 15 rms symmetrical amperes, 240 volts maximum.


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- Preface -
Preface
1. Purpose
Teijin Seiki's "AR servo actuator and ARN servo amplifier" (hereafter simply termed "servo system") has been
developed for use with servo systems for general industrial equipment.
When the power supply to the industrial equipment is turned on, the servo system operates in accordance with the
program set in the machine sequencer.
This program should be designated by the industrial equipment engineer.

The end user can operate the servo system by executing the program.
Operation of the servo actuator is controlled by the parameters set for the servo amplifier.
The servo amplifier is activated by the signals input to and output from the industrial equipment sequencer.
For example, the servo system is used for driving a machine tool ATC magazine, transfer unit arm, index table,
conveyor, press or other device into position.
Therefore, please keep in mind the following points.
(1) The servo system cannot be used with any devices that affect people's bodies or health, such as medical
appliances.
(2) The servo system must not be used with any devices that could adversely affect the environment or public
safety, such as railway vehicles, aircraft, toys and passenger elevators.
(3) The servo system cannot be used in environments, which are subject to strong vibrations, such as in
automotive vehicles, marine vessels, etc.
(4) The servo system cannot be used in certain special environments, i.e., nuclear environments with ambient
radiation, high vacuum space environments, etc.
(5) You must not modify the servo amplifier or the servo actuator.
If this servo system is to be used for any purpose or in any environment mentioned in (1) to (4) above, please
consult with us before proceeding any further.
2. Intended readers
This manual is intended for use by engineers in the development of industrial equipment.
It describes information and procedures for choosing suitable specifications for the incorporation of the servo
system into the industrial equipment, its installation, settings and equipment operation.
3. Requests to industrial equipment manufacturers
To prevent injuries or harm to any person using machines, which incorporate our servo system (hereafter
referred to as "end user"), each industrial equipment manufacturer should reprint the instructions and
precautions noted in "1. ON SAFETY" in their own machine instruction manuals for the end user.
We therefore hereby authorize each manufacturer to copy, reprint, or reproduce the contents of this manual for
these purposes only.
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- Preface -
When incorporating the servo system into its machines, each industrial equipment manufacturer must carefully
observe all the procedures and cautionary notes included in this manual to prevent injuries or accidents caused
by its improper installation or operation.
4. Exporting the servo system

International transfer of this machine, any of its parts, components and/or software must be carried out in
compliance with the relevant laws and ordinances of the country of export and the country of equipment end-
use.
We do not assume any responsibility or liability for equipment transferred without regard to proper
export/import regulations or procedures.
5. Product warranty
The term of warranty on the servo system is either one year from installation or 2000 running hours after
incorporation into the equipment, whichever is shorter, under condition that proper setup and wiring have been
carried out in accordance with the ratings we stipulate.
However, we will not bear incidental costs, such as man-hours required to remove from and/or install to the
equipment, transportation costs, taxes, warehouse charges, etc.
We shall also not compensate losses resulting from the stoppage of any equipment that incorporates the servo
system due to problems caused by the servo system.
If we make financial compensation for the product, the maximum amount of the compensation shall not exceed
the sales price of the applicable product.
6. Usage liability
Please note that machine specifications are subject to change without notice for updates and improvements. This
may cause inconsistencies between the contents of this manual and the machine you currently possess.
We shall bear absolutely no liability or responsibility for the consequences if this machine is utilized for
purposes other than those described in this manual.
We shall not be held responsible for any damage caused by conditions beyond our control such as customer
modifications, disassembly or misuse of our products, or their use in a defective or deficient environment.
We assume no responsibility or liability for any damage or consequential and/or indirect losses resulting from
any accident or malfunction that might occur during the operation of this machine.
The data noted in this manual is only offered as sample reference data for normal usage of this machine.
We shall not bear any legal responsibility for its suitability for each customer's particular uses nor shall we be
held liable for any incidental or indirect damages caused by usage of the machine itself.
7. Copyright
© 2000: TS
The copyright for this entire manual belongs to Teijin Seiki Co., Ltd. Copying, reprinting or reproduction of this
manual in whole or in part in any media without our express consent infringes upon the copyright and the rights
of the publisher.
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- On Safety -
1. ON SAFETY
This chapter contains precautions on using this machine, which must be observed to ensure operator safety.
1-1 Alert Symbol

This manual marks important safety information with two alert symbols, "WARNING" and "CAUTION",
corresponding to the level of potential danger involved.
Please understand the meanings of both symbols and strictly follow their instructions.
WARNING Indicates a potentially hazardous situation that, if not avoided, could result in
death or serious injury.
CAUTION Indicates a potentially hazardous situation that, if not avoided, could result in
minor or moderate personal injury or damage to the machine.
This machine has not been designed or manufactured for use with any device or system that may affect people's
lives.
For use with facilities, which may affect people's lives or may cause serious damage to the machine resulting
from machine fault, be sure to install safety devices appropriate to the facilities.
Please consult us before using this machine in specialized environments.
1-2 WARNING
To prevent electrical shock, be sure to turn off the power supply before beginning installation, removal or
wiring of the machine.
Only skilled technicians should perform these tasks.
Attempts by nonqualified personnel could lead to electrical shock, injury, or fire.
The PE terminals of both servo actuator and servo amplifier must be grounded to prevent electrical
shock.
Make the ground cable 2 to 3 cm longer than L1, L2, and L3 and U,V, and W so that it will be the last to
disconnect if either the main power cable or servo actuator power line is forcibly disconnected.
Ignoring this instruction could lead to electrical shock. (See page 5-11.)
Stay away from the rotating section of the servo actuator while the power is supplied.
Ignoring this instruction could lead to serious injury.
Do not expose the machine to gases that may cause the machine to corrode or an explosion to occur.
1-1
- On Safety -
Hang the servo actuator with a hanger bolt when installing, removing or transferring the servo actuator so
that it will not drop.
Use the hanger bolt with the nominal diameter specified in "11. EXTERNAL DIMENSIONS".
Use of another size bolt could lead to serious injury.
The type of machine to which the servo actuator is installed, its setup environment, and the mass and
torque of the servo actuator must be carefully considered when designating the dimensions and materials
for the section to which the servo actuator is installed and the installation method.
If this instruction is ignored, the servo actuator can drop and may cause serious personal injury.
Observe the following preventive measures to avoid hazards that could result from servo system rotation.
Ignoring these instructions could lead to serious injury.
The servo actuator can keep rotating due to load or inertia even when the power supply is turned off.
Therefore, never touch the rotating section unless it is completely stopped.

Although the power supply is turned off, the servo amplifier will have been charging with high voltage for
a while.
Do not start wiring until the Charge LED on the front panel of the servo amplifier goes out.
Ignoring this instruction could lead to electrical shock.
A battery is used for the absolute encoder type servo system. Keep in mind the following precautions
when handling the battery.
Do not heat the battery to 100 °C or above (Do not incinerate the battery).
Ignoring this instruction could lead to ignition, combustion and explosion.
Do not disassemble the battery. Contact of the eyes with battery contents could lead to loss of
eyesight.
Do not re-charge the battery. Ignoring this instruction could lead to explosion or leakage.
Contact of the eyes with battery contents could lead to loss of eyesight.
In case of an emergency stop, turn off the main power supplies (L1, L2 and L3) to the servo amplifier to
stop the servo actuator safely. Ignoring this instruction could lead to serious injury from unexpected servo
actuator rotation.
1-2
- On Safety -
1-3 CAUTION
Use the servo actuator and the servo amplifier in accordance with the combinations stated in the "Table of
Specifications" on pages 2-2,3,4,5. If they are used with any other combinations, fire, burns or electrical
shock could occur.
Do not connect the commercial power supply to the output terminals (U, V and W) of the servo amplifier
or to the input terminals (U, V and W) of the servo actuator. Ignoring this instruction could lead to
electrical shock, burns or fire.
The servo system may reach high temperatures during operation. To prevent burns, do not touch the servo
system immediately after the power supply is turned off, but wait for the system to cool.
If an error has occurred in the servo system, do not operate it until the appropriate remedy has been
applied. Ignoring this instruction could lead to serious injury or electrical shock.
Securely tighten all the fixing bolts for the servo system. If any bolts are loose, the servo system may shift
or drop, and damage to the other parts of the equipment or personal injury could result.
Do not perform an high voltage insulation resistance test of the servo system.
Ignoring this instruction could lead to damage to the servo system or electrical shock.
Do not jar the servo actuator.

Ignoring this instruction could damage the encoder inside of the servo actuator.
Keep excess water and oil away from the servo actuator. Also, do not allow water and oil to enter the
connectors along the cables. Ignoring these instructions could lead to damage to the servo system or
electrical shock.
1-3
- On Safety -
1-4 Precautions for Initial Turning-on of the Power Supply

When the main power and the control power are first turned on, follow the procedures below. Before beginning
each procedure, carry out wiring according to the instructions in "5. WIRING" on page 5-1.
For absolute encoder type specifications
Follow the "5.WIRING" and connect the servo amplifier and servo actuator to the peripheral devices.
Select and define the alarms to be used. In order to avoid any signals that might disturb the smooth
start-up of the machine, leave the CN2 connector (for control I/O signals, page5-1,5-3) disconnected.
In all cases, except when using external regenerative resistance, short the RGEN and DCC pins on connector
TB2(ARN15,30) or TB1(ARN60,135) for motor power cable/external regenerative resistance, using a
conductor whose cross-sectional area is not less than 1.25 mm², according to the description on pages 5-12,13.
If these pins are not shorted, an overvoltage alarm (AL-4, page 9-2) may occur during regenerative operation.
Make sure that the encoder selector switch has been set to ABS(absolute) as noted on pages 5-2,3.
If not , Following the instruction on these page, alter the setting to ABS.
Do not connect the battery (p5-19) for the absolute encoder.

If it is first connected, excessive current could be supplied from the battery to the capacitor in the encoder,
which may cause the battery to deteriorate.
Turn on the main and control power supplies. (See pages 5-10,13)
When the power is turned on, the front panel of the main unit shows"HELLO Arn** AbS".
Alarm(p9-1) appears on the front panel after "HELLO Arn** AbS".
Wait approximately five minutes in this state, to charge the capacitor inside of the encoder.
Turn off the main and control power supplies.

Turn on the main and control power supplies again.
Since the information concerning the absolute encoder has been lost, "AL-13" (Encoder system down, page
9-3) is displayed.
When a servo actuator incorporating a brake function (p2-1) is used , if the power for brake has not been
supplied, a brake power supply disconnection alarm (AL-10) will occur (p9-3) as soon as an "Operation ready
command (p6-9)" is issued.
Supply the power to the brake. (See page 5-14)
1-4
- On Safety -
When a servo actuator without a brake function is used, since control parameter 7 (CP-7) (p7-15) has been set to
1 (available) by default for brake available/unavailable selection, a brake power supply disconnection alarm
(AL-10) will occur when an “Operation ready command” is issued.
When a servo actuator without a brake function is used, change the setting of control parameter 7 to “2”
(unavailable) according to the description on page 7-7.
Perform an origin setting from the panel switches following the instructions on page 6-7.
(Since the servo actuator cannot operate in this state, the output shaft position cannot be set to the mechanical
origin. Therefore, designate the current output shaft position as the origin.)
Connect the battery to the battery connector. (See page 5-19)
Turn on the main and control power supplies again. The machine can now operate.
1-5
- On Safety -
For incremental encoder type specifications (other than AR10H)
Battery (p5-19) connection is not required.
In all cases, except when using external regenerative resistance, short the RGEN and DCC pins on connector
TB2(ARN15,30) or TB1(ARN60,135) for motor power cable/external regenerative resistance, using a
conductor whose cross-sectional area is not less than 1.25 mm², according to the description on pages 5-12,13.
The encoder selector switch has been set to ABS (absolute) as noted on pages 5-2,3.
Following the instruction on these pages, alter the setting to INC (incremental).
Failure to do so results in the display of “AL-11”(Encoder Trouble) or “AL-14”(Encoder type mismatch)(See
page 9-3).
Holding down the UP ? and DOWN ? buttons at the front of the servo amplifier, turn on the main and control
power supplies (p5-10,13). (See page 7-35)
The setting of control parameter 1 (CP-1) for choosing the encoder type (p7-13) will be changed from "1"
(absolute AR) to "2" (incremental AR).
When the power is turned on, the front panel of the main unit shows"InIt.I HELLO Arn** InC"
When a servo actuator incorporating a brake function (p2-1) is used , if the power for brake has not been
When a servo actuator without a brake function is used, since control parameter 7 (CP-7) (p7-15) has been set to
Turn on the main and control power supplies again. The machine can now operate.
1-6
- On Safety -
For AR10H (incremental encoder type specifications)
Make sure that model code of servo amplifier is ARN30
• Battery connection is not required.
• In all cases, except when using external regenerative resistance, short the RGEN and DCC pins on connector
TB2 for motor power cable/external regenerative resistance, using a conductor whose cross-sectional area is
not less than 1.25 mm², according to the description on pages 5-12.
• The encoder selector switch has been set to ABS (absolute) as noted on pages 5-2.
Following the instruction on that page, alter the setting to INC (incremental).
Failure to do so results in the display of “AL-11”(Encoder Trouble) or “AL-14”(Encoder type mismatch)(See
page 9-3).
• Holding down the MODE and UP ? buttons at the front of the servo amplifier, turn on the main and control
power supplies (p5-10). (See page 7-35)
The setting of control parameter 1 (CP-1) for choosing the encoder type (p7-13) will be changed from
"1"(absolute AR) to "3" (incremental AR10H).
And internal motor contorol parameters will be changed for AR10H.
If do not execute this, ARN30 can not be used for AR10H.
When the power is turned on, the front panel of the main unit shows"InIt.H HELLO Arn30 10H"
• When a servo actuator incorporating a brake function (p2-1) is used , if the power for brake has not been
• When a servo actuator without a brake function is used, since control parameter 7 (CP-7) (p7-15) has been set to
• Turn off the main and control power supplies.
• Turn on the main and control power supplies again. The machine can now operate.
1-7
- Difinitions of Model Codes -
2. SPECIFICATIONS
2-1 Definitions of Model Codes
(1) Servo actuator AR 135 A 128 - B A 0

Series name Reduction gear ratio
Frame No.
(AR/ARH)
Type indication (A,B,C,F,S,H)
Availability of brake Type of encoder Option

B Available I Incremental (INC) 0 Standard specification
0 Unavailable A Absolute (ABS) T UL, EN standards supported
Regulation numbers of UL and EN to which AR series are supported are shown below.
UL standards CUL standards European safety standards

Servo amplifier UL508C CSA C22.2 No.14
EN50178
Servo actuator UL1004 CSA C22.2 No.100-95
Type indication of each actuator model
(2) Servo amplifier ARN 135 - A B

Series name
Frame No.
Option
ARN15,30 ARN60,135
TB1 (p5-10),TB2 (p5-12),TB3 (p5-14) TB3 (p5-14) connector and battery (p5-
B
connector and battery (p5-18) attached 18) attached
---- Unavailable Unavailable
(3) Battery (p5-18) 21EP002 Required when an absolute encoder is used. (-AB : battery is
attached)
2-1
- Table of Specifications -
2-2 Table of Specifications

Frame No. 15 30
RV/GH reduction gear frame no. - RV15A2 RV40E
Motor output kW 0.4 0.8
Moment of inertia of motor kg cm2(GD2/4) 3.3 9.8
Reduction gear ratio; types A, B - 56 80 104 120 140 56 80 104 120 152
Reduction gear ratio; types C - 57 81 105 121 141 57 81 105 121 153
Nm 66 94 122 141 167 132 188 245 282 363
Rated output torque
kgf m 6.7 9.6 12 14 17 13 19 25 29 37
Nm 263 274 274 274 274 461 659 856 988 1029
Maximum torque
kgf m 27 28 28 28 28 47 67 87 101 105
Rated rotation speed rpm 45 31 24 21 18 45 31 24 21 16
Maximum output rotation speed rpm 54 38 29 25 21 54 38 29 25 20
Backlash arc min 1
Servo actuator
Lost motion arc min 1

N m/arc min 34 108
Spring constant
kgf m/arc min 3.5 11
2 2
Allowable load moment of inertia kg m (GD /4) 5.2 11 18 24 32 15 31 53 71 113
N 1960 5194
Allowable thrust load
kgf 200 530
Nm 608 1666
Allowable moment
kgf m 62 170
N m/arc min 274 931
Moment rigidity
kgf m/arc min 28 95
Nm 86 115 143 162 186 212 282 353 400 494
Torque
Brakes
kgf m 8.8 12 15 17 19 22 29 36 41 50
Voltage V ±
Current A 0.3 0.4
Speed/position detector - Absolute type: 2048 p/rev; incremental type: 2000 p/rev
Weight kg 12.5 27
Frame No. - ARN15 ARN30
Control system - Transistor PWM control
supply
Voltage, frequency V , Hz 3-phase AC 200V to 230V +10%/-15%, 50/60 Hz

Power
Capacity kVA 1.0 1.5

Servo amplifier
Continuous output current Arms 2.7 4.5

Maximum output current Arms 9 16
Equal division and optional division , max. 255 addresses , absolute

Positioning functions -
encoder infinite feed supported , etc
Input signals - Address number, mode, servo ON, interlock, reset, pulse train, etc.
Output signals - Positioning completion, home position, alarm detection, etc.
Protective functions - Overload, excessive speed, overvoltage, overheating of the motor, etc.
Weight kg 2.4 2.4
The power supply capacity indicated above is based on the rated output torque. At the maximum torque, power supplied three times the
noted value is required.
2-2
Frame No. 60 135

RV/GH reduction gear frame no. - RV80E RV160E
Motor output kW 1.5 2.5
2 2
Moment of inertia of motor kg cm (GD /4) 24 79
Reduction gear ratio; types A, B - 65 80 100 120 152 80 100 128 144 170
Reduction gear ratio; types C - 66 81 101 121 153 81 101 129 145 171
Nm 304 376 470 564 715 753 941 1204 1352 1599
Rated output torque
kgf m 31 38 48 58 73 77 96 123 138 163
Nm 1019 1254 1568 1882 1960 2258 2822 3613 3920 3920
Maximum torque
kgf m 104 128 160 192 200 230 288 369 400 400
Rated rotation speed rpm 38 31 25 21 16 25 20 16 14 12
Maximum output rotation speed rpm 46 38 30 25 20 31 25 20 17 15
Backlash arc min 1
Servo actuator

N m/arc min 196 392
Spring constant
kgf m/arc min 20 40
2 2
Allowable load moment of inertia kg m (GD /4) 51 77 120 173 277 253 395 647 819 1142
N 7840 14700
kgf 800 1500
Nm 1735 3920
Allowable moment
kgf m 177 400
N m/arc min 1176 2940
Moment rigidity
kgf m/arc min 120 300
Nm 451 539 657 774 962 1051 1286 1615 1803 2109
Torque
Brakes
kgf m 46 55 67 79 98 107 131 165 184 215

Voltage V ±
Current A 0.5 0.8
Weight kg 37.5 73.5
Frame No. - ARN60 ARN135
supply

Power
Capacity kVA 3.0 4.5

Servo amplifier
Continuous output current Arms 8.3 15

Maximum output current Arms 29 44

Weight kg 6.0 6.0
The power supply capacity indicated above is based on the rated output torque. At the maximum torque, power supplied three times the noted
value is required.
2-3
Frame No.
RV/GH reduction gear frame no. - GH7 GH17 GH24
Motor output kW 0.8 1.5 2.5
2 2
Moment of inertia of motor kg cm (GD /4) 9.8 24 79
Reduction gear ratio - 461/41 21 153/5 11 21 31 11 21 31
Nm 26 49 73 52 99 146 103 198 292

Rated output torque
kgf m 2.6 5.0 7.4 5.3 10 15 11 20 30
Nm 91 173 206 172 329 486 310 593 696
Maximum torque
kgf m 9.2 18 21 18 34 50 32 60 71
Rated rotation speed rpm 150 119 81 150 119 81 150 95 65
Maximum output rotation speed rpm 250 143 97 250 143 97 227 119 81
Backlash arc min 6
Servo actuator

N m/arc min 15 29 44
Spring constant
kgf m/arc min 1.5 3.0 4.5
2 2
Allowable load moment of inertia kg m (GD /4) 0.59 2.2 4.7 1.5 5.3 12 4.8 17 38
N 1470 1960 2940
kgf 150 200 300
Nm 461 804 843
Allowable moment
kgf m 47 82 86
N m/arc min - - -
Moment rigidity
kgf m/arc min - - -
Nm 60 89 119 81 157 225 167 314 461
Torque
Brakes
kgf m 6.1 9.1 12 8.3 16 23 17 32 47

Voltage V ±
Current A 0.4 0.5 0.8
Weight kg 19 33 51
Frame No. - ARN30 ARN60 ARN135
supply

Power
Capacity kVA 1.5 3.0 4.5

Servo amplifier
Continuous output current Arms 4.5 8.3 15

Maximum output current Arms 16 29 44

Weight kg 2.4 6.0 6.0
2-4
Frame No. AR10H (currently being developed)

RV/GH reduction gear frame no. - RV10C
Motor output kW 0.5
2 2
Moment of inertia of motor kg cm (GD /4) 9.5
Reduction gear ratio - 45
Nm 72
Rated output torque
kgf m 7
Nm 245
Maximum torque
kgf m 25
Rated rotation speed rpm 56
Maximum output rotation speed rpm 67
Backlash arc min 1
Servo actuator

N m/arc min 47
Spring constant
kgf m/arc min 4.8
2 2
Allowable load moment of inertia kg m (GD /4) 9.6
N 5880
kgf 600
Nm 686
Allowable moment
kgf m 70
N m/arc min 421
Moment rigidity
kgf m/arc min 43
Nm 245
Torque
Brakes
kgf m 25
Voltage V ±
Current A 0.5
Speed/position detector - Incremental type: 1000 p/rev
Weight kg 16
Frame No. - ARN30 (Initialization necessary refer p7-35)
supply

Power
Capacity kVA 1.5

Servo amplifier
Continuous output current Arms 4.5

Maximum output current Arms 16
Positioning functions - Equal division and optional division , max. 255 addresses , etc
Weight kg 2.4
2-5
- Ambient Conditions for Use -
2-3 Ambient Conditions for Use

Use of the AR series in ambient conditions outside the range of these specifications can cause failures or
malfunctioning.
Be absolutely sure to use the AR series in the operating ambient conditions set forth below.
(1) Operating ambient conditions
Servo actuator Servo amplifier
Temperature 0 - +40°C 0 - +55°C
Maximum 80% room humidity

Humidity
(no condensation)
Indoors free from corrosive or explosive gases
No metal powder or dust

Atmosphere
No sources of vibration nearby
No strong electrical or magnetic fields
No exposure to large numbers of

drops of water or oil
Water- and oil-proof No exposure to drops of
characteristics water or oil
No exposure of connectors to drops
of water or oil
Power supply Overvoltage category II as specified by IEC664
Environment with degree of

Degree of
- contamination 2 or above as
contamination
specified by IEC664
(2) Storage ambient conditions
Servo actuator Servo amplifier
Temperature -20 ~ +80°C -20 ~ +65°C
Do not expose the machine to gases that may cause the machine to corrode or an explosion to occur.
Keep excess water and oil away from the servo actuator. Also, do not allow water and oil to enter the
connectors along the cables. Ignoring these instructions could lead to damage to the servo system or
electrical shock.
2-6
- Equipment Features -
3. Overview
3-1 Equipment Features
The AR series is a digital AC servo actuator system combining a servo actuator with a servo amplifier.
The actuator integrates a high-rigidity and high-accuracy reduction gear and servo motor into a single unit while
the amplifier incorporates a controller.
(1) Compact integrated design
The servo actuator integrates the reduction gear, motor, holding electromagnetic brake and encoder into a
single unit which is both flat and compact.
Similarly, the servo amplifier integrates the servo driver and controller into a single unit.
This design significantly contributes to making the machine equipment more compact and reducing the number
of design processes.
(2) Full choice offered by variations
Four types of motors with a capacity ranging from 0.4 kW to 2.5 kW as well as 8 different reduction gears are
available.
Selection of the output shaft formats can be made from a wide range.
All in all, this broad spectrum of variations meets the many and different requirements of the customers.
(3) Built-in high-rigidity, high-accuracy reduction gears
The reduction gear featured in the servo actuator is the high-rigidity, high-accuracy RV or GH reduction gear
which is used in industrial robots and which has received high critical acclaim.
(4) Multi-functional operation modes
The operation method can be selected from 12 operation modes, including the main modes (equal parts
division system or any number of parts division system) and sub modes (I/O jog and step operation), to support
various kinds of positioning applications.
(5) Self-contained electronic gear
The electronic gear function enables the positioning data to be set easily without the need to consider the
reduction gear ratio of the machine system.
(6) UL and EN standards supported
The AR series line-up consists of products, which comply with UL standards, CUL standards and European
safety standards. (See p2-1 for details)
3-1
- Equipment Features -
(7) Infinite-length positioning enabled
Infinite-length positioning is possible even when the absolute encoder is employed.

Even in this case, there is no cumulative error.
(8) Absolute and incremental encoders supported
Both absolute and incremental encoders are supported by the same servo amplifier.
(9) Built-in brake control function
The holding brake built into the servo actuator is automatically controlled in synchronization with the servo
ON/OFF operations.
3-2
- Basic Command Methods -
3-2 Basic Command Methods
(1) Introduction The operation method can be selected from operation modes <1> to <12> below.
Main operation modes
<1> Equal pitch Enables equal division and indexing.

multi-rotation Infinite feed is possible using the absolute
ATC magazine
coordinates encoder.
(p3-6) Short-cut operation is also possible.
<2> Optional division Index table

Enables positioning to any (= optional) position.
360° coordinates
(p3-7) Infinite feed is possible using the absolute
encoder.
Coordinate axes: 0 to 360°.
<3> Infinite linear Enables feed operations by specifying the

coordinates increment.
(p3-8) Infinite feed is possible.
Conveyor
The coordinates are reset with every positioning.
Rack & pinion

<4> Finite linear Enables positioning to any (= optional) position.
coordinates Restrictions apply to the operating range.
(p3-9) Coordinate axes: linear coordinates.
<5> Pulse train Supply the pulses from the sequencer.

operation Rotation corresponds to the pulse amount supplied.
(p3-10) There are 2 pulse formats to choose from.
<6> Speed command Initiates rotation by speed control. Press
operation The operation speed is set in a parameter.

(p3-11)
There are 6 speed and 3 acceleration/deceleration
time constants to choose from.
Sub operation modes

Initiates jog operation when the rotation command
<7> I/O jog operation is used by FWD or RVS. FWD
(p3-12) A speed and an acceleration/deceleration time RVS
constant inconsistent with those in the main
operation mode can be set.
Address #1 Address #2
Initiates positioning at the nearest address after the
<8> Step operation jog operation.
(p3-13) Used for manually replacing the tools in the ATC
Positioning
magazine.
Can also be used for checking the positioning
position. JOG
3-3
<9> Machine origin The return origin of the absolute encoder can be set with the panel switch
return (p3-14) when the power is first turned ON, the incremental encoder is operated using
external limit switches, etc.
<10> I/O skip Initiate rotation by skip operation.

Skip
operation Rotation in one fixed angle increment is initiated by
(p3-15) ON edge of FWD or RVS.
Manual operation modes

Enables jog operation while no control signals are
<11> Manual jog input.
operation Operation is initiated by the panel switch at the front
(p3-16) of the servo amplifier.
Rotation is executed only while the switch is held
down.
Enables skip operation while no control signals are input.

<12> Manual skip
Operation is initiated by the panel switch at the front of the servo amplifier.
operation
(p3-16)
Rotation in one fixed angle increment is initiated by pushing the switch once.
3-4
(2) How to select the operation mode
One of the main or sub operation modes is selected by switching MODE A and MODE B (p6-9).
While a main operation mode is established, an operation mode is selected by setting control parameter 8 (p7-
15).
A manual operation mode is executed by operating the front panel switches of the servo amplifier while one of
the main operation modes is established. (p6-5)
Select manual operation modes by operating the front panel switch of the servo amplifier while one of the main operation modes is established.
CP-8=1
<1> Equal pitch multi-rotation
coordinates (p3-6)
CP-8=2
<2> Optional division
360°coordinates (p3-7)
CP-8=3
Control parameter 8 (CP-8): <3> Infinite linear coordinates
Selected by setting the (p3-8)
coordinate axis (p7-15). CP-8=4
<4> Finite linear coordinates (p3-
MODE A=OFF 9)
MODE B=OFF CP-8=5

<5> Pulse train operation (p3-
10)
CP-8=6
Select by selecting <6> Speed command operation
MODE A and MODE B (p3-11)
(p6-9) at CN2 (p5-6).
MODE A=OFF
Sub operation modes
MODE B=ON
<7> I/O jog operation (p3-12)
MODE A=ON
MODE B=OFF
<8> Step operation (p3-13)
CP-76 (p7-26)=0
MODE A=ON <9> Machine origin return (p3-14)
MODE B=ON
CP-76=1
<10>I/O skip operation (p3-15)
The step operations cannot be performed

when any number other than <1> has been Manual operation modes
selected by control parameter 8.
<11> Manual jog operation (p3-
16)
A sub operation mode and manual skip

operation cannot be selected when <6> has
been selected by control parameter 8. <12> Manual skip operation
(p3-16)
3-5
(3) Detailed description of operation modes

ATC magazine
<1> Equal pitch multi-rotation coordinates
• This mode is used for equal division and indexing to drive the ATC magazine, etc.
• Equal division and indexing are enabled simply by setting the total number of addresses, reduction gear
ratio, etc.
• Use of the absolute encoder (p2-1) obviates the need for machine origin return despite the fact that infinite
feed is enabled.
Servo amplifier Servo actuator : short-

cut control enabled
Mode A (OFF) Main operation modes (p3-5) are selected
Mode B (OFF) by mode A and mode B (p6-9).
Operation ready command (p6-9): Supplies power to the main power Both absolute and
incremental systems
supply. supported
Servo ON (p6-9): Supplies power to the servo actuator.
AD0 Address numbers (p6-11) : Positioning addresses are each

designated by a binary number. B1,B2 brake control
AD7
The brake is automatically controlled in synchronization with the servo ON/OFF
Sequencer outputs
operations. (p5-14)
Power save timer: When CP-39 (p7-21) is set, the servo lock is automatically
switched over to brake hold after the time set in the parameter has elapsed.
Start (p6-10): Positioning is executed when start is input.
Speed selection (p6-12):Two kinds of speeds and acceleration/deceleration time constants

used for positioning can be set and selected. If the speed selections have not been
allocated to controls 1 through 14 (p6-10), speed 1 for equal division and
acceleration/deceleration time constant 1 will be selected.
Speed 1 for equal division: SP-7 (p7-10): Selected when the speed selection has been set to
OFF.
Speed 2 for equal division: SP-8 (p7-10): Selected when the speed selection has been set to
ON.
Acceleration/deceleration time constant 1: SP-9 (p7-11): Selected when the speed selection
has been set to OFF.
Acceleration/deceleration time constant 2: SP-10 (p7-11): Selected when the speed selection
has been set to ON.
Positioning completion (p6-19)

Sequencer inputs
OUT-AD0
The address nearest the current position is output as a binary number. (p6-20)
OUT-AD7
Home position (p6-23): This is set ON each time the positioning address is passed through.
3-6
<2> Optional division 360° coordinates
This mode is used for positioning to any position using an index table, etc.
Using the electronic gear, the position can be input using an angle ranging from 0 to
359.99···° without the need to take the reduction gear ratio into consideration. (p7-14,33)
Use of the absolute encoder (p2-1) obviates the need for machine origin return (p3-14)
despite the fact that infinite feed is enabled.
Servo amplifier Servo actuator : short-

cut control enabled
Mode A (OFF) Main operation modes (p3-5) are selected by mode A
Mode B (OFF) and mode B (p6-9).
Operation ready command (p6-9): Supplies power to the main power

supply. Both absolute and
incremental systems
supported
AD0
Address numbers (p6-11): Positioning addresses from
B1, B2 brake control
Sequencer outputs
#1 to #255 are each designated by a binary number.

AD7 The brake is automatically
controlled in synchronization
Start (p6-10): Positioning is executed when start is input. with the servo ON/OFF
operations. (p5-14)
Torque limiting enable (p6-12): Controls the torque that enables the motor
to be forcibly stopped by an external stopper.
External failure input (p6-12): Causes the servo actuator to immediately stop, while maintaining its
power.
Acceleration/deceleration time constant selection (p6-13): Two kinds of acceleration/deceleration

time constants for positioning can be set and selected. If this signal does not select the
acceleration/deceleration time constant, acceleration/deceleration time constant 1 will be selected.
Acceleration/deceleration time constant 1:

SP-9 (p7-11)
Acceleration/deceleration time constant 2: Positioning data (p7-33)
SP-10 (p7-11)
This can be set from address #1 up to
address #255 in the 0 to 359.99···°
range. Input the motor rotational
speed and position for each data.
Sequencer inputs
OUT-AD0
The target address is output as a binary Position
Address #1
OUT-AD7 number. (p6-20) Motor rotation speed
Position
Address #2
Fixed point/through point 1, 2 (p6-21) Motor rotation speed
This signal is set ON when the servo actuator is at
the position which has been set.
3-7
<3> Infinite linear coordinates
This mode is used for positioning by designating the feed amount of a conveyor,
etc.
Positioning data (p7-33): Positioning position - current position = increment Conveyor
The coordinates enable infinite feed.
The coordinates are reset with each positioning.
If the feed amount converted into the encoder pulse has a fraction, the deviation may accumulate.
Example: When the reduction gear ratio equals 121 and the encoder equals the absolute value (8192
(2048 4)pulse/rev), a conversion of the feed amount per single degree of servo actuator’s output shaft into the
encoder pulse can be calculated as follows: 121 x 8192/360 = 2753.422… “.422…” is the fraction. In this
case feeding single degree will accumulate the daviation.
Servo amplifier
Servo actuator
Mode A (OFF) Main operation modes (p3-5) are selected
Mode B (OFF) by mode A and mode B (p6-9).
Both absolute and
incremental
Operation ready command (p6-9): Supplies power to the main power systems supported
supply.
AD0 Address numbers (p6-11): Positioning addresses B1, B2 brake control

from #1 to #255 are each designated by a binary The brake is automatically
Sequencer outputs
AD7 number. controlled in synchronization

with the servo ON/OFF
Start (p6-10): Positioning is executed when start is input. operations. (p5-14)
Torque limiting enable (p6-12): Controls the torque that enables the motor to be forcibly stopped by
an external stopper.
power.

time constants for positioning can be set and selected. If this
signal does not select the acceleration/deceleration time constant, acceleration/deceleration time
constant 1 will be selected.
Acceleration/deceleration time constant 1: SP-9 (p7-11)
Positioning completion (p6-19) Positioning data (p7-33)

OUT-AD0 address #255.
The target address is output
Input the motor rotational speed and position
as a binary number. (p6-20)
OUT-AD7 for each data.
Position (Incremental)
Address #1
Fixed point/through point 1, 2 (p6-21): Motor rotation speed
The signal turns on when the servo Position (Incremental)
Address #2
actuator is at the fixed point. Motor rotation speed
3-8
<4> Finite linear coordinates
This mode is used for optional positioning operations

within the restricted ranges of the robot arm, rack &
pinion, etc.
It enables positioning at any position.
Restrictions apply to the operation range. (p3-17)
The coordinate axes are linear coordinates.
Servo actuator
Servo amplifier
Rotational restrictions
Mode A (OFF) Main operation modes (p3-5) are selected by mode A apply to both the absolute
Mode B (OFF) and mode B (p6-9). and incremental encoders.

supply.
Both absolute and
incremental
systems supported
AD0
Address numbers (p6-11): Positioning addresses from
#1to #255 are each designated by a binary number.
Sequencer outputs
AD7 B1, B2 brake control

The brake is automatically controlled in
Start (p6-10): Positioning is executed when synchronization with the servo ON/OFF
start is input. operations.(p5-14)
Torque limiting enable (p6-12): Controls the torque that enables the motor to be forcibly stopped by
an external stopper.
power.

time constants for positioning can be set and selected.
If this signal does not select the acceleration/deceleration time constant,
acceleration/deceleration time constant 1 will be selected.

Positioning completion (p6-19) Positioning data (p7-33)

Sequencer inputs
OUT-AD0 address #255.

The target address is output as a Input the motor rotational speed and position
OUT-AD7 binary number. (p6-20) for each data.
Position
Address #1
Fixed point/through point 1, 2 (p6-21) Motor rotation speed
This signal is set ON when the servo Position
Address #2
actuator is at the set position. Motor rotation speed
3-9
<5> Pulse train operation
Supply the pulses from the sequencer. (p5-9)

Rotation corresponds to the amount of pulses supplied. There are 2 pulse
formats to choose from. (p7-18)
The encoder signals can be output to the sequencer. (p5-9)
The current position can be sent to the sequencer by RS-232C communication. (p5-8,8-1)
Servo actuator
Servo amplifier
apply to both the absolute
Mode A (OFF) Main operation modes (p3-5) are selected by mode A and incremental encoders.
Mode B (OFF) and mode B (p6-9).
Sequencer outputs

incremental systems
supported
5V Inputs pulses from the sequencer. (p5-9)

A-IN There are 2 pulse formats to choose B1, B2 brake control (p5-14)
*A-IN from. (p7-18)
B-IN
*B-IN Motor rotation No. of Electronic gear α (p7-14)
= x
0V amount [Pulse] pulses input Electronic gear β (p7-14)
The brake is automatically controlled in

synchronization with the servo ON/OFF
operations.(p5-14)
Torque limiting enable (p6-12) :

Controls the torque that enables the motor to be forcibly stopped by an external stopper.
External failure input (p6-12) :

Causes the servo actuator to immediately stop, while maintaining its power.
Positioning completion
Sequencer inputs
(p6-19)
A-OUT
B-OUT The A-, B- and Z-phase source signals of the encoder can be output to the
Z-OUT sequencer. (p5-9)
0V
RS-232C The current position can be sent in real-time to the sequencer. (p5-8,8-1)
3-10
<6> Speed command operation Press
This mode is used when controlling the speed of a press, etc.

The operation speed is set in a parameter, and it is selected by a
control input (p6-10).
There are 6 speeds and 3 acceleration/deceleration time Servo actuator
constants to choose from. (p6-17)
Rotational restrictions apply
Servo amplifier to both the absolute and
incremental encoders.
Mode A (OFF) Main operation modes (p3-5) are selected by
Mode B (OFF) mode A and mode B (p6-9).
Operation ready command (p6-9): Supplies power to the main Both absolute and
power supply. incremental systems
supported
FWD
The servo actuator rotates. (p6-15)
RVS B1, B2 brake control
CONT1-14 Servo parameter The brake is automatically controlled in
allocation SP synchronization with the servo ON/OFF
(p6-16) (p7-11) operations.(p5-14)
Speed command Speed command
speed selection 1 speed 1 Up to 6 motor rotation speeds can be set.
Speed command Speed command Speeds are selected by speed command speed
Sequencer outputs
speed selection 2 speed 2 selection 1 through 6.

Speed command Speed command Speed command speed 1 is automatically
speed selection 3 speed 3 selected when speed command speed selections
Speed command Speed command 1 through 6 have not been allocated to control 1
speed selection 4 speed 4 through 14.
speed selection 5 speed 5
Up to 3 motor
acceleration/ deceleration
speed selection 6 speed 6
time constants can be set.
(p6-17) (p7-12)
Speed command acceleration/ Speed command The acceleration/
deceleration time constant
deceleration selection 1 acceleration/deceleration 1
is selected by speed
Speed command acceleration/ Speed command
command acceleration/
deceleration selection 2 acceleration/deceleration 2 deceleration selection 1, 2
Speed command acceleration/ Speed command or 3.
deceleration selection 3 acceleration/deceleration 3
External failure input (p6-12): Causes the servo actuator to be shut Speed command
down immediately. acceleration/ deceleration
1 is automatically
RS-232C (p5-8): Enables the command speed to be changed using
selected when speed
the communication function.
command acceleration/
deceleration selections 1
Sequencer
inputs
through 3 have not been

Speed arrival (p6-23): This signal is set ON when the motor allocated to control 1
rotation speed exceeds the speed arrival identification speed CP- through 14.
26 (p7-19) setting.
3-11
<7> I/O jog operation
The main operation mode is switched to the I/O jog operation by switching mode A FWD
and mode B(p6-9). RVS
Jog operation at a constant rotation speed can be performed using the control I/O signals (p5-6).
The I/O jog mode is used as an auxiliary function (sub-operation mode) of the main operation modes (p3-3).
The I/O jog operations are controlled by position control. (p3-17)

Servo actuator
Servo amplifier
apply to both the absolute
Mode A (OFF) I/O jog operation is selected by mode A and mode B and incremental encoders.
Mode B (ON) (p6-9).

incremental
systems supported
FWD B1, B2 brake control (p5-

Sequencer outputs
The servo actuator rotates. (p6-15)

RVS 14)
The brake is automatically controlled in synchronization

with the servo ON/OFF operations. (p5-14)
The motor speed is set in the SP-4 manual feedrate (p7-10) parameter.
The motor acceleration/deceleration time constant is set in the SP-5 manual feed
acceleration/deceleration time constant (p7-10) parameter.
power.
RS-232C (p5-8,8-1): Enables the command speed to be changed using the communication function.
Positioning completion (p6-19): Invalid when CP-8 (Coordinate axis) has been set to “1” (equal
Sequencer inputs
pitch multi-rotation coordinates.)
Speed arrival (p6-23): This signal is set ON when the motor rotation speed exceeds the speed
arrival identification speed CP-26 (p7-19) setting.
3-12
<8> Step operation Address #1 Address #2
• This mode provides positioning to the nearest address after a jog

Positioned to
operation.
• It is used for manually replacing the tools in the ATC magazine.
• It can also be used for checking the positioning position. JOG
•
It is used as an auxiliary function (sub-operation mode) of the equal pitch multi-rotation coordinates (p3-6).
• Step operations cannot be performed at any coordinate axis other than at the equal pitch multi-rotation
coordinates.
• The main operation mode (p3-5) is switched to the step operation by switching between mode A and mode B
(p6-9).
Positioned to the address that comes next to

Jog operation where jog operation goes OFF
( If the motor cannot stop at the above address

because of the long deceleration time, it will stop at
the address next to the predetermined one.)
Servo amplifier
Servo actuator
Mode A (ON) Step operation is selected by
Mode B (OFF) mode A and mode B (p6-9).
Both absolute and

Operation ready command (p6-9): Supplies power to the main power incremental
supply. systems supported
FWD
Sequencer outputs
The servo actuator rotates. (p6-15) B1, B2 brake control

RVS
The brake is automatically controlled in synchronization

with the servo ON/OFF operations. (p5-14)
The motor acceleration/deceleration time constant is set in the SP-5 manual feed
acceleration/deceleration time constant (p7-10) parameter.
External failure input (p6-12): Causes the servo actuator to immediately stop, while maintaining
its power.
Positioning completion
Sequencer inputs
(p6-19)
3-13
<9> Machine origin return

When using an incremental encoder, an origin return is necessary whenever the power supply is turned ON.
The main operation mode (P3-5) is switched to origin return by switching between mode A and mode B (p6-9).
Origin return is executed when ORG (p6-14) is set ON.

The rotation direction of origin return is set by origin return direction CP-18 (p7-19).
When an origin return is performed, the current coordinates are changed to the value in CP-22 "Origin return
position setting" (p7-19).
Servo amplifier
Mode A (ON) Origin return is selected by mode A and mode B (p6-9).

Mode B (ON)
Operation ready command (p6- Origin return timing chart
9):Supplies power to the main Origin return speed: CP-19 (p7-19)
Sequencer outputs
power supply. Origin return creep speed: CP-20

Rotation speed
Servo ON (p6-9):Supplies power Acceleration/deceleration
to the servo actuator. time constant 1: SP-9
ORG (p6-14):The origin return Origin return shift amount: CP-21

operation is started at the ON ORG
ON
edge of this signal.
OFF
LS
LS (p6-14):Input of the origin Encoder phase Z

return limit switch. (p5-9)
Origin return completion (p6-22)
OFF
Sequencer

inputs
(Invalid when CP-8 (Coordinate axis) has been set to “1”(equal pitch multi-rotation coordinates.))
The above describes the origin return procedure using the mode A, mode B, and control input signals.
You can also use the panel switches in the main operation mode (p3-5).
When using an absolute encoder (p2-1), as long as an origin setting is performed during the initial turning on of
the power supply, origin return operation will no longer be required. Using the panel switches, perform an
origin setting as follows.
Proceed with machine origin return using the manual jog operation (p3-
16), etc.
Use the panel switches to set the origin. (p6-7)

When the origin is set, the following operations are performed inside
the system.
The multi-rotation counter of the absolute encoder is reset.
The current position on the coordinate axes is changed to the origin return position setting CP-22 (p7-19).
In the case of equal pitch multi-rotation coordinates (p3-6) (coordinate axis: CP-8=1 (p7-15)), the positions
of all the positioning addresses are shifted by an amount equivalent to the origin return position setting
(p7-19).
3-14
<10> I/O Skip operation
Set CP-76 (p7-26) sub operation mode switch from 0(default value) to 1, sub
operation mode when MODE A,B=ON is changed from machine origin return
to I/O skip operation (p3-5).
Skip
The servo actuator rotates by a fixed amount to the current position
incrementing direction when FWD (p6-15) is ON.
The servo actuator rotates by a fixed amount to the current position

decrementing direction when RVS (p6-15) is ON.
The motor acceleration/deceleration time constant is set in the SP-5 manual feed acceleration/deceleration
time constant (p7-10) parameter.
The servo motor rotation amount is set in the SP-6 skip amount parameter (unit = encoder pulses) (p7-10).
This operation mode is used for adjustment of machine origin.
This operation is invalid when CP-8 (Coordinate axis) has been set to “6” speed command operation.
Servo amplifier
Set CP-76 (p7-26) sub operation mode switch from

0(default value) to 1
Servo actuator
Mode A (ON) I/O skip is selected by mode A and
Mode B (ON) mode B (p6-9).
Sequencer outputs
Both absolute and

Operation ready command (p6-9):Supplies power to the incremental systems
main power supply. supported
Servo ON (p6-9):Supplies power to the servo actuator.
B1, B2 brake control

FWD The servo actuator rotates by a amount set on
RVS SP-6 skip amount (p7-10).
(p6-15)
The brake is automatically controlled in synchronization with
the servo ON/OFF operations. (p5-14)
External failure input (p6-12): Causes the servo actuator to immediately stop, while maintaining
its power.
Sequencer
inputs
3-15
<11> Manual jog operation
Jog operations are possible while no input signals (p6-9) are input. Manual
Operation is initiated by the panel switch. (p6-5) jog
Rotation is executed only while the switch is held down.
Operation is possible even without connecting the CN2 control I/O signal connector (p5-6).
Servo actuator rotates to the current position

decrementing direction while DOWN switch
MODE UP DOWN SET is held down.
? ?
Servo actuator rotates to the current position incrementing direction while UP

switch is held down.
The motor rotates at the SP-4 manual feedrate (p7-10) setting. CN2
The motor accelerates and decelerates according to the setting of the SP-5 manual
feed acceleration/deceleration time constant (p7-10).
For details on the rotational direction of the actuator output axis, refer to the section on the"
input signals, parameters and servo actuator rotation directions (p3-26)".
<12> Manual skip operation

Skip
Skip operations are possible while no input signals (p6-9) are input.
Operation is initiated by the panel switch. (p6-6)
Rotation by a prescribed angle is executed only by pressing the switch once.
Operation is possible even without connecting the CN2 control I/O signal connector (p5-6).
The servo actuator rotates by a fixed amount to

the current position decrementing direction.
MODE UP DOWN SET
? ?
The servo actuator rotates by a fixed amount to the current position incrementing
direction.
CN2
The servo motor rotation amount is set in the SP-6 skip amount parameter (unit =
encoder pulses) (p7-10).
The motor rotates at the SP-4 manual feedrate (p7-10) setting.
The motor accelerates and decelerates according to the setting of the SP-5 manual feed
acceleration/deceleration time constant (p7-10).
For details on the rotational direction of the actuator output axis, refer to the section on the
"input signals, parameters and servo actuator rotational directions
(p3-26)".
3-16
(4)
Main operation modes, and selectable sub operation modes and manual operation modes
? Operations marked with the black dot can be performed.
Example: Pulse train operation is set as the main operation mode when "5" is selected as the
coordinate axis CP-8 (p7-15) setting.
When both modes A and B (p6-9) are set OFF, pulse train operation (p3-10) can be
performed in the main operation mode (p3-5).
When mode A is set OFF and mode B is set ON in this state, I/O jog operation (p3-12) is
performed.
Step operation (p3-13) cannot be performed when the main operation mode has been set to
pulse train operation.
Input statuses
of modes
A, B Main operation mode (p3-5)
CP-76
MODE MODE
A B
Equal pitch multi-rotation
Infinite linear coordinates
Finite linear coordinates

Optional division 360°
Pulse train operation
Speed command
coordinates
coordinates
operation
*2
OFF OFF *4
Speed
Position control
control
I/O jog operation OFF ON - ? ? ? ? ? -
Sub Step operation ON OFF - ? - - - - -
Position control
operation Machine origin

0 ? ? ? ? ? -
mode return ON ON
Functional restrictions
I/O skip 1 ? ? ? ? ?
Manual Manual jog operation - ? ? ? ? ? ?
operation
mode Manual skip operation - ? ? ? ? ? -
Encoder type Absolute / Incremental
Unidirectional infinite rotation ? ? ? - - ?
Short-cut control ? ? - - - -
Absolute encoder limit stop (*1) - - - ? ? ? *3
Incremental encoder limit stop (*1) - - - ? ? -
Coordinate axis: CP-8 (*2) (p7-15) 1 2 3 4 5 6
Abso- Incre- Absol-
Position data type - - -
lute mental ute
*1: In any mode marked with a white dot ? , the servo actuator is stopped by the alarm detection (of
an overflow) when the motor shaft has rotated through ±32767 rotations or more centering on the
origin.
*2: CP = Control parameter (p7-13)
*3: The “AL-15” (overflow) (p9-3) is displayed when the power is turned ON again.
*4: Sub operation mode when MODE A,B are both ON is selected from machine origin return or
I/O skip operation by CP-76 (p7-26).
3-17
(5) Correlation between operation modes and control input signals
Manual
Main operation mode Sub operation mode operation
mode
CN2 pin number. (p5-6)
Reference page
Speed command operation

Infinite linear coordinates
Manual skip operation

Machine origin return
Manual jog operation

I/O skip operation

Optional division
I/O jog operation

360° coordinates
Signal Symbol
Step operation
Finite linear
coordinates
coordinates
Operation ready
PRDY 36 ? ? ? ? ? ? ? ? ? ? - -
command
6-9
Servo ON SVON 35 ? ? ? ? ? ? ? ? ? ? - -
Mode A MODE A 24 ? ? ? ? ? ? ? ? ? ? - -
Mode B MODE B 25 ? ? ? ? ? ? ? ? ? ? - -
Start START 22 ? ? ? ? - - - - - - -
Reset RESET 40 6-10 ? ? ? ? ? ? ? ? ? ? - -
Control 1-14 CONT1-14 * ? ? ? ? ? ? ? ? ? ? - -
(6) Correlation between operation modes and control output signals
? : The signal is not output in the equal pitch multi-rotation coordinates mode.
Positioning
INP 31 ? ? ? ? ? - ? ? ? ? - -
completion 6-19
Output 1-15 OUT1-15 * ? ? ? ? ? ? ? ? ? ? - -
Battery alarm BAT ALM 46 6-24 ? ? ? ? ? ? ? ? ? ? ? ?
* : See p5-6
3-18
- Basic Comand Methods -
(7) Correlation between operation modes and servo parameters

Manual
mode
Reference page

rotation coordinates
Equal pitch multi-
I/O skip operation

Optional division
I/O jog operation

360° coordinates
Speed command
Step operation
Infinite linear
No. Servo parameter
Finite linear
Manual skip
coordinates
Manual jog
coordinates
operation
1 Speed loop proportional gain ? ? ? ? ? ? ? ? ? ? ? ?
2 Speed loop integral gain 7-9 ? ? ? ? ? ? ? ? ? ? ? ?
3 Position loop gain ? ? ? ? ? - ? ? ? ? ? ?
4 Manual feedrate - - - - - - ? ? - ? ? ?
Manual feed
5 acceleration/deceleration - - - - - - ? ? - ? ? ?
time constant
7-10
6 Skip amount - - - - - - - - - ? - ?
7 Speed 1 for equal division ? - - - - - - - - - - -
8 Speed 2 for equal division ? - - - - - - - - - - -
Acceleration/deceleration
9 ? ? ? ? - - - - ? - - -
time constant 1
Acceleration/deceleration
10 ? ? ? ? - - - - - - - -
time constant 2
11 Speed command speed 1 - - - - - ? - - - - - -
12 Speed command speed 2 7-11 - - - - - ? - - - - - -
Speed command
17 - - - - - ? - - - - - -
acceleration/deceleration 1
Speed command
18 7-12 - - - - - ? - - - - - -
Speed command
19 - - - - - ? - - - - - -
3-19
(8) Correlation between operation modes and control parameters

Manual
mode
Reference page

Equal pitch multi-
I/O skip operation

Optional division
I/O jog operation

360° coordinates
Speed command
Step operation
Infinite linear
No. Control parameter
Finite linear
Manual skip
coordinates
Manual jog
coordinates
operation
1 Encoder type ? ? ? ? ? ? ? ? ? ? ? ?
Reduction gear ratio

2 7-13 ? ? - - - - - - - - - -
numerator
3 ? ? - - - - - - - - - -
denominator
4 Electronic gear a - ? ? ? ? - - - - - - -
5 Electronic gear ß 7-14 - ? ? ? ? - - - - - - -
6 Unit amount - ? ? ? - - - - - - - -
7 Brake available / unavailable ? ? ? ? ? ? ? ? ? ? ? ?
8 Coordinate axis ? ? ? ? ? ? ? ? ? ? ? ?
7-15
9 Number of divisions ? - - - - - - ? - - - -
10 Total number of addresses ? - - - - - - ? - - - -
Optional division short-cut

11 - ? - - - - - - - - - -
control
Indexing number
12 ? - - - - - - - - - - -
incrementing direction
MF/FIN available /
13 7-16 ? - - - - - - - - - - -
unavailable
Short-cut/unidirectional
14 ? - - - - - - - - - - -
selection
2-position indexing direction

15 7-17 ? - - - - - - - - - - -
selection
16 Input pulse system 7-18 - - - - ? - - - - - - -
? : Valid only for the equal pitch multi-rotation coordinates.

: Invalid during the pulse train and speed command operations.
? : Valid only for the finite linear coordinates and the pulse train operation.
? : Invalid during the equal pitch multi-rotation operations.
: Invalid during the finite linear operations.
3-20
Manual
mode
Reference page

Equal pitch multi-
I/O skip operation

Optional division
I/O jog operation

360° coordinates
Speed command
Step operation
Infinite linear
Finite linear
Manual skip
coordinates
Manual jog
coordinates
operation
Pulse train operation rotation
17 7-18 - - - - ? - - - - - - -
direction
18 Origin return direction - - - - - - - - ? - - -
19 Origin return speed - - - - - - - - ? - - -
20 Origin return creep speed - - - - - - - - ? - - -
21 Origin return shift amount ? ? ? ? ? - - - ? - - -
22 Origin return position setting ? ? ? ? ? - - - ? - - -
23 Origin detection range ? ? ? ? ? - - - - - -
24 Positioning completion width ? ? ? ? ? - ? ? ? ? - -

7-19
25 Excessive deviation width ? ? ? ? ? - ? ? ? ? ? ?
Speed arrival identification
26 ? ? ? ? ? ? ? ? ? ? - -
speed
Fixed point/through point
27 - ? ? ? - - - - - - - -
detection pattern

28 - ? ? ? - - - - - - - -
detection position 1

29 - ? ? ? - - - - - - - -
detection position 2
30 Fixed point detection range - ? ? ? - - - - - - - -

Soft + over-travel detection
31 - - - ? ? - - - ? - - -
position
Soft - over-travel detection
32 - - - ? ? - - - ? - - -
position
33 Speed limit value 7-20 ? ? ? ? - ? ? ? ? ? ? ?
34 Torque limit value ? ? ? ? ? ? ? ? ? ? - -
35 Brake forcible release ? ? ? ? ? ? ? ? ? ? - -

3-21
Manual
mode
Reference page

Equal pitch multi-
I/O skip operation

Optional division
I/O jog operation

360° coordinates
Speed command
Step operation
Infinite linear
Finite linear
Manual skip
coordinates
Manual jog
coordinates
operation
Home position detection
36 ? - - - - - - - - - - -
range
Backlash compensation
37 ? - - - - - - - - - - -
amount
Backlash compensation 7-21

38 ? - - - - - - - - - - -
direction
Power save timer
39 ? - - - - - - - - - - -
available/unavailable
40 Power save timer time ? - - - - - - - - - - -
41 Overshoot amount ? - - - - - - - - - - -
42 Number of follow-up pulses 7-22 ? - - - - - - - - - - -
43 Interlock logic ? ? ? ? - - ? - - - -
44 Rewriting prohibited ? ? ? ? ? ? ? ? ? ? ? ?
7-23
45 Monitor selection ? ? ? ? ? ? ? ? ? ? ? ?
Display contents when

46 7-24 ? ? ? ? ? ? ? ? ? ? ? ?
power is turned ON
Control / no function
? ? ? ? ? ? ? ? ? ? - -
designated
Control/AD0 ? ? ? ? - - - - - - - -
Control/AD1 ? ? ? ? - - - - - - - -
Control/AD2 ? ? ? ? - - - - - - - -
47-60
7-25
Control/AD3 ? ? ? ? - - - - - - - -
Control/AD4 ? ? ? ? - - - - - - - -
Control/AD5 ? ? ? ? - - - - - - - -
Control/AD6 ? ? ? ? - - - - - - - -

3-22
Manual
mode
Reference page

Equal pitch multi-
I/O skip operation

Optional division
I/O jog operation

360° coordinates
Speed command
Step operation
Infinite linear
Finite linear
Manual skip
coordinates
Manual jog
coordinates
operation
Control/AD7 ? ? ? ? - - - - - - - -
Control / P operation ? ? ? ? ? ? ? ? ? ? - -
Control/ torque limiting
? ? ? ? ? ? ? ? ? ? - -
enable
Control/ external failure
? ? ? ? ? ? ? ? ? ? - -
input
Control/ speed selection ? - - - - - - - - - - -
Control/ acceleration/
deceleration time constant - ? ? ? - - - - - - - -
selection
Control / + over-travel ? ? ? ? ? ? ? ? ? ? - -
Control / - over-travel ? ? ? ? ? ? ? ? ? ? - -
Control/ORG - - - - - - - - ? - - -
47-60
Control/LS 7-25 - - - - - - - - ? - - -
Control/FWD - - - - - ? ? ? - ? - -
Control/RVS - - - - - ? ? ? - ? - -
Control/ speed command

- - - - - ? - - - - - -
speed selection 1

- - - - - ? - - - - - -
speed selection 2

- - - - - ? - - - - - -
speed selection 3

- - - - - ? - - - - - -
speed selection 4

- - - - - ? - - - - - -
speed selection 5

3-23
Manual
mode
Reference page

Equal pitch multi-
I/O skip operation

Optional division
I/O jog operation

360° coordinates
Speed command
Step operation
Infinite linear
Finite linear
Manual skip
coordinates
Manual jog
coordinates
operation
- - - - - ? - - - - - -
speed selection 6

acceleration/deceleration - - - - - ? - - - - - -
selection 1
47-60
Control/ speed command 7-25

selection 2

selection 3
Control/interlock ? ? ? ? - - ? - - - -
Out/ no function designated ? ? ? ? ? ? ? ? ? ? - -
Out/OUT-AD0 ? ? ? ? - - ? ? - ? - -
Out/OUT-AD1 ? ? ? ? - - ? ? - ? - -
Out/OUT-AD2 ? ? ? ? - - ? ? - ? - -
Out/OUT-AD3 ? ? ? ? - - ? ? - ? - -
Out/OUT-AD4 ? ? ? ? - - ? ? - ? - -
61-75
7-26
Out/OUT-AD5 ? ? ? ? - - ? ? - ? - -
Out/OUT-AD6 ? ? ? ? - - ? ? - ? - -
Out/OUT-AD7 ? ? ? ? - - ? ? - ? - -
Out/ operation ready
? ? ? ? ? ? ? ? ? ? - -
completion
Out/servo ON/OUT ? ? ? ? ? ? ? ? ? ? - -
Out/operation underway ? - - - - - ? ? - ? - -

3-24
Manual
mode
Reference page

Equal pitch multi-
I/O skip operation

Optional division
I/O jog operation

360° coordinates
Speed command
Step operation
Infinite linear
Finite linear
Manual skip
coordinates
Manual jog
coordinates
operation
Out/ fixed point/ through
- ? ? ? - - - - - - - -
point 1
Out/ fixed point/ through

- ? ? ? - - - - - - - -
point 2
Out/ over-travel detection ? ? ? ? ? ? ? ? ? ? - -
Out/ origin return completion ? ? - ? ? - ? - -

61-75
Out/ alarm detection ? ? ? ? ? ? ? ? ? ? - -

7-26
Out/ speed arrival ? ? ? ? ? ? ? ? ? ? - -
Out/ home position ? - - - - - ? ? - ? - -
Out/torque limiting
? ? ? ? ? ? ? ? ? ? - -
underway
Out/ positioning completion ? ? ? ? ? - ? ? ? ? - -
76 Sub operation mode switch ? ? ? ? ? - - - ? ? - -
Factory use
77 - - - - - - - - - - - -
(not for users)
Position defect alarm

78 ? - - - - - ? ? ? ? - -
available / unavailable
7-27
79 Position defect alarm width ? - - - - - ? ? ? ? - -

3-25
(9) Input signals, parameters and servo actuator rotation directions
Servo actuator type indication (p2-1)
Input signal / parameter
Control
A,B C,S,F,H
Referen
Name parameter Setting, operation
ce page
No.
FWD - CCW CW
6-15
RVS - CW CCW
47-60
+ over-travel - Install in CCW direction. Install in CW direction.
6-13
- over-travel - Install in CW direction. Install in CCW direction.
Pulse train
- 7-18 *1 CCW CW
operation
Manual jog ? CCW CW
- 6-5
operation ? CW CCW
Manual skip ? CCW CW
- 6-6
operation ? CW CCW
Indexing
1 (default value) CCW CW
number
12
incrementing
direction 2 CW CCW
7-16
Short- 1 (default value) - -
cut/unidirectiona 14 2 CCW CW
l selection 3 CW CCW
CCW CW
1
(default value)
2-position CW CCW
indexing Address #1 Address #1
15 7-17
direction Address #1 Address #1
selection CW CCW
2 Address #2 Address #2
CCW CW
Origin return 1 (default value) CCW CW
18
direction 2 CW CCW
7-19 Coordinate axis zero point Coordinate axis zero point
Positive value
Origin return moves in CW direction. moves in CCW direction.
22
position setting Coordinate axis zero point Coordinate axis zero point
Negative value
moves in CCW direction. moves in CW direction.
Soft +overtravel
Set the position in the CCW Set the position in the CW
detection 31 -
direction. direction.
position
7-20
Soft -overtravel
Set the position in the CW Set the position in the CCW
detection 32 -
position
Backlash 1 (default value) CCW CW

compensation 37 7-21
direction 2 CW CCW
CCW direction is the increment CW direction is the increment
Position data - 7-33 -
3-26
*1 The rotation direction for the pulse train input signals is the rotation direction when the "current position
incrementing direction pulses" shown in the figure provided for the "input pulse system" on page 7-18 have
been input.
For this reason, the "input pulse system CP-16" and "pulse train operation rotation direction CP-17" are
interrelated. (refer to page 7-18)
The motor rotation direction is the same for servo actuator type displays C, S, F and H.
(Rotating direction of motor installed in a servo actuator and output shaft of a servo actuator is not always the
same.)
The specifications in this section apply when the servo actuator and motor are seen from the direction shown
in the figure below.
As seen from this direction
3-27
- Installation -
4. INSTALLATION
4-1 Servo Actuator
WARNING: Hang the servo actuator with a hanger bolt when installing, removing or transferring the
servo actuator so that it will not drop.
Use the hanger bolt with the nominal diameter specified in "11. EXTERNAL
DIMENSIONS".
Use of another size bolt could lead to serious injury.
WARNING: The type of machine to which the servo actuator is installed, its setup environment, and the
mass and torque of the servo actuator must be carefully considered when designating the
dimensions and materials for the section to which the servo actuator is installed and the
installation method. If this instruction is ignored, the servo actuator can drop and may cause
serious personal injury.
CAUTION: Keep excess water and oil away from the servo actuator. Also, do not allow water and oil to
enter the connectors along the cables. Ignoring these instructions could lead to damage to the
servo system or electrical shock.
Connect the wires from below in such a way

that water or oil will not run along them and
find its way inside the connectors.
(1) Servo actuator mounting direction
The servo actuator can be mounted either horizontally or perpendicularly.
(2) Tightening torque and allowable transmission torque for mounting bolts
<1> Use hexagon socket head bolts for installation.

<2> Tighten the mounting bolts with the tightening torque values shown on the following page.
The table on the following page is applicable in cases where the other side is made of steel or cast iron.
When using aluminum or other materials, re-examine the tightening torque and transmission torque
carefully.
Specifications of bolts used JIS: Japanese Industrial Standards

Hexagon socket head bolt Class of strength Screw
JISB 1176 JISB 1051 12.9 JIS B 0205 6g or class 2
4-1
- Installation -
Tightening torque Allowable transmission torque

Connecting
No. of bolts/size
Model part top : N.m top : N.m
bottom : kgf.m bottom : kgf.m
Types A, B, F C, S A, B, F C, S A, B, F C, S
15.7±0.8 73.5±3.7 1070 1030
Rotary part 8-M6 4-M10
1.6±0.08 7.5±0.35 109 105
AR15
37.3±1.9 15.7±0.8 1730 1070
Fixed part 6-M8 8-M6
3.8±0.19 1.6±0.08 176 109
37.3±1.9 128±6.4 2510 2730
3.8±0.19 13.1±0.65 256 278
AR30
73.5±3.7 37.3±1.9 3600 2520
7.5±0.35 3.8±0.19 367 257
37.3±1.9 128±6.4 4440 5210
3.8±0.19 13.1±0.65 453 531
AR60
73.5±3.7 37.3±1.9 5480 4440
7.5±0.35 3.8±0.19 559 453
128±6.4 319±16 12900 11900
13.1±0.65 32.5±1.62 1315 1211
AR135
128±6.4 128±6.4 14900 12900
13.1±0.65 13.1±0.65 1518 1316
73.5±3.7 - 686 -
Rotary part 6-M10 -
7.5±0.35 - 70 -
ARH7
37.3±1.9 37.3±1.9 1290 1290
3.8±0.19 3.8±0.19 132 132
128±6.4 - 1820 -
Rotary part 8-M12 -
13.1±0.65 - 186 -
ARH17
73.5±3.7 73.5±3.7 2450 2450
7.5±0.35 7.5±0.35 250 250
128±6.4 - 2380 -
Rotary part 8-M12 -
13.1±0.65 - 243 -
ARH24
73.5±3.7 73.5±3.7 3090 3090
7.5±0.35 7.5±0.35 315 315
37.3 1.9 884
Rotary part 6-M8
3.8 0.19 90
AR10H
15.7 0.8 1880
Fixed part 12-M6
1.6 0.08 191
Refer to page 2-1 for "Types A, B, C, F, S".
4-2
- Installation -
(3) Centering
The servo actuator is provided with a bearing for external load support.
When the output shaft has an external support function, set the centering accuracy level to 30 µm to
50 µm.
Improper centering may cause damage to the bearing, output shaft, etc. inside the reduction gear.
(4) Conical spring washer
Use conical spring washers for use with hexagon

socket heads to prevent looseness in the hexagon
socket head bolts and protect the bolt seat
surfaces from being marked.
Name : Conical spring washer

Denomination : Conical SW-2H-nominal
Material : S50CM - S65CM
Hardness : HRC40 - 48
Manufacturer : Heiwa Hatsujo Co., Ltd. (Japanese company)
Conical spring inside &

Nominal outside diameters t H
d D
5 5.25 8.5 0.6 0.85
6 6.4 10 1.0 1.25
8 8.4 13 1.2 1.55
10 10.6 16 1.5 1.9
12 12.6 18 1.8 2.2
14 14.6 21 2.0 2.5
16 16.9 24 2.3 2.8
[mm]
4-3
- Installation -
4-2 Servo Amplifier

WARNING: To prevent electrical shock, be sure to turn off the power supply before beginning
installation, removal or wiring of the machine.
(1) Install the servo amplifier vertically to the ground so that the 7-segment LED display on the front panel is
positioning horizontally.
Top
Installation surface
Bottom
(2) Installation space
Provide the clearances shown below to enable the Provide the clearances shown below to
heat to dissipate. enable the cables and connectors to be
Do not block the vents of the servo amplifier. connected and routed.
Installation back surface
Heat <1> Heat
<5>
<4> <2>
<3>
The minimum volume of the power board required

for heat dissipation is as below.
Clearance dimensions [mm]
<1> 100 Minimum volume of power board required
<2> 30 Frame No. Volume [cm³]
<3> 100 ARN15 50,000
<4> 30 ARN30 100,000
<5> 80 ARN60 250,000
Above dimensions are common to all ARN135 450,000
frame numbers.
4-4
- Names of Parts -
5. WIRING
5-1 Names of Parts
7-segment LED display
(1) ARN15,30
Control power ready

completion LED (p6-3)
Battery voltage drop

warning LED (p6-3)
Panel switches for settings
Charge LED
TB1 (p5-10) WARNING label

Main/control power supply
input connectors 3-phase, CN2 (p5-6)
200V Connector for control I/O
signals
PE terminals
CN-BAT (p5-19)
TB2 (p5-12) Connector for battery
Connectors for external

regenerative resistance
CN1(p5-4)
Connectors for motor power Connector for encoder
cable
Battery compartment
The servo amplifier incorporates a regenerative resistance. (p10-11)

Consult with us if an external regenerative resistance is to be used because the capacity of the internal
regenerative resistance is insufficient or for other reasons. (p5-12)
WARNING:
Although the power supply is turned off, the servo amplifier will have been charging with
high voltage for a while. Do not start wiring until the Charge LED on the front panel of the
servo amplifier goes out. Ignoring this instruction could lead to electrical shock.
WARNING: The PE terminals of both servo actuator and servo amplifier must be grounded to prevent
electrical shock.
5-1
- Names of Parts -
Side panel
Monitor connector
• Ach: Motor rotation speed monitor
• Bch: Torque monitor
• COM: Common
For details, refer to page 7-23.
Encoder selector switch
Absolute (ABS) encoder is the factory

setting.
Set the switch to INC if the incremental

encoder or AR10H is to be used. (p1-6,7)
ABS INC
Bottom panel
CN4 (p5-9) CN3 (p5-8)

Connector for pulse train RS-232C connector
I/O signals
TB3 (p5-14)
Connector for brake
5-2
- Names of Parts -
ARN60,135
Encoder selector switch

Absolute(ABS)encoder is the factory setting.
Set the switch to INC if the incremental encoder is to be used. (p1-6)
CN2 (p5-6):Connector for control I/O signals Monitor connector (p7-23)

Charge LED Ach:Motor rotation speed monitor
7-segment LED display Bch:Torque monitor
Control power ready completion COM:Common
LED (p6-3)
Battery voltage drop warning LED

(p6-3)
Panel switches for settings
TB1:L1C,L2C (p5-13)
Control power supply input
connectors : single-phase,200V
TB1:L1,L2,L3 (p5-13)
Main power supply input
connectors : 3-phase,200V
PE terminals
TB1:DCP,RGEN,DCC (p5-13)
Connectors for external regenerative

resistance
TB1:U,V,W (p5-13)
Connectors for motor power cable
Battery compartment
CN1 (p5-4):Connector for encoder
CN-BAT (p5-19):Connector for battery
The servo amplifier incorporates a regenerative TB3 (p5-14):Connector for brake

resistance. (p10-11)
Consult with us if an external regenerative resistance is CN3 (p5-8):RS-232C connector
to be used because the capacity of the internal
regenerative resistance is insufficient or for other CN4 (p5-9):Connector for pulse train I/O signals
reasons. (p5-12,13)
WARNING:
5-3
- Connector Pin Layout and Connections -
5-2 Connector Pin Layout and Connections

All the pin layout diagrams show the connectors at the ends of the As seen from this direction
cables as seen from the cable end.
(1) Servo amplifier Cable
<1> CN1: Connector for encoder

Connector at
end of cable
Compatible plug type (made by Honda Tsushin Kogyo Co., Ltd.)
Plug: PCR-S20FS Servo amplifier
Case: PCR-LS20LA1
Absolute encoder
1 3 5 7 9
*RXD
5V 0V OH1 -
/TXD
2 4 6 8 10
RXD/
5V 0V OH2 RTC
TXD
11 13 15 17 19
*RTC 0V *Z *A *B
12 14 16 18 20
BAT Z A B PE
Incremental encoder and AR10H
1 3 5 7 9
5V 0V OH1 - *U
2 4 6 8 10
5V 0V OH2 U V
*V *W *Z *A *B
12 14 16 18 20
W Z A B PE
Note: Do not connect a pin marked with "-".

These pins may already be connected to the circuitry inside the servo amplifier.
5-4
Connection diagrams
Absolute encoder Incremental encoder (other than AR10H)
AR10H (incremental encoder)
AR10H do not have thermo switch in the

motor.
Connect OH1,OH2 pin5,6 CN1 at inside
of CN1.
If not , AL-2(Overheating of motor) (p9-1)
may occur at power on.
See wiring diagram on the left.
Perform the connections in accordance with the following specifications.
Wire : Twisted pair, multiple-wire shielded cable, 0.3 mm² cross-sectional area
Length : 20 m (contact us for a length of over 20 m)
5 V, 0 V wiring: Connect two wires in parallel as shown in the above figure to prevent voltage drops.
5-5
Note:
- 26 Input common 1
OUT 7
Kogyo Co., Ltd.)
27 Input common 2
(OUT-AD 6) OUT 8 CONT 1
28 3
OUT 9 (OUT-AD 7) CONT 2 (AD 0)
29 4
Plug: PCR-S50FS
(Alarm detection) OUT 10 (AD 1) CONT 3

30 5
(Home position) CONT 4 (AD 2)
INP
are the control input terminals.
31 6
OUT 15 (AD 3) CONT 5
32 7
(Operation underway) CONT 6 (AD 4)
- 33 8
<2> CN2: Connector for control I/O signals
(AD 5) CONT 7
- 34 9
(AD 6)
SVON 35 - 10
OUT 1
Compatible plug type (made by Honda Tsushin
PRDY 36 11
Do not connect a pin marked with "-".

The terminals with white pin numbers like pin 1
CONT 12 OUT 2 (OUT-AD 0)

Case: PCR-LS50LA
The default setting ( 7-25) is written in parentheses.
37 12
(Speed selection) CONT 13 (OUT-AD 1) OUT 3
38 13
5-6
CONT 14 (LS) OUT 4 (OUT-AD 2)
39 14
(ORG) (OUT-AD 3) OUT 5
RESET 40 15
OUT 11 (Origin return OUT 6 (OUT-AD 4)
41 16
completion) OUT 12 (OUT-AD 5)
42 Output common 17
OUT 13 (Operation (Servo ON/OUT)
43 Output common 18
ready completion) OUT 14 (Fixed CONT 8
44 19
point/through point 1) CONT 9 (AD 7)
- 45 20
(RVS) CONT 10
BAT ALM 46 21
(FWD)
- 47 START 22
cable
CONT 11
at end of
- 48 23
Connector
(Interlock)
These pins may already be connected to the circuitry inside the servo amplifier.
- MODE A
Servo amplifier
49 24
- 50 MODE B 25
Cable
As seen from this direction
Input circuits Compatible with both plus common and minus common; all circuits insulated with
photocouplers.
With plus common With minus common
Input circuit specifications Max. applied voltage : 26 V

Supply current : 7 mA (at 24 V)
Output circuits Compatible with both plus common and minus common; all circuits insulated with
photocouplers.
With plus common With minus common
Output circuit specifications Max. applied voltage : 30 V

Max. supply current : 50 mA
Note:
In the case of an inductive load (relay, etc.), a diode (with 240 V dielectric withstanding voltage or
higher, 100 mA current or higher ) must always be connected in parallel with the load.
Note:
Take care not to connect the polarities in reverse since this will damage the servo amplifier.
- Relay +
5-7
Power supply for I/O circuits
The power supply for the I/O circuits is to be provided by the customer.
DC 24 V ±10% , 1.2 A or higher
Note: Ground the PE terminal of the power supply.
Note:
Keep the power supply for the control I/O signals separate from the power supply for the brake (p5-14).
Using one power supply for both purposes may give rise to malfunctioning.
Note: If certification under the European safety standards (p2-1) is to be obtained for the products, use power
supplies (SELV : Safety extra low voltage) complying with the standards.
<3> CN3: RS-232C connector
Compatible plug type (made by Hirose Electric Co., Ltd.)
Plug: HDEB-9P Case: HDE-CTH
The types of communication listed below are possible using the RS-232C connector.
For more details on the communications specifications, refer to Section 8 communications (p8-1).
Servo parameter reading

Servo parameter writing 5 4 3 2 1
Control parameter reading
0V - TXD RXD -
Control parameter writing
Positioning data reading 9 8 7 6
Positioning data writing
5V CTS RTS 0V
Display data reading
Initialization
Note: CN3 is not isolated with the control circuit inside the servo amplifier. 0V terminal of equipment like
personal computer may be connencted to the connector housing, frame, and PE terminal of AC power
supply plug.
If servo amplifier is connected to an
equipment like this, Surge voltage
between PE of equipment and PE of
servo apmlifier may rush into the
control circuit of servo amplifire and
damage it.
In this case, disconnect the PE

termainal of the equipments or
consult us.
5-8
<4> CN4: Connector for pulse train I/O signals
Compatible plug type (made by Sumitomo 3M Co., Ltd.)

Plug: 10114-3000VE Case: 10314-52A0
6 4 2
*A-IN 0V 5V
7 5 3 1
B-IN A-IN 0V 5V
13 11 9
Z-OUT A-OUT -
14 12 10 8
PE B-OUT - *B-IN
Input pin Signal name Description

1 This pin outputs a +5 V voltage.
5V
2 Maximum output current: 500 mA
3
0V 5 V common
4
5 A-IN
These are the pulse train input signal pins.
6 *A-IN
Input signals to these pins to execute pulse train operations (p3-10).
7 B-IN
Interfacing with open collector and line driver is possible.
8 *B-IN
These pins output the A-, B- and Z-phase pulse of the encoder.
11 A-OUT
A, B: encorder pulse (p7-14) / motor one revolution
90 phase difference
12 B-OUT
Z: 1 pulse / motor one revolution
They are used for feedback to the sequencer.
13 Z-OUT Interface with an open collector output format.
Maximum output current: 45 mA, maximum applied voltage: 30 V
This pin is connected inside the servo amplifier to the PE terminal (p5-1,3) of
14 PE
the chassis. Use it as the shielded ground of the signal cables.
Pulse train input circuit

With an open collector With a line driver
Note : 5v, 0v are connected to the control circuit inside the servo amplifier, take care on the interface circuit
so as not to rush in the serge current to the control cuicuit.
5-9
Encoder A-, B-
and Z-phase
pulse output
circuit
Note : 0v and open collector transistors are connected to the control circuit inside the servo amplifier,
take care on the interface circuit so as not to rush in the serge current to the control cuicuit.
<5> TB1(ARN15,30) : Connector for main/control power supply input
Compatible plug BLZ7.62/5/90 (made by Weidmüller)

Terminal tightening torque 5.1kg cm
For information on the compatible solderless terminal, see the following page.
1 2 3 4 5
L1C L2C L1 L2 L3

1 L1C Single-phase 200-230 VAC for control power supply input
2 L2C +10% -15%
3 L1
3-phase 200-230 VAC for main power supply input
4 L2
+10% -15%
5 L3
Since the main power and control power are supplied separately, the main power can be turned off in a
state in which the current operation information has been stored.
The figure on the right shows an

example of the power supply
connections.
5-10
A circuit breaker or fuse must be installed where the main power is led in.
Do not use quick-break fuses since they may melt when the power is turned on.
If the European safety standards (p2-1) are to be met, use parts which satisfy the EN60947-2 and EN60934 EN
standards.
Capacity of circuit breaker, MCC, or fuse for main power supply

Type Capacity [A]
ARN15 10
ARN30 15
Cross-sectional area of conductors in cables used
Main power cable Compatible solderless terminal

Grounding wire Control power cable
Type L1, L2, L3 main power cable and grounding
[mm²] [mm²]
[mm²] wire
H0.75/14
ARN15 Min. 0.75 Min. 0.75
(made by Weidmuller)
Min. 0.75
H1.5/14
ARN30 Min. 1.25 Min. 1.25
(made by Weidmuller)
The H0.75/14 solderless terminal made by Weidmüller is compatible with control power cable when cross-
2
section area of conductors in cables are 0.75mm .
Grounding
WARNING: The PE terminals of both servo actuator and servo amplifier must be grounded to prevent
electrical shock.
WARNING:
Make the ground cable 2 to 3 cm longer than L1, L2, and L3 and U,V, and W so that it will
be the last to disconnect if either the main power cable or servo actuator power line is
forcibly disconnected. Ignoring this instruction could lead to electrical shock.
Control power cable
Main power cable
PE terminals
Make the grounding
wires 2 to 3 cm longer.
Servo actuator power cable
5-11
<6> TB2(ARN15,30) : Connector for motor power cable/external regenerative resistance
Compatible plug type: BLZ7.62/6/90 (made by Weidmüller)

Pins 2 and 3 are shorted under normal circumstances (when an

internal regenerative resistance is used) using a conductor whose
cross-sectional area is not less than 1.25 mm².
1 2 3 4 5 6
DCP RGEN DCC U V W
Figure out the regeneration capacity (refer to page 10-11). When the regenerative power is greater than the
allowable value of the servo amplifier, an external regenerative resistance is required. In such cases, please
consult with us.

1 DCP For an external regenerative resistance.
2 RGEN Short pins 2 and 3 under normal circumstances (when using
3 DCC an internal regenerative resistance).
4 U
For motor power cable; connect this with the U, V and W
5 V
pins on the servo actuator.
6 W
Normal circumstances Use external regenerative resistance

(Use internal regenerative resistance)
Circuitry inside Circuitry inside

servo amplifier servo amplifier
+ DCP + DCP
Internal regenerative Internal regenerative

resistance resistance External
regenerative
RGEN RGEN resistance
DC280V DC280V
DCC DCC
Regenerative Regenerative
transistor transistor
- -
Cross-sectional areas of motor power cable U, V, W and PE conductors

and compatible solderless terminal.
Type Cross-sectional area [mm²] Compatible solderless terminal

ARN15 Min 0.75 H0.75/14(made by Weidmuller)
ARN30 Min 1.25 H1.5/14(made by Weidmuller)
5-12
<7> TB1(ARN60,135) : Connector for motor power cable/external regenerative resistance

DCP and RGEN must be shorted under normal circumstances (when an internal regenerative resistance is
used) using a conductor whose cross-sectional area is not less than 1.25 mm². (refer
p5-12)
L2C L1 L2 L3 DCP RGEN DCC U V W
Signal name Description

Single-phase 200-230 VAC for
control power supply input +10% -15%
3-phase 200-230 VAC for

main power supply input +10% -15%
DCP For an external regenerative resistance.

RGEN Short RGEN and DCC under normal circumstances (when
DCC using an internal regenerative resistance).
U
For motor power cable; connect this with the U, V and W pins
V
on the servo actuator.
W
Since the main power and control power are supplied separately, the main power can be turned off in a
state in which the current operation information has been stored.
A circuit breaker for the wiring or fuse must be installed where the main power is led in.
Capacity of circuit breaker, MCC, or fuse for main power supply

Type Capacity [A]
ARN60 20
ARN135 30
2
Cross-sectional area [mm ] of conductors in cables used
Main power cable Grounding wire Compatible solderless terminal Control power cable
Type
R/S/T [mm²] [mm²] main power cable and grounding [mm²]
ARN60 Min. 2.0 Min. 2.0 TMEV2-4(made by Nichifu)
Min. 0.75
ARN135 Min. 3.5 Min. 3.5 TMEV3.5-4(made by Nichifu)
Figure out the regeneration capacity (refer to page 10-11). When the regenerative power is greater than the
allowable value of the servo amplifier, an external regenerative resistance is required. In such cases,
please consult with us.
Cross-sectional areas of motor power cable U, V, W and PE conductors

and compatible solderless terminal.
Type Cross-sectional area [mm²] Compatible solderless terminal

ARN60 Min 2.0 TMEV2-4(made by Nichifu)
ARN135 Min 3.5 TMEV3.5-4(made by Nichifu)
5-13
<8> TB3: Connector for brake
The power supply (DC 24 V) for the brake is to be provided by the

customer. For details on the current capacity, refer to Section 2-2 Circuit incorporated in
with the Table of Specifications (p2-2). servo amplifier
Compatible plug type: BLZ5.08/4/90 (made by Weidmüller)
Compatible solderless terminal type: H0.75/14 made by Weidmüller,
for 0.75 mm² cross-sectional area.
1 2 3 4
24A 24B B1 B2
Heat sink side
Input pins 24A and 24B are nonpolar.

1 24A Input of power supply for holding
2 24B electromagnetic brake
3 B1 Output of power supply for holding
4 B2 electromagnetic brake
The brake incorporated in the servo actuator is exclusively for holding purposes.
Do not use it to stop the motor while it is running.
The brake power must be released while the servo actuator is stopped.
Turning OFF the 24 V power for the brake or turning OFF the servo ON signal while the servo actuator is
still running will engage the holding brake, possibly wearing or damaging the brake's contact areas.
Switching noise from the motor power cable may be induced in the brake wiring, possibly giving rise to a
high voltage.
A surge absorber is wired inside the servo actuator in parallel with

Brake coil
the brake in order to prevent surges when the brake is turned ON or
OFF.
B1 B2
If certification under the European safety standards (p2-1) is to be obtained for the products, use power
supplies (SELV : Safety extra low votage) complying with the standards.
The brake is engaged when an alarm (p9-1) occurs.
Provide a separate brake power supply, and do not use it as power supply for the control I/O signals (p5-7).
Motor switching noise carried along the brake wiring may cause the control I/O signals to malfunction.
Use a power supply with stable DC output for the brake power supply.
5-14
The brake timing is shown below.
The servo amplifier is controlled at the timing below. Therefore, positional skew will not occur even
when the servo ON signal (p6-9) is turned ON or OFF with a load applied.
However, positional skew equivalent to the amount of play between the brake and motor shaft will occur.
(Refer to number of follow-up pulses CP-42 (p7-22).)
Servo ON signal (p6-9)
ON
Brake operation Engaged
Release
Servo actuator energized
ON
t2
t1
50msec
Type Attraction time t1 Release time t2

AR15 70 10
AR30,ARH7 80 30
AR60,ARH17 90 30
AR135,ARH24 90 30
AR10H 90 30 [msec]
Attraction time : Time elapsing after brake has been energized until it is released.
Release time :
Time elapsing after power to the brake is stopped until brake is operated (engaged).
Note:
Brake is released when current flows to the brake coil.
Brake will be damaged soon if motor is rotated with no current flow to the brake coil.
5-15
(2) Servo actuator standard specifications (other than AR10H)
<1> Connector for servo actuator power cable
Compatible plug type Made by JAE Electronics, Inc.
L-type plug Straight plug Cable clamp

AR15 MS3108B14S-6S MS3106B14S-6S MS3057-6A
AR30, ARH7 MS3108B16S-1S MS3106B16S-1S MS3057-8A
AR60, ARH17 MS3108B20-15S MS3106B20-15S MS3057-12A
AR135, ARH24 MS3108B24-10S MS3106B24-10S MS3057-16A
For AR15 AR30-135, ARH7-24
Signal name Signal name

A U A U
B V B V
C W C W
D PE D PE
E B1 (brake) E B1 (brake)
F B2 (brake) F B2 (brake)
G -
<2> Connector for servo actuator encoder

Absolute type MS3108B20-29SZ MS3106B20-29SZ
MS3057-12A
Incremental type MS3108B20-29S MS3106B20-29S
Absolute type Incremental type

Signal name Signal name
A A A A
B *A B *A
C B C B
Incremental encoder D *B D *B
guide key position E Z E Z
F *Z F *Z
G RXD/TXD G U
Absolute H *RXD/TXD H *U
encoder J RTC J V
guide key K *RTC K *V
position L BAT L W
M 0V M *W
N PE N PE
P 5V P 5V
R OH1 R OH1
S OH2 S OH2
T 0V T 0V
5-16
(3) Servo actuator specifications for meeting UL and EN standards (other than AR10H)
In the case of specifications for meeting UL and EN standards, separate connectors--one for the U, V, W and
PE signals and one for the B1 and B2 signals--are used.
The connector for the encoder is the same one as for the standard specifications.
(Refer to Section 11 on external dimensions in page 11-1.)
<1> Connector for servo actuator power cable

AR15
JL04V-8A18-10SE-EB JL04V-6A18-10SE-EB JL04-18CK(13)
AR30, ARH7
AR60, ARH17
JL04V-8A22-22SE-EB JL04V-6A22-22SE-EB JL04-2022CK(14)
AR135, ARH24
Signal name
A U
B V
C W
D PE
<2> Connector for servo actuator brake
Compatible plug type Made by HIROSE Electric Inc.

Common to
H/MS3108B10SL-4S H/M3106A10SL-4S H/MS3057-4A
all types
Signal name
A B1 (brake)
B B2 (brake)
5-17
AR10H
<1> Compatible plug type Made by AMP
Servo actuator side Cable side

Plug Pin Cap Socket
Power cable 172167-1 170360-1 172159-1 170362-1
Encoder cable 172171-1 170359-1 172163-1 170361-1
Brake cable 172165-1 170360-1 172157-1 170362-1
<2> Pin assignment
Power cable
1 2
? As seen from this direction U V
3 4
W PE
Encoder cable
1 2 3 4 5
A *A B *B Z
? As seen 6 7 8 9 10
from this *Z U *U V *V
direction 11 12 13 14 15
W *W 5V 0V PE
Brake cable
? As seen from this direction 1

B1
2
B2
5-18
- Battery -
5-3 Battery
A lithium battery is used to back up the data of the absolute encoder.
When the servo amplifier is to be used in combination with the absolute servo actuator, the battery must be
connected to the CN-BAT (p5-1,3) servo amplifier battery connector in accordance with the precautions to be
observed when initial turning-on of the power supply. (p1-4)
(1) Recommended battery and connector type

CN-BAT polarities
The following battery is recommended.
Name: Lithium battery (made by Toshiba Denchi Co., Ltd.)
Type: ER17500V C (with connector)
Ratings: 3.6 V, 2700 mAh
Connector specifications
Housing: IL-2S-S3(N)
Contact: IL-C2-1
Made by JAE Electronics, Inc.
No battery is required if an incremental encoder (p1-6,1-7,2-1) is used for the servo actuator.
(2) Concerning replacement of the battery
<1> When the battery voltage has dropped, the battery voltage drop warning LED (p5-1,5-3,6-3) on the front panel
of the servo amplifier lights, and the battery alarm (p6-24) is turned ON.
<2> The data is retained for about one week after the battery voltage drop warning LED has lighted. Replace
the battery as soon as possible since the current position data will be lost if more than one week is
allowed to elapse.
<3> Replace the battery when two years or the cumulative power failure duration totals approximately 12,000
hours have elapsed after the battery was connected.
<4> Replace the battery quickly.

The data is retained only about 30 minute with control power off and battery not connected.
WARNING: A battery is used for the absolute encoder type servo system. Keep in mind the following
precautions when handling the battery.
Do not heat the battery to 100 °C or above (Do not incinerate the battery).
Ignoring this instruction could lead to ignition, combustion and explosion.
Do not disassemble the battery. Contact of the eyes with battery contents could lead to
loss of eyesight.
Do not re-charge the battery.
Ignoring this instruction could lead to explosion or leakage.
Contact of the eyes with battery contents could lead to loss of eyesight.
5-19
- Wiring diagram -
5-4 Wiring Diagram (1) Other than AR10H
5-20
- Wiring diagram -
(2) AR10H (currently being developed)
5-21
- Run Sequence -
6. RUN
6-1 Run Sequence Listed below are the steps taken to run the actuator.
Item Description Related page

1. Verification of • Verify that combination of the servo amplifier and servo 2-1
specifications actuator is correct. 2-2
2. Installation • Install the servo amplifier and servo actuator. 4-1
3. Wiring • Connect the servo amplifier and servo actuator to the
5-1
peripheral devices.
• Connect the power supply for the brake as well if the servo
5-14
actuator is equipped with a brake.
4. Power ON • Turn on the power in accordance with the "precautions for
1-4
initial tuning-on of the power supply".
• Following the directions in the power ON section, check that
the 7-segment LED display of the servo amplifier is trouble- 6-3
free.
• Following the directions in the power ON section, check that
the green and red LED displays of the servo amplifier are 6-3
trouble-free.
5. Trial run • Proceed with a trial run. 6-5
6. Parameter settings • Set the parameters as the specifications dictate. 7-9, 7-7
7. Positioning data setting • Set the positioning data. 7-33
8. Run • Run the actuator using the control I/O signals. 5-6
WARNING:
Stay away from the rotating section of the servo actuator while the power is supplied.
WARNING: Observe the following preventive measures to avoid hazards that could result from servo
system rotation.
Ignoring these instructions could lead to serious injury.
WARNING: The servo actuator can keep rotating due to load or inertia even when the power supply is
turned off.
Therefore, never touch the rotating section unless it is completely stopped.
WARNING:
WARNING: In case of an emergency stop, turn off the main power supplies (L1, L2 and L3) to the servo
amplifier to stop the servo actuator safely. Ignoring this instruction could lead to serious
injury from unexpected servo actuator rotation.
6-1
- Run Sequence -
CAUTION: Use the servo actuator and the servo amplifier in accordance with the combinations stated in
the "Table of Specifications" on pages 2-2,3,4,5. If they are used with any other
combinations, fire, burns or electrical shock could occur.
CAUTION: The servo system may reach high temperatures during operation. To prevent burns, do not
touch the servo system immediately after the power supply is turned off, but wait for the
system to cool.
CAUTION:
If an error has occurred in the servo system, do not operate it until the appropriate remedy
has been applied. Ignoring this instruction could lead to serious injury or electrical shock.
6-2
- Power ON -
6-2 Power ON
(1) Preparations and inspections
<1> Check that the main power and control power have been connected properly. (p5-10,13)
<2> Check that 3-phase 200V is the supply voltage.
<3> To ensure safety, keep the servo actuator unconnected (no-load status) to the machine system.
<4> Connect the motor's power cable (p5-12,13) and encoder cable (p5-4).
<5>
Connect the power supply for the brake when using a servo actuator equipped with a brake. (p5-14)
(2) Power ON
When the power is turned on, the front panel of the main unit shows the following displays.
<1>
Turn on the power in accordance with the "precautions for initial turning-on of the power supply." (p1-4)
<2> 7-segment LED display
• HELLO display
• Frame number display (for ARN15)
• ABS (absolute) display INC (incremental) display AR10H display
Or Or
• Display mode 1: Display of rotation speed
<3> Displays on LEDs (at left of 7-segment LED display)
Control power ready • This lights when power is supplied to the control power supplies
complition LED (L1C, L2C) (p5-10,13).
(green)
Battery voltage drop • This lights when the battery (p5-19) voltage has dropped.
warning LED (red) Replace the battery when this LED has lighted.
• The battery is not needed if the incremental system is used.
The LED will not light when the encoder selector switch (p5-2,3) on the
servo amplifier's side panel is set to INC (Incremental).
6-3
- Power ON -
<4> Charge LED display (in center of main unit) (p5-1,3)
This is the main power LED. It lights (yellowish brown) all the time while the main power L1, L2, L3 (p5-
is on.
10,13)
WARNING: Although the power supply is turned off, the servo amplifier will have been charging with
servo amplifier goes out.
Ignoring this instruction could lead to electrical shock.
6-4
- Trial Run -
6-3 Trial Run

Perform a test run to confirm that both the main power and the control power are supplied and that the
connections between the servo actuator and the servo amplifier are correct.
Listed below are the steps taken to execute a trial run.
(1) Trial run (manual operation) without connecting the control I/O signals (p5-6)
The servo actuator can be run without supplying the control input signals (CN2) (p5-6).
It is operated using the panel switches at the front of the servo amplifier.
Manual operation includes manual jog operation where the servo actuator continues to run while the panel switch
is held down and manual skip operation where the servo actuator rotates for a fixed amount each time the switch
is pressed (p3-16).
In the manual operation mode, if a transfer is made to an operation subsequent to the "JrUn" display, the control
input signal (p6-9) supply will be canceled, and all the control output signals (p6-19) will be turned OFF.
The servo actuator is rotated in the current direction incrementing direction by the ? and in the current direction
decrementing direction by the ? .
For details on the direction in which the servo actuator output shaft rotates, refer to the section on the input
signals, parameters and the servo actuator rotation directions (p3-26).
The operation methods after the manual mode has been established are shown below.
For information regarding the procedure for switching over to the manual operation mode, refer to Section 7-1
which outlines the setting methods (p7-1).
<1> Manual jog operation
In the manual operation mode, the actuator keeps rotating while the panel switch is held down.
Initial display in manual operation mode
(manual jog operation)
MODE
Hold down the SET for at least 2 seconds.
Manual feedrate SP-4 (p7-10) display

Hold down Servo ON state is established.
the MODE
for at least 2 seconds. The servo actuator rotates while the ? or ? is
Press the ? held down.
Release the ? or ? . or ? . The display shown on the left lights while it is
rotating.
The value which has been set using the manual feed acceleration/deceleration time constant SP-5 (p7-10) is
the one used as the acceleration/deceleration time constant value.
The control I/O signal input (p6-9) is canceled, and all the control output signals (p6-19)
are turned off.
6-5
- Trial Run -
<2> Manual skip operation
Every time the panel switch is pressed, the servo actuator rotates by an amount equivalent to the skip amount
SP-6 (p7-10) value.
Manual operation mode initial display

(manual jog operation)
DOWN ? ? UP
Manual skip operation mode display

MODE
Hold down the SET for 2 or more seconds.
Skip amount SP-6 (p7-10)

Hold down Shown as the skip amount units are the encoder pulses after they
the MODE have been multiplied 4 times. The servo ON status is
for at least 2 seconds. established.
Release the ? or ? . Press the ? or ? .
The servo actuator is rotated by the skip amount in the current

position incrementing direction by pressing the ? and in the
decrementing direction by pressing the ? .
(The display shown on the left lights while the servo actuator is
rotating.)
For details on the direction in which the servo actuator output shaft rotates, refer to the section on the input
signals, parameters and servo actuator rotation directions (p3-26).
The value which has been set by manual feedrate SP-4 (p7-10) serves as the rotation speed of the motor.
The value which has been set using the manual feed acceleration/deceleration time constant SP-5 (p7-10) is
the one used as the acceleration/deceleration time constant value.
There is no need to hold down the ? and ? .

The servo actuator rotates by the skip amount when the ON edge of the ? or ? is detected.
(2) Trial run using control I/O signals (p3-12)
Operations (I/O jog operations) can be performed using the FWD and RVS (p6-15) input signals.
For further details, refer to <7> I/O jog operation (p3-12) in Section 3-2 on the basic command methods.
When the + over-travel, - over-travel (p6-13) and external failure input (p6-12) signals have been allocated to
CONT1 to 14 (p6-10), set each of the signals to ON.
The servo actuator will not rotate if these signals are OFF.
6-6
- Origin Setting -
6-4 Origin Setting
(1) With the absolute encoder
Use the panel switches at the front of the servo amplifier to set the origin as described below.
<1> Operate the servo actuator, and locate the machine origin.
When locating the machine origin, the servo actuator can be driven by I/O jog operation (p3-12), manual jog
operation (p3-16) or manual skip operation (3-16).
<2> When the machine origin has been located, follow the steps below to set the coordinate origin of the
absolute encoder.
When the origin is set, the following operations are performed inside the system.
The multi-rotation counter of the absolute encoder is reset.
The current position on the coordinate axes is changed to the origin return position setting CP-22 (p7-19).
In the case of equal pitch multi-rotation coordinates (p3-6) (coordinate axis: CP-8=1 (p7-15)), the positions
of all the positioning addresses are shifted by an amount equivalent to the origin return position setting
(p7-19).
Origin settings are available in any main operation mode (p3-5).
Press the mode switch on the front panel of the servo amplifier to establish the manual operation mode. (p7-1)
Once the manual operation mode has been established, operate as indicated below.
Manual operation mode initial display

(manual jog operation mode (p3-16))
DOWN ? ? UP
Manual skip operation mode display (p3-16)
DOWN ? ? UP
Origin setting mode display
MODE Hold down the SET for 2 seconds.

Automatic return
Origin return position setting : CP-22 (p7-19) value displayed here
A dot appears here if the value is a negative one.
Press the ? and ? together for 2 seconds.
The origin is now set.

(The display flashes.)
6-7
- Origin Setting -
(2) With the incremental encoder
When the incremental encoder is used, set the origin by conducting the origin return operation that employs the
LS signal. Refer to p6-14, 3-14 for details.
(Origin return can also be conducted using the panel switches at the front of servo amplifier as with the absolute
encoder.)
6-8
- Input Signals -
6-5 Control Functions
(1) Input signals (CN2) (p5-6)
"ON" and "OFF" in the text below are defined as follows.

ON : The state in which power is supplied to the input circuit LED (p5-7)
OFF : The state in which no power is supplied to the input circuit LED
Pin
Signal name Symbol Description
no.
Operation ready PRDY 36 This signal is for preparing for operation.
command When it is turned on, the relay which supplies power to the main
circuitry is turned on.
The low-voltage alarm (p9-2) results if L1, L2, and L3 have not been
turned on in the main circuitry when this signal is on.
The signals from the encoder are counted if the control power has
been turned on even when this signal is off.
Operation is not possible when this signal is off.
Keep this signal on at all times if two separate power supplies--one
for the main power and another one for the control power--are not
used.
Servo ON SVON 35 When both the operation ready command and this signal are on, the
servo actuator is energized and, thus, operable.
The brake (p5-14) is released when this signal is on; it engages when it
is off.
The signals from the encoder are counted even when this signal is off.
Mode A MODE A 24 These signals select the operation mode (p3-3).
MODE A MODE B Operation mode

OFF OFF Main operation mode (p3-3)
Mode B MODE B 25 OFF ON I/O jog operation
Sub
ON OFF Step operation
operation
Origin return
ON ON mode
I/O skip operation
Choice of Origin return and I/Oskip operation is determined by CP-

76 sub operation mode switch (p7-26).
When the step operation is selected by switching between MODE A
and B during the operation in the equal pitch multi-rotation
coordinates (p3-6), the servo actuator stops at the nearest address and
the positioning completion (p6-19) and home position (p6-23) signals turn
ON.
When the mode is switched between A and B during any operation
other than those noted above, the servo actuator decelerates until it
stops.
6-9
- Input Signals -
Pin
no.
Start START 22 During operation in the equal pitch multi-rotation coordinates (p3-6),
optional division 360°coordinates (p3-7), infinite linear coordinates
(p3-8) or finite linear coordinates (p3-9) mode, operation is initiated
when the servo amplifier reads AD0 to 7 (p6-11) at the ON edge of
this signal.
Reset RESET 40 Alarms (p9-1) are released at the ON edge of this signal.
Unless the cause of the alarm is removed, the alarm will not be
released even when this signal is turned on.
If the nature of the alarm points to a serious failure (p9-1), the alarm
will not be released even when this signal is turned on.
Turn off the power and turn it back on again.

Control 1 to 14 CONT1 3 These signals enable the functions selected among the ones listed
CONT2 4 below to be allocated.
CONT3 5 Up to 14 functions can be allocated to control parameters 47 to 60
CONT4 6 (p7-25).
CONT5 7
For settings other than "0", if the same setting is specified for two
CONT6 8
or more symbols from CONT1 through CONT14, the setting for the
CONT7 9
CONT symbol with the highest number will be in effect.
CONT8 19
CONT9 20
CONT10 21 (0) No function designated
CONT11 23 (1) AD0 (2) AD1
CONT12 37 (3) AD2 (4) AD3
CONT13 38 (5) AD4 (6) AD5
CONT14 39 (7) AD6 (8) AD7
(9) P operation
(10) Torque limiting enable
(11) External failure input
(12) Speed selection
(13) Acceleration/deceleration time constant selection
(14) + over-tarvel
(15) - over-travel
(16) ORG
(17) LS
(18) FWD
(19) RVS
(20) Speed command speed selection 1
(26) Speed command acceleration/deceleration selection 1
(29) Interlock
6-10
- Input Signals -
Pin
no.
Control 1 to 14 (1) AD0 to (8) AD7 (address numbers)
These signals are each read at the start signal (p6-10) rise, and the
servo actuator starts rotating in the direction of the addresses of the
signal concerned.
They take effect in the equal pitch multi-rotation coordinates (p3-6),
optional division 360° coordinates (p3-7), infinite linear coordinates
(p3-8) and finite linear coordinates (p3-9) modes.
These signals are each recognized by a binary number. Shown below is the correspondence with decimal
numbers.
AD7 AD6 AD5 AD4 AD3 AD2 AD1 AD0

7 6 5 4 3 2 1 0
2 2 2 2 2 2 2 2
128 64 32 16 8 4 2 1
Example: When AD1, 3 and 5 are on, the address is 42 (2+8+32).

Example: When the maximum number of addresses is 7, there is no need to allocate functions to
AD3 to 7.
Positioning completion width: CP-24 (p7-19)

Rotation speed
Current address 1 2
Servo ON (p6-9)
ON
AD0
ON
AD1
ON
*1 *1
OFF
Start (p6-10)
*2
Positioning
completion OFF
(P61)
(p6-19)
*1 After the start signal has been set on (started), the positioning contents will remain unchanged even if the
address numbers (input values of AD0 to 7) are changed.
*2 Rotation is started at the ON edge of the start signal. Operation to the next address is not executed if the signal
is permanently on.
6-11
- Input Signals -
Pin
no.
Control 1 to 14 (9) P operation
When this signal is set on, the speed loop control goes from
proportional and integral control to proportional control only.
The signal enables the servo rigidity to be weakened.
(10) Torque limiting enable
This function limits the output torque of the servo actuator.

The output torque is limited when this signal is on.
The limit level is set by the torque limit value CP-34 (p7-20).
The maximum torque (= maximum torque limit value) when the torque
is not limited is as below.
AR30 AR60 AR135

AR15 AR10H
ARH7 ARH17 ARH24
350 350 350 300 350 [%]
(Rated torque = 100%)
(11) External failure input

This is used to stop the servo actuator when a failure has occurred in
an external device.
The servo actuator stops immediately when this signal is turned off,
while maintaining its power.
When the servo ON signal (p6-9) is on, the holding torque remains in
force even after shutdown.
Even if this signal is reset, the operation cannot resume unless a
signal to direct the operation, such as START (p6-10), FWD (p6-15),
etc., is input.
The rotation commands (including the pulse train commands) which
have been input while this signal is off are invalid.
(12) Speed selection
This selects the motor rotation speed and the motor

acceleration/deceleration time constant in the equal pitch multi-
rotation coordinates (p3-6) mode.
The servo amplifier reads the input status at the ON edge of the start
signal (p6-10).
The relation between the ON/OFF statuses and the selected servo
parameters is as below.
Selected servo parameter
Input status of speed
Motor acceleration/deceleration time
selection Motor rotation speed
constants
SP-10: Acceleration/deceleration
ON SP-8: Speed 2 for equal division
time constant 2
SP-9: Acceleration/deceleration time
OFF SP-7: Speed 1 for equal division
constant 1
6-12
- Input Signals -
Pin
no.
Control 1 to 14 (13) Acceleration/deceleration time constant selection
This selects the acceleration/deceleration time constant in the

optional division 360° coordinates (p3-7), the infinite linear
coordinates (p3-8) and the finite linear coordinates (p3-9) modes.
The servo amplifier reads the input status at the ON edge of the start
signal (p6-10).
The relation between the ON/OFF statuses and the selected servo
parameters is as below.
Input status of
acceleration/deceleration time Selected servo parameter
constant selection
ON SP-10: Acceleration/deceleration time constant 2
OFF SP-9: Acceleration/deceleration time constant 1
(14) + over-travel, (15) - over-travel
When these pins are turned off, the rotation command in the detection
direction is ignored, and the servo actuator stops immediately, while
maintaining its power.
The servo actuator does not stop even when the over-travel signal in
the reverse direction of the rotating direction turns OFF.
Even in the over-travel detection status, the servo actuator can be

rotated in the direction opposite to the over-travel detection
direction.
6-13
- Input Signals -
Pin
no.
Control 1 to 14 (16) ORG
The origin return operation is started at the ON edge of this signal.
(17) LS
This is for the origin return limit switch input.
Origin return timing chart

Origin return speed : CP-19 (p7-19)
Rotation speed Origin return creep speed

Acceleration/ : CP-20 (p7-19)
deceleration
time constant 1:
SP-9 (p7-11) Origin return shift amount
ORG : CP-21 (p7-19)
ON
OFF
LS
Encoder Z phase (Z-OUT) (p5-9)

OFF
Positioning
OFF
completion (p6-19)
(Invalid if the origin return is executed in the equal pitch multi-rotation coordinates (p3-6).)
<1>
When the ORG signal changes to ON from OFF in the timing chart, then the servo actuator is operated at the
origin return speed (CP-19 setting, p7-19) in the origin return direction (CP-18 setting, p7-19).
<2>
Starting at the moment when the origin LS signal goes from off to on, the servo actuator decelerates at the
origin return creep speed (CP-20 setting, p7-19). In this case, the acceleration/deceleration time constant 1
SP-9 setting serves as the acceleration/deceleration time constant.
<3> When the first encoder Z phase signal is detected after the origin LS signal goes from on to off, the servo
actuator stops at the position reached after having rotated for the equivalent of the origin return shift amount
CP-21 (p7-19) setting (unit: encoder pulses).
(The Z phase signal is output once for each complete rotation of the motor.)
<4> The current position of the coordinate axes is changed to the origin return position CP-22 (p7-19) setting (unit
= encoder pulses).
In the case of equal pitch multi-rotation coordinates (coordinate axes: CP-8=1, p7-15), the positioning
addresses positions are shifted by an amount equivalent to the origin return position setting.
The origin return completion signal is turned on.

After origin return has been set, the origin return completion signal turns on if the current position of the servo
actuator is within the origin detection range CP-23 (p7-19) setting centered on the origin.
When either the + over-travel or the - over-travel signal (p6-13) in the rotating direction is detected during the origin
return operation, the servo actuator stops immediately. In this case, step <4> above is not executed.
6-14
- Input Signals -
Pin
no.
Control 1 to 14 (18) FWD (forward) (19) RVS (reverse)
FWD: The servo actuator rotates in the current position

incrementing direction while this signal is on.
RVS: The servo actuator rotates in the current position
decrementing direction while this signal is on.
These signals take effect with I/O jog operation, step operation and
speed command.
For the rotation direction of the servo actuator, refer to input signals,
parameters and rotation directions of the servo actuator (p3-26).
The rotation speed is set as follows.

I/O jog operation (p3-12)
The manual feedrate (SP-4, p7-10) setting is applied to
Step operation (p3-13)
operations.
I/O skip operation (p3-15)
The speed can be selected from speed command speed 1 to
Speed command operation (p3-11) 6 (SP-11 to SP-16) (p7-11) by the speed command speed
selection 1 to 6 (p6-16).
In the speed command operation mode (p3-11):
The speed command speed 1 is automatically selected if speed
command speed selections 1 to 6 have not been allocated to control 1
to 14 or if all the signals are off even when these selections have
been allocated.
The acceleration/deceleration time constant is set as follows.
I/O jog operation (p3-12)
The manual feed acceleration/deceleration time constant (SP-
Step operation (p3-13)
5, p7-10) setting is applied to these operations.
I/O skip operation (p3-15)
The time constant can be selected from speed command
acceleration/deceleration 1, 2 or 3 (SP-17, SP-18 or SP-19)
Speed command operation (p3-11)
(p7-12) by the speed command acceleration/deceleration
selection 1, 2 or 3 (p6-17).
In the speed command operation mode (p3-11):
The speed command acceleration/deceleration 1 is automatically

selected if speed command acceleration/deceleration selections 1 to
3 have not been allocated to control 1 to 14 or if all the signals are
off even when these selections have been allocated.
Timing chart during I/O jog operations (p3-12)
OFF
FWD
OFF
RVS
Servo actuator stops when both the FWD and RVS signals are on.
Rotation speed Manual feedrate 1: SP-4
When FWD is then

Manual feed acceleration/deceleration time constant: SP-5 (p7-10) turned off, RVS takes effect.
6-15
- Input Signals -
Pin
no.
Control 1 to 14 (20) Speed command speed selection 1
The motor rotates at the speed which has been set in speed command
speed 1 to 6 (SP-11 to SP-16) (p7-11) by issuing the rotation command
(turning on the FWD or RVS signal) after this signal is input.
The rotation direction is determined by the FWD or RVS signal.
For the rotation direction of the servo actuator, refer to input signals,
parameters and rotation directions of the servo actuator (p3-26).
This signal has first-in priority during the FWD or RVS signal ON
period.
During the FWD or RVS signal ON period, when the ON edges of

two or more signals have been detected in 2ms or so, the servo
actuator decelerates until it stops.
When the command has been changed during acceleration or

deceleration, the speed changes to the post-change speed after the pre-
change speed has been reached.
6-16
- Input Signals -
Pin
no.
Control 1 to 14 (26) Speed command acceleration/deceleration selection 1
This signal selects the acceleration/deceleration time constant to be

used when the speed command is issued.
This signal has first-in priority during the FWD or RVS (p6-15) signal
ON period.
Upon issuance of a speed change command (* in the following

diagram), when two or more signals are ON, the servo actuator
decelerates until it stops.
When the command has been changed during acceleration or

deceleration, the command is not reflected immediately but starting
when the next acceleration/deceleration command has been
generated.
Speed command First-in

OFF
speed selection 1 (p6-
16)
Ignored ON ignored
Speed command Effective during deceleration
OFF
speed selection 2 (p6-
16)
OFF
FWD (p6-15)
OFF
RVS (p6-15)
Speed command First-in

acceleration/decelera ON
tion selection 1 (p6-
17) Ignored Effective
Speed command OFF
acceleration/decelera
tion selection 2
(p6-17)
Speed command speed 2: SP-12 (p7-11) No rotation when FWD or RVS has been
Speed command speed 1: turned on while two or more selection signals
SP-11 (p7-11) have been input.
*
Rotation speed
Speed command acceleration/deceleration

selection 1: SP-17 (p6-17)
Speed command acceleration/deceleration selection 2: SP-18
6-17
- Input Signals -
Pin
no.
Control 1 to 14 (29) Interlock
Rotation is prohibited while this signal is on.

When this signal turns on, the servo actuator decelerates until it
stops.
The servo lock status is established while the servo actuator has
stopped.
The remaining operations are executed when this signal turns off.
The above logic and chart below apply when interlock logic CP-43
(p7-22) is 1 (default value).
This logic can be reversed using this parameter.
Example of equal pitch multi-rotation coordinates (p3-6): CP-8=1
In this case, the interlock signal is input around address 9 during operation from address 8 toward address 10,
the servo actuator stops, the interlock is then released, and the servo actuator is positioned at address 10.
MODE A (p6-9) OFF
MODE B (p6-9) OFF
Interlock OFF
Command address 8 1 0
AD0 (p6-11) OFF
AD1
ON
AD2 OFF
AD3
ON
OFF
Start (p6-10)
Current address 6 7 8 9 1 0
OUT-AD0 (p6-20)
ON
OUT-AD1
ON
OUT-AD2
OUT-AD3
ON
Home position
ON
(p6-23)
Operation underway
ON
(p6-21)
Rotation speed
Positioning
OFF
completion (p6-19)
6-18
- Output signals -
(2) Output signals (CN2) (p5-6)
"ON" and "OFF" in the text below are defined as follows.
ON : The state in which the output circuit transistors (p5-7) are ON

OFF : The state in which the output circuit transistors are OFF.
Pin
no.
Positioning INP 31 This signal turns ON under the following conditions.
completion
For equal pitch multi-rotation coordinates (p3-6) : In the main
operation mode (p3-5) or the step operation mode (p3-13), | Target
address position – Current position | < Positioning completion
width (CP-24, p7-19)
For the optional division 360° coordinates, the infinite linear
coordinates, the finite linear coordinates and the pulse train
operation : | Command position – Current position | < Positioning
completion width (CP-24, p7-19)
Out 1 to 15 OUT1 11 These signals enable the functions selected from among the ones
OUT2 12 listed below to be allocated.
OUT3 13 Up to 15 functions can be allocated to control parameters 61 to 75
OUT4 14 (p7-26).
OUT5 15 The same function can be set in more than one pin.
OUT6 16
OUT7 27 (0) No function designated
OUT8 28 (1) OUT-AD0
OUT9 29 (2) OUT-AD1
OUT10 30 (3) OUT-AD2
(9) Operation ready completion
(10) Servo ON/OUT
(11) Operation underway
(12) Fixed point/through point 1
(14) Over-travel detection
(15) Origin return completion
(16) Alarm detection
(17) Speed arrival
(18) Home position
(19) Torque limiting underway
(20) Positioning completion
6-19
- Output signals -
Pin
no.
Out 1 to 15 (1) OUT-AD0 to (8) OUT-AD7
These signals output the current address.

The same binary number output format as for AD0 to 7 (p6-11) of
control 1 to 14 is used.
These signals take effect, in the case of an absolute encoder, after the
power is turned on, since the previous position has been backed up
even when the power is OFF.
However, in the case of an incremental encoder, this signal is output
in accordance with the "zero" position that will be recognized when
the power is turned ON.
The correlation between the coordinate axes and output logic is as
shown below.
Coordinate axes: CP-8 (p7-15) Output logic

Equal pitch multi-rotation coordinates (p3-6) 1 Address nearest the current position
Optional division 360° coordinates (p3-7) 2
Infinite linear coordinates (p3-8) 3 Target address
Finite linear coordinates (p3-9) 4
(9) Operation ready completion
This signal turns on when both of the following conditions have been
met.
Conditions When operation ready command (p6-9) is ON
When no alarms (p9-1) have occurred
After the operation ready command has turned on, there is a delay of
approximately (300ms=ARN15,30 : 600ms=ARN60,135) before this
signal is output.
(10) Servo ON/OUT
This signal turns on when all of the following conditions have been
met.
This signal indicates the power is being supplied to the servo motor.
Conditions When operation ready command (p6-9) is ON

When no alarms (p9-1) have occurred
When servo ON (p6-9) is ON
When the power save timer (p7-21) is not active
(the brake is not applied)
After the operation ready command has turned on, there is a delay of
of approximately (300ms=ARN15,30 : 600ms=ARN60,135) before
this signal is output.
6-20
- Output signals -
Pin
no.
Out 1 to 15 (11) Operation underway
This signal turns on when the rotation command has been output from
the servo amplifier to the servo actuator.
It turns off 2 seconds after the rotation command is output from the
servo amplifier to the servo actuator or when the difference between
the current position and positioning target position is ±120 pulses,
which is equivalent to four times the encoder source signal.
The signal takes effect only when the coordinate axes CP-8 (p7-15)
setting is 1 (equal pitch multi-rotation coordinates (p3-6)).
Start (p6-10) Signals turns off as soon as A or B has occurred.

ON
(In this case, it turns off at A.)
Rotation speed 120 pulses
2 sec.
Operation underway
ON
A B

This signal can be turned on or off at the fixed point or through point
by setting fixed point/through point detection pattern CP-27 (p7-19).
<1> Fixed point (CP-27=1)
The signal turns ON when the current position of the servo actuator
comes within the range (two times larger than the fixed point
detection range) marked by (*) below.
*
Fixed point detection range:
CP-30 (p7-19)
OFF
Fixed point/through point detection position 1: CP-28 (p7-19)

Fixed point/through point detection position 2: CP-29
6-21
- Output signals -
Pin
no.
Out 1 to 15 <2> Through point (CP-27=2)
The signal turns on when the current position of the servo actuator is
more than the through point setting position; it turns off if it is less.
OFF Current position

incrementing direction
Fixed point/through point detection position 1: CP-28 (p7-19)

Fixed point/through point detection position 2: CP-29
(14) Over-travel detection
This signal turns on when one of the following conditions has

occurred.
Conditions + over-travel signal (p6-13) has gone off.

- over-travel signal (p6-13) has gone off.
Current position is more than soft + over-travel
detection position CP-31 (p7-20).
Current position is less than soft - over-travel
detection position CP-32 (p7-20).
(15) Origin return completion
This signal turns on upon completion of origin return.
Subsequently, it turns on when the current position of the servo

actuator comes within the range marked with an asterisk (*) shown
below (twice of the origin detection range). (See page 3-14)
When a value except zero is input for the CP-22 origin return position
setting (p7-19), the origin return completion signal may not turn ON at
the position where origin return was executed because the coordinate
origin position differs from the position where origin return was
executed.
Concerning the equal pitch multi-rotation coordinates (p3-6) and the

optional division 360° coordinates (p3-7), the coordinate axis shifts
automatically during operation. Therefore, this signal does not
necessarily correspond to the mechanical origin point.
Origin detection range: CP-23 (p7-19)

OFF
Origin return position setting: CP-22 (p7-19)
6-22
- Output signals -
Pin
no.
Out 1 to 15 (16) Alarm detection
This signal turns on when an alarm (p9-1) is detected.
To release the alarm status, remove the cause of the alarm and
either turn on the reset signal (p6-10) or turn off the main power and
control power and then turn them back on again.
The external failure input (p6-12), + over-travel and - over-travel (p6-

and interlock (p6-18) are not identified as an alarm status.
13)
(17) Speed arrival
This signal turns on when the motor rotation speed exceeds the
speed arrival identification speed CP-26 (p7-19) setting.
Speed arrival identification

speed CP-26
Rotation speed
Speed arrival
ON
(18) Home position
This signal turns on when the current position of the servo actuator
has come within the range, marked with an asterisk (*), of each
address shown below (This range is twice that of the home position
detection range).
The home position detection width is set using home position

detection range CP-36 (p7-21).
The signal takes effect only when the coordinate axes CP-8 (p7-15)
setting is 1 (equal pitch multi-rotation coordinates (p3-6)).
Home position detection range CP-36 (p7-21)
OFF
Position of addresses
6-23
- Output signals -
Pin
no.
Out 1 to 15 (19) Torque limiting underway
This signal turns on when the following conditions is met.
Conditions The torque limiting enable signal (p6-12) of

control 1 to 14 is turned on, and the motor torque
has been limited by the torque limit value CP-34
setting.
(20) Positioning completion
The function of this signal is the same as that of INP (positioning

completion) noted on page 6-19.
The same function as the positioning completion can be allocated to

OUT1 through OUT15.
Battery alarm BAT ALM 46 This signal turns on when the voltage of the battery (p5-19) for the
absolute encoder has dropped.
It has the same function as the battery voltage drop warning LED
(red) (p5-1,3) on the front panel.
When this signal has turned on, replace the battery immediately.
(See page 5-19)
6-24
- Overview of Setting Methods -
7. SETTING METHODS
7-1 Overview of Setting Methods
Power ON (p6-3) HELLO
Frame no. display Ar n 1 5, 3 0, 6 0, 1 3 5

Encoder display (p6-3) AbS , I n C , 10H
Press MODE for 2 sec.
Press MODE for 2 sec. Press MODE for 2 sec.
Display mode (p7-3) Servo parameters (SP) (p7-9)
1. S P E d : Motor rotation speed SP - 1 : Speed loop proportional gain p7-9
2. P A d d : Position address number 2 : Speed loop integral gain p7-9
? 3. P O S : Current position ?? ? 3 : Position loop gain p7-9
4. r P O S : Requested position ?? 4 : Manual feedrate p7-10
5. P t O r : Percentage torque 5 : Manual feed acceleration/deceleration time p7-10

constant
? 6. d P U L : Deviation pulse ?? ? 6 : Skip amount p7-10
7. F P U L : Feedback pulse ?? 7 : Speed 1 for equal division p7-10
8. r P U L : Requested pulse ?? 8 : Speed 2 for equal division p7-10
9. A L H I : Alarm history 9 : Acceleration/deceleration time constant 1 p7-11
1 0. d I : Digital input monitor 1 0 : Acceleration/deceleration time constant 2 p7-11
1 1. d O : Digital output monitor 1 1 : Speed command speed 1 p7-11
1 2. v E r : Software version 1 2 : Speed command speed 2 p7-11
1 3 : Speed command speed 3 p7-11
? : There are five or more upper digits. 1 4 : Speed command speed 4 p7-11
? : Positive or negative value. 1 5 : Speed command speed 5 p7-11
1 6 : Speed command speed 6 p7-11
1 7 : Speed command acceleration/deceleration 1 p7-12
1 8 : Speed command acceleration/deceleration 2 p7-12
S P - 1 9 : Speed command acceleration/deceleration 3 p7-12
7-1
- Overview of Setting Methods -

Alarm display (p9-1) (only upon alarm occurrence)
Control parameters (CP) (p7-13) Manual operation mode Positioning data editing mode (p7-33)
CP - 1 J r Un : Manual jog (p6-5) n 1 : Address #1
CP - 2 ? S r Un : Manual skip (p6-6) ? n 2 : Address #2
Or IG : Origin setting (p6-7)
CP - 7 5 ? ? n 2 5 5 : Address #255
1 Encoder type 40 Power save timer time 76 Sub operation mode switch
2 Reduction gear ratio numerator 41 Overshoot amount 77 Factory use (Not for user)
3 Reduction gear ratio denominator 42 Number of follow-up pulses 78 Position defect alarm
4 Electronic gear a ? 43 Interlock logic available/unavailable
5 Electronic gear ß? 44 Rewriting prohibited 79 Position defect alarm width
6 Unit amount 45 Monitor selection
7 Brake available/unavailable 46 Display contents when power is turned on
8 Coordinate axis 47 Control 1
9 Number of divisions 48 Control 2 Functions allocated to control 1 to
10 Total number of addresses 49 Control 3 14 (p6-10) Functions allocated to out 1 to 15 (p6-
11 Optional division short-cut control 50 Control 4 (0) No function designated 19)
12 Indexing number incrementing direction 51 Control 5 (1) AD0 (0) No function designated
13 MF/FIN available/unavailable 52 Control 6 (2) AD1 (1) OUT-AD0
14 Short-cut/unidirectional selection 53 Control 7 (3) AD2 (2) OUT-AD1
15 2-position indexing direction selection 54 Control 8 (4) AD3 (3) OUT-AD2
16 Input pulse system 55 Control 9 (5) AD4 (4) OUT-AD3
17 Pulse train operation rotation direction 56 Control 10 (6) AD5 (5) OUT-AD4
18 Origin return direction 57 Control 11 (7) AD6 (6) OUT-AD5
19 Origin return speed 58 Control 12 (8) AD7 (7) OUT-AD6
20 Origin return creep speed 59 Control 13 (9) P operation (8) OUT-AD7
21 Origin return shift amount 60 Control 14 (10) Torque limiting enable (9) Operation ready completion
22 Origin return position setting 61 Out 1 (11) External failure input (10) Servo ON/OUT
23 Origin detection range 62 Out 2 (12) Speed selection (11) Operation underway
24 Positioning completion width 63 Out 3 (13) Acceleration/deceleration time (12) Fixed point/through point 1
Acceleration / deceleration
25 Excessive deviation width 64 Out 4 (13) Fixed point/through point 2
time constant selection
26 Speed arrival identification speed 65 Out 5 (14) Over-travel detection
27 66 Out 6 (14) + over-travel (15) Origin return completion
Fixed point/through point detection pattern
67 Out 7 (15) - over-tarvel (16) Alarm detection
28 68 Out 8 (16) ORG (17) Speed arrival
Fixed point/through point detection position 1 ? ?
69 Out 9 (17) LS (18) Home position
29 70 Out 10 (18) FWD (19) Torque limiting underway
Fixed point/through point detection position 2 ? ?
71 Out 11 (19) RVS (20) Positioning completion
30 Fixed point detection range 72 Out 12 (20) Speed command speed selection 1
31 Soft + over-travel detection position? ? 73 Out 13 (21) Speed command speed selection 2
32 Soft - over-travel detection position? ? 74 Out 14 (22) Speed command speed selection 3
33 Speed limit value 75 Out 15 (23) Speed command speed selection 4
34 Torque limit value (24) Speed command speed selection 5
35 Brake forcible release (25) Speed command speed selection 6
36 Home position detection range (26) Speed command acceleration/deceleration selection 1
37 Backlash compensation amount (27) Speed command acceleration/deceleration selection 2
38 Backlash compensation direction (28) Speed command acceleration/deceleration selection 3
39 Power save timer available/unavailable (29) Interlock
? : There are five or more upper digits. ? : Positive or negative value.
7-2
- Detailed Description of Display Modes -
7-2 Detailed Description of Display Modes

When the power is turned on, the frame number and the encoder are displayed, respectively. (p6-3)
Then, the display mode is indicated. You can select the mode item to be displayed using the ? and ? . (p7-1)
Which item of the display mode is to be displayed when the power is turned on can be selected using the
"display contents when power is turned on" CP-46 (p7-24) setting. This parameter's default is the motor rotation
speed.
? Items marked with a black dot have high-order digits when their contents are displayed (p7-6).
No. Item Display Remarks

1 Motor Displays the rotation speed of the motor.
rotation
speed [rpm]
2 Position Displays the requested address AD0 to 7 (p6-11).
address
number [Position address number]
3 Current Displays the current position.
? Position For details, refer to the table on p7-4.
[Position address number or unit amount]
4 Requested Displays the requested address position data.
? position For details, refer to the table on p7-4.
[Unit amount]
5 Percentage Displays the torque command value.
torque The rated torque is 100%.
[%]
6 Deviation Displays the difference between the requested pulse and
pulse feedback pulse.
? For details, refer to the table on p7-4.
[Encoder pulse]
7 Feedback Displays the cumulative number of pulses which have
pulse been fed back from the encoder.
? • For details, refer to the table on p7-4.
[Encoder pulse]
8 Requested This is the internal request value.
pulse Displays the number calculated from “(Cumulative total
? number of pulses which have been input from the external
source [Number of ?and ? for CP-16, p7-18]) x Electronic
gear a /Electronic gear ß ” during the pulse train operation
(p3-10).
[Encoder pulse]
9 Alarm Among the alarms which have occurred in the past (p9-1),
history this displays the alarm which occurred last.
A history of the last 10 alarms is displayed by pressing
the button on the front panel.
The alarms are displayed in sequence starting with the
most recent one.
7-3
The method used to display the alarm history is described below.
MODE
SET
This number displays the most recent alarm.

DOWN ? Alarm 5 = overcurrent.
This is the second most recent alarm.

The alarms are displayed in sequence starting
UP ? with the most recent one.
Alarm 11 = Encoder trouble.
What is displayed for the items below differs according to the operation mode which has been selected.
Equal pitch Optional Speed

Infinite linear Finite linear Pulse train
multi-rotation division 360° command
coordinates coordinates operation
coordinates coordinates operation
Start (p6-10)
Zero point Origin Origin - -
Current position ON position
Unit Address Unit amount (p7-14) - -
Start (p6-10)
Zero point - Origin Origin - -
Requested position ON position
Unit - Unit amount (p7-14) - -

Zero point When requested pulse = feedback pulse -
Deviation pulse
Unit Encoder pulses -
Zero point Origin -
Feedback pulse
Zero point Origin -
Requested pulse
The encoder pulses are the A- and B-phase signals multiplied by 4.

What is displayed in the sub operation modes is the same as what is selected as the main operation mode.
When an absolute encoder is used, the current position and feedback pulse are held even when the power is
turned off.
When an absolute encoder is used, the requested pulse has the same value as the feedback pulse when the
power is turned on.
Displayed as the current position of the equal pitch multi-rotation coordinates is the address closest to the
current position.
When the reset signal (p6-10) is turned on and the alarm is released, the requested pulse will have the same
value as the feedback pulse.
When the START signal (p6-10) turns on, both the current and requested positions of the infinite linear
coordinates are reset to zero.
7-4
No. Item Display Remarks

10 Digital Displays the status of the input signal of control I/O signal
input CN2 (p5-6).
monitor
Segments illuminated: ON
This denotes that power is supplied to the input circuit
LED (p5-7).
Segments extinguished: OFF

This denotes that power is not supplied to the input
circuit LED.
CONT1 (p6-10) CONT2 CONT3 CONT4 CONT5
CONT6 CONT7 CONT8 CONT9 CONT10
CONT11 CONT12 CONT13 CONT14 RESET(p6-10)
PRDY (p6-9) SVON (p6-9) MODE A (p6-9) MODE B (p6-9) START (p6-10)
11 Digital Displays the status of the output signal of control I/O

output signal CN2 (p5-6).
monitor
Segments illuminated: ON
This denotes that the output circuit transistors (p5-7) have
turned on.
Segments extinguished: OFF

This denotes that the output circuit transistors have
turned off.
OUT1 (p6-19) OUT2 OUT3 OUT4 OUT5
OUT6 OUT7 OUT8 OUT9 OUT10
OUT11 OUT12 OUT13 OUT14 OUT15
INP (p6-19) The battery alarm : BAT ALM (p6-24) cannot be monitored.
12 Software Displays the software version.

Version
Controller CPU
Driver CPU
7-5
- Display Mode Operation Methods -
7-3 Display Mode Operation Methods

This section describes how to operate the display mode.
The panel switches at the front of the servo amplifier are used for operation.
The "1. SPEd:Motor rotation speed (p7-3)" contents display appears when the power is first turned on.
Display of display number and item (p7-3)
? SET
MODE
Contents display
? This number is a negative one if these dots are

SET ON.
Upper-level digits are present if this dot is ON.

When upper-level
digits are present
Upper-level digits: contents display
This number is a negative one if these dots are

ON.
"U" indicates that what is displayed
is the upper-level digits.
The above example indicates that the current value is "-10525012".
The current position, requested position, deviation pulse, feedback pulse and requested pulse (p7-3) have upper-
level digits.
Even if the upper-level digits is zero, the upper-level digit display is still provided, and zero is displayed.
If the display is invalid (p7-4) such as the "current position" display when the speed
command operation (p3-11) has been selected, the contents display will appear as shown on
the right.
7-6
- Parameter Setting Methods -
7-4 Parameter Setting Methods

This section describes how the servo parameters (p7-9) and control parameters (p7-13) are set.
The parameters are set using the panel switches at the front of the servo amplifier.
For a control parameter For a servo parameter
SET
? MODE Contents display

Automatically returns.
*
This number is a negative one if these dots are
MODE
ON.
Upper-level digits are present if this dot is ON.
?
The setting is changed using the ?
MODE and ? .
* Plus is switched to minus or vice
versa by holding down both the ?
SET and ? for 2 seconds.
When upper-level digits are present
SET (when no changes have been made)
MODE Upper-level digits: contents display

*
This number is a negative one if these dots
are ON.
"U" indicates that what is displayed is the upper-level digits.
The setting is changed using the ?

MODE and ? .
* Plus is switched to minus or vice
versa by holding down both the ?
Press the SET and ? for 2 seconds.
for at least 2
seconds. Press the SET for at least 2 seconds
(when no changes have been made).
Setting entered (segments now flash)
If there are no upper-level digits, "U" is not indicated.
Display of next address
7-7
- Parameter Setting Methods -
In this example, control parameter 31(CP-31) has been changed from "-10525012" to "-21512353".
Even when the value of the upper-level digits is zero for a parameter in which upper-level digits can be set,
the upper-level digit will be displayed (as zero).
Changes in places with * are not reflected in the parameters.
Changes made using the ? and ? are not carried down from the upper-level to low-order digits or carried up
from the low-order to upper-level digits.
When zero is input as the value of lower-level digits for electronic gear a (p7-14) (control parameter 4) or ß
(control parameter 5), the upper-level digit cannot be set to zero.
7-8
- Servo parameters -
7-5 Detailed Description of Parameters
(1) Servo parameters
Servo parameters 1, 2, 3 and 11 through 19 can be changed during operation.

Such changes immediately affect the operation.
The other parameters can also be changed during operation.
However, the changes will be made after the parameters are changed and the motor stops.
Default value
ARN30
No. Parameter Setting range
ARN15 Other than ARN60 ARN135
AR10H
AR10H
1 Speed loop proportional gain 1-15000 150 270 1000 280 510
2 Speed loop integral gain 1-15000 930 1800 2000 1800 3300
3 Position loop gain 1500-5000 2000
These parameters are used to adjust the response characteristics of the motor. Increasing their numerical
values increases the response characteristics.
In the equal pitch multi-rotation coordinates (p3-6), the optional division 360° coordinates (p3-7) and the infinite
linear coordinates (p3-8) modes, if hunting has occurred on the servo actuator, infinite feed may not be possible.
Adjust the gain properly.
For speed command operation (p3-11)
Speed loop Electric Motor

Speed command
proportional gain current loop
Speed loop Electric current

1/S
integral gain
Speed
For position control (other than speed command operation)
Position Position Speed loop Electric Motor

command loop gain proportional gain current loop
Speed loop Electric current

1/S
integral gain
Position Speed
1/S
7-9
To adjust or designate the parameters refer to the following table.
Inertia moment ratio 1 3 5

Speed loop proportional gain 150 290 430
ARN15 Speed loop integral gain 930 1900 2800
Position loop gain 2000
Other than
Speed loop integral gain 1800 3500 5300
AR10H
ARN30
AR10H Speed loop integral gain 2000 3000 4000
2
Load moment of inertia [kg·m ] × 10000
Inertia moment ratio =
2 2
Reduction gear ratio × Moment of inertia of motor [kg·cm ]
No. Parameter Setting range Default value

4 Manual feedrate 1 - 3000 [rpm] (AR135:2500) 100
Manual feed acceleration/deceleration time
5 0 - 30000 [msec] 500
constant
These parameters are for setting the motor rotation speed and the acceleration/deceleration time constant
during the I/O JOG (p3-12), the step operation (p3-13), the I/O skip operation(p3-15), the manual jog operation (p3-16)
and the manual skip operation (p3-16).

6 Skip amount 1 - 99999 [encoder pulses] 100
This parameter is for setting the skip amount during manual skip operations (p3-16) and I/O skip operation (p3-
15).
Using the encoder's pulse units, this value indicates the angle of motor rotation, which is equivalent to four
times the encoder source signal.

7 Speed 1 for equal division 1 - 3000 [rpm] (AR135:2500) 100
8 Speed 2 for equal division 1 - 3000 [rpm] (AR135:2500) 100
These parameters are for setting the motor rotation speed in the equal pitch multi-rotation coordinates (p3-6)
mode.
The rotation speed can be selected by speed selection (p6-12).
If the speed selections have not been allocated to control 1 to 14 (p6-10), speed 1 for equal division is
automatically selected.
7-10

9 Acceleration/deceleration time constant 1 0 - 30000 [msec] 500
10 Acceleration/deceleration time constant 2 0 - 30000 [msec] 500
The following table shows the operation modes, the selected acceleration/deceleration time constants, and the
selection function names.
Acceleration/ Acceleration/
Selection function name (Control
Operation mode deceleration time deceleration time
allocation (p6-10))
constant 1 constant 2
? ? Speed selection (p6-12)
coordinates (p3-6)
Optional division 360° coordinates
? ?
(p3-7)
Acceleration/deceleration time
Infinite linear coordinates (p3-8) ? ? constant selection (p6-13)
Finite linear coordinates (p3-9) ? ?

Machine origin return (p3-14) ? - -
When the speed selection (p6-12) is not allocated to controls 1 to 14 (p6-10) in the equal pitch multi-rotation
coordinates mode, acceleration/deceleration time constant 1 is automatically selected.
When the acceleration/deceleration time constant selection (p6-13) is not allocated to controls 1 to 14 (p6-10) in
the optional division 360° coordinates, the infinite linear coordinates or the finite linear coordinates mode,
acceleration/deceleration time constant 1 is automatically selected.
The parameters denote the time taken from 0 to 3000 rpm at motor and vice versa.

11 Speed command speed 1
1 - 3000 [rpm] (AR135:2500) 100
These parameters are for setting the motor rotation speed during speed command operations (p3-11).
Speed command speed 1 to 6 are selected by speed command speed selections 1 to 6 (p6-16).
When these parameters are changed during operation, the speed is changed in accordance with the selected
speed command acceleration/deceleration 1 to 3.
If the speed command speed selections 1 to 6 have not been allocated to control 1 to 14 (p6-10) or if all the
control signals are OFF even though they have been allocated, speed command speed 1 is automatically
selected.
7-11

17 Speed command acceleration/deceleration 1
18 Speed command acceleration/deceleration 2 0 - 30000 [msec] 500
19 Speed command acceleration/deceleration 3
These parameters are for setting the motor acceleration/deceleration time constants during speed command
operations (p3-11).
Speed command acceleration/deceleration 1 to 3 are selected by speed command acceleration/deceleration
selections 1 to 3 (p6-17).
The parameters denote the time taken from 0 to 3,000 rpm at motor and vice versa.
If the speed command acceleration/deceleration selections 1 to 3 have not been allocated to control 1 to 14 (p6-
10) and if all the control signals are OFF even when they have been allocated, speed command
acceleration/deceleration 1 is automatically selected.
7-12
- Control parameters -
(2) Control parameters
Control parameters can be edited during operation but they take effect only when the power is turned off and then
turned back on.

1(Absolute AR)
1 Encoder type 2(Incremental AR) 1
3(Incremental AR10H)
This parameter is for setting the encoder type (p2-1) which is incorporated inside the servo actuator.
Refer to "Precautions for Initial Turning-on of the Power Supply" on pages 1-4,5,6,7.
Change of this parameter should be done by "Initialization (p7-35)" shown below.
If it is done by "Parameter setting methods (p7-7)" , motor may not run properly because internal parameters for
motor control can not be changed.
Method for initialization (Turn on the control power

Value to be set on this parameter
while pressing panel switches below)
MODE and SET 1(Absolute AR)
UP and DOWN 2(Incremental AR)
MODE and UP 3(Incremental AR10H)
This parameter can not be changed from 1 or 2 to 3 by the method written on "Parameter setting methods (p7-7)".
This parameter can not be changed from 3 to 1 or 2 by the method written on "Parameter setting methods".

2 Reduction gear ratio numerator 1 - 999 1
3 Reduction gear ratio denominator 1 - 999 1
These parameters are used for setting the deceleration ratios of the RV and GH reduction gears (p2-2), which
are built in to the servo actuator.
These parameters are used for the calculations on whose basis the coordinates are shifted to a position before
the encoder's rotational limit to enable infinite feed in the equal pitch multi-rotation coordinates (p3-6) mode or
optional division 360° coordinates (p3-7) mode.
If they are not set correctly, the calculation errors will accumulate, resulting in positional skew.
Example: Numerator = 120, denominator = 1 for AR15-A120 (p2-2)
Example: Numerator = 461, denominator = 41 for ARH7-S11(461/41) (p2-4) since they have a fractional
reduction gear ratio.
7-13

4 Electronic gear a 1 - 999999 (6 digits) 1
5 Electronic gear ß 1 - 999999 (6 digits) 1
6 Unit amount 1,2,3,4,5 1
These electronic gear settings are provided to enable the movement amount of the machine output end to be
directly assigned using physical quantities (mm, deg, etc.). Setting these parameters makes it possible to input
the position data (p7-33) directly as physical quantities.
In the equation below, the electronic gears a and ß are determined on the basis of the unit amount which is the
resolution of the position data and the amount by which the machine output end moves for each motor rotation.
4 × number of encoder pulses Electronic gear a

× Unit amount =
Machine system movement amount per motor rotation Electronic gear ß
The correlation between the settings and the unit amounts (resolution) and their position data setting range is
shown below.
(In the optional division 360° coordinates (p3-7) mode, the "Unit amount × Position data" value is less than
360.)
Setting Unit amount (resolution) Position data setting range

1 1
2 0.1
±999999999 (9 digits)
3 0.01
[unit amount]
4 0.001
5 0.0001
Number of encoder pulses (p2-2)

(before multiplication by 4)
Encoder type No. of pulses
Absolute 2048
Incremental (other than AR10H) 2000
AR10H 1000
Calculation example: Reduction gear ratio = 120, unit amount = 0.01°, overview of machine system = rotary
table drive, encoder type = absolute
1 360
Machine system movement amount per motor rotation = 360° × =
120 120
2048 = Electronic gear a

4 × number of encoder pulses 4×2048×120×0.01 8192
× Unit amount = =
Machine system movement 360 300
amount per motor rotation 75 = Electronic gear ß
The 123.45° position data in this case yields a setting of 12345. (Positioning position = Position data ×
unit amount)
In the case of pulse train operations (p3-10), the motor rotates by an amount equivalent to: Number of input
pulses (p7-18) × electronic gear a/electronic gear ß.
These parameters have no effect in the equal pitch multi-rotation coordinates (p3-6) mode and speed command
operation (p3-11) mode.
7-14

7 Brake available/unavailable 1 (available), 2 (unavailable) 1
This parameter is for enabling or disabling the brake power (p5-14) supply disconnection alarm (p9-3).
When "1" is set in the parameter, the brake power supply disconnection alarm AL-10 is output when the brake
power fails to be supplied.
Set "2" (unavailable) when using a servo actuator (p2-1) which is not equipped with a brake.
The brake power is checked only at the ON edge of the operation ready command (p6-9).

8 Coordinate axis 1,2,3,4,5,6 1
This parameter is for setting the coordinate axes (p3-5).

Equal pitch multi-rotation coordinates (p3-6) :1 Finite linear coordinates (p3-9) :4
Optional division 360° coordinates (p3-7) :2 Pulse train operation (p3-10) :5
Infinite linear coordinates (p3-8) :3 Speed command operation (p3-11) :6

9 Number of divisions 2 - 255 2
This parameter is for setting the number of addresses per rotation of the servo actuator.
It is valid only when the equal pitch multi-rotation coordinates (p3-6) mode has been selected (coordinate axes
CP-8=1).
As in the case of the drawing for control parameter No. 10 below, the number of addresses per rotation of the
servo actuator output shaft is 4 (= 360/90) in this parameter because the movement of the output shaft is
demarcated by 90-degree increments.

10 Total number of addresses 2 - 255 2
This parameter is for setting the total number of addresses.

It is valid only when the equal pitch multi-rotation coordinates (p3-6) mode
has been selected (coordinate axes CP-8=1).
In the case of the figure on the right, this parameter's setting is 10.
Servo actuator

11 Optional division short-cut control 1 (available), 2 (unavailable) 1
This parameter is for enabling or disabling short-cut control in the optional

division 360° coordinates (p3-7) mode.
As shown in the figure on your right, when position is 0 degrees and position is
270 degrees, if the servo actuator is to be positioned to from , route ? uses a
short-cut control and route does not use such a control.
CP-14 is used to enable or disable short-cut control in the equal pitch multi-
rotation coordinates (p3-6) mode.
Note that setting this parameter to "2" (disabled) rotates the output shaft at the end of the following sequence:
Positioning to 0° address ? Servo OFF ? Slight positional shift after the motor power shuts off ? For
example, when the output shaft is positioned at 359°. ? Instruction for positioning the output shaft to 0°.? The
output shaft rotates one turn.
7-15

12 Indexing number incrementing direction 1,2 1
Increases in CCW direction
This parameter is for setting the rotation direction in which the indexing
address numbers (p6-11) are incremented.
It is valid only when the equal pitch multi-rotation coordinates (p3-6) mode
has been selected (coordinate axes CP-8=1).
"1" is set as the current position incrementing direction and "2" as the
Servo actuator (output shaft side)
current position decrementing direction.
For details on the rotation direction of the servo actuator output shaft, refer to the section on the input signals,
parameters and servo actuator rotation directions on p3-26.
"1" is the setting when the addresses are to be incremented in the direction shown in the figure using AR**A.
Refer to p3-26.

13 MF/FIN available/unavailable 1 (available), 2 (unavailable) 2
When this parameter is set to "1" (available), the positioning completion signal (p6-19) is turned off in
synchronization with the turning OFF of the start signal (p6-10).
This parameter is used for interfacing with the M functions of the NC system, in which case the start signal
serves as the MF signal of the NC system and the positioning completion signal serves as the its FIN signal.
Note 1:
If the start signal is turned off before the positioning completion signal is turned on, the motor
decelerates and ultimately stops. Therefore, the positioning completion signal will fail to turn on.
NC system advances to the next block.

Start
(MF signal of NC system) Note 1
ON
OFF
Positioning completion signal
(FIN signal of NC system) Stop after deceleration
Motor rotation speed

14 Short-cut/unidirectional selection 1,2,3 1
This parameter is for setting the indexing direction with unidirectional indexing in the equal pitch multirotation
coordinates (p3-6) mode.
Set "1" for short cut, "2" for current position incrementing direction, and
CW
"3" for current position decrementing direction.
For details on the settings and rotation direction of the servo actuator
output shaft, refer to the section on the input signals, parameters and servo
actuator rotation directions on p3-26.
"3" is the setting when indexing in the direction shown in the figure using
AR**A. Refer to p3-26. Servo actuator (output shaft side)
7-16

15 2-position indexing direction selection 1,2 1
This parameter is for setting the indexing direction with 2-position indexing in the equal pitch multi-rotation
coordinates (p3-6) mode.
It takes effect when the number of divisions (CP-9) is set to "2", the total number of addresses (CP-10) is "2"
and short-cut/unidirectional selection (CP-14) is "1".
Setting "1": Address #1 ? rotation in current position incrementing direction ? address #2 ? rotation in
current position decrementing direction ? address #1.
Setting "2": Address #1 ? rotation in current position decrementing direction ? address #2 ? rotation in
current position incrementing direction ? address #1.
For details on the settings and rotation direction of the servo actuator output shaft, refer to the section on the
input signals, parameters and servo actuator rotation directions on p3-26.
The setting for indexing using AR**A is shown in the figure below. Refer to p3-26.
In this figure, the servo actuator is seen from the output shaft side.
1 2 1
CCW CW
Address Address
Setting = 1 Address
#2 #1
#1
2 1 2
1 2 1
CW CCW
Setting = 2 Address Address Address
#1 #2 #1
2 1 2
7-17

1(Foward pulse reverse pulse)
16 Input pulse system 1
2(90 phase difference 2 signals)
This parameter is for setting the input pulse format when performing pulse train operations (p3-10).
The motor rotates by an amount equivalent to the value obtained from: number of input pulses × electronic gear
a/electronic gear ß(p7-14).
For details on the input pulses and rotation direction of the servo actuator output shaft, refer to the section on
the input signals, parameters and servo actuator rotation directions on p3-26.
ON in the table below denotes a state in which power is supplied to the p5-9 pulse train input circuit LED.
Input pulse count

Input pulse system
and numbers are input pulse numbers.
Current position incrementing Current position decrementing
CP17=1
direction direction
Motor rotation direction
Current position decrementing Current position incrementing
CP17=2
direction direction
Forward pulse A-IN (p5-9): 300 kpps max

OFF
Reverse pulse 1.5 µ sec min 1.5 µ sec
B-IN (p5-9) min
OFF
3 µ sec min
CP16=1
1.5 µ sec min
1.5 µ sec
90° phase difference A-IN: 150 kpps max min
OFF
2 signals
B-IN
OFF
CP16=2
1.5 µ sec min
Past Elapsed time Present

17 Pulse train operation rotation direction 1,2 1
This parameter is for setting the motor rotation direction during pulse train operations.
Refer to the above figure for the correlation between the setting and rotation direction.
7-18

1: Current position incrementing
direction
18 Origin return direction 1
2: Current position decrementing
direction
19 Origin return speed 1 - 3000 [rpm] (AR135:2500) 100
20 Origin return creep speed 1 - 3000 [rpm] (AR135:2500) 100
21 Origin return shift amount 0 - 99999 [encoder pulses] 0
22 Origin return position setting 0 - ±99999 [encoder pulses] 0
These parameters are for setting the origin return operation. For the significance of the signals, refer to p3-14.

23 Origin detection range 1 - 9999 [encoder pulses] 10
This parameter is for setting the output range of the origin return completion signal.
For details, refer to origin return completion on p6-22.

24 Positioning completion width 1 - 9999 [encoder pulses] 10
This parameter is for setting the output range of the positioning completion signal.
For the significance of the numerical values, refer to positioning completion on page 6-19.

25 Excessive deviation width 1 - 99999 [encoder pulses] 30000
Alarm AL-8 (excessively high position deviation) results when the difference (deviation amount) between the
requested position and servo actuator current position exceeds this setting. (p9-2)
Used as the unit is the number of encoder pulses after multiplication by 4.

26 Speed arrival identification speed 1 - 3000 [rpm] (AR135:2500) 2500
This parameter is for setting the rotation speed of the motor shaft for the speed arrival signal. For details,
refer to page 6-23.

27 Fixed point/through point detection pattern 1 (fixed point), 2 (through point) 1
28 Fixed point/through point detection position 1 0 - ±999999999 [Unit amount] 0
29 Fixed point/through point detection position 2 0 - ±999999999 [Unit amount] 0
30 Fixed point detection range 1 - 9999 [encoder pulses] 10
These parameters are for setting the output format, position and range of the fixed point/through point signals.
For details, refer to page 6-21.
7-19

0 - ±999999999
31 Soft + over-travel detection position +999999999
[encoder pulses]
0 - ±999999999
32 Soft - over-travel detection position -999999999
[encoder pulses]
When an attempt is made to feed the servo actuator beyond either of these settings, the servo actuator is
stopped immediately at the position of the setting.
In this case, the control output over-travel detection signal (p6-22) turns on, and then "AL-17" (Soft over-travel
detection, p9-4) is displayed.
These parameters are valid only in the finite linear coordinates (p3-9), pulse train operation (p3-10) and machine
origin return (p3-14) modes.
Even in the over-travel detection status, the servo actuator can be rotated in the direction opposite to the over-
travel detection direction.
Do not set the parameters where the soft + over-travel detection position is less than the soft - over-travel
detection position, or else “AL-17” (Soft over-travel detection, p9-4) will occur in the finite linear coordinates
mode (p3-9), the pulse train operation (p3-10) and machine origin return (p3-14) modes.

3000
33 Speed limit value 1 - 3000 [rpm] (AR135:2500)
(ARN135:2500)
This parameter is for setting the maximum rotation speed of the motor shaft.

AR15: 0 - 350 350
AR30 , ARH7: 0 - 350 350
34 Torque limit value AR60 , ARH17: 0 - 350 350
AR135 , ARH24: 0 - 300 300
AR10H 350
This parameter is for setting the torque limit value of the motor shaft. The rated torque is treated as 100%.
The parameter is valid during the ON period of the control input signal's torque limiting enable (p6-12) signal.
The torque limiting underway (p6-24) signal turns on while the torque is being limited by this parameter's setting.

35 Brake forcible release 1 (release), 2 2
When setting "1" is selected, the holding electromagnetic brake (p5-14) is released regardless of whether the
servo ON signal (p6-9) is ON or OFF.
The brake cannot be released while the operation ready command signal (p6-9) is off.
When “1” (release) is selected, the power save timer function (CP-39) (p7-21) is deactivated.
When “1” (release) is selected and the operation ready command signal turns ON, the brake is released.
Note that, if an unbalanced load is applied to the output shaft, the servo actuator may be rotated by an external
force.
7-20

36 Home position detection range 1 - 9999 [encoder pulses] 800
This parameter is used for setting the range wherein the home position signal (p6-23) turns on.
For details, refer to the home position on page 6-23.

37 Backlash compensation amount 0 - 9999 [encoder pulses] 0
1 (current position incrementing
direction)
38 Backlash compensation direction 1
2 (current position decrementing
direction)
These parameters are used to correct the error resulting from machine system backlash.
When the servo actuator is to be rotated in the designated direction, it is positioned at the position resulting
when the backlash compensation amount is added to the target position.
For details on the backlash compensation direction and rotation direction of the servo actuator output shaft,
refer to the section on the input signals, parameters and servo actuator rotation directions on page 3-26.
The unit used for the backlash compensation amount is the number of encoder pulses after multiplication by 4.
The amount moved by the output shaft of the servo actuator is calculated using the following formula.
These parameters are valid only in the equal pitch multi-rotation coordinates (p3-6).
Backlash compensation amount × 360

Amount compensated by output shaft [°] =
Number of encoder pulses × reduction gear ratio
Requested position Stop position

Backlash compensation direction
Backlash compensation amount

39 Power save timer available/unavailable 1 (available), 2 (unavailable) 2
40 Power save timer time 30 - 9999 [sec] 30
These parameters are for reducing the heat generated by the motor if it is stopped when torque has been
applied for a prolonged period of time.
When the time set by the power save timer parameter is reached after the servo ON status has been established
and no position commands are in force, the servo ON (p6-9) signal automatically turns off, and the brake (p5-14)
is engaged.
When the start signal (p6-10) turns on after this, the brake is released, and operation is commenced.
These parameters are valid only when the coordinate axis (CP-8, p7-15) has been set to “1” and the equal
pitch multi-rotation coordinates mode (p3-6) has been selected for the main operation mode (p3-5).
These parameters are invalid when the brake forcible release (CP-35) has been set to “1” (release).
7-21

41 Overshoot amount 0 - 9999 [encoder pulses] 0
The holding torque in the servo lock status may be boosted by distortion in the machine system resulting from a
frictional load.
This parameter enables the machine system distortion to be reduced so that the holding torque is lowered.
During positioning, the servo actuator passes through the target position by an amount equivalent to this
parameter's setting, and then it returns to the target position.
By passing through and returning to the target position, the machine system distortion (hysteresis) is eliminated,
and the servo lock torque is reduced.
Set the overshoot amount to the optimum level while checking the holding torque.
When a number of pulses other than zero has been set in this parameter, the positioning time is slightly longer
than when zero has been set.
This function is valid only when the equal pitch multi-rotation coordinates (p3-6) mode has been selected
(coordinate axes : CP-8=1).
Rotation speed Overshoot amount
Position
Target position

42 Number of follow-up pulses 0 - 1000[encoder pulses] 0
Positional skew equivalent to the amount of play between the brake and motor shaft may occur when the servo
ON (p6-9) signal is turned ON, then OFF and back ON again.
This parameter is used to correct this skew.
The current position is ignored and positioning occurs at the indexing address requested position only when the
difference between the indexing address requested position and current position is less than the setting of this
parameter.
This function is executed when the servo ON signal is turned ON, then OFF and back ON again.
The function is disabled if zero is set for the parameter's setting.
This function is valid only when the equal pitch multi-rotation coordinates (p3-6) mode has been selected
(coordinate axes : CP-8=1).

43 Interlock logic 1,2 1
This parameter is for selecting the contact logic of the interlock signal.
At the "1" setting, rotation is prohibited when the signal is ON; at the "2" setting, rotation is prohibited when
the signal is OFF.
For details on the interlock function, refer to interlock on page 6-18.
7-22

1 (not prohibited)
44 Rewriting prohibited 1
2 (prohibited)
When "2" has been set, rewriting of the servo parameters (p7-9), control parameters and positioning data (p7-33)
is prohibited.
Even in the rewriting prohibited mode, only this parameter can be rewritten.
Even in the rewriting prohibited mode, initialization on page 7-35 can be executed.

45 Monitor selection 1,2,3,4 1
This parameter is for selecting the scale of the monitor connector (p5-2,3) on the side panel of the servo
amplifier.
For torque display purposes, the rated torque is treated as 100%.
Setting Motor rotation speed monitor (channel A) Torque monitor (channel B)

1 Return Return
2 Return Linear
3 Linear Return
4 Linear Linear
Return Linear
Voltage Voltage
5V 5V
2.5V
-3000rpm 0 3000rpm Motor rotation speed -3000rpm 0 3000rpm

-500% 0 500% Torque -500% 0 500%
7-23

46 Display contents when power is turned on 1 - 12 1
Immediately after the power has been turned on, the 7-segment LED is set to the display mode and displays the
display contents below. (p7-1)
This parameter is for selecting what is to be displayed immediately after the power has been turned on.
The correlation between the settings and display contents is shown below.
Setting Display content

1 Motor rotation speed
2 Position address number
3 Current position
4 Requested position
5 Percentage torque
6 Deviation pulse
7 Feedback pulse
8 Requested pulse
9 Alarm history
10 Digital input monitor
11 Digital output monitor
12 Software version
7-24
CN2
Parameter Default value Setting range
No.
47 Control 1 3 AD0 0: No function designated
48 Control 2 4 AD1 1: AD0
55 Control 9 20 RVS 8: AD7
56 Control 10 21 FWD 9: P operation
57 Control 11 23 Interlock 10: Torque limiting enable
58 Control 12 37 Speed selection 11: External failure input
59 Control 13 38 LS 12: Speed selection
60 Control 14 39 ORG 13: Acceleration/deceleration time constant selection
14: + over-travel
15: - over-travel
16: ORG
17: LS
18: FWD
19: RVS
20: Speed command speed selection 1
26: Speed command acceleration/deceleration selection 1
29: Interlock
These parameters are for setting the functions to be allocated to control 1 to 14 (p6-10).
For details on the functions, refer to control 1 to 14 on page 6-10.
For settings other than "0", if the same setting is specified for two or more symbols from CONT1 through
CONT14, the setting for the CONT symbol with the highest number will be in effect.
7-25
CN2
Parameter Default value Setting range
No.
61 Out 1 11 OUT-AD0 0: No function designated
62 Out 2 12 OUT-AD1 1: OUT-AD0
69 Out 9 29 Alarm detection 8: OUT-AD7
70 Out 10 30 Home position 9: Operation ready completion
Origin return 10: Servo ON/OUT
71 Out 11 41
completion 11: Operation underway
72 Out 12 42 Servo ON/OUT 12: Fixed point/through point 1
Operation ready 13: Fixed point/through point 2
73 Out 13 43
completion 14: Over-travel detection
Fixed point /through 15: Origin return completion
74 Out 14 44
point 1 16: Alarm detection
17: Speed arrival
75 Out 15 32 Operation underway
18: Home position
19: Torque limiting underway
20: Positioning completion
These parameters are for setting the functions to be allocated to out 1 to 15 (p6-19).
For details on the functions, refer to out 1 to 15 on page 6-19.
Two or more of the same functions can be set.

0(Machine origin return)
76 Sub operation mode switch 0
1(I/O skip operation)
This parameter is for setting the function when MODE A and MODE B is ON.
Setting Sub operation mode

0 Machine origin return
1 I/O skip operation
For details, refer to "How to select the operation mode (p3-5)", "I/O skip operation (p3-15)", "Machine origin
return (p3-14)", "Main operation modes, and selectable sub operation modes and manual operation modes (p3-
17)".

77 Factory use (Not for users) - -
This parameter is not for users, but for Teijinseiki co., Ltd. to check this servo amplifier.
7-26

1(available)
78 Position defect alarm available/unavailable 2
2(unavailable)
79 Position defect alarm width 800~9999[encoder pulses] 9999
When CP-78 is 1(available), following operation are performed.
Servo amplifier memorizes the position of servo actuator when control power (p5-10) is turned OFF. (This
position data is named "Position OFF")
Servo amplifier memorizes the position of servo actuator when control power is turned ON. (This
position data is named "Position ON")
Servo amplifier compares "Position ON" and "Position OFF".
If | Position ON - Position OFF | > CP-79 then "AL-19 , Positon defect (p9-5) " is displayed.
This function is valid only when all of the following conditions are available.
This function is invalid if one of the following conditions is unavailable.
CP-1 (p7-13) = 1 : Absolute AR

CP-7(p7-15) = 1 :Brake available
CP-8 (p7-15) = 1 : Equal pitch multi-rotation coordinates (p3-6).
Encorder selector switch (p5-2,3) = ABS
No command to rorate motor is executed when control power (p5-10) is turned OFF.
Battery (p5-19) is connected to servo amplifier.
Servo amplifier checks the data in encoder when control power is turned ON, therefor more severe system
check is possible with this function.
AL-19 (p9-5) may be displayed if servo actuator is rotated by external force when control power is OFF and
this function is ON.
Used as the unit of CP-79 is the number of encoder pulses after multiplication by 4.
(8192 pulse/motor revolution : absolute encoder)
7-27
- List of Parameters -
7-6 List of Parameters

(1) Servo parameters

ARN15:150
ARN30:270
1 Speed loop proportional gain (p7-9) 1 - 15000
ARN60:280
ARN135:510
ARN15:930
ARN30:1800
2 Speed loop integral gain (p7-9) 1 - 15000
ARN60:1800
ARN135:3300
3 Position loop gain (p7-9) 1500 - 5000 2000
4 Manual feedrate (p7-10) 1 - 3000 [rpm] (AR135:2500) 100
Manual feed acceleration/deceleration time constant
5 0 - 30000 [msec] 500
(p7-10)
6 Skip amount (p7-10) 1 - 99999 [encoder pulses] 100

7 Speed 1 for equal division (p7-10)
1 - 3000 [rpm] (AR135:2500) 100
8 Speed 2 for equal division (p7-10)
Acceleration/deceleration time constant 1
9
(p7-11)
0 - 30000 [msec] 500
Acceleration/deceleration time constant 2
10
(p7-11)
11 Speed command speed 1 (p7-11)

1 - 3000 [rpm] (AR135:2500) 100
17 Speed command acceleration/deceleration 1 (p7-12)
18 Speed command acceleration/deceleration 2 (p7-12) 0 - 30000 [msec] 500
19 Speed command acceleration/deceleration 3 (p7-12)
(2) Control parameters

1 (Absolute AR)
1 Encoder type (p7-13) 2 (Incremental AR) 1
3 (AR10H)
2 Reduction gear ratio numerator (p7-13)
1 - 999 1
3 Reduction gear ratio denominator (p7-13)
4 Electronic gear a (p7-14)
1 - 999999 1
5 Electronic gear ß (p7-14)
1(1), 2(0.1), 3(0.01), 4(0.001),
6 Unit amount (p7-14) 1
5(0.0001)
7 Brake available/unavailable (p7-15) 1 (available), 2 (unavailable) 1
7-28

1 (equal pitch multi-rotation
coordinates)
2 (optional division 360° coordinates)

8 Coordinate axis (p7-15) 1
3 (infinite linear coordinates)
4 (finite linear coordinates)
5 (pulse train operation)
6 (speed command operation)
9 Number of divisions (p7-15)
2 - 255 2
10 Total number of addresses (p7-15)
11 Optional division short-cut control (p7-15) 1 (available), 2 (unavailable) 1
direction)
12 Indexing number incrementing direction (p7-16) 1
direction)
13 MF/FIN available/unavailable (p7-16) 1 (available), 2 (unavailable) 2
1 (short-cut)
14 Short-cut/unidirectional selection (p7-16) direction) 1
direction)
15 2-position indexing direction selection (p7-17) 1,2 1
1 (forward pulse / reverse pulse)
16 Input pulse system (p7-18) 1
2 (90° phase difference 2 signals)
17 Pulse train operation rotation direction (p7-18) 1,2 1
direction)
18 Origin return direction (p7-19) 1
direction)
19 Origin return speed (p7-19)
1 - 3000 [rpm] (AR135:2500) 100
20 Origin return creep speed (p7-19)
21 Origin return shift amount (p7-19) 0 - 99999 [encoder pulses] 0
22 Origin return position setting (p7-19) 0 - ±99999 [encoder pulses] 0
23 Origin detection range (p7-19)
1 - 9999 [encoder pulses] 10
24 Positioning completion width (p7-19)
25 Excessive deviation width (p7-19) 1 - 99999 [encoder pulses] 30000
26 Speed arrival identification speed (p7-19) 1 - 3000 [rpm] (AR135:2500) 2500
Fixed point/through point detection pattern
27 1 (fixed point), 2 (through point) 1
(p7-19)
Fixed point/through point detection position 1 (p7-

28
19)
0 - ±999999999 [unit amount] 0
Fixed point/through point detection position 2 (p7-
29
19)
7-29

30 Fixed point detection range (p7-19) 1 - 9999 [encoder pulses] 10
31 Soft + over-travel detection position (p7-20) +999999999
0 - ±999999999 [encoder pulses]
32 Soft - over-travel detection position (p7-20) -999999999
33 Speed limit value (p7-20) 1 - 3000 [rpm] (AR135:2500) 3000
AR15: 0 - 350 350
AR30, ARH7: 0 - 350 350
34 Torque limit value (p7-20) AR60, ARH17: 0 - 350 350
AR135, ARH24: 0 - 300 300
AR10H 350
35 Brake forcible release (p7-20) 1 (release) , 2 2
36 Home position detection range (p7-21) 1 - 9999 [encoder pulses] 800
37 Backlash compensation amount (p7-21) 0 - 9999 [encoder pulses] 0
direction)
38 Backlash compensation direction (p7-21) 1
direction)
39 Power save timer available/unavailable (p7-21) 1 (available) , 2 (unavailable) 2
40 Power save timer time (p7-21) 30 - 9999 [sec] 30
41 Overshoot amount (p7-22) 0 - 9999 [encoder pulses] 0
42 Number of follow-up pulses (p7-22) 0 - 1000 [encoder pulses] 0
1 (rotation prohibited when ON)
43 Interlock logic (p7-22) 1
2 (rotation prohibited when OFF)
44 Rewriting prohibited (p7-23) 1 (not prohibited), 2 (prohibited) 1
1 (A=return, B=return)
2 (A=return, B=linear)
45 Monitor selection (p7-23) 1
3 (A=linear, B=return)
4 (A=linear, B=linear)
1 (motor rotation speed)
2 (position address number)
3 (current position)
4 (requested position)
5 (percentage torque)
Display contents when power is turned on (p7- 6 (deviation pulse)
46 1
24) 7 (feedback pulse)
8 (requested pulse)
9 (alarm history)
10 (digital input monitor)
11 (digital output monitor)
12 (software version)
7-30
No. Parameter CN2 No. Default value Setting range

Control 1 0: No function designated (p6-10)
47 3 AD0
(p6-10) 1: AD0 (p6-11)
2: AD1
48 Control 2 4 AD1
3: AD2
4: AD3
49 Control 3 5 AD2
5: AD4
6: AD5
50 Control 4 6 AD3
7: AD6
8: AD7
51 Control 5 7 AD4
9: P operation (p6-12)
10: Torque limiting enable (p6-12)
52 Control 6 8 AD5
11: External failure input (p6-12)
12: Speed selection (p6-12)
53 Control 7 9 AD6
13: Acceleration/deceleration time constant selection (p6-
13)
54 Control 8 19 AD7
14: + over-travel (p6-13)
15: - over-travel
55 Control 9 20 RVS
16: ORG (p6-14)
17: LS (p6-14)
56 Control 10 21 FWD
18: FWD (p6-15)
19: RVS (p6-15)
57 Control 11 23 Interlock
20: Speed command speed selection 1 (p6-16)
58 Control 12 37 Speed selection
59 Control 13 38 LS
60 Control 14 39 ORG
26: Speed command acceleration/deceleration selection 1 (p6-
17)
27:
Speed command acceleration/deceleration selection 2
28:
Speed command acceleration/deceleration selection 3
29: Interlock (p6-18)
7-31
No. Parameter CN2 No. Default value Setting range

61 Out 1 (p6-19) 11 OUT-AD0 0: No function designated (p6-19)
62 Out 2 12 OUT-AD1 1: OUT-AD0 (p6-20)
69 Out 9 29 Alarm detection 8: OUT-AD7
70 Out 10 30 Home position 9: Operation ready completion (p6-20)
Origin return 10: Servo ON/OUT (p6-20)
71 Out 11 41
completion 11: Operation underway (p6-21)
72 Out 12 42 Servo ON/OUT 12: Fixed point/through point 1 (p6-21)
Operation ready 13: Fixed point/through point 2
73 Out 13 43
completion 14: Over-travel detection (p6-22)
15: Origin return completion (p6-22)
Fixed point/through
74 Out 14 44 16: Alarm detection (p6-23)
point 1
17: Speed arrival (p6-23)
18: Home position (p6-23)
75 Out 15 32 Operation underway 19: Torque limiting underway (p6-24)
20: Positioning completion (p6-24)

0 (Machine origin return)
76 Sub operation mode switch (p7-26) 0
1 (I/O skip operation)
77 Factory use (Not for users) (p7-26) - -
78 Position defect alarm available/unavailable (p7-27) 1 (available) , 2 (unavailable) 2
79 Position defect alarm width (p7-27) 800 - 9999 9999
7-32
- Positioning Data Setting Method -
7-7 Positioning Data Setting Method

The positioning data can be edited during operation.The edited data is in effect when the Start input signal (p6-
10) turns ON.
In the case of optional division 360° coordinates (p3-7), infinite linear coordinates (p3-8) and finite linear
coordinates (p3-9) operations, the positioning data inside the servo amplifier is used for positioning.
The method used to set this positioning data will be described.
The positioning data can be set using the panel switches in front of the servo amplifier.
The positioning data includes the following.
Position data: For setting the target position; unit = [unit amount (p7-14)],
setting range = -999999999 to +999999999 (9 digits).
(In the optional division 360° coordinates mode (p3-7), the “Unit amount x Position data” value is equal to or
greater than 0 and is less than 360. If the address of a value less than 0 or equal to or greater than 360 is
started, an Address error (AL-16, p9-4) occurs.)
Motor rotation speed: For setting the rotation speed of the motor; unit = [rpm], setting range = 0 to 3000
(AR135: 2500)
Operate the mode switch on the front panel of the servo amplifier to establish the positioning data editing mode
(p7-2).
Refer the figure below.
Display mode
? Press MODE for 2 sec.
Servo parameters
Press MODE for 2 sec. Control parameters
Manual operation mode
Position data editing mode
7-33
- Positioning Data Setting Method -
Address number (p6-11)
SET
MODE Display of low-order 5 digits of position data
*
This number is a negative one if
Dot lights here to these dots are lighted.
indicate presence of
high-order digits.
MODE The setting is changed using the ? and ? .
*
Plus is switched to minus or vice versa by
holding down both the ? and ? for 2 seconds.
MODE
? SET SET (when no changes have been made)

MODE Display of high-order 4 digits of position data
Automatically returns.
*
This number is a negative one
? P(Position) if these dots are lighted.
*
Plus is switched to minus or vice versa by
holding down both the ? and ? for 2 seconds.
SET SET (when no changes have been made)

MODE Display of motor rotation speed
*
S(Speed)
*
Press the SET for at least 2 Press the SET for at least 2 seconds.
seconds. (when no changes have been made.)
Setting entered (segments now flash)
Even when the value of the high-order digits is zero for a parameter in which high-order digits can be set, the
high-order digit will be displayed (as zero).
When ? is held down, the displayed figure will reach the maximum value which is then followed by the
minimum value.
When ? is held down, the displayed figure will reach the minimum value which is then followed by the
maximum value.
Changes in places with * are not reflected in the parameters.
Changes made using the ? and ? are not carried down from the high-order to low-order digits or carried up
from the low-order to high-order digits.
The default values are 0 for the position data and 0 rpm for the motor rotation speed.
7-34
- Initialization -
7-8 Initialization
The following will be set to the default value (initialized) when the control power is turned on while the buttons
on the front panel of the servo amplifier are held down.
Servo parameters (p7-9)

Control parameters (p7-13)
Positioning data (p7-33)
Depending on the encoder type (absolute or incremental) and AR10H, the initialization can be performed in one
of three ways.
Initialization is executed even when "2" (prohibited) has been selected as the control parameter 44 setting
(rewriting prohibited (p7-23)).
The current position data stored inside the encoder will not be initialized.
Encoder type
Absolute Incremental AR10H
Initialization methods
Turn on the control power

while pressing the panel
switches shown in the figure
on the right.
MODE SET UP DOWN MODE UP
Servo parameter values
Default value
after initialization
Encoder type: CP-1=2 Encoder type: CP-1=3
Control parameter values
Default value (Incremental AR) Otherwise, (Incremental AR10H)
after initialization
default values Otherwise, default values
Positioning data values after
Default value
initialization
7-segment LED display Initial.ABS Initial.INC Initial.H

while initialization is being
performed
Automatically performed
HELLO display
Frame number display

7-segment LED display after
completion of initialization (with ARN15)
Encoder type display
Servo amplifier for AR10H is ARN30, Initialization for AR10H is invalid for other amplifier than ARN30.
If initialization for AR10H is executed on ARN30, CP-1 will be set to 3(Incremental AR10H) and change from
3 to 1 or 2 is invalid. (refer to CP-1: Encoder type p7-13)
7-35
- Communications -
8. COMMUNICATIONS
Use of the communications facility enables the parameters to be written and statuses to be monitored using a
personal computer.
8-1 Specifications
Connection specifications : RS-232C Transmission configuration : 1 start bit
Transfer rate : 9600 bps 8 data bits
1 parity bit, even parity
1 stop bit
8-2 Communication Contents
Servo parameter (p7-9) reading Positioning data (p7-33) reading
Servo parameter writing Positioning data writing
Control parameter (p7-13) reading Display data (p7-3) reading
Control parameter writing Initialization (p7-35)
8-3 Transmission Format

(1) Fixed codes Code Alarm occurrence Data Description
STX (Start Text) - 51H Transmission start
No 53H
ACK (Acknowledge) Acknowledge
Yes 54H
NAK No 55H
Negative acknowledge
(Non Acknowledge) Yes 56H
ACK and NAK change as shown above when an alarm has occurred in the servo amplifier.
(2) List of commands (CMD) and sub commands (SCMD)

Description CMD SCMD1 SCMD2
Request 01H
Servo parameter reading 00H 01-20H , parameter number (BCD)
Response 81H
Request 11H
Servo parameter writing ? ?
Response 41H
Control parameter Request 02H
00H 01-79H , parameter number (BCD)
reading Response 82H
Control parameter Request 12H
? ?
writing Response 42H
Request 03H 00H or 01H or02H 01-99H
Positioning data reading High-order digits of positioning data Low-order digits of positioning data
Response 83H
number (BCD) number (BCD)
Request 13H
Positioning data writing ? ?
Response 43H
Request 04H 01-12H , 50H*
Display data reading 00H
Response 84H Display data number (BCD)
Request 15H
Initialization ABS:00H , INC:01H 00H
Response 45H
There are two kinds of initialization: one (ABS) applies when an absolute encoder is used, and the other (INC) applies
when an incremental encoder is used. (p7-35) Initilization for AR10H(p7-35) is invalid by this communication.
* : 50H is used for Number 5-9 of alarm history display data reading.
8-1
- Communications -
(3) Data configuration
The data consists of 5 bytes as shown below, and the numerical values are transferred by BCD (binary coded
decimal).
Bit no. Low order

8 7 6 5 4 3 2 1
8
DATA1 Plus/minus sign 10 digits Plus/minus sign: plus = 0H, minus = 1H
Byte no.
7 6
DATA2 10 digits 10 digits
5 4
3 2
1 0
Example: "-987654321" in decimal notation is shown below.
Bit no. Low order

8 7 6 5 4 3 2 1
DATA1 1H 9H
Byte no.
DATA2 8H 7H
DATA3 6H 5H
DATA4 4H 3H
DATA5 2H 1H
The data can be expressed in series as shown below.
19H , 87H , 65H , 43H , 21H
The configuration differs from what is shown above for alarm history, digital input monitor and digital output
monitor among the display data reading contents. Refer to page 8-7.
(4) BCC (block check character)
This is the one low-order byte of the value obtained by adding all the data prior to BCC.
53H ACK
In the example shown on the right, BCC is the product of 53H +
81H CMD
Total of these bits
81H + 00H + 07H + 00H + 00H + 09H + 87H + 65H which add up
00H SCMD1
to 1D0H, yielding D0H as the low-order byte.
07H SCMD2
00H DATA1
00H DATA2
09H DATA3
87H DATA4
65H DATA5
D0H BCC
8-2
- Communications -
8-4 Detailed Description of Transmission Contents
(1) Servo parameter (p7-9) reading
PC? ARN Example

STX 51H 51H The example applies when servo parameter 7 = 98765.
CMD 01H 01H
SCMD1 00H 00H
SCMD2 Parameter number 07H Acknowledge Negative acknowledg
BCC Check data 59H ARN? PC ARN? PC
53H ACK 53H NAK 55H
81H CMD 81H BCC 55H
00H SCMD1 00H
07H SCMD2 Parameter number
00H DATA1 Plus or minus sign/data ACK = 54H and NAK =
00H DATA2 Data 56H when an alarm has
09H DATA3 Data occurred in the servo
87H DATA4 Data amplifier.
65H DATA5 Data
D0H BCC Check data
(2) Servo parameter writing
PC? ARN Example

STX 51H 51H The example applies when servo parameter 7 = 98765.
CMD 11H 11H
SCMD1 00H 00H
SCMD2 Parameter number 07H Acknowledge Negative acknowledge
53H ACK 53H NAK 55H
41H CMD 41H BCC 55H
00H SCMD1 00H
9BH BCC Check data ACK = 54H and NAK =
STX 51H 51H 56H when an alarm has
CMD 11H 11H occurred in the servo
SCMD1 00H 00H amplifier.
SCMD2 Parameter number 07H
DATA1 Plus or minus sign/data 00H
DATA2 Data 00H
DATA3 Data 09H
DATA4 Data 87H
DATA5 Data 65H Acknowledge Negative acknowledge
BCC Check data 5EH ARN? PC ARN? PC
53H ACK 53H NAK 55H
41H CMD 41H BCC 55H
00H SCMD1 00H
9BH BCC Check data
8-3
- Communications -
(3) Control parameter (p7-13) reading
PC? ARN Example

STX 51H 51H
CMD 02H 02H The example applies when servo parameter 31 = -987654321.
SCMD1 00H 00H
53H ACK 53H NAK 55H
82H CMD 82H BCC 55H
00H SCMD1 00H
19H DATA1 Plus or minus sign/data ACK = 54H and NAK =
87H DATA2 Data 56H when an alarm has
65H DATA3 Data occurred in the servo
43H DATA4 Data amplifier.
21H DATA5 Data
6FH BCC Check data
(4) Control parameter writing
PC? ARN Example

STX 51H 51H
CMD 12H 12H The example applies when servo parameter 31 = -987654321.
SCMD1 00H 00H
53H ACK 53H NAK 55H
42H CMD 42H BCC 55H
00H SCMD1 00H
C6H BCC Check data ACK = 54H and NAK =
STX 51H 51H 56H when an alarm has
CMD 12H 12H occurred in the servo
SCMD1 00H 00H amplifier.
SCMD2 Parameter number 31H
DATA2 Data 87H
DATA3 Data 65H
DATA4 Data 43H
BCC Check data FDH ARN? PC ARN? PC
53H ACK 53H NAK 55H
42H CMD 42H BCC 55H
00H SCMD1 00H
C6H BCC Check data
8-4
- Communications -
CP-1:Encoder type 3(AR10H) (p7-13) can not be written by this communication.

Initialization (p7-35) must be executed when you use ARN30 for AR10H servo actuator.
If control parameter writing with CP-1=3 is executed by communication , ARN will respond "Negative
acknowledge".
If control parameter writing with CP-1=1 or 2 is executed when setting of CP-1=3 by communication , ARN will
respond "Negative acknowledge".
(5) Positioning data (p7-33) reading
PC? ARN Example

STX 51H 51H
CMD 03H 03H The example applies when address number = 234,
Positioning data high-order position data = -123456789 and speed data = 2345.
SCMD1 02H
digits
Positioning data low-order
SCMD2 34H
digits Acknowledge Negative acknowledge
BCC Check data 8AH ARN? PC ARN? PC
53H ACK 53H NAK 55H
83H CMD 83H BCC 55H
Positioning data high-order
02H SCMD1
digits
34H SCMD2
digits
Positioning data
11H DATA1 Plus or minus sign/data

23H DATA2 Data
45H DATA3 Data
67H DATA4 Data
89H DATA5 Data
Speed data
00H DATA2 Data

00H DATA3 Data
23H DATA4 Data
45H DATA5 Data
DDH BCC Check data
ACK = 54H and NAK = 56H when an alarm has occurred in the servo amplifier.
8-5
- Communications -
(6) Positioning data (p7-33) writing
PC? ARN Example

STX 51H 51H
CMD 13H 13H The example applies when address number = 234,
Positioning data high-order position data = -123456789 and speed data = 2345.
SCMD1 02H
digits
SCMD2 34H
digits Acknowledge Negative acknowledge
BCC Check data 9AH ARN? PC ARN? PC
53H ACK 53H NAK 55H
43H CMD 43H BCC 55H
02H SCMD1
digits
34H SCMD2
digits
CCH BCC Check data
STX 51H 51H
CMD 13H 13H
SCMD1 02H
digits
SCMD2 34H
digits
DATA2 Data 23H
DATA3 Data 45H Positioning data
DATA4 Data 67H
DATA5 Data 89H
DATA2 Data 00H
DATA3 Data 00H Speed data
DATA4 Data 23H
BCC Check data 6BH ARN? PC ARN? PC
53H ACK 53H NAK 55H
43H CMD 43H BCC 55H
02H SCMD1
digits
34H SCMD2
digits
CCH BCC Check data
ACK = 54H and NAK = 56H when an alarm has occurred in the servo amplifier.
8-6
- Communications -
(7) Display data (p7-3) reading
PC? ARN Example

STX 51H 51H
CMD 04H 04H The example applies when display data 3 = 123456789.
SCMD1 00H 00H
SCMD2 Display data number 03H Acknowledge Negative acknowledge
53H ACK 53H NAK 55H
84H CMD 84H BCC 55H
00H SCMD1 00H
03H SCMD2 Display data number
ACK = 54H and NAK = 23H DATA2 Data
56H when an alarm has 45H DATA3 Data
occurred in the servo 67H DATA4 Data
amplifier. 89H DATA5 Data
33H BCC Check data
The alarm history data is as shown below.
Bit no. Low order

8 7 6 5 4 3 2 1
DATA1 0 (latest)high order 0 (latest) low order
Byte no.
DATA2 1 high order 1 low order

Number 0 - 4 correspond to the history numbers on p7-4.

0H is the data value when no alarms have occurred.
ALHI 0-4 (p7-4) is sent from servo amplifier when display data number is 09H , ALHI 5-9 is sent when display
number is 50H.
Example: The data is as shown below when the most recent alarm number is 15, number 4 is 1 and the
other numbers are 2.
DATA1:15H DATA2:02H DATA3:02H DATA4:02H DATA5:01H
8-7
- Communications -
The digital input monitor (p7-5) data is as shown below. When the input is ON, the data is 1.
Bit no. Low order

8 7 6 5 4 3 2 1
DATA1 0 0 0 0 0 0 0 0
Byte no.
DATA2 0 0 0 0 0 0 0 0
DATA3 0 0 0 0 PRDY SVON MODE A MODE B
DATA4 START RESET CONT1 CONT2 CONT3 CONT4 CONT5 CONT6
DATA5 CONT7 CONT8 CONT9 CONT10 CONT11 CONT12 CONT13 CONT14
The digital output monitor (p7-5) data is as shown below. When the output is ON, the data is 1.
Bit no. Low order BAT ALM cannot be transferred.

8 7 6 5 4 3 2 1
DATA1 0 0 0 0 0 0 0 0
Byte no.
DATA2 0 0 0 0 0 0 0 0
DATA3 0 0 0 0 0 0 0 0
DATA4 INP OUT1 OUT2 OUT3 OUT4 OUT5 OUT6 OUT7
DATA5 OUT8 OUT9 OUT10 OUT11 OUT12 OUT13 OUT14 OUT15
The data in the software version are: DATA1,2,3 = "0"; DATA4 = Driver CPU; DATA5= Controller CPU.
8-8
- Communications -
(8) Initialization (p7-35)
Bear in mind that the servo parameters, control parameters and positioning data stored in the servo amplifier will
be deleted when initialization is performed.
There are two kinds of initialization: one (ABS) applies when an absolute encoder is used, and the other (INC)
applies when an incremental encoder is used. (p7-35)
Turn servo ON (p6-9) off when performing initialization using the communication facility.
If initialization is attempted while it is on, it will fail to be performed, and the servo amplifier will return the
negative acknowledge (NAK) code.
It takes about 30 seconds from when PC sends an initialization instruction to the ARN, to perform initialization,
until the ARN returns an acknowledge or a negative acknowledge.
Perform proper settings in the communication software to avoid any communication timeout.
Performing initialization initializes servo parameters, control parameters, and positioning data stored in the
servo amplifier, thereby effecting the initial values. It is, therefore, not necessary to turn the power OFF and then
back ON.
Initialization for AR10H (p7-35) is invalid by this communication.
<1> Initialization when absolute encoder is used
PC? ARN Data

STX 51H 51H
CMD 15H 15H
SCMD1 00H 00H
SCMD2 00H 00H Acknowledge Negative acknowledge
53H ACK 53H NAK 55H
45H CMD 45H BCC 55H
00H SCMD1 00H
00H SCMD2 00H
98H BCC Check data
<2> Initialization when incremental encoder is used
PC? ARN Data ACK = 54H and NAK = 56H when an

STX 51H 51H alarm has occurred in the servo
CMD 15H 15H amplifier.
SCMD1 01H 01H
SCMD2 00H 00H Acknowledge Negative acknowledge
53H ACK 53H NAK 55H
45H CMD 45H BCC 55H
01H SCMD1 01H
00H SCMD2 00H
99H BCC Check data
8-9
- Alarms -
9. ALARMS
When an error has been detected in the servo system, an alarm appears on the 7-segment LED display of the servo
amplifier.
When an alarm has been detected, the servo actuator turns off the servo system, and the alarm number appears on its
front panel 7-segment LED display.
In addition, the brake (p5-14) is engaged if the servo actuator is equipped with a brake.
If the "AL-17"alarm is displayed, the servo actuator does not turn off the servo system nor is the brake applied.
"Alarm detection (p6-23)" will turn on when "AL-17" alarm is displayed and will stay on untill current position is
between + and -over-travel detection position.
The alarm status can be released either by turning the power off and then back on or by inputting the reset signal (p6-
10) after the cause of the alarm has been removed.
Alarms indicated by a black dot ? (serious failures) cannot be released by the reset signal.
In this case, turn the power off and then back on.
When the reset signal (p6-10) has been turned on to release the alarm, the requested pulse (p7-3) will have the same
value as the feedback pulse.
Parameters can be changed even in the alarm status. An alarm display mode is inserted between the positioning
data edit mode and the display mode. (See page 7-1)
The BAT ALM (p6-24) battery alarm is not displayed as an alarm.
Display Trouble/symptom criteria Probable cause Remedy

AL-1 Overload Load torque constantly exceeds the rated Review the machine system.
torque. Review the selection of the frame
number.
An overload was detected in
The acceleration/deceleration time is too Increase the
the motor by the electronic
short; the load torque during acceleration/deceleration time
thermal protector inside the
acceleration/deceleration is too high. constant.
servo amplifier.
Hunting. Reduce the inertial load.
Re-adjust the gain.
AL-2 Overheating of motor Load is too high, and the motor Review the machine system.
? overheated. Review the selection of the frame
The motor heated up, number.
causing the thermostat inside Cool down the servo actuator using
the motor to trip. a fan.
CN1 (p5-4) OH1 and OH2 were Check the wiring connections and
disconnected between the servo amplifier repair the wiring.
and servo actuator.
In case of AR10H, OH1 OH2 at CN1

are not connected.(refer to p5-5)
Ambient temperature is too high. Reduce the ambient temperature.
9-1
- Alarms -

AL-3 Overheating of Inertial load is too high. Reduce the inertial load.
regenerative resistance
Regenerative frequency (p10-11) is too Review the operating pattern.
The regenerative resistance high.
(p10-11) heated up, causing
Servo actuator was rotated by an Prevent it from being rotated.
the thermostat inside the
external force.
regenerative resistance to
trip.
AL-4 Overvoltage Input supply voltage (p5-10,13) is too

Normalize the input supply voltage.
high.
No short-circuiting between Short-circuit.
Internal DC voltage
RGEN/DCC (p5-12,13) of TB.
exceeded the allowable limit.
Faulty connection of external Contact us.
regenerative resistance (p5-12).
AL-5 Overcurrent Connect the cable properly.
Grounding or short-circuiting of servo
?
actuator's power cable (p5-12,13).
Output current exceeded the
allowable limit. Excessively high load. Review the machine system.
Review the selection of the frame
A power transistor number.
overheated. Re-adjust the gain (p7-9).
Acceleration/deceleration time is too Review operating pattern.
short. Re-adjust the gain (p7-9).
Ambient temperature of servo Reduce the ambient temperature.
amplifier is too high.
AL-6 Low voltage Input supply voltage (p5-10,13) is too Set the input supply voltage to the
low. appropriate level.
Main power (p5-10,13) is not being Turn on the main power.
Internal DC voltage is low.
input.
AL-7 Excessively high speed Overshoot of servo actuator. Increase the
acceleration/deceleration time
Motor rotation speed has constant.
exceeded 3300 rpm (or 2800 Hunting in servo actuator. Re-adjust the gain (p7-9).
rpm for AR135).
AL-8 Excessively high Excessive deviation width (p7-19) value Increase the value.
position deviation is too low.
Torque limiting enable signal (p6-12) is Turn off the signal.
on.
Deviation pulse (p7-3) has Excessively high load. Review the machine system.
exceeded excessive deviation
Review the selection of the frame
width set in control
number.
parameter 25 (p7-19).
Release the lock.
Output shaft is locked mechanically.
AL-9 Signal cable disconnection Faulty wiring of encoder signal cable Connect the cable properly.
? between CN1 (p5-4) and servo
Trouble with encoder actuator.
signals. Turn on the power while the servo
Power was turned on while the servo
actuator is shut down.
actuator was allowed to rotate.
9-2
- Alarms -

AL-10 Brake power supply Brake power supply (p5-14) is not Connect the power supply.
disconnection connected.
A servo actuator without a brake is Set to "2" (unavailable).

Brake power is not being being used but "1" (available) has
supplied. been selected as the brake
available/unavailable CP-7 (p7-15)
setting.
AL-11 Encoder trouble Faulty wiring of encoder signal cable Connect the cable properly.
? between CN1 (p5-4) and servo
actuator.
Trouble in communication
with absolute encoder.
Encoder cable is too long. Correct the encoder cable wiring
Cross-sectional area of encoder cable according to p5-5.
is too small.
AL-12 Power cable disconnection Motor power cable (p5-12,13) has been Connect the cable properly.
disconnected.
No current is flowing to
power cable.
AL-13 Encoder system down
Voltage of the battery (p5-19) used for Remove the cause and then perform
?
the absolute encoder has dropped. the origin setting by following the
The data stored in the
instructions on page 6-7. (The origin
absolute encoder memory Battery is not connected.
setting must be carried out in the
has been lost. Faulty wiring of encoder signal cable current position since the servo
between CN1 (p5-4) and servo actuator cannot be operated.)
actuator.
AL-14 Encoder type mismatch Faulty setting of CP-1: Encoder type Follow p1-4,5,6,7 to set the
? (p7-13) or Encoder selector switch (p5- parameters and switches to ensure
2,3). that they match.
The encoder type CP-1 (p7-
13) setting, encoder selector
switch (p5-2,3) setting and the
actual encoder do not match.
AL-15 Overflow Motor shaft has rotated more than Perform the origin setting by
? ±32767 rotations from the origin. (p3- following the instructions on page 6-
17)
7. (The origin setting must be
The absolute encoder has
carried out in the current position,
exceeded its rotation limit.
since the servo actuator cannot be
operated.)
Current position has
exceeded the limit of the In the case of an incremental
coordinate axes. encoder, the origin setting is not
necessary.
9-3
- Alarms -

AL-16 Address error
In the equal pitch multi-rotation
coordinates (p3-6), the 0 address or
addresses exceeding CP- 10 "total
number of addresses" have been
activated.
In the optional division

360°coordinates (p3-7), infinite linear
coordinates (p3-8), or finite linear
coordinates (p3-9), the 0 address, or Faulty setting of address Specify the address and the
the addresses where the motor numbers(p6-11) or positioning positioning data properly.
rotational speed is set to "0", have data(p7-33).
been activated.
In the optional division

360°coordinates mode, the address
of a value less than 0 or equal to or
greater than 360 was started.
In either the infinite linear

coordinates or the finite linear
coordinates mode, positioning with a
value more than the limit of the
coordinates-- 32767 rotations from
the origin-- was instructed.
AL-17 Soft over-travel detection Same as the left. Move the servo actuator to the
position between the CP-31 and
The current position is farther from the CP-32 .
the origin than the CP-31 soft +
over-travel detection position (p7-20).
The current position is farther from

the origin than the CP-32 soft - over-
travel detection position (p7-20).
Specify the CP-31 and CP-32

The CP-31 soft + over-travel Faulty setting of CP-31 or CP-32.
settings properly.
detection position set value is less
than the CP-32 soft - over-travel
detection position set value.
9-4
- Alarms -

AL-18 CPU error CPU operation stopped. Turn power switch ON again.
? CPU problem Communication problem between Perform initialization (p7-35).
CPUs
AL-19 Position defect Position memory of absolute encoder Replace a servo actuator.
? has problem.
| Position ON - Position OFF
Servo actuator is rotated when control
| > CP-79 (refer to p7-27) Stop the rotation when power off.
power is off.
Increase the value in CP-79
(p7-27).
Set CP-78 to 2(unvailable) to invalid

this alarm.
Remove the cause and then perform

the origin setting by following the
instructions on page 6-7. (The origin
setting must be carried out in the
current position since the servo
actuator cannot be operated.)
9-5
- General Selection Method -
10. SELECTION
10-1 General Selection Method
Follow the steps below to select the servo actuator.
(1) Figuring out the load (p10-2)
Decide on the load and operating pattern.
(2) Figuring out the torque area (p10-2)
Make sure that the torque and rotation speed required by the operating pattern are within the torque range of
the servo actuator.
(3) Figuring out the effective torque (p10-4)
Calculate the effective torque from the operating pattern, and check that it is less than the rated torque of the
servo actuator.
(4) Figuring out the brake torque (p10-5)
If the servo actuator is to be held by the brake incorporated inside the servo actuator, check that the brake
torque satisfies the requirement.
(5) Figuring out the reduction gear's service life (p10-5)
Calculate the anticipated service life of the reduction gear from the operating pattern, and check that it is
more than the required service life.
(6) Figuring out the positioning accuracy (p10-7)
Make sure that the backlash, lost motion, angle transmission error and spring constant satisfy the
requirements.
(7) Figuring out the bearing capacity (p10-8)
Make sure that the thrust weight and moment applied to the main bearing of the servo actuator are less than
the specification values.
(8) Figuring out the moment of inertia of the load (p10-10)
Make sure that the moment of inertia of the load is less than the specification value.
(9) Figuring out the regeneration capacity (p10-11)
When the servo actuator decelerates, the inertial energy is converted into heat by the regenerative resistance
inside the servo amplifier.
Make sure that the regenerative power calculated from the operating pattern is within the capacity of the
regenerative resistance.
10-1
- Details of Selection Methods -
10-2 Details of Selection Methods
(1) Figuring out the load
Decide on the operating pattern from the load conditions, and plot the load torque versus time and output
rotation speed versus time as graphs.
T1
Operating pattern
Load torque
T1 : Acceleration torque [N•m]

T2
T2 : Torque in steady state [N•m]
T3 : Torque at shutdown [N•m]
T3
T4 : Torque during deceleration [N•m]
T4
Output rotation speed
N1
N1 : Maximum rotation speed [rpm]
t1 : Acceleration/deceleration time [sec]
t2 : Steady-state operation time [sec]
t3 : Shutdown time [sec]
0
t1 t2 t1 t3 Time
Decide on the operating pattern.
(2) Figuring out the torque area
Make sure that the torque and rotation speed required by the operating pattern are within the maximum torque
range of the servo actuator.
The maximum torque ranges of the servo actuators are provided below.
Maximum torque [N•m] AR15 Maximum torque [N•m] AR30

i= 152
i= 120
1000
i= 104
i=140
200 i= 80
i= 120
i= 56
i= 104
500
100
i= 80
i= 56
0 20 40 60 0 20 40 60
Rotation speed [rpm] Rotation speed [rpm]
"i" = in the graph, indicates the reduction gear ratio.
10-2
Maximum torque [N•m] AR60 Maximum torque [N•m] AR135
2000 4000
i= 120 i=144
i=100
1000 2000
i=65 i=170
80 i=128
i=152 i=80 i=100
i=80
0 10 20 30 40 0 10 20 30
Maximum torque [N•m] ARH7 Maximum torque [N•m] ARH17

i= 153/5 i= 31
200
i= 21
400
i=21
100
i= 461/41
200
i=11
0 100 200 300

Rotation speed [rpm]
0 100 200 300
Rotation speed [rpm]
Maximum torque [N•m] ARH24 Maximum torque [N•m] AR10H
800
i= 31
i=21
400
i=11
0 100 200 300

"i" = in the graph, indicates the reduction gear ratio.
Make sure that the operating pattern is within the

maximum torque range of the servo actuator.
10-3
(3) Figuring out the effective torque
Calculate the anticipated effective torque from the operating pattern, and check that it is less than the rated torque
of the servo actuator.
The effective torque is calculated using the following formula for the operating patterns presented below.
2 2 2 2
t1×T1 + t2×T2 + t3×T3 + t1×T4
Effective torque Trms = [N•m]
2×t1 + t2 + t3
Operating pattern T1 : Acceleration torque [N•m]

Load torque

T2
T3
T4
N1
0
t1 t2 t1 t3 Time
The rated torques of the servo actuators are shown below.
Frame number Unit AR15 AR30

Reduction gear ratio A, B
- 56 80 104 120 140 56 80 104 120 152
type
Reduction gear ratio C
- 57 81 105 121 141 57 81 105 121 153
type
N•m 66 94 122 141 167 132 188 245 282 363
Rated torque
kgf•m 6.7 9.6 12 14 17 13 19 25 29 37

Reduction gear ratio A, B
- 65 80 100 120 152 80 100 128 144 170
type
Reduction gear ratio C
- 66 81 101 121 153 81 101 129 145 171
type
N•m 304 376 470 564 715 753 941 1204 1352 1599
Rated torque
kgf•m 31 38 48 58 73 77 96 123 138 163
Frame number Unit ARH7 ARH17 ARH24 AR10H

Reduction gear ratio - 461/41 21 153/5 11 21 31 11 21 31 45
N•m 26 49 73 52 99 146 103 198 292 72
Rated torque
kgf•m 2.6 5.0 7.4 5.3 10 15 11 20 30 7
Make sure that the effective torque is less than the rated torque of the servo actuator.
Make sure that the servolock torque is 70% or less than the rated torque of the servo actuator.
10-4
(4) Figuring out the brake torque
If the servo actuator is to be held by the brake (p5-14) incorporated inside the servo actuator, check that the brake
torque satisfies the requirement.
The brake torques of the servo actuators are shown below.

Reduction gear ratio A, B type - 56 80 104 120 140 56 80 104 120 152
Reduction gear ratio C type - 57 81 105 121 141 57 81 105 121 153
N•m 86 115 143 162 186 212 282 353 400 494
Brake torque
kgf•m 8.8 12 15 17 19 22 29 36 41 50

Reduction gear ratio A, B type - 65 80 100 120 152 80 100 128 144 170
Reduction gear ratio C type - 66 81 101 121 153 81 101 129 145 171
N•m 451 539 657 774 962 1051 1286 1615 1803 2109
Brake torque
kgf•m 46 55 67 79 98 107 131 165 184 215

N•m 60 89 119 81 157 225 167 314 461 245
Brake torque
kgf•m 6.1 9.1 12 8.3 16 23 17 32 47 25
Make sure that the brake torque of the servo actuator is higher than the brake torque requirement.
(5) Figuring out the reduction gear's service life
Calculate the anticipated service life of the reduction gear from the operating pattern, and check that it is more
than the required service life.
How to calculate the service life of the reduction gear is provided for the operating pattern below.
T1
Operating pattern
Load torque

T2
T3
T4
N1
0
t1 t2 t1 t3 Time
10-5
Calculate the mean load torque (Tm).
10/3
10/3 10/3 10/3 [N•m]
Tm = t1×(N1/2)×T1 + t2×N1×T2 + t1×(N1/2)×T4
2×t1×(N1/2) + t2×N1
Torque at shutdown (T3) and shutdown time (t3) are not used in this calculation.
Calculate the mean output rotation speed (Nm).
2×t1×(N1/2) + t2×N1
Nm = [rpm]
2×t1 + t2
Calculate the service life of the reduction gear in hours (Lh). (Rotation shutdown time t3 is not factored into this
calculation.)
N0 T0 10/3 T0 :
Lh = 6000 × × ( ) [hour] Rated torque [N•m] of reduction gear
Nm Tm
N0 : Rated rotation speed [rpm] of reduction
gear
Calculate the service life of the reduction gear in years (Ly).

(Rotation shutdown time t3 and the annual operation rate are factored into this calculation.)
Lh×(2×t1 + t2 + t3)×100 d : Annual operation rate [%]

Ly = [year]
(2×t1 + t2)× ×24×365
The table below shows the torque and rotation speed ratings of the reduction gears.
The rated rotation speed resulting from the calculation of the reduction gear's service life differs from the rated
output rotation speed of the servo actuator (p2-2).
Frame number Unit AR15 AR30 AR60 AR135 ARH7 ARH17 ARH24 AR10H
N•m 137 412 784 1568 68.6 167 235 98
Rated torque T 0
kgf• 14 42 80 160 7 17 24 10
Rated rotation speed N 0 rpm 15 50 15
Make sure that the service life of the reduction gear is longer than the required service life.
10-6
(6) Figuring out the positioning accuracy
Make sure that the backlash, lost motion, angle transmission error and spring constant satisfy the requirements.
Calculate the backlash, lost motion, angle transmission error and spring constant as shown below.
When the input shaft of the servo actuator (servo motor shaft) is secured and torque is applied to the output
shaft side, twisting corresponding to the torque applied is generated.
The hysteresis curve shown in the figure below expresses this correspondence.
The spring constant, lost motion and backlash are defined in the figure below.
Backlash
Twist angle
a
b
Torque
50%
Lost motion
±3% rate torque
Rated torque Rated torque

-100% 100%
Rated torque/2 b
Spring constant = = [N•m/arc min]
Twist angle at rated torque - Twist angle at 50% of rated torque a
Lost motion :
Twist angle at intermediate point of hysteresis curve width at ±3% of rated torque. [arc min]
Backlash : Twist angle at "zero" torque of hysteresis curve [arc min]
The following formula is used to calculate the twist angle and twisting amount when the load torque (offset load,
etc.) is applied to the servo actuator from one direction.
Lost motion [arc min] Load torque [N•m]

Twist angle = + [arc min]
2 Spring constant [N•m/arc min]
The total twist angle when the load is applied in one direction and also in its opposite direction is the value
obtained by adding the backlash amount to twice the value calculated using the formula above.
Twist amount = L × tan (twist angle [arc min]/60) [mm] L : Distance from rotary center of servo
actuator to load point [mm]
The table below shows the spring constants, lost motion and backlash of the servo actuators.
AR15 AR30 AR60 AR135 ARH7 ARH17 ARH24 AR10H

N•m/arc min 34 108 196 392 15 29 44 47
Spring constant
kgf• /arc min 3.5 11 20 40 1.5 3.0 4.5 4.8
Lost motion arc min 1 6 1
Backlash arc min 1 6 1
10-7
The definition and specification of the angle transmission error are provided below.
Angle transmission error

Angle transmission
The "angle transmission error" is the difference error specification
between the theoretical output rotation angle when
any rotation angle (?in) is supplied to the servo
actuator and the actual output rotation angle (?out).
This accuracy is expressed in terms of angle

[arc sec]
transmission error (?er).
1 rotation of output shaft
? in ?in : Input angle [arc min]

Angle transmission error (?er) = - ? out [arc min]
i ?out : Output angle [arc min]
i : Reduction gear ratio [-]
The angle transmission error (? er) of the AR series is not more than 1 arc min.
(The angle transmission error of the ARH**F and ARH**S does not stipulate to any particular value.)
Make sure that the positioning accuracy of the servo

actuator satisfies the positioning accuracy requirement.
(7) Figuring out the bearing capacity
Make sure that the thrust weight and moment applied to the main bearing of the servo actuator are less than the
specification values.
The "thrust weight" refers to the weight which is applied in Allowable thrust weight
Frame number
the direction shown in the figure below, and its specification N kgf
is shown in the table on the right. AR15 1960 200
AR30 5194 530
AR60 7840 800
AR135 14700 1500
ARH7 1470 150
ARH17 1960 200
ARH24 2940 300
AR10H 5880 600
Make sure that the thrust weight is less than the value allowed for the servo actuator.
10-8
The "moment" refers to the weight which is applied in the direction shown in the figure below.
The moment is calculated as follows.
A, B type : Moment [N•m] = W1×(L1-a)+W2×L2
C, F, S type, AR10H : Moment [N•m] = W1×(L1-b)+W2×L2
W1, W2 : Weight [N] from load

L1,L2 : Distance [m] up to weight action point
a,b : Constants [m]
The table below shows the allowable moment and constants a and b of the servo actuators.
Allowable moment a b
Frame number
N•m kgf•m m
AR15 608 62 0.042 0.005
AR30 1666 170 0.052 0.011
AR60 1735 177 0.057 -0.002
AR135 3920 400 0.071 -0.011
ARH7 461 47 - 0.025
ARH17 804 82 - 0.031
ARH24 843 86 - 0.030
AR10H 686 70 - 0.017
Make sure that the load moment is less than the allowable moment of the servo actuator.
10-9
(8) Figuring out the moment of inertia of the load
Make sure that the moment of inertia of the load is less than the specification value of the servo actuator.
The table below shows the servo actuators' allowable moments of inertia of the load.
Example : Calculation for the Load which diameter = D[m], weight = W[kg] and circular shape is shown below.
2 2 1 1 2
Moment of inertia of the load [kg m (GD /4)]= W[kg] D [m]
4 2

- 56 80 104 120 140 56 80 104 120 152
A, B type
- 57 81 105 121 141 57 81 105 121 153
C type
2
Allowable moment of kg•m
5.2 11 18 24 32 15 31 53 71 113
inertia of load 2
(GD /4)

- 65 80 100 120 152 80 100 128 144 170
A, B type
- 66 81 101 121 153 81 101 129 145 171
C type
2
51 77 120 173 277 253 395 647 819 1142
inertia of load 2
(GD /4)

2
0.59 2.2 4.7 1.5 5.3 12 5.0 17 38 9.6
inertia of load 2
(GD /4)
Make sure that the moment of inertia of the load is less

than the specification value of the servo actuator.
10-10
(9) Figuring out the regeneration capacity
When the servo actuator decelerates, the inertial energy is converted into heat by the regenerative resistance
inside the servo amplifier.
Make sure that the regenerative power calculated from the operating pattern is within the capacity of the
regenerative resistance.
T1
Operating pattern
Load torque

T2
T3
T4
N1
0
t1 t2 t1 t3 Time
When the inertial load has been positioned in the above operating pattern, the shaded area represents the
regeneration range.
The method used to calculate the regenerative power and the allowable values for the servo amplifier are shown
below.
T4×(N1/2)×0.105×t1
Regenerative power [W] =
2×t1 + t2 + t3
Servo amplifier Allowable regenerative

frame number power [W]
ARN15 20
ARN30 20
ARN60 60
ARN135 60
Make sure that the regenerative power is less

than the allowable value of the servo amplifier.
10-11
- External Dimensions -
11. EXTERNAL DIMENSIONS

11-1 Servo Actuator
11-1
11-2
11-3
11-4
11-5
11-6
11-7
11-8
11-9
11-10
11-11
11-12
11-13
11-14
11-15
11-16
11-17
11-2 Servo Amplifier

(1) ARN15, 30
11-18
(2) ARN60, 135
11-19
Product disposal
To protect the environment, choose a recycling contractor, if possible, when

disposing of the servo system.
If you have any questions concerning the disposal of servo system, consult with
the dealership where you purchased the product or contact our sales office.
Service information
When you have any questions concerning the servo system or servicing, please
contact us at any of the following addresses.
When you request service, please inform us of the basic information (model and
serial numbers) on your servo system's nameplate.
Nabtesco Precision USA Inc

31731 Northwestern Hwy.,Suite 113E, Farmington Hills,Michigan 48334 U.S.A.
Phone : +1-248-538-9165 Fax : +1-248-538-9170
Email : [email protected]
Home page : www.nabtesco-precision.com
In Europe and Africa

Nabtesco Precision Europe GmbH
Klosterstrße 49, D-40211 Düsseldorf Germany
Phone : +49-211-17379-0 Fax : +49-211-364677
Home page : www.nabtesco-precision.de
In Asia and others

Tokyo Head Office
1-9-18 Kaigan,Minato-ku, Tokyo 105-0022,Japan
Phone : +81-3-3578-7461 Fax : +81-3-3578-7471
Home page : www.ts-corporasion.co.jp
Tsu Plant (Engineering Department)

594,Ichimachida,Katada-cho,Tsu-shi,Mie-Pref. 514-8533,Japan
Phone : +81-59-237-4602 Fax : +81-59-237-4612
The contents of this instruction manual are subject to change without prior notice.

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Vigo Servo AR Series

Servo actuator : AR15/30/60/135/H7/H17/H24/10H

Servo amplifier : ARN15-A/30-A/60-A/135-A

Software version (See page7-5 for details) : From 01.10

Before attempting to operate this product, you should thoroughly

Carefully note the precautions on pages 1-4,5,6,7

Very serious accidents may occur if this instruction is not observed.

To comply UL and/or CUL standard

10. SELECTION 10-1 General Selection Method 10-1

To comply UL and/or CUL standard,

This equipment is to be installed in an enclosure that provides a pollution degree 2

Suitable for use on a circuit capable of delivering not more than

Suitable for use on a circuit capable of delivering not more than

Suitable for use on a circuit capable of delivering not more than

This program should be designated by the industrial equipment engineer.

Therefore, please keep in mind the following points.

3. Requests to industrial equipment manufacturers

4. Exporting the servo system

1-1 Alert Symbol

Please consult us before using this machine in specialized environments.

Ignoring these instructions could lead to serious injury.

Therefore, never touch the rotating section unless it is completely stopped.

Do not jar the servo actuator.

1-4 Precautions for Initial Turning-on of the Power Supply

For absolute encoder type specifications

Do not connect the battery (p5-19) for the absolute encoder.

Turn off the main and control power supplies.

Turn off the main and control power supplies.

Connect the battery to the battery connector. (See page 5-19)

For incremental encoder type specifications (other than AR10H)

Battery (p5-19) connection is not required.

Turn off the main and control power supplies.

For AR10H (incremental encoder type specifications)

Make sure that model code of servo amplifier is ARN30

• Battery connection is not required.

• Turn off the main and control power supplies.

(1) Servo actuator AR 135 A 128 - B A 0

Availability of brake Type of encoder Option

0 Unavailable A Absolute (ABS) T UL, EN standards supported

UL standards CUL standards European safety standards

Type indication of each actuator model

(2) Servo amplifier ARN 135 - A B

---- Unavailable Unavailable

2-2 Table of Specifications

Lost motion arc min 1

Voltage, frequency V , Hz 3-phase AC 200V to 230V +10%/-15%, 50/60 Hz

Capacity kVA 1.0 1.5

Continuous output current Arms 2.7 4.5

Equal division and optional division , max. 255 addresses , absolute

Frame No. 60 135

Lost motion arc min 1

kgf m 46 55 67 79 98 107 131 165 184 215

Voltage, frequency V , Hz 3-phase AC 200V to 230V +10%/-15%, 50/60 Hz

Capacity kVA 3.0 4.5

Continuous output current Arms 8.3 15

Equal division and optional division , max. 255 addresses , absolute

Reduction gear ratio - 461/41 21 153/5 11 21 31 11 21 31

Nm 26 49 73 52 99 146 103 198 292

Lost motion arc min 6