RYS-V Type

User's Manual

MHT258a (Engl.)
SAFETY INSTRUCTIONS

In all stages of the basic planning of this equipment, its transport, installation, operation, maintenance and check, reference must be made to
this manual and other related documents. The correct understanding of the equipment, information about safety and other related
instructions are essential for this system.

Cautionary indications DANGER and CAUTION are used in this manual to point out particular hazards and to highlight some unusual
information which must be specially noted.

Cautionary indications Description

Indicates that death or severe personal injury will result if proper

DANGER
precautions are not taken.

Indicates that personal injury or property damage alone will result if

CAUTION proper precautions are not taken.

Pictorial symbols are used as necessary.

Pictorial symbol Description Pictorial symbol Description

Do not disassemble Electrical shock hazard warning

Warning display
The warning display in Fig. B is located at the arrows in Fig. A.

Fig. A Fig. B

Warning display

Fig. B shows following contents :

There is a risk of electric shock.
Do not touch the amplifier when a commercial power is applied and for at least five minutes after de-energization.
Be sure to ground {applicable for Japan only : grounding equal to 3rd class grounding structure of Japanese standard
(grounding resistance 100 [Ω] or less)} must be connected with the terminal marked “ “.

MHT258a (Engl.)
 DANGER

●Prior to inspection, turn off power and wait for at least five minutes.
Otherwise, there is a risk of electric shock.

●Do not touch the amplifier when the commercial power is supplied. Otherwise, there is a risk of electric shock.

CAUTION

●Do not disassemble the motor. Otherwise, the operation may be abnormal, thereby damaging the coupled machine.

●Do not hit the motor with hammer or any other instruments. The integrated (built-in) encoder may break causing the motor
to run at an excessive speed.

●Do not connect a commercial power supply directly to the motor. Otherwise, it may break.

●Supplying other than 200 [V] to the amplifier may break it.

●Do not turn on and off the commercial power repeatedly. Otherwise, the amplifier rectifier may break.

●The motor must be firmly tightened to the mounting base or the driven machine. If rapid acceleration or deceleration is
attempted without this firm tightening, the motor may become dislocated.

●Withstand voltage and insulation test with megger must not be conducted.

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

The technical data and dimensions are subject to change without notice in the individual pages of this document.
The illustrations are for reference-only.
The company names and product names described herein are generally the registered trade names. Although this manual indicates
technical units given in SI units, the indications (rating plate, etc.) on the products themselves may be in units other than SI units.
MHT258a (Engl.)
 CONTENTS

SAFETY INSTRUCTION
1. GENERAL ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 1-1 10. PERIPHERAL DEVICES ெெெெெெெெெெெெெெெெெெெெெெெ 10-1
1.1 Outline ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 1-1 10.1 Cables ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 10-3
1.2 System configurationெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 1-3 10.2 Auto circuit breaker (FAB, MCCB), earth leakage
1.3 Functions ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 1-5 circuit breaker (ELCB) and magnetic
1.4 Explanation of model type ெெெெெெெெெெெெெெெெெெெெெெெெெ 1-6 contactor (MC) ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 10-4
10.3 Surge suppressor (surge killer) ெெெெெெெெெெெெெெெெெெெ 10-4
2. SPECIFICATIONS ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 2-1 10.4 Power filter ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 10-5
2.1 Motor ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 2-1 10.5 AC reactor (reactor for impedance matching) ெெெெெெெெ 10-6
2.2 Amplifier ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 2-10 10.6 External braking resistor ெெெெெெெெெெெெெெெெெெெெெெெெெ 10-6
2.3 Torque-speed data ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 2-14 10.7 DC reactor ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 10-7
10.8 Optional cables, connector kits, battery and
3. INSTALLATIONெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 3-1 external braking resistors ெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 10-8
3.1 Motor ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 3-1
3.2 Amplifier ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 3-3 11. APPENDIXES ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 11-1
3.3 External dimensions ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 3-8 11.1 Model type selection ெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 11-1
11.2 Example of program ெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 11-10
4. TERMINAL DIAGRAMS AND WIRING ெெெெெெெெெெெெெ 4-1 11.3 Control block diagram ெெெெெெெெெெெெெெெெெெெெெெெெெெெ 11-15
4.1 Amplifier, motor and optional devices layout ெெெெெெெெெெ 4-1
4.2 Commercial power supplyெெெெெெெெெெெெெெெெெெெெெெெெெ 4-5
4.3 Wiring between motor and encoder ெெெெெெெெெெெெெெெெெ 4-6
4.4 Host interface (I/F) ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 4-10
4.5 External connection diagrams (basic) ெெெெெெெெெெெெெெெ 4-15

5. CONTROL FUNCTIONS ெெெெெெெெெெெெெெெெெெெெெெெெெ 5-1

5.1 Summary ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 5-1
5.2 Run command ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 5-5
5.3 Speed control ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 5-10
5.4 Position control ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 5-15
5.5 Signal for safety ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 5-23
5.6 Torque control ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 5-31
5.7 Incidental functions ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 5-33

6. PARAMETER SETTING ெெெெெெெெெெெெெெெெெெெெெெெெெ 6-1

6.1 Mechanical equipment system ெெெெெெெெெெெெெெெெெெெெெ 6-1
6.2 Peripheral device ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 6-10
6.3 Amplifier ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 6-17
6.4 Communication ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 6-23
6.5 List of parameter ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 6-24

7. KEYPAD PANEL ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 7-1

7.1 Summary ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 7-1
7.2 Function list ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 7-3
7.3 Sequence modeெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 7-5
7.4 Monitor mode ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 7-10
7.5 Parameter edit mode ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 7-15
7.6 Positioning data edit mode ெெெெெெெெெெெெெெெெெெெெெெெெ 7-19
7.7 Test running mode ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 7-19

8. TEST (TRIAL) RUNNING OPERATION ெெெெெெெெெெெெெ 8-1

8.1 Preparationெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 8-1
8.2 Touch panel ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 8-4
8.3 Control input signal ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 8-6

9. INSPECTION AND MAINTENANCEெெெெெெெெெெெெெெெெ 9-1

9.1 Inspectionெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 9-1
9.2 Memory backup ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 9-1
9.3 Fault display ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 9-2
9.4 Items to specify when faulty ெெெெெெெெெெெெெெெெெெெெெெெ 9-15
9.5 Others informations ெெெெெெெெெெெெெெெெெெெெெெெெெெெெெெ 9-15
MHT258a (Engl.)
1. GENERAL

1.1 Outline
The FALDIC-α series which corresponds to a host interface is an AC servo system for motion-control necessary for a driven machine.

(1) Model type in this manual

(a) Amplifier (*) : RYS□□□S3-VVS
RYS□□□S3-VSS
(b) Motor (*) : GYC□□□DC1-S
GYS□□□DC1-S
(c) Gear head : GYN□□□SAG-G□□
GRN□□□SAG-G□□
Remark : "Origin return" and "interrupt positioning" of RYS□□□S3-VVS type amplifier could not be validated depending on the shipping
period of product. Check them after purchasing.

(1) Main features of product

(a) Wiring saving 16-bit serial pulse encoder (encoder) (65536 pulses/rev.)
(i) On the motor, an encoder for any of INC and ABS systems is mounted.
(ii) If a battery is mounted on the amplifier, it is usable as ABS system.
(iii) Encoder cabling consists of 2 wires for power supply and 2 for signal,
of totally 4 wires. For ABS system, 2 wires for battery must be added. Encode cable
(iv) A motor of a differen t output [kW] can be driven without changing the
encoder setting provided that it has a rated output of frame No. (size)
equal to the output to apply, one step smaller or greater. Refer to 9.3 (3) (d) .
(v) The basic resolution is 65536 pulses/rev., and the frequency dividing
output is 16 to 16384 pulses/rev.

(b) Preparing a PC (*) loader

(i) Servo system support tools capable of controlling the para. (*) editing, monitoring, test
running, etc. are available.
(ii) Fault diagnostic function alarm can be detected and fault cause covering the mechanical
equipment system can be assumed.

(*) Amplifier : Servo-amplifier

Motor : Servo-motor
PC : Personal computer
Para. : Parameter(s)
1-1 MHT258a (Engl.)
(c) Closely mountable amplifiers
(i) Several amplifiers can be mounted sidewise spaced by less than 5 [mm]
FALDIC RYS401S3-VVS FALDIC RYS201S3-VVS
between themselves. In that case, however, the operation duty is not
continuous but 80% ED. Refer to 3.2 (2) .
(ii) Control power supply input terminals are provided. Maintenance is
MODE SHIFT MODE SHIFT
ESC ENT ESC ENT

available at a status where the main circuit power supply is trun off.
K80791543 CHARGE CHARGE
(iii) PN terminals for higher harmonics suppression are provided. A DC
K80791234

L1 L1
reactor can be mounted. L2 L2
(iv) A touch panel is provided. L3 L3

(v) You can select a control function from 3 types: DB

P1
DB
P1
1) Pulse train input /speed control type (RYS-V type amplifier : Input P+ P+

frequency 500 [kHz] max.) N N

U U
2) Linear positioning function (RYS-L type amplifier : Maximum command V V

value ± 79,999,999) W W

A linear positioning system can be used for ball-screw or other mechanical

equipment systems.
3) Rotational indexing function (RYS-R type amplifier : Maximum number
of divisions 4095)
A rotational indexing system for ATC, tool magazine, etc. can be used.

(d) Cubic/slim type motors

Cubic type of approximately half the depth of our basic type motor and slim
type of flange of approximately half size are obtained.
(i) The degree of protection (motor enclosure protection) is IP55.
Optionally, IP67 can be supplied.
(ii) 0.03 to 5 [kW] are available.
(iii) Acceptable acceleration vibration is 4.9 [m/s2] and the slit plate material of
16-bit serial encoder is non-glass film.

1-2 MHT258a (Engl.)

1.2 System configuration
The following illustrates related devices of FALDIC-α system.

  Programmable operation display (POD)

SYSTEM

Ｆ１
Ｆ１
UG20
Ｆ２
Ｆ２

Ｆ３
Ｆ３

Ｆ４
Ｆ４

Ｆ５
Ｆ５

Ｆ６
Ｆ６
Programmable logic controller (PLC)
MICREX-SX
Ｆ７
Ｆ７

MICREX-F
FLEX-PC

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

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

LOADER
LOADER LOADER
LOADER DA

11
B/A
B/A

PE1 HP2

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

ＳＸ
ERR
ERR ERR
ERR ERR
ERR CH2
CH2 ERR
ERR 88 99 101112131415
101112131415 ERR
ERR 88 99 101112131415
101112131415 ERR
ERR

PWR
PWR

ALM
ALM

FH

FL 20
20

11
22
33
44 11
B/A
B/A

TL1 AS1 MP2 CH2

CH2 CH1
CH1 JP1

(continue to the next page)

General-purpose PC
[Programming support tool]
・D300win (MICREX-SX)
・Screen editor (UG)
・Servo-loader (FALDIC-α)

1-3 MHT258a (Engl.)

 FALDIC RYS201S3-VVS Amplifier
RYS

MODE SHIFT
ESC ENT

K80791234 CHARGE

L1
L2
L3
DB
P1
P+
N
U
V
W

(continued from the

Option cable
previous page)
WSC

Option cable
WSC
Motor
GYC
GYS

1-4 MHT258a (Engl.)

1.3 Functions
The FALDIC-α series has 3 types of control function for particular applications.

(1) RYS-V type : Pulse train/speed control (velocity)

Maximum input frequency 500[kHz]
Rotates according to pulse train from host control equipment, or
speed command from encoder or variable resistor.
The host interface has :
・DI/DO speed (minimum DI/DO),
・SX bus,
・Open network, etc.

(2) RYS-L type： ：Linear positioning function (linear motion)

Maximum command value ± 79,999,999
The amplifier incorporates a linear positioning function.
A linear positioning system can be used by ball-screw,
rack and pinion or other mechanical equipment systems.
It is usable for 99-point of positioning data, current
(present) position output, immediate positioning, M-code
output and other functions.
The host interface has：
・DI/DO position (expanded DI/DO),
・SX bus,
・Open network, etc.

(3) RYS-R type： ：Rotational indexing function (rotation)

Maximum indexing number 4095
The amplifier incorporates a rotational indexing function.
A rotational indexing system for ATC, tool magazine,
loader/unloader, etc. can be used.
The rotational indexing function is usable for shorted route
control, one-point halt, single-direction infinite rotation, etc.
The host interface has：
・DI/DO position (expanded DI/DO),
・SX bus,
・Open network, etc.

1-5 MHT258a (Engl.)

1.4 Explanation of model type
Model type of amplifier and motor is expressed with a combination of figures and letters :

(a) Amplifier

R Y S 2 0 1 S 3 - V V S

Amplifier, RYS : basic Encoder detector

S : 16-bit
Motor output
Host interface (I/F)
201 : 20×10 １= 200 [W]
300 : 30×10 ０= 30 [W] I/F DI/DO SX JPCN- RS- T- Device
speed position bus 1 485 link Net
Series letter, S : basic
Letter V P S J R T D
Series figure

Major function

Function Linear Rotation Pulse train/

positioning index speed control
Letter L R V

(b) GYS/GYC type motor

G Y S 2 0 1 D C 1 - S - B

Motor type Integral provision of brake

Type Slim Cubic With Without
Letters GYS GYC Letter B −

Motor output Encoder detector

201 : 20×10１ = 200 [W] S : 16-bit
300 : 30×10０ = 30 [W] Series figure

Rated speed, D : 3000 [r/min] Type of construction

C : Flange-mounted

(c) Gear head unit

G Y N 2 0 1 S A G - G 0 9

Gear head unit type

Speed reduction gear ratio
Type GYN GRN
Gear ratio 1/9 1/25
Letters GYN GRN
Figures and letter G09 G25
Motor output
201 : 20×10１ = 200 [W] Type of construction
For GYN
300 : 30×10０ = 30 [W] G : Flange-mounted
.20 : 20×10１ = 200 [W]
For GRN Series letter
.40 : 40×10１ = 400 [W]

Motor type
Type Slim Cubic
Letter S C

1-6 MHT258a (Engl.)

2. SPECIFICATIONS

2.1 Motor
(1) Cubic type motor (0.1 to 5 [kW])
(a) Basic design
(i) 0.1 to 1.5 [kW]
Type GYC□□□DC1-S 101 201 401 751 102 152
Rated output [kW] 0.1 0.2 0.4 0.75 1 1.5
Rated torque (*4) [N•m] 0.318 0.637 1.27 2.39 3.18 4.78
Speed [r/min] Rated 3000
Max. 5000
Breakdown (max.) torque (*3) [N•m] 0.955/1.43 1.91/2.87 3.82/5.73 7.17/10.7 9.55/12.7 14.3/19.1
Moment of inertia of motor rotor (×10-3) J[kg•m2] 0.00538 0.0216 0.0412 0.121 0.326 0.451
Current [A] Rated 1.0 1.5 2.6 4.8 6.7 9.6
Max. (*3) 3/4.5 4.5/6.8 7.8/11.8 14.4/21.6 20.1/26.8 28.8/38.4
Winding insulation class B F
Operation duty type Continuous
Degree of enclosure protection Totally enclosed, IP55 except for shaft sealing
Electrical connection Motor power With 0.3 m flexible leads and connectors With cannon connectors
terminals Encoder detector
Temp. detection Without providing
Type of construction (mounting) IMB5, IMV1, IMV3, flange-mounted
Shaft extension Cylindrical extension with key
Final color for external non-machined surface Munsell N1.5
Encoder detector 16-bit serial encoder
Vibration level, peak to peak amplitude 5 micrometers 10 micrometers (*1)
Install location For indoors, 1000[m] and below of site-altitude
Ambient climatic conditions Temperature : −10 to +40 [°C], humidity : 90 [%] RH max. (free from condensation)
Acceleration vibration, acceptable (max.) 49 [m/s2] 24.5 [m/s2]
Mass (weight) [kg] 0.75 1.3 1.9 3.5 5.7 7

(b) Additional data for motor with providing brake

(i) 0.1 to 1.5 [kW]
Type GYC□□□DC1-S-B 101 201 401 751 102 152
Rated output [kW] 0.1 0.2 0.4 0.75 1 1.5
Rated torque [N•m] 0.318 0.637 1.27 2.39 3.18 4.78
Braking torque [N•m] 0.318 1.27 1.27 2.39 17.0 17.0
Rated voltage DC [V] 24
Attraction time [ms] 60 80 80 50 120 120
Release time [ms] 40 40 40 80 30 30
Brake input [W] 6.5 9 9 8.5 12 12
Mass (weight) [kg] 1 1.9 2.6 4.3 8.0 9.8

2-1 MHT258a (Engl.)

(c) Additional data for motor with providing speed reduction gear, gear head unit
(i) Motor with gear ratio 1/9
1) 0.1 to 1.5 [kW]
Type GYN□□□CAG-G09 101 201 401 751 102 152
Actual speed reduction ratio 1/9
Speed [r/min] Rated 333.3
Max. 555.5
Rated torque [N•m] 2.45 4.9 9.8 18.1 25.5 38.3
Breakdown (max.) torque [N•m] 7.35 14.7 29.4 54.4 76.5 115
Direction of motor rotation (*2) CCW
Backlash (max.) [min] 40 30
Mass (weight) [kg] 0.72 2.1 2.1 3.8 7.8 7.8

(ii) Motor with gear ratio 1/25 or 1/15

1) 0.1 to 1.5 [kW]
Type GYN□□□CAG-G25/G15 101 201 401 751 102 152
Actual speed reduction ratio 1/25 1/15
Speed [r/min] Rated 120 200
Max. 200 333.3
Rated torque [N•m] 6.37 12.7 25.5 48 39.2 57.8
Breakdown (max.) torque [N•m] 19.1 38.2 76.4 144 117.6 173.4
Direction of motor rotation (*2) CCW
Backlash (max.) [min] 40 30 30 30
Mass (weight) [kg] 0.72 2.1 2.1 3.8 7.8 7.8
(*1) 15 micrometers for over the rated speed.
(*2) Direction of gear-output-shaft rotation is CCW (counter-clockwise), when motor shaft rotates forward(*).
The direction is viewed from a point facing the drive-end of motor.
(*3) Breakdown (max.) torque and maximum current values are selected in accordance with the following paired combination of amplifier
and motor types.
Lower value/higher value：
When the same output [kW] rating of amplifier and motor/when amplifier size is one step larger than the motor frame No. size
corresponding with amplifier.
Refer to 2.3.
(*4) Rated torque are continuous operating torque , on condition that motors are mounted heat sink which size are bellow table.

Motor type Heat sink size [mm]

GYC101DC1-S 250 × 250 × 6
GYC201DC1-S 300 × 300 × 6
GYC401DC1-S 300 × 300 × 6
GYC751DC1-S 350 × 350 × 6
GYC102DC1-S 400 × 400 × 10
GYC152DC1-S 400 × 400 × 10

Note : (*) The direction of motor rotation (when viewed from a point facing the drive-end of motor) is designed according to Japanese
standards:
• Forward direction : Counter-clockwise rotation (CCW)
• Reverse direction: Clockwise rotation (CW)

2-2 MHT258a (Engl.)

(1) Cubic type motor (0.1 to 5 [kW]) (cont’d)
(a) Basic design
(ii) 2 to 5 [kW]
Type GYC□□□DC1-S 202 302 402 502
Rated output [kW] 2 3 4 5
Rated torque (*4) [N•m] 6.37 − − −
Speed [r/min] Rated 3000
Max. 5000
Breakdown (max.) torque (*3) [N•m] 19.1 − − −
Moment of inertia of motor rotor (×10-3) J[kg•m2] 0.575 − − −
Current [A] Rated 12.6 − − −
Max. (*3) 37.8 − − −
Winding insulation class F − − −
Operation duty type Continuous
Degree of enclosure protection Totally enclosed, IP55 except for shaft sealing
Electrical connection Motor power With cannon connectors
terminals Encoder detector
Temp. detection Without providing
Type of construction (mounting) IMB5, IMV1, IMV3, flange-mounted
Shaft extension Cylindrical extension with key
Final color for external non-machined surface Munsell N1.5
Encoder detector 16-bit serial encoder
Vibration level, peak to peak amplitude 10 micrometers (*1)
Install location For indoors, 1000[m] and below of site-altitude
Ambient climatic conditions Temperature : −10 to +40 [℃], humidity : 90 [%] RH max. (free from condensation)
Acceleration vibration, acceptable (max.) 24.5 [m/s2] − − −
Mass (weight) [kg] 8.2 − − −

(b) Additional data for motor with providing brake

(ii) 2 to 5 [kW]
Type GYC□□□DC1-S-B 202 302 402 502
Rated output [kW] 2 3 4 5
Rated torque [N•m] 6.37 − − −
Braking torque [N•m] 17.0 − − −
Rated voltage DC [V] 24
Attraction time [ms] 120 − − −
Release time [ms] 30 − − −
Brake input [W] 12 − − −
Mass (weight) [kg] 11.0 − − −

2-3 MHT258a (Engl.)

(c) Additional data for motor with providing speed reduction gear, gear head unit
(i) Motor with gear ratio 1/9
2) 2 to 5 [kW]
Type GYN□□□CAG-G09 202 302 402 502
Actual speed reduction ratio 1/9
Speed [r/min] Rated 333.3
Max. 555.5
Rated torque [N•m] 50.9 − − −
Breakdown (max.) torque [N•m] 152.0 − − −
Direction of motor rotation (*2) CCW
Backlash (max.) [min] 30 − − −
Mass (weight) [kg] 12.2 − − −

(ii) Motor with gear ratio 1/15

2) 2 to 5 [kW]
Type GYN□□□CAG-G15 202 302 402 502
Actual speed reduction ratio 1/15
Speed [r/min] Rated 200
Max. 333.3
Rated torque [N•m] 77.4 − − −
Breakdown (max.) torque [N•m] 232.0 − − −
Direction of motor rotation (*2) CCW
Backlash (max.) [min] 30 − − −
Mass (weight) [kg] 12.2 − − −
(*1) 15 micrometers for over the rated speed.
(*2) Direction of gear-output-shaft rotation is CCW (counter-clockwise), when motor shaft rotates forward(*).
The direction is viewed from a point facing the drive-end of motor.
(*3) Breakdown (max.) torque and maximum current values are selected in accordance with the following paired combination of amplifier
and motor types.
Lower value/higher value：
When the same output [kW] rating of amplifier and motor/when amplifier size is one step larger than the motor frame No. size
corresponding with amplifier.
Refer to 2.3.
Refer to 2.3.
(*4) Rated torque are continuous operating torque , on condition that motors are mounted heat sink which size are bellow table.

Motor type Heat sink size [mm]

GYC202DC1-S 400 × 400 × 10

2-4 MHT258a (Engl.)

(2) Slim type motor (0.03 to 5 [kW]) for 200 [V] class input voltage of amplifier
(a) Basic design
(i) 0.03 to 0.75 [kW]
Type GYS□□□DC1-S 300 500 101 201 401 751
Rated output [kW] 0.03 0.05 0.1 0.2 0.4 0.75
Rated torque (*4) [N•m] 0.095 0.159 0.318 0.637 1.27 2.39
Speed [r/min] Rated 3000
Max. 5000
Breakdown (max.) torque (*3) [N•m] − 0.478 0.955 1.91/2.87 3.82/5.73 7.17/10.7
Moment of inertia of motor rotor (×10-3) J[kg•m2] − 0.0034 0.00517 0.0137 0.0249 0.0861
Current [A] Rated − 0.93 0.9 1.5 2.6 4.8
Max. (*3) − 2.8 2.7 4.5/6.8 7.8/11.8 14.4/21.6
Winding insulation class B
Operation duty type Continuous
Degree of enclosure protection Totally enclosed, IP55 except for shaft sealing
Electrical connection Motor power With 0.3 m flexible leads and connectors
terminals Encoder detector
Temp. detection Without providing
Type of construction (mounting) IMB5, IMV1, IMV3, flange-mounted
Shaft extension Cylindrical extension with key
Final color for external non-machined surface Munsell N1.5
Encoder detector 16-bit serial encoder
Vibration level, peak to peak amplitude 5 micrometers
Install location For indoors, 1000[m] and below of site-altitude
Ambient climatic conditions Temperature : −10 to +40 [°C], humidity : 90 [%] RH max. (free from condensation)
Acceleration vibration, acceptable (max.) 4.9 [m/s2]
Mass (weight) [kg] − 0.45 0.55 1.2 1.8 3.4

(b) Additional data for motor with providing brake

(i) 0.03 to 0.75 [kW]
Type GYS□□□DC1-S-B 300 500 101 201 401 751
Rated output [kW] 0.03 0.05 0.1 0.2 0.4 0.75
Rated torque [N•m] 0.095 0.159 0.318 0.637 1.27 2.39
Braking torque [N•m] 0.34 0.34 0.34 1.27 1.27 2.45
Rated voltage DC [V] 24
Attraction time [ms] − 35 35 40 40 60
Release time [ms] − 10 10 20 20 25
Brake input [W] − 6.1 6.1 7.3 7.3 8.5
Mass (weight) [kg] − 0.62 0.72 1.7 2.3 4.2

2-5 MHT258a (Engl.)

(c) Additional data for motor with providing speed reduction gear, gear head unit
(i) Motor with gear ratio 1/9
1) 0.03 to 0.75 [kW]
Type □□□□□□SAG-G09 GYN GRN. GYN
300 500 101 20 40 751
Actual speed reduction ratio − 1/9
Speed [r/min] Rated − 333.3
Max. − 555.5
Rated torque [N•m] − 1.23 2.54 4.9 9.8 18.1
Breakdown (max.) torque [N•m] − 3.68 7.36 14.7 29.4 54.3
Direction of motor rotation (*2) − CCW
Backlash (max.) [min] − 40 30
Mass (weight) [kg] − 0.7 2.1 3.8

(ii) Motor with gear ratio 1/25

1) 0.03 to 0.75 [kW]
Type □□□□□□SAG-G25 GYN GRN. GYN
300 500 101 20 40 751
Actual speed reduction ratio − 1/25
Speed [r/min] Rated − 120
Max. − 200
Rated torque [N•m] − 3.19 6.37 12.7 25.5 48
Breakdown (max.) torque [N•m] − 9.56 19.1 38.2 76.4 144
Direction of motor rotation (*2) − CCW
Backlash (max.) [min] − 40 30
Mass (weight) [kg] − 0.7 2.1 3.8
(*1) 15 micrometers for over the rated speed.
(*2) Direction of gear-output-shaft rotation is CCW (counter-clockwise), when motor shaft rotates forward(*).
The direction is viewed from a point facing the drive-end of motor.
(*3) Breakdown (max.) torque and maximum current values are selected in accordance with the following paired combination of amplifier
and motor types.
Lower value/higher value：
When the same output [kW] rating of amplifier and motor/when amplifier size is one step larger than the motor frame No. size
corresponding with amplifier.
Refer to 2.3.
(*4) Rated torque are continuous operating torque , on condition that motors are mounted heat sink which size are bellow table.

Motor type Heat sink size [mm]

GYS500DC1-S8 200 × 200 × 6
GYS101DC1-S 200 × 200 × 6
GYS201DC1-S 250 × 250 × 6
GYS401DC1-S 250 × 250 × 6
GYS751DC1-S 300 × 300 × 6

2-6 MHT258a (Engl.)

(2) Slim type motor (0.03 to 5 [kW]) for 200 [V] class input voltage of amplifier (cont’d)
(a) Basic design
(ii) 1 to 5 [kW]
Type GYS□□□DC1-S 102 152 202 302 402 502
Rated output [kW] 1 1.5 2 3 4 5
Rated torque (*4) [N•m] 3.18 4.78 6.37 9.55 12.7 15.9
Speed Rated 3000
[r/min] Max. 5000
Breakdown (max.) torque (*3) [N•m] 9.55/12.7 14.3/19.1 19.1 28.7 38.2 47.8
Moment of inertia of motor rotor (×10-3) J[kg•m2] 0.174 0.238 0.302 0.873 1.12 1.37
Current [A] Rated 7.1 9.6 12.6 18.5 24.5 30
Max. (*3) 21.3/28.4 28.8/38.4 37.8 55.5 73.5 90
Winding insulation class F
Operation duty type Continuous
Degree of enclosure protection Totally enclosed, IP55 except for shaft sealing
Electrical connection Motor power With cannon connectors
terminals Encoder detector
Temp. detection Without providing
Type of construction (mounting) IMB5, IMV1, IMV3, flange-mounted
Shaft extension Cylindrical extension with key
Final color for external non-machined surface Munsell N1.5
Encoder detector 16-bit serial encoder
Vibration level, peak to peak amplitude 10 micrometers (*1)
Install location For indoors, 1000[m] and below of site-altitude
Ambient climatic conditions Temperature : −10 to +40 [°C], humidity : 90 [%] RH max. (free from condensation)
Acceleration vibration, acceptable (max.) 24.5 [m/s2]
Mass (weight) [kg] 4.4 5.2 6.3 11 13.5 16

(b) Additional data for motor with providing brake

(ii) 1 to 5 [kW]
Type GYS□□□DC1-S-B 102 152 202 302 402 502
Rated output [kW] 1 1.5 2 3 4 5
Rated torque [N•m] 3.18 4.78 6.37 9.55 12.7 15.9
Braking torque [N•m] 6.86 6.86 17 17 17 17
Rated voltage DC [V] 24
Attraction time [ms] 60 120
Release time [ms] 10 30
Brake input [W] 17 12
Mass (weight) [kg] 5.9 6.8 7.9 13.0 15.5 18.0

2-7 MHT258a (Engl.)

(c) Additional data for motor with providing speed reduction gear, gear head unit
(ii) Motor with gear ratio 1/9
2) 1 to 5 [kW]
Type GYN□□□SAG-G09 102 152 202 302 402 502
Actual speed reduction ratio 1/9
Speed [r/min] Rated 333.3
Max. 555.5
Rated torque [N•m] 25.4 38.2 50.9 − − −
Breakdown (max.) torque [N•m] 74.4 114 152 − − −
Direction of motor rotation (*2) CCW
Backlash (max.) [min] 30 − − −
Mass (weight) [kg] 7.8 − − −

(ii) Motor with gear ratio 1/15

2) 1 to 5 [kW]
Type GYN□□□SAG-G15 102 152 202 302 402 502
Actual speed reduction ratio 1/15
Speed [r/min] Rated 200.0
Max. 333.3
Rated torque [N•m] 39.2 57.8 77.4 − − −
Breakdown (max.) torque [N•m] 117 173 232 − − −
Direction of motor rotation (*2) CCW
Backlash (max.) [min] 30 − − −
Mass (weight) [kg] 7.8 − − −
(*1) 15 micrometers for over the rated speed.
(*2) Direction of gear-output-shaft rotation is CCW (counter-clockwise), when motor shaft rotates forward(*).
The direction is viewed from a point facing the drive-end of motor.
(*3) Breakdown (max.) torque and maximum current values are selected in accordance with the following paired combination of amplifier
and motor types.
Lower value/higher value：
When the same output [kW] rating of amplifier and motor/when amplifier size is one step larger than the motor frame No. size
corresponding with amplifier.
Refer to 2.3.
(*4) Rated torque are continuous operating torque , on condition that motors are mounted heat sink which size are bellow table.

Motor type Heat sink size [mm]

GYS102DC1-S 350 × 350 × 6
GYS152DC1-S 350 × 350 × 6
GYS202DC1-S 350 × 350 × 6
GYS302DC1-S 400 × 400 × 10
GYS402DC1-S 400 × 400 × 10
GYS402DC1-S 400 × 400 × 10

2-8 MHT258a (Engl.)

(3) Slim type motor (0.05 to 0.2 [kW]) for 100 [V] class input voltage of amplifier
(a) Basic design
Type GYS□□□DC1-S 500 101 201
Rated output [kW] 0.05 0.1 0.2
Rated torque (*4) [N•m] 0.159 0.318 0.637
Speed [r/min] Rated 3000
Max. 5000
Breakdown (max.) torque (*3) [N•m] 0.478 0.955 1.91/2.87
Moment of inertia of motor rotor (×10-3) J[kg•m2] 0.00341 0.00517 0.0137
Current [A] Rated 0.85 1.5 2.7
Max. (*3) 2.55 4.5 8.1/12.1
Winding insulation class B
Operation duty type Continuous
Degree of enclosure protection Totally enclosed, IP55 except for shaft sealing
Electrical connection Motor power With 0.3 m flexible leads and connectors
terminals Encoder detector
Temp. detection Without providing
Type of construction (mounting) IMB5, IMV1, IMV3, flange-mounted
Shaft extension Cylindrical extension with key
Final color for external non-machined surface Munsell N1.5
Encoder detector 16-bit serial encoder
Vibration level, peak to peak amplitude 5 micrometers
Install location For indoors, 1000[m] and below of site-altitude
Ambient climatic conditions Temperature : −10 to +40 [°C], humidity : 90 [%] RH max. (free from condensation)
Acceleration vibration, acceptable (max.) 4.9 [m/s2]
Mass (weight) [kg] 0.45 0.55 1.2
(*1) 15 micrometers for over the rated speed.
(*2) Direction of gear-output-shaft rotation is CCW (counter-clockwise), when motor shaft rotates forward(*).
The direction is viewed from a point facing the drive-end of motor.
(*3) Breakdown (max.) torque and maximum current values are selected in accordance with the following paired combination of amplifier
and motor types.
Lower value/higher value：
When the same output [kW] rating of amplifier and motor/when amplifier size is one step larger than the motor frame No. size
corresponding with amplifier.
Refer to 2.3.
(*4) Rated torque are continuous operating torque , on condition that motors are mounted heat sink which size are bellow table.

Motor type Heat sink size [mm]

GYS500DC1-S8 200 × 200 × 6
GYS101DC1-S6 200 × 200 × 6
GYS201DC1-S6 250 × 250 × 6

2-9 MHT258a (Engl.)

2.2 Amplifier
(1) Basic specification
(a) 0.03 to 0.75 [kW] for 200 [V] input voltage of amplifier
Amplifier type RYS□□□S3-VVS 300 500 101 201 401 751
Applicable motor output (*1) [kW] 0.03 0.05 0.1 0.2 0.4 0.75
Input Phase, freq. 3-phase for power supply, single-phase for control, 50/60 [Hz]
Voltage 200/200-220-230 [V], +10 to −15[%]
Control System Sinusoidal PWM current control (all digital)
data Carrier freq. [kHz] 10
Feedback 16-bit serial encoder (one-revolution resolution 16-bit, multi-revolution 16-bit)
Speed Loading ±1 [r/min] for 0 to 100 [%] deviation
control Supply volt. max. For −10 to +10 [%] fluctuation
accuracy Amb. temp. ±15 [r/min] max. for −10 to +55 [°C] variation (at analog volt. input)
Speed range 1 : 5000 (at rated load)
Freq. response 500 [Hz] (at JL = JM (*2) )
Load inertia. max. 100 times of the motor rotor inertia, permissible
Overload capability 300 [%] for 3 [sec], 450 [%] for 1.5 [sec]
Function Braking Regenerating, dynamic with external braking resistor
Protection OC (output overcurrent), OS (overspeed), LV (low voltage, undervoltage),
HV (high voltage, overvoltage), Et (encoder trouble), Ct (circuit trouble, amplifier trouble),
dE (data error, memory error), CE (combination error), rH2 (resistor heat 2),
EC (encoder communication error), CtE (cont (control signal) error),
OL (motor overload), rH (resistor heat, braking (OB) resistor overheat),
OF (over flow, deviation excessive), AH (amp. heat, amplifier overheat),
EH (encoder heat, encoder overheat), AL (absolute data lost),
AF (absolute data over flow), SE (system error)
Display, setting CHARGE (red), 7-segment LED with 5-digit and 4 operation keys
Ambient Installation place For indoors, 1000 [m] and below of site-altitude, under clean atmosphere,
condition no explosive hazardous gas and vapour is existing.
In the case of compliance with the European standard :
Pollution degree = 2, Over voltage category = Ⅱ
Temp., humidity −10 to +55 [°C], 90 [%] RH max. (free from condensation)
Vibration / shock 4.9 [m/s2] / 19.6 [m/s2] acceleration, acceptable (max.)
Others DC reactor terminals (P1, P+) for higher harmonics suppression.
UL/cUL (compliance with UL508), European standards (compliance with EN50178)
Mass (weight) [kg] 0.9 1.2 1.5
(*1) Use amplifier and motor as a specified pair of types given in the table of 9.3 (3) (d).
If the RYS401 (0.4 [kW]) type amplifier and GYS201 (0.2 [kW]) motor (which is a step smaller than the optimum combination) is
combined as a pair, allowable breakdown (max.) torque of 0.2 [kW] motor can be obtained as 450% (in the case of the breakdown
torque of the motor itself is 450% and above) of the rated torque.
Furthermore, in this case, other data are as follows :
• The moment of load inertia after conversion into motor shaft extension is at most 30 times the moment of inertia of motor rotor.
• Acceleration/deceleration time up to rated speed is 2 [ms] or more.
• The motor shaft extension is directly mechanically connected and is subjected to no external radial or thrust force.
(*2) Moment of inertia
JL : Moment of load inertia after conversion into motor shaft extension
JM : Moment of inertia of motor rotor

2-10 MHT258a (Engl.)

(b) 1 to 5 [kW] for 200 [V] input voltage of amplifier
Amplifier type RYS□□□S3-VVS 102 152 202 302 402 502
Applicable motor output (*1) [kW] 1 1.5 2 3 4 5
Input Phase, freq. 3-phase for power supply, single-phase for control, 50/60 [Hz]
Voltage 200/200-220-230 [V], +10 to −15[%]
Control System Sinusoidal PWM current control (all digital)
data Carrier freq. [kHz] 10 5
Feedback 16-bit serial encoder (one-revolution resolution 16-bit, multi-revolution 16-bit)
Speed Loading ±1 [r/min] for 0 to 100 [%] deviation
control Supply volt. max. For −10 to +10 [%] fluctuation
accuracy Amb. temp. ±15 [r/min] max. for −10 to +55 [°C] variation (at analog volt. input)
Speed range 1 : 5000 (at rated load)
Freq. response 500 [Hz] (at JL = JM (*2) )
Load inertia. max. 100 times of the motor rotor inertia, permissible
Overload capability 300 [%] for 3 [sec], 450 [%] for 1.5 [sec]
Function Braking Regenerating, dynamic with external braking resistor
Protection OC (output overcurrent), OS (overspeed), LV (low voltage, undervoltage),
HV (high voltage, overvoltage), Et (encoder trouble), Ct (circuit trouble, amplifier trouble),
dE (data error, memory error), CE (combination error), rH2 (resistor heat 2),
EC (encoder communication error), CtE (cont (control signal) error),
OL (motor overload), rH (resistor heat, braking (OB) resistor overheat),
OF (over flow, deviation excessive), AH (amp. heat, amplifier overheat),
EH (encoder heat, encoder overheat), AL (absolute data lost),
AF (absolute data over flow) , SE (system error)
Display, setting CHARGE (red), 7-segment LED with 5-digit and 4 operation keys
Ambient Installation place For indoors, 1000 [m] and below of site-altitude, under clean atmosphere,
condition no explosive hazardous gas and vapour is existing.
In the case of compliance with the European standard :
Pollution degree = 2, Over voltage category = Ⅱ
Temp., humidity −10 to +55 [°C], 90 [%] RH max. (free from condensation)
Vibration / shock 4.9 [m/s2] / 19.6 [m/s2] acceleration, acceptable (max.)
Others DC reactor terminals (P1, P+) for higher harmonics suppression.
UL/cUL (compliance with UL508), European standards (compliance with EN50178)
Mass (weight) [kg] 2 −
(*1)
See footnote of (a).
(*2)

2-11 MHT258a (Engl.)

(c) 0.05 to 0.2 [kW] for 100 [V] class input voltage of amplifier
Amplifier type RYS□□□S3-VVS6 500 101 201
Applicable motor output (*1) [kW] 0.05 0.1 0.2
Input Phase, freq. Single-phase for power supply, single-phase for control, 50/60 [Hz]
Voltage 100 to 115 [V], +10 to −15[%]
Control System Sinusoidal PWM current control (all digital)
data Carrier freq. [kHz] 10
Feedback 16-bit serial encoder (one-revolution resolution 16-bit, multi-revolution 16-bit)
Speed Loading ±1 [r/min] for 0 to 100 [%] deviation
control Supply volt. max. For −10 to +10 [%] fluctuation
accuracy Amb. temp. ±15 [r/min] max. for −10 to +55 [°C] variation (at analog volt. input)
Speed range 1 : 5000 (at rated load)
Freq. response 500 [Hz] (at JL = JM (*2) )
Load inertia. max. 100 times of the motor rotor inertia, permissible
Overload capability 300 [%] for 3 [sec], 450 [%] for 1.5 [sec]
Function Braking Regenerating, dynamic with external braking resistor
Protection OC (output overcurrent), OS (overspeed), LV (low voltage, undervoltage),
HV (high voltage, overvoltage), Et (encoder trouble), Ct (circuit trouble, amplifier trouble),
dE (data error, memory error), CE (combination error), rH2 (resistor heat 2),
EC (encoder communication error), CtE (cont (control signal) error),
OL (motor overload), rH (resistor heat, braking (OB) resistor overheat),
OF (over flow, deviation excessive), AH (amp. heat, amplifier overheat),
EH (encoder heat, encoder overheat), AL (absolute data lost),
AF (absolute data over flow) , SE (system error)
Display, setting CHARGE (red), 7-segment LED with 5-digit and 4 operation keys
Ambient Installation place For indoors, 1000 [m] and below of site-altitude, under clean atmosphere,
condition no explosive hazardous gas and vapour is existing.
In the case of compliance with the European standard :
Pollution degree = 2, Over voltage category = Ⅱ
Temp., humidity −10 to +55 [°C], 90 [%] RH max. (free from condensation)
Vibration / shock 4.9 [m/s2] / 19.6 [m/s2] acceleration, acceptable (max.)
Others DC reactor terminals (P1, P+) for higher harmonics suppression.
UL/cUL (compliance with UL508), European standards (compliance with EN50178)
Mass (weight) [kg] 0.9 1.2
(*1)
See footnote of (a).
(*2)

2-12 MHT258a (Engl.)

(2) RYS□□□
□□□S3-VVS
□□□ type amplifier, basic design
Signal name Function Terminal
symbol
Pulse train Input Freq. 500 [kHz] max. (differential input) CA, *CA
Form (1) Command pulse and code, (2) Forward and reverse pulse, CB, *CB
(3) Two 90° phase-different signal
Freq. Output Freq. 500 [kHz] max. (differential output) FA, *FA
dividing Form Two 90° phase-different signal FB, *FB
output Pulse 16 to 16384 [pulse/rev.] (in increment of 1) FZ, *FZ
Speed Power supply +10 ±0.4 [V] (output current 30 [mA] max.) P10
command Input ±10 [V] (20 kΩ input impedance) NREF
Torque command input TREF
Monitor output 1/2 For analog-meter (two/one-way deflection). (1) Speed command, MON1
(2) Speed feedback, (3) Torque command, (4) Position deviation MON2
Power supply for I/F +24 [V] DC, 300 [mA] (supplied from external) P24, M24
Control input +24 [V] DC, 10 [mA] (one-point) source input CONT1 to
External control input terminals CONT8
OUT output +30 [V] DC, 50 [mA] max. sink output OUT1 to
External control output terminals OUT5
External backup Input terminals of backup power supply from external to encoder BAT+, BAT−
Control function
Control form Position, speed and torque controls (selectable with control input signal)
Position control Pulse train, origin return, interrupt positioning
Origin setting LS (origin limit switch) and Z-phase, position preset
Speed control Analog voltage, multistep speed
Torque control Analog voltage
Others Override, brake timing output etc.

(3) RYS□□□
□□□S3-VSS
□□□ type amplifier, SX type design
Signal name Function Terminal
symbol
SX bus − (IN, OUT)
Freq. Output Freq. 500 [kHz] max. (differential output) FA, *FA
dividing Form Two 90° phase-different signal FB, *FB
output Pulse 16 to 16384 [pulse/rev.] (in increment of 1) FZ, *FZ
Monitor output 1/2 For analog-meter (two/one-way deflection). (1) Speed command, MON1
(2) Speed feedback, (3) Torque command, (4) Position deviation MON2
Power supply for I/F +24 [V] DC, 300 [mA] (supplied from external) P24, M24
Control input +24 [V] DC, 10 [mA] (one-point) source input CONT1 to
External control input terminals CONT5
OUT output +30 [V] DC, 50 [mA] max. sink output OUT1 to
External control output terminals OUT2
External backup Input terminals of backup power supply from external to encoder BAT+, BAT−
Control function MICREX-SX FB

(4) Optional cables, connection kits, battery and external braking resistors
Refer to 4.1 (3).

2-13 MHT258a (Engl.)

2.3 Torque-speed data
Shown below are the torque characteristic with each motor and amplifier combination.

(a) Within the range of “(A) Acceleration/deceleration area 1” and “(B) Acceleration/deceleration area 2” are used for accel./decel. (*) the
motor.
(i) (A) Acceleration/deceleration area 1 : Output torque is available at accel./decel. In case of the same output [kW] rating of the amplifier
and motor combination.
(ii) (B) Acceleration/deceleration area 2 : Output torque is available at accel./decel. When the amplifier size is one step larger than the
motor frame No. size corresponding with the amplifier. Refer to 9.3 (3) (d).
(iii) In the case of (A) and (B), a torque higher than rated cannot be outputted continuously.

(b) Within the range of “(C) Continuous operation area”, the motor can continuously be operated (at rated speed or lower). Above the
rated speed, the rated torque cannot be outputted continuously.

(c) The overload detecting time (guidepost) is as follows.

Output torque [%] 100 (rated torque) 125 150 200 300 450
Overload detecting Continuous operation is 35 18 9 3 1.5
time approx. [sec] acceptable.
Before tripping by overload, an early warning signal can be outputted. Refer to 5.5.6.

(*) Accel. : Accelerating or acceleration

Decel. : Decelerating or deceleration

2-14 MHT258a (Engl.)

(1) GYC motor
・ＧＹＣ１０１ＤＣ１−Ｓ（０．１[ｋＷ]） ・ＧＹＣ２０１ＤＣ１−Ｓ（０．２ [ｋＷ]）

1.6 4.0
1.43
1.4 3.5
(Ｂ)
(Ｂ)
1.2 3.0 2.87

1.0 0.955 2.5 (Ｂ）

(Ｂ）
Torque Torque
[N･m] 0.8 [N･m] 2.0 1.91
(Ａ)
(Ａ)

0.6 1.5 (Ａ)

(Ａ)

0.4 1.0
0.318
0.637

0.2 0.5
(Ｃ)
(Ｃ)
(Ｃ)
(Ｃ)

0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Speed [r/min] Speed [r/min]

・ＧＹＣ４０１ＤＣ１−Ｓ（０．４[ｋＷ]） ・ＧＹＣ７５１ＤＣ１−Ｓ（０．７５[ｋＷ]）
8.0 16.0

7.0 14.0

6.0 5.73 12.0

10.7
(Ｂ)
(Ｂ) 10.0
5.0
Torque Torque (Ｂ)
(Ｂ)
[N･m] 4.0 3.82 [N･m] 8.0
7.17

(Ａ)
(Ａ) 6.0 (Ａ)
(Ａ)
3.0

2.0 4.0
1.27 2.39

1.0 2.0
(Ｃ)
(Ｃ) (Ｃ)
(Ｃ)

0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Speed [r/min] Speed [r/min]

(A) Acceleration/deceleration area 1

(B) Acceleration/deceleration area 2
(C) Continuous operation area

2-15 MHT258a (Engl.)

 ・ＧＹＣ１０２ＤＣ１−Ｓ（１[ｋＷ]） ・ＧＹＣ１５２ＤＣ１−Ｓ（１．５[ｋＷ]）
16.0 40.0
14.3
14.0 35.0

12.0 (Ｂ)
(Ｂ) 30.0

9.55
10.0 25.0
21.5
Torque Torque
[N･m] 8.0 (Ａ)
(Ａ) [N･m]20.0
(Ｂ)
(Ｂ)
6.0 15.0 14.3

3.18 (Ａ)
(Ａ)
4.0 10.0

4.78
2.0 (Ｃ)
(Ｃ) 5.0
(Ｃ)
(Ｃ)

0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Speed [r/min] Speed [r/min]

(2) GYS motor

・ＧＹＳ２０１ＤＣ１−Ｓ（０．２[ｋＷ]） ・ＧＹＳ４０１ＤＣ１−Ｓ（０．４[ｋＷ]）

4.0 8.0

3.5 7.0

6.0 5.73
3.0 2.87

(Ｂ)
(Ｂ)
2.5 (Ｂ)
(Ｂ) 5.0
Torque Torque
1.91 [N･m] 4.0 3.82
[N･m] 2.0

(Ａ)
(Ａ)
1.5 (Ａ)
(Ａ) 3.0

1.0 2.0
0.637 1.27

0.5 1.0
(Ｃ)
(Ｃ)
(Ｃ)
(Ｃ)

0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Speed [r/min] Speed [r/min]

(A) Acceleration/deceleration area 1

(B) Acceleration/deceleration area 2
(C) Continuous operation area

2-16 MHT258a (Engl.)

 ・ＧＹＳ７５１ＤＣ１−Ｓ（０．７５[ｋＷ]） ・ＧＹＳ１０２ＤＣ１−Ｓ（１[ｋＷ]）
16.0 16.0
14.3
14.0 14.0

12.0 12.0 (Ｂ)

10.7
10.0 10.0 9.55

Torque (Ｂ) Torque

[N･m] 8.0 (Ａ)
[N･m] 8.0 7.17

6.0 (Ａ) 6.0

4.0 4.0 3.18

2.39
2.0 2.0 (Ｃ)
(Ｃ)

0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
Speed [r/min] Speed [r/min]

・ＧＹＳ１５２ＤＣ１−Ｓ（１．５[ｋＷ]）
40.0

35.0

30.0

25.0
Torque 21.5
[N･m]20.0
(Ｂ)
15.0 14.3

(Ａ)
10.0

4.78
5.0
(Ｃ)

0 1000 2000 3000 4000 5000

Speed [r/min]

(A) Acceleration/deceleration area 1

(B) Acceleration/deceleration area 2
(C) Continuous operation area

2-17 MHT258a (Engl.)

3. INSTALLATION

3.1 Motor
(1) Installation environment
Temperature : −10 to + 40℃
Humidity : 90%RH max. (free from condensation)

(2) Type of construction (mounting)

Each motor allows the following methods of mounting.

Flange-mounted
IMB5 IMV1 IMV3

(3) No-oil or no-water-drop protection

In case oil or water drop splashes the motor, the motor should be protected with a suitable cover (example : “a” of figure), which will not close
ventilation, and the motor should be mounted so that the terminal box, connector or connection cable should also be protected (“b” of figure).
Do not allow oil or water drop to enter the inside of motor through the shaft extension.
For mechanical connection with an oil-lubricated reduction gear unit, its oil level should always be lower than in the motor bearing-housing
(“c” of figure).

(4) Rotary encoder detector

･ An encoder is used for detecting the position, speed of motor.
･ The motor and encoder have been factory-aligned in the circumferential direction at the time of assembly.
Therefore, the mounting position of the encoder should not be changed.

Encoder

3-1 MHT258a (Engl.)

 DO NOT DISASSEMBLE

Do not disassemble the motor unit. There is a risk that the machine can be broken due to abnormal operation.

CAUTION

Never give shocks to the encoder, motor and shaft extension, for example by hitting them with a hammer etc.
In addition, be careful not to apply a load to the encoder during installation.

(5) Mechanical coupling

(a) Motor with flexible coupling
(i) Provide a reference mark on the peripheral surface of the
coupling.
(ii) Connect both halves of the coupling with a single-bolt, in order to
allow them to rotate together.
(iii) Attach a dial gauge securely to one half of the coupling so that
its feeler rests lightly on the other half.
(iv) Bring the reference mark to the top of the coupling and, then,
measure dimension “g” with a thickness gauge and dimension “h”
with a dial gauge.
(v) Turn the coupling and carry out the measurements described in (iv)
above at 90°intervals until the reference mark appears at the top
again.
(vi) Conduct adjustments so that the difference between the
maximum and the minimum measurements is held to within
0.03mm. Be sure to bolt the motor and driven machine to the base
prior to marking adjustments.
If a coupling is too small to allow a dial gauge to be attached to it,
attach a stretch (rectangular steel bar) to one half of the coupling
and measure the clearance value of the stretch and the surface of
the other half of the coupling.

(b) Motor for extemal gear drive

If a gear drive is used, the shafts of both machines should be
exactly parallel, to avoid subjecting the gear teeth to an excessive
load at the contact points.

(c) Motor for timing belt connection

When using a timing belt, obtain necessary data from the belt
supplier, and contact Fuji.

(6) Power supply to motor

CAUTION

Do not connect commercial power supply to the motor terminals.

(7) Dimensional tolerances

Tolerances of motor at the time of shipment from the factory are as follows.
The maximum and minimum values throgh one slow revolution of the shaft are then read on the indicator.
The difference between the readings will not exceed the values given in the following table.
(a) Shaft extension run-out
The probe of the indicator is attached to the shaft midway along its length.
(b) Concentricity of spigot and the shaft for flange-mounted motor
The indicator is fitted rigidly on the shaft extension.

3-2 MHT258a (Engl.)

(c) Perpendicularity of mounting face of flange to shaft for flange-mounted motor
The indicator is fitted rigidly on the shaft extension.

[unit : mm]

(a) (b) (c)

Flange-mounted Flange-mounted Flange-mounted

0.02 0.06 0.08

(7) Stress of Cable

Strain relief and mechanical protection for the connection cables and connector has to be provide in final installation.

3.2 Amplifier
(1) Installation environment
(a) Ambient climatic conditions

Ambient conditions Amplifier Motor

In transportation and storage Temperature −20 to ＋80[℃] −10 to ＋70[℃]

(*1)
Humidity 90[%] RH max.

Air pressure 86 to 106 [kPa]

Control rooms and equipment rooms Temperature −10 to ＋55[℃] −10 to ＋40[℃]
(*1)
Humidity 90[%] RH max.

Air pressure 86 to 106 [kPa]

Install location (*2) For indoors

(*1) Free from condensation, no condensation, no formation of ice

(*2) Site-altitude should be 1000[m] and below.

(b) Avoid use under the following conditions.

(i) Location near oil, steam or corrosive gas
(ii) Location where strong electric or magnetic field exists
(iii) Accommodation in the same panel together with high voltage (2[kV] or higher) equipment
(iv) Sharing of the same power supply with the equipment which generates large noise.
(v) In vacuum
(vi) In explosive atmosphere
(vii) Under acceleration vibration

3-3 MHT258a (Engl.)

(2) Mounting
(a) Amplifier should be mounted upright so that character
FALDIC RYS401S3-VVS
“FALDIC” on the front panel can be seen horizontal.

MODE SHIFT
ESC ENT

K80791543 CHARGE

L1
L2
L3
DB
P1
P+
N
U
V
W

(b) Avoid overheating of the amplifier

When accommodating multiple amplifiers in the same panel, they should be installed side by side with the sufficient clearance distances
below secured.

(f) (a) (f)

FALDIC RYS201S3-VVS FALDIC RYS201S3-VVS

MODE SHIFT MODE SHIFT

(c)
ESC ENT

(d)
ESC ENT

K80791234 CHARGE K80791234 CHARGE

L1 L1
L2 L2
L3 L3
DB DB
P1 P1
P+ P+
N N
U U

(a)
V V
W W

(b)

[unit : mm (min.)]
(a) (b) (c) (d)
Upper and Lower Left and right Between amplifiers
front
50 40 10 (i) 5
(ii) If the clearance is 4.9 [mm] and below, operation duty type of amplifier is
reduced to 80%ED (＊), instead of continuous duty.
(f) Fan mounting

3-4 MHT258a (Engl.)

(＊) 80%ED : Cyclic duration factor operating duty is 80% : Intermittent periodic duty
The factor is difined as
N (operation under rated conditions)
×100 [%]
N (operation under rated conditions) + R(at rest and de-energized)

Intermittent periodic duty involve alternating operating and loading times and pauses during which a motor (or
amplifier) is at a standstill (or de-energized).
The loading and standstill times of one cycle, which has a duration of 10 minutes, are so short that the steady-
state temperature cannot be attained. The cycle duration factor is the ratio between the operating or loading time
and cycle duration.

An ambient temperature of the amplifier must be kept at 55 [℃] maximum, at different points around the amplifier, at a distance of 50[mm]
maximum from the amplifier.
To keep the above mentioned ambient temperature of amplifier, the amplifier should be mounted in a forced-fan-ventilated panel or
equivalent cooling conditions.
Avoid the excessive temperature rise due to heat losses by the regenerating braking resistor etc. in the panel.

(c) Forced-fan-ventilated panel

Provide an exhaust port and an air intake (suction) port in the panel, and mount a fan to the exhaust port to forced ventilate the internal air.
Also, mount an air filter to the air intake port in order to maintain an environment better than IEC664 pollution degree 2 (*) in the panel. For
the air volume and the opening size of the air intake, refer to the following table.
Refer to technical document No. MHT221f (Engl.), chapter 2.2
(*) Pollution degree 2: An environment in which only non-conductive pollution is generated, except for occasional occurrence of temporary
conductivity due to condensation.

Amplifier output [kW] 0.05, 0.1 0.2 0.4 0.75 1

3
Air volume of forced-ventilation-fan [m /min] 0.06 0.11 0.23 0.43 0.57
2
Opening size of air intake (suction air) [m ] 0.0009 0.0019 0.0038 0.0071 0.0095

Amplifier output [kW] 1.5 2 3 4 5

3
Air volume of forced-ventilation-fan [m /min] 0.85 1.14 1.7 2.27 2.84
2
Opening size of air intake (suction air) [m ] 0.0142 0.0189 0.0284 0.0378 0.0473

(1) (5)

(1) Exhaust air

(2) Air intake, suction air
(4)
(3) Air filter
(4) Amplifier
(5) Fan
(2) (6) Forced-fan-ventilated panel

(6)
(3)

3-5 MHT258a (Engl.)

 Compliance with EC directives

• This product should be installed in the electrical cabinet.

• Servo driver is used under the "pollution degree 2" environment as specified in IEC664.

(3) Peripheral equipment

(1) Power supply

source
(1) (2) (2) Amplifier
(5)
(3) Motor
(6) (7) (8)
(4) Control panel
(5) Reinforced
isolation
(3) transformer
(6) Earth leakage
(9)
circuit breaker
(7) Auto circuit
breaker
(4)
(8) Power filter
(9) 24[V] DC power
source

(a) Power supply

The amplifier is used under the "over voltage category II" environment as specified in IEC 664.
The power input unit uses a reinforced isolation transformer based on IEC/EN standards.
A 3-phase, star-connected transformer should be used without regard to single-phase and 3-phase models. The transformer should be
grounded at the neutral point. The phase (line to earth) voltage must not exceed 120[V].

(1)
(3)

(1) Amplifier
(2) Reinforced isolation transformer
(3) 230[V] / 3 = 133[V]

  (2)

For the interface power source, use a 24[V] DC power source with reinforced isolation type input and output.

(b) Power filter

Regarding the EMI terminal disturbance voltage, a power filter is required.

Input voltage class [V] 100 200

Amplifier output [kW] 0.05 to 0.2 0.05 to 0.4 0.75 to 1 1.5 2 3 4 5
Power filter type HF□□□□A-TM 3005 3010 3015 3020 3030 3040 3050
Current [A] 5 10 15 20 30 40 50
Voltage 250[V] AC
Leakage current 1.5[mA] max. at 250[V] AC, 60[Hz]

3-6 MHT258a (Engl.)

(c) Earthing (grounding)
To prevent electric shocks, the amplifier protection earth terminal and the control panel protection earth terminal should be connected to the
ground.
When connecting earth cables to the protection earth terminal, do not tighten the cable terminals together.
The amplifier has two protection earth terminals. Do not connect copper cables directly to the amplifier terminals.
For the earth connection avoid direct contact between aluminum and copper.
Tin-plated cable lugs can be used if the plating does not contain zinc.
When tightening the screws take care not to damage the thread in the aluminum frame.
(d) Auto circuit breaker
Connect EN/IEC-approved auto circuit breaker between the power supply source and the power filter. Refer to 10.2.
(e) Residual-current-operated protective device (RCD)
Where residual-current-operated protective device (RCD) is used for protection in case of direct or indirect contact, only RCD of type B is
allowed on the supply side of this electric equipment (EE). Otherwise another protective measure should be applied such as separation of
the EE from the environment by double or reinforced insulation or isolation of EE and supply system by a transformer.
(f) Conformity to EMC requirements
When the amplifier and motor have been finally installed with a driven machine and devices, they may not conform to the EMC requirements
because the installation, wiring, etc. are different according to the final conditions. The driven machine and devices must therefore be
measured for conformity to the EMC requirements under the final conditions with the amplifier and motor installed.

Ｃompliance with UL standards

(a) Auto circuit breaker

For compliance with UL standards, connect UL-approved (with LISTED UL mark) auto circuit breaker between the power supply source and
the power filter.

Input voltage class [V] 100 200

Amplifier output [kW] 0.05, 0.1 0.2 0.03 to 0.2 0.4 0.75, 1 1.5 2, 3 4, 5
Amplifier type RYS□□□S3- VVS6 VVS
500, 101 201 300 to 201 401 751, 102 152 202, 302 402, 502
Auto circuit type BU-ECA 3005 3010 3005 3010 3015 3020 3030 3050
breaker current [A] 5 10 5 10 15 20 30 50

3-7 MHT258a (Engl.)

3.3 External dimensions [unit : mm]
(1) Motor, flange-mounted
(a) Basic design, GYC type
GYC101 to 502DC1-S type, 0.1 to 5 [kW]

CA CB

Ｌ Ｌ
ＬＬ ＬＲ □ＬＣ ＬＬ ＬＲ
□ＬＣ
ＬＧ ＬＥ ４－ΦＬＺ ＬＧ ＬＥ ４－ΦＬＺ

Ａ
ΦＬ ΦＬ
Ａ
□６０

φLB

□６０

φLB
QK
QK
３００±３０

３００±３０

３００±３０

３００±３０
Ｔ
Ｔ
Ｕ
Ｕ
(＊＊)
Ｓ (＊＊)
Ｗ

Ｗ
　

SHAFT EXTENSION

　
SHAFT EXTENSION

CC CD

Ｌ
ＬＬ ＬＲ □ＬＣ
Ｌ
ＬＧ ＬＥ ４－ΦＬＺ
ＬＬ ＬＲ □ＬＣ
ＬＧ ＬＥ ４－ΦＬＺ
Ａ
ΦＬ
φLB
□６０

QK
φLB

QK
６５
３００±３０

１０２
３００±３０

Ｔ
ＬＡ

Ｔ Ｕ
Ｕ
(＊＊) Ｓ
Ｗ

Φ
Ｓ
Ｗ

SHAFT EXTENSION
　

SHAFT EXTENSION
　

Type Fig Q QK QR φS T U W (＊) L LL LR LG LE φLA φLB

GYC
101DC1-S CA - 14 - 8h6 3 1.8 3 - 100 75 25 6 3 70 50h7
201DC1-S CB - 16 - 14h6 5 3 5 - 112 82 30 8 3 90 70h7
401DC1-S CB - 16 - 14h6 5 3 5 - 127 97 30 8 3 90 70h7
751DC1-S CC - 22 - 16h6 5 3 5 - 156.5 116.5 40 10 3 115 95h7
102DC1-S CD - 41 - 24h6 7 4 8 - 201.5 143.5 58 12 6 145 110h7
152DC1-S CD - 41 - 24h6 7 4 8 - 216.5 158.5 58 12 6 145 110h7
202DC1-S
302DC1-S
402DC1-S
502DC1-S
(＊) Screw hole of shaft extension
(＊＊) Insulating protection tube

3-8 MHT258a (Engl.)

(1) Motor, flange-mounted
(a) Basic design
GYC101 to 502DC1-S type, 0.1 to 5 [kW]

□LC L1 L2 L3 φLZ IE IL C LL LR LG Mass

[kg]
60 - - - 5.5 - - - - - - 0.75
80 - - - 7 - - - - - - 1.3
80 - - - 7 - - - - - - 1.9
100 - - - 9 - - - - - - 3.5
130 - - - 9 - - - - - - 5.5
130 - - - 9 - - - - - - 7.5

3-9 MHT258a (Engl.)

(b) With providing brake
GYC101 to 502DC1-S-B type, 0.1 to 5 [kW]

CJ CK

Ｌ
ＬＬ ＬＲ □ＬＣ
Ｌ
４－ΦＬＺ
ＬＧ ＬＥ ＬＬ ＬＲ
□ＬＣ
ＬＧ ＬＥ ４－ΦＬＺ

Φ ＬＡ
Ａ
ΦＬ
□６０

φLB

□６０

φLB
QK
QK

Ｔ Ｔ
３００±３０

３００±３０

３００±３０

３００±３０
Ｕ
Ｕ

Ｗ
Ｓ ΦＳ
Ｗ

Φ
(＊＊) (＊＊)

　
SHAFT EXTENSION

SHAFT
　

EXTENSION

CL

Ｌ
ＬＬ ＬＲ □ＬＣ
４－ΦＬＺ
ＬＧ ＬＥ

Ａ
ΦＬ
□６０

φLB

QK
３００±３０

３００±３０

Ｔ
Ｕ

(＊＊) Ｓ
Ｗ

SHAFT EXTENSION
　

Type Fig Q QK QR φS T U W (＊) L LL LR LG LE φLA φLB

GYC
101DC1-S-B CJ - 14 - 8h6 3 1.8 3 - 128 103 25 6 3 70 50h7
201DC1-S-B CK - 16 - 14h6 5 3 5 - 143.5 113.5 30 8 3 90 70h7
401DC1-S-B CK - 16 - 14h6 5 3 5 - 158.5 128.5 30 8 3 90 70h7
751DC1-S-B CL - 22 - 16h6 5 3 5 - 189 149 40 10 3 115 95h7
102DC1-S-B
152DC1-S-B
202DC1-S-B
302DC1-S-B
402DC1-S-B
502DC1-S-B
(＊) Screw hole of shaft extension
(＊＊) Insulating protection tube

3-10 MHT258a (Engl.)

(b) With providing brake
GYC101 to 502DC1-S -B type, 0.1 to 5 [kW]

□LC L1 L2 L3 φLZ IE IL C LL LR LG Mass

[kg]
60 - - - 5.5 - - - - - - 1.0
80 - - - 7 - - - - - - 1.9
80 - - - 7 - - - - - - 2.6
100 - - - 9 - - - - - - 4.3

3-11 MHT258a (Engl.)

(c) With providing speed reduction gear unit, gear ratio 1/9
GYC101 to 502DC1-S type, and gear head, 0.1 to 5 [kW]

CR CS

Ｌ
ＬＬ ＬＲ Ｌ
□ＬＣ ＬＬ ＬＲ
ＬＥ
□ＬＣ
ＬＡ ＬＥ
ＬＡ
Φ Φ
□６０

φLB

□６０

φLB
QK
QK

４－Ｍ５×１２ＤＥＰＴＨ
４－Ｍ６×１５ＤＥＰＴＨ
Ｔ
３００±３０

３００±３０
３００±３０

３００±３０
Ｕ
Ｕ
ΦＳ

Ｗ
Ｓ
Ｗ

Φ
(＊＊) (＊＊) (*1)
SHAFT EXTENSION

　
SHAFT EXTENSION (*1)
　

CT CU

Ｌ
ＬＬ ＬＲ Ｌ
□ＬＣ
ＬＥ ＬＬ ＬＲ
ＬＡ □ＬＣ
Φ ＬＥ

ＬＡ
Φ
□６０

φLB

φLB

QK
６５
１０２

QK
４－Ｍ８×２０ＤＥＰＴＨ
３００±３０

Ｔ
３００±３０

Ｔ
Ｕ ４－Ｍ１０×２０ＤＥＰＴＨ
Ｕ
Ｓ (*2）
Ｗ

Φ
Ｓ
Ｗ

(＊＊) Φ

SHAFT EXTENSION
(*1) (*1)
　

SHAFT EXTENSION

Type Fig Q QK QR φS T U W (＊1) L LL LR LG LE φLA φLB

GYC
101DC1-S CR - 15 - 12＋0
-0.011 4 2.5 4 M4x8 178 153 25 - 4 60 50＋0--0.025
201DC1-S CS - 23 - 19＋0
-0.013 6 3.5 6 M5x13 218 181 37 - 6 90 70＋0--0.03
401DC1-S CS - 23 - 19＋0
-0.013 6 3.5 6 M5x13 233 196 37 - 6 90 70＋0--0.03
751DC1-S CT - 30 - 24＋0
-0.013 7 4 8 M6x15 282.5 233.5 49 - 8 115 90＋0--0.035
102DC1-S CU - 45 - 32＋0
-0.016 8 5 10 M6x15 362.5 298.5 64 - 8 135 110＋0--0.035
152DC1-S CU - 45 - 32＋0
-0.016 8 5 10 M6x15 416.5 339.5 77 - 20 160 130＋0--0.04
202DC1-S
302DC1-S
402DC1-S
502DC1-S
(＊1) Screw hole of shaft extension
(＊2) For 152 type, 1.5 [kW] : 4 - M12 × 24 DEPTH
(＊＊) Insulating protection tube

3-12 MHT258a (Engl.)

(c) With providing speed reduction gear unit, gear ratio 1/9
GYC101 to 502DC1-S type, and gear head, 0.1 to 5 [kW]

□LC L1 L2 L3 φLZ IE IL C LL LR LG Mass

[kg]
52 - - - M5 - - - - - - 1.47
78 - - - M6 - - - - - - 3.4
78 - - - M6 - - - - - - 4.0
98 - - - M8 - - - - - - 7.3
120 - - - M10 - - - - - - 13.3
140 - - - M12 - - - - - - 19.7

3-13 MHT258a (Engl.)

(d) With providing speed reduction gear unit, gear ratio 1/25
GYC101 to 502DC1-S type, and gear head, 0.1 to 5 [kW]

DA DB

Ｌ
Ｌ
ＬＬ ＬＲ
□ＬＣ ＬＬ ＬＲ
ＬＥ □ＬＣ
ＬＥ
ＬＡ ＬＡ
Φ Φ
□６０

φLB

□６０

φLB
QK
QK

４－Ｍ５×１２ＤＥＰＴＨ
４－Ｍ６×１５ＤＥＰＴＨ
Ｔ
３００±３０

３００±３０
３００±３０

３００±３０
Ｕ
Ｕ
Ｓ

Ｗ
Φ
ΦＳ
Ｗ

(＊＊) (＊＊)
Ｍ５×１３ＤＥＰＴＨ
(*)
(*)
Ｍ４×８　ＤＥＰＴＨ SHAFT EXTENSION

　
SHAFT EXTENSION
　

DC

Ｌ
ＬＬ ＬＲ □ＬＣ
ＬＥ
ＬＡ
Φ
□６０

φLB

QK

４－Ｍ８×２０ＤＥＰＴＨ
３００±３０

Ｔ
３００±３０

Ｕ
Ｗ

Ｓ
Φ

(＊＊) (*)
Ｍ６×１５　ＤＥＰＴＨ
SHAFT EXTENSION
　

Type Fig Q QK QR φS T U W (＊) L LL LR LG LE φ φLB

GYC LA
101DC1-S DA - 15 - 12＋0
-0.011 4 2.5 4 M4x18 178 153 25 - 4 60 50＋0--0.025
201DC1-S DB - 23 - 19＋0
-0.013 6 3.5 6 M5x13 218 181 37 - 6 90 70＋0--0.03
401DC1-S DB - 23 - 19＋0
-0.013 6 3.5 6 M5x13 233 196 37 - 6 90 70＋0--0.03
751DC1-S DC - 30 - 24＋0
-0.013 7 4 8 M6x15 282.5 233.5 49 - 8 115 90＋0--0.035
102DC1-S
152DC1-S
202DC1-S
302DC1-S
402DC1-S
502DC1-S
(＊) Screw hole of shaft extension
(＊＊) Insulating protection tube

3-14 MHT258a (Engl.)

(d) With providing speed reduction gear unit, gear ratio 1/25
GYC101 to 502DC1-S type, and gear head, 0.1 to 5 [kW]

□LC L1 L2 L3 φLZ IE IL C LL LR LG Mass

[kg]
52 - - - M5 - - - - - - 1.47
78 - - - M6 - - - - - - 3.4
78 - - - M6 - - - - - - 4.0
98 - - - M8 - - - - - - 7.3

3-15 MHT258a (Engl.)

(e) Gear head unit for GYC motor, gear ratio 1/9
GYN101 to 502CAG - G09 type, 0.1 to 5 [kW]

DJ DK

Ｌ Ｌ
ＬＬ ＬＲ ＬＬ ＬＲ
□ＬＣ □ＬＣ
ＬＥ
ＬＥ
ＬＡ ＬＡ
Φ Φ
Ｑ Ｑ
φLB

φLB
ＱＫ ＱＫ

Ｔ
４－Ｍ５ ＤＥＰＴＨ１２ Ｔ ４－Ｍ６ ＤＥＰＴＨ１５
Ｕ
Ｕ

ΦＳ
Ｗ

Ｗ
Φ

(*1)
Ｍ４×８　ＤＥＰＴＨ (*1)
(*1)
SHAFT EXTENSION

　
SHAFT EXTENSION
　

DL DM

Ｌ Ｌ
ＬＬ ＬＲ ＬＬ ＬＲ
□ＬＣ ＬＥ □ＬＣ
ＬＥ
ＬＡ
ＬＡ Φ
Φ

Ｑ Ｑ
φLB

φLB

ＱＫ
ＱＫ

Ｔ ４－Ｍ８ ＤＥＰＴＨ２０
Ｔ
Ｕ ４－Ｍ１０×２０ＤＥＰＴＨ
Ｕ
(＊2)
Ｗ

Ｓ
Ｗ

Φ ΦＳ

(*1) (*1)
SHAFT EXTENSION
　

SHAFT EXTENSION
　

Type Fig Q QK QR φS T U W (＊1) L LL LR LG LE φLA φLB □LC [kg]

GYN
101CAG-G09 DJ 20 15 - 12＋0
-0.011 4 2.5 4 M4x8 103 78 25 - 4 60 50＋0--0.025 52 0.72
201CAG-G09 DK 30 23 - 19＋0
-0.013 6 3.5 6 M5x13 136 99 37 - 6 90 70＋0--0.03 78 2.1
401CAG-G09 DK 30 23 - 19＋0
-0.013 6 3.5 6 M5x13 136 99 37 - 6 90 70＋0--0.03 78 2.1
751CAG-G09 DL 40 30 - 24＋0
-0.013 7 4 8 M6x15 166 117 49 - 8 115 90＋0--0.035 98 3.8
102CAG-G09 DM 55 45 - 32＋0
-0.016 8 5 10 M6x15 219 155 64 - 8 135 110＋0--0.035 120 7.8
152CAG-G09 DM 55 45 - 32＋0
-0.016 8 5 10 M6x15 258 181 77 - 20 160 130＋0--0.04 140 12.2
202CAG-G09
302CAG-G09
402CAG-G09
502CAG-G09
(＊1) Screw hole of shaft extension
(＊2) For 152 type, 1.5 [kW] : 4 - M12 × 24 DEPTH

3-16 MHT258a (Engl.)

(f) Gear head unit for GYC motor, gear ratio 1/25
GYN101 to 502CAG - G25, 0.1 to 5 [kW]

DR DS

Ｌ
Ｌ
ＬＬ ＬＲ ＬＬ ＬＲ
□ＬＣ
□ＬＣ
ＬＥ ＬＥ
ＬＡ ＬＡ
Φ Φ
Ｑ Ｑ
φLB

φLB
ＱＫ ＱＫ

Ｔ
４－Ｍ５ ＤＥＰＴＨ１２ Ｔ ４－Ｍ６ ＤＥＰＴＨ１５
Ｕ
Ｕ

ΦＳ
Ｗ

ΦＳ

Ｗ
(*)
(*) SHAFT EXTENSION

　
SHAFT EXTENSION
　

DT

Ｌ
ＬＬ ＬＲ

ＬＥ □ＬＣ

ＬＡ
Φ

Ｑ
φLB

ＱＫ

Ｔ ４－Ｍ８ ＤＥＰＴＨ２０

Ｕ
Ｗ

Ｓ
Φ

(*)
SHAFT EXTENSION
　

Type Fig Q QK QR φS T U W (＊) L LL LR LG LE φLA φLB □LC [kg]

GYN
101CAG-G25 DR 20 15 - 12＋0
-0.011 4 2.5 4 M4x8 103 78 25 - 4 60 50＋0--0.025 52 0.72
201CAG-G25 DS 30 23 - 19＋0
-0.013 6 3.5 6 M4x8 136 99 37 - 6 90 70＋0--0.03 78 2.1
401CAG-G25 DS 30 23 - 19＋0
-0.013 6 3.5 6 M4x8 136 99 37 - 6 90 70＋0--0.03 78 2.1
751CAG-G25 DT 40 30 - 24＋0
-0.013 7 4 8 M6x1 166 117 49 - 8 115 90＋0--0.035 98 3.8
5
102CAG-G25
152CAG-G25
202CAG-G25
302CAG-G25
402CAG-G25
502CAG-G25
(＊) Screw hole of shaft extension

3-17 MHT258a (Engl.)

(g) Basic design, GYS type
GYS300 to 502DC1-S type, 0.03 to 5 [kW]

EC ED

Ｌ
Ｌ
ＬＬ ＬＲ ＬＬ ＬＲ □ＬＣ
□ＬＣ ４－ΦＬＺ
ＬＧ ＬＥ ４－ΦＬＺ ＬＧ ＬＥ

Ａ Ａ
ΦＬ ΦＬ
□６０

φLB

□６０

φLB
QK
QK
３００±３０

３００±３０

３００±３０
Ｔ
Ｔ

３００±３０
Ｕ
Ｕ

ΦＳ
Ｗ

ΦＳ

Ｗ
(＊＊)
(＊＊)

SHAFT
　

EXTENSION SHAFT EXTENSION

　
EE

Ｌ
ＬＬ ＬＲ □ＬＣ

ＬＧ ＬＥ ４－ΦＬＺ
φLB

QK
７２．５
６５

Ｔ
ΦＬ

Ｕ
Ａ

ΦＳ
Ｗ

SHAFT EXTENSION
　

Type Fig Q QK QR φS T U W (＊) L LL LR LG LE φLA φLB

GYS
300DC1-S
500DC1-S
101DC1-S
201DC1-S EC - 20 - 14h6 5 3 5 - 126.5 96.5 30 6 3 70 50h7
401DC1-S EC - 20 - 14h6 5 3 5 - 154.5 124.5 30 6 3 70 50h7
751DC1-S ED - 30 - 16h6 5 3 5 - 180 140 40 8 3 90 70h7
102DC1-S EE - 32 - 24h6 7 4 8 - 198 153 45 10 3 115 95h7
152DC1-S EE - 32 - 24h6 7 4 8 - 220.5 175.5 45 10 3 115 95h7
202DC1-S
302DC1-S
402DC1-S
502DC1-S
(＊) Screw hole of shaft extension
(＊＊) Insulating protection tube

3-18 MHT258a (Engl.)

(g) Basic design
GYS300 to 502DC1-S type, 0.03 to 5 [kW]

□LC L1 L2 L3 φLZ IE IL C LL LR LG Mass

[kg]

60 - - - 5.5 - - - - - - 1.2
60 - - - 5.5 - - - - - - 1.8
80 - - - 7 - - - - - - 3.4
100 - - - 9 - - - - - - 4.6
100 - - - 9 - - - - - - 5.5

3-19 MHT258a (Engl.)

(h) With providing brake
GYS300 to 502DC1-S-B type, 0.03 to 5 [kW]

EL EM

Ｌ Ｌ
ＬＬ ＬＲ □ＬＣ ＬＬ ＬＲ □ＬＣ
４－ΦＬＺ ４－ΦＬＺ
ＬＧ ＬＥ ＬＧ ＬＥ

Ａ
ΦＬ ΦＬ
Ａ
□６０

φLB

□６０

φLB
QK
QK
３００±３０

Ｔ
３００±３０

３００±３０
Ｔ

３００±３０
Ｕ
Ｕ
ΦＳ

Ｗ
Ｗ

ΦＳ
(＊＊) (＊＊)
SHAFT EXTENSION

　
SHAFT EXTENSION
　

EN

Ｌ
ＬＬ ＬＲ □ＬＣ

ＬＧ ＬＥ ４－ΦＬＺ
φLB

QK
７２．５
６５

Ｔ
ΦＬ

Ｕ
Ａ

Ｓ
Ｗ

SHAFT
　

EXTENSION

Type Fig Q QK QR φS T U W (＊) L LL LR LG LE φLA φLB

GYS
300DC1-S-B
500DC1-S-B
101DC1-S-B
201DC1-S-B EL - 20 - 14h6 5 3 5 - 165 135 30 6 3 70 50h7
401DC1-S-B EL - 20 - 14h6 5 3 5 - 193 163 30 6 3 70 50h7
751DC1-S-B EM - 30 - 16h6 5 3 5 - 216.5 176.5 40 8 3 90 70h7
102DC1-S-B EN - 32 - 24h6 7 4 8 - 249 204 45 10 3 115 95h7
152DC1-S-B EN - 32 - 24h6 7 4 8 - 271.5 226.5 45 10 3 115 95h7
202DC1-S-B
302DC1-S-B
402DC1-S-B
502DC1-S-B
(＊) Screw hole of shaft extension
(＊＊) Insulating protection tube

3-20 MHT258a (Engl.)

(h) With providing brake
GYS300 to 502DC1-S-B type, 0.03 to 5 [kW]

□LC L1 L2 L3 φLZ IE IL C LL LR LG Mass

[kg]

60 - - - 5.5 - - - - - - 1.7
60 - - - 5.5 - - - - - - 2.3
80 - - - 7 - - - - - - 4.2
100 - - - 9 - - - - - - 6.6
100 - - - 9 - - - - - - 7.5

3-21 MHT258a (Engl.)

(i) With providing speed reduction gear unit, gear ratio 1/9
GYS300 to 502DC1-S type, and gear head, 0.03 to 5 [kW]

ET EU

Ｌ □ＬＣ

Ａ
ＬＬ ＬＲ □ＬＣ

ΦＬ
Ｌ

Φ ＬＡ
ＬＥ ＬＬ ＬＲ
ＬＥ
□６０

φLB

□６０

φLB
QK
QK

４－Ｍ６×１５ＤＥＰＴＨ ４－Ｍ８×２０ＤＥＰＴＨ

３００±３０
３００±３０

３００±３０

Ｔ Ｔ

３００±３０
Ｕ Ｕ

ΦＳ

Ｗ
ΦＳ
Ｗ

(＊＊) (＊＊)
(*)
(*) SHAFT EXTENSION

　
SHAFT EXTENSION
　

Type Fig Q QK QR φS T U W (＊) L LL LR LG LE φLA φLB

GYS
300DC1-S
500DC1-S
101DC1-S
201DC1-S ET - 23 - 19h6 6 3.5 6 M4x8 232.5 195.5 37 - 6 90 70h7
401DC1-S ET - 23 - 19h6 6 3.5 6 M6x15 260.5 223.5 37 - 6 90 70h7
751DC1-S EU - 40 - 24h6 7 4 8 M6x15 306 257 49 - 8 115 90h7
102DC1-S
152DC1-S
202DC1-S
302DC1-S
402DC1-S
502DC1-S
(＊) Screw hole of shaft extension
(＊＊) Insulating protection tube

3-22 MHT258a (Engl.)

(i) With providing speed reduction gear unit, gear ratio 1/9
GYS300 to 502DC1-S type, and gear head, 0.03 to 5 [kW]

□LC L1 L2 L3 φLZ IE IL C LL LR LG Mass

[kg]

78 - - - - - - - - - - 3.3
78 - - - - - - - - - - 3.9
98 - - - - - - - - - - 7.3

3-23 MHT258a (Engl.)

(j) With providing speed reduction gear unit, gear ratio 1/25
GYS300 to 502DC1-S type, and gear head, 0.03 to 5 [kW]

FC FD

Ｌ □ＬＣ

Ａ
ＬＬ ＬＲ

ΦＬ
Ｌ □ＬＣ
ＬＥ

ΦＬＡ
ＬＬ ＬＲ
ＬＥ
□６０

φLB

□６０

φLB
QK
QK

４－Ｍ６×１５ＤＥＰＴＨ ４－Ｍ８×２０ＤＥＰＴＨ
３００±３０

３００±３０

３００±３０
Ｔ

３００±３０
Ｕ Ｕ

Ｓ
Ｗ

ΦＳ

Ｗ
Φ
(＊＊) (＊＊)
(*) (*)
SHAFT EXTENSION

　
SHAFT EXTENSION
　

Type Fig Q QK QR φS T U W (＊) L LL LR LG LE φLA φLB

GYS
300DC1-S
500DC1-S
101DC1-S
201DC1-S FC - 23 - 19h6 6 3.5 6 M4x8 232.5 195.5 37 - 6 90 70h7
401DC1-S FC - 23 - 19h6 6 3.5 6 M4x8 260.5 223.5 37 - 6 90 70h7
751DC1-S FD - 40 - 24h6 7 4 8 M6x15 306 257 49 - 8 115 90h7
102DC1-S
152DC1-S
202DC1-S
302DC1-S
402DC1-S
502DC1-S
(＊) Screw hole of shaft extension
(＊＊) Insulating protection tube

3-24 MHT258a (Engl.)

(j) With providing speed reduction gear unit, gear ratio 1/25
GYS300 to 502DC1-S type, and gear head, 0.03 to 5 [kW]

□LC L1 L2 L3 φLZ IE IL C LL LR LG Mass

[kg]

78 - - - - - - - - - - 3.3
78 - - - - - - - - - - 3.9
98 - - - - - - - - - - 7.3

3-25 MHT258a (Engl.)

(k) Gear head unit for GYS motor, gear ratio 1/9
GYN300 to 502, GRN.20 to .40 SAG-G09, 0.03 to 5 [kW]

FL FM

Ｌ
Ｌ
ＬＬ ＬＲ □ＬＣ
ＬＬ ＬＲ □ＬＣ

Ａ
ΦＬ
ＬＥ

Ａ
ΦＬ
ＬＥ

Ｑ
Ｑ
φLB

φLB
ＱＫ
ＱＫ

４－Ｍ６×１５ＤＥＰＴＨ Ｔ
Ｔ ４－Ｍ８×２０ＤＥＰＴＨ
Ｕ
Ｕ

ΦＳ

Ｗ
ΦＳ
Ｗ

(*)
Ｍ４×８　ＤＥＰＴＨ (*)
SHAFT EXTENSION

　
SHAFT EXTENSION
　

Type Fig Q QK QR φS T U W (＊) L LL LR LG LE φLA φLB □LC Mass

G09 [kg]
GYN300SAG-
GYN500SAG-
GYN101SAG-
GRN.20SAG- FL 30 23 - 19h6 6 3.5 6 M4x8 136 99 37 - 6 90 70h7 78 2.1
GRN.40SAG- FL 30 23 - 19h6 6 3.5 6 M4x8 136 99 37 - 6 90 70h7 78 2.1
GYN751SAG- FM 40 31 - 24h6 7 4 8 M6x15 166 117 49 - 8 115 90h7 98 3.9
GYN102SAG-
GYN152SAG-
GYN202SAG-
GYN302SAG-
GYN402SAG-
GYN502SAG-
(＊) Screw hole of shaft extension

3-26 MHT258a (Engl.)

(l) Gear head unit for GYS motor, gear ratio 1/25
GYN300 to 502, GRN.20 to .40 SAG-G25, 0.03 to 5 [kW]

FT FU

Ｌ
Ｌ
ＬＬ ＬＲ □ＬＣ
ＬＬ ＬＲ □ＬＣ

Ａ
ΦＬ
ＬＥ

Ａ
ΦＬ
ＬＥ

Ｑ
Ｑ
φLB

φLB
ＱＫ
ＱＫ

４－Ｍ６×１５ＤＥＰＴＨ Ｔ
Ｔ ４－Ｍ８×２０ＤＥＰＴＨ
Ｕ
Ｕ

ΦＳ

Ｗ
ΦＳ
Ｗ

(*) (*)
SHAFT EXTENSION

　
SHAFT EXTENSION
　

Type Fig Q QK QR φS T U W (＊) L LL LR LG LE φLA φLB □LC Mass

G25 [kg]
GYN300SAG-
GYN500SAG-
GYN101SAG-
GRN.20SAG- FT 30 23 - 19h6 6 3.5 6 M4x8 136 99 37 - 6 90 70h7 78 2.1
GRN.40SAG- FT 30 23 - 19h6 6 3.5 6 M4x8 136 99 37 - 6 90 70h7 78 2.1
GYN751SAG- FU 40 31 - 24h6 7 4 8 M6x15 166 117 49 - 8 115 90h7 98 3.9
GYN102SAG-
GYN152SAG-
GYN202SAG-
GYN302SAG-
GYN402SAG-
GYN502SAG-
(＊) Screw hole of shaft extension

3-27 MHT258a (Engl.)

(2) RYS amplifier
(a) 0.03 to 0.2 [kW]

53

+0.5
150-0.5

２−Ｍ４

160

60
130

3-28 MHT258a (Engl.)

(b) 0.4 [kW]

53

+0.5
150-0.5

２−Ｍ４

160

60 130
80

3-29 MHT258a (Engl.)

(c) 0.75 [kW]

+0.5
39-0.5 54

+0.5
150-0.5

４−Ｍ４

160

60 130
100

3-30 MHT258a (Engl.)

(d) 1 to 1.5 [kW]

54+0.5
-0.5
54

+0.5
150-0.5

４−Ｍ４

160

(*) 60 130
115

(＊) Cooling - fan

3-31 MHT258a (Engl.)

4. TERMINAL DIAGRAMS AND WIRING

4.1 Amplifier, motor and optional devices layout

(1) Amplifier

Touch panel with 7-segment,

5-digit and 4 operation keys
Model type indication

PC (*) loader connector

Terminal block (board)

L1, L2, L3 :
Power supply
DB, P1, P+, N :
Main circuit
U, V, W : Motor

CN3 for connection of

control signal

CN1 for connection of

control signal

CN2 for connection of

encoder
Ground (earth) terminal

Control power supply Backup battery

(*) PC : Personal computer

4-1 MHT258a (Engl.)
(2) Motor

Frame (enclosure) Pulse encoder

Shaft-extension

Power supply input

Encoder cable

Flange surface for

motor mounting

4-2 MHT258a (Engl.)

(3) Optional devices : Refer to the next page.

⑦ External braking resistor ⑥ PC loader and battery

FALDIC RYS201S3-VVS

MODE SHIFT
ESC ENT

K80791234 CHARGE

L1
L2
L3
DB
① Control input/output cable
P1
P+
N
U
V
W

⑤ Connector for
control input/output

③ Power supply cable ② Encoder cable

④ Connector kit

4-3 MHT258a (Engl.)

■ Optional cables, connector kits, battery and external braking resistors : Refer to 10.8

Reference Description (*) Type

letter or
figure : See
previous 10.8
page
① (1) a Cable Control Expanded 3 [m] lg. WSC - D20P03
b S/X bus D26P03
c V type D36P03
② d Encoder Molex- 5 [m] lg. P06P05
Molex 10 [m] lg. P06P10
20 [m] lg. P06P20
e Molex- 5 [m] lg. P06P05-C
Canon 10 [m] lg. P06P10-C
20 [m] lg. P06P20-C
f Molex 5 [m] lg. P06P05-W
10 [m] lg. P06P10-W
20 [m] lg. P06P20-W
③ g Motor AMP 5 [m] lg. M04P05
without 10 [m] lg. M04P10
brake 20 [m] lg. M04P20
h Motor with AMP 5 [m] lg. M06P05
brake 10 [m] lg. M06P10
20 [m] lg. M06P20
④ (2) a Connector Control Expanded WSK - D20P
b kit (CN1) SX bus D26P
c V type D36P
d Encoder Molex (amp. side) P06P-M
e (CN2) Molex (motor side) P06P-F
f Canon P06P-C
g Motor AMP 0.75 [kW] and below M04P
h without Canon GYS, 1, 1.5 [kW] M04P-CA
i brake GYC, 1 [kW] and above M04P-CB
j Motor AMP 0.75 [kW] and below M06P
k with Canon GYS, 1, 1.5 [kW] M06P-CA
l brake GYC, 1 [kW] and above M06P-CB
⑤ m Control 0.75 [kW] and below L02P
⑥ n Battery WSB - S
− PC loader WSL - PC
⑦ (3) a External braking resistor 0.4 [kW] and below WSR - 401
b 0.75 [kW] 751
c 1, 1.5 [kW] 152
(*) Amp. : Amplifier lg. : Cable length
Molex, Canon, AMP : Supplier’s product name of connector and terminal

4-4 MHT258a (Engl.)

4.2 Commercial power supply
Supply commercial power supply shown in 2 to the amplifier.

(1) Power supply

Supply 200 [V] commercial power to the amplifier.
Connect it to terminals L1, L2 and L3.
• Voltage : 200/200-220-230 [V]+10%/−15%. Supply voltage unbalance 3% max.
• Frequency : 50/60 [Hz]
• Phase : 3-phase (main circuit power supply) / single-phase (control power supply)

(2) Power supply capacity

The power supply capacity required for each amplifier is as follows.
The power supply capacity is applied for cabling with specified cable and 20 [m] max. wiring length. If the power capacity is 500[kVA] or more,
AC reactor for impedance matching should be provided. See 10.5.

Amplifier type RYS□□□S3 101 201 401 751 102 152 202 302 402 502
Motor type (example) GYC□□□
Motor output [kW] 0.1 0.2 0.4 0.75 1 1.5 2 3 4 5
Power capacity [kVA] 0.15 0.6 1.2 1.8 3 4.5 6 9 10 15

(3) Higher harmonics suppression

If a (harmonics suppressing) reactor is connected to RYS type amplifier of 3.7 [kW] max., use a “DC reactor”. Refer to 10.7.

(4) Control power supply input

The wiring procedure for control power supply is as follows.
(a) Connector
Use a connector of WSK-L02P type. Refer to 4.1(3) and 10.8 (2)m.
(b) Wiring
Remove the insulation covering of wire by approx. 13[mm] long
and, while strongly pressing the arrow part in the figure by the
operation lever furnished with the connector or flat head
screwdriver, insert the wire.
After connecting 2 wires, engage the connector with the control
power supply and amplifier.

Connect to control
Connect to power supply
amplifier bottom

4-5 MHT258a (Engl.)

4.3 Wiring between motor and encoder
(1) Motor wiring
Connect the power line of the motor to the output U, V, W terminals of the amplifier.
Do not connect commercial power supply to the motor terminals.
The direction of rotation of the motor cannot be changed by changing the phase sequence of the motor terminals. It can be achieved by
system para.

CAUTION

Do not connect commercial power supply directly to the motor. Otherwise, It may break.

Ｕ Ｕ
Ｖ Ｖ
Ｗ Ｗ

(ground line)
Motor

Amplifier

The wiring length between amplifier and motor should be within 50[m] long.
It is not permitted to perform ON/OFF of the wiring between the amplifier and motor by magnetic-contactors. It is not permitted to turning
ON/OFF multiple motors with a single amplifier.
Furthermore, it is not permitted to wiring the following equipment along the wiring between amplifier and motor :
Phase advancing capacitor, reactor, power filter, surge suppressor (surge killer)

4-6 MHT258a (Engl.)

Terminal workings of motor power supply are as follows :

(a) GYC/GYS type motor : 0.75 [kW] and below

(i) Motor without providing brake

• View of engaging (jointing) side • Viewed from socket inserting side

Projection

Ｕ
• 1 cap housing : 350780-1 type
V • 4 sockets : 350750-3 or
350689-3 type
Projection
W

(ii) Motor with providing brake

• View of engaging (jointing) side • Viewed from socket inserting side

Projection
Projection

Ｕ • 1 of cap housing : 350781-1 type

4

Brake • 4 of sockets : 350750-3 or

V
350689-3
2 3
56

Brake W

(b) GYC/GYS type motor : 1 [kW] and above

(i) Motor without providing brake

• View of engaging (jointing) side • View of plug wiring side

Ａ
Ｄ Ｕ • 1 of connector :
MS3108B18-10S type
W Ｂ V • 1 of cable clamp :
Ｃ
MS3057-10A type

(ii) Motor with providing brake

• View of engaging (jointing) side • View of plug wiring side

Ｕ • 1 of connector (for GYC) :

Brake
Ｆ Ａ MS3108B20-15S type
• 1 of connector (for GYC) :
Ｅ Ｇ
Brake Ｂ V MS3108B24-10S type
Ｄ • 1 of cable clamp (for GYS) :
Ｃ
W MS3057-10A type
• 1 of cable clamp (for GYS) :
G is vacant pin. MS3057-16A type

4-7 MHT258a (Engl.)

(2) Encoder wiring
Connect the encoder wiring to CN2 of the amplifier.
The wiring length between amplifier and encoder should be within 50[m] long.

(a) With flexible leads

• View of engaging (jointing) side • View of housing wiring side

Wiring to motor Wiring to amplifier

５ ＳＩＧ＋ ６ ＳＩＧ− ６ ＳＩＧ− ５ ＳＩＧ＋

３ ＢＡＴ＋ ４ ＢＡＴ− ４ ＢＡＴ− ３ ＢＡＴ＋
１ Ｐ５ ２ Ｍ５ ２ Ｍ５ １ Ｐ５

Housing : 53988-0611 Housing : 54180-0611

Shell body clamp : 58302-0600 Shell body clamp : 58299-0600
Mold cover : 53989-0605 Shell body cover : 58300-0600
Ditto. : 53990-0650 Mold cover : 54181-0615
Cable clamp : 58303-0000 Ditto. : 54182-0605
Clamp screw : 53982-0009 Cable clamp : 58303-0000
Clamp screw : 59832-0009

(b) Canon connector

• View of engaging (jointing) side • View of plug wiring side

H PS
Ｃ G MS
Ｔ Ｄ C SIG+
Ｓ D SIG−
T BAT+
Ｊ
Ｈ S BAT−
Ｇ
J Shield

4-8 MHT258a (Engl.)

(c) Wiring cable
If the optional encoder wiring cable is not used, use wiring with the following cable or equivalent.
• Cross-link polyethylene insulated, vinyl sheath cable :
AWG No.25 / 2P+AWG No.23/2C(*), (twisted-pair cable), RMCV-SB (UL2464) type
The wiring length should be within 10[m] long.
• Cross-link polyethylene insulated, vinyl sheath cable :
AWG No.25 / 2P+AWG No.16/2C(*), (twisted-pair cable), RMCV-SB (UL2464) type
(*) 2P (pairs), 2C (core) twisted-pair cable of different wire sizes. Use the enlarged sectional area of wires for power supply.

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

CAUTION

Do not extend the wiring distance by connecting two or more encoder wiring cables.
A voltage drop by contact resistance of connector may stop the operation abruptly.

Remark : The wire size conversion between AWG and [mm] is as follows.
Gauge Diameter Sectional area
Circular mil mm2
AWG mm G mil mm CM mm2
1.4 55.12 1.400 3038 1.539
16 50.82 1.291 2583 1.309
1.2 47.24 1.200 2232 1.131
23 22.57 0.5773 509.4 0.2581
.55 21.65 0.5500 468.7 0.2376
24 20.10 0.5106 404.0 0.2047
.50 19.69 0.5000 387.7 0.1963
25 17.90 0.4547 320.4 0.1623
.45 17.72 0.4500 314.0 0.1590

4-9 MHT258a (Engl.)

4.4 Host interface (I/F)
Connect signals to and from host controller to amplifier CN1 and CN3.

(1) RYS-V type amplifier, basic

• CN1
Connect control input/output signals.

36 ＊ＣＡ 18 Ｍ５
35 ＣＡ 17 ＮＲＥＦ
34 ＊ＣＢ 16 ＭＯＮ１ Plug : 10136-3000VE
33 ＣＢ 15 ＴＲＥＦ Shell kit : 10336-52A0-008
32 ＊ＦＡ 14 ＭＯＮ２
31 ＦＡ 13 Ｍ５
30 ＊ＦＢ 12 ＢＡＴ−
29 ＦＢ 11 Ｐ１０
28 ＊ＦＺ 10 ＢＡＴ＋
27 ＦＺ 9 Ｍ５
26 ＯＵＴ３ 8 ＯＵＴ５
25 Ｍ５ 7 ＯＵＴ４
24 ＣＯＮＴ８ 6 ＯＵＴ２
23 ＣＯＮＴ７ 5 ＯＵＴ１
22 ＣＯＮＴ２ 4 ＣＯＮＴ６
21 ＣＯＮＴ１ 3 ＣＯＮＴ５
20 Ｐ２４ 2 ＣＯＮＴ４
19 Ｍ２４ 1 ＣＯＮＴ３

(2) RYS-V type amplifier, SX connection

(a) CN1
Connect control input/output signals.

26 − 13 −
25 − 12 Ｍ５
24 − 11 ＭＯＮ１
23 − 10 ＭＯＮ２
22 − 9 Ｍ２４
21 ＊ＦＺ 8 Ｐ２４
20 ＦＺ 7 ＯＵＴ２
19 ＊ＦＢ 6 ＯＵＴ１
18 ＦＢ 5 ＣＯＮＴ５
17 ＊ＦＡ 4 ＣＯＮＴ４
16 ＦＡ 3 ＣＯＮＴ３
15 ＢＡＴ− 2 ＣＯＮＴ２
14 ＢＡＴ＋ 1 ＣＯＮＴ１

4-10 MHT258a (Engl.)

(b) CN3
Connect SX bus expansion cable.
Connect the cable coming from OUT to IN.
Connect the SX bus loop-back plug to vacant connector.

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

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

SX bus loop-back plug PL 20

20

LOADER
LOADER LOADER
LOADER DA

11
B/A
B/A

PE1 HP2

SX bus expansion cable APS30

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

ＳＸ
ERR
ERR ERR
ERR ERR
ERR CH2
CH2 ERR
ERR 88 99 101112131415
101112131415 ERR
ERR 88 99 101112131415
101112131415ERR
ERR

PWR

ALM

FH

FL 20
20

1
2
3
4 11
B/A
B/A

TL1 AS1 MP2 CH2 CH1 JP1

FALDIC RYS201S3-VSS

MODE
MODE SHIFT
SHIFT
ESC
ESC ENT
ENT

K80791234
K80791234 CHARGE
CHARGE

SX bus loop-back plug L1

L2
L3
DB
P1
P+
N
U
V
W

4-11 MHT258a (Engl.)

■ Terminal function
(1) RYS□□□
□□□S3-VVS
□□□ (DI/DO, speed control)

Terminal Connector Terminal name Function

symbol (*) pin No.
P24 20 Control +24[V] DC, 0.2[A]
M24 19 power
supply
CONT1 21 Control +24[V] DC, 10[mA]
CONT2 22 input Initially assigned at factory :
CONT3 1 CONT1 : Run command [RUN]
CONT4 2 CONT2 : Manual forward [FWD]
CONT5 3 CONT3 : Manual reverse [REV]
CONT6 4 CONT4 : Alarm reset [RST]
CONT7 23 CONT5 : Multistep speed 1[X1]
CONT8 24 CONT6 : Ditto. 2 [X2]
CONT7 : Pulse train ratio 1
CONT8 : Position control
OUT1 5 Control +30[V] DC, 50[mA] max.
OUT2 6 output Initially assigned at factory :
OUT3 26 OUT1 : Ready [RDY]
OUT4 7 OUT2 : CPU ready [CPURDY]
OUT5 8 OUT3 : Speed zero [NZERO]
OUT4 : －
OUT5 : －
NREF 17 Speed Terminal of speed command voltage
TREF 15 Torque Terminal of torque command voltage
P10 11 Analog Power supply (+10[V] DC) for variable resistor
M5 13 input of speed and torque command input
MON1 16 Monitor 1 Analog voltage. Initially assigned at factory :
MON2 14 Monitor 2 MON1 : Speed monitor
M5 9 (output) MON2 : Torque monitor
CA 35 Pulse train Input terminal for pulse train input
*CA 36 input
CB 33
*CB 34
M5 25
FA 31 Freq. dividing Freq. dividing terminal.
*FA 32 output Two 90° phase-different signal in proportion
FB 29 with rotational quantity of motor is outputted.
*FB 30
FZ 27
*FZ 28
BAT+ 10 External backup Power supply for encoder backup
BAT－ 12 (input)
(*) Each of terminal M5 is internally connected. They are not connected with terminal M24.

4-12 MHT258a (Engl.)

(2) RYS□□□
□□□S3-VSS
□□□ (SX bus, speed control)

Terminal Connector Terminal name Function

symbol (*) pin No.
P24 8 Control +24[V] DC, 0.2[A]
M24 9 power
supply
CONT1 1 Control +24[V] DC, 10[mA]
CONT2 2 input Initially assigned at factory :
CONT3 3 CONT1 :
CONT4 4 CONT2 :
CONT5 5 CONT3 : 0 (not specified)
CONT4 :
CONT5 :
OUT1 6 Control +30[V] DC, 50[mA] max.
OUT2 7 output Initially assigned at factory :
OUT1 : Brake timing
OUT2 : Dynamic braking
MON1 11 Monitor 1 Analog voltage. Initially assigned at factory :
MON2 10 Monitor 2 MON1 : Speed monitor
M5 12 (output) MON2 : Torque monitor
FA 16 Freq. dividing Freq. dividing terminal.
*FA 17 output To 90° phase-different signal in proportion to
FB 18 rotational quantity of motor is outputted.
*FB 19 The reference potential is at terminal M5.
FZ 20
*FZ 21
BAT+ 14 External backup Power supply for encoder backup
BAT－ 15 (input)
(*) Each of terminal M5 is internally connected. They are not connected with terminal M24.

4-13 MHT258a (Engl.)

■ Interface circuits

Signal name Specification Interface circuit

Control input +24[V] DC, 10[mA]
(each one-point) Ｐ２４
＋２４Ｖ
２．２ｋ

Ｍ２４
Amplifier

Control output +30[V] DC, 50[mA] (max.)

＋２４Ｖ

Amplifier

Analog input 20[kΩ] impedance

２２ｋ

２２０ｋ
Ｍ５
Amplifier

Analog output Voltage output

(monitor output)

４７０
Ｍ５
Amplifier
Pulse train input Differential input
ＡＭ２６ＬＳ３２
４７０×３
Ｐ５

Ｍ５
Amplifier

Pulse train output Differential output

ＡＭ２６ＬＳ３１

Ｍ５
Amplifier

4-14 MHT258a (Engl.)

4.5 External connection diagrams (basic)
External connection diagrams of RYS-V type amplifier and GYC type motor are shown below.

Page
(1) DI/DO : 0.2[kW] and below (*) ..................................................... 4-16
(2) Ditto. : 0.4[kW] and above ......................................................... 4-17
(3) SX bus : 0.2[kW] and below (*) ..................................................... 4-18
(4) Ditto. : 0.4[kW] and above ......................................................... 4-19
(5) Positioning module : NP1F-MP2 .................................................... 4-20
(6) Ditto. : NC1F-VP1 .......................................................................... 4-22
(7) Positioning unit : AD75................................................................... 4-24
(8) Position control unit : C200HW-NC113 .......................................... 4-25

(*) For 0.2[kW] and below, braking resistor is not provided (is not built-in) with amplifier.

4-15 MHT258a (Engl.)

(1) DI/DO : 0.2[kW] and below
Safety lsolation

Power supply P1 P+ DB N
3-phase 200[V]
L1
L2 U U
L3 V V
W W
Ｍ
L1C
E
L2C
CN2
Safety lsolation
P5 1  1 P5
CN1 M5 2  2 M5
BAT+ 3  3 BAT+ ＰＧ
BAT- 4  4 BAT-
11 P10
SIG+ 5  5 SIG+
17 NREF
SIG- 6  6 SIG-
18 M5
15 TREF
13 M5

35 CA BAT+ 10
Motor
36 *CA BAT- 12
33 CB
34 *CB FA 31
25 M5 *FA 32
FB 29
*FB 30
P24 20 P24 FZ 27
*FZ 28
21 CONT1
MON1 16
22 CONT2
MON2 14
1 CONT3
M5 9
2 CONT4
3 CONT5
4 CONT6 OUT1 5 P24
23 CONT7 OUT2 6
24 CONT8 OUT3 26
OUT4 7
19 M24 OUT5 8

Amplifier

• CONT and OUT terminals are factory assigned : Refer to “Control function” (1) of 4.4.
• The wiring length between amplifier and motor can be extended to 20[m] long if an optional cable is applied (or to approx. 50[m] long
provided that the cable sectional area is enlarged).

4-16 MHT258a (Engl.)

(2) DI/DO : 0.4[kW] and above
Safety lsolation

Power supply P1 P+ DB N
3-phase 200[V]
L1
L2 U U
L3 V V
W W
Ｍ
L1C
E
L2C
CN2
Safety lsolation
P5 1  1 P5
CN1 M5 2  2 M5
BAT+ 3  3 BAT+ ＰＧ
BAT- 4  4 BAT-
11 P10
SIG+ 5  5 SIG+
17 NREF
SIG- 6  6 SIG-
18 M5
15 TREF
13 M5

35 CA BAT+ 10
Motor
36 *CA BAT- 12
33 CB
34 *CB FA 31
25 M5 *FA 32
FB 29
*FB 30
P24 20 P24 FZ 27
*FZ 28
21 CONT1
MON1 16
22 CONT2
MON2 14
1 CONT3
M5 9
2 CONT4
3 CONT5
4 CONT6 OUT1 5 P24
23 CONT7 OUT2 6
24 CONT8 OUT3 26
OUT4 7
19 M24 OUT5 8

Amplifier

• CONT and OUT terminals are factory assigned : Refer to “Control function” (1) of 4.4.
• The wiring length between amplifier and motor can be extended to 20[m] long if an optional cable is applied (or to approx. 50[m] long
provided that the cable sectional area is enlarged).

4-17 MHT258a (Engl.)

(3) SX bus : 0.2[kW] and below
Safety lsolation

Power supply P1 P+ DB N
3-phase 200[V]

L1
L2 U U
L3 V V
W W Ｍ
L1C
L2C E

CN2
Safety lsolation
P5 1  1 P5
M5 2  2 M5
CN3
BAT+ 3  3 BAT+ ＰＧ
BAT- 4  4 BAT-
SIG+ 5  5 SIG+
IN SX SIG- 6  6 SIG-

OUT SX
BAT+ 14
Motor
BAT- 15

FA 16
*FA 17
FB 18
*FB 19
FZ 20
*FZ 21

CN1 MON1 11
MON2 10
M5 12
P24 8 P24
1 CONT1 P24
OUT1 6
2 CONT2
OUT2 7
3 CONT3
4 CONT4
5 CONT5
9 M24

Amplifier

• CONT and OUT terminals are factory assigned : Refer to “Control function” (2) of 4.4.
• The wiring length between amplifier and motor can be extended to 20[m] long if an optional cable is applied (or to approx. 50[m] long
provided that the cable sectional area is enlarged).

4-18 MHT258a (Engl.)

(4) SX bus : 0.4[kW] and above

Safety lsolation

Power supply P1 P+ DB N
3-phase, 200[V]
L1
L2 U U
L3 V V
W W Ｍ
L1C
L2C E

CN2
Safety lsolation
P5 1  1 P5
M5 2  2 M5
CN3
BAT+ 3  3 BAT+ ＰＧ
BAT- 4  4 BAT-
SIG+ 5  5 SIG+
IN SX SIG- 6  6 SIG-

OUT SX
BAT+ 14 Motor
BAT- 15

FA 16
*FA 17
FB 18
*FB 19
FZ 20
*FZ 21

CN1 MON1 11
MON2 10
M5 12
P24 8 P24
1 CONT1 P24
OUT1 6
2 CONT2
OUT2 7
3 CONT3
4 CONT4
5 CONT5
9 M24

Amplifier

• CONT and OUT terminals are factory assigned : Refer to “Control function” (2) of 4.4.
• The wiring length between amplifier and motor can be extended to 20[m] long if an optional cable is applied (or to approx. 50[m] long
provided that the cable sectional area is enlarged).

4-19 MHT258a (Engl.)

(5) Positioning module : NP1F-MP2
Typical connection with a positioning module (pulse train output two-axis) for MICREX-SX (Fuji’s PLC) is shown below.
Control form is semi-closed loop and 500[kHz] input frequency (max.).

Manual pulse, A-phase A2

Ditto., *A-phase A1
Ditto., B-phase B2
Ditto., *B-phase B1
Ditto., GND B3
Ditto. B4

Forward pulse ouput A9 ① (continue to the next page)

Pulse output COM A8 ②
Reverse pulse output B9 ③
Pulse output COM B8 ④
Feedback pulse, A-phase A7 ⑤
Ditto., *A-phase A6 ⑥
Ditto., B-phase B7 ⑦
Ditto., *B-phase B6 ⑧
Ditto., Z-phase A4 ⑨
Ditto., *Z-phase A3 ⑩
Ditto., GND A5 ⑪
Ditto. B5 ⑫
24[V] DC for output A13 Ｐ２４
Ditto. B13 Ｐ２４
Output COM A11 Ｍ２４
Ditto. B11 Ｍ２４
Input COM A14 Ｐ２４
Ditto. B14 Ｐ２４
24[V] A20
24[V] B20 Ｐ２４
0[V] A19 Ｍ２４
0[V] B19

DO1 A12
DO2 B12

Interrupt input A15

Origin limit switch A16

Forced stop A17

-OT input B16

+OT input B17

NP1F-MP2

4-20 MHT258a (Engl.)

(5) Positioning module : NP1F-MP2 (cont’d)

Safety lsolation

(*)

P1 P+ DB N

L1
L2 U U
L3 V V
W W
Ｍ
L1C
L2C E

CN2
Safety lsolation
P5 1  1 P5
CN1 M5 2  2 M5
BAT+ 3  3 BAT+ ＰＧ
BAT- 4  4 BAT-
11 P10
SIG+ 5  5 SIG+
17 NREF
SIG- 6  6 SIG-
18 M5
15 TREF
(continued from the previous page)
13 M5
① 35 CA BAT+ 10 Motor
② 36 *CA BAT- 12
③ 33 CB
④ 34 *CB FA 31 ⑤
25 M5 *FA 32 ⑥
FB 29 ⑦
*FB 30 ⑧
FZ 27 ⑨
Ｐ２４ 20 P24
*FZ 28 ⑩
21 CONT1 ⑪
MON1 16 ⑫
22 CONT2
MON2 14
1 CONT3 M5 9 (continued from the previous page)
2 CONT4
3 CONT5
4 CONT6 OUT1 5
23 CONT7 OUT2 6
24 CONT8 OUT3 26
OUT4 7
Ｍ２４ 19 M24
OUT5 8

Amplifier

(*) For 0.2[kW] and below, braking resistor is not provided (is not built-in) with amplifier.

4-21 MHT258a (Engl.)

(6) Positioning module : NC1F-VP1

Typical connection with a positioning module for MICREX-F F70 (Fuji’s PLC) is shown below.
Linear positioning can be applied. The pulse train of NC1F-VP1 is open collector output.
The output form setting at our shop before shipping is forward and reverse pulses.

• If MON output is on, the automatic start signal is not validated.

• MOFF at the same scan as when MON is on is not validated.

+12 to 24[V] A6 +24[V]

power supply
-12 to 24[V] A7 Ｐ２４

COM B7 Ｍ２４

+5[V] A10
+5[V] B10

Positioning end A9
Ready A8
COM B8
(continue to the next page)
Forward pulse A11 ①
COM B11 ②
Reverse pulse A12 ③
COM B12 ④
⑤
External marker B4 ⑥
COM B9

Origin limit switch A4

External interrupt B3
Forced stop A3
+OT A2
-OT B2 Ｍ２４

+12 to 24[V] A1 Ｐ２４

+12 to 24[V] B1

NC1F-VP1

4-22 MHT258a (Engl.)

(6) Positioning module : NC1F-VP1 (cont’d)

Safety lsolation

(*)

Power supply P1 P+ DB N
3-phase, 200[V]
L1
L2 U U
L3 V V
W W
Ｍ
L1C
L2C E

CN2
Safety lsolation
P5 1  1 P5
CN1 M5 2  2 M5
BAT+ 3  3 BAT+ ＰＧ
BAT- 4  4 BAT-
11 P10
SIG+ 5  5 SIG+
17 NREF
SIG- 6  6 SIG-
18 M5
15 TREF
(continued from the previous page) 13 M5
① 35 CA BAT+ 10 Motor
② 36 *CA BAT- 12
③ 33 CB
④ 34 *CB FA 31
⑤ 25 M5 *FA 32
⑥ FB 29
*FB 30
Ｐ２４ 20 P24 FZ 27
*FZ 28
21 CONT1
MON1 16
22 CONT2
MON2 14
1 CONT3 M5 9
2 CONT4
3 CONT5
4 CONT6 OUT1 5
23 CONT7 OUT2 6
24 CONT8 OUT3 26
OUT4 7
Ｍ２４ 19 M24
OUT5 8

Amplifier

(*) For 0.2[kW] and below, braking resistor is not provided (is not built-in) with amplifier.

4-23 MHT258a (Engl.)

(7) Positioning unit : AD75
Typical connection with AD75 type positioning unit (Mitsubishi Electric) is shown below.
Safety lsolation

(*1)

Power supply P1 P+ DB N
3-phase, 200[V]
L1
L2 U U
L3 V V
W W
Ｍ
L1C
E
L2C
CN2
Safety lsolation
P5 1  1 P5
PULSE F+ 3 CN1 M5 2  2 M5
PULSE F- 21 BAT+ 3  3 BAT+ ＰＧ
PULSE R+ 4 BAT- 4  4 BAT-
PULSE R- 22 11 P10
SIG+ 5  5 SIG+
PGO(5V) 24 17 NREF
SIG- 6  6 SIG-
PGO COM 25 18 M5
READY 7 15 TREF
INPS 8 13 M5
COM 26
35 CA BAT+ 10 Motor
PULSER A+ 9
+24V 36 *CA BAT- 12
PULSER A- 27
PULSER B+ 10 33 CB
PULSER B- 28 34 *CB FA 31
DOG 11 25 M5 *FA 32
FLS 12 FB 29
RLS 13 *FB 30
STOP 14 20 P24 FZ 27
CHG 15 *FZ 28
STAT 16 21 CONT1
MON1 16
COM 35 22 CONT2
MON2 14
COM 36 1 CONT3 M5 9
2 CONT4
AD75P1-S3 3 CONT5
4 CONT6 OUT1(RDY) 5
23 CONT7 OUT2 6
24 CONT8 OUT3 26
OUT4(PSET) 7
19 M24 OUT5 8

Amplifier

(*1) For 0.2[kW] and below, braking resistor is not provided (is not built-in) with amplifier.
• The pulse output mode is used for CW/CCW (*2) pulse output.
• CONT and OUT terminals are factory assigned :
(i) System para. 1 to 8 : Refer to “Control function” (1) of 4.4
(ii) System para. 31 to 35 :
Terminal symbol OUT1 OUT2 OUT3 OUT4 (*3) OUT5
Function Ready [RUN] CPU ready [CPURDY] Speed zero [NZERO] Positioning end [PSET] (not specified)
(*2) Direction of motor shaft rotation (when viewed from a point facing the drive-end of motor) is designed according to Japanese standards :
• Forward direction : Counter-clockwise (CCW) rotation • Reverse direction : Clockwise (CW) rotation
(*3) All other terminals are the same as factory assigned.
The assign number for positioning end [PSET] is “2”.

4-24 MHT258a (Engl.)

(8) Position control unit : C200HW-NC113
Typical connection with C200HW-NC113 type position control unit (Omron Corp.) is shown below .
Safety lsolation
(*1)

P1 P+ DB N
Power supply
3-phase, 200[V]
L1
L2 U U
L3 V V
W W
Ｍ
L1C
E
L2C
CN2
Safety lsolation
P5 1  1 P5
CW pulse output A5 CN1 M5 2  2 M5
BAT+ 3  3 BAT+ ＰＧ
CCW pulse output A7 BAT- 4  4 BAT-
11 P10
SIG+ 5  5 SIG+
17 NREF
24[V] GND for output A2 SIG- 6  6 SIG-
18 M5
15 TREF
Origin input signl (5[V]) A16 13 M5
Origin common A24 BAT+ 10
35 CA Motor
Positioning end signal A12
36 *CA BAT- 12
33 CB
34 *CB FA 31
Origin proximity input signal A21 25 M5 *FA 32
FB 29
Common for input A24
*FB 30
24[V] power supply for output A1 20 P24 FZ 27
+24V *FZ 28
21 CONT1
MON1 16
22 CONT2
MON2 14
1 CONT3
M5 9
2 CONT4
3 CONT5
4 CONT6 OUT1(RDY) 5
23 CONT7 OUT2 6
CCW limit input signal A23 24 CONT8 OUT3 26
OUT4(PSET) 7
19 M24 OUT5 8
CW limit input signal A22
Immediate stop input signal A20

NC113
Amplifier

(*1) For 0.2[kW] and below, braking resistor is not provided (is not built-in) with amplifier.
• The pulse output mode is used for CW/CCW (*2) pulse output.
• CONT and OUT terminals are factory assigned :
(i) System para. 1 to 8 : Refer to “Control function” (1) of 4.4
(ii) System para. 31 to 35 :
Terminal symbol OUT1 OUT2 OUT3 OUT4 (*2) OUT5
Function Ready [RUN] CPU ready [CPURDY] Speed zero [NZERO] Positioning end [PSET] (not specified)
(*2) All other terminals are the same as factory assigned.
The assign number for positioning end [PSET] is “2”.

4-25 MHT258a (Engl.)

5. CONTROL FUNCTIONS

5.1 Summary
The control functions of RYS-V type are listed below.

・Speed control
The motor speed is controlled.
・Position control
The rotational quantity of motor’s output shaft is controlled (pulse train input, origin return and interrupt positioning).
・Torque control
The motor torque is controlled.

The speed control, position control or torque control can be selected by control input signal while the speed zero [NZERO] signal is turned
on.
The ON width of speed zero signal can be changed by the basic para.(*) 52.

Speed control Position control

Base off
Under speed control Pluse train positioning
(no driving force)

RUN (1)
ON    OFF OFF ON
EMG (10)
FWD (2) Pluse train ratio 1 (27)
REV (3) OFF   ON
Pluse train ratio 2 (28)
ON
Under stopping Under stopping
(speed control) (position control)
OFF
Position control (37) FWD (2)
Torque control (38)
REV (3)
ON OFF OFF ON Origin return (5)
Interrupt input (49)
Torque control

Under stopping Manual feed

(torque control)
Origin return
FWD (2)
REV (3) Interrupt positioning

ON OFF

Under torque control

5-1 MHT258a (Engl.)

Connect the control input/output signals to the connector 1 (CN1) on the amplifier.
The shape of the connector 1 (CN1) differs from types of amplifier as follows.

Amplifier connector 1 (CN1)

■ RYS□□□S3-VVS ■ RYS□□□S3-VSS
① (DI/DO, speed control) ② (SX bus, speed control)

36 ＊ＣＡ 18 Ｍ５ 26 − 13 −
35 ＣＡ 17 ＮＲＥＦ 25 − 12 Ｍ５
34 ＊ＣＢ 16 ＭＯＮ１ 24 − 11 ＭＯＮ１
33 ＣＢ 15 ＴＲＥＦ 23 − 10 ＭＯＮ２
32 ＊ＦＡ 14 ＭＯＮ２ 22 − 9 Ｍ２４
31 ＦＡ 13 Ｍ５ 21 ＊ＦＺ 8 Ｐ２４
30 ＊ＦＢ 12 ＢＡＴ− 20 ＦＺ 7 ＯＵＴ２
29 ＦＢ 11 Ｐ１０ 19 ＊ＦＢ 6 ＯＵＴ１
28 ＊ＦＺ 10 ＢＡＴ＋ 18 ＦＢ 5 ＣＯＮＴ５
27 ＦＺ 9 Ｍ５ 17 ＊ＦＡ 4 ＣＯＮＴ４
26 ＯＵＴ３ 8 ＯＵＴ５ 16 ＦＡ 3 ＣＯＮＴ３
25 Ｍ５ 7 ＯＵＴ４ 15 ＢＡＴ− 2 ＣＯＮＴ２
24 ＣＯＮＴ８ 6 ＯＵＴ２ 14 ＢＡＴ＋ 1 ＣＯＮＴ１
23 ＣＯＮＴ７ 5 ＯＵＴ１
22 ＣＯＮＴ２ 4 ＣＯＮＴ６
21 ＣＯＮＴ１ 3 ＣＯＮＴ５
20 Ｐ２４ 2 ＣＯＮＴ４
19 Ｍ２４ 1 ＣＯＮＴ３

Functions of terminals CONT1 to CONT8 and OUT1 to OUT5 can be changed according to the system para. setting.

Remarks:
The number in parentheses following the signal name on the previous page and hereinafter means the setting number to the system para.
For example, Before performing position control using pulse train input, set “position control” (37) to “CONT assignment.” Setting a number in
parentheses to the system para. 87 or 88 varidates a corresponding signal at all times.

Note: (*) para.: parameter

List of the basic parameter and system parameter: See 6.5.
5-2 MHT258a (Engl.)
■ Terminal function
RYS□□□S3-VVS (DI/DO, speed control)

Terminal Connector Terminal name Function

symbol (*) pin No.
P24 20 Control +24[V] DC, 0.2[A]
M24 19 power
supply
CONT1 21 Control +24[V] DC, 10[mA]
CONT2 22 input Initially assigned at factory :
CONT3 1 CONT1 : Run command [RUN]
CONT4 2 CONT2 : Manual forward [FWD]
CONT5 3 CONT3 : Manual reverse [REV]
CONT6 4 CONT4 : Alarm reset [RST]
CONT7 23 CONT5 : Multistep speed 1[X1]
CONT8 24 CONT6 : Ditto. 2 [X2]
CONT7 : Pulse train ratio 1
CONT8 : Position control
OUT1 5 Control +30[V] DC, 50[mA] max.
OUT2 6 output Initially assigned at factory :
OUT3 26 OUT1 : Ready [RDY]
OUT4 7 OUT2 : CPU ready [CPURDY]
OUT5 8 OUT3 : Speed zero [NZERO]
OUT4 : －
OUT5 : －
NREF 17 Speed Terminal of speed command voltage
TREF 15 Torque Terminal of torque command voltage
P10 11 Analog Power supply (+10[V] DC) for variable resistor
M5 13 input of speed and torque command input
MON1 16 Monitor 1 Analog voltage. Initially assigned at factory :
MON2 14 Monitor 2 MON1 : Speed monitor
M5 9 (output) MON2 : Torque monitor
CA 35 Pulse train Input terminal for pulse train input
*CA 36 input
CB 33
*CB 34
M5 25
FA 31 Freq. dividing Freq. dividing terminal.
*FA 32 output Two 90° phase-different signal in proportion
FB 29 with rotational quantity of motor is outputted.
*FB 30
FZ 27
*FZ 28
BAT+ 10 External backup Power supply for encoder backup
BAT－ 12 (input)
(*) Each of terminal M5 is internally connected. They are not connected with terminal M24.

5-3 MHT258a (Engl.)

RYS□□□S3-VSS (SX bus, speed control)

Terminal Connector Terminal name Function

symbol (*) pin No.
P24 8 Control +24[V] DC, 0.2[A]
M24 9 power
supply
CONT1 1 Control +24[V] DC, 10[mA]
CONT2 2 input Initially assigned at factory :
CONT3 3 CONT1 : 49 (interrupt)
CONT4 4 CONT2 :
CONT5 5 CONT3 :
CONT4 :
0 (not specified)
CONT5 :
OUT1 6 Control +30[V] DC, 50[mA] max.
OUT2 7 output Initially assigned at factory :
OUT1 : Brake timing
OUT2 : Dynamic braking
MON1 11 Monitor 1 Analog voltage. Initially assigned at factory :
MON2 10 Monitor 2 MON1 : Speed monitor
M5 12 (output) MON2 : Torque monitor
FA 16 Freq. dividing Freq. dividing terminal.
*FA 17 output To 90° phase-different signal in proportion to
FB 18 rotational quantity of motor is outputted.
*FB 19 The reference potential is at terminal M5.
FZ 20
*FZ 21
BAT+ 14 External backup Power supply for encoder backup
BAT－ 15 (input)
(*) Each of terminal M5 is internally connected. They are not connected with terminal M24.

5-4 MHT258a (Engl.)

5.2 Run command

This section explains the signals to run the motor and the signals to reset alarm detection.

Control input signal : Run command [RUN] (1)

Alarm reset [RST] (11)

Control output signal : Ready [RDY] ( 1)

Alarm detection [ALM] (16)
Alarm code 0 [ALM0] (32)
Alarm code 1 [ALM1] (33)
Alarm code 2 [ALM2] (34)
Alarm code 3 [ALM3] (35)
Alarm code 4 [ALM4] (36)

5.2.1 Run command [RUN]

The signal allows the motor to rotate.

While the [RUN] signal is on, the motor is energized and can rotate.
Even if commercial power is applied to amplifier for driving motor, the motor will not start while [RUN] is off.
When turning off this [RUN] signal while motor is running, motor decelerates quickly until it stops. After the stoppage, it is not held. No
holding torque is available after the motor stops.
When the [RUN] signal is turned off, all rotation commands are ignored.
Basically, motor can be operated when [RUN] is on and forced stop [EMG] signal is on.

While [RUN] signal is on and other signals are off, the motor is in stopping condition.

■ Interface

P24
+24V
2.2k Run command [RUN] (1)
ON : Allows the motor to rotate.
OFF : Motor is in free-run status.
M24

■ Parameter setting
To allocate the run command [RUN] signal to the control input terminal, set (1) to the system para. If this signal is not allocated to the control
input terminal, this signal is deemed "always off."

■ Related item
For the forced stop [EMG] signal, see 5.5.1.

5-5 MHT258a (Engl.)

5.2.2 Alarm reset [RST]

This signal input resets the alarm detection being issued from the amplifier.

At the ON edge of alarm reset [RST] signal of control input signals, the alarm detection is reset.
Alarm detection can also be reset in the trial operation mode [ ] by keypad panel.
Alarm detection can also be reset by turning on power supply again.

■ Interface

P24
+24V Alarm reset [RST] (11)
2.2k ON edge : Resets the alarm detection
(ON edge means at the transition from OFF level to ON level.)

M24

■ Parameter setting
To allocate the alarm reset [RST] signal to the control input terminal, set (11) to the system para. If this signal is not allocated to the control
input terminal, this signal is deemed "always off."

■ Related item
How to reset alarm reset is as listed below:
1) At the ON edge of [RST] signal of control input signal
2) ENT key operation in the trial operation mode [ ]
3) Press ∧ key and ∨ key simultaneously (longer than 1s) at alarm detection [ ]
4) Press ∧ key and ∨ key simultaneously (longer than 1s) at alarm history [ ]
5) Power shut down and turn on again
To initialize the history of alarm detection, press ENT key in the trial operation mode [ ].

5-6 MHT258a (Engl.)

5.2.3 Ready [RDY]

This signal turns on when the motor can be rotated.

Listed below are five conditions for turning on this signal.

1) Run command [RUN] (1) signal on
2) Forced stop [EMG] (10) signal on
3) Alarm detection (16) signal off
4) External fault input (34) signal on
5) Free-run [BX] (54) signal off
When the host controller receives the on/off status of [RDY] signal, it recognizes that the motor can be rotated.

APS30
APS30 SCPU32
SCPU32 ONL
ONL
ONL
ONL
SCPU32
SCPU32 ONL
ONL
ONL
ONL
O
OO
ON
NN
NL
LL
L 00 1
00 1 2
11 2 3
22 3 4
33 4 5
44 5 6
55 6 7
66 O
7
7
O
7ON
O NL
NN L
LL O
OO
ON
NN
NL
LL
L 00 1
00 1 2
11 2 3
22 3 4
33 4 5
44 5 6
55 6 7
66 O
7
7
O
7ON
O NL
NN L
LL
E
EE
EM
MM
MG
GG
G ++O
++
CCH
CC
OT
OO
H1
HH
T -
TT
111
-O
-- OT
OO T
TT FALDIC RYS201S3-VVS
ＳＸ
RUN
RUN
RUN
RUN ERR
ERR RUN
RUN
RUN
RUN ERR
ERR E
EE
ER
RR
RR
RR
R 88 9
88 9 1
99 10
11 01
00 11
11 11
11 12
11 21
22 13
11 31
33 14
11 41
441E
1E
E
1E5
5R
5R
R
5RRR
RR E
EE
ER
RR
RR
RR
R 88 9
88 9 1
99 10
11 01
00 11
11 11
11 12
11 21
22 13
11 31
33 14
11 41
44 1E
1E
1E55R
5R
5RRR CCHH2 2
ERR
ERR ERR
ERR E R RR CCHH22
TERM
TERM
TERM
TERM TERM
TERM
TERM
TERM
SLV
SLV RUN
RUN
RUN
RUN SLV
SLV RUN
RUN
RUN
RUN
PWR
PWR SLV
SLV ALM
ALM
ALM
ALM
SLV
SLV ALM
ALM
ALM
ALM
STOP
STOP
STOP
STOP BAT
BAT STOP
STOP
STOP
STOP BAT
BAT

Run command [RUN]

BAT
BAT BAT
BAT C
CC
CH
HH
H
ALM NNo
NN o.
oo .
..
ALM
CPU
CPU
CPU
CPU CPU
CPU
CPU
CPU
No.
No.
No.
No. No.
No.
No.
No.
PH
PH
2
22
20
00
PL
PL 0

LOADER
LOADER LOADER
LOADER DA
DA MODE
MODE SHIFT
SHIFT
ESC
ESC ENT
ENT

1
Ready [RDY]
11
BB/
BB
1
/A
// A
AA K80791234
K80791234 CHARGE
CHARGE

PE1
PE1 HP2
HP2

L1
L2
L3
DB
P1
P+
N
U
V
W

■ Interface

Ready [RDY] (1)

ON : The motor can be rotated.
OFF : Motor cannot be rotated.
+24V

■ Parameter setting
To allocate the ready [RDY] signal to the control output terminal, set (1) to the system para.

■ Related items
The amplifier can also output “CPU ready” [CPURDY] (28) signal, which is turned on when the power is being supplied to amplifier and the
internal CPU is processing normally.
For alarm detection (16) signal, see 5.2.4.
For external fault input (34) signal, see 5.5.5.
For free-run [BX] (54) signal, see 5.7.7.

5-7 MHT258a (Engl.)

5.2.4 Alarm detection [ALM]

This signal is turned on when the amplifier protective function activates (detects an alarm).

This signal is on when amplifier detects alarm, and retained by amplifier. The signal is turned off at the ON edge of alarm reset [RST] signal
after the cause of alarm is removed (Operation is enable).
Alarm or no alarm can be checked when the host control device recognizes the on/off status of the alarm detection [ALM] signal. This also
can be checked whether the ready [RDY] signal is off when the running command [RUN] is on.

FALDIC RYS201S3-VVS
O
OO
ON
NN
NL
LL 00 11 22 33 44 55 66 7
O
7ONNLL O
OO
ON
NN
NL
LL 00 11 22 33 44 55 66 7
O
7ONNLL CCHH1 1
APS30
APS30 SCPU32
SCPU32 SCPU32
SCPU32 L 00 11 22 33 44 55 66 7
O
7ONNLL L 00 11 22 33 44 55 66 7
O
7ONNLL
E
EE
EM
MM
MG
GG
G ++O
++
CC
OT
OO
HH
T -
TT
11
-O
-- OT
OO T
TT
ONL
ONL
ONL
ONL ONL
ONL
ONL
ONL

ＳＸ
RUN
RUN
RUN
RUN ERR
ERR RUN
RUN
RUN
RUN ERR
ERR E
EE
ER
RR
RR
RR
R 88 9
88 9 1
99 10
11 01
00 11
11 11
11 12
11 21
22 13
11 31
33 14
11 41
441E
1E
E
1E5
5R
5R
R
5RRR
RR E
EE
ER
RR
RR
RR
R 88 9
88 9 1
99 10
11 01
00 11
11 11
11 12
11 21
22 13
11 31
33 14
11 41
44 1E
1E
1E55R
5R
5RRR CCHH2 2
ERR
ERR ERR
ERR E R RR CCHH22
TERM
TERM
TERM
TERM TERM
TERM
TERM
TERM
SLV
SLV RUN
RUN
RUN
RUN SLV
SLV RUN
RUN
RUN
RUN
PWR
PWR SLV
SLV ALM
ALM
ALM
ALM
SLV
SLV ALM
ALM
ALM
ALM
STOP
STOP STOP
STOP

Alarm detection[ALM]
STOP
STOP BAT
BAT
BAT
BAT STOP
STOP BAT
BAT
BAT
BAT CCHH
CCHH
ALM NN
NNo
oo
o.
..
.
ALM
CPU
CPU
CPU
CPU CPU
CPU
CPU
CPU
No.
No.
No.
No. No.
No.
No.
No.
PH
PH

2
MODE
MODE SHIFT
SHIFT
PL
PL 22
20
00
0
ESC
ESC ENT
ENT
LOADER
LOADER LOADER
LOADER DA
DA

K80791234
K80791234 CHARGE
CHARGE
11
11
BB
BB///
/A
AA
A

PE1
PE1 HP2
HP2
L1
L2
L3
DB
P1
P+
N
U
V
W

■ Interface

Alarm detection [ALM] (16)

ON : Amplifier is detecting alarm
OFF : Alarm is not detected.
+24V

■ Parameter setting
To allocate the alarm detection [ALM] signal to the control output terminal, set (16) to the system para.

■ Related item
The contents of alarm detection can also be output to the control output terminals by alarm code.
Alarm code 4 [ALM4] (36) Alarm code 3 [ALM3] (35)
Alarm code 2 [ALM2] (34) Alarm code 1 [ALM1] (33)
Alarm code 0 [ALM0] (32)

5-8 MHT258a (Engl.)

 *2
[ALM4] [ALM3] [ALM2] [ALM1] [ALM0] Detection contents Order of priority
OFF OFF OFF OFF OFF (No detection) 21
OFF OFF OFF OFF ON Motor overload (OL) 13
OFF OFF OFF ON OFF - -
OFF OFF OFF ON ON Amplifier overheat (AH) 14
OFF OFF ON OFF OFF Braking resistor overheat (rH) 15
OFF OFF ON OFF ON Deviation excessive (OF) 16
OFF OFF ON ON OFF Overcurrent (OC) 2
OFF OFF ON ON ON Overspeed (OS) 3
OFF ON OFF OFF OFF Overvoltage (Hv) 5
OFF ON OFF OFF ON Undervoltage (Lv) 4
OFF ON OFF ON OFF Encoder trouble (ET) *3) 6
OFF ON OFF ON ON - -
OFF ON ON OFF OFF Control power trouble (Ct) *3) 7
OFF ON ON OFF ON Memory error (dE) *3) 8
OFF ON ON ON OFF - -
OFF ON ON ON ON - -
ON OFF OFF OFF OFF Encoder communication error (EC) 11
ON OFF OFF OFF ON Motor combination error (CE) *3) 9
ON OFF OFF ON OFF Resistor overheat 2 (rH2) 10
ON OFF OFF ON ON CONT (control signal) error (CtE) *3) 12
ON OFF ON OFF OFF Encoder overheat (EH) 17
ON OFF ON OFF ON ABS (Absolute) data lost (AL) *4) 18
ON OFF ON ON OFF Multiple rotation data overflow (AF) *4) 19
ON OFF ON ON ON Terminal error (tE) 20
ON ON OFF OFF OFF - -
ON ON OFF OFF ON - -
ON ON OFF ON OFF - -
ON ON OFF ON ON - -
ON ON ON OFF OFF (BCD error) *1) -
ON ON ON OFF ON (Out of range) *1) -
ON ON ON ON OFF (Negative sign specified) *1) -
ON ON ON ON ON System error 1

*1) BCD error, out of range, and negative sign specified are not included in the alarm detection (amplifier protective function activation).
*2) If several alarms are simultaneously detected, the output priority is as given on the table above.
*3) The alarm reset [RST] signal cannot release the alarm detection. Turn on power supply again.
*4) The alarm reset [RST] signal cannot release the alarm detection. Reset it by inputting the position preset signal

The contents of detected alarm can be output in code.

When alarm detection is released, all of the output is turned off.

5-9 MHT258a (Engl.)

5.3 Speed control

This section explains the signals to run or control the motor speed.

Control input signal : Forward command [FWD] (2)

Reverse command [REV] (3)
ACC0 [ACC0] (14)
Multistep speed 1 [X1] (51)
Multistep speed 2 [X2] (52)
Multistep speed 3 [X3] (53)
Speed command [NREF] (fixed)
Torque command [TREF] (fixed)

Control output signal : Speed zero [NZERO] (24)

Speed arrive [NARV] (25)

5.3.1 Forward command [FWD], Reverse command [REV]

These signals rotate the motor.

While the forward command [FWD] (reverse command [REV]) signal is on, the motor rotates forward (in reverse). Acceleration starts at the
ON edge, deceleration starts at the OFF edge.
When the forward command and reverse command are turned on simultaneously, the motor decelerates to stop.
Operation depends, in speed control, position control, or torque control.

(1) Speed control

Motor rotates at the speed selected by [X1], [X2] and [X3].
[X3] [X2] [X1] Speed
OFF OFF OFF Speed set by speed command [NREF] terminal
OFF OFF ON Speed set by basic parameter 1
OFF ON OFF Speed set by basic parameter 2
OFF ON ON Speed set by basic parameter 3
ON OFF OFF Speed set by basic parameter 4
ON OFF ON Speed set by basic parameter 5
ON ON OFF Speed set by basic parameter 6
ON ON ON Speed set by basic parameter 7

(2) Position control

Operation is same as the one by voltage of voltage of speed control. The motor starts rotation at the ON edge of forward command [FWD]
(reverse command [REV]). Even when the both command signals are turned on simultaneously, the motor does not stop.
For the interrupt positioning, see 5.7.

(3) Torque control

Motor outputs its torque according to the voltage of speed command [NREF] terminal. See 5.6 for the torque control.

■ Interface

P24 Forward command [FWD] (2)

+24V Reverse command [REV] (3)
2.2k ON : Starts acceleration
OFF : Starts deceleration.
M24

22k
Speed command [NREF]
220k Torque command [TREF]
±10V/max. speed (±9V/max. torque)
M5
Analog voltage input

5-10 MHT258a (Engl.)

■ Parameter setting
To allocate the forward command [FWD] signal to the control input terminal, set (2) to the system para. (set (3) for Reverse command [REV])
If these signals are not allocated to the control input terminal, these signals are deemed "always off."

■ Related items
・Changeover of acceleration/deceleration time
The acceleration and deceleration time of motor can be set by basic para. 21 to 24. The acceleration time and deceleration time can be
set independently.

Speed

Time

Forward command OFF ON OFF

[FWD]

Basic para. 21 Basic para. 22

Basic para. 23 Basic para. 24

Basic parameter 21 to 24
Para. Name Setting range. Initial value Change
21 Acceleration time 1 0.000 to 99.999s (in 0.001s steps) 0.100 Always
22 Deceleration time 1 0.000 to 99.999s (in 0.001s steps) 0.100 Always
23 Acceleration time 2 0.000 to 99.999s (in 0.001s steps) 0.100 Always
24 Deceleration time 2 0.000 to 99.999s (in 0.001s steps) 0.100 Always

The acceleration time is set by the basic para. 21 or 23, regardless of rotational direction.
Acceleration time 1 or 2 (basic para. 21 or 23) can be selected by system para. ACC0 [ACC0] setting.
[ACC0] (14) Acceleration time Deceleration time
OFF Basic para. 21 Basic para. 22
ON Basic para. 23 Basic para. 24

To allocate the ACC0 [ACC0] signal to the control input terminal, set (14) to the system para. If this signal is not allocated to the control
input terminal, this signal is deemed "always off."

・Rotation speed
In speed control, seven kinds of motor speed can be set by the basic para. 1 to 7.

Basic parameter 1 to 7
Para. Name Setting range Initial value Change
1 Manual feed speed 1 0.01 to Max. speed [r/min] (in 0.01 steps) 100.00 Always
2 Manual feed speed 2 0.01 to Max. speed [r/min] (in 0.01 steps) 500.00 Always
3 Manual feed speed 3 0.01 to Max. speed [r/min] (in 0.01 steps) 1000.00 Always
4 Manual feed speed 4 0.01 to Max. speed [r/min] (in 0.01 steps) 100.00 Always
5 Manual feed speed 5 0.01 to Max. speed [r/min] (in 0.01 steps) 100.00 Always
6 Manual feed speed 6 0.01 to Max. speed [r/min] (in 0.01 steps) 100.00 Always
7 Manual feed speed 7 0.01 to Max. speed [r/min] (in 0.01 steps) 100.00 Always

Motor speed can be changed by combining the on/off status of X1, X2 and X3 terminals.
The speed change is possible even while motor is rotating.

5-11 MHT258a (Engl.)

 Selection of multistep speed
X3 X2 X1 Speed
OFF OFF OFF By speed command [NREF] terminal
OFF OFF ON Basic para. 1 (manual feed speed 1)
OFF ON OFF Basic para. 2 (manual feed speed 2)
OFF ON ON Basic para. 3 (manual feed speed 3)
ON OFF OFF Basic para. 4 (manual feed speed 4)
ON OFF ON Basic para. 5 (manual feed speed 5)
ON ON OFF Basic para. 6 (manual feed speed 6)
ON ON ON Basic para. 7 (manual feed speed 7)

・Rotational direction
The rotational direction of motor output shaft for the forward
command [FWD] can be changed by the system para. 80.
When the para. 80 is initial value, motor rotates in forward
Foward
direction (counterclockwise viewed from shaft extension) rotation
for forward command. In case the motor rotates opposite
to the machine movement, set 1 at the para. 80. The
setting change of the system para. becomes valid after
turning on power again.

・Gain for speed command [NREF] terminal

At factory setting, the motor rotates forward at 5000[r/min]
against +10V of the speed command voltage.
By setting the system para. 63, the motor speed can be adjusted against the set speed command voltage.

Speed
（×1.5）
+5000r/min         （×1.0）

-10V       （×0.1）

Speed command voltage
+10V
*The value in ( ) is the setting value of system para. 63.

-5000r/min
   

If the system para. 63 has been set at 0.1, the speed can be adjusted to 500[r/min] against +10V of the speed command voltage.

・Resolution of speed command voltage

The speed command [NREF] terminal has a 14 bit resolution at full scale.
The torque command [TREF] terminal has a 10 bit resolution at full scale.

・Torque limiting
Motor output torque can be limited by using the torque limiting [TLMT] (30) signal. The torque limiting value can be selected by analog
voltage at torque command [TREF] terminal and parameter setting. For details, see 5.5 Signal for safety.

・S-curve acceleration/deceleration
S-curve acceleration/deceleration can be carried out by basic para. 25 setting.
The speed slowly increases by drawing an S-curve, and a shock during acceleration can be reduced.
See 6.1.5 Non-linear (S-curve) filter coefficient.

5-12 MHT258a (Engl.)

5.3.2 Speed zero [NZERO]

This signal is turned on when the motor speed is near zero.

This signal turns on when the motor speed is below the value set by basic para. 52.
Control can be changed among speed control, position control and torque control when speed zero [NZERO] signal is on.
Control is shifted to position control mode when position control (37) is on, to torque control mode when torque control (38) is on.

FALDIC RYS201S3-VVS
O
OO
ON
NN
NL
LL 00 11 22 33 44 55 66 7
O
7ONNLL O
OO
ON
NN
NL
LL 00 11 22 33 44 55 66 7
O
7ONNLL CCHH1 1
APS30
APS30 SCPU32
SCPU32 SCPU32
SCPU32 L 00 11 22 33 44 55 66 7
O
7ONNLL L 00 11 22 33 44 55 66 7
O
7ONNLL
E
EE
EM
MM
MG
GG
G ++O
++
CC
OT
OO
HH
T -
TT
11
-O
-- OT
OO T
TT
ONL
ONL
ONL
ONL ONL
ONL
ONL
ONL

ＳＸ
RUN
RUN
RUN
RUN ERR
ERR RUN
RUN
RUN
RUN ERR
ERR E
EE
ER
RR
RR
RR
R 88 9
88 9 1
99 10
11 01
00 11
11 11
11 12
11 21
22 13
11 31
33 14
11 41
441E
1E
E
1E5
5R
5R
R
5RRR
RR E
EE
ER
RR
RR
RR
R 88 9
88 9 1
99 10
11 01
00 11
11 11
11 12
11 21
22 13
11 31
33 14
11 41
44 1E
1E
1E55R
5R
5RRR CCHH2 2
ERR
ERR ERR
ERR E R RR CCHH22
TERM
TERM
TERM
TERM TERM
TERM
TERM
TERM
SLV
SLV RUN
RUN
RUN
RUN SLV
SLV RUN
RUN
RUN
RUN
PWR
PWR SLV
SLV ALM
ALM
ALM
ALM
SLV
SLV ALM
ALM
ALM
ALM
STOP
STOP
STOP
STOP BAT
BAT
BAT
BAT STOP
STOP
STOP
STOP BAT
BAT
BAT
BAT CCHH
CCHH

Speed zero [NZERO]

ALM NN
NNo
oo
o.
..
.
ALM
CPU
CPU
CPU
CPU CPU
CPU
CPU
CPU
No.
No.
No.
No. No.
No.
No.
No.
PH
PH
2
22
20
00
PL 0
PL MODE SHIFT
LOADER
LOADER LOADER
LOADER DA
DA ESC ENT

BB
B
1
B/
1
11
//
/A
AA
A K80791234 CHARGE

PE1
PE1 HP2
HP2

L1
L2
L3
DB
P1
P+
N
U
V
W

■ Interface

Speed zero [NZERO] (24)

ON : Control mode can be changeable.
OFF : Motor is rotating.
+24V

■ Parameter setting
To allocate the speed zero [NZERO] signal to the control output terminal, set (24) to the system para.

■ Related item
Basic parameter 52
Para. Name Setting range Initial value Change
52 Speed zero width 10 to Max. speed [r/min] (in increments of 1) 20 Always

5-13 MHT258a (Engl.)

5.3.3 Speed arrive [NARV]

Check can be done that the motor rotation reaches the reference speed.

This signal turns on when motor speed reaches within setting value of basic para. 51 from the reference speed. The reference speed is the
setting values of basic para. 1 to 7 and the speed command voltage. This signal is effective in speed control and position control (interrupt
positioning). When control is shifted to torque control, the signal on/off status is retained at the point.

This signal will not be turned on for the following conditions:

1) [FWD] signal or [REV] signal is off.
2) Max. speed of basic para. 16 is lower than the reference speed.
3) Acceleration/deceleration time is long and the speed does not reach the reference speed.

■ Interface

Speed arrive [NARV] (25)

ON : Reaches the reference speed.
OFF : Does not reach the reference speed.

+24V

■ Parameter setting
To allocate the speed arrive [NARV] signal to the control input terminal, set (25) to the system para. If this signal is not allocated to the
control input terminal, this signal is deemed "always off.”

■ Related items
Basic parameter 51
Para. Name Setting range Initial value Change
51 Speed matching zone (width) 10 to Max. speed [r/min] (in increments of 1) 50 Always

The "speed arrive" signal is turned on when the motor speed is near the reference speed (set by para.) As the initial value is 50[r/min], the
"speed arrive" signal is on when the motor speed reaches the reference speed±50[r/min].
When the motor speed does not reach the reference speed due to the max. speed setting (basic. para. 16) or override setting, this signal
turns off. When [FWD] or [REV] signal is off, the "speed arrive" signal does not turn on.

Basic parameter 16
Para. Name Setting range Initial value Change
16 Maximum speed 0.01 to Max. speed [r/min] (in 0.01 steps) 5000 Always

This parameter specifies the maximum value of motor speed.

If motor speed will exceed the maximum speed by "override", the motor rotates at the specified value.
In torque control, there is some 1000[r/min] difference between the setting value and the motor actual speed because speed control is not
carried out.
The setting of maximum speed is not effective during position control using pulse train input.
Speed matching zone (width)
(basic para. 51)
Speed

Time

Forward command [FWD] ON OFF

Speed arrive [NARV] ON ON OFF

5-14 MHT258a (Engl.)

5.4 Position control

This section explains the signals related to position control using pulse train input.

Control input signal: Position control (37)

Pulse train ratio 1 (27)
Pulse train ratio 2 (28)
Deviation clear (50)
Position preset (16)
Current position output (56)

Control output signal: Deviation zero (23)

Deviation excessive

5.4.1 Position control

When this signal turns on, the amplifier enters the position control mode.

While the position control (37) signal turns on, the amplifier is in position control. Positioning using pulse train input, origin return and interrupt
positioning is available.

FALDIC RYS201S3-VVS

Pulse train
MODE SHIFT
ESC ENT
O
OO
ON
NN
NL
LL 00 11 22 33 44 55 66 7
O
7ONNLL O
OO
ON
NN
NL
LL 00 11 22 33 44 55 66 7
O
7ONNLL CCHH1 1
APS30
APS30 SCPU32
SCPU32 SCPU32
SCPU32 L 00 11 22 33 44 55 66 7
O
7ONNLL L 00 11 22 33 44 55 66 7
O
7ONNLL
E
EE
EM
MM
MG
GG
G ++O
++
CC
OT
OO
HH
T -
TT
11
-O
-- OT
OO T
TT
ONL
ONL
ONL
ONL ONL
ONL
ONL
ONL

ＳＸ
RUN
RUN
RUN
RUN ERR
ERR RUN
RUN
RUN
RUN ERR
ERR E
EE
ER
RR
RR
RR
R 88 9
88 9 1
99 10
11 01
00 11
11 11
11 12
11 21
22 13
11 31
33 14
11 41
441E
1E
E
1E5
5R
5R
R
5RRR
RR E
EE
ER
RR
RR
RR
R 88 9
88 9 1
99 10
11 01
00 11
11 11
11 12
11 21
22 13
11 31
33 14
11 41
44 1E
1E
1E55R
5R
5RRR CCHH2 2
ERR
ERR ERR
ERR E R RR CCHH22
TERM
TERM
TERM
TERM TERM
TERM
TERM
TERM
SLV
SLV RUN
RUN
RUN
RUN SLV
SLV RUN
RUN
RUN
RUN
PWR
PWR SLV
SLV ALM
ALM
ALM
ALM
SLV
SLV ALM
ALM
ALM
ALM
STOP
STOP
STOP
STOP BAT
BAT
BAT
BAT STOP
STOP
STOP
STOP BAT
BAT
BAT
BAT C
CC
CH
HH
H
ALM NNo
NN o.
oo .
..
ALM
CPU
CPU
CPU
CPU CPU
CPU
CPU
CPU
No.
No.
No.
No. No.
No.
No.
No.
PH
PH K80791234 CHARGE
2
22
20
00
PL
PL 0

LOADER LOADER DA
DA
LOADER LOADER
L1
L2
B
1
11
B/
BB
1
/A
// A
AA L3
PE1
PE1 HP2
HP2
DB
P1
P+
Position control (37) N
U

Pulse train ratio 1 (27) V

W

(1) Pulse train input

While pulse train ratio 1 (27) or 2 (28) is on, pulse train input is valid. (Position control (37) on is necessary.)

(2) Origin return

See 5.7 for origin return operation.

(3) Interrupt positioning

See 5.7 for interrupt positioning.

■ Interface

Position control
P24 ON : In position control mode
+24V OFF : In speed control mode
2.2k Pulse train ratio 1, 2
ON : Pulse train input is valid
OFF: Pulse train input is ignored
M24

470×3 AM26LS32
P5 Pulse train input
Max. input frequency 400kHz

M5

5-15 MHT258a (Engl.)

■ Parameter setting
To allocate the position control to the control input terminal, set (37) to the system para. Set (27) for the pulse train ratio 1, and (28) for the
pulse train ratio 2. If these signals are not allocated to the control input terminals, these signals are deemed "always off."

■ Related items
・Pulse correctionα, Pulse correction β
At factory setting, the motor rotates by the move quantity per encoder one pulse in response to one pulse of pulse train input.
In standard encoder, one rotation of motor shaft corresponds to 65536 pulses. Motor rotational quantity in response to one pulse of pulse
train input can be changed.

Basic parameter 91, 92

Para. Name Setting range Initial value Change
91 Command pulse correction α 1 to 32767 (in increments of 1) 8 Always
92 Command pulse correction β 1 to 32767 (in increments of 1) 1 Always

Move amount of mechanical equipment system per 1 pulse of pulse train input can be converted to unit quantity.

(Move amount of mechanical equipment system per one motor rotation) Command pulse correction
α × = (Unit quantity)
65536 [pulses/rev] Command pulse correctionβ

*Unit quantity is any value of 1/1, 1/10 or 1/100.

Pulse correction value can be calculated by using move amount and unit quantity of mechanical equipment system per one rotation of
motor.

【Calculation example】
Linear positioning of 10mm lead screw to incremental encoder (required unit quantity is 1/100)

(10mm) Command pulse correctionα

× = 1/100
65536 [pulses/rev] Command pulse correctionβ

We have obtained the following values :

Command pulse correctionα : 8192
Command pulse correctionβ : 125

With the above setting, the mechanical equipment system can now be advanced by 0.01mm per one pulse of pulse train input.

If move amount of mechanical equipment system per one rotation includes π, it can be replaced with 355/113.

Frequency dividing output has no relation with command pulse correction. The output is according to the system para. 79 setting.
See 5.4.5 for details.

5-16 MHT258a (Engl.)

・Pulse train ratio 1, 2
Move amount of mechanical equipment system per 1 pulse of pulse train input can be converted to unit quantity using the command
pulse correction α andβ.
The scale factor ratio to the move amount of mechanical equipment system can also be changed using the pulse train ratio 1 (27) and 2
(28) setting of the control input signals.

Basic parameter 93, 94

Para. Name Setting range Initial value Change
93 Pulse train ratio 1 0.01 to 100.00 (in 0.01s steps) 1.00 Always
94 Pulse train ratio 2 0.01 to 100.00 (in 0.01s steps) 10.00 Always

Decimal point can be displayed at the current position indication on the keypad panel by the basic para. 95 setting. Mechanical equipment
system position can be checked by the numerical value with decimal point.

Basic parameter 95
Para. Name Setting range Initial value Change
95 Decimal point at positioning data 0:1 0 Always
1 : 0.1
2 : 0.01
3 : 0.001
4 : 0.0001
5 : 0.00001

Manual feed (forward command, reverse command), origin return and interrupt positioning are invalid while the pulse train ratio factor 1 or
2 is on and the pulse train input is effective.
Temporary stop (pause) and positioning cancel signal are invalid when pulse train input is effective.

・Pulse train input

Position control comes to effective for the following conditions :

Run command [RUN] on

Forced stop [EMG] on
(Control output ready [RDY] on)

Position control (37) on

Pulse train ratio 1 (27) or 2 (28) is already on

Pulse train input is effective.

5-17 MHT258a (Engl.)

5.4.2 Deviation clear

When this signal turns on, the difference (deviation) between current command position and current feedback position is cleared to zero.

While this signal is on, the difference (deviation) is kept to zero.

The deviation clear is valid during the on period of "speed zero" [NZERO] signal.
Current command position is assigned as current feedback position.

■ Interface

P24 ON : Clears deviation

+24V OFF : Nothing done
2.2k

M24

■ Parameter setting
To allocate the deviation clear signal to the control input terminal, set (50) to the system para.

■ Related items
All of the rotation commands are ignored while the deviation clear signal is on.
Even if the deviation clear is carried out, the current feedback position does not change.
The remaining deviation due to the contact stoppage can be cleared to zero when the work is released, in order to avoid movement
corresponding to the deviation quantity.
When the deviation clear is carried out, the deviation zero signal of the control output is on. See 5-4-4

5.4.3 Position preset

When this signal turns on, the current command position can be rewritten.

At the ON edge of this signal input, the current command position can be rewritten to the basic para. 80 setting. .On edge means the control
input signal's transfer point from off to on.
Position preset is executable while speed zero [NZERO] signal is on. The origin return complete signal is output.
This signal will reset the following alarm detection:
1) ABS (absolute) data lost
2) Multiple rotation overflow

■ Interface

P24
Position preset (16)
+24V
ON edge : Presets the current command position
2.2k

M24

■ Parameter setting
To allocate the position preset signal to the control input terminal, set (16) to the system para. If this signal is not allocated to the control
input terminal, this signal is deemed "always off."

■ Related item
Basic parameter 80
Para. Name Setting range Initial value Change
80 Preset position 0 to ±79,999,999 ( in increments of 1) 0 Always
* When the basic para. 95 is set, the decimal point indication is available.
At the ON edge of position preset, the current command position can be rewritten by the basic para. 80 setting.

5-18 MHT258a (Engl.)

5.4.4 Deviation zero

Check can be done that the motor is near the reference position.

This signal turns on when the difference (deviation) between the current command position and current feedback position is within the value
set by basic para.53.
Deviation zero signal is effective for the following control conditons:
1) In speed control, the stopped motor is in "servo lock" condition (system para. 81).
2) In position control
The signal on/off status is retained in other control mode such as torque contol.
The level of setting value of basic para. 53 has no relation with the positioning accuracy.

■ Interface

Deviation zero (23)

ON : Deviation amount is within the deviation zero zone (width)
OFF : Motor is rotating

+24V

■ Parameter setting
To allocate the deviation zero signal to the control output terminal, set (23) to the system para.

■ Related item
Basic parameter 53
Para. Name Setting range Initial value Change
53 Deviation zero zone (width) 10 to 10,000 pulses (in increments of 1) 200 Always
* Can be set by the motor’s encoder pulse count.

5-19 MHT258a (Engl.)

5.4.5 Current position output

The current position that the amplifier is recognizing is outputted.

The current position output signal value is a signal of unit quantity set by basic para. 91 and 92. Actual move amount of mechanical
equipment system is transmitted based on an origin point. When pulse correction function is not used, the current position is represented by
the rotational quantity (accumulated absolute position) where one revolution of motor is divided by 16384 pulses/rev.

Transmission format
MSB LSB
Current position Current position Check sum
(Upper 16 bit) (Lower 16 bit) (8 bit)

40bit

Current position : Transmitted in 32 bit binary data, beginning with MSB.

Check sum : Resultant lower 8 bit when 1 byte (8 bit) data is added 4 times from MSB side. Check sum is transmitted, beginning
with MSB side as well. Check sum is done for the current position 32 bit length data.

Remarks :
Motor position detector (16 bit serial encoder) consists of one rotation data and multiple rotation data. This is different from the current
position output data transmitted from amplifier.
1) Multiple rotation data
Rotational quantity per one rotation based on the origin of motor (encoder)
The data is complement of 2 in 16 bit and from –32768 to +32767.
2) One rotation data
Absolute position within motor (encoder) one rotation
16 bit data and 0 to 65535.

– 2 rev. –1 rev. Zero rev. +1 rev. +2 rev. +3 rev.

←Multiple rev. data

One rev. data

65536
* The position of position preset or origin return complete is within this zone.

■ Related item
System parameter 79
Para. Name Setting range Initial value Change
79 Output pulse count 16 to 16384 (in increments of 1) 2048 Power
* Output pulse count from terminals such us FA /*FA.
Output pulse count from frequency dividing output terminals FA/*FA, FB/*FB is set.
The pulse count is A-phase and B-phase pulse count per one rotation of motor output shaft.
2048 pulses/rev. is set at factory shipment.

・Calculation example of output frequency

Supposing that motor output shaft speed is 5000 [r/min] and the output pulse count is 3000 [pulse/rev];
f = (5000 / 60) × 3000 [pulse] = 250000 [Hz]
Consequently, 250 [kHz] pulse will be output.

5-20 MHT258a (Engl.)

■ Interface

Current position output (56)

P24
ON : Starts transmission of current position
+24V
OFF : Stops transmission of current position
2.2k

M24

■ Parameter setting
To allocate the current position output to the control input terminal, set (56) to the system para. If this signal is not allocated to the control
input terminal, this signal is deemed "always off."

The sequence of current position output is explained as below. Output is in 2-bit unit.

APS30
APS30 SCPU32
SCPU32 ONL
ONL
ONL
ONL
SCPU32
SCPU32 ONL
ONL
ONL
ONL
O
OO
ON
NN
NL
LL
L 00 1
00 1 2
11 2 3
22 3 4
33 4 5
44 5 6
55 6 7
66 O
7
7
O
7ON
O NL
NN L
LL O
OO
ON
NN
NL
LL
L 00 1
00 1 2
11 2 3
22 3 4
33 4 5
44 5 6
55 6 7
66 O
7
7
O
7ON
O NL
NN L
LL
E
EE
EM
MM
MG
GG
G ++O
++
CCH
CC
OT
OO
H1
HH
T -
TT
111
-O
-- OT
OO T
TT FALDIC RYS201S3-VVS
ＳＸ
RUN
RUN
RUN
RUN ERR
ERR RUN
RUN
RUN
RUN ERR
ERR E
EE
ER
RR
RR
RR
R 88 9
88 9 1
99 10
11 01
00 11
11 11
11 12
11 21
22 13
11 31
33 14
11 41
441E
1E
E
1E5
5R
5R
R
5RRR
RR E
EE
ER
RR
RR
RR
R 88 9
88 9 1
99 10
11 01
00 11
11 11
11 12
11 21
22 13
11 31
33 14
11 41
44 1E
1E
1E55R
5R
5RRR CCHH2 2
ERR
ERR ERR
ERR E R RR CCHH22
TERM
TERM
TERM
TERM TERM
TERM
TERM
TERM
SLV
SLV
SLV
SLV RUN
RUN
RUN
RUN SLV
SLV
SLV
SLV RUN
RUN
RUN
RUN
PWR
PWR ALM
ALM
ALM
ALM ALM
ALM
ALM
ALM
STOP
STOP
STOP
STOP BAT
BAT
BAT
BAT STOP
STOP
STOP
STOP BAT
BAT
BAT
BAT CCHH
CCHH
ALM NN
NNo
oo
o.
..
.
ALM
CPU
CPU
CPU
CPU CPU
CPU
CPU
CPU
No.
No.
No.
No. No.
No.
No.
No.
PH
PH
2
22
20
00
PL
PL 0

LOADER LOADER DA
DA
LOADER LOADER
MODE SHIFT
ESC ENT

11
11
BB
BB///
/A
AA
A

K80791234 CHARGE
PE1
PE1 HP2
HP2

L1
L2

Current position output (Command) L3

DB
P1
P+
OUT2 (Response) N
U

OUT3 (DATA0)
V
W

OUT4 (DATA1)

Current position output (Command) 1)

3) 4) 5)
ON
OUT2 (Response)
2) 3) 4) 6)
5ms Repetition
4)
OUT3 (DATA0)
Indefinite here 4)
OUT4 (DATA1)
1st 2nd 3rd --- (20 times)

1) Makes the current position output (command) on for 5ms or longer. The current position output sequence starts.
2) OUT2 (response) turns on.
3) Makes the current position output (command) off. OUT2 (response) turns off.
4) Makes the current position output (command) on. When OUT3 (DATA0) and OUT4 (DATA1) are established, OUT2 (response) turns on.
5) When OUT3 (DATA0) and OUT4 (DATA1) are recognized, makes current position output (command) off.
6) OUT2 (response) turns off.
7) Steps 4) to 6) are repeated the remained 19 times. When OUT2 (response) turns off at the 19th times, terminals OUT3 and OUT4 output
the control output signals preset beforehand.

Current position output (command) and OUT2 (response) are interlocked in ON/OFF level.
If ON period of current position output (command) is too long, current position output sequence does not proceed.
Data transmission or receiving cannot be stopped without completing sequence. And the current position output sequence terminates
forcibly in 5 seconds.

Current position output (command) is always effective. While the motor is rotating, the current position is transferred at the first ON edge of
current position output (command).
Because the function of terminal OUT2, OUT3 and OUT4 is forcibly changed, do not make the current position output (command) on while
the running command [RUN] is on.

5-21 MHT258a (Engl.)

The last 8 bit of the 40 bit data of current position output is for check sum, This is the resultant lower 8 bit after each 8 bit in the current
position 32 bit data is added. Make sure that the addition data executed by the host controller is same as the transmitted data.
Terminal OUT 4 [DATA1] outputs 2 bit data on MSB side.

See Appendix 2 for the example program.

5.4.6 Deviation excessive

This function sets the deviation amount of deviation excessive (alarm detection) of amplifier.

■ Related items
Basic parameter 54
Para. Name Setting range Initial value Change
54 Deviation excessive width 10 to 65535 (in increments of 1) 10000 Always
[x 100 pulse]
* Setting is made by motor encoder pulse count.

Sets the pulse count for alarm detection about deviation excessive. Initial value at factory setting is 10,000 and detects the deviation
amount with 1,000,000 pulses. At factory setting, deviation excessive is detected when the difference (deviation) between command
position and feedback position becomes approximately 15.2 revolution when converted to motor rotation.
The deviation excessive width is set for use with alarm detection, and becomes effective when the stopping status is in “servo lock” in
position control and speed control.

5-22 MHT258a (Engl.)

5.5 Signal for safety

This section explains the functions and input/output signals for safety operation contained in amplifier.

Control input signal : Forced stop [EMG](10)

Edit permit command (55)
+ direction overtravel [+OT] ( 7), - direction overtravel [-OT] ( 8)
Torque limit [TLMT](30)
External fault input (34)

Control output signal : Forced stop detection (41)

Edit permit on (29)
OT detection (20)
+OT detection (38), -OT detection (39)
Torque limit detection (26)
Overload early warning (27)

5.5.1 Forced stop [EMG], Forced stop detection

Stops the motor forcibly using the signal to control input terminal.

While the forced stop (10) signal is off, the motor forced stop is kept.
This input signal is always effective in any control condition, and has the highest priority. (all other commands are ignored.)
Normally, connect this terminal to a push-lock type (NC contact) pushbutton switch (FUJI’s COMMAND SWITCH recommended).

FALDIC RYS201S3-VVS

MODE SHIFT
O
OO
ON
NN
NL
LL 00 11 22 33 44 55 66 7
O
7ONNLL O
OO
ON
NN
NL
LL 00 11 22 33 44 55 66 7
O
7ONNLL CCHH1 1
APS30
APS30 SCPU32
SCPU32 ONL
ONL
ONL
ONL
SCPU32
SCPU32 ONL
ONL
ONL
ONL
L 00 11 22 33 44 55 66 7
O
7ONNLL L 00 11 22 33 44 55 66 7
O
7ONNLL
E
EE
EM
MM
MG
GG
G ++O
++
CC
OT
OOTT
HH
T -
11
-O
-- OT
OO T
TT ESC ENT
ＳＸ
RUN
RUN
RUN
RUN ERR
ERR RUN
RUN
RUN
RUN ERR
ERR E
EE
ER
RR
RR
RR
R 88 9
88 9 1
99 10
11 01
00 11
11 11
11 12
11 21
22 13
11 31
33 14
11 41
441E
1E
E
1E5
5R
5R
R
5RRR
RR E
EE
ER
RR
RR
RR
R 88 9
88 9 1
99 10
11 01
00 11
11 11
11 12
11 21
22 13
11 31
33 14
11 41
44 1E
1E
1E55R
5R
5RRR CCHH2 2
ERR
ERR ERR
ERR E R RR CCHH22
TERM
TERM
TERM
TERM TERM
TERM
TERM
TERM
SLV
SLV
SLV
SLV RUN
RUN
RUN
RUN SLV
SLV
SLV
SLV RUN
RUN
RUN
RUN
PWR
PWR ALM
ALM
ALM
ALM ALM
ALM
ALM
ALM
STOP
STOP
STOP
STOP BAT
BAT
BAT
BAT STOP
STOP
STOP
STOP BAT
BAT
BAT
BAT CCHH
CCHH
ALM NN
NNo
oo
o.
..
.
ALM
CPU
CPU
CPU
CPU CPU
CPU
CPU
CPU
No.
No.
No.
No. No.
No.
No.
No.
PH
PH

PL
PL 2
22
20
00
0
K80791234 CHARGE
LOADER
LOADER LOADER
LOADER DA
DA

L1

11
L2
11
BB
BB///
/A
AA
A

PE1
PE1 HP2
HP2 L3
DB
P1
P+
N
U
V
W

■ Interface

P24
Forced stop [EMG] (10)
+24V
ON : Motor can rotate.
2.2k
OFF : Stops the motor forcibly

M24

Forced stop detection (41)

ON : Forced stop is off.
OFF : Forced stop is on.
+24V

5-23 MHT258a (Engl.)

■ Parameter setting
To allocate the forced stop signal to the control input terminal, set (10) to the system para. If this signal is not allocated to the control input
terminal, this signal is deemed "always on."

■ Related items
・Forced stop detection (41)
Connect the forced stop (10) signal directly to the control input terminal of amplifier because the safe operation and detection speed are
most important. When the forced stop (10) signal is turned off, the forced stop detection (41) signal is turned on to inform the current
status externally.
However, the forced stop detection (41) signal is turned off while external fault input (34) is off.

・Ready [RDY]
After the forced stop (10) signal is allocated to the control terminal, when the ready [RDY] signal is turned on with both the run command
[RUN] (1) and the forced stop signals on, the motor can rotate.

・Forced stop status

While the forced stop (10) signal is off and the run command [RUN] (1) is on, the motor makes a stop in the “speed zero” status making
the motor speed command zero. The speed zero status is effective in any kind of control mode.
Current position cannot be retained in the speed zero status. As the current position has been stored, the origin return action is not
necessary again when the forced stop signal is off. Turning on the forced stop signal allows the motor to rotate.
If the run command [RUN] signal is off, the motor is in free-run status.

・Rotation command
While the forced stop signal is off, all of the rotational commands are ignored.

5.5.2 Edit permit command, Edit permit ON

This function allows external signal to limit editing the parameter etc.

On/off to the control input signal can limit editing or trial operation using keypad panel, exclusive loader or PC loader.
Only while edit permit command (55) is on, the following operation is possible.
1) Parameter edit mode (Positioning data edit mode)
2) Trial operation mode

When edit permit command (55) is turned off, only monitor mode is effective.
The move of motor or fall of machine etc. can be prevented, occurring from careless operation of keypad panel, exclusive loader or PC
loader.

■ Interface

P24
+24V Edit permit command (55)
2.2k ON : Editing parameter enabled
OFF : Only monitor mode is enabled

M24

Edit permit ON (29)

ON : Outputs edit enable
OFF : Outputs edit disable
+24V

■ Parameter setting
To allocate the edit permit command to the control input terminal, set (55) to the system para. Set (29) for the edit permit ON.

5-24 MHT258a (Engl.)

■ Related items
System parameter 94
Para. Name Setting range Initial value Change
94 Parameter rewrite inhibit 0: Edit permitted, 1: Edit inhibited 0 Always

When 1 is set at system parameter 94, parameter editting with keypad panel is disabled, same as with PC loader or exclusive loader.
The system parameter 94 is always rewritable.

The relation between the edit permit command and system parameter 94 is as follows:

Edit permit command System para. 94 Edit permit ON Edit/Initialize

(55) (29)
Not assigned 0 : Edit permitted ON Yes
ON 0 : Edit permitted ON Yes
OFF 0 : Edit permitted OFF No
Not assigned 1 : Edit inhibited OFF No
ON 1 : Edit inhibited OFF No
OFF 1 : Edit inhibited OFF No

5.5.3 Overtravel

Move of machine can be forcibly stopped by inputting signals from limit switch etc.

・+ direction overtravel [+OT] (7), - direction overtravel [-OT] (8)

Input signal is from overtravel (OT) preventive limit switch placed at machine moving direction end.
Both signals are always valid except for in torque control.
When the input signal turns off, motor rapidly decelerates to a stop in negligence of the rotation command in the detecting direction.
Motor can rotate by pulse train input in the direction opposite to detecting direction, or by manual feed (forward command or reverse
command).

・+OT detection (38), -OT detection (39)

While [+OT] (7) control input signal is off, the +OT detection (38) output signal is on. While [-OT] (8) control input signal is off, the -OT
detection (39) output signal is on.

■ Interface

P24
+24V +OT (7), -OT (8)
2.2k ON : Motor can rotate
OFF : Ignores rotation command and stops the motor.

M24

+OT detection (38), -OT detection (39)

OT detection
ON : OT is detected
+24V OFF : OT is not detected

■ Parameter setting
To allocate the +OT signal to the control input terminal, set (7) to the system para. Set (8) for the -OT signal. If these signals are not
allocated to the control input terminal, these signals are deemed "always on."

5-25 MHT258a (Engl.)

■ Related items
・Detecting direction
+OT signal is detected when the motor rotates toward positive direction. Positive direction is the direction set by system para.80. The
motor rotates toward negative direction, and stops by detecting + OT signal.
Afterwards, the motor cannot rotate in any direction.

System parameter 80
Para. Name Setting range Initial value Change
80 Rotating direction change 0: Positive direction/Forward rotation 0 Power
1: Positive direction/Reverse rotation
* Forward rotation : Counter-clockwise when viewed from a point facing the shaft extension of motor

・+OT detection (38), -OT detection (39)

The detection speed take precedence because the amplifier detects this signal at the moving direction end of mechanical equipment
system. The amplifier sends the detection result to the host controller by the output signal, +OT detection or -OT detection signal. If the
host controller is equipped with OT input, OT signal is directly sent to the host controller, in general.

APS30
APS30 SCPU32
SCPU32 ONL
ONL
ONL
ONL
SCPU32
SCPU32 ONL
ONL
ONL
ONL
O
OO
ON
NN
NL
LL
L 00 1
00 1 2
11 2 3
22 3 4
33 4 5
44 5 6
55 6 7
66 O
7
7
O
7ON
O NL
NN L
LL O
OO
ON
NN
NL
LL
L 00 1
00 1 2
11 2 3
22 3 4
33 4 5
44 5 6
55 6 7
66 O
7
7
O
7ON
O NL
NN L
LL
E
EE
EM
MM
MG
GG
G ++O
++
CCH
CC
OT
OO
H1
HH
T -
TT
111
-O
-- OT
OO T
TT FALDIC RYS201S3-VVS
ＳＸ
RUN
RUN
RUN
RUN ERR
ERR RUN
RUN
RUN
RUN ERR
ERR E
EE
ER
RR
RR
RR
R 88 9
88 9 1
99 10
11 01
00 11
11 11
11 12
11 21
22 13
11 31
33 14
11 41
441E
1E
E
1E5
5R
5R
R
5RRR
RR E
EE
ER
RR
RR
RR
R 88 9
88 9 1
99 10
11 01
00 11
11 11
11 12
11 21
22 13
11 31
33 14
11 41
44 1E
1E
1E55R
5R
5RRR CCHH2 2
ERR
ERR ERR
ERR E R RR CCHH22
TERM
TERM
TERM
TERM TERM
TERM
TERM
TERM
SLV
SLV
SLV
SLV RUN
RUN
RUN
RUN SLV
SLV
SLV
SLV RUN
RUN
RUN
RUN
PWR
PWR ALM
ALM
ALM
ALM ALM
ALM
ALM
ALM
STOP
STOP
STOP
STOP BAT
BAT
BAT
BAT STOP
STOP
STOP
STOP BAT
BAT
BAT
BAT C
CC
CH
HH
H
ALM NNo
NN o.
oo .
..
ALM

+OT detection (38)

CPU
CPU
CPU
CPU CPU
CPU
CPU
CPU
No.
No.
No.
No. No.
No.
No.
No.
PH
PH
2
22
20
00
PL
PL 0

LOADER
LOADER LOADER
LOADER DA
DA
MODE SHIFT
ESC ENT

B
1
11
B/
BB
1
/A
// A
AA
-OT detection (39)
PE1
PE1 HP2
HP2 K80791234 CHARGE

L1
L2
L3
DB
P1
P+
N
U
V
W

+OT(7)
-OT(8)

・OT detection (20)

The OT detection (20) is a control output signal and turns on when the control input +OT(7) or –OT(8) is off, or when the soft OT of system
parameter 75 to 77 is detected.

System parameter 75 to 77
Para. Name Setting range Initial value Change
75 Soft OT valid/invalid 0: Invalid, 1: Valid 0 Power
76 + Soft OT detection position 0 to±79,999,999 (in increments of 1) 79,999,999 Always
77 - Soft OT detection position 0 to±79,999,999 (in increments of 1) -79,999,999 Always

5-26 MHT258a (Engl.)

・Function of soft OT
When 1 is set at system para.75, the soft OT is able to operate on condition that the current position is between +soft OT and –soft OT
detection position (system para. 77 and 76 setting).
In case the current position goes out of range, stops the motor forcibly, a control output OT detection (20) is turned on. When the pulse
train input with opposite direction to the detection direction is input, or manual feed (forward command/reverse command) is input, and
the current position retruns to within the range, OT detection (20) is turned off, and it allows the mechanical equipment system to move in
both directions.

Movable zone

Current feedback position

− Soft OT detection position + Soft OT detection position

(system para. 77) (system para. 76)

The soft OT function can be also valid after the origin return complete by basic para. 67 setting.

Basic parameter 67
Para. Name Setting range Initial value Change
67 Position detection valid/invalid 0: Effective after end of origin return, 1: Always 0 Always
*When the origin return action is completed or the position preset is executed, the origin return is completed.

5.5.4 Torque limit [TLMT], torque limit detection

This function limits the motor output torque.

Motor output torque can be limited while torque limit [TLMT] (30) signal is on.
Torque limit value can be set by basic para. 59, from 0 to maximum output torque in 1% steps.
Maximum output torque depends on motor type.
Maximum output torque is set assuming the rated torque is 100%.

Torque limit is always effective in any control condition.

If output torque is limited during acceleration or deceleration, acceleration or deceleration may not follow the accel./decel. time set by basic
para.
・Torque limit detection
This signal is turned on while motor torque reaches the torque limit value.
This torque limit detection (26) is effective in all control condition.

■ Interface

P24 Torque limit (30)

+24V ON : The motor output torque is limited to the value set by para. 59.
2.2k OFF : The motor can output torque to its max. torque

M24

Torque limit detection (26)

ON : Maximum torque is being output.
+24V OFF : Maximum torque is not output.

5-27 MHT258a (Engl.)

■ Related items
Basic parameter 59
Para. Name Setting range Initial value Change
59 Max. torque limit value 0 to Max. torque (in 1% steps) 0 Always
* Set the value assuming the motor rated torque as 100%.
■ Parameter setting
To allocate the torque limit signal to the control input terminal, set (30) to the system para.
If torque limit is not allocated to the control input terminal, the value by basic para. 59 setting is always effective.
Set (26) for the torque limit detection.

5.5.5 External fault input

External signal forcibly stops the motor.

While this signal is turned off, the motor is stopped forcibly.

While external fault input is applied (signal off), the operation is the same as forced stop [EMG] (10).
While external fault input is applied (signal off), forced stop detection (41) signal is turned on.

■ Interface

P24
+24V
2.2k External fault input (34)
ON : Motor is in normal operation status
OFF : Motor is in forced stop status
M24

■ Parameter setting
To allocate the external fault input signal to the control input terminal, set (34) to the system para. If this signal is not allocated to the control
input terminal, this signal is deemed "always on."

■ Related item
See 5.5.1 for the forced stop (10).

5.5.6 Overload early warning

Motor’s overload level, or load factor can be checked.

This signal is turned on when the motor load factor has reached the overload early warning level set at the basic para. 58. This signal cannot
be reset by the control input signal (external signal input.)
Early warning signal can be output before the amplifier trips due to motor overload alarm.

■ Interface

Overload early warning (27)

ON : Load factor has reached the setting level.
OFF : Load factor has not reached the setting level.
+24V

■ Parameter setting
To allocate the overload early warning signal to the control output terminal, set (27) to the system para.

■ Related items
Basic parameter 58
Para. Name Setting range Initial value Change
58 Overload early warning level 10 to 100% (in increments of 1) 50 Always
* Overload early warning level is set assuming the amplifier trip level 100%

5-28 MHT258a (Engl.)

 Overload
Overloadearly
earlywarning output time
warming output time(at
(at5000
5000[r/min])
r/min)

60.0 20%(5000r/min)
20% (5000[r/min])

40% (5000[r/min])
40%(5000r/min)

60% (5000[r/min])
60%(5000r/min)

80% (5000[r/min])
80%(5000r/min)
50.0
100% (5000[r/min])
100%(5000r/min)
Overload detection
Overload detection level
level (5000
(5000[r/min])
r/min)

40.0

Overload early
Overload earlywarning
warring
output
output time[s]
time [s] 30.0

20.0

10.0

0.0
50 100 150 200 250 300 350 400 450

Load factor
Load factor [%]
[%]

5-29 MHT258a (Engl.)

 OverloadOverload
early warring output
early warning time
output time (at 3000 r/m)
(at 3000[r/min])

60.0
20% (3000[r/min])
２０％（３０００ｒ/ｍｉｎ）
４０％（３０００ｒ/ｍｉｎ）
40% (3000[r/min])
６０％（３０００ｒ/ｍｉｎ）
60% (3000[r/min])
８０％（３０００ｒ/ｍｉｎ）
80% (3000[r/min])
50.0 １００％（３０００ｒ/ｍｉｎ）
100% (3000[r/min])
トリップ時間（３０００ｒ/ｍｉｎ）
Overload detection level (3000[r/min])

40.0

30.0

Overloadearly
Overload earlywarning
warring
outputtime
output time[s]
[s]

20.0

10.0

0.0
50 100 150 200 250 300 350 400 450

Load
Load factor
factor [%] [%]

5-30 MHT258a (Engl.)

5.6 Torque control

This section explains the signal concerning torque control.

Control input signal : Torque control (38)

5.6.1 Torque control

While torque control (38) signal is on, the amplifier can control the output torque of motor shaft using the torque control function.
With “speed zero” [NZERO] output on, “torque control” signal on, torque control is enabled.
Torque is actually output during the on period of forward command [FWD] or reverse command [REV].
Torque command is given as the input voltage to the terminal [TREF].

[TREF] terminal voltage Output torque (rated torque as 100%)

±9 [V] ±300%

The rotational direction depends on forward command [FWD] or reverse command [REV]. See 6.1.1 Change of rotational direction.

■ Interface

P24 Torque control (38)

-24V ON : In torque control status
2.2k OFF : In speed control status

M24

22k Torque command [TREF]

Input impedance 20kΩ

220k
M5

■ Parameter setting
To allocate the torque control signal to the control input terminal, set (38) to the system para. If this signal is not allocated to the control
input terminal, this signal is deemed "always off."

■ Related items
・Maximum speed
If the motor is rotating at no-load, the motor speed fluctuates by some ±100[r/min] though the speed is being limited by basic para. 16.
This is because speed control is not carried out in torque control.

Basic parameter 16
Para. Name Setting range Initial value Change
16 Maximum speed 0.01 to Max. speed [r/min] (in 0.01 steps) (Max. speed) Always

Maximum speed depends on the basic para. 16 at factory shipment. Maximum speed can also be limited by the input voltage to speed
command [NREF] terminal by setting system para. 61.

5-31 MHT258a (Engl.)

 System parameter 61
Para. Name Setting range Initial value Change
61 Speed limit changeover 0 : Basic para. 16 0 Power
1: Speed command [NREF]
*Maximum speed at +10V

・Torque command filter

Torque control voltage can be changed by a filter time constant concerning torque command voltage [TREF] by setting basic para. 43.

Basic parameter 43
Para. Name Setting range Initial value Change
43 Torque command filter 0.0 to 9.9s (in 0.1s steps) 0 Always

・Torque command gain, offset

The input gain or offset to torque command [TREF] terminal can be adjusted by system para. 65 or 66.

System parameter 65
Para. Name Setting range Initial value Change
65 Torque command gain ±0.10 to ±1.50 (in 0.01 steps) 1.00 Always

System parameter 66
Para. Name Setting range Initial value Change
66 Torque command offset –200 to +200 (in increment of 1) (Individval) Always

・Output torque
There is an output torque dispersion of approximately ±10% between indiviclual motors.
If the output torque is the rated torque or lower, a continuous running is available.

・Torque limiting
Output torque can be limited by basic para.59. Maximum torque limit value is always effective.

Basic parameter 59
Para. Name Setting range Initial value Change
59 Maximum torque limiting 0 to Max. torque [%] (in increment of 1) 300 Always

FALDIC RYS201S3-VVS

Torque command [TREF] terminal MODE

MODE
ESC
ESC
SHIFT
SHIFT
ENT
ENT
Max. torque limiting : Basic para. 59
Torque command gain : System para. 65 (Always valid)
Torque command offset : System para. 66
K80791234
K80791234 CHARGE
CHARGE

L1
Torque command filter : Basic para. 43 L2
L3
DB
P1
P+
N
U
V

Speed command [NREF] terminal W

Speed command gain : System para. 63

Speed command offset : System para. 64
Max. speed : Basic para. 16

Speed limit changeover : System para. 16

0 : Basic para. 16
1 : Speed command [NREF]

5-32 MHT258a (Engl.)

5.7 Incidental functions

This section explains other control functions that the amplifier supports.

Control input signal: Origin return (5)

Origin LS (6)
Interrupt valid (48)
Interrupt input (49)
Override effective (43)
Override1 (44)
Override2 (45)
Override4 (46)
Override8 (47)
Free-run [BX] (54)
P-action (29)

Control output signal : Brake timing (14)

Origin return end (22)
Origin LS detection (40)
Positioning end (2)
Fixed, passing point 1 (17)
Fixed, passing point 2 (18)
Dynamic braking (15)
Address error (31)
CPU ready (28)

5.7.1 Brake timing

The amplifier outputs this signal to automatically turn on or off the brake operation of the motor.

This signal turns excite or release the motor brake in accordance with the rotation command sent to the amplifier.
The control condition when the motor is stopped can be set by system para. 80.

■ Interface

Brake timing output (14)

ON/OFF : Output automatically

-24V

■ Parameter setting
To allocate the brake timing output to the control output terminal, set (14) to the system para. If this signal is not allocated to the control
output terminal, this signal is deemed "always off."

■ Related items
・Brake timing
The step to set the brake timing at the control output terminal is as follows:

1) Setting of control output terminal

Assign the value (14) corresponding to the brake timing to any one of the system para. from 31 to 35. If “14” is set at “31”, OUT1
terminal is the output terminal of brake timing.

2) Setting at stoppage
Set “2” or “3” at the system para. 81 to select the motor status while motor is stopping. When “3” is set at para. 81, the motor comes
to free-run status when activating the brake and the motor exciting noise is eliminated.

5-33 MHT258a (Engl.)

 3) Brake operation time/releasing time
Assign the operating time and releasing time of external brake to system parameters 82 and 83.
To each time period, add the scan time of PLC, the response time of external relay, magnetic contactor and the brake itself.

Brake operation time : Time period from when the amplifier output is off, to when the external brake starts braking actually.
Brake releasing time : Time period from when the amplifier output is on, to when the external brake release is completed.

If too long brake operation time is set, the brake cannot operate when the movement restarts within that time.

System parameter 81, 82, 83

Para. Name Setting range Initial value Change
81 Operation at stoppage 0 : Speed zero 0 Always
1 : Servo-lock
2 : External brake (P-action)
3 : External brake (Free-run)
82 Brake operation time 0.01 to 9.99 [s] (in 0.01 steps) 0.50 Always
83 Brake releasing time 0.01 to 9.99 [s] (in 0.01 steps) 0.20 Always

Note : PLC : Programmable Logic Controller

5-34 MHT258a (Engl.)

● Brake timing (on pulse train/manual run)
The brake timing output is held off from when the power supply is applied until any kind of rotation command is given.
When the following control input signals are given, the brake timing output is turned on.
1) Forward command [FWD], reverse command [REV]
2) Pulse train ratio 1, pulse train ratio 2

Wiring example of brake timing signal

Safety lsolation

P1 P+ DB N

L1
L2 U U
L3 V V
M
W W
L1C
E
L2C
CN2

P5 1  1 P5
CN1 M5 2  2 M5
BAT+ 3  3 BAT+ PG
BAT- 4  4 BAT-
11 P10
SIG+ 5  5 SIG+
17 NREF
SIG- 6  6 SIG-
18 M5
15 TREF
13 M5 RY1
P24 1 BR
35 CA BAT+ 10 2 BR
36 *CA BAT- 12 M24
33 CB
34 *CB FA 31
25 M5 *FA 32
FB 29
*FB 30
P24 20 P24 FZ 27
*FZ 28
21 CONT1
MON1 16
22 CONT2
MON2 14
1 CONT3
M5 9
2 CONT4
3 CONT5 RY1
4 CONT6 OUT1 5 P24
23 CONT7 OUT2 6
24 CONT8 OUT3 26
OUT4 7
M24 19 M24 OUT5 8

5-35 MHT258a (Engl.)

When starting a movement : 1) Forward command/reverse command
The brake timing is turned on simultaneously when control input signal ([FWD] or [REV]) is on.
After the brake releasing time (system para. 83) has elapsed, a rotation starts assuming that it has been
actually released. If [FWD] or [REV] has been turned off during the brake releasing time, the motor will not start
rotation.

2) Pulse train ratio 1, 2

The brake timing is turned on simultaneously when the control input signal is on.
After the brake releasing time (system para. 83) has elapsed, pulse train input becomes effective assuming
that it has been actually released. If the control input signal has been turned off during the brake releasing time,
the pulse train input is not effective

When terminating the movement : 1) Forward command/reverse command

When [FWD] or [REV] has turned off, the motor starts deceleration. After the speed zero [NZERO] signal
on is confirmed, brake timing turns off, and when brake operation time (system para. 82) has elapsed, the
amplifier turns P-action signal on. (For [FWD] or [REV] off in position control, the deviation zero signal on
is confirmed.) Brake timing does not turn off if a movement starts with [FWD] or [REV] signal turned on
during the brake operation time (set by system para. 82).

2) Pulse train ratio 1, 2

After [FWD] or [REV] signal is off, pulse train input becomes invalid with deviation zero signal on.
After the deviation zero signal on is confirmed, brake timing turns off, and when brake operation time
(system para. 82) has elapsed, the amplifier turns P-action signal on.
Brake timing does not turn off if a movement starts when [FWD] or [REV] signal turned on during brake
operation time (set by system para. 82).

Brake timing (Validated signal at ON level)

Forward command [FWD] OFF ON

Brake timing OFF ON

Brake (Operation) (Release) (Operation)

Speed

Brake releasing time Brake operation time

Speed zero

ON OFF

(P-action) ON OFF

5-36 MHT258a (Engl.)

● Brake timing (on origin return, interrupt positioning)

・The brake timing output is held off from when the power supply is applied until any kind of rotation command is given.
When the following control input (ON edge) signals are given, the brake timing output is turned on.

When starting a movement : Brake timing turns on at the ON edge of control input signal.
After the brake releasing time (system para. 83), a rotation starts assuming that the brake has actually
been released.

When terminating the movement : After the amplifier has checked the “deviation zero” (positioning complete), turned off the brake
timing, and the brake operation time (system para. 82) has elapsed, the amplifier turns on P-action
signal. Brake timing output does not turn off if a movement restarts at the ON edge of control input
signal during the brake operation time.

Brake timing (Validated signal at the ON edge)

Origin return [ORG] OFF ON

Brake timing OFF ON

Brake
(Operation) (Release) (Operation)

Speed

Brake releasing time Brake operation time

Deviation zero

ON OFF

(P-action) ON OFF

* If an external brake is used, the motor comes to free-run status at the timing of P-action as shown on the above figure.

5-37 MHT258a (Engl.)

5.7.2 Origin return

This function executes the origin return action and determines the origin.

This function executes the origin return action at the ON edge of origin return (5).
This function is not used when origin return is executed from a host controller (such as positioning module of PLC).
Origin return action depends on basic para. setting 71 to 79.

■ Interface

P24
+24V Origin return (5)
2.2k ON edge : Starts origin return action

Origin LS (6)
M24
ON / OFF : Input for detecting the origin

Origin return end (22)

Outputs ON signal when origin return end

+24V Origin LS detection (40)

Outputs ON signal while “Origin LS” is on.

■ Parameter setting
To allocate the origin return signal to the control input terminal, set (5) to the system para.

Signal name Setting value to system para.

Origin return (control input) 5
Origin LS (control input) 6
Origin return end (control output) 22
Origin LS detection (control output) 40

5-38 MHT258a (Engl.)

■ Related items
・Parameter setting
Origin return action depends on basic parameter 71 to 79 setting.

Para. Name Setting range Initial value Change

71 Origin return pattern 1 : Pattern 1, 2 : Pattern 2 1 Power
3 : Pattern 3, 4 : Pattern 4
72 Origin return direction 0 : Positive, 0 Power
1 : Negative direction
73 Z-phase valid/invalid 0 : Valid 0 Power
1 : Invalid
74 Origin LS logic 0 : NO contact 0 Always
1 : NC contact
75 Origin return speed 0.01 to Max. speed [r/min] 500.00 Always
(in 0.01 steps)
76 Origin detection creep speed 0.01 to Max. speed [r/min] 50.00 Always
(in 0.01 steps)
77 Origin shift quantity 1 to 2,000,000 (in increments of 1) 1000 Always
[x unit q’ty]
78 Origin return reversing quantity 1 to 79,999,999 (in increments of 1) 0 Always
[x unit q’ty]
79 Origin return position 1 to ±79,999,999 (in increments of 1) 0 Always
[x unit q’ty]
*After changing basic para. 71 to 73, power supply need be turned on again.

・Origin return action

At the ON edge of origin return [ORG] signal, the following operations are automatically carried out.

(a) At the ON edge of [ORG] signal, motor starts at “Origin return speed” (basic para. 75) in “Origin return direction” (basic para. 72)
(b) When the [LS] signal turns from off to on, speed is reduced to “Origin detection creep speed” (basic para. 76). While [LS] on, motor runs
at constant speed.
(c) The first encoder Z-phase signal is detected following the transition of [LS] signal from OFF to ON.
(d) The motor stops after rotating by “Origin shift q’ty” (basic para. 77) from the detection of Z-phase signal.
(e) The [PSET] signal turns on with the stopped position as “Origin return position” (basic para. 79). “Origin return complete” signal as the
control output signal turns on.

An origin return action can be selected out of 4 patterns in the “Origin return pattern” (basic para. 71).
Also, with the Z-phase input invalid (1) selected in the “Z-phase valid/invalid” (basic para. 73), motor can be stopped after running by the
“Origin shift q’ty” (basic para. 77) from the ON to OFF edge of [LS] signal.
The ON/OFF status of [LS] signal can be inverted using “Origin LS logic” (basic para. 74)

5-39 MHT258a (Engl.)

・Origin return pattern 1 (pattern 1 in basic para. 71)
At the ON edge of [ORG] signal, the aforementioned operations (a) through (e) are carried out.
If the [+OT] or [-OT] signal of the “Origin return direction” is detected during origin return operation, the motor stops immediately. In this
case, origin return is not completed. The “Origin return end” signal still remains off.
The origin return operation can be carried out again regardless of the on/off status of “Origin return end” signal.

Speed

Time

Origin return [ORG] OFF ON

Origin LS [LS] OFF

Encoder Z-phase

Origin return end OFF ON

Positioning end [PSET] ON

(level)

Positioning end [PSET] OFF ON

(one shot)

5-40 MHT258a (Engl.)

・Origin return pattern 2 (pattern 2 in basic para. 71)
At the ON edge of [ORG] signal, the aforementioned operations (a) through (e) are carried out.
If the [+OT] or [-OT] signal in the origin return direction is detected in the course of origin return, the motor stops once. Then, the following
operations are carried out.

(f) The motor starts rotation at the origin return speed in the opposite to the origin return direction.
(g) The motor stops on detection of OFF to ON to OFF transition of the “Origin LS” [LS] signal.
(h) Operations (a) through (e) are carried out again.

In case the [OT] signal toward the opposite to the origin return direction is detected during (f) operation in the origin return operation, the
motor stops immediately ([LS] on is not detected).
In this case, origin return operation has not been completed.

Speed

Time

Origin return [ORG] OFF ON

Origin LS [LS] OFF

[+OT] ON

Encoder Z-phase

Origin return end OFF ON

[PSET] (level) ON

[PSET] (one shot) OFF ON

5-41 MHT258a (Engl.)

・Origin return pattern 3 (pattern 3 in basic para. 71)
At the ON edge of [ORG] signal, the motor rotates by the origin return reversing quantity at the origin return speed. Then, the operation
from (a) through (e) is carried out.
If the [OT] signal toward the opposite to the origin return direction is detected during rotation by the origin return reversing quantity, the
movement stops once, and then carries out the “Origin return pattern 1”.

Speed

Time

Origin return [ORG] OFF ON

Origin LS [LS] OFF

Z-phase encoder

Origin return end OFF ON

[PSET] (level) ON

[PSET] (one shot) OFF ON

5-42 MHT258a (Engl.)

・Origin return pattern 4 (pattern 4 in basic para. 71)
(a) At the ON edge of [ORG] signal, the rotation starts in the origin return direction at the origin return speed.
(b) The movement stops once at the falling edge from ON to OFF level of [LS] signal.
(c) The motor rotates in the direction opposite to origin return at the origin detection creep speed.
(d) The movement stops once at the rising edge from OFF to ON level of [LS] signal.
(e) The motor rotates in the origin return direction at the origin detection creep speed.
(f) After detecting again a falling edge from ON to OFF level of [LS], the movement shifts by the origin shift quantity from the first Z-phase
detection and then stops.
(g) The stopped position is considered “Origin return end” position, and the “Origin return end” signal is turned on.

Speed

Time

Origin return [ORG] OFF ON

Origin LS [LS] ON

Encoder Z-phase

Origin return end OFF ON

[PSET] (level) ON

[PSET] (one shot) OFF ON

5-43 MHT258a (Engl.)

・Origin return pattern
Four kinds of origin return patterns are selectable from the basic para. 71 setting.

Origin return pattern Comparison to other patterns

Pattern 1 When the machine stop position is in the opposite direction to the origin return direction, the time
required for origin return action can be shortened.
Pattern 2 When the machine stop position is in the origin return direction viewed from the origin LS, the time
required for origin return action can be shortened. (where it is near the OT signal in the return direction)
Pattern 3 When the machine stop position is just behind the origin return direction viewed from the origin LS, the
time required for origin return action can be shortened. The origin return reversing quantity can be
changed by basic para.
Pattern 4 When the machine stop position is in the opposite direction to the origin return direction, the detecting
speed of origin LS is always constant even if the origin return speed is changed.

・Origin return end (22)

This signal is turned on when the origin return action has been normally completed. After this, this signal is held on when the current
feedback position is within the origin detection range (basic para. 66) viewed from the origin return complete position (basic para. 79).
If the origin detection range is widened to the maximum, this signal is always on after the origin return completion.

Basic parameter 66
Para. Name Setting range Initial value Change
66 Origin detection zone 1 to 79,999,999 (in increments of 1) 100 Always
[x unit q’ty]

Origin
Current position

Origin return end OFF ON

Origin detection zone

Note : The origin is the position where the machine has stopped after completed the origin return action, or has executed the position preset.
It is not necessary the “origin” (where the current position is at zero position).

5-44 MHT258a (Engl.)

・Origin LS (limit switch) detection (40)
Because the origin LS signal requires quick response, this should be directly input to the amplifier in general. When the host controller
needs the origin signal, the origin LS detection signal can be output.
While the origin LS [LS] signal is on, the origin LS detection signal (40) is on.

APS30 SCPU32 SCPU32 ONL

ONL
ONL
ONL 00 1
00 1 2
11 2 3
22 3 4
33 4 5
44 5 6
55 6 7
66 7 ONL
77 ONL
ONL
ONL ONL
ONL
ONL
ONL 00 1
00 1 2
11 2 3
22 3 4
33 4 5
44 5 6
55 6 7
66 7 ONL
77 ONL
ONL
ONL CH1
CH1
CH1
CH1
FALDIC RYS201S3-VVS
APS30 SCPU32 ONL
ONL
ONL
ONL
SCPU32 ONL
ONL
ONL
ONL
EMG
EMG +OT
EMG
EMG +OT
+OT -OT
+OT -OT
-OT
-OT

ＳＸ
RUN
RUN
RUN
RUN ERR
ERR RUN
RUN
RUN
RUN ERR
ERR ERR
ERR
ERR
ERR 88 9
88 9 101112131415
99 101112131415 ERR
101112131415
101112131415 ERR
ERR
ERR ERR
ERR
ERR
ERR 88 9
88 9 101112131415
99 101112131415 ERR
101112131415
101112131415 ERR CH2
CH2
ERR
ERR ERR
ERR ERR
ERR CH2
CH2
TERM
TERM
TERM
TERM TERM
TERM
TERM
TERM
SLV
SLV
SLV
SLV RUN
RUN
RUN
RUN SLV
SLV
SLV
SLV RUN
RUN
RUN
RUN
PWR
PWR ALM
ALM
ALM
ALM ALM
ALM
ALM
ALM
STOP
STOP
STOP
STOP BAT
BAT
BAT
BAT STOP
STOP
STOP
STOP BAT
BAT
BAT
BAT CH
CH
CH
CH
ALM No.
No.
No.
No.
ALM

Origin LS detection
CPU
CPU
CPU
CPU CPU
CPU
CPU
CPU
No.
No.
No.
No. No.
No.
No.
No.
PH
PH
20
20
MODE
MODE SHIFT
SHIFT
PL
PL 20
20
ESC
ESC ENT
ENT
LOADER
LOADER LOADER
LOADER DA
DA

K80791234
K80791234 CHARGE
CHARGE

11
11
B/A
B/A
B/A
B/A L1
PE1 HP2
PE1 HP2
L2
L3
DB
P1
P+
N
U
V
W

Origin LS

・LS-Z pulse
The encoder pulse count from the time when the origin LS signal goes to OFF level until Z-phase signal is detected can be monitored.
[ ]

If this count is small, Z-phase signal of one rotation later may have been detected, depending on the origin LS response. Move the
mechanical position of the origin LS.

5-45 MHT258a (Engl.)

5.7.3 Positioning end［
［PSET］
］

The completion of positioning can be confirmed by this signal on.

The output form of positioning end［PSET］signal can be selected by setting basic para. 55.
In speed and torque controls, the on/off status at position control is retained.

ONL
ONL
ONL
ONL 00 1
00 1 2
11 2 3
22 3 4
33 4 5
44 5 6
55 6 7
66 7 ONL
77 ONL
ONL
ONL ONL
ONL
ONL
ONL 00 1
00 1 2
11 2 3
22 3 4
33 4 5
44 5 6
55 6 7
66 7 ONL
77 ONL
ONL
ONL CH1
CH1
CH1
CH1
APS30
APS30 SCPU32
SCPU32 ONL
ONL
SCPU32
SCPU32 ONL
ONL EMG
EMG +OT
EMG
EMG +OT
+OT -OT
+OT -OT
-OT
-OT
ONL
ONL ONL
ONL

ＳＸ
RUN
RUN
RUN
RUN ERR
ERR RUN
RUN
RUN
RUN ERR
ERR ERR
ERR
ERR
ERR 88 9
88 9 101112131415
99 101112131415 ERR
101112131415
101112131415 ERR
ERR
ERR ERR
ERR
ERR
ERR 88 9
88 9 101112131415
99 101112131415 ERR
101112131415
101112131415 ERR CH2
CH2
ERR
ERR ERR
ERR ERR
ERR CH2
CH2
TERM
TERM
TERM
TERM TERM
TERM
TERM
TERM
SLV
SLV
SLV
SLV RUN
RUN
RUN
RUN SLV
SLV
SLV
SLV RUN
RUN
RUN
RUN
PWR
PWR ALM
ALM
ALM
ALM ALM
ALM
ALM
ALM

ALM
ALM
STOP
STOP
STOP
STOP BAT
BAT
BAT
BAT STOP
STOP
STOP
STOP BAT
BAT
BAT
BAT CH
CH
CH
CH
No.
No.
No.
No. FALDIC RYS201S3-VVS
CPU
CPU
CPU
CPU CPU
CPU
CPU
CPU
No.
No.
No.
No. No.
No.
No.
No.
PH
PH
20
20
PL
PL 20
20

LOADER
LOADER LOADER
LOADER DA
DA
MODE
MODE SHIFT
SHIFT
ESC
ESC ENT
ENT

11
11
B/A
B/A
B/A
B/A
K80791234
K80791234 CHARGE
CHARGE
PE1
PE1 HP2
HP2

L1
L2
L3
DB
P1
P+

Positioning end N
U
V
W

■ Interface

Positioning end (2)

ON : In positioning complete status
OFF : Motor is rotating
+24V

■ Parameter setting
To allocate the positioning end signal to the control output terminal, set (2) to the system para.

■ Related items
・Output form of positioning end signal is selectable by setting of basic para. 55 and 56.
Basic parameter 55, 56
Para. Name Setting range Initial value Change
55 Positioning end output form 0 : Level, 1 : One shot 0 Power
56 Positioning end output time 0.01 to 1.00 [s] (in 0.01s steps) 0.10 Always
* The on period is specified when the positioning end output form is one shot.

(a) At power on
Level : ON
One shot : OFF. Automatically turns off after the elapsed time set by basic para. 56 has elapsed. So it turns on for about 1.5s in order
tocheck function.
(b) Pulse train
Level : Turns on when the difference (deviation) between command position (pulse train input) and feedback position is within the
deviation zero width (basic para. 53). For the pulse train input, the form of output signal is same as that of deviation zero
signal.
One shot : Turns on for the specified period when the deviation q’ty is within the deviation zero width (basic para. 56)

5-46 MHT258a (Engl.)

 Speed

Time

Deviation zero ON ON

[PSET] (level) ON ON

[PSET] (one shot) OFF ON

Time set by basic para. 56

With one shot selected, when deviation zero signal is off within the time set by basic para. 56, operation is stopped forcibly.

(c) Interrupt positioning

Level : Turns on when the positioning end judgment time (basic para. 57) has elapsed after the difference (deviation) between the
command position (pulse train input) and feedback position came within the deviation zero width (basic para. 53)
One shot : Turns on for the determined period of time (basic para. 56) on condition that the positioning end level is on.

With one shot selected, when positioning has started within the time set by basic para. 56, operation is stopped forcibly.

(d) Origin return

Level : Turns on when the positioning end judgment time (basic para. 57) has elapsed after the difference (deviation) between the
command position (pulse train input) and feedback position came within the deviation zero width (basic para. 53)
One shot : Turns on for the determined period of time (basic para. 56) on condition that the positioning end level is on.

Speed

Time

Origin return [ORG] OFF ON

Origin LS [LS] OFF

Encoder Z-phase

Origin return end OFF ON

[PSET] (level) ON

[PSET] (one shot) OFF ON

With one shot selected, when positioning has started within the time set by basic para. 56, operation is stopped forcibly.

5-47 MHT258a (Engl.)

・Positioning end judgment time
The output timing of positioning end signal is shown below.

Speed

Deviation zero width (basic para. 53)

Time

Deviation zero OFF ON

Positioning end [PSET] OFF ON

Positioning end judgment time (basic para. 57)

1) The command current position reaches the target position.
2) The motor’s feedback current position follows the command current position to reach the target position.
3) When the difference (deviation) between the command position and the feedback position is less than the deviation zero width (zone)
(basic para. 53), the deviation zero signal is turned on.
4) When the deviation zero signal is continuously held on during the positioning end judgment time (basic para. 57), the positioning end
signal [PSET] is turned on.

Basic parameter 57
Para. Name Setting range Initial value Change
57 Positioning end judgment time 0.000 to 1.000 [s] (in 0.001s steps) 0.050 Always

・Positioning end [PSET] output at alarm detection

Cause Deceleration form Positioning end [PSET] Remarks

Run command [RUN] “Forced zero speed” On at stopping Ready [RDY] off
off to “base off”
Forced stop [EMG] off Forced zero speed Off On at forced stop [EMG] release
OT detection “Forced zero speed” On at stopping Movable when pulse train input, forward
Soft OT detection to “ servo lock” command or reverse command on
Alarm detection “Forced zero speed” Off at stopping Turns on when reset by alarm reset
(minor fault) to “base off” [RST]
Alarm detection Base off Off at stopping Turns on when reset by alarm reset
(major fault) [RST]

Note : Minor fault … Deviation over [OF], Resistor overheat [rH], Amplifier overheat [AH], Encoder overheat [EH] and Bus communication
error [tE]
Major fault … Alarm detection other than minor fault
Forced zero speed … Decelerates to a stop by regenerative braking torque (maximum braking torque)
Base off … Motor has no driving force (free-run)

5-48 MHT258a (Engl.)

5.7.4 Interrupt positioning

An interrupt input causes movement by the determined amount and the stop.

Interrupt positioning can be carried out in position control condition with the position control (37) signal on.
Interrupt positioning makes a start when motor has started rotation with forward (or reverse) command while interrupt valid (48) signal on.
Speed in interrupt positioning follows X1, X2 or X3 signals. An override can be applied to the speed.

Motor moves by the determined distance from the time at the ON edge of “interrupt input” (49) signal, and then automatically stops. The
move amount from interrupt input is set by basic para. 81.
The rotating speed maintains the speed of the time of rising edge of interrupt input.

While “interrupt valid” (48) signal is off, interrupt input (49) is invalid.

■ Interface

Interrupt valid (48)

ON : Interrupt input is effective
OFF : In position control status
Interrupt input (49)
+24V ON edge: Moves by the determined distance and then stops

■ Parameter setting
To allocate the interrupt valid signal to the control input terminal, set (48) to the system para. Set (49) for the interrupt input. If these signals
are not allocated to the control input terminal, these are deemed "always off."

■ Related items
・Interrupt movement
Move amount after interrupt input can be set at basic para. 81

Basic parameter 81
Para. Name Setting range Initial value Change
81 Interrupt move amount 1 to 79,999,999 (in increments of 1) [x unit q’ty] 100,000 Always

Motor stops when [FWD] signal is turned off.

(if interrupt input signal is not turned on.)

Speed

Time

Position control ON

Interrupt valid ON

Forward command OFF ON

[FWD]
Interrupt input OFF

[PSET] (level) ON OFF

5-49 MHT258a (Engl.)

・Interrupt positioning accuracy
Interrupt input signal is affected by “hardware filter time 0.1ms and “software sampling time interval 0.2ms.
Interrupt input signal is on at the same time of sampling, or approximately 0.2ms later. Therefore, the signal input timing varies within
±0.1ms.

When mechanical equipment system moving speed N=1,000mm/s (60m/min),

1000 x 0.0001 = 0.1mm
The response rate of the sensor which will be used for interrupt input should be considered.

5.7.5 Fixed/passing point

Current position of motor can be checked.

Three types of output forms can be selected by the basic para. 62 setting.

1) Fixed point (basic para. 62 : 0)

This output signal is on when current position is near the basic para. setting point.

Fixed/passing point detection position 1

(basic para. 63)
Fixed/passing point detection position 2
(basic para. 64)
190.0 200.0 210.0

Current position

Fixed point
OFF ON

Fixed point detection range

10.0 10.0 (basic para. 65)

2) Passing point from off to on (basic para. 62 : 1)

This signal is on when current position is beyond the basic para. setting point. The signal is off when it is less than the setting point.

Fixed/passing point detection position 1

(basic para. 63)
Fixed/passing point detection position 2
(basic para. 64)
190.0 200.0 210.0

Current position

Passing point
OFF ON

3) Passing point from on to off (basic para. 62 : 2)

This signal is on when current position is less than the basic para. setting point. The signal is off when it is beyond the setting point.

Fixed/passing point detection position 1

(basic para. 63)
Fixed/passing point detection position 2
(basic para. 64)
190.0 200.0 210.0

Current position

Passing point
ON OFF

5-50 MHT258a (Engl.)

■ Interface

Fixed/passing point 1 (17)

Fixed/passing point 2 (18)
ON/OFF : Automatically turns on or off according to the current position
+24V

■ Parameter setting
To allocate the fixed/passing point 1 signal to the control output terminal, set (17) to the system para. Set (18) for the fixed/passing point 2.

■ Related items
・Selection of output form
Output form can be set by basic para. 62 to 65.

Basic parameter 62 to 65
Para. Name Setting range Initial value Change
62 Fixed/passing point detection 0 : Fixed point 0 Always
1 : Passing point off àon
2 : Passing point on à off
63 Fixed/passing point detection position 1 0 to ±79,999,999 (in increments of 1) 0 Always
[x unit q’ty]
64 Fixed/passing point detection position 2 0 to ±79,999,999 (in increments of 1) 0 Always
[x unit q’ty]
65 Fixed point detection range (zone) 0 to ±79,999,999 (in increments of 1) 100 Always
[x unit q’ty]

・Valid or invalid of position detection function

Position detection function such as fixed/passing point 1 can be effective after origin return end.

Basic parameter 67
Para. Name Setting range Initial value Change
67 Position detection function valid/invalid 0 : Valid after origin return 1 : Always 0 Always

5.7.6 Override

This function changes the current motor speed.

While “override effective” (43) signal is turned on, the motor speed is variable by a scale factor specified by “override 1/2/4/8” up to 1.5
times the current speed.
Weighting of scale factor corresponding to override 1/2/4/8 can be changed by basic para.
This function is effective for any rotation command except for torque control, pulse train input (pulse train ratio 1 or 2).
This function will not be effective after the ON edge of interrupt input in interrupt positioning.

■ Interface

P24
+24V Override effective (43)
2.2k Override 1 (44)
Override 2 (45)
Override 4 (46)
M24
Override 8 (47)

5-51 MHT258a (Engl.)

■ Parameter setting
To allocate the override effective signal to the control input terminal, set (43) to the system para. If this signal is not allocated to the control
input terminal, this signal is deemed "always off."

Signal name Set value at system para.

Override effective 43
Override 1 44
Override 2 45
Override 4 46
Override 8 47

■ Related items
・Override scale factor
The scale factors while the override effective signal is on are as follows.
If “override effective” goes off, the 100% moving speed is obtained.
The signal not allocated to the control input terminal is deemed “always off.”

Override Override Override Override Moving speed [%]

8 4 2 1
OFF OFF OFF OFF 0
OFF OFF OFF ON 10
OFF OFF ON OFF 20
OFF OFF ON ON 30
OFF ON OFF OFF 40
OFF ON OFF ON 50
OFF ON ON OFF 60
OFF ON ON ON 70
ON OFF OFF OFF 80
ON OFF OFF ON 90
ON OFF ON OFF 100
ON OFF ON ON 110
ON ON OFF OFF 120
ON ON OFF ON 130
ON ON ON OFF 140
ON ON ON ON 150
*Where override weighting is at initial value.

・Override weighting
Override weighting can be changed by using basic para. 17 to 20.

Basic parameter 17 to 20
Para. Name Setting range Initial value Change
17 Override 1 0 to 150% (in increments of 1) 10 Always
18 Override 2 0 to 150% (in increments of 1) 20 Always
19 Override 4 0 to 150% (in increments of 1) 40 Always
20 Override 8 0 to 150% (in increments of 1) 80 Always

When override 8, 4, 2 and 1 are all on, adding all initial values gives 150 (= 80 + 40 + 20 + 10). If the initial value has been changed and
resultant sum exceeded 150, the current speed is retained.

・Maximum speed
Maximum speed of the motor output shaft can be set by basic para.16 setting. However, this setting is invalid while pulse train input exists.

5-52 MHT258a (Engl.)

5.7.7 Free-run [BX]

This function puts the motor into free-run status forcibly.

While free-run [BX] signal is on, the motor is in free-run status. Motor decelerates (or accelerates) with the loaded torque.
The [BX] signal is always effective in any control status (position control, speed control and torque control).

For safety purpose, do not use this signal to the machine which moves vertically.

In position control, while this signal is on, the motor free-runs. If this signal is turned on when performing position control using pulse train,
the output pulse count of the host controller may differ from the motor rotational quantity.
In speed control or torque control, the motor immediately free-runs. If this signal is turned off during deceleration, the command speed or
command torque can be output.

■ Interface

Free-run (54)
P24
ON : In free-run status
+24V
2.2k OFF : In normal operation status

M24

■ Parameter setting
To allocate the free-run signal to the control input terminal, set (54) to the system para.

■ Related item
The free-run signal takes the precedence over any other signals in all the control modes.

5.7.8 P-action

The speed control is subordinate to proportional band control.

This signal should be turned on while locking the motor shaft mechanically, with the run command [RUN] on. See 5.7.1 Brake timing.
Speed control or position control becomes unstable if P-action signal is on during motor running. Never put this signal on during motor
running.

■ Interface

P24 P-action (29)

+24V
ON : In P-action (proportional band control)
2.2k
OFF : In normal operation

M24

■ Parameter setting
To allocate the P-action signal to the control input terminal, set (29) to the system para. If this signal is not allocated to the control input
terminal, this signal is deemed "always off."

5-53 MHT258a (Engl.)

5.7.9 Dynamic braking

This signal is output when the amplifier detects major fault.

This signal is turned on when such a major fault has occurred that the amplifier cannot drive the motor, and is retained until alarm reset
signal is input.
Dynamic braking is a braking type to short-circuit the coils between three phases of a synchronous motor to generate power.
Once the motor is stopped, braking force is not retained.

The output terminal of dynamic braking is +30V DC, 50mA. This cannot directly close a magnetic contactor. Use a general purpose relay or
FUJI SSC (solid state contactor).

■ Interface

Dynamic braking (15)

ON : Major fault is detected
OFF : In normal operation
+24V

■ Parameter setting
To allocate the dynamic braking signal to the control output terminal, set (15) to the system para.

■ Related items

・Major fault ・Minor fault

Fault that cannot drive motor Protection against overheat etc.

Indication Detection contents Indication Detection contents

Overload Resistor overheat
Overspeed Deviation over
Overvoltage Amplifier overheat
Encoder error Encoder overheat
Encoder communication error ABS data lost
Control power error Multiple rotation overflow
Memory error Bus communication error
Undervoltage
Overcurrent
Combination error
Resistor heat 2
CONT signal error
System error

5-54 MHT258a (Engl.)

5.7.10 Address error

Address error in rewriting parameters can be checked.

This signal turns on when detecting the following errors while rewriting the parameters.
1) Data (format) other than BCD was input
2) Data outside the setting range was input
3) Negative sign was input (negative sign against positive data)
Once the correct data has been input, this signal goes off.
Even if address error occurs, motor will not stop.

■ Interface

Address error (31)

ON : Error in rewriting para. has been detected
OFF : Under normal rewriting
+24V

■ Parameter setting
To allocate the address error signal to the control output terminal, set (31) to the system para.

5.7.11 CPU ready [CPURDY]

Normal operation of amplifier and motor can be checked.

This signal is turned on for the following conditions when power is applied.

・CPU in the amplifier is operating normally.

・The amplifier recognizes motor (encoder).
・An alarm such as memory error (dE) which cannot be reset is not detected.

CPU ready signal output has no relation with control input signal on/off status.

■ Interface

CPU ready (28)

ON : The amplifier is in normal operation.
OFF : Memory error or motor cannot be recognized
+24V

■ Parameter setting
To allocate the CPU ready signal to the control output terminal, set (28) to the system para.

5-55 MHT258a (Engl.)

6.PARAMETER SETTING

6.1 Mechanical equipment system

This section explains the parameter setting according to the mechanical equipment system driven by motor.

6.1.1 Change of rotational direction

This parameter makes the motor rotational direction match the machine moving direction.

System parameter 80
Para. Name Setting range Initial value Change
80 Rotational direction changeover 0 : Positive direction / forward 0 Power
1 : Positive direction / reverse

A selected rotational direction affects any of speed control, position control and torque control.

Speed control: The positive direction means the rotational direction when a positive (+) voltage is applied to speed command voltage
terminal [NREF] (multistep speed), and forward command [FWD] is given. The motor output shaft rotates forward.

Position control: The positive direction means the rotational direction when a forward pulse or command code at H level, or a pulse train of
two 90° phase-different (B-phase advance) signal is applied. The motor output shaft rotates forward.

Torque control: The positive direction means the rotational direction when a positive (+) voltage is applied to the torque command voltage
terminal [TREF], and forward command [FWD] is given. The motor output shaft rotates forward.

■Related items

- Forward rotation, reverse rotation

Forward rotation is counter-clockwise (CCW) rotation when viewed from a point facing the drive-end of motor. Clockwise rotation is reverse
rotation.

FALDIC RYS201S3-VVS

MODE SHIFT
ESC ENT

K80791234 CHARGE

Forward command [FWD] L1

L2
L3 Forward rotation
DB
P1
P+
N
U
V
W

When forward command [FWD] is given to amplifier and speed command (reference) voltage is positive (+), the motor rotates forward. To
rotate its direction in reverse, change the system para. 80 setting.

- Speed command [NREF], Torque command [TREF]

Each terminal accepts dual polarity voltage input of -10 to 0 to +10V.
When a negative (-) voltage is input and reverse command [REV] is given, the motor rotates forward.

- Resolution of speed command [NREF]

The resolution is 14 bit at full scale. When a speed reference voltage of 5000[r/min] /10V is given, (-5000 to +5000) [r/min] / 214= 0.6 [r/min]
is obtained.

- Resolution of torque command [TREF]

The resolution is 10 bit at full scale. When a torque reference voltage of 300% /10V is given, (-300 to +300) % / 210 = 0.6 % (100% at rated
torque) is obtained.

6-1 MHT258a (Engl.)

6.1.2 Operation at stopping
The status when the motor is stopping can be selected.

System parameter 81
Para. Name Setting range Initial value Change
81 Operation at stopping 0 : Speed zero 0 Power
1 : Servo lock
2 : External brake (P-action)
3 : External brake (free-run)

A selected operation at stopping affects to any of speed control, position control and torque control.

- Speed control - Position control - Torque control

Operation at stopping Speed control Position control Torque control
Speed zero Zero-speed Servo lock Zero-torque
Servo lock Servo lock Servo lock Zero-torque
External brake (P-action) External brake (P-action) External brake (P-action) External brake (zero-torque)
External brake (free-run) External brake (free-run) External brake (free-run) External brake (free-run)

1) Speed zero
The motor is stopping without holding the corrent position by “servo lock” assuming that the speed command is zero, If the motor is rotated
by the load machine system, a counter force is activated in the opposite direction to the driven direction (as the speed is not zero.)
In speed control, if “servo lock” is selected as the operation at stopping, the motor can be stopped retaining the current position. “Servo lock”
should be done at the speed lower than “speed zero width” set by basic para. 52.

Set the “operation at stopping” at “zero-speed” in order to generate an analog speed command voltage with the host controller and to obtain
feedback signal via the freq. dividing output from amplifier.

OONNLL 00 11 22 33 44 55 66 77
OONNLL OONNLL 00 11 22 33 44 55 66 77OONNLL CCHH11
APS30
APS30 SCPU32
SCPU32 ONL
SCPU32
SCPU32 ONL EEMMGG ++OOTT --OOTT
ONL ONL

ＳＸ
RUN
RUN RUN
RUN EERRRR 88 99 1100111111221133114411EE55RRRR EERRRR 88 99 1100111111221133114411EE55RRRR

FALDIC
ERR
ERR ERR
ERR CCHH22
TERM
TERM TERM
TERM
PWR
PWR SLV
SLV RUN
RUN
ALM
ALM
SLV
SLV RUN
RUN
ALM
ALM
RYS201S3-VVS
STOP
STOP BAT
BAT STOP
STOP BAT
BAT CCHH
ALM NNoo..
ALM
CPU
CPU CPU
CPU
No.
No. No.
No.
PH
PH
2200
PL
PL

LOADER
LOADER LOADER
LOADER DA
DA MODE
MODE SHIFT
SHIFT
ESC
ESC ENT
ENT

K80791234
K80791234 CHARGE
CHARGE
11
BB//AA

PE1
PE1 HP2
HP2 L1
L2
L3
DB
P1

Speed command P+
N
U
V
W

Pulse train (freq. dividing output)

2) Servo lock
The motor can be stopped retaining the current position (current position of motor’s encoder).

3) External brake (P-action)

The motor can be stopped by the motor’s brake, by using the “brake timing” outputted from amplifier. The motor output shaft is mechanically
locked and the control system gain on the amplifier side is lowered.

4) External brake (free-run)

The motor can be stopped by the motor’s brake, by using the “brake timing” outputted from amplifier. Noise or vibration will not be generated
because the no motor control is made.

See 5.7.1 for the use of external brake.

6-2 MHT258a (Engl.)

6.1.3 Soft-start
This function can gradually accelerate or decelerate the motor.

Basic parameter 21 to 24
Para. Name Setting range Initial value Change
21 Acceleration time 1 0.000 to 99.999s (in 0.001s steps) 0.100 Always
22 Deceleration time 1 0.000 to 99.999s (in 0.001s steps) 0.100 Always
23 Acceleration time 2 0.000 to 99.999s (in 0.001s steps) 0.500 Always
24 Deceleration time 2 0.000 to 99.999s (in 0.001s steps) 0.500 Always

-Speed control -Position control Using “Soft-start”

This function is effective for all of the accel./decel. operation in speed control and position control (except for pulse train input).
The time setting is for the speed range of 0 to 2000 [r/min].
Acceleration time 2 and deceleration time 2 are effective while ACC0 signal is on.
ON/OFF input of ACC0 is always effective and accel. time/decel. time can also be changed over. The ACC0 is a signal allocated to CONTrol
of system parameters.

Acceleration time 1 and deceleration 1 can be set separately. For example, only deceleration time can be lengthened. Most suitable
deceleration time can be selected depending on the load volume in driving a carrier machine.

Speed

Time

Forward command OFF ON OFF

[FWD]

Basic para. 21 Basic para. 22

Set the accel. and decel. time at 0.000s to send the analog speed reference voltage signal from the host controller and to feedback the freq.
dividing output from the amplifier.
Non-linear (S-curve) filter coefficient can be set for pulse train input in position control. See 6.1.5.
Torque control voltage can be changed by a filter time constant concerning torque command voltage. See 5.6 Torque control.

6.1.4 Soft OT
The soft OT (overtravel preventive signal set by software) can be set.

System parameter 75 to 77
Para. Name Setting range Initial value Change
75 Soft OT valid/invalid 0: Invalid 1: Valid 0 Power
76 +Soft OT detection position –79,999,999 to +79,999,999 (in increments of 1) [x unit q’ty] 79999999 Always
77 –Soft OT detection position –79,999,999 to +79,999,999 (in increments of 1) [x unit q’ty] –79999999 Always

6-3 MHT258a (Engl.)

The position detection function can be effective after end of origin return by basic para. 67.

Basic parameter 67
Para. Name Setting range Initial value Change
67 Position detection function valid / invalid 0: Valid after end of origin return 1: Always 0 Always

- Speed control - Position control

Different from the +OT, -OT of the control input signal, the soft OT function stops the motor forcibly when the motor current position is
beyond the setting value. When the motor has stopped, OT detection (20) of the control output signal is turned on.

－ＯＴ ＋ＯＴ

–Soft OT detection position +Soft OT detection position

(system para. 77) (system para. 76)

Current position

ON OFF ON

Soft OT cannot be used for OT detection invert operation in origin return pattern 2, 3 or 4.

6-4 MHT258a (Engl.)

6.1.5 Non-linear (S-curve) filter coefficient
The motor can be accelerated by drawing an S-curve.

Basic parameter 25
Para. Name Setting range Initial value Change
25 Non-linear (S-curve) filter coefficient 0.001 to 1.000s (in 0.001s steps) 0 Always

- Speed control
In speed control, S-shaped curve is drawn at the beginning and at the end of acceleration with the setting of the filter coefficient.

Speed

Time

1s 1s
(where filter coefficient is 1s.)

- Position control
Accel./decel. can be adjusted by using the time constant of the filter coefficient when the pulse train input is given by constant frequency.
The motor rotates as much as the pulse train input.
Even if the host controller cannot perform linear acceleration, smooth acceleration can be realized.

Pulse train

Speed

Time

Approx. 3s
(filter coeff.: 1s, accel./decel.: 1s, filter coeff.: 1s)

6.1.6 Auto-tuning
This function adjusts the motor’s response rate according to the mechanical equipment system.

Basic parameter 31 to 33
Para. Name Setting range Initial value Change
31 Tuning method 0: Manual 1 Always
1: Auto (low stiffness)
2: Auto (high stiffness)
32 Load inertia ratio 0.0 to 100.0 (in 0.1 step) 0.0 Always
33 Operating speed response 10 to 1000Hz (in increments of 1) 100 Always

6-5 MHT258a (Engl.)

- Position control - Speed control
Auto-tuning is effective in position control and speed control, but not in torque control.

Set the following two parameters to activate the auto-tuning.

(1) Tuning method (basic para. 31)
(2) Operating speed response (basic para. 33)

■ Tuning method (basic para. 31)

Set this para. according to mechanical equipment system. In general, “auto (low stiffness)” is selected for most of mechanical equipment
system. This is a factory setting value.

Basic parameter 31
Set value Target machine
1: Auto (low stiffness) Ball-screw (with speed reducer)
Rack and pinion
Timing belt
Conveyor
Chain drive
Feed roll
Table indexing (dividing)
Spindle drive (with speed reducer)
2: Auto (high stiffness) Ball-screw (direct coupling of motor and screw)
Spindle drive (Direct coupling)
0: Manual All of the para. must be set individually.

Auto-tuning is always effective when the load inertia ratio (basic para.32) is set at 0.0. The load inertia ratio after auto-tuning is executed can
be checked in the monitor mode on the keypad panel. (Auto-tuning is invalid when basic para. is set at 0.)

Remarks : The load inertia ratio after auto-tuning will be canceled when power supply is shut down. Auto-tuning will be executed again
when power supply is on.
To save the resultant load inertia ratio, set the load inertia ratio (basic para. 32) so that it can be monitored on the keypad panel.
(in monitor mode [ ])

■ Adjustment of response rate (basic para. 33)

Motor’s response rate can be adjusted by setting the operating speed response (basic para. 33).

Basic parameter 33
Para. Name Setting range Initial value Change
33 Operating speed response 10 to 1000Hz (in 1Hz steps) 100 Always

Use the motor with the initial value of 100Hz in ordinary mechanical equipment system. The higher is the setting value, the quicker is the
motor’s response rate. If the setting value is too high, vibration may be generated depending on the mechanical equipment system.
Mechanical equipment system having direct-coupled ball-screw can have a higher setting value (higher response rate as well).

6-6 MHT258a (Engl.)

The following 3 basic para. can be automatically adjusted according to the setting value of the operating speed response (basic para. 33).

Basic parameter 37 to 39
Para. Name Setting range Initial value Change
37 Torque filter time constant 0.00 to 20.00 [ms] (in 0.01s steps) 0.30 Always
38 Speed regulator integration time 1 to 1000 [ms] (in 1ms steps) 20 Always
39 Position controller gain 1 to 1000 (in increments of 1) 50 Always

Basic para. 37 to 39 can be automatically rewritten only when the “auto” has been selected in the tuning method (basic para. 31).

Remark : The values of basic para. 37 to 39 are rewritten once the operating speed response (basic para. 33) is changed.
Basic para. 37 to 39 can also be set manually after these have been changed by the amplifier. Usually amplifier set value is
used.

Auto-tuning related parameters

■ Changeover of response rate

The motor response rate can be changed over between when the motor is rotating and when the motor is stopping. This is effective to
reduce the noise when stopping and suppress the resonance with the mechanical equipment system.

Basic parameter 34 to 36
Para. Name Setting range Initial value Change
34 Speed response at stoppage 10 to 1000 [Hz] (in 1Hz steps) 100 Always
35 Stoppage detection width 5 to 100 [r/min] (in increments of 1) 20 Always
36 Stoppage judgment time 0.0 to 1.00s (in 0.01s steps) 0.0 Always

Speed

Stoppage detection width (basic para. 35)

Time

Operating speed response (basic para. 33) Speed response at stoppage (basic para. 34)

Stoppage judgment time (basic para. 36)

Remarks : “Operating speed response” and “speed response at stoppage” should be changed after the speed has been lower than the
stoppage detection width (basic para. 35) and the stoppage judgment time (basic para. 36) has elapsed. This can prevent the
motor shaft from starting rotating after the motor has stopped if the setting of “speed response at stoppage” is low. Set an
appropriate time for the stoppage judgment time as its initial value is 0.0s.

■ Speed feedback filter

When you use 16 bit serial encoder in GYC or GYS series, do not change the setting of the speed feedback filter.

Basic parameter. 42
Para. Name Setting range Initial value Change
42 Speed feedback filter 0: OFF 1: ON 0 Always

6-7 MHT258a (Engl.)

 Auto-tuning related parameter

■ Speed setting filter (basic para. 41)

The speed command [NREF] input can be adjusted by the speed setting filter. This is useful when the motor speed is influenced by the
turbulence to the speed command input terminal. The maximum value of the filter time is 20.0ms.

Basic parameter 41
Para. Name Setting range Initial value Change
41 Speed setting filter 0.0 to 20.0 [ms] (in 0.1ms steps) 0.0 Always

■ Feed forward gain (basic para. 40)

Basic parameter 40
Para. Name Setting range Initial value Change
40 Feed forward gain 0.000 to 1.500 (in 0.001 steps) 0.000 Always

If the feed forward gain is set at 1.0, a smaller deviation (difference between command position and feedback position) can be expected.
Set the gain at 1.000 to carry out a synchronous operation between 2 axes using the pulse train input.

FALDIC RYS201S3-VVS

Forward command (FWD) MODE

MODE SHIFT
SHIFT
ESC
ESC ENT
ENT

Pulse train
K80791234
K80791234 CHARGE
CHARGE

L1
L2
L3
DB

* 2 axes operates the same way. P1

P+
N
U
V
W
FALDIC RYS401S3-VVS

MODE SHIFT
ESC ENT

K80791543 CHARGE

L1
L2
Freq. dividing output
L3
DB
P1
P+
N
U Pulse train input
V
W

Feed forward gain setting value: 1,000

6-8 MHT258a (Engl.)

 Auto-tuning related parameter

■ Vibration suppression parameter (basic para. 44, 45)

A periodical vibration in motor rotation speed may occur due to the moment of inertia of mechanical equipment system and the motor’s
response rate. This parameter is always effective regardless of tuning method (basic para. 31).

Basic parameters. 44, 45

Para. Name Setting range Initial value Change
44 Vibration suppression time constant 10 to 1000 [ms] (in 1ms steps) 100 Always
45 Vibration suppression gain 0.00 to 1.00 (in increments of 0.01) 0.00 Always

The vibration suppression time constant (basic para. 44) sets the vibration cycle of rotational speed. Larger effect can be obtained with the
higher setting for the vibration suppression gain.

Vibration cycle

Speed

Time

6-9 MHT258a (Engl.)

6.2 Peripheral device
This section explains the peripheral devices to be directly connected to the amplifier.

6.2.1 Speed command, torque command

The gain or offset of speed command [NREF] terminal and torque command [TREF] terminal can be adjusted..

System parameter 63 to 66
Para. Name Setting range Initial value Change
63 Speed command gain ±0.10 to ±1.50 times (in increments of 0.01) 1.00 Always
64 Speed command offset –2000 to + 2000 (in increments of 1) (Individual) Always
65 Torque command gain ±0.10 to ±1.50 times (in increments of 0.01) 1.00 Always
66 Torque command offset –200 to + 200 (in increments of 1) (Individual) Always

- Speed control - Position control

Speed

（×１．５）
＋５０００r/min 　　　　　　　 （×１．０）

　　      （×０．１）
     
−１０Ｖ
Speed command voltage

＋１０Ｖ
* : System para. 63 setting

−５０００r/min

Output torque

（×１．５）
(Max. torque) 　　　　　　　 （×１．０）

　　　　　　　 （×０．１）
     
−９Ｖ
Torque command voltage

＋９Ｖ
* : System para. 65 setting

(Max. torque)

6-10 MHT258a (Engl.)

■ Speed command gain (63) / Torque command gain (65)
These gains can be set from ±0.10 to ±1.50 times in increments of 0.01.
Specifying the negative sign can invert the rotational direction.

■ Speed command offset (64)

This can be set from –2000 to + 2000 in increments of 1. The setting value has no unit. The initial value has been set at factory shipment
individually. Automatic offset adjustment is enable in the trial operation mode by the keypad panel ([ ]). The value after
adjustment will be saved in the system para.64.

■ Torque command offset (66)

This can be set from –200 to + 200 in increments of 1. The setting value has no unit. The initial value has been set at factory shipment
individually. Automatic offset adjustment is enable in the trial operation mode by the keypad panel ([ ]). The value after
adjustment will be saved in the system para.66.

The terminal function of speed command [NREF] and torque command [TREF] terminal can be selected.

System parameter 60 to 62
Para. Name Setting range Initial value Change
60 Torque command function select 0: Torque command 1: Speed command (aux.) 0 Power
61 Speed limit select 0: Parameter 1: Speed command terminal 0 Power
62 Torque limit select 0: Parameter 1: Torque command terminal 0 Power

■ Speed limit select (system parameter 61)

Selects the motor speed limiting method in torque control.
Setting Description
0: Parameter Limits the speed by basic para. 16.
1: Speed command terminal Limits the speed by the speed in response to the input voltage to speed command terminal.

When “1: Speed command terminal” is selected, gain and offset can be adjusted by system para. 63 and 64.

■ Torque limit select (system parameter 62)

Selects the motor output torque limiting method. Torque limit is effective in speed control and position control.
Setting Description
0: Parameter Limits the output torque by basic para. 59.
1: Torque command terminal Limits the output torque by the torque in response to the input voltage to torque command terminal.

When “1: Torque command terminal” is selected, gain and offset can be adjusted by system para. 65 and 66.
When “0: Parameter” is selected, the setting of basic para. 59 is always effective.
In torque control mode, the setting of basic para. 59 is always effective. In torque control, the function of the torque command terminal does
not change.
The torque limit (30) signal is assigned to the control input terminal, the basic para. 59 setting and the motor’s maximum torque can be
changed over. If the torque command is selected by the system para. 62, the motor torque can be selected between the maximum torque
and the one in proportion to the torque command terminal voltage.

・Where the torque limit (30) is not assigned to the control input terminal.
The setting of basic para. 59 is always effective.

・Torque limit (system parameter 62 : 0: Parameter)

Torque limit (30) Torque limit value
OFF Motor max. torque
ON Basic para. 59 setting value.

6-11 MHT258a (Engl.)

・Torque limit (system parameter 62 : 1: Torque command terminal)
Torque limit (30) Torque limit vallue
OFF Motor max. torque
ON Torque command terminal

Torque limit (30) can be set “always effective.” See 6-3-6 Always valid.

■ Torque command function select (system para. 60)

Changes the function of torque command terminal to speed command (aux.) terminal.
The system para. 60 setting is valid in position control and speed control.

Setting Description
0 : Torque command Torque command terminal [TREF] functions as torque command terminal.
1 : Speed command (aux.) Torque command terminal [TREF] functions as speed command (aux.) terminal.

In torque control mode, torque command terminal [TREF] operates an input terminal of the torque command terminal.
When “1: Speed command (aux.)” is selected, the motor rotates according to the added voltage of the speed command [NREF] terminal and
the torque command [TREF] terminal.
For the gain of the torque command [TREF] terminal, the torque command gain (system para. 65) setting is effective. For the offset of
[TREF] terminal, the torque command offset (system para. 66) setting is effective.
When “1: Speed command (aux.)” is selected, [TREF] terminal does not function as the torque command terminal, the torque command
function select (system para. 60) have the precedence over this.
The resolution of analog voltage of the speed command terminal is different from the one of the torque command terminal.
See 5-3-1 Forward command, Reverse command

When the torque command terminal [TREF] is used as the speed command (aux.) terminal, 100ms of filter can be inserted automatically.

6.2.2 Analog meter output

The output form of monitor 1 and monitor 2 terminals can be selected.

The output signal form of the monitor 1 [MON1] and monitor 2 [MON2] terminals can be selected.
Output form is common to position control, speed control and torque control.

System parameters 67 to 73
Para. Name Setting range Initial value Change
67 Monitor 1 signal assignment 1: Speed command 2: Speed feedback 2 Always
3: Torque command 4: Position deviation
68 Monitor 2 signal assignment 1: Speed command 2: Speed feedback 3 Always
3: Torque command 4: Position deviation
69 Monitor 1 scale ±2.0 to ±10V (in 0.1V steps) 7.0 Always
70 Monitor 1 offset –50 to +50 (in increments of 1) 0 Always
71 Monitor 2 scale ±2.0 to ±10V (in 0.1V steps) 6.0 Always
72 Monitor 2 offset –50 to +50 (in increments of 1) 0 Always
73 Monitor 1/2 output form 0: Monitor 1 (two-way deflection) / Monitor 2 (two-way deflection) 0 Always
1: Monitor 1 (one-way deflection) / Monitor 2 (two-way deflection)
2: Monitor 1 (two-way deflection) / Monitor 2 (one-way deflection)
3: Monitor 1 (one-way deflection) / Monitor 2 (one-way deflection)

6-12 MHT258a (Engl.)

■ Monitor 1/ Monitor 2 signal assignment
Sets the output signal from monitor 1 [MON1] and monitor 2 [MON2].

Setting Output signal

1: Speed command Speed command to the motor recognized by the amplifier
2: Speed feedback Motor’s actual rotational speed
3: Torque command Torque command value to the motor recognized by the amplifier
4: Position deviation Difference (deviation) between position command and position feedback

■ Monitor 1/ Monitor 2 scale

Sets the full scale of signal of monitor 1 [MON1] and monitor 2 [MON2] terminals. If the negative sign is specified, the polarity of output
voltage can be inverted.

Setting Output signal

1: Speed command Output voltage in response to max. speed. Max. speed depends on motor specs.
2: Speed feedback Output voltage in response to max. speed. Max. speed depends on motor specs.
3: Torque command Output voltage in response to max. torque. Max. torque depends on motor specs.
4: Position deviation Difference (deviation) between position command and position feedback. Output voltage in
response to 1048576 pulses.

■ Monitor 1/ Monitor 2 offset

The offset voltage of monitor 1 [MON1] and monitor 2 [MON2] terminals can be adjusted. The setting range is from –50 to 0 to +50 in
increment of 1. The setting value has no unit.

■ Monitor 1/ Monitor 2 output signal

Two-way deflection or one-way deflection can be selected for the signal assignment, scale and offset of the monitor 1 [MON1] and monitor 2
[MON2] terminals.
Terminal “Monitor 1” (Initial value) Terminal “Monitor 1” (one-way deflection)

Output voltage Output voltage

＋７．０Ｖ
＋７．０Ｖ

−５０００r/min −５０００r/min

＋５０００r/min ＋５０００r/min

−７．０Ｖ

6-13 MHT258a (Engl.)

6.2.3 Frequency dividing output
The pulse count in proportion to motor rotational quantity will be output.

The output pulse count can be set for the freq. dividing output terminals [FA], [*FA], [FB], [*FB], [FZ], and [*FZ]. The output pulse count is
common to position control, speed control and torque control.

A-phase [FA]

A-Phase [*FA]

B-Phase[FB]

B-Phase[*FB]

Z-Phase[FZ]

Z-Phase[*FZ]

t11 t11

Pulse width : t11 ≧ 1μs (equivalent to 500kHz)

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

The output pulse counts of A-phase and B-phase signal are determined by system para. 79 setting.
Z-phase signal is output one pulse per revolution. The pulse width depends on the A-phase output pulse count.
A-phase signal and Z-phase signal are synchronized. Recommended output frequency is approx. 500kHz. The output frequency is not
restricted by the amplifier.
The position of the motor output shaft has no relation with Z-phase.

RYS□□□S3 - VVS RYS□□□S3 - VSS

36 ＊ＣＡ 18 Ｍ５
35 ＣＡ 17 ＮＲＥＦ 26 Ｍ５ 13 −
34 ＊ＣＢ 16 ＭＯＮ１ 25 − 12 Ｍ５
33 ＣＢ 15 ＴＲＥＦ 24 − 11 ＭＯＮ１
32 ＊ＦＡ 14 ＭＯＮ２ 23 − 10 ＭＯＮ２
31 ＦＡ 13 Ｍ５ 22 − 9 Ｍ２４
30 ＊ＦＢ 12 ＢＡＴ＋ 21 ＊ＦＺ 8 Ｐ２４
29 ＦＢ 11 Ｐ１０ 20 ＦＺ 7 ＯＵＴ２
28 ＊ＦＺ 10 ＢＡＴ− 19 ＊ＦＢ 6 ＯＵＴ１
27 ＦＺ 9 Ｍ５ 18 ＦＢ 5 ＣＯＮＴ５
26 ＯＵＴ３ 8 ＯＵＴ５ 17 ＊ＦＡ 4 ＣＯＮＴ４
25 Ｍ５ 7 ＯＵＴ４ 16 ＦＡ 3 ＣＯＮＴ３
24 ＣＯＮＴ８ 6 ＯＵＴ２ 15 ＢＡＴ− 2 ＣＯＮＴ２
23 ＣＯＮＴ７ 5 ＯＵＴ１ 14 ＢＡＴ＋ 1 ＣＯＮＴ１
22 ＣＯＮＴ２ 4 ＣＯＮＴ６
21 ＣＯＮＴ１ 3 ＣＯＮＴ５
20 Ｐ２４ 2 ＣＯＮＴ４
19 Ｍ２４ 1 ＣＯＮＴ３

System parameter 79
Para. Name Setting range Initial value Change
79 Output pulse count 16 to 16384 [pulse/rev] (in increment of 1) 2048 Power

The freq. dividing output pulse count per one rotation of motor is set. The output form is two 90° phase-different signal.
When the motor rotates forward, a B-phase advanced pulse is output. This does not depend on the rotational direction changeover setting
(system para. 80)
Two 90° phase-different signal is output based on the level at the time of power on.
Max. output frequency depends on the performance of IC (differential driver: AM26LS31 or equivalent) for output terminal. The output
frequency is not restricted by the amplifier.

6-14 MHT258a (Engl.)

Remark : Where the motor rotates at 5000[r/min] at output pulse count setting 3000[pulse/rev]
The output pulse count is

3000 [pulse / rev ]

× 5000 [ r / min ] = 250000 [ Hz ]
60

If the motor rotation exceeds 5000[r/min] at 16384[pulse/rev] max., the pulse count will exceed 1.3[MHz].

6.2.4 Pulse train input

The pulse form of pulse train input terminal can be selected.

The pulse form of pulse train input terminal [CA], [*CA], [CB], [*CB] can be selected. The maximum input frequency is 400kHz.

System parameter 78
Para. Name Setting range Initial value Change
78 Pulse train input form 0 : Command code, command pulse 1 Power
1: Forward pulse, reverse pulse
2: Two 90° phase-different signal

■ Command pulse, command code

The command pulse indicates rotational quantity and the command code indicates rotational direction.

Command pulse
[CA]

Command code
[CB]

t1

t2 t3 t4

Pulse level : t 1 ＞ 1.25μs Before sign change : t 3 ＞ 1.25μs

Pulse cycle : t 2 ≧ 2.5 μs After sign change : t 4 ≧ 1.25μs

■ Forward pulse, reverse pulse

Forward pulse indicates forward direction, reverse pulse indicates the reverse direction.

Forward pulse
[CA]
Reverse pulse
[CB]
t5

t6 t7

Pulse level : t 5 ＞ 1.25μs Edge interval : t 7 ＞ 1.25μs

Pulse cycle : t 6 ≧ 2.5μs

6-15 MHT258a (Engl.)

■ Two 90° phase-different signal
A-phase and B-phase signal indicate rotational direction and rotational quantity, respectively.
Each edge of A-phase and B-phase signals corresponds to one pulse.

A-phase
[CA]
B-phase
[CB]
t 10

t8 t9

Pulse width : t 8 ＞ 1.25μs Edge interval : t 10 ＞ 1.25μs

Pulse cycle : t 9 ≧ 2.5 μs

6.2.5 Braking resistor

Connects the NTC thermistor of braking resistor to the control input terminal to protect the resistor.

System parameter 86
Para. Name Setting range Initial value Change
86 Braking resistor thermal overload relay 0: Electronic thermal O/L relay 0 Power
1: External thermal O/L relay

Setting Overheat detection of braking resistor

0: Electronic thermal O / L relay Calculates the regenerated power by amplifier to protect the resistor.
1: External thermal O / L relay Directly detects resistor overheat using NTC thermistor built-in the resistor.

To use external thermal relay, set the external alarm input (34) at the control allocation terminal, connect NTC thermistor for the external
resistor.
Protective function by electronic thermal relay built-in the amplifier will be disabled.

6-16 MHT258a (Engl.)

6.3 Amplifier
This section explains the various setting of amplifier itself.

6.3.1 INC/ABS
Incremental or absolute system can be selected.

System parameter 99
Para. Name Setting range Initial value Change
99 INC/ABC system 0: INC (Incremental) 0 Power
1: ABS (Absolute)

Setting Current position backup

0: INC (Incremental) Current position will be deleted if power is shut down.
Motor rotational quantity is not limited.
1: ABS (Absolute) Current position will be recovered if power supply recovers.
Motor rotational quantity is limited.

■ Pulse encoder
A 16-bit serial encoder built-in the motor is an INC/ABS common-use encoder.
An ABS system can be established if a battery is installed in the amplifier.
The encoder can output a freq. dividing output pulse of 16 to 16384 pulse per revolution.
The multiple rotation count is –32767 to 32767 in an ABS system.

■ Alarm detection in ABS system

The alarms against absolute data overflow (AF) and absolute data lost (AL) will be detected only in the ABS system. These alarms will be
reset by the position preset.

■ Current position backup

When power failure occurs, the absolute data of encoder can be backed up by the battery built-in the amplifier. The backup time is approx.
one hour after the motor encoder cable is disconnected from the amplifier.

Backup time by encoder alone

Approx. one hour
(Super capacitor)

Other than the above, some backup methods are available.

1) Battery built-in amplifier (type : WBS-S)

This is a lithium (primary) battery built in the amplifier and cannot be recharged.
The lifetime is approx. 7 years on condition that it is turned on for 8 hours per day (it backups 16 hours)

Lifetime of optional battery

Approx. 7 years
(16 hour backup after 8 hour power on per day)

2) External power supply

The connector 1 (CN1) for control input/output is equipped with the input terminals [+BAT], [-BAT] for backup power. Connect 3.6V power to
these trminalls.
Do not install the backup battery into the amplifier itself if you connect the backup power.

3) Power supply for control circuit

If a UPS is prepared as a peripheral device, connect its power to the control power input terminal so that power can be supplied to the control
circuit only (backup is available at the same time)

6-17 MHT258a (Engl.)

6.3.2 Rewriting inhibit
Parameter rewriting on the keypad panel can be prohibited.

System parameter 94
Para. Name Setting range Initial value Change
94 Parameter rewriting inhibit 0: Rewriting allowed 0 Always
1: Rewriting inhibit

Setting Parameter editing

0: Rewriting allowed Enable
1: Rewriting inhibit Disabled

Even if “1 : Rewriting inhibit” is selected, only the system para. 94 is rewritable.

Remark : Rewrite operation can be restricted by the control input terminal. See 5-5-2 Edit permit on.

6.3.3 Terminal function assignment

Various functions can be assigned to the control input terminals and output terminals.

System parameter 1 to 8
Para. Name Setting range Initial value Change
01 CONT1 signal assignment 0 to 56 (in increments of 1) 1 Power
02 CONT2 signal assignment 0 to 56 (in increments of 1) 2 Power
03 CONT3 signal assignment 0 to 56 (in increments of 1) 3 Power
04 CONT4 signal assignment 0 to 56 (in increments of 1) 11 Power
05 CONT5 signal assignment 0 to 56 (in increments of 1) 51 Power
06 CONT6 signal assignment 0 to 56 (in increments of 1) 52 Power
07 CONT7 signal assignment 0 to 56 (in increments of 1) 27 Power
08 CONT8 signal assignment 0 to 56 (in increments of 1) 37 Power

System parameter 31 to 35
Para. Name Setting range Initial value Change
31 OUT1 signal assignment 0 to 41 (in increments of 1) 1 Power
32 OUT2 signal assignment 0 to 41 (in increments of 1) 28 Power
33 OUT3 signal assignment 0 to 41 (in increments of 1) 24 Power
34 OUT4 signal assignment 0 to 41 (in increments of 1) 0 Power
35 OUT5 signal assignment 0 to 41 (in increments of 1) 0 Power

6-18 MHT258a (Engl.)

Function (Input signal) number assigned to Function (Output signal) assigned to
system para.1 to 8 (CONT1 to CONT8) system para.31 to 35 (OUT1 to OUT5)

0: Not assigned 37: Position control 0: Not specified 32: Alarm code 0
1: Run command [RUN] 38: Torque control 1: Ready [RDY] 33: Alarm code 1
2: Forward command [FWD] 43: Override valid 2: Positioning end [PSET] 34: Alarm code 2
3: Reverse command [REV] 44: Override1 14: Brake timing 35: Alarm code 3
5: Origin return [ORG] 45: Override2 15: Dynamic braking 36: Alarm code 4
6: Origin LS [LS] 46: Override4 16: Alarm detection [ALM] 38: +OT detection
7: +OT 47: Override8 17: Fixed, passing point 1 39: -OT detection
8: -OT 48: Interrupt input valid 18: Fixed, passing point 2 40: Origin LS detection
10: Forced stop [EMG] 49: Interrupt input 20: OT detection 41: Forced stop detection
11: Alarm reset [RST] 50: Deviation clear 22: Origin return end
14: ACC0 51: X1 23: Deviation zero
16: Position preset 52: X2 24: Speed zero [NZERO]
27: Pulse train ratio 1 53: X3 25: Speed arrive [NARV]
28: Pulse train ratio 2 54: Free-run [BX] 26: Torque limit detection
29: P-action 55: Edit permit command 27: Overload early warning
30: Torque limit 56: Current position output 28: CPU ready [CPURDY]
34: External fault input 29: Edit permit on
31: Address error

Set a number corresponding to signal name at desired system parameter, so that the signal can be assigned to the terminal.

■ Setting example
Set “1” at the “system parameter 1” so that the terminal [CONT1] of the control input/output connector [CN1] functions as the input terminal
for the “Run command” [RUN] signal.

■ Duplicated allocation
For the control input terminals, a signal cannot be assigned to more than one terminal simultaneously.
However, only the following signals can be assigned to more than one terminal:
・Forced stop (10)
・Free-run (54)
・External fault input (34)
In case of “forced stop” and “external fault input”, the motor will stop forcibly if an input terminal is off.
In case of “free-run”, the motor will be in free-run status if an input terminal is turned on.
If the signals other than the above have been assigned to more than one terminal, a control signal error [CtE] will be detected when turning
on power supply again.

For the control output terminals, a signal can be assigned to more than one terminal simultaneously.
Each terminal goes on or off at the same timing.

■ Interrupt input (49)

Be sure to assign the interrupt input (49) to any one of the terminals [CONT1] to [CONT8].
In case it is assigned to [CONT9] through [CONT13], a control signal error [CtE] will be detected.

■ Always valid
The functions can be assigned to the terminals by setting a numerical value at the system para. 1 to 8.
Similarly, the assigned functions can be always valid by setting the function (signal) number at the system para. 87 or 88. (See 6.3.6.)

Remark : If a number has been assigned to system para. 1 to 8 and system para. 87, 88 simultaneously, a control signal error [CtE] will not
be detected.
The assigned signal is always effective.

6-19 MHT258a (Engl.)

6.3.4 Storage at RAM
The contents of basic parameter setting can be stored in built-in RAM and rewritable infinitely.

System parameter 22 to 30
Para. Name Setting range Initial value Change
22 Parameter RAM storage 1 0: Not specified 1 to 99: Basic para. No. 0 Power
23 Parameter RAM storage 2 0: Not specified 1 to 99: Basic para. No. 0 Power
24 Parameter RAM storage 3 0: Not specified 1 to 99: Basic para. No. 0 Power
25 Parameter RAM storage 4 0: Not specified 1 to 99: Basic para. No. 0 Power
26 Parameter RAM storage 5 0: Not specified 1 to 99: Basic para. No. 0 Power
27 Parameter RAM storage 6 0: Not specified 1 to 99: Basic para. No. 0 Power
28 Parameter RAM storage 7 0: Not specified 1 to 99: Basic para. No. 0 Power
29 Parameter RAM storage 8 0: Not specified 1 to 99: Basic para. No. 0 Power
30 Parameter RAM storage 9 0: Not specified 1 to 99: Basic para. No. 0 Power

The contents of basic parameter is stored in the EEPROM (electrically erasable program read only memory) for retaining purpose at power
shut down. By specifying RAM, infinite rewriting is enable.
Set the basic para. number to be stored in RAM at the system para. 22 to 30.

6.3.5 Keypad panel

The contents of indication on the keypad panel at power on can be changed.

System parameter 89
Para. Name Setting range Initial value Change
89 Initial indication 0 to 20 (in increments of 1) 0 Power

Setting Initial indication Setting Initial indication

0 [ ] Sequence 7 [ ] Feedback speed
1 [ ] Sub mode 8 [ ] Command speed
2 [ ] Alarm detection 9 [ ] Actual torque
3 [ ] Alarm history 10 [ ] Feedback position
4 [ ] Amplifier setting 11 [ ] Command position
5 [ ] Motor setting 12 [ ] Deviation amount
6 [ ] Station No. indication 13 [ ] Cumulated pulse

14 [ ] Peak torque
15 [ ] Input voltage 1
16 [ ] Input voltage 2
17 [ ] LS-Z pulse
18 [ ] Input signal
19 [ ] Output signal
20 [ ] Load inertia ratio

6-20 MHT258a (Engl.)

6.3.6 Always valid
Arbitrary signals among the control input signals can be always effective.

System parameter 87, 88

Para. Name Setting range Initial value Change
87 CONT always valid 1 0 to 56 (in increments of 1) 0 Power
88 CONT always valid 2 0 to 56 (in increments of 1) 0 Power

Function (Input signal) number to system para. 1 to 8

0: Not assigned 11: Alarm reset [RST] 38: Torque control 51: X1
1: Run command [RUN] 14: ACC0 43: Override valid 52: X2
2: Forward command [FWD] 16: Position preset 44: Override1 53: X3
3: Reverse command [REV] 27: Pulse train ratio 1 45: Override2 54: Free-run [BX]
5: Origin return [ORG] 28: Pulse train ratio 2 46: Override4 55: Edit permit command
6: Origin LS [LS] 29: P-action 47: Override8 56: Current position output
7: +OT 30: Torque limit 48: Interrupt input valid
8: -OT 34: External fault input 49: Interrupt input
10: Forced stop [EMG] 37: Position control 50: Deviation clear

The assignable signals are as follows:

1 : Run command [RUN] The run command becomes always effective.

14 : ACC0 Only acceleration time 2 and deceleration time 2 become always effective.

27 : Pulse train ratio 1 Pulse train ratio 1 or 2 becomes always effective. Do not assign these two signals 1 and 2 at system
28 : Pulse train ratio 2 para. 87 and 88 at the same time.

29 : P-action P-action is always effective. Assignment is not necessary.

30 : Torque limit Torque limit value becomes always effective. Unless assigned, maximum torque limit value (basic
para. 59) setting is effective.

37 : Position control Position control or torque control becomes always effective.

38 : Torque control

43 : Override valid Override becomes always effective.

44 to 47 : Overeride 1, 2, 4, 8 Only specifically determined magnification becomes effective.

48 : Interrupt input valid Interrupt input becomes always effective.

51 to 53 : [X1], [X2], [x3] Only specifically determined multistep speed becomes effective.

Remarks: The signals that have been assigned to system para. 87 or 88 are always effective.
The only two signals can be “always effective.”

6-21 MHT258a (Engl.)

6.3.7 Undervoltage
Selects the operation when undervoltage at main circuit input is detected.

System parameter 84, 85

Para. Name Setting range Initial value Change
84 Operation at undervoltage 0: Rapid deceleration to a stop 0 Power
1: Free-run
85 Alarm detection at undervoltage 0: No detection 1 Power
1: Detects

■ Operation at undervoltage (system para. 84)

Specifies the motor operation when undervoltage has been detected while the run command [RUN] is on.

Setting range Operation

0: Rapid decel. to a stop The motor rapidly decelerates to a stop (within amplifier’s highest capacity).
1: Free-run The motor decelerates (or accelerates) with free-run condition according to the load torque.

■ Alarm detection at undervoltage (system para. 85)

Specifies the alarm detection operation when undervoltage has been detected while the run command [RUN] is on.

Setting range Operation

0: No detection Alarm is not detected.
1: Detects Undervoltage alarm was detected.

If “0” has been set, the motor stops according to the preset operation to be made at undervoltage, and alarm detection will not be output.

Remark: If the power voltage decrease (undervoltage) due to momentary power failure is detected, the motor decelerates by system para.
84 setting. Due to regenerative power generated by the motor during deceleration, voltage level may exceed undervoltage level.
In this case, the motor starts deceleration at the undervoltage level. After that, the motor will accelerate again after alarm detection
of undervoltage is released.

6-22 MHT258a (Engl.)

6.4 Communication
This section explains the communication setting for amplifier.

6.4.1 Station number

Sets the station number about communication.

System parameter 96
Para. Name Setting range Initial value Change
96 Station number 1 to 31 (In increments of 1) 1 Power

Specifies the amplifier station number at 1 through 31 in decimal.

If the station number is hexadecimal, see the following conversion table.

Station No. setting Station No. setting Station No. setting Station No. setting Station No. setting Station No. setting
(decimal) (hexadecimal) (decimal) (hexadecimal) (decimal) (hexadecimal)
1 01H 11 0BH 21 15H
2 02H 12 0CH 22 16H
3 03H 13 0DH 23 17H
4 04H 14 0EH 24 18H
5 05H 15 0FH 25 19H
6 06H 16 10H 26 1AH
7 07H 17 11H 27 1BH
8 08H 18 12H 28 1CH
9 09H 19 13H 29 1DH
10 0AH 20 14H 30 1EH
31 1FH

6.4.2 Baud rate

Specifies the RS485 interface baud rate. This baud rate is different from that of the exclusive loader or PC loader.

System parameter 97
Para. Name Setting range Initial value Change
97 Baud rate 0 : 9600[bps] 0 Power
1 : 19200[bps]
2 : 38400[bps]

6-23 MHT258a (Engl.)

6.5 List of parameter

Basic parameter
The basic parameters are rather frequently adjusted. Changing almost any basic parameter immediately affects the amplifier and the motor
actions.

■ Basic parameter for RYS-V type (1/2)

Para. Name Setting range Initial value Change
01 Manual feed speed 1 0.01 to Max. speed [r/min] (in 0.01 steps) 100.00 Always
02 Manual feed speed 2 0.01 to Max. speed [r/min.] (in 0.01 steps) 500.00 Always
03 Manual feed speed 3 0.01 to Max. speed [r/min.] (in 0.01 steps) 1000.00 Always
04 Manual feed speed 4 0.01 to Max. speed [r/min.] (in 0.01 steps) 100.00 Always
05 Manual feed speed 5 0.01 to Max. speed [r/min.] (in 0.01 steps) 100.00 Always
06 Manual feed speed 6 0.01 to Max. speed [r/min.] (in 0.01 steps) 100.00 Always
07 Manual feed speed 7 0.01 to Max. speed [r/min.] (in 0.01 steps) 100.00 Always
08
to Unused 0 −
15
16 Maximum speed 0.01 to Max. speed [r/min.] (in 0.01 steps) 5000.00 Always
17 Override 1 0 to 150% (in 1% steps) 10 Always
18 Override 2 0 to 150% (in 1% steps) 20 Always
19 Override 4 0 to 150% (in 1% steps) 40 Always
20 Override 8 0 to 150% (in 1% steps) 80 Always
21 Acceleration time 1 0.000 to 99.999s (in 0.001s steps) 0.100 Always
22 Deceleration time 1 0.000 to 99.999s (in 0.001s steps) 0.100 Always
23 Acceleration time 2 0.000 to 99.999s (in 0.001s steps) 0.500 Always
24 Deceleration time 2 0.000 to 99.999s (in 0.001s steps) 0.500 Always
25 Non-linear (Scurve) filter coefficient 0.000 to 99.999s (in 0.001s steps) 0.000 Always
26
to Unused − − −
30
31 Tuning method 0: Manual 1: Auto(Low stiffness) 2: Auto (High stiffness) 1 Always
32 Load inertia ratio 0.0 to 100. 0 times (in 0.1 steps) 0.0 Always
33 Operation speed response 10 to 1000Hz (in 1Hz steps) 100 Always
34 Speed response at stoppage 10 to 1000Hz (in 1Hz steps) 100 Always
35 Stop detection width 5 to 100 [r/min] (in 1 steps) 20 Always
36 Stop judgment time 0.00 to 1.00s (in 0.01s steps) 0.00 Always
37 Torque filter time constant 0.00 to 20.00 [ms] (in 0.01ms steps) 0.30 Always
38 Speed regulator integration time 1 to 1000 [ms] (in 1 steps) 20 Always
39 Position regulator gain 1 to 1000 (in 1 steps) 50 Always
40 Feed forward gain 0.000 to 1.5000 (in 0.001 steps) 0.000 Always
41 Speed setting filter 0.0 to 20. 0 [ms] (in 0.1 steps) 0.0 Always
42 Speed feedback filter 0: OFF 1: ON 0 Always
43 Torque setting filter 0.0 to 9.9s (in 0.1 steps) 0.1 Always
44 Vibration suppression time constant 10 to 1000 [ms] (in 1 steps) 100 Always
45 Vibration suppression gain 0.00 to 1.00 (in 0.01 steps) 0.00 Always
46
to Unused − − −
50

6-24 MHT258a (Engl.)

■ Basic parameter for RYS-V type (2/2)
Para. Name Setting range Initial value Change
51 Speed arrival width 10 to Max. speed [r/min] (in 1 steps) 50 Always
52 Speed zero width 10 to Max. speed [r/min] (in 1 steps) 20 Always
53 Deviation zero width 10 to 10000 [pulses] (in 1 steps) 20.0 Always
54 Deviation over width 10 to 65535 (in 1 steps) [x 100 pulse] 10000 Always
55 Positioning end output form 0: Level 1: One shot 0 Power
56 Positioning end output time 0.01 to 1.00s (in 0.01s steps) 0.10 Always
57 Positioning end judgment time 0.000 to 1.000s (in 0.001s steps) 0.050 Always
58 Overload early warning level 10 to 100% (in 1 steps) 50 Always
59 Maximum torque limit level 0 to Max. torque [%] (in 1 steps) 300 Always
60
to Unused − − −
61
62 Fixed, passing point detection 0: Fixed point 1: Passing point OFF/ON 0 Always
2: Passing point ON/OFF
63 Fixed, passing point detection position 1 -79999999 to 0 to 79999999 (in 1 steps) [x unit q'ty] 0 Always
64 Fixed, passing point detection position 2 -79999999 to 0 to 79999999 (in 1 steps) [x unit q'ty] 0 Always
65 Fixed position detection range 0 to 79999999 (in 1 steps) [x unit q'ty] 100 Always
66 Origin detection range 1 to 79999999 (in 1 steps) [x unit q'ty] 100 Always
67 Position detection valid/invalid 0: Valid after origin return end 1: Always 0 Always
68
to Unused − 0 −
70
71 Origin return pattern 1: Pattern 1 2: Pattern 2 3: Pattern 3 4: Pattern 4 1 Power
72 Origin return direction 0: Positive direction 1: Negative direction 0 Power
73 Z-phase detection valid/invalid 0: Valid 1: Invalid 0 Power
74 Origin LS logic 0: NO contact 1: NC contact 0 Always
75 Origin return speed 0.01 to Max. speed [r/min] (in 0.01 steps) 500.00 Always
76 Origin detection creep speed 0.01 to Max. speed [r/min] (in 0.01 steps) 50.00 Always
77 Origin shift quantity 1 to 2000000 (in 1 steps) [x unit q'ty] 1000 Always
78 Origin return reversing quantity 0 to 79999999 (in 1 steps) [x unit q'ty] 0 Always
79 Origin return position -79999999 to 0 to 79999999 (in 1 steps) [x unit q'ty] 0 Always
80 Preset position -79999999 to 0 to 79999999 (in 1 steps) [x unit q'ty] 0 Always
81 Interrupt positioning amount 1 to 79999999 (in 1 steps) [x unit q'ty] 100000 Always
82
to Unused − 0 −
90
91 Command pulse correction α 1 to 32767 (in 1 steps) 8 Always
92 Command pulse correction β 1 to 32767 (in 1 steps) 1 Always
93 Pulse train ratio 1 0.01 to 100.00 (in 0.01 steps) 1.00 Always
94 Pulse train ratio 2 0.01 to 100.00 (in 0.01 steps) 10.00 Always
95 Position data decimal point position 0: 1 1: 0.1 2: 0.01 3: 0.001 4: 0.0001 0 0
5: 0.00001
96
to Unused − 0 −
99

6-25 MHT258a (Engl.)

System parameter
The system parameter is used for the function setting of the control input/output terminals of amplifier.
Changed setting of most parameters is effective only after turning off and on power.

■ System parameter for RYS-V type (1/2)

No. Name Setting range Initial value Change
01 CONT1 signal assignment 0 to 56 (in 1 steps) 1 Power
02 CONT2 signal assignment 0 to 56 (in 1 steps) 2 Power
03 CONT3 signal assignment 0 to 56 (in 1 steps) 3 Power
04 CONT4 signal assignment 0 to 56 (in 1 steps) 11 Power
05 CONT5 signal assignment 0 to 56 (in 1 steps) 51 Power
06 CONT6 signal assignment 0 to 56 (in 1 steps) 52 Power
07 CONT7 signal assignment 0 to 56 (in 1 steps) 27 Power
08 CONT8 signal assignment 0 to 56 (in 1 steps) 37 Power
09
to Unused − 0 −
21
22 Parameter RAM storage 1 0: Not assigned 1 to 99: Basic parameter No. 0 Power
23 Parameter RAM storage 2 0: Not assigned 1 to 99: Basic parameter No. 0 Power
24 Parameter RAM storage 3 0: Not assigned 1 to 99: Basic parameter No. 0 Power
25 Parameter RAM storage 4 0: Not assigned 1 to 99: Basic parameter No. 0 Power
26 Parameter RAM storage 5 0: Not assigned 1 to 99: Basic parameter No. 0 Power
27 Parameter RAM storage 6 0: Not assigned 1 to 99: Basic parameter No. 0 Power
28 Parameter RAM storage 7 0: Not assigned 1 to 99: Basic parameter No. 0 Power
29 Parameter RAM storage 8 0: Not assigned 1 to 99: Basic parameter No. 0 Power
30 Parameter RAM storage 9 0: Not assigned 1 to 99: Basic parameter No. 0 Power
31 OUT1 signal assignment 0 to 41 (in 1 steps) 1 Power
32 OUT2 signal assignment 0 to 41 (in 1 steps) 28 Power
33 OUT3 signal assignment 0 to 41 (in 1 steps) 24 Power
34 OUT4 signal assignment 0 to 41 (in 1 steps) 0 Power
35 OUT5 signal assignment 0 to 41 (in 1 steps) 0 Power

Function (Input signal) number assigned to Function (Output signal) assigned to

system para.1 to 8 (CONT1 to CONT8) system para.31 to 35 (OUT1 to OUT5)

0: Not assigned 37: Position control 0: Not specified 32: Alarm code 0
1: Run command [RUN] 38: Torque control 1: Ready [RDY] 33: Alarm code 1
2: Forward command [FWD] 43: Override valid 2: Positioning end [PSET] 34: Alarm code 2
3: Reverse command [REV] 44: Override1 14: Brake timing 35: Alarm code 3
5: Origin return [ORG] 45: Override2 15: Dynamic braking 36: Alarm code 4
6: Origin LS [LS] 46: Override4 16: Alarm detection [ALM] 38: +OT detection
7: +OT 47: Override8 17: Fixed, passing point 1 39: -OT detection
8: -OT 48: Interrupt input valid 18: Fixed, passing point 2 40: Origin LS detection
10: Forced stop [EMG] 49: Interrupt input 20: OT detection 41: Forced stop detection
11: Alarm reset [RST] 50: Deviation clear 22: Origin return end
14: ACC0 51: X1 23: Deviation zero
16: Position preset 52: X2 24: Speed zero [NZERO]
27: Pulse train ratio 1 53: X3 25: Speed arrive [NARV]
28: Pulse train ratio 2 54: Free-run [BX] 26: Torque limit detection
29: P-action 55: Edit permit command 27: Overload early warning
30: Torque limit 56: Current position output 28: CPU ready [CPURDY]
34: External fault input 29: Edit permit on
31: Address error

6-26 MHT258a (Engl.)

■ System parameter for RYS-V type (2/2)
No. Name Setting range Initial value Change
36
to Unused − 0 −
59
60 Torque command function select 0: Torque command 1: Speed command (aux.) 0 Power
61 Speed limit select 0: Parameter 1: Speed command terminal 0 Power
62 Torque limit select 0: Parameter 1: Torque command terminal 0 Power
63 Speed command gain ±0.10 to ±1.50 times (in 0.01 steps) 1.00 Always
64 Speed command offset -2000 to +2000 (in 1 steps) (Individual) Always
65 Torque command gain ±0.10 to ±1.50 times (in 0.01 steps) 1.00 Always
66 Torque command offset -200 to +200 (in 1 steps) (Individual) Always
67 Monitor1 signal assignment 1: Speed command 2: Speed feedback 2 Always
3: Torque command 4: Position deviation
68 Monitor2 signal assignment 1: Speed command 2: Speed feedback 3 Always
3: Torque command 4: Position deviation
69 Monitor1 scale ±2.0 to ±10.0V (in 0.1V steps) 7.0 Always
70 Monitor1 offset -50 to +50 (in 1 steps) 0 Always
71 Monitor2 scale ±2.0 to ±10.0V (in 0.1V steps) 6.0 Always
72 Monitor2 offset -50 to +50 (in 1 steps) 0 Always
73 Monitor1, 2 output form 0: Monitor1(two-way deflection) / Monitor 2 (two-way deflection) 0 Power
1: Monitor1(one-way deflection) / Monitor 2 (two-way deflection)
2: Monitor1(two-way deflection) / Monitor 2 (one-way deflection)
3: Monitor1(one-way deflection) / Monitor 2 (one-way deflection)
74 Unused − 0 Power
75 Soft OT valid/invalid 0: Valid 1: Invalid 0 Power
76 +Soft OT detection position -79999999 to 0 to 79999999 (in 1 steps) [x unit q'ty] 79999999 Always
77 -Soft OT detection position -79999999 to 0 to 79999999 (in 1 steps) [x unit q'ty] -79999999 Always
78 Pulse train input form 0: Command code/pulse 1:Forward/reverse pulse 1 Power
2: Two 90°phase-different signal
79 Output pulse count 16 to 16384 [pulse/rev] (in 1 steps) 2048 Power
80 Rotational direction changeover 0: Positive direction/forward 1: Positive direction/reverse 0 Power
81 Operation at stoppage 0: Speed zero 1: Servo lock 2: Brake (P-action) 0 Power
3: Brake (free-run)
82 Brake operation time 0.01 to 9.99s (in 0.01s steps) 0.50 Always
83 Brake releasing time 0.01 to 9.99s (in 0.01s steps) 0.20 Always
84 Operation at undervoltage 0: Rapidly decelerates to stop 1: Free-run 0 Power
85 Alarm detection at undervoltage 0: No detection 1: Detect 0 Power
86 Resistor thermal relay 0: Electronic thermal relay 1: External thermal relay 0 Power
87 CONT always valid 1 0 to 56 (in 1 steps) 0 Power
88 CONT always valid 2 0 to 56 (in 1 steps) 0 Power
89 Initial indication 0 to 20 (in 1 steps) 0 Power
90
to Unused − 0 −
93
94 Parameter rewriting inhibit 0: Rewriting enable 1: Rewriting disable 0 Power
95 Unused − 0 Power
96 Station number 1 to 31 (in 1 steps) 1 Power
97 Baud rate 0: 9600 1: 19200 2: 38400 [bps] 0 Power
98 Unused − 0 Power
99 INC/ABS system 0: INC (Incremental) 1: ABS (Absolute) 0 Power

6-27 MHT258a (Engl.)

7. KEYPAD PANEL

7.1 Summary
The amplifier is provided with a keypad panel. It has a display section of five 7-segment
LED digits and 4 operation keys. Figures and letters are displayed on the display section.
RYS201S3-VVS
(See left figure.)

MODE SHIFT
ESC ENT

Remark: The keypad panel cannot be removed.

K80791543 CHARGE

(1) Mode
The keypad panel operation can be classified into 5 modes.

Sequence mode ････････････････････････････ Indicates the amplifier status.

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

- Some modes cannot be selected depends on amplifier models.

List of 7-segment indication

０ １ ２ ３ ４ ５ ６ ７ ８ ９ −

          Ａ ｂ Ｃ ｄ E Ｆ Ｇ Ｈ Ｉ J L

          ｎ Ｏ ｏ Ｐ ｒ Ｓ ｔ Ｕ，Ｖ ｕ，ｖ ｙ

7-1 MHT258a (Engl.)

(2) Operation key

MODE Change the mode (MODE). SHIFT Moves the cursor to the right at data change
ESC Returns from the mode (ESC). ENT (SHIFT).
Stores the mode and figure (ENT). Press more
than 1s to store the data.

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

Decreases the figure (-1). Increases the figure (+1).
When a figure decreases from 0 to 9, the figure When a figure increases from 9 to 0, the figure on
on the one higher digit decreases by one. the one higher digit increases by one.

Pressing the MODE key while pressing the SHIFT key changes over the indication between the upper 4 digits and lower
ESC ENT 4 digits.

(3) Mode select

Each mode can be selected by [MODE] key.

Mode select Sub-mode select Indication example

Power on

Sequence mode

MODE
ESC

Monitor mode

MODE
ESC

Parameter edit mode

MODE
ESC

Positioning data edit mode ← * For RYS-V type, positioning data edit
mode is invalid.
MODE
ESC (Mode indication is only .)

Test running mode

MODE
ESC

7-2 MHT258a (Engl.)

7.2 Function list
The setting value can be changed in parameter edit mode and positioning data edit mode.

Mode Sub-mode Sub-mode select Indication example

Sequence mode Sequence

Sub-mode

Alarm detection

Alarm history

Amplifier setting

Motor setting

Station No. setting

Monitor mode Feedback speed

Command speed

Actual torque

Feedback position

Command position

Deviation amount

Cumulated pulse

Peak torque

Input voltage 1

Input voltage 2

LS-Z pulse

Input signal

Output signal

Load inertia ratio

7-3 MHT258a (Engl.)

Mode Sub-mode Sub-mode select Indication example
Parameter edit mode Basic para.

System para.

Positioning data edit mode Position data

Speed data

Timer data * Positioning data edit mode

is not valid in RYS-V type.
Status (Mode indication is only
available)

M code

Test running mode Manual feed

Origin return

Position preset

Alarm reset

History initialization

Parameter initialization

Positioning data initialization

Automatic offset adjust

7-4 MHT258a (Engl.)

7.3 Sequence mode
In the sequence mode, the amplifier current status and the alarm detection history can be displayed.
Press “MODE” key to display [ ] and then press “ENT” key for more than 1s .

: Sequence

: Sub mode

: Alarm detection

: Alarm history

: Amplifier setting

: Motor setting

: Station number indication

(1) Sequence
Indicates the amplifier output signal status and operation status.

ENT (1s or more)

            
ＥＳＣ

 Speed zero
 Speed arrival
 Ready

Positioning end Indication Description

In base-off condition. The motor does not have driving force
Deviation zero and in free-run status. (Figure above)
The motor can rotate.
Forced stop detection

* The corresponding LED goes on when the above The amplifier has detected an overtravel signal in positive
each output signal is on. direction and stops.
The amplifier has detected an overtravel signal in negative
direction and stops.
The amplifier has received a forced stop signal and stops with
the speed zero.

Remark : When power is applied to the amplifier, the sequence mode is displayed. The type of indication at power on can be changed by
system para. 89 setting.

7-5 MHT258a (Engl.)

 System parameter 89 setting
Setting Initial indication Setting Initial indication
0 ［ ］ Sequence 7 ［ ］ Feedback speed
1 ［ ］ Sub-mode 8 ［ ］ Command speed
2 ［ ］ Alarm detection 9 ［ ］ Actual torque
3 ［ ］ Alarm history 10 ［ ］ Feedback position
4 ［ ］ Amplifier setting 11 ［ ］ Command position
5 ［ ］ Motor setting 12 ［ ］ Deviation amount
6 ［ ］ Station No. indication 13 ［ ］ Cumulated pulse
14 ［ ］ Peak torque
15 ［ ］ Input voltage 1
16 ［ ］ Input voltage 2
17 ［ ］ LS-Z pulse
18 ［ ］ Input signal
19 ［ ］ Output signal
20 ［ ］ Load inertia ratio

(2) Sub-mode
Indicates the sub-mode of the sequence mode.
 ENT (1s or more)

ＥＳＣ

Indication Description
In base-off condition. The motor does not have
driving force and in free-run status.
The motor can rotate and is waiting run command.

The motor can rotate and is executing manual feed.

The motor can rotate and the pulse train input is valid.

The motor can rotate and is executing positioning

operation.
The motor can rotate and is executing origin return.

The motor can rotate and is executing interrupt

positioning.
The amplifier is executing deviation clear.

The motor can rotate and is measuring the brake

timing.
The motor is stopping with positioning cancel signal.

The amplifier has detected an overtravel signal in

positive direction and stops.
The amplifier has detected an overtravel signal in
negative direction and stops.

7-6 MHT258a (Engl.)

(3) Alarm detection
The contents of current alarm can be displayed with codes. When [ ] is displayed, the alarm history can be displayed.
When an alarm is detected, the following indication will appear.

ENT (1s or more)

ＥＳＣ
Alarm code

Major fault Minor fault

Indication Description Indication Description
No alarm (Figure above) Resistor heat (rH)
Overload (OL) Deviation excessive (OF)
Overspeed (OS) Amplifier overheat (AH)
Overvoltage (Hv) Absolute data lost (AL)
Encoder trouble (Et) Absolute data overflow (AF)
Encoder communication error (EC) Terminal error (tE)
Circuit trouble (Ct)
Memory error (dE)
Undervoltage (Lv)
Overcurrent (OC)
Combination error (CE)
Resistor heat 2
Cont (Control signal) error (CtE)
System error (SE)

Remarks : The alarm codes are indicated automatically. In alarm history, if of [ ＊＊＊] is flickering, the alarm has not reset yet.
On this indication, if the alarm detection is reset by the control input signal, the initial screen (system para. 89 setting) is
displayed. The reset of alarm detection can be carried out by trial operation mode [ ].
Press the ∧ key and ∨ key simultaneously for 1s or more while alarm detection is indicated to reset the alarm detection.

7-7 MHT258a (Engl.)

(4) Alarm history
The last 9 times of alarm detection history can be indicated. The indication can be scrolled by the ∧ key and ∨ key.

ENT (1s or more)

ESC
                                   
∧，∨

Alarm history indication (A)

Detected history number (1:latest, 9:oldest) Alarm code (See (3) .)

Remark : The alarm history can be deleted by trial operation mode [ ].

Press the ∧ key and ∨ key simultaneously for 1s or more while alarm detection is indicated to reset the alarm detection.

(5) Amplifier setting

The amplifier control function and connecting form are indicated.

ENT (1s or more)

ESC

Control function (1st digit, left end digit) Main control connector (2nd digit)
Indication Function Indication Function
Speed control DI/DO standard
Rotation indexing (dividing) SX bus
Linear positioning

Extension connector 1 (3rd digit) Extension connector 2 (4th digit)

Indication Function Indication Function
Not mounted Not mounted
DI/DO extension T-link
RS-485 Parallel
ANY bus
Multi bus

7-8 MHT258a (Engl.)

(6) Motor setting
The motor type and capacity being connected the amplifier are indicated.

ENT (1s or more)

ESC Capacity : in kW

Indication Motor type

Cubic type
Slim type
High stiffness
Flat
Large capacity
The sample indication above means a cubic type motor of 0.1kW.

(7) Station number

The communication ID of the amplifier being connected to various network and link is indicated.

ENT (1s or more)

Communication ID, link address,
local station addrress

ESC

Indication Communication interface

SX bus
T-link
RS-485
JPCN-1
No interface

The amplifier having no interface for communication

displays [ ].

For SX bus, the 2nd digit indication is as follows.

ERR
ONL

Receive monitor

7-9 MHT258a (Engl.)

7.4 Monitor mode
In monitor mode, the motor speed or the cumulative value of input pulse can be displayed.

: Feedback speed : Peak torque

: Command speed : Input voltage 1

: Actual torque : Input voltage 2

: Feedback position : LS-Z pulse

: Command position : Input signal

: Deviation amount : Output signal

: Cumulated pulse : Load inertia ratio

(1) Feedback speed

The motor’s current speed. Even if the motor is driven by the load (mechanical system), the correct speed will be indicated. The indication is
in 1[r/min] unit. The negative sign is added when the motor rotates in reverse (clockwise viewed from shaft extension).

ENT (1s or more)

ESC

(2) Command speed

The speed given to the motor. The speed command voltage, multistep speed and pulse train are the command speed.
The indication is in 1[r/min] unit. The negative sign is added when the motor rotates in reverse (clockwise viewed from shaft extension).

ENT (1s or more)

ESC

(3) Actual torque

The motor’s current load factor. The average value per second, assuming the rated torque as 100%, is indicated.
The indication is from 0% through the max. torque in 1% steps. The negative sign is not added.

ENT (1s or more)

ESC

7-10 MHT258a (Engl.)

(4) Feedback position
The motor rotational quantity is indicated in unit q’ty after pulse correction. If pulse correction is not used, the motor encoder rotation q’ty
itself will be indicated.
(In case of 16 bit serial encoder, 65536 pulses per rotation)

ENT (1s or more)

Pressing the MODE key holding down the SHIFT key

ESC interchanges the high order 4 digits and low order 4
digits.

Remarks : If the rotating direction has been altered by system para. 80, an increase from the current position raises the reading.
The maximum positive count of 99,999,999 is followed by 0. The maximum negative count of -99,999,999 is followed by 0.
I.e., the count becomes 0 every ± 100,000,000. The indication is correct even when rotated by the load (mechanical system).
4 digits preceded by "H" are high order 4 digits, and those by "L" are low order 4 digits.
In case of a negative value, H (or L) and - (minus sign) appears alternately.

(5) Command position

The position of motor controlled by the amplifier is displayed in unit quantity after pulse correction.
If, after a target position is attained, the run command has been turned off and if the motor is rotated by the load (mechanical system), a
correct position is not displayed.

ENT (1s or more)

ESC Pressing the MODE key holding down the SHIFT key
interchanges the high order 4 digits and low order 4
digits.

(6) Deviation amount

Displays the difference between command position and feedback position. The deviation is displayed in terms of encoder pulse count.

ENT (1s or more)

ESC Pressing the MODE key holding down the SHIFT key
interchanges the high order 4 digits and low order 4
digits.

7-11 MHT258a (Engl.)

(7) Cumulated pulse
Displays the number of pulse trains inputted to the pulse train input terminal. Inputting the forward pulses increases the integrated value or
inputting the reverse pulses decreases the integrated value.
In case of two 90° phase-different signals, each edge is counted (quadrupling). The count increases if B phase is in lead.

ENT (1s or more)

ESC Pressing the MODE key holding down the SHIFT key
interchanges the high order 4 digits and low order 4
digits.

Remarks : The maximum positive count of 99,999,999 is followed by 0.

The maximum negative count of -99,999,999 is followed by 0.
I.e., the count becomes 0 every ± 100,000,000.
4 digits preceded by "H" are high order 4 digits, and those by "L" are low order 4 digits. In case of a negative value, H (or L) and
- (minus sign) appears alternately.

(8) Peak torque

Current load factor of motor. The peak value is displayed every second in percentage with respect to rated torque.
The indication is from 0% to maximum torque without minus sign.

ENT (1s or more)

ESC

(9) Input voltage 1

Indicates the input voltage at the control input terminal [NREF] in 0.1 V steps. "-" denotes a negative voltage.

ENT (1s or more)

ESC

(10) Input voltage 2

Indicates the input voltage at the control input terminal [TREF] in 0.1 V steps. "-" denotes a negative voltage.

ENT (1s or more)

ESC

7-12 MHT258a (Engl.)

(11) LS-Z pulses
Displays a pulse count from when the origin LS signal has turned off at origin return until when Z-phase of motor encoder has been detected.
The indication is updated at every origin return action. Since the value is in the origin return direction, there is no "-".

ENT (1s or more)

ESC Pressing the MODE key holding down the SHIFT key
interchanges the high order 4 digits and low order 4
digits.

(12) Input signal

Displays whether the control input signals to the amplifier are turned on or off. If signals are turned on, corresponding LEDs are lit.

[CONT16］　・・・・・・・[CONT10] [CONT9]

ENT (1s or more)

ESC

[CONT8]・・・・・・・・・・[CONT2] [CONT1]

Pressing the MODE key holding down the

SHIFT key interchanges the H side and L side.

[CONT32]・・・・・・・・・・・・・・・・[CONT26] [CONT25]

[CONT24]・・・・・・・・・・・・・・・[CONT18] [CONT17]

Note : Depending on the amplifier type, the number of control input signals changes.

7-13 MHT258a (Engl.)

(13) Output signal
Displays whether the control output signals from the amplifier are turned on or off. If signals are turned on, corresponding LEDs are lit.

[OUT16］　・・・・・・・・・[OUT10] [OUT9]

ENT (1s or more)

ESC

[OUT8]・・・・・・・・・・・[OUT2] [OUT1]

Pressing the MODE key holding down the

SHIFT key interchanges the H side and L side.

[OUT32]・・・・・・・・・・・・・・・・・・[OUT26] [OUT25]

[OUT24]・・・・・・・・・・・・・・・[OUT18] [OUT17]

Note : Depending on the amplifier type, the number of control output signals changes.

(14) Load inertia ratio

Displays the load inertia ratio recognized by the amplifier regardless of the tuning method (basic para. 31)

( Moment of inertia recognizedby amplifier )

( Load inertia ratio ) =
( Moment of inertia of motor )

ENT ( 1s or more )

EST

Displays the magnification (in 0.1 times unit) of the moment of inertia of the motor.

7-14 MHT258a (Engl.)

7.5 Parameter edit mode
In the parameter edit mode, basic paras. and system paras. can be edited.
Display [ ] by the MODE key and hold down the ENT key for at least 1 second to select the basic para. or system para.

: Basic para.
: System para.

By ∧ key or ∨ key, select a number of para. By pressing the ENT key, its contents can be edited.

: Basic or system para. number.

(1) Basic paras.

In basic paras., rather frequently used contents are registered. Changing almost any basic para. immediately affects the amplifier and
motor actions.

ENT(1s or more) ENT

ESC ESC
∧ ∨

ENT

ESC
∧ ∨

ENT

ESC

7-15 MHT258a (Engl.)

(2) System parameter
System paras. register the functions of input/output terminals and other contents related to system setting. Changed setting of most
system paras. is effective only after turning off and on power.

ENT(1s or more) ENT

ESC ESC
∧ ∨

ENT

ESC
∧ ∨

ENT

ESC

(3) Indication and editing

The indication and editing methods for paras. are as follows.

・Value indication
A value of unsigned 5 digits or signed 4 digits or less is displayed as it is.

Left example shows a value of 2 digits is selected

For clearly indicating the number of digits of a selectable value, zeroes of other columns are suppressed.

A signed value of 5 digits or more is preceded by "H" or "L".

The above example shows a value has 6 digits. (The value will be 500.00.) For interchanging the H side and L side, press the MODE
key holding down the SHIFT key.

・Sign indication
In case of data with minus sign, "H" (or "L") indications and "-" blink alternately.
In case of data with plus sign, "H" (or “L”) indication blanks.
Example : Data with minus sign
(H side)
  
Alternately lights

7-16 MHT258a (Engl.)

・Editing a value
After reading a para., 1 digit or sign blinks at about 1 second intervals, prompting you to change that part.
Pressing the ∧ key or ∨ key changes the value. As for the sign, pressing the ∧ key or ∨ key while the cursor is located at "H" selects a
plus sign (H and blank) or a minus sign (H and -).
If 9 is followed up by 0, the value at the immediately upper place increases by 1. Or, if 0 is followed down by 9, the value at the
immediately upper place decreases by 1.

Example / 9 is followed up by 0 to give 2900

Note that there is no borrow nor carry from H side to L side or reversely.
The shifting order is as follows.

(2) (3) (1) (4) (5)

(1) Reading a para. allows to change the LSD of H side.

(2) Shifting allows to change the sign.
(3) Shifting locates the cursor to the MSD of H side. Shifting repeatedly goes to the right and then sequentially circulates within the display
range of H side.
(4) To jump from the H side to the L side, press the MODE key holding down the SHIFT key. On the L side, the MSD can be changed first.
(5) Each press of the shift key moves the cursor to the right. The LSD is followed by the MSD within the L side.

・Storing the value

Holding down the ENT key for at least 1 second stores the value, blinking all digits simultaneously 3 times. The stored value remains
displayed.
Pressing the ESC key resumes the para. selecting screen.

・Value beyond specified range

A value can be inputted within the range from minimum to maximum specified for each para.
A value beyond the specified range cannot be inputted.

LSD : Least Significant Digit

7-17 MHT258a (Engl.)

・Example of editing
Let us change the setting of basic para.02 “Manual feed speed 2” to 1.0.

Keying Indication Remarks

The feedback speed monitor is displayed.

MODE Resumes the mode selection.

ESC

MODE Press the MODE key for selecting the para. edit mode.
ESC

SHIFT Hold down the ENT key for at least 1 [sec] for designating the para.
ENT
1 [sec] min. number.

Select the basic para. 2.

SHIFT Pressing the ENT key reads the setting contents.

ENT
The LSD blinks. (Two MSDs of initial value 500.00 are displayed.)

Blink

Decrease the value to 0.

SHIFT Press the MODE key holding down the SHIFT key to display the L side
ENT MODE (low order 4 digits).
ESC

Blink

SHIFT Press the SHIFT key to shift the cursor to the adjacent digit on the right.
ENT

Blink

Set the value to 1. Likewise, change the LSD to 0.

Blink

SHIFT Hold down the ENT key for at least 1 [sec] to store the new value.
ENT

1 [sec] min.

Storing the value keeps it displayed. Pressing the ESC key resumes
the para. number selecting screen.

7-18 MHT258a (Engl.)

7.6 Positioning data edit mode

* For RYS-V type, positioning data edit mode is invalid.

(Mode indication is only.)

7.7 Test running mode

In the test running mode, keying on the keypad panel can rotate the motor or reset the different items.
Upon displaying [ ] by the MODE key, holding down the ENT key for at least 1 [sec] executes a test running.

: Manual feed : Initializing the history

: Origin return : Initializing the paras.
: Position preset : Initializing the positioning data
: Alarm reset : Automatic offset addjust

(1) Manual feed ( )

So long as a key on the keypad panel is pressed, the motor rotates. The motor speed is as set by basic para. 1.

ENT (1s or more)

ESC
ESC ENT

∨ Indicates rotating in positive direction

* So long as ∧ key or ∨ key is pressed, the motor rotates

While the motor is rotating by a control input/output signal,

other indication than [ ] cannot be selected. Indicates rotating in negative direction

(2) Origin return ( )

Keying on the keypad panel performs an origin return. The origin return is made according to basic paras. 71 to 79. Change of basic para.
71 to 73 settings is effective only after turning off and on power.

ENT (1s or more)

ESC ENT
ESC

ENT

Return end

ESC

After the end of origin return, the indication remains [ ]. Pressing the ESC key resumes a sub-mode selection.

7-19 MHT258a (Engl.)

(3) Position preset ( )
The current position of motor can be preset. The following alarm detected can be reset.
・ABS data loss
・Absolute data overflow

ENT (1s or more)

ESC
ＥＳＣ ＥＮＴ
ＥＮＴ

Preset end

ESC

The current position is set by basic para. 80.

Position preset cannot be made while the motor is rotating.

(4) Alarm reset ( )

Resets the alarm detected by the amplifier.

ENT (1s or more) ENT

ESC ESC

(5) Initializing the history ( )

Deletes the history of alarms detected held by the amplifier.
This history can be monitored by a sequence mode of [ ].

ENT (1s or more) ENT

ESC
(Initializing complete)

The alarm history is held even after turning off power. ESC

(6) Initializing the paras. ( )

Initializes the basic paras. and system paras.
* After initializing, be sure to turn off and on power.

ENT (1s or more) ENT

ESC
(Initializing complete)

ESC

7-20 MHT258a (Engl.)

(7) Initializing the positioning data ( )
Initializes all positioning data.
* After initializing, be sure to turn off and on power.

ENT (1s or more)

ENT

ESC
(Initializing complete)

ESC

(8) Automatic offset adjust ( )

Sets the input voltage to the control input terminals [NREF] and [TREF] at 0 [V].

ENT (1s or more) ＥＮＴ

ESC
Adjustment end
ＥＳＣ

(2)
FALDIC RYS201S3-VVS
When the motor rotates slowly with the run command given, the speed
command voltage offset is generated. (Where the speed command
MODE
ESC
SHIFT
ENT
voltage is selected in speed control)
(1)
K80791234 CHARGE

L1
L2 (1) Sets 0 [V] at the terminal [NREF].
L3
Whether the run command is given or not has no influence.
DB
P1
P+ (2) Select [ ] on the keypad panel and press ENT key, then the
N offset can adjusted automatically.
U
V
(3) (3) Make sure that the motor will not rotate even if the run command is ON.
W

Remarks:
Both the terminal [TREF] and [NREF] can be adjusted simultaneously by the automatic offset adjust.
The adjustment result will be stored in system paras. 64 and 66.
Along with the change of ambient environment, the offset adjust may be required again.
With the setting of system para. 81, the operation at stoppage can be selected. When “servo lock” is selected, the motor can be stopped
by “servo lock” even in speed control mode. However, when the host controller is controlling the amplifier using the speed command
voltage and freq. dividing output pulse (feedback), do not select the “servo lock.

7-21 MHT258a (Engl.)

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

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

20
PL 20

LOADER LOADER DA
FALDIC RYS201S3-VVS

MODE SHIFT
11
ESC ENT B/A
B/A

PE1 HP2
K80791234 CHARGE

L1
L2
L3
DB
P1
P+
Speed command voltage (analog)
N
U
V
W

Freq. dividing output (feedback)

7-22 MHT258a (Engl.)

8. TEST (TRIAL) RUNNING OPERATION

8.1 Preparation
(1) Preparation
A test running is carried out upon connecting the amplifier and motor. For the wiring method, see 4.
For the test running, the motor is not connected to the mechanical equipment system and, when the operation is normal, it is connected to
the mechanical equipment system.

(a) Main circuit power input

The amplifier power supply includes main circuit power input (L1, L2, L3) and control power input (LIC, L2C).

(b) Main circuit power supply

Connect the motor power line to the (U, V, W) terminals on the amplifier terminal block (board). Changing the phase sequence cannot
change the motor rotational direction.

(c) Encoder wiring

Connect the encoder for the motor to CN2 on the amplifier using a specified cable.

(d) Control input/output wiring

Do not connect CN1 and CN3 to the amplifier, when the test running temporary.

(2) Power supply

Supply the main circuit power to the amplifier.
If the status is as follows, the amplifier is operating properly.
When power is supplied, the “CHARGE” LED under the touch panel of amplifier is lit red.
Periods for all of five 7-segment digits light once simultaneously.

Period

If the para.(*) are as set at factory, the sequence of sequence mode appears.
(7-segment digit display on touch panel.)

(*) Para. : Parameter(s)

8-1 MHT258a (Engl.)
 FALDIC RYS201S3-VVS

MODE SHIFT
ESC ENT

K80791234 CHARGE

Main circuit power input L1

L2
L3
DB
P1
P+ Control input/output cable
N
U
V
W
Encoder cable

Motor cable

Motor cable

Remark : The “CHARGE” LED lights on either the main circuit power supply or control power supply.
Depending on the system para. setting, “ABS data lost “ [AL] or other alarms may occur but it is not abnormal.
If a system error is displayed, contact us.

8-2 MHT258a (Engl.)

(3) Absolute system [ABS]
If an absolute system is used, carry out a start up in the following procedure.

(a) Battery
Install a battery (WSB-S type) on the amplifier as follows.
(i) Pull open downward the cover for the battery space located
on the right side of amplifier.
(ii) On the left of the battery space, there is a connector which is
to be engaged with the connector provided for the battery.
(iii) Engage the connectors and close the cover in place.

(b) System para.

Turn on the power supply, and system para. 99 sets to “1”.

(c) Turning off power

To validate the set value of system para. 99, turn off and on power.
Make sure the CHARGE LED is extinguished (goes out) when turning
on again.

(d) Power supply

Supplying power produces an alarm “Absolute data lost”.

(e) Resetting the detected alarm

Execute the position preset [Fn003] in the test running mode to
reset the alarm.
Thereafter, the ABS system is validated.

Connector Battery cover

8-3 MHT258a (Engl.)

8.2 Touch panel
After making sure of status when power is turned on, carry out a test running from the touch panel.

CAUTION

At the test running, the motor must not be connected to the mechanical equipment system, to be prevent unexpectedly
break the mechanical equipment system.
Before the test running, firmly tightened the mounting-flange so that the motor will not dislocated. Remove the coupling
bolts for mechanical connection.

(1) Motor
Check the motor model type and rated output [kW].

Key input LC display (example) Remark

The sequence is displayed.

MODE
ESC By the ESC key, select the sub mode.

By ∧ key or ∨ key, select [Sn006]

SHIFT Pressing the ENT key for at least 1 [sec] displays the motor model type.
ENT
GYC type (“C” of cubic) motor of 0.1 [kW] is displayed on the left example.

8-4 MHT258a (Engl.)

(2) Test running mode
By the touch panel of amplifier, rotate the motor.
Select the test running mode.

Key input LC display (example) Remark

Example of sequence mode display.

MODE
ESC ESC key resumes selecting the mode.

MODE
ESC The monitor mode is posted.

MODE
ESC The para. edit mode is posted.

MODE
ESC The positioning data edit mode is posted.

MODE
ESC The test running mode is posted.

SHIFT
ENT Pressing the ENT key for at least 1 [sec] can execute manual feed.

SHIFT
ENT By pressing the ENT key, motor can be rotated.

Holding down the ∨ key rotates the motor forward (＊).

Releasing the key stops motor.

MODE
ESC Pressing the ESC key resumes selecting the mode.

Remark : In case of a vertical-feed load machine such as elevator, a motor with provided brake is applied.
In this case, the brake release and excitation must be performed according to keying in the test running mode.
For brake timing, use the control output signal “brake timing”.

(＊) Direction of motor shaft rotation (when viewed from a point facing the drive-end of motor) is designed according to Japanese standards :
• Forward direction : Counter-clockwise (CCW) rotation
• Reverse direction : Clockwise (CW) rotation

8-5 MHT258a (Engl.)

8.3 Control input signal
Carry out a test running using the control input signals.
Turn off power and connect the control input/output wiring to CN1.

(1) Control input signals

In the monitor mode of the touch panel, control input signal ON/OFF can be checked.

Key input LC display (example) Remark

Example of test running mode display

MODE
ESC The MODE key selects a mode.

MODE
ESC Select the monitor mode.

By ∧ key or ∨ key, select [On012]

SHIFT Holding down the ENT key for at least 1 [sec] allows to check the input
ENT
signal ON/OFF.

If a control input signal on CN1 turns ON, the corresponding LED lights.
The input signal display [On012] in the monitor mode is updated in real-time.

［ＣＯＮＴ８］・・・・・［ＣＯＮＴ３］［ＣＯＮＴ２］［ＣＯＮＴ１］
（Position control）    [ＲＥＶ]   [ＦＷＤ]  [ＲＵＮ]

Remark : CN1 is not factory assigned to the following signals.

• Forced stop (10) • +OT (7)
• External fault input (34) • -OT (8)
These signals are N.C. (or “b”) break contact. Connecting the CN1 allows to run the motor.
At the factory set status, the amplifier carried out a speed control.
Assign a position control (37) for position control by pulse train, etc., or a torque control (38) for torque control.
These signals can be validated at all times by assigning the system para. 87 or 88.

8-6 MHT258a (Engl.)

(2) Speed control
By turning on the run command [RUN] of amplifier (as factory set), the motor can be rotated.
If output signals (PLC, etc.) to the amplifier are not inputted to the amplifier, check the +24[V] DC power supply to CN1.
(a) Supply power to the amplifier.
(b) Make sure a voltage is outputted from the +24[V] DC power supply.
(c) If a variable resistor is connected to speed command [NREF] terminal and torque command [TREF] terminal, adjust it so as to be 0 [V] at
the terminal.
(d) Turn on the run command [RUN] signal.
By the touch panel of amplifier, make sure the LEDs light according to the run command.

(e) On the touch panel, the sequence mode recognized by the amplifier can be checked.

Key input LC display (example) Remark

Example of monitor mode display

MODE
ESC The MODE key selects a mode.

MODE
ESC Change the mode.

MODE
ESC Change the mode.

MODE
ESC Change the mode.

MODE
ESC Change the mode.

By ∧ key or ∨ key, select [Sn001]

SHIFT
ENT Holding down the ENT key for at least 1 [sec] causes a sequence display.

Turning on [RUN] signal displays [run].

(f) The motor starts running by turning on the forward command [FWD] signal.
Check that raising the voltage at the speed command [NREF] terminal gradually increases the motor speed accordingly.
(g) Turning off the forward command [FWD] stops the motor whether a voltage is present at the speed command [NREF] terminal or not.
(h) Turn off the [RUN] signal to turn off power.

8-7 MHT258a (Engl.)

(3) Position control
According to a pulse train (output) of a host controller mainly, a positioning control is made.

Host controller
OONNLL 00 11 22 33 44 55 66 77OONNLL OONNLL 00 11 22 33 44 55 66 77OONNLL CCHH11

Pulse train
APS30
APS30 SCPU32
SCPU32 ONL
SCPU32
SCPU32 ONL EEMMGG ++OOTT --OOTT
ONL ONL

ＳＸ
RUN
RUN RUN
RUN EERRRR 88 99 1100111111221133114411EE
55RRRR EERRRR 88 99 1100111111221133114411E
5E
5RRRR CCHH22
ERR
ERR ERR
ERR
TERM
TERM TERM
TERM
SLV
SLV RUN
RUN SLV
SLV RUN
RUN
PWR
PWR ALM
ALM ALM
ALM
STOP
STOP BAT
BAT STOP
STOP BAT
BAT CCHH
ALM NNoo..
ALM
CPU
CPU CPU
CPU
No.
No. No.
No.
PH
PH
2200
PL
PL

LOADER
LOADER LOADER
LOADER DA
DA

11
BB//AA

PE1
PE1 HP2
HP2

(a) Pulse train form

Match the output form of the pulse train with the host controller.
On the amplifier side, set the system para. 78. Forward pulse/reverse pulse is factory selected (0: Command pulse/command code, 1:
Forward pulse/reverse pulse, 2: Two 90° phase-different signals.)

(b) Maximum input frequency

The maximum input frequency of the pulse train is 400 [kHz].

(c) Position control

For executing a position control, turn on the “position control” by an external input signal.
The position control signal can be validated at all times by other than external input signal upon para. setting.
(i) Set the system para. 78 to an output form of the pulse train.
(ii) Set the system para. 87 or 88 to 37 (position control). The position control signal is validated at all times.
(iii) Turn off and then on power.
(iv) So long as the run command [CONT 1] terminal and pulse train ratio 1 [CONT 7] terminal on CN1 are on, the motor rotates according to
a pulse train (as factory set).
With [On012], the input signal can be checked.

［ＣＯＮＴ７］・・・・・［ＣＯＮＴ３］［ＣＯＮＴ２］［ＣＯＮＴ１］
（Pulse train ratio 1）  [ＲＥＶ]   [ＦＷＤ]   [ＲＵＮ]

With [Sn002], the sequence sub-mode can be checked.

ENT (1 [sec] min.)

Indicates the pulse train is valid.
ESC

8-8 MHT258a (Engl.)

(v) In the monitor mode [On007] on the touch panel, make sure the output pulse count of the host controller and integrated pulse count of the
amplifier coincide with each other.

ENT (1 [sec] min.)

ESC Pressing the MODE key holding

down the SHIFT selects the high
order 4-digit or low order 4-digit.

The example of display indicates the integrated input pulse count is 250000. Forward pulse input counts it up or reverse pulse input counts it
down.
Two 90° phase-different signals indicate 4 times the input pulse count (quadrupling).

8-9 MHT258a (Engl.)

9. INSPECTION AND MAINTENANCE

9.1 Inspection
(1) Before inspection

DANGER

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

(2) Inspection items

Device Inapplicable item

Motor Abnormal vibration (on motor-shaft and bearing-housings, etc.)
Direct exposure to water, steam or oil
Misalignment of mechanical coupling at shaft extension
Amplifier Loose screws of terminal block (board) and fastening parts
Excessive accumulation of dust
Damage due to heat, external deformation, cable-wire discontinuation, etc.

Ensure that the “CHARGE* LED is extinguished (goes out) on touch panel, before the checking of electrical wirings.

CAUTION

Withstand voltage and insulation test with megger and connection test of PC-board and terminals of amplifier must not
be conducted.

9.2 Memory backup

(1) Memory backup
An electrically rewritable EEPROM is used for retaining the following items after turning off power supply.
(i) Basic para. and system para.
(ii) Positioning data (RYS-L type amplifier only)
(iii) Alarm detection history
Each area can be initialized by turning off the run command [RUN] of the amplifier (while motor is de-energized).
(a) Initialization of para.
To initialize, select the initialization [Fn006] of para. in the test running mode and press the ENT key.
Notice : After the initialization, be sure to turn on power again.

The initialization is not allowed if rewrite is inhibited by system para. 94.

The initialization is impossible while the motor is energized with the [RUN] signal on.

(b) Initialization of positioning data (RYS-L type amplifier only)

To initialize, select the initialization [Fn007] of positioning data in the test running mode and press the ENT key.
Notice : After the initialization, be sure to turn on power again.

The initialization is not allowed if rewrite is inhibited by system para. 95.

The initialization is impossible while the motor is energized with the [RUN] signal on.

9-1 MHT258a (Engl.)

(c) Initialization of alarm detection history
The alarm detection history is held at all times. It can be initialized by the initialization [Fn005] of history in the test running mode of the touch
panel.

(2) Copying the memory

Use of a handy-loader or PC-loader can copy the setting contents of amplifier to the loader or, reverse, the loader contents can be
transferred to the amplifier.
If you have no technical documents for operation of handy-loader or PC-loader, contact us.

FALDIC RYS401S3-VVS

MODE SHIFT
ESC ENT

K80791543 CHARGE

Mutual copy of memory L1

L2
L3
DB
P1
P+
N
U
V
W

(3) Saving the setting contents into RAM

The EEPROM reaches its end of expected-service life after approx. 100,000 operations.
If basic para. and positioning data are saved in RAM, rewriting is available any number of times.
For saving in RAM, refer to 6.3.4.
Para. and positioning data saved in RAM can be rewritten any number of times.
Turning on power selects default values.

9.3 Fault display

The fault diagnosis is explained in three sections below.
(i) Initial status
(ii) When error (failure) is not displayed
(iii) Faults with alarm indication

(1) Initial status

After turning on commercial power for the amplifier, some of 7 segments on the touch panel lit (light up). The “CHARGR” LED lights on the
touch panel.

RYS201S3-VVS

7 segment digits

MODE SHIFT
ESC ENT

K80791543 CHARGE “CHARGER” LED

If turning on power displays nothing, contact us.

Supplying only the control power lights the display.

9-2 MHT258a (Engl.)

(2) When error (failure) is not displayed
The following exemplifies checkup procedure. As required, contact us.

(a) Motor does not rotate

Motor does not rotate

LED (CHARGE) lit on from panel Supply commercial power to amplifier

Amplifier and motor connected Check the connection of :

• Motor power to U, V, W of amplifier
• Encoder to CN2

Alarm lit of 7 segment LED Remedy as per (3). If alarm is detected, display is headed by AL.

24[V] DC supplied to CN1 [P24] Unless 24[V] DC is supplied all control input signals are invalidated.
and [M24]

Check the control input/output signal on CN1

(continue to the next page)

(i) Step 1

MODE
Press ESC repeatedly until appears.

(ii) Step 2
ENT (*1)

ESC

(*1) 1[sec] min.

(*2)
(*2) Displays current (present) status

LC display Cause and check Remedy

• [RUN] turned on.
Base off. Motor has no drive force.
• Free run [BX] turned on.

Running is available. Proceed to (iii) Step 3

Stopped with ＋OT is detected. Reset [＋OT] by on.

Stepped with −OT is detected. Reset [−OT] by on.

Stopped by speed zero at [EMG] input. Reset [EMG] by on.

Remark : The control input [CONT] is amplifier can be checked on the touch panel.

9-3 MHT258a (Engl.)

(iii) Step 3 : Indicate the sub-sequence mode display.
(*2)
ENT (*1)

ESC
(*3)
ENT (*1)

ESC

(*1) 1[sec] min. (*2) Sequence mode display (*3) Sub-sequence mode display

LC display Cause and check : At rotational status

Waits for rotation command (above figure).
Executes manual feed.
Pulse train is valid.
Origin return is in progress.
Interrupt position is in progress.
Clears the position deviation.
Positioning control by address designation is in progress.
Brake timing is being measured.
Halts by positioning cancel signal.

Motor does not rotate

Sub-sequence display StoP [CONT] is assigned to positioning cancel and input is

turned on. Reset it.

Sub-sequence display PIn [CONT] is assigned to positioning cancel and input is

turned on. Reset it.

Sub-sequence display Stnd Assign [CONT] to [FWD] and [REV] and turn on either.
If both are turned on, motor does not rotate.

Sub-sequence display JoG.

Motor may be rotating.

Speed set by multistep speed command. Basic para. 1 to 7 setting may be too low or [CONT]
X1/X2 input may not correctly be turned on.

Speed command voltage inputted. Speed command voltage may be too low.
Checked by monitor mode On009. Check the wiring. Raise the voltage.

Remark : The analog speed command voltage can be checked on the touch panel.

9-4 MHT258a (Engl.)

(b) Motor hunting rotation (motor shaft rotates forward/reverse repeatedly)
The amplifier which incorporates a real-time turning function estimates the mechanical equipment system at all times. For the amplifier, the
real-time turning function is factory validated.
The real-time turning function is valid for mechanical equipment systems except some examples. If it does not work, contact us.

Motor hunting

Check the connection of motor Changing the phase sequence of motor does not change the direction
power to U, V, W of amplifier. of rotation but causes hunting.
Separate mechanical equipment
system and motor, still hunts.

Contact us

(c) Positioning accuracy is poor

Positioning accuracy is poor

Stopped near [＋OT, −OT] point. Check in sequence mode of touch panel. It can be displayed at Sn001.
[OT] is detected if display is as follows.

Moved with positioning data with With [FWD] or [REV] positioning accuracy is not sufficient.
RYS-L amplifier.

Moved with specified station

No. for RYS-R amplifier.

Current position display of touch [P action] may have been turned on without applying the brake at end of
panel at target position positioning. [RUN] or [EMG] may have been turned off at end of
positioning.

Mechanical connection coupling Locate and remedy loosening

etc. loose

Positioning accuracy within Check the mechanical and electrical resolutions (accuracy).
electrical resolution Check the para. Setting.

Contact us

9-5 MHT258a (Engl.)

(d) Returning is faulty

Origin return is faulty

Moves further beyond origin. [LS] may not be turned on/off. Use 3-wire type of [LS] or contact output.

Stop position different by one Z-phase of encoder is near FF edge of [LS]. Mechanical move the
rotation of motor-shaft position. Stop position can be adjusted by origin shift of basic para.
Pulse count until Z-phase is detected from OFF edge can be displayed
by touch panel : On011.

In mechanical positioning, If gear ratio is 1/2.5, machine and Z-phase match after 5 shaft rotation.
gear ratio has fractional No. For positioning a rotating equipment, apply RYS-R type amplifier.

Speed reduction ratio excessive When required, replace the [LS] with optical detector or other quick
responding device.

Stops at position set by basic Check for erroneous motion of [LS], distance of proximity switch.
para. 79.

Origin return action is ineffective. [ORG] may be turned on at all times after turning on power.

Moves past the origin and then Move the [LS] position opposite to return direction. Move the [LS] to
returns. increase the origin shift.

Contact us

9-6 MHT258a (Engl.)

(3) Faults with alarm indication
If an alarm is detected, the detected contents are displayed on the touch panel of amplifier.
If multiple alarms are detected simultaneously, light-up occurs in accordance with the priority order given below.

Priority order Display Description

1 System error
2 Overcurrent, output overcurrent
3 Overspeed
4 Low voltage, undervoltage
5 High voltage, overvoltage
6 Encoder trouble
7 Circuit trouble, amplifier trouble
8 Data error, memory error
9 Combination error
10 Resistor heat 2
11 Encoder communication error
12 Cont (control signal) error
13 Over load, motor overheat
14 Amp heat, amplifier overheat
15 Resistor heat, baking (OB) resistor overheat
16 Over flow, deviation excessive
17 Encoder heat, encoder overheat
18 Absolute data lost
19 Absolute data over flow
20 Terminal error
21 (non)

ENT (*)

ESC
Alarm code
(*1) 1[sec] min. Alarm detected

Remark : An alarm is displayed if detected.

If, at a displayed status, the alarm detection is reset by a control input signal, the initial screen (system para. 89 setting) appears.
The alarm detection can be reset in the test running mode [Fn004] also.
Holding down the ∧ key and ∨ key simultaneously for at least 1[sec] at a status where an alarm detection is displayed resets
the alarm detection.

9-7 MHT258a (Engl.)

(a) Overload, motor overload
• Touch panel display

• Detection (example)
The rms (root-mean-square) value of torque (command value) of motor exceeded the value allowed to the motor (detected by electronic
thermal relay built-in amplifier).

• Cause, check and remedy

Overload (OL)

Detected while motor is at Power wiring for motor and amplifier may be disconnected. Power
standstill. wiring may not be connected to U-U, V-V, W-W phases. Check the
resistance values.

Display torque value in monitor

mode [On003].

Overload detected while motor is Overload is detected if monitor value of [On003] exceeds 100 at all
rotating at constant speed. times.

Motor dwell time or constant speed Accel./decel. (*) may frequently be repeated and overload may be
running time is short. detected on account of accel. (decel.) torque.
• Increase the accel./decel. time
• Increase the dwell time
If after the above trials, overload is not detected, alarm is attributable
to torque at accel./decel.

(b) Absolute data lost

• Touch panel

• Detection (example)
Absolute value data of the 16-bit serial encoder built-in GYC/GYS type motor are lost.

• Cause, check and remedy

This alarm is detected only when ABS (absolute system) is selected by setting of system para. 99.
Use an absolute system upon presetting the current position. This alarm detection cannot be reset by alarm reset [RST] signal.
(i) Mount a battery (WSB-S type) on the amplifier or supply power to the control input/output terminal on CN1.
(ii) Connect the encoder wiring from CN2 to the encoder wires of motor.
The current position information is destroyed if approx. 1[hour] elapses at a status where the encoder wiring is not connected.
(iii) Preset the current position in the test running mode [Fn003].
Executing the position preset simultaneously resets the alarm detection with the current position as set value of basic para. 80.

(*) Accel. : Acceleration, accelerating

Decel. : Deceleration, decelerating
9-8 MHT258a (Engl.)
(c) Absolute data over flow
• Touch panel

• Detection (example)
The shaft extension of GYC/GYS type motor rotated beyond the range of −32768 to 0 to ＋32768 revolutions.

• Cause, check and remedy

On an absolute system, the number of revolutions of the motor shaft extension is limited.
For the alarm resetting method, see (b) above.

(d) Combination error

• Touch panel

• Detection (example)
The combination of connected amplifier and motor is not correct.

9-9 MHT258a (Engl.)

• Cause, check and remedy
Use amplifier and motor as a specified pair of model types given in the table below.

Amplifier type Combinable motor type as a pair

RYS (*) GYS□□□DC1-S GYC□□□DC1-S
300S3-VVS (a)
300S3-VSS (b) 300
(c) 500
500S3-VVS (a) 300
500S3-VSS (b) 500
(c) 101 101
101S3-VVS (a) 500
101S3-VSS (b) 101 101
(c) 201 201
201S3-VVS (a) 101 101
201S3-VSS (b) 201 201
(c) 401 401
401S3-VVS (a) 201 201
401S3-VSS (b) 401 401
(c) 751 751
751S3-VVS (a) 401 401
751S3-VSS (b) 751 751
(c) 102 102
102S3-VVS (a) 751 751
102S3-VSS (b) 102 102
(c) 152 152
152S3-VVS (a) 102 102
152S3-VSS (b) 152 152
(c) 202 202
202S3-VVS (a) 152 152
202S3-VSS (b) 202 202
(c) 302 302
302S3-VVS (a) 202 202
302S3-VSS (b) 302 302
(c) 402 402
402S3-VVS (a) 302 302
402S3-VSS (b) 402 402
(c) 502 502
502S3-VVS (a) 402 402
502S3-VSS (b) 502 502
(c)

(*)
(a) : Motor frame No. (size) is one step smaller than optimum frame No. (size).
(b) : Motor of same model type as amplifier (optimum frame No. size).
(c) : Motor frame No. (size) is one step larger than optimum frame No. (size).
Refer to (*1) of 2.2 (1) (a).

9-10 MHT258a (Engl.)

(e) Cont (control signal) error
• Touch panel display

• Detection (example)
Several control input signal (CONTn) terminals on CN1 of amplifier are assigned to the same signal.

• Cause, check and remedy

RYS □□□S3-VVS type amplifier : System para. 1 to 8 have the same set value.
RYS □□□S3-VSS type amplifier : System para. 1 to 5 have the same set value.
Since several terminals cannot be assigned to the same signal, any one setting should be selected. Forced stop (10), free run (54), external
fault input (34) and not specified (0) may be present on several terminals. Several control output terminals can be assigned to the same
signal.
Remark : “Cont error” does not occur in case of [CONT] assign valid at all times 1 (2) by system para. 87 and 88, and overlap setting of
system para. 1 to 8.
A signal set as [CONT] assign valid at all times is valid at all times.
Do not position the interrupt input (49) to [CONT1 to 8]. If they are positioned to [CONT9 to 13], the “Cont error” is detected.

(f) Low voltage, undervoltage

• Touch panel display

• Detection (example)
The voltage supplied to the amplifier is below the minimum specified level.

• Cause, check and remedy

The supply voltage may have dropped on account of momentary failure, etc. or the power supply capacity may be poor.
Remark : The detection of undervoltage can be invalidated by setting of system para. 85.
If, in this case, free run is selected by setting of system para. 84, the running can be continued at momentary failure.

9-11 MHT258a (Engl.)

(g) High voltage, overvoltge
• Touch panel display

• Detection (example)
The DC intermediate voltage in the amplifier is higher than the upper limit.

• Cause, check and remedy

Overvoltage (Hv)

Occurs when turning on power. Power supply voltage may be higher than specified.

Power capacitor is turned ON/OFF Study a use of AC reactor.

on same line.

Braking resistor is connected. Study a use of external braking resistor (0.2 [kW] max.).

Braking resistor is free from Check the resistance of braking resistor.

disconnect. For resistance of braking resistor, see 10.6.

Contact us

(h) Amp heat, amplifier overheat

• Touch panel display

• Detection (example)
The temperature of cooling-fins of the amplifier is above 100 [°C]

• Cause, check and remedy

The ambient temperature for the amplifier should be below +55 [°C]

(i) Encoder communication error

• Touch panel display

• Detection (example)
The communication is not made between 16-bit serial encoder and amplifier.

• Cause, check and remedy

The encoder wiring may be detached or disconnected.
The serial communication is performed at 4[Mbps] of data rate. Do not extend the wiring by connecting several short cables.
Connect the encoder by option cable or specified cables.
The encoder wiring has about 5[V] of voltage amplitude. Do no install it in a location where a strong electric or magnetic field exists.

9-12 MHT258a (Engl.)

(j) Resistor heat, braking (OB) resistor overheat
• Touch panel display

• Detection (example)
The heating power of the braking resistor of amplifier exceeded a specified value.

• Cause, check and remedy

If an alarm is detected immediately after turning on power, the power supply voltage may be higher than specified.
If detected while running, the frequency of braking operation may be high, and the braking resistor may overheat. In such a case,
• use an external braking resistor,
• prolong the accel./decel. time. or
• raise the reduction speed ratio, if possible.

(k) Over flow, deviation excessive

• Touch panel display

• Detection (example)
Deviation quantity (difference between the command position and current position after feedback) exceeded the set value of basic para. 54.

• Cause, check and remedy

The initial set value of basic para. 54 is 10000 (x100) [pulse].
If the difference between commanded position and current position after feedback exceeds 1,000,000 [pulse], an alarm is detected.
Under normal operating conditions, the deviation quantity increases in proportion to the motor speed.
If an alarm is detected when rotating the motor by turning on the [RUN], the motor power wiring phases U, V, W may not be connected to the
corresponding terminals (U, V, W) of the amplifier.
The set value of basic para. 54 need not be decreased.
The deviation can be reduced by setting the feed forward of basic para. 40 to near 1.000.

(l) Other protection functions

If following alarms appeared, contact us.

(i) Encoder heat, encoder overheat

• Touch panel display

• Detection (example)
The temperature of encoder exceeded a specified value.

• Cause, check and remedy

The ambient temperature for the motor should be 40 [°C] max.
If an alarm appeared before running such as immediately after turning on power, contact us.

9-13 MHT258a (Engl.)

(ii) Resistor heat 2
• Touch panel display

• Detection (example)
The regenerative power processing transistor mounted on the amplifier overheats.

• Cause, check and remedy

The ambient temperature of amplifier should be 55 [°C] max.
If an alarm appeared before running such as immediately after turning on power, contact us.

(iii) Data error, memory error

• Touch panel display

• Detection (example)
Contents of the non-volatile storage memory mounted on the amplifier are destroyed.

• Cause, check and remedy

If an alarm appeared immediately after turning on power, contact us.

(iv) Circuit trouble, amplifier trouble

• Touch panel display

• Detection (example)
The control power supply circuit mounted on the amplifier is abnormal.

• Cause, check and remedy

If an alarm appeared immediately after turning on power, contact us.

(v) Encoder trouble

• Touch panel display

• Detection (example)
The encoder may be broken.

• Cause, check and remedy

If an alarm appeared immediately after turning on power, contact us.

9-14 MHT258a (Engl.)

(vi) Over current, output overcurrent
• Touch panel display

• Detection (example)
The output current from the amplifier to the motor exceeded a specified value.

• Cause, check and remedy

The power wiring to the motor is short-circuited or grounded.
As a general rule, minimum insulation resistance between motor terminals and ground (earth) terminal (symbol “E” or “ “) is about
1 [MΩ] at room temperature.
The motor winding resistance value between each phase, at room temperature, is given on the table below.

Motor type GYS□□□DC1 GYC□□□DC1

101 201 401 101 201 401 751
Resistance value between phases [Ω] 4.6 2.2 0.72 7.2 4.1 1.8 0.68

9.4 Items to specify when faulty

If an alarm appeared, remedy it referring to 9.3.
When contacting us, specify the following items.
(a) Data on rating plate : Type, serial equipment No.
(b) Device configuration : Example, type of external braking resistor etc.
(c) Outline of mechanical equipment system driven by motor : Example, ball-screw feed, vertical drive, reduction speed ratio 1/2
(d) Fault contents
(i) Running duration (years)
(ii) Alarm occurrence frequency, conditions : Example, when a certain device operates, the motor steps
(iii) Alarm display contents
(iv) Whether reproducible
(v) While accelerating, rotating at constant speed or decelarating
(vi) Whether different between forward and reverse rotation of motor
(vii) Whether at particular conditions : Example, when [RUN] signal has been turned on. When advancing mechanical-table has come to a
particular position.
(viii) Whether trouble persists even after replacing the machine or amplifier with one of the same specification

9.5 Others informations

(1) Operating conditions : Refer to 3.

(a) Power-on

CAUTION

Do not touch the amplifier when the commercial power is supplied. Otherwise, there is a risk of electric shock.

(b)Specifications : Refer to 2.
(c) Operation
Do not repeatedly turn on and off the power supply to start and stop the motor.
(d) Radio noise : Refer to 3.2 (1) (b) (iv) and 10.4
The amplifier and motor are not protected from radio noise. Therefore, following devices may receive noises:
• AM radios near the amplifier or motor
• Wired broadcst, etc. near the wiring
• Measuring instruments or household appliances

9-15 MHT258a (Engl.)

(2) Expected-service-life
(a) Motor
The motor bearings should be replaced with new ones, when required. If the bearings produce unusual noise, replace bearings.
The motor incorporates (built-in) encoder, etc. Therefore, inquire us for how to repalce the bearings.
(b) Cooling fan built-in motor and amplifier
The expected-service-life of the fan will be approx. 20,000 [hour].
(c) Brake built-in motor
The expected-service-life will be approx. 20,000 operations at rated torque.
(d) Capacitor built-in amplifier
The amplifier incorporates large capacitors. Contact us when a replacement with new one is required.

9-16 MHT258a (Engl.)

10. PERIPHERAL DEVICES

External braking resistor

Refer to 10.6.

Power supply
3-phase Amplifier
200[V] or
single-
FALDIC RYS201S3-VVS
phase
ＦＵＪＩｉ　ＡＵＴＯ
ＦＵＪＩｉ　ＡＵＴＯ

100[V]
ＢＲＥＡＫＥＲ
ＢＲＥＡＫＥＲ
ＳＡ３３

FAB or ELCB : Refer to 10. 2.

MODE SHIFT
ESC ENT

K80791234 CHARGE

L1
L2
L3
DB
ＳＣ－５－１
ＳＣ－５－１
MC
P1
Refer to
P+
10.2.
N
U
V
W

AC reactor
Ｕ Ｖ Ｗ ＸＹＷ Refer to 10.5.

Power filter
Refer to 10.4.

５Ａ ３　Ｐｈａｓｅ
ＡＣ　２５０Ｖ

Power supply for control circuit

Single-phase 200[V] or 100[V]

DC reactor
Refer to 10.7.

P+ P1

Motor

10-1 MHT258a (Engl.)

 Personal computer loader

OONNLL 00 11 22 33 44 55 66 77OONNLL OONNLL 00 11 22 33 44 55 66 77 OONNLL CCHH11

APS30 SCPU32 ONL
SCPU32 ONL EEMMGG ++OOTT --OOTT
ONL ONL

ＳＸ
RUN
RUN ERR
ERR RUN
RUN ERR
ERR EERRRR 88 99 11001111112211331144115
E5
ERRRR EERRRR 88 99 11001111112211331144115E5ERRRR CCHH22
TERM
TERM TERM
TERM
SLV
SLV RUN
RUN SLV
SLV RUN
RUN
PWR
PWR ALM
ALM ALM
ALM
STOP
STOP BAT
BAT STOP
STOP BAT
BAT CCHH
ALM NNoo..
ALM
CPU
CPU CPU
CPU
No.
No. No.
No.
PH

2200
PL

LOADER
LOADER LOADER
LOADER DA

11
BB//AA

PE1 HP2

Optional cables Programmable logic controller (PLC)

Refer to 10.8. MICREX-SX
MICREX-F
FREX-PC

10-2 MHT258a (Engl.)

10.1 Cables
Power supply and control circuit cables in the internal of the control panels are as follows :

(1) Power supply and motor input cables

(a) Cable size

Input voltage class [V] 100 200

Amplifier output [kW] 0.05 to 0.2 0.03 to 0.4 0.75 to 1.5 2, 3 4, 5
Amplifier type RYS□□□S3- VVS6 VVS
500 to 201 300 to 401 751 to 152 202, 302 402, 502
Conductor Power supply, motor 1.25 2 3.5 5.5
sectional input, ground (earth)
area of cable
[mm2] Brake 1.25

Power supply for control 0.75

(b) Cable type

(i) 600V class, poly-vinyl insulated cable (JIS C 3307) or
(ii) Poly-vinyl insulated cable “KIV” (JIS C 3316) or
(iii) 600V class, cross-link polyethylene insulated cable “FSCL” (JCS 360)
or equivalent

(2) Control input/output cables for CN1 : + 24 [V], 50 [mA] max.

(a) Cable size
18-core twisted-pair shielded cable. AWG No.26
(b) Cable type
“XEBV” or “XEWV” (The Furukawa Electric Co. , Ltd.) or equivalent

(3) Host interface for CN3

(a) Digital input/output and analog signal cable : Same as (2) above.
(b) T-link, JPCN-1 and SX bus : Specified cables should be applied.

(4) Encoder cables for CN2 (4Mbps serial communication)

Cross-link polyethylene insulated, poly-vinyl sheath cables RMCV-SV type :

Wiring length within Cable size and pair, core quantities (＊)
10 [m] AWG No.25 / 4-pair and AWG No.23 / 2-core
50 [m] AWG No.25 / 4-pair and AWG No.17 / 2-core
or optional cable : See 10.8.
(＊) AWG : Refer to Remark of 4.3 (2) (d).

10-3 MHT258a (Engl.)

10.2 Auto circuit breaker (FAB, MCCB), earth leakage circuit breaker (ELCB) and magnetic contactor (MC) : Recommended Fuji’s
type
FAB or ELCB is installed on the power supply side for turning power supply and promptly cutting off a fault current such as short-circuit current.
MC is used when amplifiers are disconnected from the power supply with an external signal or in the case of power ON/OFF from remote
operation panels.
The types are applicable to the power supply capacity is up to 500 [kVA], specified cable diameter size with the wiring length within 20 [m] is
used, and ON/OFF of the primary side of one amplifier is performed. Connect an AC reactor if the power supply capacity exceeds
500 [kVA].

(i) For 200[V] class input voltage of amplifier

Amplifier output [kW] 0.03 to 0.2 0.4 0.75 to 1.5 2 3 4, 5
Amplifier type RYS□□□S3-VVS 300 to 201 401 751 to 152 202 302 402, 502
Fuji’s For each FAB type SA 33B/5 33B/10 33B/15 53B/30 53B/40 33B/50
Recommended amplifier current [A] 5 10 15 30 40 50
type ELCB type EG 33B/5 33B/10 33B/15 53B/30 53B/40 53B/50
MC type SC- 5-1(19A) 5-1 (32A) 1N (50A) 2N (60A)

(ii) For 100[V] class input voltage of amplifier

Amplifier output [kW] 0.05 0.1 0.2
Amplifier type RYS□□□S3-VVS6 500 101 201
Fuji’s For each FAB type SA 33B/3 33B/5 33B/10
Recommended amplifier current [A] 3 5 10
type ELCB type EG 33B/3 33B/5 33B/10
MC type SC- 5-1(32A)

10.3 Surge suppressor (surge killer)

Shown below are recommended surge suppressors (for 250 [V] or less ) to be installed on peripheral devices (magnetic contactor, solenoid,
brake, etc. ) of amplifier.
DC equipment should be equipped with a diode for surge voltage suppression.
[unit : mm]

For magnetic contactor, etc. For control relay, etc.

Type : S2-A-O Type : S1-B-O

300 40±1 30±1 300 40±1 20±1

27.5 27.5

500[Ω] (1/2[W])+0.2[μ F] 200[Ω] (1/2[W])+0.1[μ F]

Protection circuit, example

AC circuit (C-R circuit) DC circuit (diode)

Load Load

10-4 MHT258a (Engl.)

10.4 Power filter
Power filter is installed to prevent the PWM circuit in amplifier from exerting influence over the power supply side.
In the amplifier, the PWM circuit performs high frequency switching. This causes power line noise, radiation noise from the amplifier and
noise from the motor power cable, and these noises may have an adverse influence over external equipment. To prevent such an influence,
the following methods are available. Refer to figure below.

(8)
(10) (1) Power supply
(2) (4)
(2) Power transformer
(3) Amplifier
(1) (3) Ｍ
(4) Motor
(5) Measuring instrument
(6) Electronics device
(9) (11) (12)
(7) Sensor
(8) Radio
(9) Power line noise
(5) (7) (10) Radiation noise
(11) Electrostatic induced noise
(12) Electromagnetic induced noise
(6)

(a) Installation of amplifier in a grounded steel container. Avoid close installation with personal computer and measuring instrument.
(b) Installation of power filter at primary side of amplifier to prevent : PWM from exerting influence over power source.
(c) Install the cable from each amplifier to motor in a grounded metal conduit.
(d) Minimize the distance of ground connection by using a larger size copper bar. Ground connection should be wiried to each equipment
separately. See figure below.

(1) Copper bar

(1)

(e) Avoid mutual connection of the following cables.

(i) Ground : Power system and frame (enclosure)
(ii) + 24 [V] DC for control input/output and 0 [V] of power supply
(iii) 0 [V] power supply : Speed command and encoder
(f) Avoid binding together the 200 [V] power supply and amplifier output cable, + 24/+ 15 [V] DC control signal cable and encoder cable or
laying them in parallel.
(g) Separate 200 [V] power source with that of 100 [V]-system device by use of an insulating transformer : Fuji “TRAFY”, etc. .

Input voltage class [V] 100 200

Amplifier output [kW] 0.05, 0.1 0.2 0.03 to 0.2 0.4 0.75 to 2 3 4, 5
Amplifier type RYS□□□S3- VVS6 VVS
500, 101 201 300 to 201 401 751 to 202 302 402, 502
Power filter type FHF-TA/ 5/250 10/250 5/250 10/250 20/250 30/250 50/250

10-5 MHT258a (Engl.)

10.5 AC reactor (reactor for impedance matching)
(1) AC reactor application
Provide and connect an AC reactor in any of the following cases.
(a) Power supply capacity is large
When the power supply capacity exceeds 500 [kVA] (*), the input current of the amplifier becomes large at the time of power on, and there is
a possibility where the rectifying diodes of the amplifier are damaged.
Note : (*) Cable length of 20 [m] with specified cable diameter size.
(b) Power supply voltage is unbalanced
Connect an AC reactor if the power supply voltage unbalance rate is 3 % or higher.
Max. voltage [ V ] − Min. voltage [ V ]
Unbalance rate of power supply voltage [%] = × 100
3 − phase average voltage [ V ]
(c) Suppression of higher harmonics
Higher harmonics current is generated because an amplifier is of capacitor input type.
AC reactor suppresses voltage distortion in the power supply system.

(2) Connection
Connect an AC reactor to the primary (power supply) side of the amplifier.

Input voltage class [V] 100 200

Amplifier output [kW] 0.05, 0.1 0.2 0.03 to 0.2 0.4 0.75 1, 1.5 2, 3 4, 5
Amplifier type RYS□□□S3- VVS6 VVS
500, 101 201 300 to 201 401 751 102, 152 202, 302 402, 502
AC reactor type ACR2- 0.4A 0.75A 0.4A 0.75A 1.5A 2.2A 3.7A 5.5A

10.6 External braking resistor : External dimension : Refer to 10.8 (3)

A braking resistor is provided (built-in) with the amplifier for 0.2[kW] over.
However, if load variation is wide, elevation (hoisting) load, or higher frequent operation, the following external braking resistor should be
added.

(1) Data of external braking resistor

Input voltage class [V] 100 200

Amplifier output [kW] 0.05, 0.1 0.2 0.03 to 0.2 0.4 0.75 1, 1.5 2, 3 4, 5
Amplifier type RYS□□□S3- VVS6 VVS
500, 101 201 300 to 201 401 751 102, 152 202, 302 402, 502
Resistor type WSR-401 WSR-751 WSR-152 DB11-2 DB22-2
(**) [W] 17 17 25 75 115 130
Resistance [Ω] 27 68 15 10 5.8
Built-in resistor (**) [W] Not 12 Not 12 20 30 60
applicable applicable
[Ω] 27 68 33 18 9 5.5
Note : (**) Cont. : Continuous operation duty at 25[℃], allowable

(2) Data of NTC-thermistor embedded in the external braking resistor

Resistor type Open circuited the thermistor at Withstand AC voltage tested Contact capacity
WSR- the following temperature [℃] for one minute [kV] DC
401 135 ± 5 1.5 30 [V], 3 [A]
751 2.5
152 150 ± 10

10-6 MHT258a (Engl.)

(3) External braking resistor connection
Terminal assignment : see 6.3.3.

ＤＢ

Ｐ＋

Ｐ１

Ｌ１

Ｌ２ (1)

Ｌ３
Ｍ

ＰＧ

(3)
(2)

Motor
(4)
Ｌ１Ｃ Ｌ２Ｃ

Amplifier

(5)
(6)

External braking resistor

(1) Resistor
(2) Power supply for control circuit
(3) For control input terminal
(4) Battery
(5) 1.25[mm2] cables. Cable length should be within 10 [m]
(6) 0.5[mm2] cables for NTC-thermistor. See 6.2.5.

10.7 DC reactor
(1) DC reactor application
Provide and connect an DC reactor in any of the following cases.
(a) Power supply capacity is large
When the power supply capacity exceeds 500 [kVA] (*), the input current of the amplifier becomes large at the time of power on, and there is
a possibility where the rectifying diodes of the amplifier are damaged.
Note : (*) Cable length of 20 [m] with specified cable diameter size.
(b) Power supply voltage is unbalanced
Connect an DC reactor if the power supply voltage unbalance rate is 3% or higher.

Max. voltage [ V ] − M in. voltage [ V ]

Unbalance rate of power supply voltage [% ] = × 100
3 − phase average voltage [ V ]

(c) Suppression of higher harmonics

Higher harmonics current is generated in the amplifier.
DC reactor suppresses voltage distortion in the power supply system.

(2) Connection
Connect an DC reactor to the primary (power supply) side of the amplifier.

10-7 MHT258a (Engl.)

 Input voltage class [V] 100 200
Amplifier output [kW] 0.05 0.1 0.2 0.03 to 0.1 0.2 0.4 0.75 1, 1.5 2 3 4 5
Amplifier type RYS□□□S3- VVS6 VVS
500 101 201 300 to 101 201 401 751 102, 152 202 302 402 502
DC reactor type DCR2- 0.2 0.4 0.75 0.2 0.4 0.75 1.5 2.2 3.7 5.5 7.5 11
Inductance [mH] 20 12 7 20 12 7 4 3 1.7 1.2 0.8 0.6

10.8 Optional cables, connector kits, battery and external braking resistors
(1) Connecting cables [unit : mm]
(a) Control input/output (expanded I/O of L and R types)
Cable type : WSC-D20P03 (20-pin)
Application : CN3 of RYS□□□S3-LPS, RPS amplifier

Marking tube

Ｌ 100＋10
0

(i) Connector : CN1

Plug 10120-3000V
Shell 10320-52A0-008

(ii) Wire color

Pin No. for CN1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

Marking tube 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
Wire color Orange Gray White Yellow Pink Orange Gray White Yellow Pink
Marking
Black 1

Black 1

Black 1

Black 1

Black 1

Black 2

Black 2

Black 2

Black 2

Black 2
Red 1

Red 1

Red 1

Red 1

Red 1

Red 2

Red 2

Red 2

Red 2

Red 2

(iii) Cable length (L) and mass

Cable type L [mm] Mass [g]

WSC-D20P03 3000+300
0 400

10-8 MHT258a (Engl.)

(b) Control input/output (SX bus)
Cable type : WSC-D26P03 (26-pin)
Application : CN1 of RYS□□□S3-VSS, LSS, RSS amplifier

Marking tube

Ｌ 100＋10
0

(i) Connector : CN1

Plug 10126-3000V
Shell 10326-52A0-008

(ii) Wire color

Pin No. for CN1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

Marking tube 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
Wire color Orange Gray White Yellow Pink Orange Gray White Yellow Pink
Marking
Black 1

Black 1

Black 1

Black 1

Black 1

Black 2

Black 2

Black 2

Black 2

Black 2
Red 1

Red 1

Red 1

Red 1

Red 1

Red 2

Red 2

Red 2

Red 2

Red 2
Pin No. for CN1 21 22 23 24 25 26
Marking tube 21 22 23 24 25 26
Wire color Orange Gray White
Marking
Black 3

Black 3

Black 3
Red 3

Red 3

Red 3

(iii) Cable length (L) and mass

Cable type L [mm] Mass [g]

WSC-D26P03 3000+300
0 450

10-9 MHT258a (Engl.)

(c) Control input/output (V type)
Cable type : WSC-D36P03 (36-pin)
Application : CN3 of RYS□□□S3-VSS, LPS, RPS amplifier

Marking tube

For CN1
Ｌ

(i) Connector : CN1

Plug 10136-3000V
Shell 10336-52A0-008

(ii) Wire color

Pin No. for CN1 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20

Marking tube 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 17 18 19 20
Wire color Orange Gray White Yellow Pink Orange Gray White Yellow Pink
Marking
Black 1

Black 1

Black 1

Black 1

Black 1

Black 2

Black 2

Black 2

Black 2

Black 2
Red 1

Red 1

Red 1

Red 1

Red 1

Red 2

Red 2

Red 2

Red 2

Red 2
Pin No. for CN1 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36
Marking tube 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36
Wire color Orange Gray White Yellow Pink Orange Gray White
Marking
Black 3

Black 3

Black 3

Black 3

Black 3

Black 4

Black 4

Black 4
Red 3

Red 3

Red 3

Red 3

Red 3

Red 4

Red 4

Red 4

(iii) Cable length (L) and mass

Cable type L [mm] Mass [g]

WSC-D36P03 3000+300
0 550

10-10 MHT258a (Engl.)

(d) Encoder cable
Cable type : WSC-P06P05, P06P10 and P6P20

molex
molex

Ｌ
For CN1 For CN2

(i) Connector
1) CN1

Housing 53988 - 0611

Socket shell cover 58300 - 0600
mold cover 53989 - 0605
53990 - 0605
Cable clamp 53303 - 0000
Clamp screw 59832 - 0009

2) CN2 (5 or 10 [m] cable length)

Housing 51145 - 0601

Terminal 50639 - 8091
Plug Shell cover 58098 - 0600
body 58099 - 0600
Cable clamp 54017 - 0615
Clamp screw 54018 - 0605

3) CN2 (20 [m] cable length)

Plug housing 54180 - 0611

shell cover 58299 - 0600
shell body 58300 - 0600
mold cover 54181 - 0615
54182 - 0605
Cable clamp 58303 - 0000
Clamp screw 59832 - 0009

10-11 MHT258a (Engl.)

(ii) Wire color

Pin No. for CN1 1 2 3 4 5 6

CN2 1 2 3 4 5 6
Wire color Red Black Orange Orange Sky blue Sky blue
/ White / White
or White Black Yellow Brown Red Blue

(iii) Cable length (L) and mass

Cable type L [mm] Mass [g]

WSC-P06 P05 5000+500

0 300

P10 10000+1000
0 500

P20 20000 +02000 1200

CAUTION

Do not extend the wiring distance by connecting two or more encoder wiring cables.
A voltage drop by contact resistance of connerctor may stop the operation abruptly.

(e) Encoder cable

Cable type : WSC-P06P05-C, P06P10-C and P06P20-C

For CN1
molex

For CN2
Ｌ

10-12 MHT258a (Engl.)

(i) Connector
1) CN1 2) CN2
Connector MS3108B20 - 29S Plug housing 54180 - 0611
Cable clamp MS3057 - 12A shell cover 58299 - 0600
shell body 58300 - 0600
mold cover 54181 - 0615
54182 - 0605
Cable clamp 58303 - 0000
Clamp screw 59832 - 0009

(ii) Wire color

Pin No. for CN1 H G T S C D

CN2 1 2 3 4 5 6
Wire color Red Black Orange Orange Sky blue Sky blue
/ White / White
or White Black Yellow Brown Red Blue

(iii) Cable length (L) and mass

Cable type L [mm] Mass [g]

WSC-P06 P05-C 5000+500

0 450

P10-C 10000+1000
0 650

P20-C 20000 +02000 1400

(f) Encoder cable

Cable type : WSC-P06P05-W to WSC-P06P20-W
molex

Ｌ
Connector

(i) Connector

Housing 54180 - 0611

Plug shell cover 58299 - 0600
58300 - 0600
Cable clamp 54181 - 0615
Clamp screw 54182 - 0605

10-13 MHT258a (Engl.)

(ii) Wire color

Marking tube P5 M5 BAT+ BAT− SIG+ SIG−

Pin No. for CN2 1 2 3 4 5 6
Wire color Red Black Orange Orange Sky blue Sky blue
/ White / White
or White Black Yellow Brown Red Blue

(iii) Cable length (L)

Cable type L [mm]

WSC-P06 P05-W 5000+500

0

P10-W 10000+1000
0

P20-W 20000 +02000

(g) Motor power cable for motor without providing brake

Cable type : WSC-M04P05, M04P10 and M04P20
Application : 0.75 [kW] and below

90±20

Connector Ｌ

(i) Connector

Cap housing 350780 - 1

Socket 350570 - 1

(ii) Wire color

Pin No. for CN1 1 2 3 4

Marking U V W E
Cable color Red White Black Green
/ Yellow

(iii) Cable length (L) and mass

Cable type L [mm] Mass [g]

WSC-M04 P05 5000+500

0 700

P10 10000+1000
0 1700

P20 20000 +02000 2700

10-14 MHT258a (Engl.)

(h) Motor power cable for motor with providing brake
Cable type : WSC-M06P05 to WSC-M06P20
Application : 0.75 [kW] and below

90

Connector

(i) Connector

Cap housing 350781 - 1

Socket 350570 - 1

(ii) Wire color

Pin No. for CN1 1 2 3 4 5 6

Marking U V W E
Wire color Red White Black Green Red Black
/ Yellow

(iii) Cable length (L) and mass

Cable type L [mm] Mass [g]

WSC-M06 P05 5000+500

0 900

P10 10000+1000
0 1750

P20 20000 +02000 3400

(2) Connector kits [unit : mm]

(a) Control input/output (expanded I/O for L, R types)
Connector kit type : WSK-D20P (20-pin)
Application : CN1 of RYS□□□S3-LPS, RPS amplifier

41 (max.)

Plug 10120 - 3000VE

Shell kit 10320 - 52A0 - 008

33.3 22
Mass : 20 [g]

10-15 MHT258a (Engl.)

(b) Control input/output (SX bus)
Connector kit type : WSK-D26P (26-pin)
Application : CN1 of RYS□□□S3-VSS, LSS, RPS amplifier

41 (max.)

Plug 10126 - 3000VE

Shell kit 10326 - 52A0 - 008

37.2 25.8
Mass : 20 [g]

(c) Control input/output (V type)

Connector kit type : WSK-D36P (36-pin)
Application : CN1 of RYS□□□S3-VVS, LPS, RPS amplifier

41（max.）

Plug 10136 - 3000V

Shell kit 10336 - 52A0 - 008

43.5 32.2

Mass : 20 [g]

(d) Encoder
Connector kit type for amplifier side (CN2) : WSK-P06-M

Housing 54180 - 0611

42.5（max.）
Shell cover 58299 - 0600

58300 - 0600
18.8
Mold cover 54181 - 0615

54182 - 0605

Cable clamp 58303 - 0000

Mass : 10 [g] Clamp screw 59832 - 0009

10-16 MHT258a (Engl.)

(e) Encoder
Connector kit type for motor side (CN2) : WSK-P06P-F
Application : 0.75[kW] and below

43.5 Housing 53988 - 0611

Shell baby, clamp side 58302 - 0600

18.8 Mold cover, latch side 53989 - 0605

Mold cover 53990 - 0605

Cable clamp 58303 - 0000

Mass : 10 [g] Clamp screw 59832 - 0009

(f) Encoder
Connector kit type for motor side (CN2) : WSK-P06P-C
Application : 1 [kW] and above

Notch position

Connector MS3108B20 - 29S

Cable clamp MS3057 - 12A

37.3
Mass : 150 [g]

Rubber bush
81

37.3

70.9
4

(g) Motor power for motor without providing brake

Connector kit type : WSK-MO4 (4-pin)
Application : 0.75 [kW] and below

27.4
Cap 350780 - 1

Shell body, clamp side 350570 - 1 or

350689 - 3
27.7

Mass : 10 [g]

10-17 MHT258a (Engl.)

(h) Motor power for motor without providing brake
Connector kit type : WSK-M04P-CA (4-pin)
Application : GYS type motor 1 and 1.5 [kW]

Notch position
Connector MS3108B18 - 10S

Cable clamp MS3057 - 10A

Mass : 100 [g]

34.2

Rubber bush
71.5

31.7

65.8 3.2

(i) Motor power for motor without providing brake

Connector kit type : WSK-M04P-CB (4-pin)
Application : GYC type motor 1 [kW] and above

Notch position
Connector MS3108B22 - 22S

Cable clamp MS3057 - 12A

Mass : 150 [g]

40.5

Rubber bush
81

37.3

72.5 4

10-18 MHT258a (Engl.)

(j) Motor power for motor with providing brake
Connector kit type : WSK-M06P ( 6-pin)
Application : 0.75 [kW] and below

Cap housing 350781 - 1

25.9 Socket 350570 - 1

Mass : 10 [g]
27.4
14

(k) Motor power for motor with providing brake

Connector kit type : WSK-M06P-CA ( 6-pin)
Application : GYC type motor 1 and 1.5 [kW]

Notch position
Connector MS3108B20 - 15S

Cable clamp MS3057 - 12A

Mass : 150 [g]

37.3

Rubber bush
80.7

37.3

70.9 4

10-19 MHT258a (Engl.)

(λ) Motor power for motor with providing brake
Connector kit type : WSK-M06P-CB ( 6-pin)
Application : GYS type motor 1 [kW] and above

Notch position
Connector MS3108B24 - 10S

Cable clamp MS3057 - 16A

Mass : 200 [g]

43.7

Rubber bush
90

42.9

79.6 4.8

(m) Control power input

Connector kit type : WSK-LO2P
Application : 0.75[kW] and below

26.3
Connector 231702/026 - 000

14.5 Manual lever 231 - 131

Mass : 4 [g]

(n) Battery
Connector kit type : WSB - S

ER17/33(2/3A) Battery ER1733WK41 1PP

16.5±0.5
3.6V
50±5 ・Nominal voltage : 3.6 [V]
36 ・Capacity : 1500 [mAh]
Refer to 6.3.

Storage of battery
If a battery has been out of service for long-term, the following procedures should be followed.
Battery should be stored in the storeroom. The storeroom should be well ventilated, and selected for possible protection against temperature and moisture.
Surrounding condition should be kept within−10 to + 75 [℃] temperature and 10 to 90[%]RH humidity.
Storage term should be within two years.

10-20 MHT258a (Engl.)

(3) External braking resistor [unit : mm]
(a) Resistor type : WSR-401
Application : RYS type amplifier, 0.4 [kW] and below

182.5±1.5

172±1

1000+100
0

20±0.3

Thickness of mounting plate is 1.2 [mm], mass : 235 [g]

(b) Resistor type : WSR-751

Application : RYS type amplifier, 0.75 [kW]

230±1.5

220±1

1000+100
0
64+0.5
0

21±0.5
0

Thickness of mounting plate is 1.5 [mm], mass : 520 [g]

10-21 MHT258a (Engl.)

(c) Resistor type : WSR-152
Application : RYS type amplifier, 1 and 1.5 [kW]

３４５±１．５

６０ ２５
５０

１８
φ１５ ＋０．３

Ｃ
１０
－０

４－
１０ Ｍ３．５ Ｍ４

８
P DB 1 2
７６±１

０ ３
－ ０．

Ｒ
＋

３．
５
３．

５
Ｒ

６ ３３２ ＋０
－１．０ （７）

２１０±１
９４±１．５

１５
２５

ｔ２

10-22 MHT258a (Engl.)

11. APPENDIXES

11.1 Model type selection

(1) Load machine system
Load machine systems driven by adjustable (variable) speed motor are generally as follows.

Mechanical system Description

Ball-screw (with direct coupling) Used for high-accuracy positioning in a short dimension.

Ball-screw (with reduction gear) Load torque is increased through deceleration. Compensation is required for gear backlash.

Rack and pinion Used for positioning in a large dimension.

Movement per revolution of pinion involves a π value. π compensation is required.

Conveyor (with timing belt) Used for light loads. πcompensation is required.

Chain drive Mostly used for transfer line, etc.

For positioning, countermeasures for chain elongation is needed.
Reduction ratio is large. Moving speed of load machine system is low.

Feed roll drive A material having a plate shape is emitted and sandwiched between rolls.
An error appears over a large length due to a difference in roll diameter.
π compensation is required. Feed amount becomes inadequate due to slip at rapid accel./decel..

Table indexing A large reduction speed ratio is required for a large inertia moment of the machine table.
Rotational speed of the table is low and a worm-gear is often used.

Spindle dreive In winding of wire material, etc., inertia moment becomes larger. Larger reduction speed
is necessary.
For constant peripheral velocity control, a control system should be checked.

11-1 MHT258a (Engl.)

In designing the mechanical equipment system, the following shoud be examined as required.
(a) Reduction gear ratio
Use near the rated speed of motor is recommended where possible.
(b) Pre-load torque
When applying a pre-load to screw, load torque increases.
(c) Holding torque at vertical drive.
At stop of a vertical-feed load machine, energized-motor has a holding torque unless an extermal-braking device is used.
(d) Mechanical efficiency
(e) Rough estimated mechanical-coefficients

(i) Friction coefficient μ (ii) Mechanical efficiency η

Application μ Application η
Rail and iron wheel (crane traveling, traverse 0.05 Screw 0.5 to 0.8
motion, traveling carriage) Ball-screw 0.9
Linear way 0.05 to 0.2 Rack and pinion 0.8
Linear pole slide unit Spur gear reduction 0.8 to 0.95
Roller system Worm reduction gear At start 0.5 to 0.7
During operation 0.6 to 0.8
Belt drive 0.95
Chain drive 0.9

(iii) Densities of major materials ρ[kg/m3]

Steel 7850
Stainless steel 7910
Copper 8960
Aluminum 2700
Brass 8540
Poly-acetal 1430

(2) Model type selection determination

(a) Flow chart for selecting a model type

(*)

(＊) : Trms : Actual torque

Tr : Rated torque

11-2 MHT258a (Engl.)

(b) Moment of inertia, basic form

2 2
Ｗ Ｄ２ Ｄ1
Ｊｚ＝ ＋
８ １０3 １０3
2 2
πρ Ｌ Ｄ２ Ｄ1
＝ −
３２ １０3 １０3 １０3
2 2 2
Ｗ Ｄ２ Ｄ1 Ｗ Ｌ
Ｊｘ＝ Ｊｙ＝ ＋ ＋
１６ 3 3
１０ １０ １２ １０3
１０
2 2
πρ Ｌ Ｄ２ Ｄ1
Ｗ＝ −
４ １０3 １０3 １０3

2
Ｗ Ｄ
Ｊｚ＝
８ １０ 3

4
πρ Ｌ Ｄ
＝
３２ １０3 １０3

2 2
Ｗ Ｄ Ｗ Ｌ
Ｊｘ＝ Ｊｙ＝ ＋
１６ １０3 １２ １０3

2
πρ Ｌ Ｄ
Ｗ＝ 3 3
４ １０ １０

2 2
Ｗ Ａ Ｂ
Ｊｚ＝ ＋
１６ １０3 １０3
2 2
Ｗ Ｂ Ｗ Ｌ
Ｊｘ＝ ＋
１６ １０3
１０ １２ １０3
１０
2 2
Ｗ Ａ Ｗ Ｌ
Ｊｙ＝ ＋
１６ １０3 １２ １０3

πρ Ａ Ｂ Ｌ
Ｗ＝
４ １０3 １０3 １０3

2 2
Ｗ Ｂ Ｌ
Ｊｚ＝ ＋
１２ 3 3
１０ １０
2 2
Ｗ Ｌ Ａ
Ｊｘ＝ ＋
１２ １０3 １０3
2 2
Ｗ Ａ Ｂ
Ｊｙ＝ ＋
１２ １０3 １０3

Ａ Ｂ Ｌ
Ｗ＝ ρ
１０3 １０3 １０3

2 2 2 2
Ｗ2 Ｂ2 Ｌ Ｗ1 Ｂ1 Ｌ
Ｊx＝ ＋ − ＋
１２ １０3 １０3 １２ １０3 １０3
2 2 2 2
Ｗ2 Ａ2 Ｌ Ｗ1 Ａ1 Ｌ
Ｊy＝ ＋ − ＋
１２ １０3 １０3 １２ １０3 １０3
2 2 2 2
Ｗ2 Ａ2 Ｂ2 Ｗ1 Ａ1 Ｂ1
Ｊz＝ ＋ − ＋
１２ １０3 １０3 １２ １０3 １０3

Ａ2 Ｂ2 Ａ1 Ｂ1 Ｌ
Ｗ＝ ρ −
１０3 １０3 １０3 １０3 １０3

Ａ2 Ｂ2 Ｌ Ａ1 Ｂ1 Ｌ
Ｗ2＝ ρ Ｗ1＝ ρ
１０3 １０3 １０3 １０3 １０3 １０3

11-3 MHT258a (Engl.)

(c) Moment of inertia, typical application
Ball-screw

2
１ ＢＰ
Ｊ1＝ Ｗ × × ＧＬ2
２π １０3

Rack and pinion, conveyor or chain drive

2
Ｗ Ｄ
Ｊ2＝ × ＧＬ2
４ １０3

Feed roll drive

2
Ｗ Ｄ
Ｊ3＝ × ＧＬ2
４ １０3

Table indexing

2
Ｌ
Ｊ4＝ Ｊ ＋ Ｗ × ＧＬ2
１０3

11-4 MHT258a (Engl.)

(d) Torque determination
Ball-screw
( µW + F) × 9.81 æ BP ö
 Ｗ TL = ç 3 ÷ × GL
2πη è 10 ø

・TL at load lifting :

(( µ + 1)W1−W 2) × 9.81 æ BP ö
TL = ç 3 ÷ × GL
 Ｖ    BP 2πη è 10 ø

・TL at lowering :
 ＧＬ
 
(( µ−1)W1−W 2) × 9.81 æ BP ö
  TL = ç 3 ÷ × GL
  2πη è 10 ø
 
Ｎ
・TL at stop (servo lock) :

( W1−W 2) × 9.81 æ BP ö
TL = ç 3 ÷ × GL
2πη è 10 ø

Rack and pinion, conveyor

( µW + F) × 9.81 æ D 1 ö
TL = ç × 3 ÷ × GL
 Ｗ η è 2 10 ø

・TL at load lifting :

(( µ + 1)W1 − W 2) × 9.81 æ D 1 ö
 Ｖ TL = ç × 3 ÷ × GL
η è 2 10 ø

 ＧＬ   
  
Ｄ ・TL at lowering :

(( µ − 1)W1 − W 2) × 9.81 æ D 1 ö
TL = ç × 3 ÷ × GL
    Ｎ η è 2 10 ø

・TL at stop (servo lock) :

( W 1 − W 2) × 9.81 æ D 1 ö
TL = ç × 3 ÷ × GL
η è 2 10 ø

Where
BP : Screw-pitch [mm] L : Length or distance of parts
D : Pulley, pinion or roll diameter [mm] N : Motor speed
F : Thrust (axial) force (opposes feed on is + direction) TL : Load torque, total
GL : Reduction speed ratio v : Moving velocity
J : Moment of inertia, total W : Mass (weight)
JL : Ditto, load parts W 1 : Ditto, movable part
JM : Ditto, motor rotor W 2 : Ditto, counter movable part
where, η : Mechanical efficiency
JL = JM x 100 : Load of low moving velocity μ : Friction coefficient
JL = JM x 50 : Load of positioning
JL = JM x 10 : Load of high frequent positioning

11-5 MHT258a (Engl.)

(e) Calculation of accel./decel. torque and accel./decel. time (shortest)
(i) Accel./decel. torque
For application to soft start/stop operation, etc, accel./decel. torque should be calculated according to the formula below.

・Accel./decel. torque (TAC)

( JM + JL ) × 2π × ( N1 - N0 )
TAC = ±TL [N・m]
60 × ( tAC ）

Where,
JL : Moment of load inertia after conversion into motor shaft extension [kg･m2]
JM : Moment of inertia motor rotor [kg･m2]
N0 : Motor speed before the speed change [r/min]
N1 : Speed after the speed change [r/min]
tAC : Accel./decel. time [s]
TAC : Max. accel./decel. (breakdown (max.) ) motor torque
TL : Load torque after conversion into motor shaft [N･m]

The result of the above calculation should be within the allowable maximum accel. /decel. torque of motor.

(ii) Shortest accel./decel. time

For obtaining the target speed in the shortest time, calculation is required by the formula below.
( JL + JM ) × 2π × ( N1 - N0 )
tAC = [S]
60 × ( TAC ± TL )

When TAC ＋ TL : tAC : (shortest decel. time)

TAC − TL : tAC : (shortest accel. time)

(iii) Operation pattern, basic

Accel. torque

(f) Actual torque (Trms) determination

In application to a machine which performs rapid feed frequency, the motor may overheat due to the energy required for accel. and decel..
To prevent this, calculate the actual torque in the following procedure depending on the given repetitive operation pattern and ensure that the
value is not larger than motor rated torque.
Shown below are the formula for actual torque in the typical operation pattern.

Trms = ( TAC2 × tAC ) + ( TL2 × tL ) + ( TDC2 × tDC )

tCYC

11-6 MHT258a (Engl.)

If the actual torque surpasses the rated torque, the following items should be reviewed.
・Slightly reduce the frequency of acceleration and deceleration.
・Review decel. method or decel. ratio, etc. and set feed speed appropriately.
・If motor torque is generated even during stop, a mechanical equipment system should be selected so as to minimize the necessity for
torque at stop.
・To maintain motor response at a satisfactory level, it is recommended to restrict the moment of inertia load within the twofold value of
moment of inertia of motor rotor. If higher frequent operation is absolutely required, the moment of inertia of load should be further reduced.

(g) Regenerative brakign power

(i) Horizontally moving, deceleration

P1 = 0.105 × TDC × N10 × ( 1 / 2 ) [W]

Where,
TDC = Decel. torque [ N・m]
N10 = Speed at decel. duration [ r/min ]

(ii) Vertically, lowering

P2 = 0.105 × TL0 × N20 [W]

Where,
TL0 = Load torque at lowering [ N・m]
N20 = Speed at lowering [ r/min ]

(iii) Mean braking power per cycle

P1 × t1 + P2 × t2
P= [W]
tCYC

Where,
t1, t2 : Decel. time during P1/P2 operation

(3) Examples of calculation for model type selection

Selection of the output of the motor used for driving the table (horizontally moving body) shown below is exemplified here.

Mass : 20kg

= 20 x 10 x 500

For capacity selection, calculation is required in the following selection procedure.

(i) Moment of inertia of load via conversion into motor shaft

a) Movable part (table) (JL1)

2 2
ì 1 BP ü ì 1 10 ü
× 3 ý × (1 / 1) = 0.05 × 10 − 3 [kg・m2 ]
2
JL1 = W í × 3 ý × GL2 = 20 í
î 2 π 10 þ î 2 π 10 þ

Where, W : Mass (weight) of table

b) Ball-screw (JL2)
4 4
πρ BL ì BD ü π × 7.85 × 103 500 ì 20 ü
( )
2
JL2 = × 3 × í 3 ý × GL2 = × 3
× í 3 ý × 1 / 1 = 0.06 × 10 − 3 [kg・m2 ]
32 10 î 10 þ 32 10 î 10 þ
Where, ρ : Density of ball-screw (assumed as 7850 [kg/m3])
thus, JL = JL1 + JL2 = 0.11 × 10-3 [kg・m2]

11-7 MHT258a (Engl.)

(ii) Load torque via conversion into motor shaft (TL)

( µ )W × 9.81 BP 0.1 × 20 × 9.81 10

TL = × 3 × GL = × 3 × (1 / 1) = 0.03[N・m]
2πη 10 2π × 0.9 10

Where, μ: Friction coefficient = 0.1, η: Mechanical efficiency = 0.9

(iii) Shortest accel./decel. time (tac/tdc)

Of the motor which meets the following conditions ; JL ≦ 5 × JM and TL ≦ TR (rated torque ) × 0.9
0.2 [kW] motor is temporarily selected. :

Where,
TL = 0.03 [N・m], JL = 0.11 × 10-3 [kg・m2], from motor data of 2.1 : rated torque = 0.637 [N・m], breakdown (max.) torque =
1.91 [N・m], moment of motor rotor inertia = 0.0216 × 10-3 [kg・m2] for 0.2 [kW], GYC 201DC1-S motor.

a) Shortest accel./decel. time

(JM + JL ) × 2π × N (0.0216 × 10 −3 + 0.11 × 10 −3 ) × 2π × 3000

t AC = = = 0.022 [s]
60( TAC − TL) . − 0.03)
60(191

b) Accel./decel. torque for application to soft operation (0.05 [s] accel. time) from 0 to 3000 [r/min] speed

( JM + JL ) × 2 π × N (0.0216 × 10 −3 + 0.11 × 10 −3 ) × 2π × 3000

TAC = + TL = + 0.03 = 0.86[N・m]
60 × tac 60 × 0.05

Where,
JM : Moment of inertia of motor
N : Motor speed [r/min]
TAC : Max. torque which can be output within an increase from 0 to 3000 [r/min]

(iv) Operation pattern

500[mm/s]
50[mm]

0.05

0.05 0.05

0.86

0.03

0.86

(v) Moving length of ball-screw

Moving velocity (v) of mechanical equipment system at 3000 [r/min] motor speed (N)

N 3000
V= × BP × GL = × 10 × (1 / 1) = 500 [mm/s]
60 60

11-8 MHT258a (Engl.)

(vi) Calculation of actual torque (Trms)
Actual torque can be calculated by the following formula.

((0.86 2 × 0.05 × 2) + (0.03 2 × 0.05)) × 1

Trms = = 0.38 [N・m]
0.5

Since the rated torque of 0.2[kW] motor is 0.637 [N・m], a relation of “actual torque < rated torque “ is satisfied. Therefore, the temporarily
selected motor is actually applicable.

(vii) Examination of braking resistor

In the above torque pattern, the hatched area corresponds to the regenerative braking mode. Braking power is as follow.

P1 = 0.105 × TAC × N × (1/2) = 0.105 × 0.86 × 3000 × (1/2) = 135 [W]

From the above result, mean braking power per cycle is :

135 × 0.05
P= = 14 [W]
0.5

(4) Determination of external braking resistor

Because of the braking resistor is not built-in the 0.2[kW] motor, requiring of external braking resistor provision is reviewed as follows :
(a) Energy (EG) on the mechanical equipment system during deceleration

1
EG = (JM + JL)・(2πN / 60)2
2
2
1 é 2π × 3000 ù
= (0.0216 × 10 − 3 + 0.11 × 10 − 3 ) × ê ú = 6.5 [ J ]
2 ë 60 û

(b) Consumption energy (EL) due to load torque

EL = ( 2π / 60 )× TL × Ｎ × tDC × ( 1/2 )
= ( 2π / 60 )× 0.03 × 3000 × 0.05 × ( 1/2 ) = 0.24 [ J ]

(c) Consumption energy (EM) in motor winding

EM = 3 × ( R × I2 )× tDC = 3 × R × (( TDC / TR × IR )2 ) × tDC

= 3 × 2 × (( 0.86 / 0.637 × 1.5 )2 ) × 0.05 = 1.2 [ J ]

(d) Absorbing energy (ES) of motor

1
1 1
ES = CV 2 = (660 × 10 − 6 ) × ( 370 2 − ( 200 × 2 2 ) 2) = 18.7 [ J ]
2 2

Where,
R : Phase resistance of stator winding of GYC201 type motor is 2[Ω], at room temperature
V : Power supply voltage 200 [ V ]
C : DC intermediate capacity of RYS201 amplifier 660[μF]

(e) Consumption and absorbing energies ( EL + EM + ES ) is 20 [ J ], which is larger than the energy on the mechanical equipment
system ( EG = 6.5 [ J ]). Therefore, external braking resistor provision is not required in this example.

11-9 MHT258a (Engl.)

11.2 Example of program
(1) MICREX-F F70
An example is shown for PLC side program for current position ouput (see 5.4.5).
Connecting the amplifier output terminal to PLC input terminal acquires the current position of motor.
B0 : Start acquires (input)
B1 : End (input)
B17 : Current position output [CONTn]
B22 : DATA0 [OUT3]
B23 : DATA1 [OUT4]
In the example of program, BD0 to BD12 are used as a working area.
Finally, the current position is stored in the area of BD12 (BCD 7-digit).
Allocate 56 (current position output) to control signal of amplifier corresponding to B17 (output).

11-10 MHT258a (Engl.)

 99/07/16 Page 1
currentpos - ladder -

P0001
00000 PAGE 1
Initial scan Initialize
P0001 F0050 S00.99
00001 (SC)
Initialization input Initialize 2
P0001 B0001 S00.98
00003 (SC)

P0001
00003 Start Answer Answer Read 2-bit
Start output acquiring First time ON OFF command output Unload
P0001 B0000 S00. 10 S00.12 S00. 14 S00. 16 S00. 20 S00. 22 S00.26
00004 Start
Confirm OFF acquiring
S00.28 S00.10
(SC)
Start acquiring High order 16-bit
P0001 S00.10
00005 00000000 MOV BD0000
Start acquiring Low order 16-bit
P0001 S00.10
00006 00000000 MOV BD0001
Start acquiring Check sum
P0001 S00.10
00007 00000000 MOV BD0002
Start acquiring BD3
P0001 S00.10
00008 00000000 MOV BD0003
Start acquiring BD4
P0001 S00.10
00009 00000000 MOV BD0004
Start acquiring BD5
P0001 S00.10
00010 00000000 MOV BD0005
Start acquiring BD6
P0001 S00.10
00011 00000000 MOV BD0006
Start acquiring BD7
P0001 S00.10
00012 00000000 MOV BD0007
Start acquiring BD8
P0001 S00.10
00013 00000000 MOV BD0008
Start acquiring BD9
P0001 S00.10
00014 00000000 MOV BD0009
Start acquiring BD10
P0001 S00.10
00015 00000000 MOV BD0010
Start acquiring BD11
P0001 S00.10
00016 00000000 MOV BD0011
Start acquiring Current position
P0001 S00.10
00017 00000000 MOV BD0012
Start acquiring First time
P0001 S00.10 S00.12
00018 (SC)
Fist time Wait
P0001 S00.12 T0000
00019 TON 00000005

11-11 MHT258a (Engl.)

 99/07/16 Page 2
currentpos - ladder -
First time Wait OUT2 Answer ON
P0001 S00. 12 T0000 B0021 S00.14
00020 (SC)
Answer ON OUT2 Answer OFF
P0001 S00. 14 B0021 S00.16
00021 (SC)
Answer OFF Read command
P0001 S00. 16 S00.20
00022 (SC)
Confirm OFF
S00.28

Read command OUT2 2-bit output

P0001 S00.20 B0021 S00.22
00023 (SC)
2-bit output Wait for determination
P0001 S00.22 T0001
00024 TON 00000005
2-bit output Wait for determination
P0001 S00.22 T0001 D0090
00025 ( )
DATA1 Low order bit
P0001 D0090 B0023 M0091
00026 ( )
DATA0 High order bit
B0022 M0092
( )

P0001 D0090
00027 WM0010 SLL WM0010 : 00000002
Low order bit
P0001 M0091
00028 WM0010 SBIT WM0010 : 00000014
High order bit
P0001 M0092
00029 WM0010 SBIT WM0010 : 00000015
2-bit output Unload
P0001 S00.22 D0090 S00. 26
00030 (SC)
Unload OUT2 Confirm OFF
P0001 S00. 26 B0021 S00.28
00031 (SC)
Read command Acquiring
P0001 S00. 20 M0093
00032 ( )
2-bit output
S00. 22

Unload
S00. 26

Confirm OFF
S00. 28
High order 16-bit
P0001 D0090 C0090
00033 + 00000008
Acquiring CT
M0093
R

11-12 MHT258a (Engl.)

 99/07/16 Page 3
currentpos - ladder -
Acquiring High order 16-bit
P0001 M0093 C0090 D0091
00034 ( )

P0001 D0091 M0094

00035 ( )
High order 16-bit
P0001 M0094
00036 WM0010 MOVL BD0000
Low order 16-bit
P0001 D0090 C0091
00037 + 00000016
Acquiring CT
M0093
R
Acquiring Low order 16-bit
P0001 M0093 C0091 D0092
00038 ( )

P0001 D0092 M0095

00039 ( )
Low order 16-bit
P0001 M0095
00040 WM0010 MOVL BD0001

P0001 M0095
00041 WM0010 SLL WM0010 : 00000015
Check sum
P0001 D0090 C0092
00042 + 00000020
Acquiring CT
M0093
R
Acquiring Check sum
P0001 M0093 C0092 D0093
00043 ( )

P0001 D0093 M0096

00044 ( )
Check sum
P0001 M0096
00045 WM0010 MOVL BD0002
Acquiring Check sum End acquiring
P0001 M00. 30 C0092 S00.30
00046 (SC)
End acquiring
P0001 S00. 30 D0094
00047 ( )
Activate end
P0001 D0094 M0097
00048 ( )
Activate end High order 16-bit BD3
P0001 M0097
00049 BD0000 DT BD0003 : 16 : 8 : 24
Activate end High order 16-bit BD4
P0001 M0097
00050 BD0000 DT BD0004 : 24 : 8 : 24
Activate end Low order 16-bit BD5
P0001 M0097
00051 BD0001 DT BD0005 : 16 : 8 : 24

11-13 MHT258a (Engl.)

 99/07/16 Page 4
currentpos - ladder -
Activate end Low order 16-bit BD6
P0001 M0097
00052 BD0001 DT BD0006 : 24 : 8 : 24
Activate end BD3 BD3
P0001 M0097
00053 BD0003 BCD BD0003
Activate end BD4 BD4
P0001 M0097
00054 BD0004 BCD BD0004
Activate end BD5 BD5
P0001 M0097
00055 BD0005 BCD BD0005
Activate end BD6 BD6
P0001 M0097
00056 BD0006 BCD BD0006
Activate end BD3 BD4 BD7
P0001 M0097
00057 BD0003 + BD0004 → BD0007
Activate end BD5 BD6 BD8
P0001 M0097
00058 BD0005 + BD0006 → BD0008
Activate end BD7 BD8 BD9
P0001 M0097
00059 BD0007 + BD0008 → BD0009
Activate end BD9 BD10
P0001 M0097
00060 BD0009 BIN BD0010
Activate end BD10 BD10
P0001 M0097
00061 BD0010 AND h00FF → BD0010
Activate end Check sum BD10 BD10
P0001 M0097
00062 BD0002 EOR BD0010 → BD0010
Activate end Zero flag Coincidence
P0001 M0097 F004F M0098
00063 ( )
Coincidence High order 16-bit
P0001 M0098 BD11
00064 BD0000 SLL BD0011 : 00000016
Coincidence BD11 Low order 16-bit Current position
P0001 M0098
00065 BD0011 OR BD0001 → BD0012
Coincidence Current position Current position
P0001 M0098
00066 BD0012 BCD BD0012
First time CONT1
P0001 S00. 12 B0017
00067 ( )
Read command
S00. 20

2-bit output
S00. 22

P0001 End of program

00068

11-14 MHT258a (Engl.)

(2) MICREX-SX
FB (function block) for acquiring a current position output (see 5.4.5).
ABS_ENC_1
RD_REQ : Request current position read [BOOL]
RD_ANS : Answer current position read [BOOL] ABS_ENC
ANS_BIT1 : Amplifier data bit 1 [BOOL] RD_REQ RD_COM
ANS_BIT2 : Amplifier data bit 2 [BOOL]
RD_ANS RD_RUN
RD_COM : Read command to amplifier [BOOL]
RD_RUN : Reading [BOOL] ANS_BIT1 RD_OK
RD_OK : Normal end of read [BOOL]
RD_NG : Abnormal end of read [BOOL] ANS_BIT2 RD_NG
ABS_POS : Current position data [DINT]
ABS_POS

Turning on “RD_REQ” executes a sequence of current position acquisition.

The current position is outputted in [DINT] form to “ABS_POS” terminal.
Connect each terminal to the amplifier.

RD_COM : Current position output command (control assign No. 56)

RD_ANS : OUT2
ANS_BIT1 : OUT3 of amplifier terminals
ANS_BIT2 : OUT4

11.3 Control block diagram

The control block diagram for RYS-V type amplifier is shown on the next page.

(1) Override
Validated by assigning the control assign terminals [CONTn] to signals.

Set value, value set at system para. No. Signal name

43 Override valid
44 Override 1
45 Override 2
46 Override 4
47 Override 8

(2) Manual feed

The speed of manual forward or reverse revolution can be selected from 8 levels.

X3 X2 X1 Speed
OFF OFF OFF NREF terminal (speed command voltage)
OFF OFF ON 1
OFF ON OFF 2
OFF ON ON 3
ON OFF OFF 4 of manual feed speed (basic para.)
ON OFF ON 5
ON ON OFF 6
ON ON ON 7

Validated by assigning the signals to control assign terminals [CONTn]

Signal function No. Functional name

51 X1
52 X2
53 X3

11-15 MHT258a (Engl.)

 d Feed-
CONTn (27) dt forward
System para. Pulse train Basic para.
Pulse train 01~07 40
input ratio 1 Command
CA, ＊CA Pulse train Basic para. pulse Non-linear Position
CB, ＊CB input form 93 correction (S-curve)
α/β time loop gain
System para. Pulse train
ratio 2 Basic para. Basic para. Basic para.
78 39
Basic para. 91/92 25
CONTn (28) 94
Control System para.
input 01~07 CONTn (37)
terminal Origin
CONTn System para.
return 01~07
Basic para. Pulse
71~79 generator
Interrupt Vibrate
positioning suppression
Override CONTn (38)
Basic para. Basic para.
81 Basic para. 44, 45
Speed 17~20
command Non-linear
input Speed Second PI Current
Soft (S-curve) M
NREF command command
start time control control
gain offset
Basic para. Basic para.Basic para.
System para. System para. Basic para.

11-16
Control 41 37 PG
input 63 64 25 32~34, 38
terminal Manual
CONTn
feed speed
1 to 7 Acceleration / CONTn (14)
Basic para. 42
Basic para. deceleration
1~7 time 1
Basic para.
21, 22
Acceleration /
deceleration
time 2
Basic para.
Torque 23, 24
command Position /
input Torque Torque
command command speed
TREF
gain offset detection
Basic para.
System para. System para. 43
65 66
Freq. dividing
output terminal Freq.
FA, ＊FA dividing
FB, ＊FB circuit
FZ, ＊FZ System para.
79

MHT258a (Engl.)
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