Technical reference

Console for AC Servo Motor & Driver

• Thank you very much for your

purchase of Panasonic Console
for AC Servo Motor & Driver.
• Before use, refer this technical
reference and safety instructions
to ensure proper use. Keep this
technical reference and read when
necessary.
• Make sure to forward this technical
reference for safety to the final
user.

If you are the first user of this product, please be sure to purchase and read
the optional Engineering Material of AC Servo Motor & Driver (DV0P4490), or
downloaded Instruction Manual from our Web Site.
[Web address of Motor Company, Matsushita Electric Industrial Co., Ltd.]
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html

<Contents> page page

Safety Precautions ...................................... 2 16-bit positioning parameter (Only A4P series corresponds.) ..... 23
1. Introduction ............................................. 6 32-bit positioning parameter (Only A4P series corresponds.) ..... 24
On Opening the Package ......................................... 6 Servo parameter ..................................................... 25
Outline ...................................................................... 6 7. EEPROM Writing Mode ......................... 26
Applicable Range ..................................................... 6 8. Auto-Gain Tuning Mode. ....................... 27
Check of the Model ................................................... 6 9. Auxiliary Function Mode ...................... 29
Parts Description ...................................................... 7 Structure of Auxiliary Function Mode ...................... 29
2. Installation/How to Connect ................... 8 Alarm Clear ............................................................. 30
3. How to Use .............................................. 9 Jog Operation ......................................................... 31
Initial Status of the Console Display (7 Segment LED) ...... 9 Procedure of trial run .............................................. 32
Mode Change ......................................................... 10 Absolute encoder clear mode ................................. 34
4. Monitor Mode ......................................... 11 10. Copying Function Mode ..................... 35
5. Teaching Mode ...................................... 16 Copying of Parameters from the Driver to the Console ... 35
Teaching ................................................................. 16 Copying of Parameters from the Console to the Driver ... 36
Test ......................................................................... 18 11. Supplement ........................................... 38
6. Parameter Setup Mode ......................... 21 Function comparison table ..................................... 38
Structure of Parameter setup mode (Example of A4P series) ... 21 I/O signal status table ............................................. 39
Step parameter (Only A4P series corresponds.) .... 22 Dimensions ............................................................. 48
After-Sale Service (Repair) ......... back cover

・This product is for industrial equipment. Don't use this product at general household.
Safety Precautions
Observe the following precautions in order to avoid damages on the Do not place the console Install an emergency stop
machinery and injuries to the operators and other personnel during close to a heating unit such circuit externally so that you
the operation. can stop the operation and
Failure to observe this in-
• In this document, the following symbols are used to indicate the struction could result in fire shut off the power
and breakdowns.
level of damages or injuries which might be incurred by the Failure to observe this in-
misoperation ignoring the precautions. struction could result in injur-
ies, electrical shocks, fire,
Indicates a potentially hazardous situation breakdowns and damages.
DANGER which, if not avoided, will result in death or
serious injury. Mount the motor, driver, Check and confirm the
Indicates a potentially hazardous situation console and regenerative safety of the operation after
CAUTION which, if not avoided, will result in minor injury
or property damage.
resistor on incombustible the earthquake.
material such as metal.
Failure to observe this in-
• The following symbols represent "MUST NOT" or "MUST" operations struction could result in elec-
Failure to observe this in- trical shocks, injuries and
which you have to observe. (Note that there are other symbols as
struction could result in fire. fire.
well.)

Install an overcurrent Install and mount the

Represents "MUST NOT" operation which is inhibited.
protection, earth leakage Product and machinery
breaker, over-temperature securely to prevent any
Represents "MUST" operation which has to be executed. protection and emergency possible fire or accidents
stop apparatus without fail. incurred by earthquake.
Failure to observe this in- Failure to observe this in-
struction could result in elec- struction could result in elec-
trical shocks, injuries and fire. trical shocks, injuries and fire.
DANGER
Do not subject the Product Do not subject the cables to CAUTION
to water, corrosive or excessive force, heavy
flammable gases, and object, or pinching force, Do not modify, disassemble Do not pull the cables with
combustibles. nor damage the cables. nor repair the Product. excessive force.
Failure to observe this
Failure to observe this in- instruction could result in Failure to observe this Failure to observe this
struction could result in fire. electrical shocks, damages instruction could result in fire, instruction could result in
and breakdowns. electrical shocks and injuries. breakdowns.

−2− −3−
Safety Precautions
Do not step on the Product Do not approach to the ma- This Product shall be treated
nor place the heavy object chine since it may suddenly as Industrial Waste when you
Failure to observe this
restart after the power re- dispose.
instruction could result in sumption.
electrical shocks, injur-
ies, breakdowns and Failure to observe this
instruction could result in
injuries.

Do not give strong impact Be sure to turn off the power

shock to the Product. to the driver if not used for a
long time.
Failure to observe this Otherwise, an injury may
instruction could result in occur resulting from a
breakdowns. malfunction etc.

Make a wiring correctly and Keep the ambient

securely. temperature below the
permissible temperature for
Failure to observe this
instruction could result in the motor and driver.
fire and electrical Failure to observe this
instruction could result in
breakdowns.

Execute the trial run without When any error occurs,

connecting the motor to the remove the cause and
machine system and fix the release the error after
motor. After checking the securing the safety, then
operation, connect to the restart.
machine system again.
Failure to observe this
Failure to observe this instruction could result in
instruction could result in injuries.
injuries.

−4− −5−
1. Introduction
On Opening the Product Package Parts Description
• Make sure that the model is what you have ordered. Console Connector
• Check if the product is damaged or not during transportation. Console body
Display
Contact to a dealer if you find any failures. Cable (7-segment LED)
Touch panel
Outline of Console
With the Console, you can execute the followings.
(1) Monitoring of servo motor rotational speed, torque, and positional deviation; input and Display/Touch panel
output; pulse input; and load factor
(2) Display of the present alarm and reference of the error history. Display LED (6-digit)
All of LED will flash when error occurs, and switch to error
(3) Setup and Storage of parameters.
display screen.
(4) Writing to the memory (EEPROM).
(5) Auto gain tuning of driver Display LED (in 2 digits)
Parameter No. is displayed at parameter setup mode. Point
(6) Motor test run and alarm clear
No. is displayed at teaching mode.
(7) Parameter copy * "1" is always displayed as an ID number for A4P, A4N, and A4A
(8) Teaching of target positions (only for A4P series) series irrespective of the setting of the node address
(MSD/LSD) rotary switch located at the front panel of the driver.

Application SHIFT Button

Press this to shift the digit for data change.
This console can be used for the following servo drivers.
Button
• MINAS A4 Series • MINAS A4T Series
Press these to change data or execute selected action of
• MINAS A4P Series • MINAS AIII Series parameter.
• MINAS A4N Series • MINAS E Series Numerical value increases by pressing, ,
• MINAS A4A Series • MINAS S Series decreases by pressing .
SET Button
Check of the Console Model Press this to shift each mode which is selected by mode
switching button to EXECUTION display.
Model number
Mode Switching Button Press this to switch 7 kinds of mode.
Model No. DV0P4420 Serial Number
Serial.No. 05010001
1) Monitor mode 5) Auto-gain tuning mode
Matsushita Electric Industrial Co., Ltd.
e.g.) : 0511 0001 2) Teaching mode 6) Auxiliary function mode
Our management use code 2 • Target position settings • Trial run (JOG mode)
Affixed to the reverse side of Lot number
the console body. Month of production
established by teaching • Alarm clear
Year of production • Test operation 7) Copy mode
(Lower 2 digits of AD year) 3) Parameter setup mode • Copying of parameters from the driver to the console.
Our management use code 1 4) EEPROM write mode • Copying of parameters from the console to the driver.
−6− −7−
2. Installation 3. How to Use the Console
Installation Place Initial Status of the Console Display (7 Segment LED)
1) Indoors, where the products are not subjected to rain or direct sun beam. The prod- Turn on the power of the driver while inserting the console connector to the driver main
ucts are not waterproof. body, or inserting the console connector to CN X4 connector.
2) Where the products are not subjected to corrosive atmospheres such as hydrogen
sulfide, sulfurous acid, chlorine, ammonia, chloric gas, sulfuric gas, acid, alkaline and approx. 0.6 sec approx. 0.6 sec approx. 0.6 sec
salt and so on, and are free from splash of inflammable gas, grinding oil, oil mist, iron
powder or chips and etc.
3) Well-ventilated and low humidity and dust-free place.
4) Easy-to-access place for inspection and cleaning.
[flashes for approx. 0.6 sec each for initialization of the console]
Environmental Conditions When ID No. of the driver is other than "0" When ID No. of the driver is "0"
Item Condition
Ambient temperature 0˚C to 55˚C (free from freezing) • In case of communication with RS232 only • In case of communication with other
Ambient humidity Less than 90% RH (free from condensation) drivers which are connected via RS485
Displays version No. (MINAS AIII, A4, A4T Series only)
Storage temperature –20˚C to 80˚C (free from freezing)
of micro computer of
Storage humidity Less than 90% RH (free from condensation) the console. Displays the version
Vibration Lower than 5.9m/s2 (0.6G), 10 to 60Hz (Displayed figures vary No. of this product.
Conform to JISC0044 depending on the version) Dot flashes when
Impact RS485 is connected.
(Free fall test, 1m for 2 directions, 2 cycles)
Lower than 1000m Displays ID No. of the Set up ID of the
Altitude
Driver. connecting Driver
<Cautions> 1 sec with and .
• Do not give strong impact to the products. Displays the version
Initial display of LED
• Do not drop the products. No. of this product.
(For E and A4P Series,
• Do not pull the cables with excess force. determined by the ID of the selected
• Avoid the place near to the heat source such as a heater or a large winding resistor. setup of SV.Pr01, driver
"Initial Status of LED".) Press
How to Connect Series Connector Symbol (approx.0.6sec)
MINAS A4 CN X4 • Release of RS232 communication error
MINAS A4P CN X4 When RS232 communication error occurs Initial Status of LED
MINAS A4N CN X4 as the Fig, below shows, release it by
Connect to S
SET
M
MODE

SHIFT
MINAS A4A CN X4 pressing and at the same time. ID of the selected
CN X4. MINAS A4T CN X4 driver
MINAS AIII CN X6
MINAS E CN X6 • Release of RS485 communication error
MINAS S CN SER When RS485 communication error occurs
as the Fig, below shows, release it by
* The positions to be connected to are different from series to series.
pressing and at the same time.
Refer to the table to the right for correct connections.
<Remarks>
• Connect the console connector securely to CN X4 connector of the driver
• Never pull the cable to plug in or plug out.
−8− −9−
3. How to Use the Console 4. Monitor Mode
Mode Change SELECTION display EXECUTION display

Display shifts toward the arrowed direction by

The modes below are available in this console. To switch a mode, press once in the pressing and reversed direction by pressing . Display Description Pages to
example refer
initial state to enter the SELECTION display screen and press .
Positional deviation (5 deviation pulses)
Initial state *1 Monitor mode (refer to the next page)
Motor rotational speed (1000r/min) P.12
Press .
Torque output (Torque output 100%)
Press .
A4P Series only
Control mode (Position control mode) P.12

I/O signal status (Input signal No.0 : Active) P.13

...Teaching mode
(refer to page16) Error factor, history (No error currently) P.14
...Parameter
Press . setup mode
For manufacturer's use
(refer to page25)
...Parameter Alarm (No alarm) P.14
setup mode
Press .
(refer to page21) Press . Regenerative ( SET
button ) (30% of permissible
P.14
load factor regenerative power)

...EEPROM write mode Overload factor (28% of overload factor) P.14

(refer to page26)
Press . Inertia ratio (Inertia ratio 100%) P.15

(Feedback pulse sum is

Feedback pulse sum P.15
<Note> ...Auto-gain tuning 50 pulses.)
*1: For E and A4P Series, Depends mode (Command pulse sum is
Command pulse sum P.15
on the settings of the initial LED (refer to page27) 10 pulses.)
Press .
state of SV.Pr01. External scale (External scale deviation is
P.15
deviation 0 pulses.)
...Auxiliary function External scale External scale feedback
P.15
mode feedback pulse sum pulse sum is 0 pulses.
(refer to page29)
Press . Automatic motor (Automatic motor recognizing
P.15
recognizing function function is validated.)

Selection of (RS232 communication) P.15

...Copy mode communication
(refer to page35)
Press . (Mode switch button)

*1 Not available to the models that do not support

Show a target mode to be executed, select it by the button and press to Teaching Mode external scale.
Parameter Mode
(A4P Series only) *2 Not available to MINAS S series.
enter the EXECUTION display screen. *3 Only available to MINAS AIII, A4, and A4T.
P.16 P.21
− 10 − − 11 −
4. Monitor Mode
Display of Position Deviation, Motor Rotational Speed and Torque Output Display of I/O Signal Status
Displays the control input and output signal to be connected to CN X5 connector.
For more information on the signal numbers, refer to I/O signal status table (for each
series) at the end of this manual (pages 39-45).
Data
...Positional deviation (cumulative pulse counts of deviation counter) .....Active
• – display : generates rotational torque of CW direction (viewed from shaft end) (This signal is valid)
• no display : generates rotational torque of CCW direction (viewed from shaft end) .....Inactive
(This signal is invalid)
...Rotational speed of the motor unit [r/min]
• – display : CW rotation, no display : CCW rotation Signal No. (Hexadecimal number, 0 to 1F)
...Torque command unit [%] (100 for rated torque) .....Input signal
• – display : CW rotation, no display : CCW rotation
.....Output signal
<Note>
“ + ” is not displayed on LED, but only “ – ” appears. Select the signal No. to be monitored by pressing .

Display of Control Mode

(Lowest place No. of input signal)
The control mode that can be specified varies depending on the servo driver used. For
more information, refer to the technical reference or the specifications of each driver.

...Position ...Full-closed of pressure Transition when

(Highest place No. of input signal)
control mode control mode
pressing .
...Speed ...External encoder (Lowest place No. of output signal)
control mode control mode
...Torque ...Position control
control mode (for high stiffness)
...Hybrid ...Position control (Highest place No. of output signal)
control mode (for low stiffness)
...Full-closed ...Speed control
control mode (for low stiffness) <Note>
• Shift the flashing decimal point with . • The other way to change signal
...Pressure open ...Integrated full-closed
control mode control mode No. at I/O selection mode Signa
(Right side of decimal point :
* In the case of MINAS AIII series, is displayed also for "Semi-closed selection mode.
Signal selection mode)
control mode".
<Note> (Left side of decimal point :
is displayed for both the fast response position control and the high Input/Output selection mode)
performance position control. To check the control mode, refer to the set value of the
parameter No. 02 control mode.

− 12 − − 13 −
4. Monitor Mode
Reference of Error Factor and History Display of Inertia Ratio
<Note>
• Following errors are not included in the history.
Displays the inertia ratio (%).
11: Control power supply under-voltage protection
13: Main power supply under-voltage protection Display of Feedback Pulse Sum, Command Pulse Sum
Error code No.
36: EEPROM parameter error protection
( appears if
37: EEPROM check code error protection
no error occurs)
39: Emergency stop input error protection (lowest
order )
Total sum of pulses after control power-ON.
The display range is from –2147483647 to 2147483647.
........Present error 93: External scale auto recognition error protection
Press . An overflow occurs if the result is outside the display range.
95: Motor auto recognition error protection
........History 0 Sum of pulses shown can be reset to “0” by press-
• When one of the errors which are listed in error history
(latest error)
........History 13
occurs, this error and history o shows the same error No. (
highest ing
order ) for approximately 5 seconds or more.
• When error occurs, the display flashes.
(oldest error)
• You can refer the last 14 error factors (including present one). Press to select Display of External Scale Deviation, External Scale Feedback Pulse Sum
the factor to be referred.
<Notice>
For the relation between an error code number and an error, refer to “Protective Press . * Not available to the
Function” in Technical reference or Manual of various driver. models that do not

Alarm Display Press .

(
lowest
order) support external scale.

Press .
...no alarm
• Over-load alarm :
...Alarm occurrence
(
highest
order )
Turns on when the load reaches 85% or more of alarm trigger
level of over-load protection. Automatic Motor Recognizing Function
• Over-regeneration alarm :
Turns on when regenerative load reaches more than 85% of Automatic recognition is valid. (This is always shown.)
alarm trigger level of regenerative load protection. Alarm trigger
level is defined as 10% of regenerative resister working ratio,
when Pr6C "Selection of external regenerative resister " is 1. Communication Selection
• Battery alarm (Not available to MINAS E and S series.)
• Fun-lock alarm (Not available to MINAS E and S series.) If RS485 is used for communication, change the ID of the servo driver with which commu-
nication is made.
Display of Regenerative Load Factor
RS232 communication
Shows regenerative resistance load factor in percentage assum-
ing that an operation level of regenerative protection is 100%. .........Displays the ID of the connected driver. ID cannot be switched.
"1" is always displayed as an ID number for A4P, A4N, and A4A series.
This is valid when SV.Pr6C is 0 or 1.
RS485 communication
Display of Over-load Factor
Displays the ratio (%) against the rated load. a dot blinks
Refer "Overload Protection Time Characteristics" of When in
the optional Engineering Material of AC Servo Motor & Driver. Select the ID of the driver to be operated by pressing .
− 14 − − 15 −
5. Teaching Mode (Applicable only to MINAS A4P series)
Overview of Teaching Mode When you press , the motor rotates by specified travel in a positive direction.
In the teaching mode, you can operate the motor actually using this console, set a target When you press , the motor rotates by specified travel in a negative direction.
position and execute a test operation, e.g., step operation, jog operation, etc. The travel can be set by 16.Pr48 (teaching travel setting).
The rotation speed can be set by16.Pr40 (jog speed [low]).
Operation at SELECTION display
When you press during movement, the motor decelerates and stops.

To show for the teaching mode.

When you keep on pressing , the motor rotates continuously in a positive direction while pressing it.
To change the mode, When you keep on pressing , the motor rotates continuously in a negative direction while pressing it.
press or . The rotation speed can be set by16.Pr40 (jog speed [low]).
Test mode When you press during rotation, the rotation speed changes to a jog speed (high speed).

When you keep on pressing + , the motor rotates continuously in a positive direction while pressing it.
<Note>
When you keep on pressing + , the motor rotates continuously in a negative direction while pressing it.
• When operating the motor, check the safety, e.g., whether the wir-
The rotation speed can be set by16.Pr41 (jog speed [high]).
ing is correct, whether the servo motor is fixed, etc.
When you press during rotation, the rotation speed changes to a jog speed (low speed).
• When a trouble, e.g., cable breakage, has occurred during a motor
operation, the servo driver overruns a maximum of approximately Definition of positive or negative direction of rotation depends on the setting of 16.Pr50 (operating direction setting).
1s. Check the safety fully. “Error” is shown when execution is made during an operation by I/O etc.
When you press , teaching is completed and you will be moved to the parameter number selection.
If you do not want to store a current position in a parameter, press after finishing teaching.
Teaching Mode Setup
Operate the motor and set a target position. Press .

Operation at EXECUTION display • Parameter number selection

To store a current position, .....Current position (low order)
EXECUTION display set a relevant point number
Teaching mode display .....Point number
using , and/or .
Then, a current position
Show
is shown (lowest order). Keep on pressing .
and press .
Press . • Target position setting
A current position Select a point number and A dot moves to the left.
(highest order) keep on pressing .
A current position is set in a .....Point number
* The data is shown on the two screens because of
a large number of displayed digits. selected parameter and you
will be moved to the speed
* If “Error” is shown, it may be caused by any of the factors below. number selection. (Continue to the next page.)
• Homing is not completed. • The servo turns off. • Operation by I/O etc.
• 16.Pr51 (wrap around permission) is set to “1”.

− 16 − − 17 −
5. Teaching Mode (Applicable only to MINAS A4P series)
Step operation
• Step parameter setting
For the setting of the speed .....Speed number selection An operation is performed at a position of a selected point number.
number selection – block * Execute homing completely before performing a step operation.
selection, refer to "Step An example of an operation to move to the point No. 2 is shown below.
parameter" on page 22. .....Block selection
Press .
Press .

Press . .....Point No. 1

* When you press during parameter setting, any parameter in process is not
changed and is shown again. Keep on pressing at
* When you set a target position by teaching, an operation mode fixed to the absolute a desired point number.
value mode.
* If you set a target position manually when the servo turns off or main power supply
turns off, set SV.Pr67 and SV.Pr69 to “Deviation counter clear”. .....Point No. 2
* When you have set the parameters, write the parameters into EEPROM. If you turn
the power supply off before writing the parameters into EEPROM, those parameters Select a point number
are cleared.
using and/or .
Test Mode A dot ( )
moves and
Test operation is ready. .....Point No. 60
then the
motor rotates.
Press once and once and once in the initial LED state

to show for the teaching mode.

Press .
.....Point No. 1
...Step operation
(refer to page 19).
Press .
Moving to a selected
point number.
A current position is shown
...Jog operation
(refer to page 20). during moving to a point.
The motor rotates while pressing If you press during An error has occurred.
Point number
after pressing . movement, the motor stops. An error occurs
...Homing operation if SV.Pr02 is not set.
(refer to page 20).
Returning to a home position.
Movement completed
To move to the next process, press .

− 18 − − 19 −
5. Teaching Mode (Applicable only to MINAS A4P series) 6. Parameter Setup Mode
Jog operation Set the servo driver parameters.
The motor can be operated by the jog operation. The parameters are classified as follows:

• Step parameter (A4P Series only) ......P.22

...A current position is shown
during an operation. • 16-bit positioning parameter (A4P Series only) ......P.23
Press . • 32-bit positioning parameter (A4P Series only) ......P.24
• Servo parameter (All Series) ................P.25
When you keep on pressing , the motor rotates continuously in a positive direction while pressing it.
When you keep on pressing , the motor rotates continuously in a negative direction while pressing it. The parameters that can be set vary depending on the servo driver used.
The rotation speed can be set by 16.Pr40 (jog speed [low]).
When you press during rotation, the rotation speed changes to a jog speed (low).
Structure of Parameter Setup Mode (for A4P Series)
When you keep on pressing + , the motor rotates continuously in a positive direction while pressing it.
When you press once and twice in the initial LED state,
When you keep on pressing + , the motor rotates continuously in a negative direction while pressing it.
the step parameter display shows .
The rotation speed can be set by 16.Pr41 (jog speed [high]).
Select a target parameter using and/or .
When you press during rotation, the rotation speed changes to a jog speed (high).
Press .
* Definition of positive or negative direction of rotation depends on the setting of 16.Pr50
(operating direction setting). Step parameter
* If “Error” is shown, it may be caused by any of the factors below. Press .
• The servo turns off.
• Operation by I/O etc.
Press .
Homing 16-bit positioning
parameter
Homing is performed as follows. Press .
Press .
Press .
32-bit positioning
Press . Keep on pressing . parameter
Press .
A dot ( ) moves to the left.

Press .
Homing Servo parameter
Error occurred Press .
An error occurs if any
parameter related to
Movement completed. homing is not set.
To move to the next process, press .

− 20 − − 21 −
6. Parameter Setup Mode
Step Parameter (A4P Series only) 16-Bit Positioning Parameter (A4P Series only)
Step parameter can be set. 16-bit positioning parameter can be set.
* An example to set in ST.Pr1 is shown below.
Press .

Step data (low order) Step data (high order)

Press .
.....16-Bit
Positioning Selected
.....Step A selected Press Parameter 16-Bit Positioning Parameter
Parameter parameter . No.00
is shown.
No.01 * The data is shown on the two
Press . screens because of a large
number of displayed digits.
.....Speed number .....16-Bit
selection Positioning
.....Step Parameter
Parameter Press . No.01
No.02
.....Acceleration number
selection
Press . .....16-Bit
Positioning
.....Step .....Deceleration number Parameter
Parameter selection No.63
No.60 Press .

.....Operation mode
selection
.....Step Press . A parameter that “ ” is displayed on this position is enabled
Parameter after writing a set value in EEPROM and resetting the system.
No.01 .....Block selection <Notice>
Select an input digit (a dot blinks) by the [SHIFT] key and a parameter by the
Press .
[UP]/[DOWN] key.
<Notice> When you press the [SET] key, the parameter is modified.
Select an input digit (a dot blinks) by the [SHIFT] key and a parameter by the
[UP]/[DOWN] key. The step data is shown on the two screens because of a large * When you press during parameter setting, any parameter in process is not
number of displayed digits. If the parameter is a negative value, a dot lights. changed and “No.” display is shown again.
When you press the [SET] key, the parameter is modified. * When you have set the parameters, write the parameters into EEPROM. If you turn
* When you press during parameter setting, any parameter in process is not the power supply off before writing the parameters into EEPROM, those parameters
changed and “No.” display is shown again. are cleared.
* When you have set the parameters, write the parameters into EEPROM. If you turn
the power supply off before writing the parameters into EEPROM, those parameters
are cleared.
− 22 − − 23 −
6. Parameter Setup Mode
32-Bit Positioning Parameter (A4P Series only) Servo Parameter
32-bit positioning parameter can be set. Servo parameter can be set.

Press . Press . Press .

.....32-Bit .....Servo Parameter

Positioning Selected No.00
Parameter 32-Bit <Notice>
* The data is shown
No.00 Positioning Selected
on the two screens A parameter that “ ” is displayed on
Parameter SV.PrNo.
because of a large this position is enabled after writing a
number of displayed set value in EEPROM and resetting
.....32-Bit digits. the system.
Positioning
Parameter .....Servo Parameter How to set a parameter value
No.01 No.01
(1) Select a digit by to change
Select a target parameter a decimal point.
number, which is to be referred (2) Press and/or to set a
.....32-Bit to and set, by and/or .
Press to set a parameter parameter value. increases a
Positioning
Parameter value. value and decreases.
No.05
A digit next to the blinking decimal
.....Servo Parameter point can be modified.
No.7F
<Notice>
Movement to a high order position is
limited per parameter.
<Notice>
Select an input digit (a dot blinks) by the [SHIFT] key and a parameter by the When you have set the parameters,
[UP]/[DOWN] key. press to return
The 32-bit positioning parameter is shown on the two screens because of a large to SELECTION display .
number of displayed digits.
If the parameter is a negative value, a dot lights. <Remarks>
When you press the [SET] key, the parameter is modified. When you change a parameter value and press , the change is reflected in the
control. Modify gradually a value of parameter (especially, velocity loop gain, position
* When you press during parameter setting, any parameter in process is not
loop gain, etc.) which exerts an influence on the motor operation, not changing it
changed and “No.” display is shown again. extremely at a time.
* When you have set the parameters, write the parameters into EEPROM. If you turn
the power supply off before writing the parameters into EEPROM, those parameters * When you have set the parameters, write the parameters into EEPROM. If you turn
are cleared. the power supply off before writing the parameters into EEPROM, those parameters
are cleared.
− 24 − − 25 −
7. EEPROM Write Mode 8. Auto-Gain Tuning Mode
Operation at SELECTION display <Remarks>
• For details of auto-gain tuning, refer to the optional Engineering Material of AC Servo
Starting from the initial LED status, press two times (A4P series is three times)
Motor & Driver. Pay a special attention to applicable range and cautions.
after pressing , then brings the display of EEPROM Writing Mode,
• The motor will be driven in a preset pattern by the driver in auto-gain tuning mode. You
can change this pattern with SV.Pr25 (Normal auto tuning motion setup), however, shift
the load to where the operation in this pattern may not cause any trouble, then execute
Operation at EXECUTION display this tuning.
• Turn to Servo-ON before the execution.
Press to make
EXECUTION DISPLAY to
Keep pressing until the display changes to when you execute writing. Operation at SELECTION display
Starting from the initial LED status, press three times (A4P series is four times)
“ ” increases while
keep pressing after pressing , then brings the display of auto-gain tuning,
(for approx. 5sec) as then press to select the machine stiffness No.
the right fig. shows.
machine stiffness No.
<Note>
For machine stiffness No., refer to the optional Engineering Material of AC Servo
Motor & Driver.

Starts writing.
Operation at EXECUTION display
Press to make
Finishes writing
EXECUTION DISPLAY to
Writing completes Writing error occurs After inhibiting command input, and during Servo-On status,keep pressing until
To move to the next process, press . Console (LED) display changes to .
• When you change the parameters which contents become valid after resetting,
will be displayed after finishing wiring. Turn off the control power once to reset. “ ” increases by pressing
Note 1) When writing error occurs, make writing again. If the writing error repeats many (approx. 5sec) as the left fig. shows.
times, this might be a failure.
Note 2) Don't turn off the power during EEPROM writing. Incorrect data might be written.
If this happens, set up all of parameters again, and re-write after checking the data.
Note 3) Between and , take care not to pull out a console from a
servo driver main unit. If the connector is pulled out accidentally, insert the (Continue to the next page.)
connector again and retry from the beginning.
<Notice>
When you have set the parameters, write the parameters into EEPROM. If you turn the
power supply off before writing the parameters into EEPROM, those parameters are
cleared.

− 26 − − 27 −
8. Auto-Gain Tuning Mode 9. Auxiliary Function Mode
The console has three auxiliary functions.
<Note> (1) Alarm Clear
To prevent the loss of A protection function works and a motor stop (motor trip) can be canceled.
gain value due to the (2) Trial Run (JOG Run)
power shutdown, write You can make a trial run (JOG run) without connecting the Connector, CN X5 to the
Starting of the motor into EEPROM.
host controller such as PLC.
(3) Absolute encoder clear
A value of absolute encoder is cleared.
Tuning finishes.

Tuning completes Tuning error

Structure of Auxiliary Function Mode
To move to the next process, press .

When you have finished the tuning, press to return to SELECTION display .
Operation at SELECTION display

Starting from the initial LED status, Press four times (A4P series is five times.)
<Remarks> after pressing , then brings the display of Auxiliary Function Mode,
Don't disconnect the console from the driver between and .
Should the connector is pulled out, insert it again and repeat the procedures from the
beginning.
<Note> If the following status occurs during the tuning action, the tuning error occurs. EXECUTION display
Press
(1) During the tuning action, .
1) when an error occurs Select a desired ...Trial Run
2) when turned to Servo-OFF function using (refer to page31)
3) even the deviation counter is cleared and/or and
4) when the tuning is actuated close to the limit switch press to Press
(2) When the output torque is saturated because the inertia or load is too large. change into .
[EXECUTION] ...Clearing of
(3) When the tuning can not be executed well causing oscillation.
Absolute
If the tuning error occurs, value of each gain returns to the previous value before display.
Encoder
the tuning. The driver does not trip except error occurrence. Depending on the (refer to page34)
Press
load, the driver might oscillate without becoming tuning error. (not showing
.
)Extra attention should be paid to secure the safety. ...Alarm Clear
Screen
(refer to page30)

− 28 − − 29 −
9. Auxiliary Function Mode
Alarm Clear Screen Trial Run (JOG Run)
Protective function will be activated and release the motor stall status (error status). You can make a trial run (JOG run) without connecting the Connector, CN X5 to the host
controller such as PLC.
Operation at SELECTION display
<Remarks>
Starting from the initial LED status, press four times (A4P series is five times) after • Separate the motor from the load, detach the Connector, CN X5 before the trial run.
pressing , then press to • Bring the user parameter setups to defaults, to avoid oscillation or other failure.
make a display to
• Refer to page 18 for the jog operation of MINAS A4P series.
• Not available to MINAS AIII and S series.
Operation at EXECUTION display
Press to call for
Inspection Before Trial Run
EXECUTION display of (1) Inspection on wiring
• Miswiring ?
Keep pressing until the console (LED) changes to . (Especially power input and motor output)
• Short or grounded ?
“ ” increases by pressing • Loose connection ?
(approx. 5sec) as the right fig. (2) Confirmation of power supply and voltage
shows. • Rated voltage ?
(3) Fixing of the servo motor [Example of MINAS A4 Series]
• Unstable mounting ? Display LED Console

(4) Separation from the

mechanical system
(5) Release of the brake Power
Alarm clear starts. supply X3

(6) Turn to Servo-OFF after X4

finishing the trial run by

Clearing finishes. pressing .
X5

Alarm clear completes Clear is not finished.

CN X6
Release the error by
To move to the next process, press . resetting the power. X6

X7

Machine Motor
When you have set the alarm clear, press to return to SELECTION display . ground
<Remarks>
Don't disconnect the console from the driver between and .
Should the connector is pulled out, insert it again and repeat the procedures from the
beginning.

− 30 − − 31 −
9. Auxiliary Function Mode
Procedure for Trial Run After the Servo-ON of preparation step 2 for trial run,
the motor runs at the preset speed with SV.Pr57(JOG speed) to CCW direction by
When you use the console, insert the console connector to CN X6 of the driver securely
pressing CW by pressing .
and turn on the driver power. Motor rotational speed
The motor stops by release pressing .
(Initial LED status)
Operation at SELECTION display When you have finished the trial run, press to return to SELECTION display .

Press four times after pressing , <Caution>

to setup auxiliary function If such trouble as disconnection of cable or connector occurs during trial
mode, then with ,
make a display to run, the motor makes over-run for maximum 1 sec in MINAS A4 series and for
maximum 100ms in MINAS E series. Pay an extra attention for securing
Operation at EXECUTION display
safety.
Press to call for
EXECUTION DISPLAY of

Then keep pressing until

the display of Console (LED) “ ” increases by
changes to . pressing (approx. 5sec)
as the left fig. shows.

Preparation step 1 for trial run

Then keep pressing

until the display of LED Keep pressing
changes to . (approx. 3 sec) to shift the
decimal point toward
left as the left fig. shows.

Turns to
Servo-OFF
by pressing
Preparation step 2 for trial run .
Servo-ON status Not a Servo-Ready.
Or SRV-ON signal is not entered.
− 32 − − 33 −
9. Auxiliary Function Mode 10. Copying Function Mode
Clearing of Absolute Encoder Copying of Parameters from the Driver to the Console
Only applicable to the system which uses absolute encoder. You can clear the alarm and Operation at SELECTION display
multi-turn data of the absolute encoder.
Starting from initial LED status, Press five times (A4P is six times) after pressing ,
Operation at SELECTION display then press ,
Press four times (A4P series is five times.) after pressing , to setup auxiliary function to make a display to
mode, then with , Operation at EXECUTION display
make a display to
Press to call for
EXECUTION DISPLAY of
Operation at EXECUTION display
Keep pressing until “ ” increases by
Press to call for
the console display (LED) pressing (approx. 3sec)
EXECUTION DISPLAY of
changes to . as the left fig. shows.
Then keep pressing until the display of Console (LED) changes to .

“ ” increases by
Initialization of EEPROM
pressing (approx. 5sec) of the console starts.
as the left fig. shows.
The positioning parameter is
copied from the servo driver into
the console and the positioning
parameter is written into
EEPROM (console).
(Applicable only to MINAS A4P series.) Error display
Clearing of absolute
encoder starts The servo parameter and driver <Remarks>
type code are copied from the If error is displayed, repeat
servo driver into the console
and the driver type code of the the procedures from the
Clearing finishes servo parameter is written into beginning. Press for
EEPROM (console).
Clearing of absolute encoder Clear is not finished. releasing error.
completes Release the motor trip by
Copying completes normally.
resetting the power.
To move to the next process, press .
To move to the next process, press .
When you have finished the copy, press to return to SELECTION display .
When you have cleared the absolute encoder,
<Remarks>
press to return to SELECTION display . Don't disconnect the console from the driver between to .
<Remarks> Should the connector is pulled out, insert it again and repeat the procedures from the beginning.
Don't disconnect the console from the driver between to .
Should the connector is pulled out, insert it again and repeat the procedures from the <Note>
beginning. If the error display repeats frequently, check the broken cable, disconnection of the
connector, misoperation due to noise or failure of console.
− 34 − − 35 −
10. Copying Function Mode
Copying of Parameters from the Console to the Driver <Remarks>
Don't disconnect the console from the driver between to .
Operation at SELECTION display Should the connector is pulled out, insert it again and repeat the procedures from the
beginning.
Starting from initial LED status,Press five times (A4P is six times) after pressing ,
then press <Note>
to make a display to If the error display repeats frequently, check the broken cable, disconnection of the
Operation at EXECUTION display connector, misoperation due to noise or failure of console.

Press to call for

EXECUTION DISPLAY of

Keep pressing until “ ” increases by

the console display (LED) pressing (approx. 3sec)
change. as the left fig. shows.

If a type code stored in EEPROM (con-

If a type code stored in sole) and another type code of servo
EEPROM (console) driver are different from each other.
and another type code of Press .
servo driver are correspond-
ing to each other.
When you keep on pressing ,
a dot ( ) moves to the left.
Check whether or not to
transfer the read parame-
ter to the servo driver.

The positioning parameter is

copied from the console into
the servo driver.
(Applicable only to MINAS A4P series.)
Error display
The servo parameter is
<Remarks>
copied from the console into
If error is displayed,
the servo driver and the
repeat the procedures
driver type code of the servo
from the beginning.
parameter is written into
EEPROM (console).
Copying completes normally.
To move to the next process, press .
When you have finished the copy, press to return to SELECTION display .
− 36 − − 37 −
11. Supplement
Function comparison table I/O signal status table
Function Series name A4 Series
Mode Details A4 A4P A4N A4A A4T AIII E S
Signal Input signal Output signal
Monitor Positional deviation
No. Title Symbol Title Symbol
Motor rotational speed
00 Servo-ON SRV-ON Servo-Ready S-RDY
Torque output
Control mode 01 Alarm clear A-CLR Servo alarm output ALM
I/O signal status 02 CW over-travel inhibit CWL Positioning complete (In-position) COIN
Error factor, history 03 CCW over-travel inhibit CCWL Brake release output BRK-OFF
Soft version 04 Control mode switching C-MODE Zero-speed detection ZSP
Alarm 05 Speed zero clamp ZEROSPD Torque in-limit TCL
Regenerative load factor 06 Switching of electronic gear DIV In-speed(Speed coincidence) AT-SPEED
Overload factor 07 For manufacturer's use For manufacturer's use
Inertia ratio 08 Command pulse input inhibition INH For manufacturer's use
Feedback pulse sum 09 Gain switching GAIN At-speed(Speed arrival) COIN
Command pulse sum 0A Deviation counter clear CL Full-closed positioning complete EX-COIN
External scale deviation*1 0B For manufacturer's use For manufacturer's use
External scale feedback 0C Selection 1 of Internal command speed INTSPD1 For manufacturer's use
pulse sum*1 0D Selection 2 of Internal command speed INTSPD2 For manufacturer's use
Automatic motor 0E For manufacturer's use For manufacturer's use
recognizing function 0F For manufacturer's use For manufacturer's use
Selection of communication 10 For manufacturer's use For manufacturer's use
Teaching Teaching
11 For manufacturer's use For manufacturer's use
Test
12 For manufacturer's use For manufacturer's use
Parameter setup Servo Parameter
13 Damping control switching input VS-SEL For manufacturer's use
Step Parameter
14 Selection 3 of internal command speed INTSPD3 For manufacturer's use
16-Bit Positioning Parameter
15 Torque limit switching input TL-SEL For manufacturer's use
32-Bit Positioning Parameter
16 For manufacturer's use For manufacturer's use
EEPROM Write
17 For manufacturer's use For manufacturer's use
Auto-Gain Tuning
Alarm Clear 18 For manufacturer's use For manufacturer's use
Auxiliary Function
Trial Run (JOG Run) 19 For manufacturer's use For manufacturer's use
*3
Absolute encoder clear*2 1A For manufacturer's use For manufacturer's use
Copying Function Servo Parameter 1B For manufacturer's use For manufacturer's use
Step Parameter 1C For manufacturer's use For manufacturer's use
16-Bit Positioning Parameter 1D For manufacturer's use For manufacturer's use
32-Bit Positioning Parameter 1E For manufacturer's use For manufacturer's use
*1) Not available to the models that do not support external scale. 1F For manufacturer's use For manufacturer's use
*2) Applicable only to the systems using absolute encoders. For more information on the signals, refer to the technical reference or the specifications of each
*3) A test run for the A4P series can be performed through the test jog operation in the teaching mode. driver.

− 38 − − 39 −
11. Supplement
• Point Number Conversion Table
The console shows the point numbers in the specified point input (No. 16 to 1B) and the
A4P Series current position output (No. 10 to 15) for the of I/O signal state. The point number is
expressed in a six-digit binary number. Convert the point number from the I/O signal state
Signal Input signal Output signal referring to the table below.
No. Title Symbol Title Symbol The console shows [A] or [-] below when Servo Parameter No.58 is “1”. If Servo Param-
00 Servo-ON SRV-ON For manufacturer's use eter No.58 is “0”, interchange [A] and [-] with each other.
01 For manufacturer's use Servo alarm output ALM
Input signal No. 1B 1A 19 18 17 16 Input signal No. 1B 1A 19 18 17 16
Positioning completion output COIN
02 CW over-travel inhibit input CWL Output signal No. 15 14 13 12 11 10 Output signal No. 15 14 13 12 11 10
/Output during deceleration /DCLON
Point No. P32 P16 P8 P4 P2 P1 Point No. P32 P16 P8 P4 P2 P1
03 CCW over-travel inhibit input CCWL Brake release output BRK-OFF 0 – – – – – – 32 A – – – – –
04 For manufacturer's use For manufacturer's use 1 – – – – – A 33 A – – – – A
05 For manufacturer's use For manufacturer's use 2 – – – – A – 34 A – – – A –
06 For manufacturer's use For manufacturer's use 3 – – – – A A 35 A – – – A A
4 – – – A – – 36 A – – A – –
07 Multi-function input 1 EX-IN1 Motor operation condition output BUSY
5 – – – A – A 37 A – – A – A
08 Multi-function input 2 EX-IN2 For manufacturer's use
6 – – – A A – 38 A – – A A –
09 For manufacturer's use For manufacturer's use 7 – – – A A A 39 A – – A A A
0A For manufacturer's use For manufacturer's use 8 – – A – – – 40 A – A – – –
0B Home sensor input Z-LS For manufacturer's use 9 – – A – – A 41 A – A – – A
0C For manufacturer's use For manufacturer's use 10 – – A – A – 42 A – A – A –
11 – – A – A A 43 A – A – A A
0D For manufacturer's use For manufacturer's use
12 – – A A – – 44 A – A A – –
0E Emergency stop input EMG-STP For manufacturer's use
13 – – A A – A 45 A – A A – A
0F For manufacturer's use For manufacturer's use 14 – – A A A – 46 A – A A A –
10 For manufacturer's use Present position output P1OUT 15 – – A A A A 47 A – A A A A
11 For manufacturer's use Present position output P2OUT 16 – A – – – – 48 A A – – – –
12 For manufacturer's use Present position output P4OUT 17 – A – – – A 49 A A – – – A
13 For manufacturer's use Present position output P8OUT 18 – A – – A – 50 A A – – A –
19 – A – – A A 51 A A – – A A
14 For manufacturer's use Present position output P16OUT
20 – A – A – – 52 A A – A – –
15 For manufacturer's use Present position output P32OUT 21 – A – A – A 53 A A – A – A
16 Point specifying input P1IN For manufacturer's use 22 – A – A A – 54 A A – A A –
17 Point specifying input P2IN For manufacturer's use 23 – A – A A A 55 A A – A A A
18 Point specifying input P4IN For manufacturer's use 24 – A A – – – 56 A A A – – –
19 Point specifying input P8IN For manufacturer's use 25 – A A – – A 57 A A A – – A
26 – A A – A – 58 A A A – A –
1A Point specifying input P16IN For manufacturer's use
27 – A A – A A 59 A A A – A A
1B Point specifying input P32IN For manufacturer's use 28 60
– A A A – – A A A A – –
1C Strobe signal input STB-IN For manufacturer's use 29 – A A A – A 61 A A A A – A
1D For manufacturer's use For manufacturer's use 30 – A A A A – 62 A A A A A –
1E For manufacturer's use For manufacturer's use 31 – A A A A A 63 A A A A A A
1F For manufacturer's use For manufacturer's use A : Active (The signal is valid.)
For more information on the signals, refer to the technical reference or the specifications of each – : Inactive (The signal is invalid.)
driver.
− 40 − − 41 −
11. Supplement

A4N Series A4A Series

Signal Input signal Output signal Signal Input signal Output signal
No. Title Symbol Title Symbol No. Title Symbol Title Symbol
External servo-on EX-SON 00 Servo-ON SRV-ON For manufacturer's use
00 For manufacturer's use
/multi function input 4 /EX-IN4 01 For manufacturer's use Servo alarm output ALM
01 For manufacturer's use Servo alarm output ALM 02 CW over-travel inhibit input CWL For manufacturer's use
02 CW over-travel inhibit input CWL For manufacturer's use 03 CCW over-travel inhibit input CCWL Brake release output BRK-OFF
03 CCW over-travel inhibit input CCWL Brake release output BRK-OFF 04 For manufacturer's use For manufacturer's use
04 Home sensor input HOME For manufacturer's use 05 For manufacturer's use For manufacturer's use
05 Multi-function input 1 EX-IN1 For manufacturer's use 06 For manufacturer's use For manufacturer's use
06 Multi-function input 2 EX-IN2 For manufacturer's use 07 For manufacturer's use For manufacturer's use
07 Multi-function input 3 EX-IN3 For manufacturer's use 08 Command pulse input inhibit INH For manufacturer's use
08 For manufacturer's use For manufacturer's use 09 For manufacturer's use For manufacturer's use
09 For manufacturer's use For manufacturer's use 0A For manufacturer's use For manufacturer's use
0A For manufacturer's use For manufacturer's use 0B Home sensor input Z-LS For manufacturer's use
0B For manufacturer's use For manufacturer's use 0C For manufacturer's use For manufacturer's use
0C For manufacturer's use For manufacturer's use 0D For manufacturer's use For manufacturer's use
0D For manufacturer's use For manufacturer's use 0E Emergency stop input EMG-STP For manufacturer's use
0E Emergency stop input EMG-STP For manufacturer's use 0F For manufacturer's use For manufacturer's use
0F For manufacturer's use For manufacturer's use 10 For manufacturer's use For manufacturer's use
10 For manufacturer's use For manufacturer's use 11 For manufacturer's use For manufacturer's use
11 For manufacturer's use For manufacturer's use 12 For manufacturer's use For manufacturer's use
12 For manufacturer's use For manufacturer's use 13 For manufacturer's use For manufacturer's use
13 For manufacturer's use For manufacturer's use 14 For manufacturer's use For manufacturer's use
14 For manufacturer's use For manufacturer's use 15 For manufacturer's use For manufacturer's use
15 For manufacturer's use For manufacturer's use 16 Deceleration stop signal input STP For manufacturer's use
16 For manufacturer's use For manufacturer's use 17 For manufacturer's use For manufacturer's use
17 For manufacturer's use For manufacturer's use 18 For manufacturer's use For manufacturer's use
18 For manufacturer's use For manufacturer's use 19 Set up input SETUP For manufacturer's use
19 For manufacturer's use For manufacturer's use 1A Speed select signal input 1 SEL1 For manufacturer's use
1A For manufacturer's use For manufacturer's use 1B Speed select signal input 2 SEL2 For manufacturer's use
1B For manufacturer's use For manufacturer's use 1C For manufacturer's use For manufacturer's use
1C For manufacturer's use For manufacturer's use 1D For manufacturer's use For manufacturer's use
1D For manufacturer's use For manufacturer's use 1E For manufacturer's use For manufacturer's use
1E For manufacturer's use For manufacturer's use 1F For manufacturer's use For manufacturer's use
1F For manufacturer's use For manufacturer's use For more information on the signals, refer to the technical reference or the specifications of each
For more information on the signals, refer to the technical reference or the specifications of each driver.
driver.
− 42 − − 43 −
11. Supplement

A4T Series AIII Series

Signal Input signal Output signal Signal Input signal Output signal
No. Title Symbol Title Symbol No. Title Symbol Title Symbol
00 Servo-ON SRV-ON For manufacturer's use 00 Servo-ON SRV-ON For manufacturer's use
01 Alarm clear A-CLR Servo alarm output ALM 01 Alarm clear A-CLR Servo alarm output ALM
02 For manufacturer's use Positioning completion output COIN 02 CW over-travel inhibit input CWL For manufacturer's use
03 For manufacturer's use Brake release output BRK-OFF 03 CCW over-travel inhibit input CCWL For manufacturer's use
04 For manufacturer's use For manufacturer's use 04 Control mode switching C-MODE For manufacturer's use
05 For manufacturer's use For manufacturer's use 05 Speed zero clamp ZEROSPD Brake release output BRK-OFF
06 For manufacturer's use For manufacturer's use Positioning completion output
06 For manufacturer's use COIN
07 For manufacturer's use For manufacturer's use /At-speed
08 Command pulse input inhibit INH For manufacturer's use 07 For manufacturer's use Torque limit control TLC
09 For manufacturer's use For manufacturer's use 08 Command pulse input inhibit INH Zero speed detection ZSP
0A Deviation counter clear input CL For manufacturer's use 09 For manufacturer's use For manufacturer's use
0B For manufacturer's use For manufacturer's use 0A Deviation counter clear input CL For manufacturer's use
0C For manufacturer's use For manufacturer's use 0B Gain switching GAIN For manufacturer's use
0D For manufacturer's use For manufacturer's use 0C Command pulse scale switch 1 DIV For manufacturer's use
0E For manufacturer's use For manufacturer's use 0D For manufacturer's use For manufacturer's use
0F For manufacturer's use For manufacturer's use 0E For manufacturer's use For manufacturer's use
10 For manufacturer's use For manufacturer's use 0F For manufacturer's use For manufacturer's use
11 For manufacturer's use For manufacturer's use 10 For manufacturer's use For manufacturer's use
12 For manufacturer's use For manufacturer's use 11 For manufacturer's use For manufacturer's use
13 For manufacturer's use For manufacturer's use 12 For manufacturer's use For manufacturer's use
14 For manufacturer's use For manufacturer's use 13 For manufacturer's use For manufacturer's use
15 For manufacturer's use For manufacturer's use 14 For manufacturer's use For manufacturer's use
16 For manufacturer's use For manufacturer's use 15 For manufacturer's use For manufacturer's use
17 Status enable input ST-ENB For manufacturer's use 16 For manufacturer's use For manufacturer's use
18 Offset cancel input OFF-CAN For manufacturer's use 17 For manufacturer's use For manufacturer's use
19 Pressure command strobe input INTSTB For manufacturer's use 18 For manufacturer's use For manufacturer's use
1A Pressure command select 1 input INTSET1 For manufacturer's use 19 For manufacturer's use For manufacturer's use
1B Pressure command select 2 input INTSET2 For manufacturer's use 1A For manufacturer's use For manufacturer's use
1C Pressure command select 3 input INTSET3 For manufacturer's use 1B For manufacturer's use For manufacturer's use
1D For manufacturer's use For manufacturer's use 1C For manufacturer's use For manufacturer's use
1E For manufacturer's use For manufacturer's use 1D For manufacturer's use For manufacturer's use
1F For manufacturer's use For manufacturer's use 1E For manufacturer's use For manufacturer's use
For more information on the signals, refer to the technical reference or the specifications of each 1F For manufacturer's use For manufacturer's use
driver. For more information on the signals, refer to the technical reference or the specifications of each
driver.
− 44 − − 45 −
11. Supplement

E Series S Series
Signal Input signal Output signal Signal Input signal Output signal
No. Title Symbol Title Symbol No. Title Symbol Title Symbol
00 Servo-ON SRV-ON For manufacturer's use 00 Servo-ON SRV-ON For manufacturer's use
01 Alarm clear A-CLR Servo alarm output ALM 01 Servo alarm output A-CLR Servo alarm output ALM
02 CW over-travel inhibit input CWL Positioning completion output COIN 02 CW over-travel inhibit input CWL Positioning completion output COIN
03 CCW over-travel inhibit input CCWL Brake release output BRK-OFF 03 CCW over-travel inhibit input CCWL Brake release output BRK-OFF
04 For manufacturer's use Zero speed detected ZSP 04 For manufacturer's use For manufacturer's use
05 Zero speed clamp ZEROSPD Torque limit control TCL 05 Zero speed clamp ZEROSPD For manufacturer's use
First command division First command division
06 DIV For manufacturer's use 06 DIV For manufacturer's use
/multiplication switching /multiplication switching
07 For manufacturer's use For manufacturer's use 07 For manufacturer's use For manufacturer's use
08 For manufacturer's use For manufacturer's use 08 Gain switching GAIN Achieved speed COIN
09 Gain switching GAIN Achieved speed COIN 09 Deviation counter clear CL For manufacturer's use
0A Deviation counter clear CL For manufacturer's use 0A For manufacturer's use For manufacturer's use
0B For manufacturer's use For manufacturer's use 0B Internal command speed selection 1 INTSPD1 For manufacturer's use
0C Internal command speed selection 1 INTSPD1 For manufacturer's use 0C Internal command speed selection 2 INTSPD2 For manufacturer's use
0D Internal command speed selection 2 INTSPD2 For manufacturer's use 0D For manufacturer's use For manufacturer's use
0E For manufacturer's use For manufacturer's use 0E For manufacturer's use For manufacturer's use
0F For manufacturer's use For manufacturer's use 0F For manufacturer's use For manufacturer's use
10 For manufacturer's use For manufacturer's use 10 For manufacturer's use For manufacturer's use
11 For manufacturer's use For manufacturer's use 11 For manufacturer's use For manufacturer's use
12 For manufacturer's use For manufacturer's use 12 For manufacturer's use For manufacturer's use
13 For manufacturer's use For manufacturer's use 13 For manufacturer's use For manufacturer's use
14 For manufacturer's use For manufacturer's use 14 For manufacturer's use For manufacturer's use
15 For manufacturer's use For manufacturer's use 15 For manufacturer's use For manufacturer's use
16 For manufacturer's use For manufacturer's use 16 For manufacturer's use For manufacturer's use
17 For manufacturer's use For manufacturer's use 17 For manufacturer's use For manufacturer's use
18 For manufacturer's use For manufacturer's use 18 For manufacturer's use For manufacturer's use
19 For manufacturer's use For manufacturer's use 19 For manufacturer's use For manufacturer's use
1A For manufacturer's use For manufacturer's use 1A For manufacturer's use For manufacturer's use
1B For manufacturer's use For manufacturer's use 1B For manufacturer's use For manufacturer's use
1C For manufacturer's use For manufacturer's use 1C For manufacturer's use For manufacturer's use
1D For manufacturer's use For manufacturer's use 1D For manufacturer's use For manufacturer's use
1E For manufacturer's use For manufacturer's use 1E For manufacturer's use For manufacturer's use
1F For manufacturer's use For manufacturer's use 1F For manufacturer's use For manufacturer's use
For more information on the signals, refer to the technical reference or the specifications of each For more information on the signals, refer to the technical reference or the specifications of each
driver. driver.
− 46 − − 47 −
Dimensions MEMO

(62) (24)

(15)
M3 L5
Tightening torque for
(114) Name plate
the insert screw shall be
0.5N • m or less.

(15)

MD connector
(1500)
Mini DIN-8P

− 48 − − 49 −
 After-Sale Service (Repair)
MEMO Repair
Consult to a dealer from whom you have purchased the product for details of repair.
When the product is incorporated to the machine or equipment you have purchased,
consult to the manufacture or the dealer of the machine or equipment.

Cautions for Proper Use

• This product is intended to be used with a general industrial product, but not designed
or manufactured to be used in a machine or system that may cause personal death
when it is failed.
• Install a safety equipments or apparatus in your application, when a serious accident or
loss of property is expected due to the failure of this product.
• Consult us if the application of this product is under such special conditions and envi-
ronments as nuclear energy control, aerospace, transportation, medical equipment,
various safety equipments or equipments which require a lesser air contamination.
• We have been making the best effort to ensure the highest quality of the products,
however, application of exceptionally larger external noise disturbance and static elec-
tricity, or failure in input power, wiring and components may result in unexpected action.
It is highly recommended that you make a fail-safe design and secure the safety in the
operative range.
• If the motor shaft is not electrically grounded, it may cause an electrolytic corrosion to
the bearing, depending on the condition of the machine and its mounting environment,
and may result in the bearing noise. Checking and verification by customer is required.
• Failure of this product depending on its content, may generate smoke of about one
cigarette. Take this into consideration when the application of the machine is clean
room related.
• Please be careful when using in an environment with high concentrations of sulphur or
sulphuric gases, as sulphuration can lead to disconnection from the chip resistor or a
poor contact connection.
• Take care to avoid inputting a supply voltage which significantly exceeds the rated range
to the power supply of this product. Failure to heed this caution may result in damage to
the internal parts, causing smoking and/or a fire and other trouble.

− 50 − − 51 −
 Technical information
Technical information of this product (Instruction Manual, CAD data) can be downloaded
from the following web site.
http://industrial.panasonic.com/ww/i_e/25000/motor_fa_e/motor_fa_e.html

MEMO (Fill in the blanks for reference in case of inquiry or repair.)

Date of
purchase Model No. DV0P4420

Dealer

Tel : ( ) -

Motor Company
Matsushita Electric Industrial Co., Ltd.
7-1-1 Morofuku, Daito, Osaka, 574-0044, Japan Tel : (81)-72-871-1212
IMD21
S0606-1106