Doc. no.

LEC-OM07103
(Doc no. JXC※-OMT0066)

PRODUCT NAME

AC Servo Motor Driver

MODEL / Series/ Product Number

LECYU Series
Introduction
This manual describes information required for designing, testing, adjusting, and
maintaining LECYU Series driver.
Keep this manual in a location where it can be accessed for reference whenever
required. Manuals outlined on the following page must also be used as required by
the application.

• Description of Technical Terms

The following table shows the meanings of terms used in this manual.

Term Meaning
M-III Model MECHATROLINK-III communications reference used for
driver interface
Servo ON Power to motor ON
Servo OFF Power to motor OFF
Base Block (BB) Power supply to motor is turned OFF by shutting off the base
current to the power transistor in the current amplifier.
Servo Lock A state in which the motor is stopped and is in position loop
with a position reference of 0.
Main Circuit Cable Cables which connect to the main circuit terminals, including
main circuit power supply cables, control power supply cables,
motor cables, and others.
Transmission Cycle The transmission cycle is the cycle in the MAC (Media Access
Control) layer. It is the communication cycle for physically
sending data to the transmission path. The transmission cycle
is unaffected by the services pro- vided by the application layer.
Communication Cycle The communication cycle is the cycle for application layer. The
communication cycle is set to an integral multiple of the
transmission cycle.
Synchronous Commands For commands of this type, commands are sent and response
(Classification S) are received every communication cycle.
The WDT (Watchdog Timer) in the frames are refreshed and
checked every communication cycle. Synchronous commands
can be used only during synchronous communications (Phase
3).
Asynchronous Commands For commands of this type, commands are sent and response
(Classification A) are received asynchronously to the communication cycle.
Subsequent commands can be sent after confirming the
completion of processing of the slave station that received the
command.
The WDT (Watchdog Timer) in the frames are not checked.
Common Commands Commands that are common for MECHATROLINK-III
communications, independent of profiles
Servo Commands Commands that are defined in the standard servo profile and
specific to DRIVERs
Motion Commands Among servo commands, the following commands are called
motion commands.
INTERPOLATE, POSING, FEED, EX_FEED, EX_POSING,
ZRET, VELCTRL, TRQCTRL

1
• Notation Used in this Manual

• Notation for Reverse Signals

The names of reverse signals (i.e., ones that are valid when low) are written with a
forward slash (/) before the signal name.

Notation Example
BK = /BK

• Notation for Parameters

The notation depends on whether the parameter requires a value setting (parameter
for numeric settings) or requires the selection of a function (parameter for selecting
functions).

2
 • Use the Sigma Win+
Select ΣV as an object series when you use Sigma Win+.
Refer to the table for the following type when you select the model (parameter edit at
offline etc.).

Driver select Motor select

Driver type
SMC Sigma Win+ SMC Sigma Win+
100W V5 SGDV-R90*11*Y572AA V6 SGMJV-01A3A2*
MECHATROLINKⅡ 200W LECYM2-** V7 SGDV-1R6*11*Y572AA V7 SGMJV-02A3A2*
400W V8 SGDV-2R8*11*Y572AA V8 SGMJV-04A3A2*
100W V5 SGDV-R90*21*Y572AA V6 SGMJV-01A3A2*
MECHATROLINKⅢ 200W LECYU2-** V7 SGDV-1R6*21*Y572AA V7 SGMJV-02A3A2*
400W V8 SGDV-2R8*21*Y572AA V8 SGMJV-04A3A2*

• Trademarks

MECHATROLINK is a trademark of the MECHATROLINK Members Association.

3
 LECYU2-□□ Series / Driver
Safety Instructions
These safety instructions are intended to prevent hazardous situations and/or equipment damage.
These instructions indicate the level of potential hazard with the labels of “Caution,” “Warning” or
“Danger.”
They are all important notes for safety and must be followed in addition to International Standards
(ISO/IEC), Japan Industrial Standards (JIS)*1) and other safety regulations*2).
*1) ISO 4414: Pneumatic fluid power -- General rules relating to systems
ISO 4413: Hydraulic fluid power -- General rules relating to systems
IEC 60204-1: Safety of machinery -- Electrical equipment of machines (Part 1: General requirements)
ISO 10218-1992: Manipulating industrial robots -- Safety
JIS B 8370: General rules for pneumatic equipment.
JIS B 8361: General rules for hydraulic equipment.
JIS B 9960-1: Safety of machinery – Electrical equipment for machines. (Part 1: General requirements)
JIS B 8433-1993: Manipulating industrial robots - Safety. etc.
*2) Labor Safety and Sanitation Law, etc.
Caution indicates a hazard with a low level of risk which, if not avoided, could result in minor or
Caution moderate injury.
Warning indicates a hazard with a medium level of risk which, if not avoided, could result in death
Warning or serious injury.
Danger indicates a hazard with a high level of risk which, if not avoided, will result in death or
Danger serious injury.
Indicates important information that should be memorized, as well as precautions, such as alarm
IMPORTANT displays, that do not involve potential damage to equipment.

Warning
1. The compatibility of the product is the responsibility of the person who designs the equipment or
decides its specifications.
Since the product specified here is used under various operating conditions, its compatibility with specific
equipment must be decided by the person who designs the equipment or decides its specifications
based on necessary analysis and test results.
The expected performance and safety assurance of the equipment will be the responsibility of the person
who has determined its compatibility with the product.
This person should also continuously review all specifications of the product referring to its latest catalog
information, with a view to giving due consideration to any possibility of equipment failure when
configuring the equipment.
2. Only personnel with appropriate training should operate machinery and equipment.
The product specified here may become unsafe if handled incorrectly.
The assembly, operation and maintenance of machines or equipment including our products must be
performed by an operator who is appropriately trained and experienced.
3. Do not service or attempt to remove product and machinery/equipment until safety is confirmed.
The inspection and maintenance of machinery/equipment should only be performed after measures to
prevent falling or runaway of the driven objects have been confirmed.
When the product is to be removed, confirm that the safety measures as mentioned above are
implemented and the power from any appropriate source is cut, and read and understand the specific
product precautions of all relevant products carefully.
Before machinery/equipment is restarted, take measures to prevent unexpected operation and
malfunction.
4. Contact SMC beforehand and take special consideration of safety measures if the product is to
be used in any of the following conditions.
1) Conditions and environments outside of the given specifications, or use outdoors or in a place
exposed to direct sunlight.

4
 2) Installation on equipment in conjunction with atomic energy, railways, air navigation, space, shipping,
vehicles, military, medical treatment, combustion and recreation, or equipment in contact with food and
beverages, emergency stop circuits, clutch and brake circuits in press applications, safety equipment or
other applications unsuitable for the standard specifications described in the product catalog.
3) An application which could have negative effects on people, property, or animals requiring special
safety analysis.
4) Use in an interlock circuit, which requires the provision of double interlock for possible failure by using
a mechanical protective function, and periodical checks to confirm proper operation.

Note that the CAUTION level may lead to a serious consequence according to conditions. Please follow the
instructions of both levels because they are important to personnel safety.
What must not be done and what must be done are indicated by the following diagrammatic symbols.

Indicates what must not be done. For example, "No Fire" is

Prohibition indicated by

Indicates what must be done. For example, grounding is indicated

Compulsion by

In this Instruction Manual, instructions at a lower level than the above, instructions for other functions, and so on
are classified into "POINT".
After reading this installation guide, always keep it accessible to the operator.

5
 LECYU2-□□ Series / Driver
1. Safety Instructions
Caution
The product is provided for use in manufacturing industries.
The product herein described is basically provided for peaceful use in manufacturing industries.
If considering using the product in other industries, consult SMC beforehand and exchange specifications
or a contract if necessary.
If anything is unclear, contact your nearest sales branch.

Limited warranty and Disclaimer/Compliance Requirements

The product used is subject to the following “Limited warranty and Disclaimer” and “Compliance
Requirements”.
Read and accept them before using the product.

Limited warranty and Disclaimer

The warranty period of the product is 1 year in service or 1.5 years after the product is delivered,
whichever is first.*3)
Also, the product may have specified durability, running distance or replacement parts. Please
consult your nearest sales branch.

For any failure or damage reported within the warranty period which is clearly our responsibility, a
replacement product or necessary parts will be provided.
This limited warranty applies only to our product independently, and not to any other damage
incurred due to the failure of the product.

Prior to using SMC products, please read and understand the warranty terms and disclaimers noted
in the specified catalog for the particular products.

*3) Vacuum pads are excluded from this 1 year warranty.

A vacuum pad is a consumable part, so it is warranted for a year after it is delivered.
Also, even within the warranty period, the wear of a product due to the use of the vacuum pad or
failure due to the deterioration of rubber material are not covered by the limited warranty.

Compliance Requirements
When the product is exported, strictly follow the laws required by the Ministry of Economy, Trade and
Industry (Foreign Exchange and Foreign Trade Control Law).

6
This section describes important precautions that must be followed during storage, transportation, installation,
wiring, operation, maintenance, inspection, and disposal. Be sure to always observe these precautions thoroughly.

Warning
• Never touch any electric actuators during operation.
Failure to observe this warning may result in injury.
• Before starting operation with a machine connected, make sure that an emergency stop can
be applied at any time.
Failure to observe this warning may result in injury or damage to the equipment.
• Never touch the inside of the driver.
Failure to observe this warning may result in electric shock.
• Do not remove the cover of the power supply terminal block while the power is ON.
Failure to observe this warning may result in electric shock.
• After the power is turned OFF or after a voltage resistance test, do not touch terminals while the
CHARGE lamp is ON.
Residual voltage may cause electric shock.
• Follow the procedures and instructions provided in the manuals for the products being used in the
trial operation.
Failure to do so may result not only in faulty operation and damage to equipment, but also in
personal injury.
• The multiturn limit value need not be changed except for special applications.
Changing it inappropriately or unintentionally can be dangerous.
• If the Multiturn Limit Disagreement alarm occurs, check the setting of parameter Pn205 in the
DRIVER to be sure that it is correct.
If Fn013 is executed when an incorrect value is set in Pn205, an incorrect value will be set in the
encoder. The alarm will disappear even if an incorrect value is set, but incorrect positions will be
detected, resulting in a dangerous situation where the machine will move to unexpected positions.
• Do not remove the top front cover, cables, connectors, or optional items from the DRIVER
while the power is ON.
Failure to observe this warning may result in electric shock.
• Do not damage, pull, exert excessive force on, or place heavy objects on the cables.
Failure to observe this warning may result in electric shock, stopping operation of the product, or
fire.
• Do not modify the product.
Failure to observe this warning may result in injury, damage to the equipment, or fire.
• Provide appropriate brake devices on the machine side to ensure safety. The holding lock on a
electric actuators with a lock is not a braking device for ensuring safety.
Failure to observe this warning may result in injury.
• Do not come close to the machine immediately after resetting an instantaneous power interruption
to avoid an unexpected restart. Take appropriate measures to ensure safety against an
unexpected restart.
Failure to observe this warning may result in injury.
• Connect the ground terminal according to local electrical codes (100 Ω or less for a DRIVER with
a 100 V, 200 V power supply).
Improper grounding may result in electric shock or fire.
• Installation, disassembly, or repair must be performed only by authorized personnel.
Failure to observe this warning may result in electric shock or injury.
• The person who designs a system using the safety function (Hard Wire Baseblock function) must
have full knowledge of the related safety standards and full understanding of the instructions in this
manual. Failure to observe this warning may result in injury or damage to the equipment.

7
 • Storage and Transportation
Caution
• Do not store or install the product in the following locations.
Failure to observe this caution may result in fire, electric shock, or damage to the equipment.
• Locations subject to direct sunlight
• Locations subject to temperatures outside the range specified in the storage/installation temperature
conditions
• Locations subject to humidity outside the range specified in the storage/installation humidity
conditions
• Locations subject to condensation as the result of extreme changes in temperature
• Locations subject to corrosive or flammable gases
• Locations subject to dust, salts, or iron dust
• Locations subject to exposure to water, oil, or chemicals
• Locations subject to shock or vibration
• Do not hold the product by the cables, motor while transporting it.
Failure to observe this caution may result in injury or malfunction.
• Do not place any load exceeding the limit specified on the packing box.
Failure to observe this caution may result in injury or malfunction.
• If disinfectants or insecticides must be used to treat packing materials such as wooden frames, pallets, or
plywood, the packing materials must be treated before the product is packaged, and methods other than
fumigation must be used.
Example: Heat treatment, where materials are kiln-dried to a core temperature of 56°C for 30minutes or more.
If the electronic products, which include stand-alone products and products installed in machines, are packed
with fumigated wooden materials, the electrical components may be greatly damaged by the gases or fumes
resulting from the fumigation process. In particular, disinfectants containing halogen, which includes chlorine,
fluorine, bromine, or iodine can contribute to the erosion of the capacitors.

• Installation
Caution
• Never use the product in an environment subject to water, corrosive gases, flammable gases, or
combustibles.
Failure to observe this caution may result in electric shock or fire.
• Do not step on or place a heavy object on the product.
Failure to observe this caution may result in injury or malfunction.
• Do not cover the inlet or outlet ports and prevent any foreign objects from entering the product.
Failure to observe this caution may cause internal elements to deteriorate resulting in malfunction or fire.
• Be sure to install the product in the correct direction.
Failure to observe this caution may result in malfunction.
• Provide the specified clearances between the DRIVER and the control panel or with other devices.
Failure to observe this caution may result in fire or malfunction.
• Do not apply any strong impact.
Failure to observe this caution may result in malfunction.

8
• Wiring
Caution
• Be sure to wire correctly and securely.
Failure to observe this caution may result in electric actuators overrun, injury, or malfunction.
• Do not connect a commercial power supply to the U, V, or W terminals for the motor cable connection.
Failure to observe this caution may result in injury or fire.
• Securely connect the main circuit terminals.
Failure to observe this caution may result in fire.
• Do not bundle or run the main circuit cables together with the I/O signal cables or the encoder cables in
the same duct. Keep the main circuit cables separated from the I/O signal cables and the encoder
cables with a gap of at least 30 cm.
Placing these cables too close to each other may result in malfunction.
• Use shielded twisted-pair cables or screened unshielded twisted-pair cables for I/O signal cables and
the encoder cables.
• The maximum wiring length is 3 m for I/O signal cables, 50 m for encoder cables or servomotor main
circuit cables.
• Do not touch the power supply terminals while the CHARGE lamp is ON after turning power OFF
because high voltage may still remain in the DRIVER.
Make sure the charge indicator is OFF first before starting to do wiring or inspections.
• Be sure to observe the following precautions when wiring the DRIVER main circuit terminal blocks.
• Do not turn the DRIVER power ON until all wiring, including the main circuit terminal blocks, has
been completed.
• Remove detachable main circuit terminals from the DRIVER prior to wiring.
• Insert only one power line per opening in the main circuit terminals.
• Make sure that no part of the core wire comes into contact with (i.e., short-circuits) adjacent wires.
• Install a battery at either the host controller or the DRIVER, but not both.
It is dangerous to install batteries at both ends simultaneously, because that sets up a loop circuit
between the batteries.
• Always use the specified power supply voltage.
An incorrect voltage may result in fire or malfunction.
• Make sure that the polarity is correct.
Incorrect polarity may cause ruptures or damage.
• Take appropriate measures to ensure that the input power supply is supplied within the specified
voltage fluctuation range. Be particularly careful in places where the power supply is unstable. An
incorrect power supply may result in damage to the equipment.
• Install external breakers or other safety devices against short-circuiting in external wiring.
Failure to observe this caution may result in fire.
• Take appropriate and sufficient countermeasures for each form of potential interference when
installing systems in the following locations.
• Locations subject to static electricity or other forms of noise
• Locations subject to strong electromagnetic fields and magnetic fields
• Locations subject to possible exposure to radioactivity
• Locations close to power supplies
Failure to observe this caution may result in damage to the equipment.
• Do not reverse the polarity of the battery when connecting it.
Failure to observe this caution may damage the battery, the DRIVER or electric actuaters, or cause an
explosion.
• Wiring or inspection must be performed by a technical expert.
• Use a 24-VDC power supply with double insulation or reinforced insulation.

9
 • Operation
Caution
• Always use the electric actuators and DRIVER in one of the specified combinations.
Failure to observe this caution may result in fire or malfunction.
• During trial operation, confirm that the holding lock works correctly. Furthermore, secure system safety
against problems such as signal line disconnection.
• Before starting operation with a machine connected, change the parameter settings to match the
parameters of the machine.
Starting operation without matching the proper settings may cause the machine to run out of control or
malfunction.
• Do not turn the power ON and OFF more than necessary.
Do not use the DRIVER for applications that require the power to turn ON and OFF frequently. Such applications
will cause elements in the DRIVER to deteriorate.
As a guideline, at least one hour should be allowed between the power being turned ON and OFF once actual
operation has been started.
• When carrying out JOG operation (Fn002), origin search (Fn003), or EasyFFT (Fn206), forcing movable
machine parts to stop does not work for forward overtravel or reverse overtravel. Take necessary
precautions.
Failure to observe this caution may result in damage to the equipment.
• When using the electric actuators for a vertical axis, install safety devices to prevent workpieces from falling
due to alarms or overtravels. Set the servomotor so that it will stop in the zero clamp state when
overtravel occurs.
Failure to observe this caution may cause workpieces to fall due to overtravel.
• When not using the turning-less function, set the correct moment of inertia ratio (Pn103).
Setting an incorrect moment of inertia ratio may cause machine vibration.
• Do not touch the DRIVER heat sinks, regenerative option, or servomotor while power is ON or soon
after the power is turned OFF.
Failure to observe this caution may result in burns due to high temperatures.
• Do not make any extreme adjustments or setting changes of parameters.
Failure to observe this caution may result in injury or damage to the equipment due to unstable
operation.
• When an alarm occurs, remove the cause, reset the alarm after confirming safety, and then resume operation.
Failure to observe this caution may result in damage to the equipment, fire, or injury.
• Do not use the holding lock of the electric actuators for braking.
Failure to observe this caution may result in malfunction.
• An alarm or warning may occur if communications are performed with the host controller while the
SigmaWin+ is operating. If an alarm or warning occurs, it may stop the current process and stop the system.

• Maintenance and Inspection

Caution
• Do not disassemble the DRIVER and the servomotor.
Failure to observe this caution may result in electric shock or injury.
• Do not attempt to change wiring while the power is ON.
Failure to observe this caution may result in electric shock or injury.
• When replacing the DRIVER, resume operation only after copying the previous DRIVER parameters to the
new DRIVER.
Failure to observe this caution may result in damage to the equipment.

10
 • Disposal
Caution
• When disposing of the products, treat them as ordinary industrial waste.

• General Precautions
Caution
• The products shown in illustrations in this manual are sometimes shown without covers or protective
guards. Always replace the cover or protective guard as specified first, and then operate the products
in accordance with the manual.
The drawings presented in this manual are typical examples and may not match the product you received.

Handling of batteries for the United Nations

Recommendations on the Transport of Dangerous Goods
To transport lithium batteries, take action to comply with the instructions and regulations such as the
United Nations (UN), the International Civil Aviation Organization (ICAO), and the International
Maritime Organization (IMO).
The battery (LEC-JZ-CVBAT) uses an electric cell (lithium metal battery ER3).
The IATA Dangerous Goods Regulation are revised, and the requirements are changed annually.
When customers transport lithium batteries by themselves, the responsibility for the cargo lies with the
customers.
Thus, be sure to check the latest version of the IATA Dangerous Goods Regulations.

Battery (Cell) : LEC-JZ-CVBAT

Lithium content : 0.31(g)

11
 Harmonized Standards
• European Directives

Model European Directives Harmonized Standards

Machinery EN ISO13849-1: 2008
Directive EN 954-1
2006/42/EC
LECY□□-V□
DRIVER (SGDV) EN 55011 /A2 group 1, class A
EMC Directive
EN 61000-6-2
2004/108/EC
EN 61800-3
Low Voltage Directive EN 50178
2006/95/EC EN 61800-5-1
EN 55011 /A2 group 1, class A
EMC Directive
LE-V□-□ EN 61000-6-2
2004/108/EC
Servomotor (SGMJV) EN 61800-3
Low Voltage Directive EN 60034-1
2006/95/EC EN 60034-5

• Safety Standards

Model Safety Standards Standards

EN ISO13849-1: 2008
Safety of Machinery EN 954-1
IEC 60204-1
LECY□□-V□
DRIVER (SGDV) IEC 61508 series
Functional Safety IEC 62061
IEC 61800-5-2
EMC IEC 61326-3-1

12
 • Safe Performance
Items Standards Performance Level
IEC 61508 SIL2
Safety Integrity Level
IEC 62061 SILCL2
IEC 61508 PFH ⇐ 1.7×10-9
Probability of Dangerous Failure per Hour
IEC 62061 [1/h] (0.17% of
SIL2)
Category EN 954-1 Category 3
Performance Level EN ISO 13849-1 PL d (Category 3)
Mean Time to Dangerous Failure of Each
EN ISO 13849-1 MTTFd: High
Channel
Average Diagnostic Coverage EN ISO 13849-1 DCave: Low
Stop Category IEC 60204-1 Stop category 0
Safety Function IEC 61800-5-2 STO
Proof test Interval IEC 61508 10 years

13
 Contents
Introduction..............................................................................................................1
Safety.........................................................................................................................4
Handling of batteries for the United Nations Recommendations on the Transport of
Dangerous Goods ................................................................................................. 11
Harmonized Standards............................................................................................12

1. Outline..............................................................................................................1-2

1.1 LECY Series DRIVERs....................................................................................1-2

1.2 Part Names......................................................................................................1-2
1.3 DRIVER Ratings and Specifications................................................................1-3
1.3.1 Ratings...............................................................................................................................1-3
1.3.2 Basic Specifications...........................................................................................................1-4
1.3.3 MECHATROLINK-III Function Specifications....................................................................1-7
1.4 DRIVER Internal Block Diagrams....................................................................1-8
1.4.1 Three-phase 200 V, LECYU2-V5, LECYU2-V7 Models....................................................1-8
1.4.2 Three-phase 200 V, LECYU2-V8 Model............................................................................1-8
1.4.3 Three-phase 200 V, LECYU2-V9 Models..........................................................................1-9
1.5 Examples of Servo System Configurations....................................................1-10
1.5.1 Connecting to LECYU2-V口 DRIVER..............................................................................1-10
1.6 DRIVER Model Designation...........................................................................1-12
1.7 Inspection and Maintenance..........................................................................1-13
1.8 Installation Environment and Applicable Standards.......................................1-14
1.8.1 DRIVER Installation Environment.....................................................................................1-14
1.8.2 Installation Conditions for Applicable Standards...............................................................1-15
1.8.3 Conditions Corresponding to Low Voltage Directive.........................................................1-15
1.9 DRIVER Installation........................................................................................1-16
1.9.1 Orientation.........................................................................................................................1-16
1.9.2 Installation Standards........................................................................................................1-16

2. Panel Display and Sigma Win+TM..............................................................2-2

2.1 Panel Display...................................................................................................2-2

2.1.1 Status Display.....................................................................................................................2-2
2.1.2 Alarm and Warning Display................................................................................................2-2
2.1.3 Hard Wire Base Block Display............................................................................................2-2
2.1.4 Overtravel Display...............................................................................................................2-2
2.2 Operation of SigmaWin+TM...............................................................................2-3
2.2.1 Compatible Devices.............................................................................................................2-3
2.2.2 Hardware requirements.......................................................................................................2-3
2.2.3 Installing SigmaWin+ Program............................................................................................2-3
2.2.4 Starting SigmaWin+TM.......................................................................................................2-12
2.3 Utility Functions...............................................................................................2-15
2.4 Parameters......................................................................................................2-15
2.4.1 Parameter Classification....................................................................................................2-15
2.4.2 Notation for Parameters.....................................................................................................2-16
2.4.3 Setting Parameters............................................................................................................2-16
2.5 Monitor Displays..............................................................................................2-16
3. Wiring and Connection..................................................................................3-2

3.1 Main Circuit Wiring...........................................................................................3-2

3.1.1 Main Circuit Terminals.........................................................................................................3-2
3.1.2 Using a Standard Power Supply (Three-phase 200 V)........................................................3-3
3.1.3 Using the DRIVER with Single-phase, 200 V Power Input..................................................3-7
3.1.4 Using the DRIVER with a DC Power Input........................................................................3-10
3.1.5 Using More Than One DRIVER.........................................................................................3-12
3.1.6 General Precautions for Wiring.........................................................................................3-13
3.1.7 Specifications of motor cables and encoder cables...........................................................3-14
3.2 I/O Signal Connections..................................................................................3-16
3.2.1 /O Signal (CN1) Names and Functions.............................................................................3-16
3.2.2 Safety Function Signal (CN8) Names and Functions........................................................3-17
3.2.3 Example of I/O Signal Connections...................................................................................3-18
3.3 I/O Signal Allocations.....................................................................................3-19
3.3.1 Input Signal Allocations.....................................................................................................3-19
3.3.2 Output Signal Allocations..................................................................................................3-21
3.4 Examples of Connection to PC or PLC ... etc.................................................3-22
3.4.1 Sequence Input Circuit......................................................................................................3-22
3.4.2 Sequence Output Circuit...................................................................................................3-23
3.5 Wiring MECHATROLINK-III Communications...............................................3-25
3.6 Encoder Connection......................................................................................3-26
3.6.1 Encoder Signal (CN2) Names and Functions....................................................................3-26
3.6.2 Encoder Connection Examples.........................................................................................3-27
3.7 Connecting Regenerative resistors................................................................3-28
3.7.1 Connecting Regenerative Resistors..................................................................................3-29
3.7.2 Setting Regenerative resistor Capacity.............................................................................3-30
3.8 Noise Control and Measures for Harmonic Suppression...............................3-31
3.8.1 Wiring for Noise Control....................................................................................................3-31
3.8.2 Precautions on Connecting Noise Filter............................................................................3-33
3.8.3 EMC Installation Conditions..............................................................................................3-35
3.9 Specification of option cables.........................................................................3-41

4. Operation.....................................................................................................4-3

4.1 MECHATROLINK-III Communications Settings...............................................4-3

4.1.1 Setting Switches S1, S2, and S3.........................................................................................4-3
4.2 MECHATROLINK-III Commands.....................................................................4-4
4.3 Basic Functions Settings..................................................................................4-4
4.3.1 Servomotor Rotation Direction............................................................................................4-4
4.3.2 Overtravel............................................................................................................................4-5
4.3.3 Software Limit Settings........................................................................................................4-8
4.3.4 Holding Locks......................................................................................................................4-9
4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence............................4-14
4.3.6 Instantaneous Power Interruption Settings........................................................................4-16
4.3.7 SEMI F47 Function
(Torque Limit Function for Low DC Power Supply Voltage for Main Circuit)....................4-17
4.3.8 Setting Motor Overload Detection Level............................................................................4-19
4.4 Trial Operation...............................................................................................4-21
4.4.1 Inspection and Checking before Trial Operation...............................................................4-21
4.4.2 Trial Operation via MECHATROLINK-III...........................................................................4-22
4.4.3 Electronic Gear..................................................................................................................4-23
4.4.4 Encoder Output Pulses.....................................................................................................4-25
4.4.5 Setting Encoder Output Pulse...........................................................................................4-26
4.5 Test Without Motor Function..........................................................................4-27
4.5.1 Motor Information..............................................................................................................4-27
4.5.2 Motor Position and Speed Responses..............................................................................4-28
4.5.3 Limitations.........................................................................................................................4-29
4.6 Limiting Torque..............................................................................................4-30
4.6.1 Internal Torque Limit.........................................................................................................4-30
 4.6.2 External Torque Limit........................................................................................................4-31
4.6.3 Checking Output Torque Limiting during Operation..........................................................4-32
4.7 Absolute Encoders.........................................................................................4-33
4.7.1 Connecting the Absolute Encoder.....................................................................................4-34
4.7.2 Absolute Data Request (SENS ON Command).................................................................4-35
4.7.3 Battery Replacement.........................................................................................................4-36
4.7.4 Absolute Encoder Setup and Reinitialization.....................................................................4-38
4.7.5 Multiturn Limit Setting........................................................................................................4-39
4.7.6 Multiturn Limit Disagreement Alarm (A.CC0)....................................................................4-40
4.7.7 Absolute Encoder Origin Offset.........................................................................................4-41
4.7.8 Absolute Data Reception Sequence..................................................................................4-41
4.8 Other Output Signals......................................................................................4-45
4.8.1 Servo Alarm Output Signal (ALM).....................................................................................4-45
4.8.2 Warning Output Signal (/WARN).......................................................................................4-45
4.8.3 Rotation Detection Output Signal (/TGON).......................................................................4-46
4.8.4 Servo Ready Output Signal (/S-RDY)...............................................................................4-46
4.8.5 Speed Coincidence Output Signal (/V-CMP).....................................................................4-47
4.8.6 Positioning Completed Output Signal (/COIN)..................................................................4-48
4.8.7 Positioning Near Output Signal (/NEAR)...........................................................................4-49
4.8.8 Speed Limit Detection Signal (/VLT).................................................................................4-50
4.9 Safety Function..............................................................................................4-52
4.9.1 Hard Wire Base Block (HWBB) Function...........................................................................4-52
4.9.2 External Device Monitor (EDM1).......................................................................................4-59
4.9.3 Application Example of Safety Functions..........................................................................4-61
4.9.4 Confirming Safety Functions.............................................................................................4-62
4.9.5 Connecting a Safety Function Device...............................................................................4-63
4.9.6 Precautions for Safety Function........................................................................................4-64

5. Adjustments.................................................................................................5-2

5.1 Type of Adjustments and Basic Adjustment Procedure...................................5-2

5.1.1 Adjustments........................................................................................................................5-2
5.1.2 Basic Adjustment Procedure...............................................................................................5-3
5.1.3 Monitoring Operation during Adjustment.............................................................................5-4
5.1.4 Safety Precautions on Adjustment of Servo Gains..............................................................5-7
5.2 Tuning-less Function......................................................................................5-10
5.2.1 Tuning-less Function.........................................................................................................5-10
5.2.2 Tuning-less Levels Setting (Fn200) Procedure.................................................................5-13
5.2.3 Related Parameters..........................................................................................................5-15
5.3 Advanced Autotuning (Fn201).......................................................................5-16
5.3.1 Advanced Autotuning........................................................................................................5-16
5.3.2 Advanced Autotuning Procedure.......................................................................................5-19
5.3.3 Related Parameters..........................................................................................................5-32
5.4 Advanced Autotuning by Reference (Fn202).................................................5-33
5.4.1 Advanced Autotuning by Reference..................................................................................5-33
5.4.2 Advanced Autotuning by Reference Procedure................................................................5-35
5.4.3 Related Parameters..........................................................................................................5-40
5.5 One-parameter Tuning (Fn203).....................................................................5-41
5.5.1 One-parameter Tuning......................................................................................................5-41
5.5.2 One-parameter Tuning Procedure....................................................................................5-42
5.5.3 One-parameter Tuning Example.......................................................................................5-45
5.5.4 Related Parameters..........................................................................................................5-46
5.6 Anti-Resonance Control Adjustment Function (Fn204)..................................5-47
5.6.1 Anti-Resonance Control Adjustment Function..................................................................5-47
5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure................................5-48
5.6.3 Related Parameters..........................................................................................................5-48
5.7 Vibration Suppression Function (Fn205)........................................................5-49
5.7.1 Vibration Suppression Function........................................................................................5-49
5.7.2 Vibration Suppression Function Operating Procedure......................................................5-50
5.7.3 Related Parameters..........................................................................................................5-52
5.8 Additional Adjustment Function......................................................................5-53
5.8.1 Switching Gain Settings....................................................................................................5-53
5.8.2 Manual Adjustment of Friction Compensation...................................................................5-58
 5.8.3 Current Control Mode Selection Function.........................................................................5-60
5.8.4 Current Gain Level Setting................................................................................................5-60
5.8.5 Speed Detection Method Selection...................................................................................5-60
5.8.6 Backlash Compensation Function.....................................................................................5-61
5.8.7 Torque Reference Filter....................................................................................................5-68

6. Utility Functions (Fn口口口) ........................................................................ 6-2

6.1 List of Utility Functions.....................................................................................6-2

6.2 Alarm History Display (Fn000) ........................................................................6-3
6.3 JOG Operation (Fn002) ..................................................................................6-4
6.4 Origin Search (Fn003) .....................................................................................6-5
6.5 Program JOG Operation (Fn004) ....................................................................6-6
6.6 Initializing Parameter Settings (Fn005) .........................................................6-10
6.7 Clearing Alarm History (Fn006) .....................................................................6-11
6.8 Offset Adjustment of Analog Monitor Output (Fn00C) ...................................6-12
6.9 Gain Adjustment of Analog Monitor Output (Fn00D) .....................................6-14
6.10 Automatic Offset-Signal Adjustment of the Motor Current
Detection Signal (Fn00E). .......................................................................6-16
6.11 Manual Offset-Signal Adjustment of the Motor Current
Detection Signal (Fn00F) ...........................................................................6-17
6.12 Write Prohibited Setting (Fn010) .................................................................6-18
6.13 Product Information Display (Fn011) ...........................................................6-20
6.14 Resetting Configuration Errors in Option Modules (Fn014) .........................6-21
6.15 Vibration Detection Level Initialization (Fn01B) ...........................................6-22
6.16 Origin Setting (Fn020) .................................................................................6-24
6.17 Software Reset (Fn030) ..............................................................................6-25
6.18 EasyFFT (Fn206) ........................................................................................6-26
6.19 Online Vibration Monitor (Fn207) ................................................................6-28

7. Monitor Displays.........................................................................................7-2
7.1 Monitor Displays..............................................................................................7-2
7.1.1 System Monitor..................................................................................................................7-2
7.1.2 Status Monitor....................................................................................................................7-2
7.1.3 Motion Monitor....................................................................................................................7-2
7.1.4 Input Signal Monitor............................................................................................................7-2
7.1.5 Output Signal Monitor.........................................................................................................7-3

8. MECHATROLINK-II Command..................................................................8-4
8.1 Layers..............................................................................................................8-4
8.2 Frame Structure...............................................................................................8-4
8.3 State Transition Diagram.................................................................................8-5
8.4 Command and Response Timing.....................................................................8-6
8.4.1 Command Data Execution Timing.......................................................................................8-6
8.4.2 Monitored Data Input Timing...............................................................................................8-6
8.4.3 Supporting the Transmission Cycle of 125 μs.....................................................................8-7
8.5 List of Commands............................................................................................8-8
8.5.1 Command Types.................................................................................................................8-8
8.5.2 Main Commands.................................................................................................................8-8
8.5.3 Subcommands..................................................................................................................8-10
8.5.4 Combinations of Main Commands and Subcommands....................................................8-11
8.6 Common Command Format...........................................................................8-12
8.7 Command Header Section of Main Command Area......................................8-14
8.7.1 Command Code (CMD/RCMD).........................................................................................8-14
8.7.2 Watchdog Data (WDT/RWDT)..........................................................................................8-15
8.7.3 Command Control (CMD_CTRL)......................................................................................8-15
8.7.4 Command Status (CMD_STAT)........................................................................................8-16
8.8 Command Header Section of Subcommand Area.........................................8-20
8.8.1 Subcommand Codes (SUB_CMD/SUB_RCMD)...............................................................8-20
8.8.2 Subcommand Control (SUB_CTRL).................................................................................8-20
8.8.3 Subcommand Status (SUB_STAT)...................................................................................8-21
8.9 Servo Command Format................................................................................8-22
8.10 Command Header Section...........................................................................8-23
8.10.1 Servo Command Control (SVCMD_CTRL).....................................................................8-23
8.10.2 Servo Command Status (SVCMD_STAT).......................................................................8-25
8.10.3 Supplementary Information on CMD_PAUSE and CMD_CANCEL................................8-27
8.10.4 Supplementary Information on Latching Operation.........................................................8-30
8.11 Servo Command I/O Signal (SVCMD_IO)...................................................8-31
8.11.1 Bit Allocation of Servo Command Output Signals...........................................................8-31
8.11.2 Bit Allocation of Servo Command I/O Signal Monitoring.................................................8-33
8.12 Command Data............................................................................................8-36
8.12.1 Data Order......................................................................................................................8-36
8.12.2 Specifying Units..............................................................................................................8-36
8.12.3 Specifying Monitor Data..................................................................................................8-37
8.12.4 Position Data...................................................................................................................8-37
8.13 Common Commands......................................................................................................8-38
8.13.1 Common Commands......................................................................................................8-38
8.13.2 No Operation Command (NOP: 00H) .............................................................................8-39
8.13.3 Read ID Command (ID_RD: 03H) ..................................................................................8-40
8.13.4 Setup Device Command (CONFIG: 04H) .......................................................................8-47
8.13.5 Read Alarm or Warning Command (ALM_RD: 05H) ......................................................8-49
8.13.6 Clear Alarm or Warning Command (ALM_CLR: 06H) ....................................................8-51
8.13.7 Start Synchronous Communication Command (SYNC_SET: 0DH) ...............................8-52
8.13.8 Establish Connection Command (CONNECT: 0EH) ......................................................8-53
8.13.9 Disconnection Command (DISCONNECT: 0FH) ...........................................................8-55
8.13.10 Read Memory Command (MEM_RD: 1DH) .................................................................8-56
8.13.11 Write Memory Command (MEM_WR: 1EH) .................................................................8-58
8.14 Servo Commands............................................................................................................ 8-61
8.14.1 Table of Servo Commands..............................................................................................8-61
8.14.2 Set Coordinates Command (POS_SET: 20H) ................................................................8-62
8.14.3 Apply Lock Command (BRK_ON: 21H) ..........................................................................8-64
8.14.4 Release Lock Command (BRK_OFF: 22H) ....................................................................8-65
8.14.5 Turn Sensor ON Command (SENS_ON: 23H) ...............................................................8-67
8.14.6 Turn Sensor OFF Command (SENS_OFF: 24H) ...........................................................8-68
8.14.7 Servo Status Monitor Command (SMON: 30H) ..............................................................8-69
8.14.8 Servo ON Command (SV_ON: 31H) ..............................................................................8-70
8.14.9 Servo OFF Command (SV_OFF: 32H) ..........................................................................8-71
8.14.10 Interpolation Command (INTERPOLATE: 34H) ...........................................................8-73
8.14.11 Positioning Command (POSING: 35H) ........................................................................8-74
8.14.12 Feed Command (FEED: 36H) ......................................................................................8-76
8.14.13 External Input Feed Command (EX_FEED: 37H) ........................................................8-78
8.14.14 External Input Positioning Command (EX_POSING: 39H) ...........................................8-80
8.14.15 Zero Point Return Command (ZRET: 3AH) ..................................................................8-82
8.14.16 Velocity Control Command (VELCTRL: 3CH) ..............................................................8-85
8.14.17 Torque (Force) Control Command (TRQCTRL: 3DH) ..................................................8-86
8.14.18 Read Servo Parameter Command (SVPRM_RD: 40H) ...............................................8-87
8.14.19 Write Servo Parameter Command (SVPRM_WR: 41H) ...............................................8-88
8.14.20 Motion Command Data Setting Method........................................................................8-89
8.15 Subcommands..................................................................................................................8-91
8.15.1 No Operation Subcommand (NOP: 00H) .......................................................................8-92
8.15.2 Read Alarm or Warning Subcommand (ALM_RD: 05H) ................................................8-93
8.15.3 Clear Alarm or Warning Subcommand (ALM_CLR: 06H) ..............................................8-94
8.15.4 Read Memory Subcommand (MEM_RD: 1DH) ..............................................................8-95
 8.15.5 Write Memory Subcommand (MEM_WR: 1EH) .............................................................8-96
8.15.6 Servo Status Monitor Subcommand (SMON: 30H) ........................................................8-97
8.15.7 Read Servo Parameter Subcommand (SVPRM_RD: 40H) ............................................8-98
8.15.8 Write Servo Parameter Subcommand (SVPRM_WR: 41H) ...........................................8-99
8.16 Preparing for Operation...............................................................................................8-100
8.16.1 Setting MECHATROLINK-III Communications..............................................................8-100
8.16.2 Checking the Communications Status..........................................................................8-100
8.17 Parameter Management and Operation Sequence...........................................8-101
8.17.1 Operation Sequence for Managing Parameters Using a PC or PLC...etc.....................8-101
8.17.2 Operation Sequence for Managing Parameters Using a DRIVER................................8-102
8.18 Setting the Zero Point before Starting Operation.......................................8-103
8.19 Operation Sequence when Turning the Servo ON.....................................8-104
8.20 Operation Sequence when OT (Overtravel Limit Switch) Signal is Input...8-104
8.21 Operation Sequence at Emergency Stop (Main Circuit OFF)....................8-104
8.22 Operation Sequence when a Safety Signal is Input...................................8-105
8.23 Operation Sequence at Occurrence of Alarm............................................8-107
8.24 Notes when the Positioning Completed State (PSET = 1)
is Established while Canceling a Motion Command..................................8-107
8.25 Function/Command Related Parameters...................................................8-108
8.25.1 Interpolation Command.................................................................................................8-108
8.25.2 Positioning Command...................................................................................................8-109
8.25.3 Torque (Force) Limiting Function..................................................................................8-111
6.25.4 Torque (Force) Feedforward Function..........................................................................8-113
8.25.5 Software Limit Function.................................................................................................8-114
8.25.6 Latch Function...............................................................................................................8-116
8.25.7 Acceleration/Deceleration Parameter High-speed Switching Function.........................8-121
8.26 Detecting Alarms/Warnings Related to Communications or Commands...8-125
8.26.1 Communication Related Alarms....................................................................................8-125
8.26.2 Warnings Related to Communication and Commands..................................................8-127
8.27 Common Parameters................................................................................................... 8-128
8.27.1 Overview.......................................................................................................................8-128
8.27.2 List of Common Parameters..........................................................................................8-129
8.27.3 Common Parameters and Corresponding Device Parameters.....................................8-138
8.28 Virtual Memory Space..................................................................................................8-140
8.29 Information Allocated to Virtual Memory....................................................8-141
8.29.1 ID Information Area.......................................................................................................8-141
8.29.2 Common Parameter Area.............................................................................................8-142
8.29.3 Adjustment Operation Area...........................................................................................8-143

9. Troubleshooting............................................................................................9-2

9.1 Alarm Displays.................................................................................................9-2

9.1.1 List of Alarms.................................................................................................9-3
9.1.2 Troubleshooting of Alarms................................................................................9-5
9.2 Warning Displays...........................................................................................9-24
9.2.1 List of Warnings............................................................................................9-24
9.2.2 Troubleshooting of Warnings...........................................................................9-26
9.3 Monitoring Communication Data on Occurrence of an Alarm or Warning......9-32
9.4 Troubleshooting Malfunction Based on Operation and
Conditions of the Servomotor.........................................................................9-33
10. List of Parameters......................................................................................10-2

10.1 List of Parameters........................................................................................10-2

10.1.1 Utility Functions...........................................................................................10-2
10.1.2 Parameters................................................................................................10-3
10.1.3 MECHATROLINK-III Common Parameters......................................................10-37
10.2 Parameter Recording Table.......................................................................10-45
1. Outline.............................................................................................................................................. 2
1.1 LECY Series DRIVERs ............................................................................................................. 2
1.2 Part Names ................................................................................................................................. 2
1.3 DRIVER Ratings and Specifications .......................................................................................... 3
1.3.1 Ratings ................................................................................................................................ 3
1.3.2 Basic Specifications ............................................................................................................ 4
1.3.3 MECHATROLINK-III Function Specifications ................................................................ 7
1.4 DRIVER Internal Block Diagrams ............................................................................................ 8
1.4.1 Three-phase 200 V, LECYU2-V5, LECYU2-V7 Models .................................................. 8
1.4.2 Three-phase 200 V, LECYU2-V8 Model............................................................................. 8
1.4.3 Three-phase 200 V, LECYU2-V9 Models ........................................................................... 9
1.5 Examples of Servo System Configurations ............................................................................. 10
1.5.1 Connecting to LECYU2-V口 DRIVER ........................................................................... 10
1.6 DRIVER Model Designation ................................................................................................... 12
1.7 Inspection and Maintenance..................................................................................................... 13
1.8 Installation Environment and Applicable Standards ................................................................ 14
1.8.1 DRIVER Installation Environment ................................................................................... 14
1.8.2 Installation Conditions for Applicable Standards ............................................................. 15
1.8.3 Conditions Corresponding to Low Voltage Directive ...................................................... 15
1.9 DRIVER Installation ............................................................................................................... 16
1.9.1 Orientation ....................................................................................................................... 16
1.9.2 Installation Standards ....................................................................................................... 16

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1. Outline

1.1 LECY Series DRIVERs

The LECY Series DRIVERs are designed for applications that require frequent high-speed, high-precision
positioning. The DRIVER makes the most of machine performance in the shortest time possible, thus contributing
to improving productivity.
1.2 Part Names
This section describes the part names of LECYU DRIVER for MECHATROLINK-III communications reference.

Indicates that data is being transmitted between

the DRIVER and the MECHATROLINK-III system.

Used to monitor motor speed, torque reference, and other

values through a special cable (YASKAWA CONTROL).
Refer to 5.1.3 Monitoring Operation during Adjustment.

(Found on side of DRIVER.) DRIVER model

Indicates the DRIVER model and ratings. Refer to 1.6 DRIVER Model Designation.

DRIVER

Connects a digital operator(JUSP-OP05A-1-E :

YASKAWA ELECTRIC CORPORATION）

(LEC-JZ-CVUSB).

When not using the safety function, use the

DRIVER with the safety function’s jumper
connector inserted.
Connects the cable for motor.

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1.3 DRIVER Ratings and Specifications

This section describes the ratings and specifications of DRIVERs.

1.3.1 Ratings
Ratings of DRIVERs are as shown below.

LECYU (Three Phase, 200 V) V5 V7 V8 V9

Continuous Output Current 0.91 1.6 2.8 5.5
[Arms]
Instantaneous Max. Output 2.9 5.8 9.3 16.9
Current [Arms]

Regenerative Resistor * None or external Built-in or external 1

Main Circuit Power Supply
Three-phase, 200 to 230 VAC,–15% to +10% 50/60 Hz

Control Power Supply

Single-phase, 200 to 230 VAC,–15% to +10% 50/60 Hz
Overvoltage Category III

∗ Refer to 3.7 Connecting Regenerative resistors for details.

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1.3.2 Basic Specifications

Basic specifications of DRIVERs are shown below.

Drive Method Sine-wave current drive with PWM control of IGBT

Feedback Encoder: 20-bit (absolute)
Surrounding Air Temper-
ature 0°C to +55°C

Storage Temperature -20°C to +85°C

Ambient Humidity 90% RH or less
With no freezing or condensation
Storage Humidity 90% RH or less
Vibration Resistance 4.9 m/s2
Operating Shock Resistance 19.6 m/s2
Conditions
Protection Class IP10 An environment that satisfies the following conditions.
• Free of corrosive or flammable gases
• Free of exposure to water, oil, or chemicals
Pollution Degree 2 • Free of dust, salts, or iron dust

Altitude 1000 m or less

Free of static electricity, strong electromagnetic fields, magnetic fields or
Others
exposure to radioactivity
EN50178, EN55011/A2 group1 classA, EN61000-6-2, EN61800-3,
Harmonized Standards EN61800-5-1, EN954-1, IEC61508-1 to 4

Mounting Base-mounted

1:5000 (The lower limit of the speed control range must be lower than the
Speed Control Range
point at which the rated torque does not cause the servomotor to stop.)
Load
Regulation 0% to 100% load: ±0.01% max. (at rated speed)
Speed
Voltage
Regu-
Regulation Rated voltage ±10%: 0% (at rated speed)
Perfor- lation*1
Temperature
mance
Regulation 25 ± 25 °C: ±0.1% max. (at rated speed)
Torque Control
Tolerance ±1%
(Repeatability) 1
Soft Start Time
0 to 10 s (Can be set individually for acceleration and deceleration.)
Setting

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 1 Outline

(cont’d)
Phase A, B, Z: line driver
Encoder Output Pulse
Encoder output pulse: any setting ratio (Refer to 4.4.5.)
Number of
7 ch
Channels
• Homing deceleration switch (/DEC)
Input • External latch (/EXT 1 to 3)
Sequence Signals • Forward run prohibited (P-OT), reverse run prohibited
Input which can (N-OT)
be allocated Functions
• Forward external torque limit (/P-CL), reverse external
torque limit (/N-CL)
Signal allocations can be performed, and positive and
negative logic can be changed.
I/O Fixed Output Servo alarm (ALM) output
Signals
Number of
3 ch
Channels
• Positioning completion (/COIN)
• Speed coincidence detection (/V-CMP)
• Rotation detection (/TGON)
Sequence Output • Servo ready (/S-RDY)
Output Signals
which can • Torque limit detection (/CLT)
be allocated Functions • Speed limit detection (/VLT)
• Brake (/BK)
• Warning (/WARN)
• Near (/NEAR)
Signal allocations can be performed, and positive and
negative logic can be changed.

Interface Digital operator (JUSP-OP05A-1-E : YASKAWA ELECTRIC CORPORATION）

personal computer (can be connected with SigmaWin+)
RS422A 1:N
Commu- Communica- N = Up to 15 stations possible at RS422A
nications tions
Communi- (CN3)
cations Axis
Function Address Set by parameter
Setting
USB Interface Digital operator (JUSP-OP05A-1-E : YASKAWA ELECTRIC CORPORATION）
Commu- Personal computer (can be connected with SigmaWin+)
nications Communica-
(CN7) tions Complies with standard USB1.1. (12 Mbps)
Standard
LED Display Panel display (seven-segment), CHARGE, L1, L2, and CN indicators
Rotary Switch
Position: 16 positions × 2 (Refer to 4.1.1)
MECHATROLINK-III (S1 and S2)
Communications Setting Switches DIP Switch
Number of pins: Four pins (Refer to 4.1.1)
(S3)
Number of points: 2
Output voltage: ± 10VDC (linearity effective range ± 8 V)
Resolution: 16 bits
Analog Monitor (CN5)
Accuracy: ± 20 mV (Typ)
Max. output current: ± 10 mA
Settling time (± 1%): 1.2 ms (Typ)
Activated when a servo alarm or overtravelling occurs or when the power
Dynamic Brake (DB)
supply for the main circuit or servomotor is OFF.
Regenerative Processing Included *2
Dynamic brake stop, deceleration to a stop, or free run to a stop at P-OT or
Overtravel Prevention (OT)
N-OT

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Overcurrent, overvoltage, insufficient voltage, overload, regeneration error,

Protective Function
and so on.

(cont’d)
Utility Function Gain adjustment, alarm history, JOG operation, origin search, and so on.
Input /HWBB1, /HWBB2: Baseblock signal for power module
Safety Function Output EDM1: Monitoring status of internal safety circuit (fixed output)
Standards *3 EN954 Category 3, IEC61508 SIL2

∗1. Speed regulation by load regulation is defined as follows:

∗2. Refer to 1.3.1 Ratings for details on regenerative resistors.

∗3. Perform risk assessment for the system and be sure that the safety requirements are fulfilled.

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1.3.3 MECHATROLINK-III Function Specifications

The following table shows the specifications of MECHATROLINK-III.

Function Specifications
Communication
MECHATROLINK-III
Protocol
03H to EFH (Max. number of stations: 62)
Station Address Use the rotary switches S1 and S2 to set the station
address.
MECHATROLINK-III
Communication Baud Rate 100 Mpbs

Transmission Cycle 125 μs, 250 μs, 500 μs, 750 μs, and 1.0 ms to 4.0 ms
(increments of 0.5 ms)
Number of Transmis- 16, 32, or 48 bytes per station
sion Bytes Use the DIP switch S3 to select the number of words.
Position, speed, or torque control with MECHATROLINK-
Control Method
II communication
MECHATROLINK-I，MECHATROLINK-II commands
Reference Input (sequence, motion, data setting/reference, monitoring, or
Reference Method adjustment)

MECHATROLINK-III standard servo profile

Profile
MECHATROLINK-II-compatible profile

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1.4 DRIVER Internal Block Diagrams

1.4.1 Three-phase 200 V, LECYU2-V5, LECYU2-V7 Models

1.4.2 Three-phase 200 V, LECYU2-V8 Model

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1.4.3 Three-phase 200 V, LECYU2-V9 Models

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1.5 Examples of Servo System Configurations

This section describes examples of basic servo system configuration.

1.5.1 Connecting to LECYU2-V口 DRIVER

(1) Using a Three-phase, 200-V Power Supply

DRIVER

inserted.
Lock Power supply *1
Used for an electric
actuators with lock.

Magnetic contactor
Tums the lock power
supply ON and OFF.
Install a surge
absorber..

Motor cable

∗1. Use a 24-VDC power supply. (Not included.)

∗2. Before connecting an external regenerative resistors to the DRIVER, refer to 3.7 Connecting Regenerative
Resistors.

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(2) Using a Single-phase, 200-V Power Supply

The LECY Series 200 V DRIVER generally specifies a three-phase power input but some models
can be used with a single-phase 200 V power supply. Refer to 3.1.3 Using the DRIVER with
Single-phase, 200 V Power Input for details.

DRIVER

inserted.

Lock Power supply *1

Used for an electric
actuators with lock.
Magnetic contactor
Tums the lock power
supply ON and OFF.
Install a surge
absorber..

Motor cable

∗1. Use a 24-VDC power supply. (Not included.)

∗2. Before connecting an external regenerative option to the DRIVER, refer to 3.7 Connecting Regenerative Resis-
tors.

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1.6 DRIVER Model Designation

This section shows DRIVER model designation.

ＬＥＣY U 2 － V5
Compatible motor type

Type Capacity Encoder

Driver type V5 AC servo motor (V6) 100W

M MECHATROLINK-Ⅲ type V7 AC servo motor (V7) 200W Absolute

(For absolute encoder) V8 AC servo motor (V8) 400W
V9 *1 AC servo motor (V9) 750W

Power supply voltage

2 *2 200 to 230 VAC, 50/60Hz

*1. The lineup is done the standard item.

*2. These amplifiers can be powered with single or three-phase.
*If the I/O connector is required, please order product code "LE-CYNA". (The I/O connector is not included)
*If the I/O cable is required, please order product code "LEC-CSNA-1". (The I/O cable is not included)

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1.7 Inspection and Maintenance

This section describes the inspection and maintenance of DRIVER.

(1) DRIVER Inspection

For inspection and maintenance of the DRIVER, follow the inspection procedures in the following table at least once
every year. Other routine inspections are not required.

Item Frequency Procedure Comments

Check for dust, dirt, and oil
Exterior Clean with compressed air.
on the surfaces.
At least once a year Check for loose terminal
Loose Screws block and connector Tighten any loose screws.
screws.

(2) DRIVER’s Parts Replacement Schedule

The following electric or electronic parts are subject to mechanical wear or deterioration over time. To avoid failure,
replace these parts at the frequency indicated.

Refer to the standard replacement period in the following table and contact your Yaskawa representative. After an
examination of the part in question, we will determine whether the parts should be replaced or not.

The parameters of any DRIVERs overhauled by SMC are reset to the factory
settings before shipping. Be sure to confirm that the parameters are properly
set before starting operation.

Standard Replacement
Part Operating Conditions
Period
Cooling Fan 4 to 5 years
Smoothing Capacitor 7 to 8 years • Surrounding Air Temperature: Annual average of
Other Aluminum Electrolytic 30°C
5 years
Capacitor • Load Factor: 80% max.
Relays – • Operation Rate: 20 hours/day max.

Fuses 10 years
Battery 3 years*

* It is a standard value in the state of no energizing (state not to turn on power to the driver).
The lifetime changes by condition and environment.

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1.8 Installation Environment and Applicable Standards

1.8.1 DRIVER Installation Environment

􀂄 Surrounding air temperature: 0 to 55°C
􀂄 Ambient humidity: 90% RH or less (with no condensation)
􀂄 Altitude: 1,000 m or less
􀂄 Vibration resistance: 4.9 m/s2
􀂄 Shock resistance: 19.6 m/s2

􀂄 Installation Precautions
• Mounting in a Control Panel
To prevent the temperature around the DRIVER from exceeding 55°C, take into account the size of the
control panel, the layout of the DRIVER, and the cooling method. For details, refer to 1.9 DRIVER
Installation.

• Mounting Near a Heating Unit

To prevent the temperature around the DRIVER from exceeding 55°C, suppress radiant heat from the
heating unit and temperature rise due to convection.

• Mounting Near a Vibration Source

To prevent vibration from being transmitted to the DRIVER, install a vibration isolator underneath the
DRIVER.

• Mounting to a Location Exposed to Corrosive Gas

Take measures to prevent exposure to corrosive gas. Corrosive gases will not immediately affect the
DRIVER, but will eventually cause electronic components and contactor-related devices to malfunction.

• Other Locations
Do not mount the DRIVER in locations subject to high temperatures, high humidity, dripping water,
cutting oil, dust, iron filings, or radiation.

<Note>
When storing the DRIVER with the power OFF, store it in an environment with the following temperature
and humidity:
• -20 to +85°C, 90% RH or less. (with no condensation)

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1.8.2 Installation Conditions for Applicable Standards

Applicable EN50178, EN55011/A2 group1 classA, EN61000-6-2, EN61800-3,
Standards EN61800-5-1, EN954-1, IEC61508-1 to 4
Overvoltage Category: III
Operating
Pollution degree: 2
Conditions
Protection class: IP10
Low Voltage Directive:
Satisfy the conditions outlined in 1.8.3 Conditions Corresponding to Low Voltage Directive of this manual.
Installation
EMC Directive:
Conditions
Certification is required after installation in the user’s machine under the conditions outlined in 3.8.3 EMC Installation
Conditions of this manual.

1.8.3 Conditions Corresponding to Low Voltage Directive

To adapt DRIVERs to the Low Voltage Directive, make sure that the following environmental conditions are met.
• Installation category: III
• Pollution degree: 2
• Protection class: 10
• Altitude: 1000 m max.
Be sure to install a fuse for the main circuit power-supply as well as meeting these environmental conditions. To choose
the fuse capacity, refer to 3.1.2 Using a Standard Power Supply (Three-phase 200 V).

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 1 Outline

1.9 DRIVER Installation

1.9.1 Orientation
Mount the DRIVER with a vertical orientation.
Firmly secure the DRIVER to the mounting surface, using either two or four mounting holes depending on the DRIVER
capacity.

1.9.2 Installation Standards

Observe the standards for mounting DRIVERs in control panels, including those for the mounting DRIVERs side by
side in one control panel as shown in the following illustration.

• DRIVER Mounting Orientation

Mount the DRIVER vertically to the wall, with the front panel (the side with the panel operator display) facing
out.

• Cooling
Refer to the following diagram and leave sufficient space for cooling by fans and natural convection.

• Mounting DRIVERs Side by Side in a Control Panel

Leave sufficient space on each side and at the top and the bottom of each DRIVER.
The width on each side varies in accordance with the models of the DRIVERS used.

DRIVER Model Side

Top and bottom
LECY□2- Left Right
V5, V7, V8 1 mm or more
40 mm or more
V9 1 mm or more 10 mm or more

Also install cooling fans above the DRIVERs to disperse local pockets of warmer air around the DRIVERs.

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• Inside the Control Panel

The conditions inside the control panel should be the same as the environmental conditions of the DRIVER.
Refer to 1.8.1 DRIVER Installation Environment.
The DRIVERs have an Installation Environment monitor. With this monitor, operation conditions in the
nstallation environment can be observed and measured.
The value shown on this monitor should be equal to or less than 100% for optimum operating conditions.
If this value is over 100%, one of the following measures must be taken to ensure safe operation and a long
product life.

• Improve air circulation around DRIVERs.

Minimum Air Circulation Rate
Top (10 mm): 0.5 m/s
Bottom (10 mm): 0.2 m/s
To improve the air circulation to meet these minimum standards and to lower the percentage shown on the
monitor, widen the space between the DRIVERs or lower the temperature of the surrounding air.

<Note>
For every increase of 10C, the percentage shown on the monitor will also increase by approximately ten.

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2. Panel Display and Operation of SigmaWin+TM ............................................................................... 2

2.1 Panel Display ............................................................................................................................. 2
2.1.1 Status Display ................................................................................................................... 2
2.1.2 Alarm and Warning Display ............................................................................................. 2
2.1.3 Hard Wire Base Block Display ......................................................................................... 2
2.1.4 Overtravel Display ............................................................................................................ 2
2.2 Operation of SigmaWin+ TM ...................................................................................................... 3
2.2.1 Compatible Devices .......................................................................................................... 3
2.2.2 Hardware requirements ..................................................................................................... 3
2.2.3 Installing SigmaWin+TM Program .................................................................................... 3
2.2.4 Starting SigmaWin+ TM ................................................................................................... 12
2.3 Utility Functions ...................................................................................................................... 15
2.4 Parameters ................................................................................................................................ 15
2.4.1 Parameter Classification ................................................................................................. 15
2.4.2 Notation for Parameters .................................................................................................. 16
2.4.3 Setting Parameters........................................................................................................... 16
2.5 Monitor Displays...................................................................................................................... 16

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2. Panel Display and SigmaWin+TM

2.1 Panel Display
The servo status can be checked on the panel display of the DRIVER. Also, if an alarm or warning occurs, its alarm
or warning number is displayed.

2.1.1 Status Display

The display shows the following status.

Display Meaning

Rotation Detection (/TGON)

Lights if motor speed exceeds the value set in Pn502. (Factory setting: 20 min-1)

Baseblock
Lights for baseblock (Servomotor power OFF).

Reference Input
Lights when a reference is being input.

CONNECT
Lights during connection.

2.1.2 Alarm and Warning Display

If an alarm or warning occurs, the display will change in the following order.
Example: Alarm A.E60

"6" of the figure, "b" of the alphabet, and "d" are displayed as follows.

6→ b→ d→

2.1.3 Hard Wire Base Block Display

If a hard wire base block (HWBB) occurs, the display will change in the following order.

2.1.4 Overtravel Display

If overtravelling occurs, the display will change in the following order.

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2.2 Operation of SigmaWin+ TM

SigmaWin+ is a setup software for setup and optimum DRIVER tuning of LECY series.
Please download the install program from our home page.

SigmaWin+TM is the registered trademarks of YASKAWA ELECTRIC Corporation.

2.2.1 Compatible Devices

- LECYM series
- LECYU series

2.2.2 Hardware requirements

When using setup software (SigmaWin+TM), use a DOS/V PC/AT compatible PC that meets the following
operating conditions.

Equipment Description
・Windows® XP *5
OS ・Windows® Vista
・Windows® 7 (32 bit/ 64 bit)
*1 *2 *3
PC 350 MB or more of free space
*4
Hard Disk (When the software is installed, 400MB or more is empty
recommended.)
Communication
Use USB port
interface
XVGA monitor (1024×768 or more, “The small font is used.”)
Display 256 color or more (65536 color or more is recommended)
Connectable with the above personal computer.
Keyboard Connectable with the above personal computer.
Mouse Connectable with the above personal computer.
Printer Connectable with the above personal computer.
USB cable LEC-JZ-CVUSB *6
Other Adobe Reader Ver.5.0 or more (*Ver.6.0 is excluded.)
*1. Windows, Windows Vista and Windows 7 are the registered trademarks of Microsoft Corporation in the
United States and other countries.
*2. On some personal computers, SigmaWin+ may not run properly.
*3. 64-bit Windows® XP and 64-bit Windows® Vista are not supported.
*4. Use Windows® XP: Please use it by the administrator authority (When installing and using it.).
*5. In PC that uses the program to correct the problem of HotfixQ328310, it is likely to fail in the
installation. In that case, please use the program to correct the problem of HotfixQ329623.
*6. Order USB cable separately.

2.2.3 Installing SigmaWin+TM Program

To install SigmaWin+, run the setup file for SigmaWin+. And the installation process will begin. In this
process, SigmaWin+ and the related files will be installed, or stored on the hard disk.
Operating conflicts may arise with the other programs during installation. Be sure to close all other
programs before installing SigmaWin+.
Install the program using the following procedure.

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1. Please download the install program from our home page.

2. "SETUP.EXE" of the file is double-clicked.

A message will appear, welcoming you to the SigmaWin+ program.

3. Click Next to continue.s

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4. Follow the onscreen instructions to choose a destination folder to copy the SigmaWin+ file to, and click
Next to continue.

5. Select the setup type. Choose "Normal Setup" and click Next.

6. Select the program group to create the SigmaWin+ icon. "YE_Applications" is the default setting. After
selecting the program group or folder, click Next to continue.

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Then the PC files are copied. The percentage of the copying that has been completed is shown.

Note: If new versions of the PC support files are needed to install SigmaWin+, a window will appear asking
whether to overwrite the current version or to cancel the installation. SigmaWin+ may not run correctly if
the new versions of the support files are not installed.

If SigmaWin+ has been successfully installed, one of two dialog boxes is displayed.

(a)

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If dialog box (a) is displayed, click Finish to complete the setup.

(b)

7. If dialog box (b) is displayed, select Yes when asked if you want to restart the computer and then click
Finish to complete the setup.

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The LECY* USB driver cannot be installed by using the SigmaWin+ installer.
When a SigmaWin+ equipped PC is connected to the LECY* through a USB connection, use the following
procedure to install the USB driver.
The installation method will vary depending on the operating system (hereinafter referred to as OS). Use the
correct procedure for your OS.
The installation procedure is explained assuming that the SigmaWin+ installed folder directory is
"C:¥Program Files¥SigmaIDE" and that the CD-ROM drive is D drive. Use the folder directory and drive
according to the settings of your PC.

- For Windows 7/Vista

1. Turn on the power to the PC to start Windows 7 or Vista.
2. Confirm that SigmaWin+ has been installed. If it has not yet been installed, please install.
3. Connect the LECY* to the PC using a USB cable, and then turn on the power to the LECY*. The
following message will appear.

4. Click Close.
5. On the Start menu, right-click Computer and select Properties. The property window will appear.
6. Select Device Manager. The following window will appear.

7. Right-click YASKAWA SIGMA SERIES and select Update Drive Software...

8. Select Browse my computer for driver software. The following window will appear.

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9. Select the Include subfolders check box. Click Browse to select the folder.
< For Windows 7 (32 bit) or Windows Vista >
"C:¥Program Files¥SigmaIDE¥SigmaWinPlus¥Driver¥USB"
< For Windows 7 (64 bit) >
"C:¥Program Files (x86)¥SigmaIDE¥SigmaWinPlus¥Driver¥USB¥x64"
10. Click Next.
Installation starts by copying the necessary files. Wait until a message appears informing you that
the installation is finished.
< If a Security Error Message is Displayed >
Select Install this driver software anyway.

11. When the installation is finished, click Close. This completes the driver installation.

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- For Windows XP
1. Turn on the power to the PC to start Windows XP.
2. Confirm that SigmaWin+ has been installed. If it has not yet been installed, please install.
3. Connect the LECY* to the PC using a USB cable, and then turn on the power to the LECY*. The
Found New Hardware Wizard will appear.

4. Confirm that the Install from a list or specified location [Advanced] option is selected, and then
click Next. The next Wizard will appear.

5. Select the Search for the best driver in these locations. option and then select the Include this
location in the search: check box. Click Browse to select the folder "C:¥Program
Files¥SigmaIDE¥SigmaWinPlus¥Driver¥USB".
6. Click Next. The Wizard starts installation by copying the necessary files. Wait until a message
appears informing you that the installation is finished.

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7. When the installation is finished, click Finish. This completes the driver installation.

- Confirming the Installation Status

Use the following procedure to make sure that the system recognizes the LECY* as a USB device and
that the USB driver is installed correctly.

1. Click the Start button, point to Settings, and click Control Panel.
2. Double-click the System icon. The System Properties window will appear.
3. Click the Hardware tab and then click Device Manager. The Device Manager window will
appear.

4. Double-click SIGMA Series USB Device in the YASKAWA ELECTRIC CORP.

USB Device folder. The SIGMA Series USB Device Properties window will appear.

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5. Make sure "This device is working properly." is displayed in the Device status field.
When "This device is working properly." is displayed, the LECY* is ready to be used through a
USB connection. If it is not displayed, reinstall the USB driver.

2.2.4 Starting SigmaWin+ TM

(1) Start SigmaWin+
Start SigmaWin+:
• from the Start menu
• from a shortcut

- From the Start Menu

To start SigmaWin+ from the Start menu:
1. Click the Start button, and point to Programs.
2. Open the YE_Applications folder.
3. Click SigmaWin+.

- From a Shortcut
To start SigmaWin+ from a shortcut on the desktop:
1. Open the YE_Applications folder on the desktop.
2. Click SigmaWin+.

(2) Selecting a DRIVER

When SigmaWin+ is in initially started, the Connect dialog box appears. Enter the settings for
communications between SigmaWin+ and the DRIVER by means of a communication port.

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Select the method to set up the DRIVER: online or offline. Online is the default setting.
Online: Select when setting up or tuning the servo drive with the DRIVER connected
Offline: Select when editing parameters or checking screens for tracing or mechanical analysis
without the DRIVER connected

<When Offline is selected>

Select the ΣV and click Starting. The SigmaWin+ main window will appear.

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<When Online is selected>

Enter the necessary settings for communication setup.

(1) Click Search.

(2) Click ΣV. Then Click Search.

After the DRIVERs have been successfully connected to SigmaWin+, a list of the
connected DRIVERs will appear on the screen.

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DRIVER Selection Box

(3) Select the DRIVER to be connected and then click Connect, or just doubleclick the
DRIVER to be connected. The SigmaWin+ main window will appear.
Click Cancel to close the dialog box.

Operation examples of utility functions, parameters and monitor displays when using a SigmaWin+ are
described in this chapter.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool Sigma
Win+ ONLINE MANUAL Σ-V Component.

2.3 Utility Functions

The utility functions are related to the setup and adjustment of the DRIVER.
Refer to 6 utility functions for details.

2.4 Parameters
This section describes the classifications, methods of notation, and settings for parameters given in this manual.

2.4.1 Parameter Classification

Parameters of the LECY Series DRIVER are classified into two types of parameters. One type of parameters
is required for setting up the basic conditions for operation and the other type is required for tuning
parameters that are required to adjust servomotor characteristics.

Classification Meaning Display Method Setting Method

Parameters required for Always displayed (Factory Set each parameter individu-
Setup Parameters
setup. setting: Pn00B.0 = 0) ally.
Parameters for tuning con-
There is no need to set each
Tuning Parameters trol gain and other parame- Set Pn00B.0 to 1.
parameter individually.
ters.

There are two types of notation used for parameters, one for parameter that requires a value setting (parameter
for numeric settings) and one for parameter that requires the selection of a function (parameter for selecting
functions).
The notation and settings for both types of parameters are described next.

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2.4.2 Notation for Parameters

2.4.3 Setting Parameters

In the SigmaWin+ Σ-V component main window, click Parameters and then click Edit Parameters. The
Parameter Editing window for the online mode appears.
For more information on the usage of the setting parameters, refer to AC Servo Drives Engineering Tool
Sigma Win+ ONLINE MANUAL Σ-V Component.

2.5 Monitor Displays

The monitor displays can be used for monitoring the reference values, I/O signal status, and DRIVER internal
status.
The System Monitor window will automatically open when the SigmaWin+ starts. Or, in the SigmaWin+ Σ-V
component window, click Monitor, point to Monitor, and then click System Monitor.
For more information on the usage of the monitor display, refer to AC Servo Drives Engineering Tool Sigma
Win+ ONLINE MANUAL Σ-V Component.

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3. Wiring and Connection ........................................................................................................... 2
3.1 Main Circuit Wiring .......................................................................................................... 2
3.1.1 Main Circuit Terminals ............................................................................................... 2
3.1.2 Using a Standard Power Supply (Three-phase 200 V) .............................................. 3
3.1.3 Using the DRIVER with Single-phase, 200 V Power Input ...................................... 7
3.1.4 Using the DRIVER with a DC Power Input ............................................................ 10
3.1.5 Using More Than One DRIVER .............................................................................. 12
3.1.6 General Precautions for Wiring ............................................................................... 13
3.1.7 Specifications of motor cables and encoder cables .................................................. 14
3.2 I/O Signal Connections ................................................................................................... 16
3.2.1 /O Signal (CN1) Names and Functions.................................................................... 16
3.2.2 Safety Function Signal (CN8) Names and Functions .............................................. 17
3.2.3 Example of I/O Signal Connections......................................................................... 18
3.3 I/O Signal Allocations ..................................................................................................... 19
3.3.1 Input Signal Allocations ........................................................................................... 19
3.3.2 Output Signal Allocations ........................................................................................ 21
3.4 Examples of Connection to PC or PLC...etc ................................................................... 22
3.4.1 Sequence Input Circuit ............................................................................................. 22
3.4.2 Sequence Output Circuit .......................................................................................... 23
3.5 Wiring MECHATROLINK-III Communications ........................................................... 25
3.6 Encoder Connection ........................................................................................................ 26
3.6.1 Encoder Signal (CN2) Names and Functions .......................................................... 26
3.6.2 Encoder Connection Examples ................................................................................ 27
3.7 Connecting Regenerative resistors .................................................................................. 28
3.7.1 Connecting Regenerative Resistors ......................................................................... 29
3.7.2 Setting Regenerative resistors Capacity ................................................................... 30
3.8 Noise Control and Measures for Harmonic Suppression ................................................ 31
3.8.1 Wiring for Noise Control ......................................................................................... 31
3.8.2 Precautions on Connecting Noise Filter................................................................... 33
3.8.3 EMC Installation Conditions ................................................................................... 35
3.9 Specification of option cables ......................................................................................... 41

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3. Wiring and Connection

3.1 Main Circuit Wiring

The names and specifications of the main circuit terminals are given below.
Also this section describes the general precautions for wiring and precautions under special environments.

3.1.1 Main Circuit Terminals

: Main circuit terminals

Terminal Name Specification

Symbols

Main circuit power Three-phase 200 to 230 V,

L1, L2, L3 input terminals +10% to -15% (50/60 Hz)

Control power Single-phase 200 to 230 V,

L1C, L2C input terminals +10% to -15% (50/60 Hz)
If the internal regenerative resistor is insufficient, connect a regenerative resistor
Regenerative between B1/ and B2.
resistor If LECYM2-V9 is used, remove the lead or shorting bar between B2 and B3, and
B1/ , B2*1 connection
connect a regenerative resistor between B1/ and B2.
terminals
Note: The Regenerative resistor is not included.
DC reactor
connection
Thefor
terminal DCpower
reactor connection terminals are short-circuited when the DRIVER is shipped from the
1, 2
supply harmonic factory: 1 and 2.
suppression
Main circuit
B1/
positive terminal Use when DC power supply input is used.
Main circuit
2 or negative terminal
Servomotor Use for connecting to the servomotor.
U, V, W connection
terminals
Ground terminals Use for connecting the power supply ground terminal and servomotor ground
(× 2) terminal.

∗1. Do not short-circuit between B1/ and B2. It may damage the DRIVER.

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3.1.2 Using a Standard Power Supply (Three-phase 200 V)

(1) Wire Types
Use the following type of wire for main circuit.

Cable Type
Allowable Conductor Temperature °C
Symbol Name
IV 600 V grade polyvinyl chloride insulated wire 60
HIV 600 V grade heat-resistant polyvinyl chloride insulated wire 75
The following table shows the wire sizes and allowable currents for three wires. Use wires with
specifications equal to or less than those shown in the table.

- 600 V grade heat-resistant polyvinyl chloride insulated wire (HIV)

Wire size Configuration Conductive Allowable Current at Surrounding Air

AWG Size (Nominal Cross (Number of Resistance Temperature (A)
Section Area)
Wires/mm2) (Ω/km) 30°C 40°C 50°C
(mm2)
20 0.5 19/0.18 39.5 6.6 5.6 4.5
19 0.75 30/0.18 26.0 8.8 7.0 5.5
18 0.9 37/0.18 24.4 9.0 7.7 6.0
3
16 1.25 50/0.18 15.6 12.0 11.0 8.5
14 2.0 7/0.6 9.53 23 20 16

Note: The values in the table are for reference only.

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(2) Main Circuit Wires

This section describes the main circuit wires for DRIVERs.

• The specified wire sizes are for use when the three lead cables are bundled and when the
rated electric current is applied with a surrounding air temperature of 40°C.
• Use a wire with a minimum withstand voltage of 600 V for the main circuit.
• If cables are bundled in PVC or metal ducts, take into account the reduction of the allowable
current.
• Use a heat-resistant wire under high surrounding air or panel temperatures, where polyvinyl
chloride insulated wires will rapidly deteriorate.

- Three-phase, 200 V

Terminal LECYM2-□□
Name
Symbols V5 V7 V8 V9
L1, L2, Main circuit power in-
HIV1.25 HIV2.0
L3 put terminals
Control power input
L1C, L2C HIV1.25
terminals
Servomotor connec-
U, V, W HIV1.25 HIV2.0
tion terminals
External regenerative
B1/ resistor connection HIV1.25
, B2 terminals

Ground terminal HIV2.0 or larger

(3) Typical Main Circuit Wiring Examples

Note the following points when designing the power ON sequence.

• Design the power ON sequence so that main power is turned OFF when a servo alarm signal (ALM) is output.
• The ALM signal is output for a maximum of five seconds when the control power is turned ON. Take this into
consideration when designing the power ON sequence. Design the sequence so the ALM signal is activated and the
alarm detection relay (1Ry) is turned OFF to stop the main circuit’s power supply to the DRIVER.

• Select the power supply specifications for the parts in accordance with the input power supply.

• When turning ON the control power supply and the main circuit power supply, turn
them ON at the same time or turn the main circuit power supply after the control
power supply. When turning OFF the power supplies, first turn the power for the main
circuit OFF and then turn OFF the control power supply.

The typical main circuit wiring examples are shown below.

WARNING
• Do not touch the power supply terminals after turning OFF the power. High voltage may still remain in the
DRIVER, resulting in electric shock. When the voltage is discharged, the charge indicator will turn OFF.
Make sure the charge indicator is OFF before starting wiring or inspections.

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- Three-phase 200 V, LECYU2-V口

DRIVER

∗ For the LECYU2-V5, V7, V8, terminals B2 and B3 are not short-circuited.
Do not short-circuit these terminals.

(4) Power Supply Capacities and Power Losses

The following table shows the DRIVER’s power supply capacities and power losses.

Maximum Main
Main Power Supply Regenerative Control
Applicable DRIVER Output Circuit Total
Circuit Capacity per Resistor Circuit
Servomotor Model Current Power Power
Power DRIVER Power Loss Power
Capacity LECYU2-□□ [Arms] Loss Loss [W]
Supply [kVA] [W] Loss [W]
[kW] [W]
0.1 V5 0.3 0.91 7.3 24.3
Three- 0.2 V7 0.6 1.6 13.5 - 30.5
phase, 17
0.4 V8 1 2.8 24.0 41.0
200 V
0.75 V9 1.6 5.5 43.8 8 68.8
Note 1. LECYU2-V5, V7, and V8 do not have built-in regenerative resistors. Connect an external regenerative resistors if
the regenerative energy exceeds the specified value.
2. Regenerative resistor power losses are the allowable losses. Take the following actions if this value is exceeded.
•Remove the lead or shorting bar between terminals B2 and B3 on the DRIVER main circuit for LECYU2-V9.
•Install an external regenerative resistors. Refer to 3.7 Connecting Regenerative Resistors for details.
3. Both the regenerative resistor unit and the external regenerative resistors are not included.

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(5) How to Select Molded-case Circuit Breaker and Fuse Capacities

The following table shows the DRIVER’s current capacities and inrush current. Select a
molded-case circuit breaker and fuses in accordance with these specifications.

Maximum Power Sup- Current Capacity Inrush Current

Main Circuit DRIVER
Applicable ply Capacity
Power Model Control
Servomotor per Main Circuit Main Circuit
Supply LECYU2 Circuit Control
Capacity DRIVER [Arms] [A0-p]
[kW] -□□ [kVA] [Arms] Circuit [A0-p]

0.1 V5 0.3 1.0

Three- 0.2 V7 0.6 2.0 70
0.2 33
phase, 200 V 0.4 V8 1 3.0
0.75 V9 1.6 6.0 33

Note 1. To comply with the EU low voltage directive, connect a fuse to the input side as protection against accidents
caused by short-circuits.
Select fuses or molded-case circuit breakers that are compliant with UL standards.
The table above also provides the net values of current capacity and inrush current. Select a fuse and a molded-
case circuit breaker which meet the breaking characteristics shown below.
- Main circuit, control circuit: No breaking at three times the current values shown in the table for 5 s.
- Inrush current: No breaking at the current values shown in the table for 20 ms.

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 3 Wiring and Connection

3.1.3 Using the DRIVER with Single-phase, 200 V Power Input

LECYU2 series three-phase 200 V power input DRIVER can be used also with a single-phase 200 V power supply.

When using the DRIVER with single-phase, 200 V power input, set parameter Pn00B.2 to 1.

(1) Parameter Setting

- Single-phase Power Input Selection
When
Parameter Meaning Classification
Enabled
n.口0口口 Enables use of three-phase power supply for three-phase
[Factory setting] DRIVER.
Pn00B After restart Setup
n.口1口口 Enables use of single-phase power supply for three-phase
DRIVER.

WARNING
- If single-phase 200 V is input to a DRIVER without changing the set- ting of Pn00B.2 to 1 (single-phase
power input), a main circuit cable open phase alarm (A.F10) will be detected.
- When using a single-phase 200 V power supply, the DRIVER may not be able to produce the same
servomotor torque-speed characteristics as using a three- phase 200 V power input. Refer to the diagram
of each servomotor torque-speed characteristics.
LECYM2-V5 LECYM2-V7

LECYM2-V8 LECYM2-V9

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 3 Wiring and Connection

(2) Main Circuit Power Input Terminals

Connect a single-phase 200 V power supply of the following specifications to L1 and L2 terminals.

The specifications of the power supplies other than the main circuit power supply are the same as for three- phase
power supply input.

Terminal Sym-
Name Specifications
bols

Main circuit power Single-phase 200 V to 230 V,

L1, L2
input terminals +10% to -15% (50/60 Hz)

L3*1 – None
∗1. Do not use L3 terminal.
(3) Main Circuit Wire for DRIVERs

Terminal Model LECYU2-口口 (Unit: mm2)

Name
Symbols
V5 V7 V8 V9
L1, L2 Main circuit power input terminals HIV1.25 HIV2.0
L1C, L2C Control power input terminals HIV1.25
U, V, W Servomotor connection terminals HIV1.25 HIV2.0
External regenerative resistors HIV1.25
B1/ , B2 con- nection terminals
Ground terminal HIV2.0 or larger

(4) Wiring Example with Single-phase 200-V Power Supply Input

- DRIVER with Single-phase, 200-V Power Supply

DRIVER

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 3 Wiring and Connection

(5) Power Supply Capacities and Power Losses

The following table shows DRIVER’s power supply capacities and power losses when using single- phase 200 V
power supply.

Maximum
Power Supply Regenerative Control Total
Main Circuit Applicable DRIVER Output Main Circuit
Capacity per Resistor Circuit Power
Power Servomotor Model Current Power Loss
DRIVER Power Loss Power Loss Loss
Supply Capacity LECYU2-□□ [Arms] [W]
[kVA] [W] [W] [W]
[kW]
Single-phas 0.1 V5 0.3 0.91 7.4 24.4
e, 200 V 0.2 V7 0.7 1.6 13.7 30.7
-
17
0.4 V8 1.2 2.8 24.9 41.9
0.75 V7 1.9 5.5 52.7 8 77.7

Note 1. LECYU2-V5, V7, and V8 DRIVERs do not have built-in regenerative resistors. If the regenerative energy
exceeds the specified value, connect an external regenerative resistors between B1/ and B2.
2. Regenerative resistor power losses are allowable losses. Take the following action if this value is exceeded.
- Remove the lead or shorting bar between terminals B2 and B3 on the DRIVER main circuit of
LECYU2-V7 DRIVER.
- Install an external regenerative resistors between external regenerative resistors connection terminals
B1/ and B2.

(6) How to Select Molded-case Circuit Breaker and Fuse Capacities

The following table shows the DRIVER’s current capacities and inrush current when using single-phase 200 V
power supply. Select a molded-case circuit breaker and fuses in accordance with these specifications.

Maximum Current Capacity Inrush Current

Power Supply
Main Circuit Applicable DRIVER
Capacity per Control Control
Power Servomotor Model Main Circuit Main Circuit
DRIVER Circuit Circuit
Supply Capacity LECYU2-□□ [Arms] [A0-p]
[kVA] [Arms] [A0-p]
[kW]
0.1 V1 0.3 2

Single-phase, 0.2 V2 0.7 3 70

0.2 33
200 V 0.4 V4 1.2 5
0.75 V7 1.9 9 33

Note 1. To comply with the EU low voltage directive, connect a fuse to the input side as protection against accidents
caused by short-circuits. Select the fuse for the input side that are compliant with UL standards.
The table above also provides the net values of current capacity and inrush current. Select a fuse and a
molded- case circuit breaker which meet the breaking characteristics shown below.
•Main circuit, control circuit: No breaking at three times the current values shown in the table for 5 s.
•Inrush current: No breaking at the current values shown in the table for 20 ms.

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 3 Wiring and Connection

3.1.4 Using the DRIVER with a DC Power Input

(1) Parameter Setting
When using a DC power supply, make sure to set the parameter Pn001.2 to 1 (DC power input supported) before
inputting DC power.

Parameter Meaning When Enabled Classification

n.口0口口 Enables use of AC power input.
Pn001 After restart Setup
n.口1口口 Enables use of DC power input.

Observe the following precautions.

WARNING
• Either AC or DC power can be input to the 200-V DRIVERs. Always set Pn001.2 to 1 to specify a DC
power input before inputting DC power. If DC power is input without changing the parameter setting, the
DRIVER’s internal elements will burn and may cause fire or damage to the equipment.
• With a DC power input, time is required to discharge electricity after the main power supply is turned OFF.
A high residual voltage may remain in the DRIVER after the power supply is turned OFF. Be careful not to
get an electric shock.
• Install fuses on the wires if DC power is used.
• Servomotor returns a regenerated energy to the power supply. The DRIVER that can use a DC power
supply is not capable of processing the regenerated energy. Provide measures to process the
regenerated energy on the power supply.
• With a DC power input, connect an external inrush current limit circuit.
Failure to observe this caution may result in damage to the equipment.

(2) DC Power Supply Input Terminals for the Main and Control Circuits
Terminal Symbols Name Specifications
Main circuit positive terminal 270 to 320 VDC
B1/
2 Main circuit negative terminal 0 VDC
L1C, L2C Control power input terminal 200 to 230 VAC

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 3 Wiring and Connection

(3) Wiring Example with DC Power Supply Input

DRIVER

3-11
 3 Wiring and Connection

3.1.5 Using More Than One DRIVER

This section shows an example of the wiring and the precautions when more than one DRIVER is used.

(1) Wiring Example

Connect the alarm output (ALM) terminals for three DRIVERs in series to enable alarm detection relay 1RY to
operate. When the alarm occurs, the ALM output signal transistor is turned OFF.

DRIVER

DRIVER

DRIVER

(2) Precautions
Multiple DRIVERs can share a single molded-case circuit breaker (1QF) or noise filter. Always select a
molded-case circuit breaker or noise filter that has enough capacity for the total power supply capacity (load
conditions) of the DRIVERs.

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 3 Wiring and Connection

3.1.6 General Precautions for Wiring

• Use a molded-case circuit breaker (1QF) or fuse to protect the main circuit.
The DRIVER connects directly to a commercial power supply; it is not isolated
through a transformer or other device.
Always use a molded-case circuit breaker (1QF) or fuse to protect the servo system
from accidents involving different power system voltages or other accidents.
• Install a ground fault detector.
The DRIVER does not have a built-in protective circuit for grounding.
To configure a safer system, install a ground fault detector against overloads and
short-circuiting, or install a ground fault detector combined with a molded-case circuit
breaker.
• Do not turn the power ON and OFF more than necessary.
• Do not use the DRIVER for applications that require the power to turn ON and OFF
frequently. Such applications will cause elements in the DRIVER to deteriorate.
• As a guideline, at least one hour should be allowed between the power being
turned ON and OFF once actual operation has been started.

To ensure safe, stable application of the servo system, observe the following precautions when wiring.
Design and arrange the system so that each cable will be as short as possible.
• Use shielded twisted-pair cables or screened unshielded twisted-pair cables for I/O signal cables and
encoder cables.
• The maximum wiring length is 3 m for I/O signal cables, 50 m for encoder cables or motor cables.
Observe the following precautions when wiring the ground.
• Use a cable as thick as possible (at least 2.0 mm2).
• Grounding to a resistance of 100 Ω or less for 200-V DRIVER is recommended.
• Be sure to ground at only one point.
• Ground the servomotor directly if the servomotor is insulated from the machine.
The signal cable conductors are as thin as 0.2 mm2 or 0.3 mm2. Do not impose excessive bending force or tension.

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 3 Wiring and Connection

3.1.7 Specifications of motor cables and encoder cables

Servo Order No.
motor
Name Lock Length Standard Robot Specifications Details
Rated
LE-CY□-S□A-□ LE-CY□-R□A-□
Output
3m LE-CYM-S3A-5 LE-CYM-R3A-5
5m LE-CYM-S5A-5 LE-CYM-R5A-5
100W
10m LE-CYM-SAA-5 LE-CYM-RAA-5
20m LE-CYM-SCA-5 LE-CYM-RCA-5
3m LE-CYM-S3A-7 LE-CYM-R3A-7 DRIVER End

Motor without 200W 5m LE-CYM-S5A-7 LE-CYM-R5A-7

(1)
cable lock 400W 10m LE-CYM-SAA-7 LE-CYM-RAA-7
20m LE-CYM-SCA-7 LE-CYM-RCA-7
3m LE-CYM-S3A-9 LE-CYM-R3A-9
5m LE-CYM-S5A-9 LE-CYM-R5A-9
750W
10m LE-CYM-SAA-9 LE-CYM-RAA-9
20m LE-CYM-SCA-9 LE-CYM-RCA-9
3m LE-CYB-S3A-5 LE-CYB-R3A-5
5m LE-CYB-S5A-5 LE-CYB-R5A-5
100W
10m LE-CYB-SAA-5 LE-CYB-RAA-5
20m LE-CYB-SCA-5 LE-CYB-RCA-5 DRIVER End
3m LE-CYB-S3A-7 LE-CYB-R3A-7
Motor
with 200W 5m LE-CYB-S5A-7 LE-CYB-R5A-7
cable for (2)
lock 400W 10m LE-CYB-SAA-7 LE-CYB-RAA-7
with lock
20m LE-CYB-SCA-7 LE-CYB-RCA-7
3m LE-CYB-S3A-9 LE-CYB-R3A-9
5m LE-CYB-S5A-9 LE-CYB-R5A-9
750W
10m LE-CYB-SAA-9 LE-CYB-RAA-9
20m LE-CYB-SCA-9 LE-CYB-RCA-9
3m LE-CYE-S3A LE-CYE-R3A
DRIVER End
100W
Encoder 200W 5m LE-CYE-S5A LE-CYE-R5A
(3)
cable 400W 10m LE-CYE-SAA LE-CYE-RAA
750W
20m LE-CYE-SCA LE-CYE-RCA

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 3 Wiring and Connection

(1) Wiring Specifications for Motor cable (2) Wiring Specifications for Motor cable with lock
DRIVER-end Leads DRIVER-end Leads

Lock Lock
Lock Lock

Note: No polarity for connection to a lock.

(3) Wiring Specifications for Encoder cable

- Standard type - Robot type
DRIVER End DRIVER End

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 3 Wiring and Connection

3.2 I/O Signal Connections

This section describes the names and functions of I/O signals (CN1). Also connection examples by control method are shown.

3.2.1 /O Signal (CN1) Names and Functions

The following table shows the names and functions of I/O signals (CN1).

(1) Input Signals

Refer-
Signal Pin No. Name Function ence
Section
P-OT Forward run
(/SI1) 7 prohibited, With overtravel prevention: Stops servomotor when movable
4.3.1
N-OT 8 Reverse run part travels beyond the allowable range of motion.
(/SI2) prohibited
/DEC Homing deceleration
(/SI3)
9
switch signal
Connects the deceleration limit switch for homing. −

/EXT 1
(/SI4)
10 External latch signal 1
/EXT 2 Connects the external signals that latch the current feedback
(/SI5)
11 External latch signal 2
pulse counter. −
12 External latch signal 3
/EXT 3
(/SI6)
General-purpose input Used for general-purpose input.
/SI0 13
signal Monitored in the I/O monitor field of MECHATROLINK-II. −
Control power supply input for sequence signals.
Control power supply
+24VIN 6 Allowable voltage fluctuation range: 11 to 25 V 3.4.1
for sequence signal
Note: The 24 VDC power supply is not
included.
Forward external
/P-CL Can be torque limit The allocation of an input signal to a pin can be changed in
/N-CL allocated Reverse external accordance with the function required. −
torque limit
Note 1. The allocation of the input signals (/SI1 to /SI6) can be changed. For details, refer to 3.3.1 Input Signal
Allocations.
2. If the Forward run prohibited/ Reverse run prohibited function is used, the DRIVER is stopped by software
controls, not by electrical or mechanical means. If the application does not satisfy the safety requirements, add an
external circuit for safety reasons as required.

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 3 Wiring and Connection

(2) Output Signals

Refer-
Signal Pin No. Name Function ence
Section
ALM+ 3 Servo alarm output
ALM- 4 signal
Turns OFF when an error is detected. −

/BK+ Controls the lock. The lock is released when the signal turns
1
(/SO1+) ON.
Lock interlock signal 4.3.2
/BK- Allocation can be changed to general-purpose output signals
2 (/SO1+, /SO1-).
(/SO1-)
/SO2+ 23
/SO2- 24 General-purpose Used for general-purpose output.
/SO3+ 25 output signal Note: Set the parameter to allocate a function. −
/SO3- 26
Positioning comple-
/COIN tion
/V-CMP Speed coincidence
/TGON detection
/S-RDY Can be Rotation detection The allocation of an output signal to a pin can be changed in
/CLT allocated servo ready accordance with the function required. −
/VLT Torque limit
/WARN Speed limit detection
/NEAR Warning
Near
PAO 17
Phase-A signal
/PAO 18 Encoder output pulse signals for two-phase pulse train with
PBO 19 90° phase differential 4.4.4
Phase-B signal
/PBO 20 4.7.8
PCO 21
Phase-Z signal Origin pulse output signal
/PCO 22
Connects to the 0 V pin on the control circuit of the PC or
SG 16 Signal ground
PLC...etc. −

Connected to frame ground if the shielded wire of the I/O sig-

FG Shell Frame ground
nal cable is connected to the connector shell. −

Note: The allocation of the output signals (/SO1 to /SO3) can be changed. For details, refer to 3.3.2 Output Signal Alloca-
tions.

3.2.2 Safety Function Signal (CN8) Names and Functions

The following table shows the terminal layout of safety function signals (CN8).

Signal Name Pin No. Function

/HWBB1+ 4
Hard wire baseblock input 1
/HWBB1- 3 For hard wire baseblock input.
Baseblock (motor current off) when
/HWBB2+ 6 OFF.
Hard wire baseblock input 2
/HWBB2- 5
EDM1+ 8 ON when the /HWBB1 and the
Monitored circuit status output 1 /HWBB2 signals are input and the
EDM1- 7 DRIVER enters a baseblock state.
– 1* –
– 2* –

∗ Do not use pins 1 and 2 because they are connected to the internal circuits.

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 3 Wiring and Connection

3.2.3 Example of I/O Signal Connections

The following diagram shows a typical connection example.

DRIVER

Lock
(Lock released when ON)

*1

*6

DRIVER

∗1. represents twisted-pair wires.

∗3. The 24-VDC power supply is not included. Use a 24-VDC power supply with double insulation or reinforced
insulation.
∗4. When using the safety function, a safety function device must be connected and the wiring that is necessary to
activate the safety function must be done to turn ON the servomotor power. When not using the safety function, use
the DRIVER with the Safety Jumper Connector (provided as an accessory) inserted into the CN8.
∗5. Always use line receivers to receive the output signals.
∗6. It is a safety function equivalent to the STO function (IEC 61800-5-2) using the hard wire base block function
(HWBB).
Note: The functions allocated to the input signals /DEC, P-OT, N-OT, /EXT1, /EXT2, and /EXT3 and the output signals
/SO1, /SO2, and /SO3 can be changed by using the parameters. Refer to 3.3.1 Input Signal Allocations and 3.3.2
Output Signal Allocations.

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 3 Wiring and Connection

3.3 I/O Signal Allocations

This section describes the I/O signal allocations.

3.3.1 Input Signal Allocations

• Inverting the polarity of the forward run prohibited and reverse run prohibited signals
from the factory setting will prevent the overtravel function from working in case of sig-
nal line disconnections or other failures.
If this setting is absolutely necessary, check the operation and confirm that there are
no safety problems.
• When two or more signals are allocated to the same input circuit, input signal level is
valid for all allocated signals, resulting in an unexpected machine operation.

Input signals are allocated as shown in the following table.

Refer to the Interpreting the Input Signal Allocation Tables and change the allocations accordingly.

<Interpreting the Input Signal Allocation Tables>

(DRIVER judges
the connection)

If always ON (7) or always OFF (8) is set, signals will

be processed in the DRIVER, which will eliminate the
need for wiring changes.

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 3 Wiring and Connection

Connection Not
Required
Valid- CN1 Pin Numbers (DRIVER
Input Signal Names Input judges the connec-
ity
and Parameters Signal tion)
Level
13 7 8 9 10 11 12 Always Always
ON OFF
Forward Run Prohibited H P-OT 0 1 2 3 4 5 6
7 8
Pn50A.3 L /P-OT 9 A B C D E F
Reverse Run Prohibit- H N-OT 0 1 2 3 4 5 6
ed 7 8
Pn50B.0 L /N-OT 0 A B C D E F
Forward External L /P-CL 0 1 2 3 4 5 6
Torque Limit 7 8
Pn50B.2 H P-CL 9 A B C D E F
Reserve External L /N-CL 0 1 2 3 4 5 6
Torque Limit 7 8
Pn50B.3 H N-CL 9 A B C D E F
Homing Deceleration L /DEC 0 1 2 3 4 5 6
LS 7 8
Pn511.0 H DEC 9 A B C D E F

External Latch Signal 1 L EXT1 * * * * 4 5 6

7 8
Pn511.1 H /EXT1 * * * * D E F
External Latch Signal 2 L EXT2 * * * * 4 5 6
7 8
Pn511.2 H /EXT2 * * * * D E F
External Latch Signal 3 L EXT3 * * * * 4 5 6
7 8
Pn511.3 H /EXT3 * * * * D E F

∗ Always set to "Invalid."

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 3 Wiring and Connection

3.3.2 Output Signal Allocations

• The signals not detected are considered as "Invalid." For example, Positioning Com-
pletion (/COIN) signal in speed control is "Invalid."
• Inverting the polarity of the lock signal (/BK), i.e. positive logic, will prevent the holding
lock from working in case of its signal line disconnection.
If this setting is absolutely necessary, check the operation and confirm that there are
no safety problems.
• When two or more signals are allocated to the same output circuit, a signal is output
with OR logic circuit.

Output signals are allocated as shown in the following table.

Refer to the Interpreting the Output Signal Allocation Tables and change the allocations accordingly.

<Interpreting the Output Signal Allocation Tables>

The parameter set values to be used are shown.

Signals are allocated to CN1 pins according to the
selected set values.
Values in cells in bold lines are the factory settings.

Output Signal Names CN1 Pin Numbers Invalid

Output Signal
and Parameters 1/ (2) 23/ (24) 25/ (26) (not use)
Lock /BK 1 2 3 0
Pn50F.2

Output Signal Names CN1 Pin Numbers Invalid

Output Signal
and Parameters 1/ (2) 23/ (24) 25/ (26) (not use)
Positioning Completion 0
/COIN 1 2 3
Pn50E.0
Speed Coincidence
Detection /V-CMP 1 2 3 0
Pn50E.1
Rotation Detection
/TGON 1 2 3 0
Pn50E.2
Servo Ready
/S-RDY 1 2 3 0
Pn50E.3
Torque Limit Detection
/CLT 1 2 3 0
Pn50F.0
Speed Limit Detection
/VLT 1 2 3 0
Pn50F.1
Brake
/BK 1 2 3 0
Pn50F.2
Warning
/WARN 1 2 3 0
Pn50F.3
Near
/NEAR 1 2 3 0
Pn510.0
Pn512.0=1 Polarity inversion of CN1-1(2) 0
Pn512.1=1 Polarity inversion of CN1-23(24) (Not invert at
factory setting)
Pn512.2=1 Polarity inversion of CN1-25(26)

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 3 Wiring and Connection

3.4 Examples of Connection to PC or PLC...etc

This section shows examples of DRIVER I/O signal connection to the PC or PLC...etc.

3.4.1 Sequence Input Circuit

(1) Photocoupler Input Circuit
CN1 connector terminals 6 to 13 are explained below.

The sequence input circuit interface is connected through a relay or open-collector transistor circuit. When
connecting through a relay, use a low-current relay. If a low-current relay is not used, a faulty contact may result.

Relay Circuit Example Open-collector Circuit Example

DRIVER DRIVER

24 VDC +24 VIN 3.3 kΩ 24 VDC +24 VIN 3.3 kΩ

/DEC, etc. /DEC, etc.

Note: The 24 VDC external power supply capacity must be 50 mA minimum.

The DRIVER’s input circuit uses bidirectional photocoupler. Select either the sink circuit or the source circuit
according to the specifications required for each machine.

Note: - The connection example in 3.2.3 shows sink circuits.

- The ON/OFF polarity differs between when a sink circuit is connected and when a source circuit is connected.

Sink Circuit Source Circuit

24 V 24 V
+ − DRIVER input
+ − DRIVER input

Input Signal Polarities Input Signal Polarities

Voltage Voltage
Signal Level Contact Signal Level Contact
Level Level
Low (L) High (H)
ON 0V Close ON 24 V Close
level level
High (H) Low (L)
OFF 24 V Open OFF 0V Open
level level

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 3 Wiring and Connection

(2) Safety Input Circuit

As for wiring input signals for safety function, input signals make common 0 V. It is necessary to make an input
signal redundant.

DRIVER

3.4.2 Sequence Output Circuit

Three types of DRIVER output circuit are available.

Incorrect wiring or incorrect voltage application to the output circuit may cause short-cir-
cuit.
If a short-circuit occurs as a result of any of these causes, the holding lock will not work.
This could damage the machine or cause an accident resulting in death or injury.

(1) Photocoupler Output Circuit

Photocoupler output circuits are used for servo alarm (ALM), servo ready (/S-RDY), and other sequence out-
put signal circuits. Connect a photocoupler output circuit through a relay or line receiver circuit.

Relay Circuit Example Line Receiver Circuit Example

DRIVER 5 to 24 VDC
DRIVER 5 to 12 VDC
Relay

0V

Note: The maximum allowable voltage and the allowable range of current capacity for photocoupler output circuits are as
follows.
• Voltage: 30 VDC
• Current: 5 to 50 mA DC

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 3 Wiring and Connection

(2) Line Driver Output Circuit

CN1 connector terminals, 17-18 (phase-A signal), 19-20 (phase-B signal), and 21-22 (phase-Z signal) are explained
below.

These terminals output the following signals via the line-driver output circuits.

• Output signals for which encoder serial data is converted as two phases pulses (PAO, /PAO, PBO, /PBO)
• Origin pulse signals (PCO, /PCO)

Connect the line-driver output circuit through a line receiver circuit at the PC or PLC...etc.

Line Receiver Circuit Example

DRIVER PC or PLC...etc
Applicable line receiver:
SN75ALS175 or the
equivalent

220 to
470 Ω

(3) Safety Output Circuit

The external device monitor (EDM1) for safety output signals is explained below.
A configuration example for the EDM1 output signal is shown in the following diagram.
Output signal is the source output. It is not able to use the sink output.
DRIVER PC or PLC...etc

CN8 24 V Power Supply

8 EDM1+

7 EDM1-

0V

- Specifications
Output
Type Signal Name Pin No. Meaning
Status
Both the /HWBB1 and /HWBB2 signals are working nor-
ON
CN8-8 mally.
Output EDM1
CN8-7 The /HWBB1 signal, the /HWBB2 signal, or both are not
OFF
working normally.

Electrical characteristics of EDM1 signal are as follows.

Items Characteristic Remarks

Maximum Allowable Voltage 30 VDC −
Maximum Current 50 mADC −
Maximum Voltage Drop at ON 1.0 V Voltage between EDM1+ to EDM1- at current is 50 mA.
Time from the change in /HWBB1 or /HWBB2 until the
Maximum Delay Time 20 ms
change in EDM1.

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 3 Wiring and Connection

3.5 Wiring MECHATROLINK-III Communications

The following diagram shows an example of connections between a PC or PLC...etc and a DRIVER using
MECHATROLINK-III communications cables (CN6A, CN6B).

PLC
Note 1 Note 1

Note 1. The length of the cable between stations (L1, L2 ... Ln) must be 75 m maximum.

For removing the MECHATROLINK-III communications cable connectors from the DRIVER, refer to the following
procedure.
Slide the lock injector of the connector to the DRIVER side to unlock and remove the MECHATROLINK-III communications
cable connectors.

1. Slide the lock injector to

the DRIVER side.
DRIVER

2. Remove the connector while the lock

injector is slid to the DRIVER side.

Note: The MECHATROLINK-III communications cable connector may be damaged if it is removed without being unlocking.

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 3 Wiring and Connection

3.6 Encoder Connection

This section describes the encoder signal (CN2) names, functions, and connection examples.

3.6.1 Encoder Signal (CN2) Names and Functions

The following table shows the names and functions of encoder signals (CN2).

Signal Name Pin No. Function

PG 5 V 1 Encoder power supply +5 V
PG 0 V 2 Encoder power supply 0 V
BAT (+) 3 Battery (+)
BAT (-) 4 Battery (-)
PS 5 Serial data (+)
/PS 6 Serial data (-)
Shield Shell –

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 3 Wiring and Connection

3.6.2 Encoder Connection Examples

The following diagrams show connection examples of the encoder, the DRIVER, and the PC or PLC...etc.

DRIVER PC or PLC...etc

∗1. The pin arrangement for wiring connectors varies in accordance with the servomotor that is used.

∗2. : represents shielded twisted-pair wires.

∗3. Do not connect the battery with 14 and 15 pins (CN1).

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 3 Wiring and Connection

3.7 Connecting Regenerative resistors

If the built-in regenerative resistor is insufficient, connect an external regenerative resistor by one of the following methods and
set the regenerative resistors capacity (Pn600). Precautions on selecting a regenerative resistor and its specifications are shown
below.

WARNING
• Be sure to connect the regenerative resistor correctly. Do not short-circuit between B1/ + and B2.
Doing so may result in fire or damage to the regenerative resistor or DRIVER.

- Regenerative resistors Selection

Select regenerative resistors in the following manner. External regenerative resistors are to be provided by users.
Necessity of
Built-in
DRIVER Model External
Voltage Regenerative Necessity of External Regenerative resistors
LECYU2-□□ Regenerative
Resistor
resistors
No built-in regenerative resistor is provided.
V5, V7, V8 None Install external Regenerative resistors when the smoothing capacitor in
Three-phase Basically DRIVER cannot process all the regenerative power.
200 V Standard Not Required A built-in regenerative resistor is provided as standard. Install external
V9 Equipment regenerative resistors when the built-in regenerative resistor cannot
* process all the regenerative power.
* For specifications of built-in regenerative resistors, refer to the next.

- Specifications of Built-in Regenerative Resistor

The following table shows the specifications of the DRIVER’s built-in resistor and the amount of regenerative power
(average values) that it can process.
Applicable DRIVER Specifications of Built-in Resistor Regenerative Power Processed Minimum Allowable
LECYU2-□□ Resistance [Ω] Capacity [W] by Built-in Resistor [W] * Resistance [Ω]

Three-phase V5, V7, V8 - - - 40

200 V V9 50 40 8 40
*1: The average regenerative power that can be handled is 20% of the rated capacity of the regenerative resistor built
into the DRIVER.

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 3 Wiring and Connection

3.7.1 Connecting Regenerative Resistors

The following instructions show how to connect the regenerative resistors and DRIVERs.

(1) DRIVERs: Model LECYU2-V5, V7, V8

Connect an external regenerative resistors between the B1/ and B2 terminals on the DRIVER. After connecting
a option, select the capacity. For more information on how to set the capacity of regenerative resistors, refer to 3.7.2
Setting Regenerative resistors Capacity.

Enlarged View

(2) DRIVER: Model LECYU2-V9

Disconnect the wiring between the DRIVER’s B2 and B3 terminals and connect an external regenerative resistors
between the B1/ and B2 terminals. After connecting the option, select the capacity. For more information on
how to set the capacity of regenerative resistors, refer to 3.7.2 Setting Regenerative resistors Capac ity.

Note: Be sure to take out the lead wire between the B2 and B3 terminals.
Enlarged View

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 3 Wiring and Connection

3.7.2 Setting Regenerative resistors Capacity

When using an external regenerative resistors, set the Pn600 so that the regenerative resistors capacity is equivalent to the
resistor capacity.

WARNING
• If parameter Pn600 is set to 0 while an external regenerative resistors is connected, the regenerative over-
load alarm (A.320) may not be detected. If the regenerative overload alarm (A.320) is not detected
correctly, the external regenerative resistors may be damaged and an injury or fire may result.

Regenerative resistors Capacity Speed Position Torque

Classification
Pn600 Setting Range Unit Factory Setting When Enabled
0 to DRIVER
10 W 0 Immediately Setup
capacity

Be sure to set the regenerative resistors capacity (Pn600) to a value that is in accordance with the allowable capacity of
the actual external regenerative resistors being used.

The setting will vary with the cooling method of external regenerative resistors:

• For natural convection cooling: Set the value to a maximum 20% of the actually installed regenerative
option capacity (W).
• For forced convection cooling: Set the value to a maximum 50% of the actually installed regenerative
option capacity (W).
Example: Set 20 W (100 W × 20%) for the 100-W external regenerative resistors with natural convection cooling method:
Pn600 = 2 (unit: 10 W)

Note 1. If Pn600 is not set to the optimum value, alarm A.320 will occur.
2. When set to the factory setting (Pn600 = 0), the DRIVER’s built-in option has been used.

• When the external regenerative resistors for power are used at the rated load ratio,
the resistor temperature increases to between 200 °C and 300 °C. The resistors must
be used at or below the rated values. Check with the manufacturer for the resistor’s
load characteristics.
• For safety, use the external regenerative resistors with thermoswitches.

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 3 Wiring and Connection

3.8 Noise Control and Measures for Harmonic Suppression

This section describes the wiring for noise control and the DC reactor for harmonic suppression.

3.8.1 Wiring for Noise Control

• Because the DRIVER is designed as an industrial device, it provides no mechanism
to prevent noise interference.
• The DRIVER uses high-speed switching elements in the main circuit. Therefore
peripheral devices may receive switching noise. If the equipment is to be used near
private houses or if radio interference is a problem, take countermeasures against
noise.
• If installation conditions by the EMC directive must be met, refer to 3.8.3 EMC
Installation Conditions.
The DRIVER uses microprocessors. Therefore it may receive switching noise from peripheral devices.

To prevent the noise from the DRIVER or the peripheral devices from causing a malfunction of any one of these devices,
take the following precautions against noise as required.

• Position the input reference device and noise filter as close to the DRIVER as possible.
• Always install a surge absorber in the relay, solenoid and electromagnetic contactor coils.
• Do not bundle or run the main circuit cables together with the I/O signal cables or the encoder cables in
the same duct. Keep the main circuit cables separated from the I/O signal cables and the encoder cables
with a gap of at least 30 cm.
• Do not share the power supply with an electric welder or electrical discharge machine. When the DRIVER
is placed near a high-frequency generator, install a noise filter on the input side of the main circuit power
supply cables and control power supply cables. As for the wiring of noise filter, refer to (1) Noise Filter
shown below.
• Take the grounding measures correctly. As for the grounding, refer to (2) Correct Grounding.

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 3 Wiring and Connection

(1) Noise Filter

The DRIVER has a built-in microprocessor (CPU), so protect it from external noise as much as possible by
installing a noise filter in the appropriate place.

The following is an example of wiring for noise control.

DRIVER

∗1. For ground wires connected to the ground plate, use a thick wire with a thickness of at least 2.0 mm2
(preferably, plain stitch cooper wire).

∗2. should be twisted-pair wires.

∗3. When using a noise filter, follow the precautions in 3.8.2 Precautions on Connecting Noise Filter.

(2) Correct Grounding

Take the following grounding measures to prevent the malfunction due to noise.
- Grounding the Motor Frame
Always connect servomotor frame terminal FG to the DRIVER ground terminal . Also be sure to ground
the ground terminal .

If the servomotor is grounded via the machine, a switching noise current will flow from the DRIVER main
circuit through servomotor stray capacitance. The above grounding is required to prevent the adverse effects
of switching noise.
- Noise on the I/O Signal Cable
If the I/O signal cable receives noise, ground the 0 V line (SG) of the I/O signal cable. If the motor cable is
accommodated in a metal conduit, ground the conduit and its junction box. For all grounding, ground at one
point only.

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 3 Wiring and Connection

3.8.2 Precautions on Connecting Noise Filter

This section describes the precautions on installing a noise filter.

(1) Noise Filter Brake Power Supply

Use the following noise filter at the brake power input for 400-W or less servomotors with holding locks.
MODEL: FN2070-6/07 (Manufactured by SCHAFFNER Electronic.)

(2) Precautions on Using Noise Filters

Always observe the following installation and wiring instructions.

Some noise filters have large leakage currents. The grounding measures taken also
affects the extent of the leakage current. If necessary, select an appropriate leakage cur-
rent detector or leakage current breaker taking into account the grounding measures that
are used and leakage current from the noise filter. Contact the manufacturer of the noise
filter for details.

Do not put the input and output lines in the same duct or bundle them together.
Incorrect Correct

Noise Noise
Filter Filter

Ground plate Ground plate

Noise Noise
Filter Filter

Ground plate Ground plate

Separate these circuits

Separate the noise filter ground wire from the output lines.
Do not accommodate the noise filter ground wire, output lines and other signal lines in the same duct or bundle them
together.
Incorrect Correct

Noise Noise
Filter Filter

The ground wire

can be close to
input lines.

Ground plate Ground plate

3-33
 3 Wiring and Connection

Connect the noise filter ground wire directly to the ground plate. Do not connect the noise filter ground wire to
other ground wires.
Incorrect Correct

Noise Noise
Filter Filter
DRIVER DRIVER DRIVER DRIVER

Shielded
ground wire

Ground plate Ground plate

If a noise filter is located inside a control panel, first connect the noise filter ground wire and the ground wires from
other devices inside the control panel to the ground plate for the control panel, then ground the plates.

Control Panel
DRIVER

Noise
Filter

DRIVER

Ground

Ground plate

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 3 Wiring and Connection

3.8.3 EMC Installation Conditions

This section describes the recommended installation conditions that satisfy EMC guidelines for each model of the
DRIVER.
This section describes the EMC installation conditions. The actual EMC level may differ depending on the actual
system’s configuration, wiring, and other conditions. However, because this product is built-in, check that the following
conditions are still met after being installed in the user’s product.
The applicable standards are EN55011/A2 group 1 class A, EN61800-3, and EN61000-6-2.

(1) Three-phase 200V (LECYU2-V5, V7, V8)

Lock

Driver
Lock

Symbol Cable Name Specification

① I/O signal cable Shield cable
② Safety signal cable Shield cable
③ Motor cable Shield cable
④ Encoder cable Shield cable
⑤ Main circuit cable Shield cable
MECHATROLINK-III
⑥ Shield cable
communication cable

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 3 Wiring and Connection
(2) Three-phase 200V (LECYU2-V9)

Lock

Driver
Lock

Symbol Cable Name Specification

① I/O signal cable Shield cable
② Safety signal cable Shield cable
③ Motor cable Shield cable
④ Encoder cable Shield cable
⑤ Main circuit cable Shield cable
MECHATROLINK-III
⑥ Shield cable
communication cable

3-36
 3 Wiring and Connection
(3) Other Precautions
- Attachment Methods of Ferrite Cores

- Recommended Ferrite Core

Cable Name Ferrite Core Model Manufacturer
Motor cable ESD-SR-250 NEC TOKIN Corp.

- Recommended Noise Filter

Noise Filter Selection
Main Circuit Driver Model Recommended Noise Filter
Details
Power Supply LECYU2- Model Specifications Leakage Current
V5, V7 FN2070-6/07 Single-phase 250V 6A 0.734 mA [1]
Single-phase
V8 FN2070-10/07 Single-phase 250V 10A 230VAC/50Hz
200 V
V9 FN2070-16/07 Single-phase 250V 16A
V5, V7, V8 FN258L-7/07 Three-phase 80V 7A 0.5 mA [2]
Three-phase 440VAC/50Hz
200 V V9 FN258L-16/07 Three-phase 480V 16A 0.8 mA
440VAC/50Hz
Note: RoHS-compliant models are not available. Contact the manufactures when in need of a
RoHS-compliant model.

Some noise filters have large amounts of leakage current. The grounding measures taken
also affect the extent of the leakage current. If necessary, select an appropriate current
detector or leakage current breaker taking into account the grounding measures that are
used and leakage current from the noise filter. Contact the manufacturer of the noise filter
for details.

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 3 Wiring and Connection
External Dimensions (Units: mm)
[1] FN Type (by Schaffner EMC, Inc.)

3-38
 3 Wiring and Connection
[2] FN Type

3-39
 3 Wiring and Connection

- Recommended Surge Absorber

The surge absorber (for Lightning surge) absorbs lightning surge and prevents faulty operation in or damage to
electronic circuits.

Main Circuit Power Supply Recommended Surge Absorber

Single-phase 200V LT-C12G801WS [by SOSHIN ELECTRIC CO., LTD.]
Three-phase 200V LT-C32G801WS [by SOSHIN ELECTRIC CO., LTD.]

- Fixing the Cable

Fix and ground the cable shield using a piece of conductive metal.
• Example of Cable Clamp

- Shield Box
A shield box, which is a closed metallic enclosure, is effective as reinforced shielding against electromagnetic
interference (EMI) from DRIVERs. The structure of the box should allow the main body, door, and cooling unit
to be attached to the ground.
The box opening should be as small as possible.
<Note>
Do not connect the the analog monitor cable to the DRIVER during operations. Connect them only when the
machinery is stopped during maintenance.

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 3 Wiring and Connection

3.9 Specification of option cables

- Cables for CN1 CN6 CN7 CN8 (MECHATROLINK-III Communications Reference DRIVERs)

I/O Connector

I/O Cable

Name Length Order No. Specifications Details

Soldered
I/O Connector (Non cable) LE-CYNA (1)-1)
CN1
Cables for I/O
Signals
I/O Cable 1.5m LEC-CSNA-1 (1)-2) (1)-2)

CN7 Cable with Connectors at Both Ends

Connection Cables 2.5m LEC-JZ-CVUSB (2)
for Personal Computer
CN6A CN6B 0.2m
Cables with Connectors
MECHATROLINK-III ～ LEC-CYU-□ (3)
at Both Ends
Communication Cable 3.0m
CN8
Cable for Safety Cables with Connector*1 3m LEC-JZ-CVSAF (4)
Function Device
*1 : When using the safety function, connect this cable to the safety devices.
Even when not using the safety function, use DRIVERs with the Safe Jumper Connector connected.

3-41
 3 Wiring and Connection

(1) I/O Signals kit (CN1)

1) I/O Connector (Non cable) (LE-CYNA)
Use the following connector and cable to assemble the cable.
The CN1 connector kit includes one case and one connector.
Connector Kit Case Connector
Model Model Qty Model Qty
LE-CSNA 10326-52A0-008* 1 set 10126-3000PE* １
(Soldered)
* : Manufactured by Sumitomo 3M Ltd.
Cable Size
Item Specifications
Cable Use twisted-pair or twisted-pair
shielded wire.
Applicable Wires AWG24，26，28，30
Cable Finished Diameter 16 dia. max.

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 3 Wiring and Connection

2）I/O Cable (1.5m) (LEC-CSNA-1)

The I/O Cable includes one case and one connector.
Case Connector
Connector Kit Model Qty Model Qty
10326-52F0-008* 1 set 10126-3000PE* １
(Soldered)
* : Manufactured by Sumitomo 3M Ltd.
Cable Size
Item Specifications
Cable Use twisted-pair or twisted-pair
shielded wire.
Applicable Wires AWG24，26，28，30
Cable Finished Diameter 16 dia. max.

3-43
 3 Wiring and Connection

(2) Connection Cable for Personal Computer for CN7

(Model: LEC-JZ-CVUSB)
- External Dimensions (Units: mm)

Use a cable specified by this company.

When using other cables, operation cannot be guaranteed.

(3) Cable with Connectors at Both Ends for CN6

(Model: LEC-CYU-□)
- External Dimensions (Units: mm)

Model Cable Length (L)

LEC-CYU-L 0.2m
LEC-CYU-J 0.5m
LEC-CYU-1 1m
LEC-CYU-3 3m

Use a MECHATROLINK-III communications cable specified by this company. When using other cables,
noise resistance may be reduced, and operation cannot be guaranteed.

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 3 Wiring and Connection

(4) Cable with Connector for CN8

(Model: LEC-JZ-CVSAF)
- External Dimensions (Units: mm)

3-45
 4 Operation

4. Operation ........................................................................................................................................... 3
4.1 MECHATROLINK-III Communications Settings ..................................................................... 3
4.1.1 Setting Switches S1, S2, and S3 .......................................................................................... 3
4.2 MECHATROLINK-III Commands ............................................................................................ 4
4.3 Basic Functions Settings ............................................................................................................. 4
4.3.1 Servomotor Rotation Direction ............................................................................................ 4
4.3.2 Overtravel............................................................................................................................. 5
4.3.3 Software Limit Settings ....................................................................................................... 8
4.3.4 Holding Locks ...................................................................................................................... 9
4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence ........................... 14
4.3.6 Instantaneous Power Interruption Settings ........................................................................ 16
4.3.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main
Circuit) ........................................................................................................................................ 17
4.3.8 Setting Motor Overload Detection Level ........................................................................... 19
4.4 Trial Operation .......................................................................................................................... 21
4.4.1 Inspection and Checking before Trial Operation ............................................................... 21
4.4.2 Trial Operation via MECHATROLINK-III ....................................................................... 22
4.4.3 Electronic Gear .................................................................................................................. 23
4.4.4 Encoder Output Pulses ....................................................................................................... 25
4.4.5 Setting Encoder Output Pulse ............................................................................................ 26
4.5 Test Without Motor Function ................................................................................................... 27
4.5.1 Motor Information.............................................................................................................. 27
4.5.2 Motor Position and Speed Responses ................................................................................ 28
4.5.3 Limitations ......................................................................................................................... 29
4.6 Limiting Torque ........................................................................................................................ 30
4.6.1 Internal Torque Limit ......................................................................................................... 30
4.6.2 External Torque Limit ........................................................................................................ 31
4.6.3 Checking Output Torque Limiting during Operation ........................................................ 32
4.7 Absolute Encoders .................................................................................................................... 33
4.7.1 Connecting the Absolute Encoder...................................................................................... 34
4.7.2 Absolute Data Request (SENS ON Command) ................................................................. 35
4.7.3 Battery Replacement .......................................................................................................... 36
4.7.4 Absolute Encoder Setup and Reinitialization .................................................................... 38
4.7.5 Multiturn Limit Setting ...................................................................................................... 39
4.7.6 Multiturn Limit Disagreement Alarm (A.CC0) .................................................................. 40
4.7.7 Absolute Encoder Origin Offset ........................................................................................ 41
4.7.8 Absolute Data Reception Sequence ................................................................................ 41
4.8 Other Output Signals ................................................................................................................. 45
4.8.1 Servo Alarm Output Signal (ALM) ................................................................................... 45
4.8.2 Warning Output Signal (/WARN) ...................................................................................... 45
4.8.3 Rotation Detection Output Signal (/TGON) ....................................................................... 46
4.8.4 Servo Ready Output Signal (/S-RDY) ............................................................................... 46
4.8.5 Speed Coincidence Output Signal (/V-CMP) .................................................................... 47
4.8.6 Positioning Completed Output Signal (/COIN) .................................................................. 48
4.8.7 Positioning Near Output Signal (/NEAR) .......................................................................... 49
4.8.8 Speed Limit Detection Signal (/VLT) .................................................................................. 50
4.9 Safety Function ......................................................................................................................... 52
4.9.1 Hard Wire Base Block (HWBB) Function ........................................................................ 52

4-1
 4 Operation

4.9.2 External Device Monitor (EDM1) ..................................................................................... 59

4.9.3 Application Example of Safety Functions ......................................................................... 61
4.9.4 Confirming Safety Functions.............................................................................................. 62
4.9.5 Connecting a Safety Function Device ................................................................................ 63
4.9.6 Precautions for Safety Function ......................................................................................... 64

4-2
 4 Operation

4. Operation
4.1 MECHATROLINK-III Communications Settings
This section describes the switch settings necessary for MECHATROLINK-III communications.

4.1.1 Setting Switches S1, S2, and S3

The DIP switch S3 is used to make the settings for MECHATROLINK-III communications.
The station address is set using the rotary switches S1 and S2.

(1) Settings of the Rotary Switches S1 and S2

Set the station address using the rotary switches S1 and S2.

Station Address S1 S2
00H to 02H: Disabled 0 0 to 2
(Do not use these addresses.)
03H (Factory setting) 0 3
04H 0 4
・
・
・
EFH E F
F0H to FFH: Disabled F 0 to F
(Do not use these addresses.)

(2) Settings of the DIP Switch S3

The following table shows the settings of the DIP switch (S3).

Switch No. Function Setting Description Factory setting

Number of transmission
1 2
bytes

OFF OFF 16 byte

Sets the number of transmission 1: OFF

Pins 1 and 2 ON OFF 32 byte
bytes. 2: ON

OFF ON 48 byte

ON ON Reserved. (Do not change.)

Pin 3 Reserved. (Do not change.) OFF

Pin 4 Reserved. (Do not change.) OFF

• When using the MECHATROLINK-III standard servo profile, set the number of
transmission bytes to either 32 or 48.
• When using the MECHATROLINK-II-compatible profile, set the number of
transmission bytes to either 16 or 32.
• Turn the power OFF and then ON again to enable the new settings.

4-3
 4 Operation

4.2 MECHATROLINK-III Commands

For information on the MECHATROLINK-III commands, refer to 8. Commands.

4.3 Basic Functions Settings

4.3.1 Servomotor Rotation Direction

The servomotor rotation direction can be reversed with parameter Pn000.0 without changing the
polarity of the speed/position reference. This causes the rotation direction of the servomotor to
change, but the polarity of the signal, such as encoder output pulses, output from the DRIVER does
not change. (refer to 4.4.4 Encoder Output Pulses)

Note: SigmaWin+ trace waveforms are shown in the above table.

4-4
 4 Operation

4.3.2 Overtravel
The overtravel limit function forces movable machine parts to stop if they exceed the allowable range
of motion and turn ON a limit switch.

CAUTION
• Installing limit switches
For machines that move using linear motion, connect limit switches to P-OT and N-OT of CN1 as shown below to
prevent machine damage. To prevent a contact fault or disconnection from causing accidents, make sure that the limit
switches are normally closed.

DRIVER

• Axes to which external force is applied in overtravel

Vertical axes:
Occurrence of overtravel may cause a workpiece to fall, because the /BK signal is on, that is when the lock is
released. Set the parameter (Pn001 = n.口口1口) to bring the servomotor to zero clamp state after stopping to prevent
a workpiece from falling.
Other axes to which external force is applied:
Overtravel will bring about a baseblock state after the servomotor stops, which may cause the servomotor to be
pushed back by the load’s external force. To prevent this, set the parameter (Pn001 = n.口口1口) to bring the servo-
motor to zero clamp state after stopping.
For details on how to set the parameter, refer to (3) Servomotor Stopping Method When Overtravel is Used.

(1)Signal Setting
Connector
Type Name Setting Meaning
Pin Number
Forward run allowed.
ON
P-OT CN1-7 Normal operation status.
Input OFF Forward run prohibited. Forward overtravel.
ON Reverse run allowed. Normal operation status.
N-OT CN1-8
OFF Reverse run prohibited. Reverse overtravel.
Rotation in the opposite direction is possible during overtravel by inputting the reference.

(2)Overtravel Function Setting

Parameters Pn50A and Pn50B can be set to enable or disable the overtravel function.
If the overtravel function is not used, no wiring for overtravel input signals will be required.
When
Parameter Meaning Classification
Enabled
n.1口口口 Inputs the Forward Run Prohibited (P-OT) signal from
[Factory setting] CN1-7.
Pn50A
n.8口口口 Disables the Forward Run Prohibited (P-OT) signal.
Allows constant forward rotation.
After restart Setup
n.口口口2 Inputs the Reverse Run Prohibited (N-OT) signal from
[Factory setting] CN1-8.
Pn50B
n.口口口8 Disables the Reverse Run Prohibited (N-OT) signal.
Allows constant reverse rotation.
A parameter can be used to re-allocate input connector number for the P-OT and N-OT signals. Refer to
3.3.1 Input Signal Allocations for details.
4-5
 4 Operation

(3)Servomotor Stopping Method When Overtravel is Used

There are three servomotor stopping methods when an overtravel is used.

- Dynamic brake
By short-circuiting the electric circuits, the servomotor comes to a quick stop.
- Decelerate to a stop
Stops by using emergency stop torque.
- Coast to a stop
Stops naturally, with no control, by using the friction resistance of the servomotor in operation.

After servomotor stopping, there are two modes.

- Coast mode
Stopped naturally, with no control, by using the friction resistance of the servomotor in operation.
- Zero clamp mode
A mode forms a position loop by using the position reference zero.

The servomotor stopping method when an overtravel (P-OT, N-OT) signal is input while the servomotor is
operating can be set with parameter Pn001.

Mode After Stop-

Parameter Stop Method When Enabled Classification
ping
n.口口00
[Factory setting]
DB
n.口口01 Coast
Pn001 After restart Setup
n.口口02 Coast
n.口口1口 Zero clamp
Deceleration to a stop
n.口口2口 Coast

- A servomotor under torque control cannot be decelerated to a stop. The servomotor is stopped with the
dynamic braking (DB) or coasts to a stop according to the setting of Pn001.0. After the servomotor stops,
the servomotor will enter a coast state.
- For details on servomotor stopping methods after the SV_OFF command is received or an alarm occurs,
refer to 4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence.

-When Servomotor Stopping Method is Set to Decelerate to Stop

Emergency stop torque can be set with Pn406.

Emergency Stop Torque Speed Position Torque

Classification
Pn406 Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 800 Immediately Setup

- The setting unit is a percentage of the rated torque.

- The factory setting is 800% so that the setting is large enough a value to operate the servomotor at
maximum torque. The maximum value of emergency stop torque that is actually available, however,
is limited to the maximum torque of the servomotor.

4-6
 4 Operation

(4)Overtravel Warning Function

This function detects an overtravel warning (A.9A0) if overtravel occurs while the servomotor power is
ON. Using this function enables notifying the host PC or PLC...etc when the DRIVER detects overtravel
even if the overtravel signal is ON only momentarily.

To use the overtravel warning function, set digit 4 of Pn00D to 1 (detects overtravel warning).

Note: The overtravel warning function is supported by software version 001A or later. The software version can be
checked with SigmaWin+. For details, refer to 6.13 Product Information Display (Fn012).

- Warning Output Timing

<Notes>
• Warnings are detected for overtravel in the same direction as the reference.
• Warnings are not detected for overtravel in the reverse direction from the reference.
Example:A warning will not be output for a forward reference even if the N-OT signal (reverse run prohibited)
turns ON.
• A warning can be detected in either the forward or reverse direction, when there is no reference.
• A warning will not be detected when the servomotor power is OFF even if overtravel occurs.
• A warning will not be detected when the servomotor power changes from OFF to ON even if overtravel status
exists.
• To clear the overtravel warning, send a Clear Warning or Alarm command (ALM_CLR) regardless of the status of
the servomotor power and the overtravel signal. If the warning is cleared by this method during an overtravel
state, the occurrence of the warning will not be indicated until the overtravelling is corrected and reset.
• The overtravel warning will be detected when the software limit is in effect.

CAUTION
• The overtravel warning function only detects warnings. It does not affect on stopping for overtravel or
motion operations at the host PC or PLC...etc. The next step (e.g., the next motion or other command) can
be executed even if an overtravel warning exists. However, depending on the processing specifications
and programming for warnings in the host PC or PLC...etc, operation may be affected when an overtravel
warning occurs (e.g., motion may stop or not stop). Confirm the specifications and programming in the host
PC or PLC...etc.
• When an overtravel occurs, the DRIVER will perform stop processing for overtravel. Therefore, when an
overtravel warning occurs, the servomotor may not reach the target position specified by the host PC or
PLC...etc. Check the feedback position to make sure that the axis is stopped at a safe position.

-Related Parameter
Parameter Meaning When Enabled Classification
n.0口口口
Does not detect overtravel warning.
Pn00D [Factory setting] Immediately Setup
n.1口口口 Detects overtravel warning.

4-7
 4 Operation

4.3.3 Software Limit Settings

The software limits set limits in software for machine movement that do not use the overtravel signals (P-OT
and N-OT). If a software limit is exceeded, an emergency stop will be executed in the same way as it is for
overtravel.

(1)Software Limit Function

The software limit function can be enabled or disabled.

Use the parameter Pn801.0 to enable the software limit function.

The software limit function can be enabled under the following conditions. Under all other circumstances,
the software limits will not be enabled even if a software limit is exceeded.

- The ZRET command has been executed.

- REFE = 1 using the POS_SET command.

Enable or disable the software limits using one of the following settings.

Parameter Description When Enabled Classification

n.口口口0 Software limits enabled in both direction.
n.口口口1 Forward software limit enabled.
Pn801 n.口口口2 Reverse software limit enabled. Immediately Setup
n.口口口3
Both software limits disabled.
[Factory setting]

(2)Software Limit Check using References

Enable or disable software limit checks when target position references such as POSING or
INTERPOLATE are input. When the input target position exceeds the software limit, a deceleration stop
will be performed from the software limit set position.

Parameter Description When Enabled Classification

n.口0口口
No software limit check using references.
Pn801 [Factory setting] Immediately Setup
n.口1口口 Software limit check using references.

(3)Software Limit Setting

Set software limits value in the positive and negative directions.

Because the limit zone is set according to the forward or reverse direction, the reverse limit must be less than
the forward limit.

Forward Software Limit Position

Classification
Pn804 Setting Range Setting Unit Factory Setting When Enabled
-1073741823 to
1 Reference Unit 819191808 Immediately Setup
1073741823

Reverse Software Limit Position

Classification
Pn806 Setting Range Setting Unit Factory Setting When Enabled
-1073741823 to
1 Reference Unit -819191808 Immediately Setup
1073741823

4-8
 4 Operation

4.3.4 Holding Locks

A holding lock is a lock used to hold the position of the movable part of the machine when the DRIVER is
turned OFF so that movable part does not move due to gravity or external forces. Holding locks are built into
servomotors with locks.

The holding lock is used in the following cases.

Holding lock

Holding lock

• The brake built into the servomotor with brakes is a de-energization brake, which is
used only to hold and cannot be used for braking.
• Use the holding lock only to hold a stopped servomotor.

There is a delay in the braking operation. Set the following ON/OFF timing.

Lock

Lock Lock Lock Lock

∗1. The operation delay time of the lock depends on the model. For details, refer to Lock Operation Delay Time shown
below.
∗2. After the SV_ON command has been sent and 50 ms has passed since the lock was released, output the reference
from the host PC or PLC...etc to the DRIVER.
∗3. Use Pn506, Pn507, and Pn508 to set the timing of when the lock will be activated and when the servomotor power
will be turned OFF.

4-9
 4 Operation

Lock Operation Delay Time

Model Voltage Lock Release Time (ms) Lock Applied Time (ms)
LECYU2-V5, V7, V8 24 VDC 60 100
LECYU2-V9 80 100
Note: The above operation delay time is an example when the power supply is turned ON and OFF on the DC side.
Be sure to evaluate the above times on the actual equipment before using the application.

(1) Wiring Example

Use the lock signal (/BK) and the lock power supply to form a lock ON/OFF circuit. The following diagram
shows a standard wiring example.

The timing can be easily set using the lock signal (/BK).

DRIVER

Lock

BK-R Y: Lock control relay

24 VDC power supply is not included.

4-10
 4 Operation

• Select the optimum surge absorber in accordance with the applied lock current and
lock power supply.
When using the 24-V power supply: Z15D121 (Made by SEMITEC Corporation)
• After the surge absorber is connected, check the total time the lock is applied for the
system. Depending on the surge absorber, the total time the lock is applied can be
changed.
• Configure the relay circuit to apply the holding lock by the emergency stop.

DRIVER
DRIVER
5 to Em
24
VD
C

• The allocation of the /BK signal can be changed. Refer to (3) Lock signal (/BK)
Allocation to set the parameter Pn50F.
• When using a 24-V lock, separate the 24-VDC power supply from other power sup-
plies, such as the one used for the I/O signals of CN1 connectors. Always install the
24-VDC power supply separately. If the power supply is shared, the I/O signals might
malfunction.

(2) Lock signal (/BK) Setting

This output signal controls the lock. The allocation of the /BK signal can be changed. Refer to (3) Lock
Sig- nal (/BK) Allocation for allocation.

The /BK signal turns OFF (applies the lock) when an alarm is detected or the SV_OFF command is
received. The lock OFF timing can be adjusted with Pn506.

Connector
Type Name Setting Meaning
Pin Number
ON (closed) Releases the lock.
Output /BK CN1-1, CN1-2
OFF (open) Applies the lock.

The /BK signal is still ON during overtravel and the lock is still released.

4-11
 4 Operation

(3) Lock signal (/BK) Allocation

Use parameter Pn50F.2 to allocate the /BK signal.

Connector
Pin Number When Classifica-
Parameter Meaning
Enabled tion
+ Terminal - Terminal
n.口0口口 – – The /BK signal is not used.
n.口1口口
The /BK signal is output from output
[Factory CN1-1 CN1-2
terminal CN1-1, 2.
setting] After
Pn50F Setup
The /BK signal is output from output restart
n.口2口口 CN1-23 CN1-24
terminal CN1-23, 24.
n.口3口口 The /BK signal is output from output
CN1-25 CN1-26
terminal CN1-25, 26.

When multiple signals are allocated to the same output terminal, the signals are output
with OR logic. For the /BK signal, do not use the output terminal that is already being used
for another signal.

(4) Lock ON Timing after the Servomotor Stops

When the servomotor stops, the /BK signal turns OFF at the same time as the SV_OFF command is
received. Use parameter Pn506 to change the timing to turn OFF the servomotor power after the SV_OFF
command has been received.

Lock Reference-Servo OFF Delay Time Speed Position Torque

Classification
Pn506 Setting Range Setting Unit Factory Setting When Enabled
0 to 50 10 ms 0 Immediately Setup

• When using the servomotor to control a Servo ON Lock Servo OFF Lock applied
vertical axis, the machine movable part may SV_OFF released
(ON)
(OFF)

shift slightly depending on the lock ON timing command Lock No power to motor
Power to motor
due to gravity or an external force. To eliminate released
Lock applied
this slight shift, set parameter so that the /BK output (OFF)
power to the servomotor turns OFF after the Pn506
lock is applied.
Power to motor
• This parameter changes the lock ON timing
while the servomotor is stopped.

The servomotor will turn OFF immediately when an alarm occurs, regardless of the set-
ting of this parameter. The machine movable part may shift due to gravity or external
force before the lock operates.

4-12
 4 Operation

(5) Lock signal (/BK) Output Timing during Servomotor Rotation

If an alarm occurs while the servomotor is rotating, the servomotor will come to a stop and the lock signal
(/BK) will be turned OFF. The timing of lock signal (/BK) output can be adjusted by setting the lock
reference output speed level (Pn507) and the waiting time for lock signal when motor running (Pn508).

Note: If the servomotor is set so that it comes to a zero-speed stop for an alarm, follow the information in (4) Lock ON
Timing after the Servomotor Stops after the servomotor comes to a stop for a zero position reference.

Lock Reference Output Speed Level Speed Position Torque

Classification
Pn507 Setting Range Setting Unit Factory Setting When Enabled
0 to 10000 1 min-1 100 Immediately Setup

Waiting Time for Lock signal When Motor Running Speed Position Torque
Classification
Pn508 Setting Range Setting Unit Factory Setting When Enabled
10 to 100 10 ms 50 Immediately Setup

/BK Signal Output Conditions

When Servomotor Rotating

The /BK signal goes to high

level (lock ON) when either of
the fol- lowing conditions is
satisfied:

• When the motor speed falls

below the level set in Pn507
after the power to the
servomotor is turned
OFF.
• When the time set in Pn508
is exceeded after the power
to the servomotor is turned
OFF.

• The servomotor will be limited to its maximum speed even if the value set in Pn507 is
higher than the maximum speed.
• Do not allocate the rotation detection signal (/TGON) and the lock signal (/BK) to the
same terminal. The /TGON signal will otherwise be turned ON by the falling speed on
a vertical axis, and the lock may not operate.
For the /BK signal, do not use the terminal that is already being used for another signal.

4-13
 4 Operation

4.3.5 Stopping Servomotors after SV_OFF Command or Alarm Occurrence

The servomotor stopping method can be selected after the SV_OFF command is received or an alarm occurs.

• Dynamic braking (DB) is used for emergency stops. The DB circuit will operate fre-
quently if the power is turned ON and OFF or the SV_ON command and SV_OFF
command are received with a reference input applied to start and stop the servomo-
tor, which may result in deterioration of the internal elements in the DRIVER. Use
speed input references or position references to start and stop the servomotor.
• If the main circuit power supply or the control power supply is turned OFF but the
SV_OFF command has not been received, the stopping method for servomotor can-
not be set in the parameters. Use the following method to stop the servomotor.
If turning OFF the main circuit power supply, but the SV_OFF command has not been
received, the servomotor will be stopped by dynamic braking.
• If turning OFF the control power supply, the servomotor will be stopped by dynamic
braking.
• If the servomotor must be stopped by coasting rather than by dynamic braking when
the main circuit power supply or the control power supply is turned OFF but the
SV_OFF command has not been received, arrange the sequence externally so the
current will be cut off for servomotor wires U, V, and W.
• To minimize the coasting distance of the servomotor to come to a stop when an alarm
occurs, the zero-speed stopping method is factory-set for alarms to which the zero-
speed stop method is applicable. The DB stopping method may be more suitable than
the zero-speed stopping method, however, depending on the application.
For example, for multiple axes coupling operation (a twin-drive operation), machinery
damage may result if a zero-speed stop alarm occurs for one of the coupled shafts
and the other shaft stops by dynamic brake. In such cases, change the method to the
DB stopping method.

(1) Stopping Method for Servomotor after SV_OFF Command is Received

Use Pn001.0 to select the stopping method for the servomotor after the SV_OFF command is received.

Parameter Stop Mode Mode After Stopping When Enabled Classification

n.口口口0
DB
[Factory setting] DB
Pn001 After restart Setup
n.口口口1 Coast
n.口口口2 Coast Coast

Note: Similar to the Coast Mode, the n.口口口0 setting (which stops the servomotor by dynamic braking and then holds it
in Dynamic Brake Mode) does not generate any braking force when the servomotor stops or when it rotates at very
low speed.

4-14
 4 Operation
(2) Stopping Method for Servomotor When an Alarm Occurs
There are two types of alarms (Gr.1 and Gr.2) that depend on the stopping method when an alarm
occurs. Select the stopping method for the servomotor when an alarm occurs using Pn001.0 and
Pn00B.1.

The stopping method for the servomotor for a Gr.1 alarm is set to Pn001.0.
The stopping method for the servomotor for a Gr.2 alarm is set to Pn00B.1.

Refer to the information on alarm stopping methods in 9.1.1 List of Alarms.

- Stopping Method for Servomotor for Gr.1 Alarms

The stopping method of the servomotor when a Gr.1 alarm occurs is the same as that in (1)
Stopping Method for Servomotor after SV_OFF Command is Received.

Mode After Stop-

Parameter Stop Mode When Enabled Classification
ping
n.口口口0
DB
[Factory setting] DB
Pn001 After restart Setup
n.口口口1 Coast
n.口口口2 Coast Coast

- Stopping Method for Servomotor for Gr.2 Alarms

Parameter Mode After When Classifica-
Stop Mode
Pn00B Pn001 Stopping Enabled tion
n.口口口0
DB
n.口口0口 [Factory setting]
Zero-speed stop-
[Factory setting] n.口口口1 ping*
Coast
n.口口口2 After
Setup
n.口口口0 restart
DB
[Factory setting] DB
n.口口1口
n.口口口1
Coast
n.口口口2 Coast

∗ Zero-speed stopping: The speed reference is set to 0 to stop quickly.

Note: The setting of Pn00B.1 is effective for position control and speed control. Pn00B.1 will be ignored for torque control
and only the setting of Pn001.0 will be valid.

4-15
 4 Operation

4.3.6 Instantaneous Power Interruption Settings

Determines whether to continue operation or turn OFF the servomotor’s power when the power supply voltage
to the DRIVER's main circuit is interrupted.

Instantaneous Power Cut Hold Time Speed Position Torque

Classification
Pn509 Setting Range Setting Unit Factory Setting When Enabled
20 to 1000 1 ms 20 Immediately Setup

If the power interruption time is shorter than the set value in Pn509, the servomotor will continue operation. If it
is longer than the set value, the servomotor’s power will be turned OFF during the power interruption. The
servomotor is turned ON when power supply to the main circuit recovers.

Note: If the instantaneous power interruption is longer than the set value of Pn509, the /S-RDY signal turns OFF.

• The holding time of the control power supply for the 200-V DRIVERs is
approximately 100 ms. If the control power supply makes control impossible during an
instantaneous power interruption, the same operation will be performed as for
normally turning OFF the power supply, and the setting of Pn509 will be ignored.
• The holding time of the main circuit power supply varies with the output of the
DRIVER. If the load on the servomotor is large and an undervoltage alarm (A.410)
occurs, the setting of Pn509 will be ignored.

If the uninterruptible power supplies are used for the control power supply and main circuit power supply, the
DRIVER can withstand an instantaneous power interruption period in excess of 1000 ms.

4-16
 4 Operation

4.3.7 SEMI F47 Function (Torque Limit Function for Low DC Power Supply Voltage for Main Circuit)
The torque limit function detects an undervoltage warning and limits the output current if the DC power sup- ply
voltage for the main circuit in the DRIVER drops to a specified value because the power was momentarily
interrupted or the power supply voltage for the main circuit was temporality lowered.

This function complies with SEMI F47 standards for semiconductor production equipment.

Combining this function with the parameter for Instantaneous Power Cut Hold Time allows the servomotor to
continue operating without stopping for an alarm or without recovery work even if the power supply voltage
drops.

• This function is able to cope with instantaneous power interruptions in the voltage and
time ranges stipulated in SEMI F47. An uninterruptible power supply (UPS) is required
as a backup for instantaneous power interruptions that exceed these voltage and time
ranges.
• This function is intended for voltage drops in the main circuit power supply.
• Set the host PC or PLC...etc and DRIVER torque limit so that a torque reference that
exceeds the specified acceleration will not be output when the power supply for the
main circuit is restored.
• Do not limit the torque to values lower than the holding torque for the vertical axis.
• This function limits torque within the range of the DRIVER's capability when the power
is cut. It is not intended for use under all load and operating conditions. Use the actual
machine to set parameters while confirming correct operation.
• Setting the Instantaneous Power Cut Hold Time lengthens the amount of time from
when the power supply is turned OFF until the motor current turns OFF. Send the
SV_OFF command to instantly stop the motor current.

(1) Execution Method

This function can be executed either with the host PC or PLC...etc and the DRIVER or with the DRIVER
only.
－With the Host PC or PLC...etc and the DRIVER
The host PC or PLC...etc limits the torque in response to an undervoltage warning.
The host PC or PLC...etc removes the torque limit after the undervoltage warning is cleared.

DRIVER

4-17
 4 Operation
- With the DRIVER only
The torque is limited in the DRIVER in response to an undervoltage warning.
The DRIVER controls the torque limit value in the set time after the undervoltage warning is cleared.
Use Pn008.1 to specify whether the function is executed by the host PC or PLC...etc and DRIVER
or by the DRIVER only.

DRIVER

(2) Related Parameters

Parameter Meaning When Enabled Classification
n.口口0口
Does not detect undervoltage.
[Factory setting]
Pn008 n.口口1口 Detects warning and limits torque by host PC or After restart Setup
PLC...etc.
n.口口2口 Detects warning and limits torque by Pn424 and Pn425.
(Only in the DRIVER)

Torque Limit at Main Circuit Voltage Drop Speed Position Torque

Classification
Pn424 Setting Range Setting Unit Factory Setting When Enabled
0 to 100 1%* 50 Immediately Setup
Release Time for Torque Limit at Main Circuit
Speed Position Torque
Voltage Drop Classification
Pn425 Setting Range Setting Unit Factory Setting When Enabled
0 to 1000 1 ms 100 Immediately Setup

∗ The setting unit is a percentage of the rated torque.

Instantaneous Power Cut Hold Time Speed Position Torque

Classification
Pn509 Setting Range Setting Unit Factory Setting When Enabled
20 to 1000 1 ms 20 Immediately Setup

Note: When using SEMI F47 function, set 1000 ms.

4-18
 4 Operation

4.3.8 Setting Motor Overload Detection Level

In this DRIVER, the detection timing of the warnings and alarms can be changed by changing how to detect an
overload warning (A.910) and overload (low load) alarm (A.720).
The overload characteristics and the detection level of the overload (high load) alarm (A.710) cannot be
changed.

(1) Changing Detection Timing of Overload Warning (A.910)

The overload warning level is set by default to 20% so that an overload warning is detected in 20% of the
time required to detect an overload alarm. The time required to detect an overload warning can be
changed by changing the setting of the overload warning level (Pn52B). This protective function enables
the warning out- put signal (/WARN) to serve as a protective function and to be output at the best timing
for your system.
The following graph shows an example of the detection of an overload warning when the overload
warning level (Pn52B) is changed from 20% to 50%. An overload warning is detected in half of the time
required to detect an overload alarm.

Overload Warning Level Speed Position Torque

Classification
Pn52B Setting Range Setting Unit Factory Setting When Enabled
1 to 100 1% 20 Immediately Setup

Overload characteristics for LECYU2 series

LECYU2

4-19
 4 Operation
(2) Changing Detection Timing of Overload (Low Load) Alarm (A.720)
An overload (low load) alarm (A.720) can be detected earlier to protect the servomotor from overloading.
The time required to detect an overload alarm can be shortened by using the derated motor base current
obtained with the following equation.

Note: The detection level of the overload (high load) alarm (A.710) cannot be changed.

Motor base current × Derating of base current at detecting overload of motor (Pn52C)
= Derated motor base current

Motor base current: Threshold value of motor current to start calculation for overload alarm
Derating of base current at detecting overload of motor (Pn52C): Derating of motor base current

The following graph shows an example of the detection of an overload alarm when Pn52C is set to 50%.
The calculation for the overload of motors starts at 50% of the motor base current and then an overload
alarm will be detected earlier.
Changing the setting of Pn52C will change the detection timing of the overload alarm, so the time
required to detect the overload warning will also be changed.

Overload detection time

Detection curve of
overload alarm when
Pn52C=100% (factory setting)

Detection curve of
overload alarm
when Pn52C=50%

50% 100% 200% Torque reference [%]

Note: Refer to Overload Characteristics listed in the (1) Changing Detection Timing of Overload Warning (A.910).

Derating of Base Current at Detecting Overload of

Speed Position Torque
Motor Classification
Pn52C
Setting Range Setting Unit Factory Setting When Enabled
10 to 100 1% 100 After restart Setup

4-20
 4 Operation
As a guideline of motor heating conditions, the relationship between the heat sink sizes and deratings of
base current is shown in a graph.
Set Pn52C to a value in accordance with the heat sink size and derating shown in the graph, so that an
overload alarm can be detected at the best timing to protect the servomotor from overloading.
LE-V6-□ LE-V7-□ LE-V9-□

LE-V8-□

4.4 Trial Operation

This section describes a trial operation using MECHATROLINK-III communications.

4.4.1 Inspection and Checking before Trial Operation

To ensure safe and correct trial operation, inspect and check the following items before starting trial operation.

(1) DRIVERs
Inspect and check the following items, and take appropriate measures before performing trial operation if
any problem exists.

• Are all wiring and connections correct?

• Is the correct power supply voltage being supplied to the DRIVER?

4-21
 4 Operation

4.4.2 Trial Operation via MECHATROLINK-III

The following table provides the procedures for trial operation via MECHATROLINK-III.
Step Description Reference
Confirm that the wiring is correct, and then connect the I/O signal con-
1 3 Wiring and Connection
nector (CN1 connector).
Turn ON the power to the DRIVER.
And then, turn ON the power of the host PC or PLC...etc. If the power is
2 supplied to the DRIVER’s control circuit, the seven-segment LED –
indicator will light up as shown here.

If the power is supplied to the DRIVER’s main circuit, the CHARGE

indicator on the DRIVER will light up.
If communications are established, the L1 and L2, LED indicators
corresponding to the connector CN6A and CN6B connected to the
MECHATROLINK- III cable will light up. If the L1 and L2, LED
indicators do not light up, recheck the settings of MECHATROLINK-III
setting switches S1, S2, and S3, and then turn the power OFF and ON
again.
Send the CONNECT command from the host PC or PLC...etc.
If the DRIVER correctly receives the CONNECT command, the CN,
3 LED indicator will light up. 8 MECHATROLINK-III Commands
If the CN does not light up, the set value of the CONNECT command is
incorrect. Reset the CONNECT command, and then resend it from the
host PC or PLC...etc.
Check the product type using an ID_RD command.
4 A reply showing the product type is received from the DRIVER.
Set the following items to the necessary settings for a trial operation.
4.4.3 Electronic Gear
• Electronic gear settings
5 4.3.1 Servomotor Rotation Direction
• Rotational direction of servomotor
4.3.2 Overtravel
• Overtravel
Save these settings (step 5).
6 • If saving the settings in the host PC or PLC...etc, use the SVPRM_WR
8 MECHATROLINK-III Commands
command(set the mode to RAM area).
• If saving settings in the DRIVER, use the SVPRM_WR command
(set the mode to the non-volatile memory area).
7 Send the CONFIG command to enable the settings.
Send the SENS_ON command to obtain the position data (encoder ready
8
response).
Send the SV_ON command.
9 A reply showing that the servomotor has switched to Drive status and
that SVON=1 (servomotor power is ON) is received.
Run the servomotor at low speed.
<Example using a positioning command>
Command used: POSING
10 –
Command setting: Option = 0, Positioning position =10000 (If using
the absolute encoder, add 10000 to the present position), rapid traverse
speed= 400
Check the following points while running the servomotor at low speed
(step 10).
• Confirm that the rotational direction of the servomotor correctly coin-
cides with the forward rotation or reverse rotation reference. If they do 4.3.1 Servomotor Rotation Direction
not coincide, reset the direction. 9.4 Troubleshooting Malfunction
11
• Confirm that no unusual vibrations, noises, or temperature rises occur. Based on Operation and Conditions
If any abnormalities are seen, correct the conditions. of the Servomotor
Note: Because the running-in of the load machine is not sufficient at the
time of the trial operation, the servomotor may become over-
loaded.

4-22
 4 Operation
4.4.3 Electronic Gear
The electronic gear enables the workpiece travel distance per reference unit input from the host PC or PLC...etc.
The minimum unit of the position data moving a load is called a reference unit.

(1) Electronic Gear Ratio

Set the electronic gear ratio using Pn20E and Pn210.

Electronic Gear Ratio (Numerator) Position

Classification
Pn20E Setting Range Setting Unit Factory Setting When Enabled
1 to 1073741824 1 4 After restart Setup

Electronic Gear Ratio (Denominator) Position

Classification
Pn210 Setting Range Setting Unit Factory Setting When Enabled
1 to 1073741824 1 1 After restart Setup

If the gear ratio of the servomotor and the load shaft is given as n/m where m is the rotation of the
servomotor and n is the rotation of the load shaft,

4-23
 4 Operation
- Encoder Resolution
Encoder resolution is 1048576.

Electronic gear ratio setting range: 0.001 ≤ Electronic gear ratio (B/A) ≤ 4000
If the electronic gear ratio is outside this range, a parameter setting error 1 (A.040) will be
output.

(2) Electronic Gear Ratio Setting Examples

The following examples show electronic gear ratio settings for different load configurations.

4-24
 4 Operation

4.4.4 Encoder Output Pulses

The encoder pulse output is a signal that is output from the encoder and processed inside the DRIVER. It is
then output externally in the form of two phase pulse signal (phases A and B) with a 90° phase differential. It is
used as the position feedback to the host PC or PLC...etc.

Signals and output phase form are as shown below.

(1) Signals
Signal Connector
Type Name Remarks
Name Pin Number
PAO CN1-17 These encoder pulse output pins out-
Encoder output pulse: phase A put the number of pulses per motor
/PAO CN1-18
revolution that is set in Pn212. Phase
PBO CN1-19 A and phase B are different from
Output Encoder output pulse: phase B each other in phase by an electric
/PBO CN1-20 angle of 90°.
PCO CN1-21 One pulse is output per motor rota-
Encoder output pulse: phase Z
/PCO CN1-22 tion.

Host PC or DRIVER
PLC...etc CN1 CN2

PAO Serial
Converts data
PBO serial
data to
PCO pulse.

(2) Output Phase Form

Z Z

Note: The pulse width for phase Z (origin pulse) changes according to the setting of the encoder output pulses (Pn212) and
becomes the same as that for phase A.
Even in reverse rotation mode (Pn000.0 = 1), the output phase form is the same as that for the standard setting
(Pn000.0 = 0) above.

If using the DRIVER’s phase-Z pulse output for a zero point return, rotate the ser-
vomotor two or more times before starting a zero point return. If the servomotor cannot
be rotated two or more times, perform a zero point return at a motor speed of 600 min-1
or below. If the motor speed is faster than 600 min-1, the phase-Z pulse may not be out-
put correctly.

4-25
 4 Operation

4.4.5 Setting Encoder Output Pulse

Set the encoder output pulse using the following parameter.

Encoder Output Pulses Speed Position Torque

Classification
Pn212 Setting Range Setting Unit Factory Setting When Enabled
16 to 1073741824 1 P/rev 2048 After restart Setup

Pulses from the encoder per revolution are divided inside the DRIVER by the number set in this parame- ter
before being output. Set the number of encoder output pulses according to the system specifications of the
machine or host PC or PLC...etc.

According to the encoder resolution, the number of encoder output pulses are limited.

Encoder Resolution
Setting Range of Upper Limit of Servomotor
Setting
Encoder Output Pulses 20 bits Speed for Set Encoder Output
Unit
(P/Rev) (1,048,576 pulses) Pulses (min-1)

16 to 2048 1 – 6000
16 to 16384 1 ○ 6000
16386 to 32768 2 ○ 3000
32772 to 65536 4 ○ 1500
65544 to 131072 8 ○ 750
131088 to 262144 16 ○ 375

Note 1. The setting range varies with the encoder resolution for the servomotor used.
An encoder output pulse setting error (A.041) will occur if the setting is outside the allowable range or does not
satisfy the setting conditions.
Pn212 = 25000 (P/Rev) is accepted, but
Pn212 = 25001 (P/Rev) is not accepted. The alarm A.041 is output because the setting unit differs from that in
the above table.
2. The upper limit of the pulse frequency is approx. 1.6 Mpps.
The servomotor speed is limited if the setting value of the encoder output pulses (Pn212) is large.
An overspeed of encoder output pulse rate alarm (A.511) will occur if the motor speed exceeds the upper limit
specified in the above table.

Output Example: When Pn212 = 16 (16-pulse output per one revolution), PAO and PBO are output as shown
below.
Preset value: 16

1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16

PAO

PBO

One revolution

4-26
 4 Operation
4.5 Test Without Motor Function
The test without a motor is used to check the operation of the host PC or PLC...etc and peripheral devices by
simulating the operation of the servomotor in the DRIVER, i.e., without actually operating a servomotor. This function
enables you to check wiring, verify the system while debugging, and verify parameters, thus shortening the time
required for setup work and preventing damage to the machine that may result from possible mal- functions. The
operation of the motor can be checked during performing this function regardless of whether the motor is actually
connected or not.

DRIVER
Reference Reference Simulates the operation
Host PC or PLC...etc without motor.

Response Response

Use Pn00C.0 to enable or disable the test without a motor.

When
Parameter Meaning Classification
Enabled
n.口口口0
Disables the test without a motor.
Pn00C [Factory setting] After restart Setup
n.口口口1 Enables the test without a motor.

4.5.1 Motor Information

The motor information that is used for a test without a motor is given below.

(1) When Motor is Connected

If a motor is connected, the information from the connected motor is used for the motor and encoder scale
information. The set values of Pn00C.1 and Pn00C.2 are not used.

(2) When Motor is Not Connected

The information for the virtual motor that is stored in the DRIVER is used. The set values of Pn00C.1 and
Pn00C.2 are used for the encoder information.
-Encoder Resolution
The encoder information for the motor is set in Pn00C.1.
When
Parameter Meaning Classification
Enabled
n.口口0口 Sets the encoder resolution for the test without a motor
[Factory setting] to 13 bits.
Pn00C After restart Setup
n.口口1口 Sets the encoder resolution for the test without a motor
to 20 bits.

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 4 Operation
-Encoder Type
The encoder information for the motor is set in Pn00C.2.

When
Parameter Meaning Classification
Enabled
n.口0口口 Sets an incremental encoder as an encoder type for the
[Factory setting] test without a motor.
Pn00C After restart Setup
n.口1口口 Sets an absolute encoder as an encoder type for the test
without a motor.

4.5.2 Motor Position and Speed Responses

For the test without a motor, the following responses are simulated for references from the host PC or
PLC...etc according to the gain settings for position or speed control.
• Servomotor position
• Servomotor speed
The load model, however, will be a rigid system with the moment of inertia ratio that is set in Pn103.

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 4 Operation

4.5.3 Limitations
The following functions cannot be used during the test without a motor.

• Regeneration and dynamic brake operation

• Brake output signal (The brake output signal can be checked with the I/O signal monitor function of the Sig-
maWin+.)
• Items marked with "×" in the following utility function table.

Can be
used or not
Contents
Motor not Motor con-
connected nected
Alarm history display ○ ○
JOG operation ○ ○
Origin search ○ ○
Program JOG operation ○ ○
Initializing parameter settings ○ ○
Clearing alarm history ○ ○
Absolute encoder multiturn reset and encoder alarm reset × ○
Offset adjustment of analog monitor output ○ ○
Gain adjustment of analog monitor output ○ ○
Automatic offset-signal adjustment of the motor current detection signal × ○
Manual offset-signal adjustment of the motor current detection signal × ○
Write prohibited setting ○ ○
Product Information display ○ ○
Multiturn limit value setting change when a multiturn limit disagreement alarm
occurs × ○

Resetting configuration error in option modules ○ ○

Vibration detection level initialization × ×
Origin setting × ○
Software reset ○ ○
Tuning-less levels setting × ×
Advanced autotuning × ×
Advanced autotuning by reference × ×
One-parameter tuning × ×
Anti-resonance control adjustment function × ×
Vibration suppression function × ×
EasyFFT × ×
Online vibration monitor × ×

Note: ○: Can be used

× : Cannot be used

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 4 Operation

4.6 Limiting Torque

The DRIVER provides the following four methods for limiting output torque to protect the machine.

Limiting Method Reference Sec-

Description
tion
Internal torque limit Always limits torque by setting the parameter. 4.6.1

External torque limit Limits torque by input signal from the host PC or PLC...etc. 4.6.2

Torque limit with the Limits torque by using the command data (TLIM) for torque –
command data (TLIM) * limiting function settable commands.

Torque limit with P_CL and

N_CL signals of the servo
Limits torque by using P_CL and N_CL signals of the servo –
command output signals command output signals (SVCMD_IO).
(SVCMD_IO) *

∗ For details, refer to 8 MECHATROLINK-III Commands.

Note: The maximum torque of the servomotor is used when the set value exceeds the maximum torque.

4.6.1 Internal Torque Limit

This function always limits maximum output torque by setting values of following parameters.

Forward Torque Limit Speed Position Torque

Classification
Pn402 Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 800 Immediately Setup

Reverse Torque Limit Speed Position Torque

Classification
Pn403 Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 800 Immediately Setup

The setting unit is a percentage of the rated torque.

Note: If the settings of Pn402 and Pn403 are too low, the torque may be insufficient for acceleration or deceleration of the
servomotor.
Torque waveform

No Internal Torque Limit

Internal Torque Limit
(Maximum torque can be output)

Maximum torque Limiting torque

Speed Speed
Pn402

t t
Pn403

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 4 Operation

4.6.2 External Torque Limit

Use this function to limit torque by inputting a signal from the host PC or PLC...etc at specific times during
machine operation. For example, some pressure must continually be applied (but not enough to damage the
workpiece) when the robot is holding a workpiece or when a device is stopping on contact.

(1) Input Signals

Use the following input signals to limit a torque by external torque limit.

Signal Connector
Type Setting Meaning Limit value
Name Pin Number
ON The smaller value of these set-
Forward external torque limit ON
(closed) tings: Pn402 or Pn404
Input /P-CL Must be allocated
OFF Forward external torque limit
Pn402
(open) OFF
ON The smaller value of these set-
Reverse external torque limit ON
(closed) tings: Pn403 or Pn405
Input /N-CL Must be allocated
OFF Reverse external torque limit
Pn403
(open) OFF

Note: Use parameter Pn50B.2 and Pn50B.3 to allocate the /P-CL signal and the /N-CL signal for use. For
details, refer to 3.3.1 Input Signal Allocations.
(2) Related Parameters

Set the following parameters for external torque limit.

Forward Torque Limit Speed Position Torque

Classification
Pn402 Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 800 Immediately Setup

Reverse Torque Limit Speed Position Torque

Classification
Pn403 Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 800 Immediately Setup

Forward External Torque Limit Speed Position Torque

Classification
Pn404 Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 100 Immediately Setup

Reverse External Torque Limit Speed Position Torque

Classification
Pn405 Setting Range Setting Unit Factory Setting When Enabled
0 to 800 1% 100 Immediately Setup

The setting unit is a percentage of the rated torque.

Note: If the settings of Pn402, Pn403, Pn404, and Pn405 are too low, the torque may be insufficient for acceleration or
deceleration of the servomotor.

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(3) Changes in Output Torque during External Torque Limiting

The following diagrams show the change in output torque when the internal torque limit is set to 800%. In
this example, the servomotor rotation direction is Pn000.0 = 0 (Sets CCW as forward direction).

4.6.3 Checking Output Torque Limiting during Operation

The following signal can be output to indicate that the servomotor output torque is being limited.

Connector
Type Signal Name Setting Meaning
Pin Number
Servomotor output torque is being lim-
ON (closed)
ited.
Output /CLT Must be allocated
Servomotor output torque is not being
OFF (open)
limited.
Note: Use parameter Pn50F.0 to allocate the /CLT signal for use. For details, refer to 3.3.2 Output Signal Allocations.

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4.7 Absolute Encoders

If using an absolute encoder, a system to detect the absolute position can be designed for use with the host PC or
PLC...etc. As a result, an operation can be performed without a zero point return operation immediately after the
power is turned ON.

A battery case is required to save position data in the absolute encoder. The battery is attached to the battery case
of the encoder cable.

Set Pn002.2 to 0 (factory setting) to use the absolute encoder.

When
Parameter Meaning Classification
Enabled
n.口0口口
Uses the absolute encoder as an absolute encoder.
Pn002 [Factory setting] After restart Setup
n.口1口口 Uses the absolute encoder as an incremental encoder.

A battery is not required when using the absolute encoder as an incremental encoder.

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4.7.1 Connecting the Absolute Encoder

The following diagram shows the connection between a servomotor with an absolute encoder, the DRIVER,
and the host PC or PLC...etc.

(1) Using an Encoder Cable with a Battery Case

DRIVER PC or PLC ...etc

Z
Z

∗1. The absolute encoder pin numbers for the connector wiring depend on the servomotors.

∗2. : represents shielded twisted-pair wires.

∗3. When using an absolute encoder, provide power by installing an encoder cable with a Battery Case.

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 4 Operation

4.7.2 Absolute Data Request (SENS ON Command)

The Turn Sensor ON command (SENS_ON) must be sent to obtain absolute data as an output from the
DRIVER.

The SENS_ON command is sent at the following timing.

DRIVER control
power supply

∗ Send the SENS_OFF command to turn OFF the control power supply.

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 4 Operation

4.7.3 Battery Replacement

If the battery voltage drops to approximately 2.7 V or less, an absolute encoder battery error alarm (A.830) or
an absolute encoder battery error warning (A.930) will be displayed.

If this alarm or warning is displayed, replace the batteries using the following procedure.
Use Pn008.0 to set either an alarm (A.830) or a warning (A.930).
When
Parameter Meaning Classification
Enabled
n.口口口0 Outputs the alarm A.830 when the battery voltage
[Factory setting] drops.
Pn008 After restart Setup
n.口口口1 Outputs the warning A.930 when the battery voltage
drops.

• If Pn008.0 is set to 0, alarm detection will be enabled for 4 seconds after the ALM signal outputs max. 5 sec- onds
when the control power is turned ON.
No battery-related alarm will be displayed even if the battery voltage drops below the specified value after these 4
seconds.
• If Pn008.0 is set to 1, alarm detection will be always enabled after the ALM signal outputs max. 5 seconds when
the control power supply is turned ON.

Control
power Alarm status Normal status
5 s max. 4s

Battery
Alarm A.830 voltage being
(Pn008.0 = 0) monitored

Warning A.930 Battery voltage

(Pn008.0 = 1) being monitored

(1) Battery Replacement Procedure

1. Turn ON the control power supply of the DRIVER only.
2. Open the battery case cover.

Open the cover.

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 4 Operation

3. Remove the old battery and mount the new LEC-JZ-CVBAT battery as shown below.
To the DRIVER

Encoder Cable

Mount the LEC-JZ-CVBAT battery.

4. Close the battery case cover.

Close the cover.

5. After replacing the battery, turn OFF the control power supply to clear the absolute encoder battery error
alarm (A.830).
6. Turn ON the control power supply again.
7. Check that the alarm display has been cleared and that the DRIVER operates normally.

If the DRIVER control power supply is turned OFF and the battery is disconnected
(which includes disconnecting the encoder cable), the absolute encoder data will be
deleted.

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 4 Operation

4.7.4 Absolute Encoder Setup and Reinitialization

CAUTION
• The rotational data will be a value between -2 and +2 rotations when the absolute encoder setup is exe-
cuted. The reference position of the machine system will change. Set the reference position of the host
PC or PLC...etc to the position after setup.
If the machine is started without adjusting the position of the host PC or PLC...etc, unexpected operation
may cause injury or damage to the machine. Take sufficient care when operating the machine.
Setting up and reinitialization of the absolute encoder are necessary in the following cases.
• When starting the machine for the first time
• When an encoder backup error alarm (A.810) is generated
• When an encoder checksum error alarm (A.820) is generated
• When initializing the rotational serial data of the absolute encoder
Set up the absolute encoder with Fn008.

(1) Precautions on Setup and Reinitialization

• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• Set up or reinitialize the encoder when the servomotor power is OFF.
• If the following absolute encoder alarms are displayed, cancel the alarm by using the same method as the set
up (initializing) with Fn008. They cannot be canceled with the DRIVER Clear Warning or Alarm com-
mand (ALM_CLR).
• Encoder backup error alarm (A.810)
• Encoder checksum error alarm (A.820)
• Any other alarms (A.8口口) that monitor the inside of the encoder should be canceled by turning OFF the
power.

(2) Procedure for Setup and Reinitialization

Follow the steps below to setup or reinitialize the absolute encoder.

This setting can be performed using the Write Memory command (MEM_WR). For details, refer to 8
MECHATROLINK-III Commands.

In the SigmaWin+ Σ-V component main window, click Setup, point to Set Absolute Encoder and click
Reset Absolute Encoder.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool Sigma
Win+ ONLINE MANUAL Σ-V Component 4.4.2 Setting the Absolute Encoder.

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 4 Operation

4.7.5 Multiturn Limit Setting

The multiturn limit setting is used in position control applications for a turntable or other rotating device. For
example, consider a machine that moves the turntable in the following diagram in only one direction.
Turntable

Gear

Servomotor

Because the turntable moves in only one direction, the upper limit for revolutions that can be counted by an
absolute encoder will eventually be exceeded. The multiturn limit setting is used in cases like this to prevent
fractions from being produced by the integral ratio of the motor revolutions and turntable revolutions.

For a machine with a gear ratio of n:m, as shown above, the value of m minus 1 will be the setting for the mul-
titurn limit setting (Pn205).

Multiturn limit setting (Pn205) = m-1

The case in which the relationship between the turntable revolutions and motor revolutions is m = 100 and n = 3
is shown in the following graph.
Pn205 is set to 99.
Pn205 = 100 − 1 = 99
9
8
7 Table
6 rotations
Table 5 Rotational
rotations 4 Set value of Pn205 = 99 serial data
Rotational data
3 100
2
50
1
0
100 200 300 0
Motor rotations

Multiturn Limit Setting Speed Position Torque

Classification
Pn205 Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 1 Rev 65535 After restart Setup
Note: This parameter is valid when the absolute encoder is used.

The range of the data will vary when this parameter is set to anything other than the factory setting.

1. When the motor rotates in the reverse direction with the rotational data at 0, the rotational data will
change to the setting of Pn205.
2. When the motor rotates in the forward direction with the rotational data at the Pn205 setting, the
rotational data will change to 0.

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 4 Operation
Set the value, the desired rotational amount -1, to Pn205.

Factory Setting (= 65535) Other Setting (≠65535)

+32767 Reverse
Pn205 setting value Forward
Forward Reverse

Rotational 0
Rotational
data 0
Motor rotations
-32768 Motor rotations

4.7.6 Multiturn Limit Disagreement Alarm (A.CC0)

When the multiturn limit set value is changed with parameter Pn205, a multiturn limit disagreement alarm
(A.CC0) will be displayed because the value differs from that of the encoder.

Alarm
Alarm Name Alarm Output Meaning
Display
Different multiturn limits have been set in the
A.CC0 Multiturn Limit Disagreement OFF (H)
encoder and DRIVER.

If this alarm is displayed, perform the operation described below and change the multiturn limit value in the
encoder to the value set in Pn205.

This setting can be performed using the Write Memory command (MEM_WR). For details, refer to Σ-V Series
User’s Manual MECHATROLINK-III Standard Servo Profile Commands (No: SIEP S800000 63).

This setting can be performed with the adjustment command (ADJ).

For information the adjustment command (ADJ), refer to 8 MECHATROLINK-III Commands.

In the SigmaWin+ Σ-V component main window, click Setup, print to Set Absolute Encoder and click
Multi-Turn Limit Setting.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool Sigma Win+
ONLINE MANUAL Σ-V Component 4.4.2 Setting the Absolute Encoder.

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 4 Operation

4.7.7 Absolute Encoder Origin Offset

If using the absolute encoder, the positions of the encoder and the offset of the machine coordinate system
(APOS) can be set. Use Pn808 to make the setting. After the SENS_ON command is received by MECHA-
TROLINK communications, this parameter will be enabled.

Absolute Encoder Origin Offset Position

Classification
Pn808 Setting Range Setting Unit Factory Setting When Enabled
-1073741823 to
1 reference unit 0 Immediately Setup
1073741823
<Example>
If the encoder position (X) is set at the origin of the machine coordinate system (0), Pn808 = X.

Machine coordinate
system position
(APOS)

4.7.8 Absolute Data Reception Sequence

The sequence in which the DRIVER receives outputs from the absolute encoder and transmits them to host
controller is shown below.

(1) Outline of Absolute Data

The serial data, pulses, etc., of the absolute encoder that are output from the DRIVER are output from the
PAO, PBO, and PCO signals as shown below.
PC or PLC
Driver
etc.

Signal Name Status Contents

Rotational serial data
At initialization
PAO Initial incremental pulses
Normal Operations Incremental pulses
At initialization Initial incremental pulses
PBO
Normal Operations Incremental pulses
PCO Always Origin pulses

・Phase-Z Output Specifications

The pulse width of phase Z (origin pulse) changes depending on the encoder output pulse (Pn212),
becoming the same width as phase A.
The output timing is one of the following.

• Synchronized with the rising edge of phase A

• Synchronized with the falling edge of phase A
• Synchronized with the rising edge of phase B
• Synchronized with the falling edge of phase B

Note: When host controller receives the data of absolute encoder, do not perform counter reset using the
output of PCO signal.
4-41
 4 Operation

(2) Absolute Data Reception Sequence

1. Send the Turn Sensor ON (SENS_ON) command from the host controller.
2. After 100 ms, the system is set to rotational serial data reception standby and the incremental pulse up/ down
counter is cleared to zero.
3. Eight characters of rotational serial data is received.
4. The system enters a normal incremental operation state about 400 ms after the last rotational serial data is
received.

Note: The output pulses are phase-B advanced if the servomotor is turning forward regardless of the setting in
Pn000.0.

Rotational serial data:

Indicates how many turns the motor shaft has made from the reference position, which was the
position at setup.

Initial incremental pulses:

Initial incremental pulses which provide absolute data are the number of pulses required to rotate
the motor shaft from the servomotor origin to the present position.
Just as with normal incremental pulses, these pulses are divided by the dividing circuit inside the
DRIVER and then output.

The initial incremental pulse speed depends on the setting of the encoder output pulses (Pn212). Use the
following formula to obtain the initial incremental pulse speed.

Setting of the Encoder Output Pulses

Formula of the Initial Incremental Pulse Speed
(Pn212)
16 to 16384 (680 × Pn212) / 16384 [kpps]
16386 to 32768 (680 × Pn212) / 32768 [kpps]
32772 to 65536 (680 × Pn212) / 65536 [kpps]
65544 to 131072 (680 × Pn212) / 131072 [kpps]
131088 to 262144 (680 × Pn212) / 262144 [kpps]

Final absolute data PM is calculated by following formula.

PE=M×R+PO
PS = MS×R + PS'
PM=PE-PS

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 4 Operation
Signal Meaning
PE Current value read by encoder
M Rotational serial data
PO Number of initial incremental pulses
PS Absolute data read at setup (This is saved and controlled by the host controller.)
MS Rotational data read at setup
PS' Number of initial incremental pulses read at setup
PM Current value required for the user’s system
R Number of pulses per encoder revolution (pulse count after dividing, value of
Pn212)

Note: The following formula applies in reverse mode. (Pn000.0 = 1)

PE = -M×R + PO
PS = MS×R + PS'
PM = P E – PS

(3) Rotational Serial Data Specifications and Initial Incremental Pulses

・Rotational Serial Data Specifications
The rotational serial data is output from PAO signal.

Data Transfer
Start-stop Synchronization (ASYNC)
Method
Baud rate 9600 bps
Start bits 1 bit
Stop bits 1 bit
Parity Even
Character code ASCII 7-bit code
8 characters, as shown below.

Data format

Note 1. Data is "P+00000" (CR) or "P-00000" (CR) when the number of

revolutions is zero.
2. The revolution range is "-32768" to "+32767". When this
range is exceeded, the data changes from "+32767" to
"-32678" or from "-32678" to "+32767". When changing
multiturn limit, the range changes. For details, refer to
4.7.5 Multiturn Limit Setting.

・Initial Incremental Pulses

The initial incremental pulses are output after division inside the DRIVER in the same way as for
normal incremental pulses. Refer to 4.4.4 Encoder Output Pulses for details.

(4) Transferring Alarm Contents

If an absolute encoder is used, the contents of alarms detected by the DRIVER are transmitted in serial
data to the host controller from the PAO output when the Turn Sensor OFF command (SENS_OFF) is
received.

Note: The SENS_OFF command cannot be received while the servomotor power is ON.

Output example of alarm contents are as shown below.

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 4 Operation

4-44
 4 Operation

4.8 Other Output Signals

This section explains other output signals.

Use these signals according to the application needs, e.g., for machine protection.

4.8.1 Servo Alarm Output Signal (ALM)

This section describes signals that are output when the DRIVER detects errors and resetting methods.

(1) Servo Alarm Output Signal (ALM)

This signal is output when the DRIVER detects an error.

Configure an external circuit so that this alarm output turns OFF the main circuit power
supply for the DRIVER whenever an error occurs.

Signal Connector
Type Setting Meaning
Name Pin Number
ON (closed) Normal DRIVER status
Output ALM CN1-3, 4
OFF (open) DRIVER alarm status

(2) Alarm Reset Method

If a servo alarm (ALM) occurs, use one of the following methods to reset the alarm after eliminating the
cause of the alarm.

Be sure to eliminate the cause of the alarm before resetting it.

If the alarm is reset and operation continued without eliminating the cause of the alarm, it
may result in damage to the equipment or fire.

- Resetting Alarms by Sending Clear Warning or Alarm Command (ALM_CLR)

For details, refer to 8 MECHATROLINK-III Commands.

- Resetting Alarms Using the SigmaWin+

In the SigmaWin+ Σ-V component main window, click Alarm and then click Display Alarm. To clear
an alarm, click Reset after removing the cause of the alarm.
For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool
Sigma Win+ ONLINE MANUAL Σ-V Component 4. 2 Alarm Display.

4.8.2 Warning Output Signal (/WARN)

This signal is for a warning issued before the occurrence of an alarm. Refer to 9.2.1 List of Warnings.

(1) Signal Specifications

Signal Connector Pin
Type Setting Meaning
Name Number
ON (closed) Warning status
Output /WARN Must be allocated
OFF (open) Normal status
Note: Use parameter Pn50F.3 to allocate the /WARN signal for use. For details, refer to 3.3.2 Output
Signal Allocations.

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 4 Operation

4.8.3 Rotation Detection Output Signal (/TGON)

This output signal indicates that the servomotor is rotating at the speed set for Pn502 or a higher speed.

(1) Signal Specifications

Signal Connector Pin
Type Setting Meaning
Name Number
Servomotor is rotating with the motor speed above
ON (closed)
the setting in Pn502.
Output /TGON Must be allocated
Servomotor is rotating with the motor speed below
OFF (open)
the setting in Pn502.
Note: Use parameter Pn50E.2 to allocate the /TGON signal for use. For details, refer to 3.3.2 Output
Signal Allocations.

(2) Related Parameter

Set the range in which the /TGON signal is output using the following parameter.

Rotation Detection Level Speed Position Torque

Classification
Pn502 Setting Range Setting Unit Factory Setting When Enabled
1 to 10000 1 min-1 20 Immediately Setup

4.8.4 Servo Ready Output Signal (/S-RDY)

This signal is turned ON when the DRIVER is ready to accept the servo ON (SV_ON) command. The /S-RDY
signal is turned ON under the following conditions.
- The main circuit power supply is ON.
- No hard wire base block state
- No servo alarms
- The Turn Sensor ON (SENS_ON) command is received. (When an absolute encoder is used.)
If an absolute encoder is used, the output of absolute data to the host PC or PLC...etc must have been
completed when the SENS_ON command is received.

For details on the hard wire base block function, refer to 4.9.1 Hard Wire Base Block (HWBB) Function.

(1) Signal Specifications

Signal Connector Pin
Type Setting Meaning
Name Number
The SERVOPACK is ready to accept the SV_ON
ON (closed)
command.
Output /S-RDY Must be allocated
The SERVOPACK is not ready to accept the
OFF (open)
SV_ON command.
Note 1. Use parameter Pn50E.3 to allocate the /S-RDY signal for use. For details, refer to 3.3.2 Output
Signal Allocations.
2. For details on the hard wire base block function and the servo ready output signal, refer to 4.9.1
Hard Wire Base Block (HWBB) Function.

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4.8.5 Speed Coincidence Output Signal (/V-CMP)

The speed coincidence output signal (/V-CMP) is output when the actual servomotor speed is the same as the
reference speed. The host PC or PLC...etc uses the signal as an interlock. This signal is the output signal
during speed control.

Signal Connector Pin

Type Setting Meaning
Name Number
ON (closed) Speed coincides.
Output /V-CMP Must be allocated
OFF (open) Speed does not coincide.
Note: Use parameter Pn50E.1 to allocate the /V-CMP signal for use. Refer to 3.3.2 Output Signal Allocations
for details.

Speed Coincidence Signal Output Width Speed

Classification
Pn503 Setting Range Setting Unit Factory Setting When Enabled
0 to 100 1 min-1 10 Immediately Setup
The /V-CMP signal is output when the difference between the reference speed and actual motor speed is below
this setting.

Reference speed

/V-CMP is output in
this range.

<Example>
The /V-CMP signal is output at 1900 to 2100 min-1 if the Pn503 is set to 100 and the reference speed is 2000
min-1.

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4.8.6 Positioning Completed Output Signal (/COIN)

This signal indicates that servomotor movement has been completed during position control.

When the difference between the number of references output by the host PC or PLC...etc and the travel
distance of the servomotor (position error) drops below the set value in the parameter, the positioning
completion signal will be output.

Use this signal to check the completion of positioning from the host PC or PLC...etc.

Signal Connector
Type Setting Meaning
Name Pin Number
ON (closed) Positioning has been completed.
Output /COIN Must be allocated
OFF (open) Positioning is not completed.

Note: Use parameter Pn50E.0 to allocate the /COIN signal for use. Refer to 3.3.2 Output Signal Allocations for
details.

Positioning Completed Width Position

Classification
Pn522 Setting Range Setting Unit Factory Setting When Enabled
0 to 1073741824 1 reference unit 7 Immediately Setup
The positioning completed width setting has no effect on final positioning accuracy.
Reference

Time

Time

/COIN Effective at ON (close).

Time

Note: If the parameter is set to a value that is too large, a positioning completed signal might be output if the
position error is low during a low speed operation. This will cause the positioning completed signal to be
output continuously. If this signal is output unexpectedly, reduce the set value until it is no longer output.

If the position error is kept to a minimum when the positioning completed width is small, use Pn207.3 to change
output timing for the /COIN signal.

When
Parameter Name Meaning Classification
Enabled
n.0口口口 When the absolute value of the
[Factory setting] position error is below the
positioning completed width
(Pn522).
When the absolute value of the
/COIN position error is below the
Pn207 After restart Setup
n.1口口口 Output positioning completed width
Timing (Pn522), and the reference after
applying the position reference
filter is 0.
When the absolute value of the
n.2口口口 position error is below the
positioning completed width
(Pn522), and the position reference
input is 0.

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4.8.7 Positioning Near Output Signal (/NEAR)

Before confirming that the positioning completed signal has been received, the host PC or PLC...etc first
receives a positioning near signal and can prepare the operating sequence after positioning has been
completed. The time required for this sequence after positioning can be shortened.

This signal is generally used in combination with the positioning completed output signal.

Signal Connector
Type Setting Meaning
Name Pin Number
The servomotor has reached a point near to
ON (closed)
positioning completed.
Output /NEAR Must be allocated
The servomotor has not reached a point near
OFF (open)
to positioning completed.
Note: Use parameter Pn510.0 to allocate the /NEAR signal for use. Refer to 3.3.2 Output Signal Allocations for
details.

NEAR Signal Width Position

Classification
Pn524 Setting Range Setting Unit Factory Setting When Enabled
1 to 1073741824 1 reference unit 1073741824 Immediately Setup
The positioning near signal (/NEAR) is output when the difference between the number of references output by
the host PC or PLC...etc and the travel distance of the servomotor (position error) is less than the set value.
Motor speed Reference
Motor speed

Pn524 Pn522 Time

Position error

0 Time

/NEAR Effective at ON (close).

Time
/COIN Effective at ON (close).
Time

Note: Normally, the value of Pn524 should be larger than that for the positioning completed width (Pn522).

4-49
 4 Operation

4.8.8 Speed Limit Detection Signal (/VLT)

This function limits the speed of the servomotor to protect the machine.

A servomotor in torque control is controlled to output the specified torque, but the motor speed is not con-
trolled. Therefore, if an excessive reference torque is set for the load torque on the machinery side, the speed
of the servomotor may increase greatly. If that may occur, use this function to limit the speed.

Note: The actual limit value of motor speed depends on the load conditions of the servomotor.

With No Speed Limit With Speed Limit

Danger of damage due to Motor speed

Motor speed
Maximum speed Safe operation with
speed limit.
Limiting speed

Time Time

Refer to the following parameters for speed limit.

(1) Signals Output during Servomotor Speed Limit

The following signal is output when the motor speed reaches the limit speed.

Signal Connector
Type Setting Meaning
Name Pin Number
ON (closed) Servomotor speed limit being applied.
Output /VLT Must be allocated
OFF (open) Servomotor speed limit not being applied.
Note: Use parameter Pn50F.1 to allocate the /VLT signal for use. For details, refer to 3.3.2 Output Signal
Allocations.

(2) Speed Limit Setting

Select the speed limit mode with Pn002.1.

When
Parameter Meaning Classification
Enabled
n.口口0口 VLIM (the speed limit value during torque control) is
[Factory setting] not available. Uses the value set in Pn407 as the speed
Pn002 limit (internal speed limit function). After restart Setup
n.口口1口 VLIM operates as the speed limit value (external speed
limit function).

4-50
 4 Operation
- Internal Speed Limit Function
If the internal speed limit function is selected in Pn002.1, set the limit of the maximum speed of the
servomotor in Pn407. The limit of the speed in Pn408.1 can be either the maximum speed of the
servomotor or the overspeed alarm detection speed. Select the overspeed alarm detection speed to
limit the speed to the maxi- mum speed of the servomotor or the equivalent.

Speed Limit During Torque Control Torque

Classification
Pn407 Setting Range Setting Unit Factory Setting When Enabled
0 to 10000 1 min-1 10000 Immediately Setup
Note: The servomotor’s maximum speed or the overspeed alarm detection speed will be used when
the setting in this parameter exceeds the maximum speed of the servomotor used.
When
Parameter Meaning Classification
Enabled
n.口口0口 Uses the smaller value of the maximum motor speed
[Factory setting] and the value of Pn407 as the speed limit value.
Pn408 After restart Setup
n.口口1口 Uses the smaller value of the overspeed alarm detec-
tion speed and the value of Pn407 as speed limit value.

- External Speed Limit Function

If the external speed limit function is selected in Pn002.1, the motor speed is controlled by the
speed limit value (VLIM). For details, refer to 8 MECHATROLINK-III Commands.

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 4 Operation

4.9 Safety Function

The safety function is incorporated in the DRIVER to reduce the risk associated with the machine by protecting
workers from injury and by securing safe machine operation. Especially when working in hazardous areas inside the
safeguard, as for machine maintenance, it can be used to avoid adverse machine movement.

4.9.1 Hard Wire Base Block (HWBB) Function

The Hard Wire Base Block function (hereinafter referred to as HWBB function) is a safety function designed to
baseblock the servomotor (shut off the motor current) by using the hardwired circuits.
It is a safety function equivalent to the STO function (IEC 61800-5-2) using the hard wire base block function (HWBB).
Each circuit for two channel input signals blocks the run signal to turn off the power module that controls the
motor current, and the motor current is shut off. (Refer to the diagram below.)

DRIVER

For safety function signal connections, the input signal is the 0 V common and the output
signal is the source output. This is the opposite of other signals described in this manual.
To avoid confusion, the ON and OFF status of signals for safety functions are defined as
follows:
ON: The state in which the relay contacts are closed or the transistor is ON and current
flows into the signal line.
OFF: The state in which the relay contacts are open or the transistor is OFF and no current
flows into the signal line.

(1) Risk Assessment

When using the HWBB function, be sure to perform a risk assessment of the servo system in
advance. Make sure that the safety level of the standards is met. For details about the
standards, refer to Harmonized Standards at the front of this manual.

Note: To meet the performance level d (PLd) in EN ISO 13849-1, the EDM signal must be
monitored by a host PC or PLC...etc.If the EDM signal is not monitored by a host PC or
PLC...etc, the system only qualifies for the performance level c (PLc).

4-52
 4 Operation

The following risks can be estimated even if the HWBB function is used. These risks must be
included in the risk assessment.
- The servomotor will move in an application where external force is applied to the servomotor
(for example, gravity on the vertical axis). Take measures to secure the servomotor, such as
installing a mechanical brake.
- The servomotor may move within the electric angle of 180 degrees in case of the power
module failure, etc. Make sure that safety is ensured even in that situation. The rotation angle
depends on the motor type. The maximum rotation angle is given below.
Rotational motor: 1/6 rotation max. (rotation angle at the motor shaft)
- The HWBB function does not shut off the power to the DRIVER or electrically isolate it. Take
measures to shut off the power to the DRIVER when performing maintenance on it.

(2) Hard Wire Base Block (HWBB) State

The DRIVER will be in the following state if the HWBB function operates. If the /HWBB1 or
/HWBB2 signal is OFF, the HWBB function will operate and the DRIVER will enter a hard wire
baseblock (HWBB) state.

DRIVER
state

DRIVER
state

4-53
 4 Operation

(3) Resetting the HWBB State

Usually after the servo OFF command (SV_OFF: 32H) is received and the servomotor power is OFF, the
DRIVER will then enter a hard wire baseblock (HWBB) state with the /HWBB1 and /HWBB2 signals
turned OFF. By then turning the /HWBB1 and /HWBB2 signals ON in this state, the DRIVER will enter a
baseblock (BB) state and can accept the servo ON command (SV_ON: 31H).

DRIVER
state

If the /HWBB1 and /HWBB2 signals are OFF and the servo ON command is received, the HWBB state
will be maintained after the /HWBB1 and /HWBB2 signals are turned ON.

Send the servo OFF command, and the DRIVER is placed in a BB state. Then send the servo ON com-
mand again.

DRIVER
state

Note: Even if the servomotor power is turned OFF by turning OFF the main circuit power, the HWBB
status is retained until a servo OFF command is received.

4-54
 4 Operation

(4) Related Commands

If the HWBB function is working with the /HWBB1 or /HWBB2 signal turned OFF, the setting of ESTP of
the servo command input signal monitoring changes to 1, so the status of the upper level apparatus can
be known by looking at the setting of this bit.

If the status becomes HWBB status during the execution of the next command, a command warning is
issued.
If a warning is given, clear the alarm to return to normal operational status. After stopping or canceling
the action command, using the sequence of commands to return to the HWBB status is recommended.
Object Action Commands
Servo ON (SV_ON)
Interpolating (INTERPORATE)
Positioning (POSING)
Constant speed feed (FEED)
Constant speed feed with position detection function (EX_FEED)
Interpolating with position detection function (LATCH)
External input positioning (EX_POSING)
Homing (ZRET)

(5) Error Detection in HWBB Signal

If only the /HWBB1 or /HWBB2 signal is input, an A.Eb1 alarm (Safety Function Signal Input Timing Error)
will occur unless the other signal is input within 10 seconds. This makes it possible to detect failures,
such as disconnection of the HWBB signals.

CAUTION
• The safety function signal input timing error alarm (A.Eb1) is not a safety-related part of a control system. Keep this
in mind in the system design.

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 4 Operation

(6) Connection Example and Specifications of Input Signals (HWBB Signals)

The input signals must be redundant. A connection example and specifications of input signals (HWBB
signals) are shown below.

For safety function signal connections, the input signal is the 0 V common and the output
signal is the source output. This is opposite to other signals described in this manual. To
avoid confusion, the ON and OFF status of signals for safety functions are defined as
follows:
ON: The state in which the relay contacts are closed or the transistor is ON and current
flows into the signal line.
OFF: The state in which the relay contacts are open or the transistor is OFF and no cur-
rent flows into the signal line.

- Connection Example DRIVER

- Specifications
Signal Connector
Type Setting Meaning
Name Pin Number
ON (closed) Does not use the HWBB function. (normal operation)
CN8-4
/HWBB1 Uses the HWBB function. (motor current shut-off
CN8-3 OFF (open)
request)
Input
ON (closed) Does not use the HWBB function. (normal operation)
CN8-6
/HWBB2 Uses the HWBB function. (motor current shut-off
CN8-5 OFF (open)
request)
The input signals (HWBB signals) have the following electrical characteristics.

Items Characteristics Remarks

Internal Impedance 3.3 kΩ −
Operation Movable Volt-
age Range
+11 V to + 25 V −

Time from the /HWBB1 and /HWBB2 signals are OFF to

Maximum Delay Time 20 ms
the HWBB function operates.
4

4-56
 4 Operation
If the HWBB function is requested by turning OFF the /HWBB1 and /HWBB2 input signals on the two
channels, the power supply to the servomotor will be turned OFF within 20 ms (see below).

DRIVER
State

Note 1. The OFF status is not recognized if the total OFF time of the /HWBB1 and /HWBB2 signals is
0.5 ms or shorter.
2. The status of the input signals can be checked using monitor displays. Refer to 7.5 Monitoring
Safety Input Signals.

(7) Operation with Utility Functions

The HWBB function works while the DRIVER operates in the utility function.

If any of the following utility functions is being used with the /HWBB1 and /HWBB2 signals turned OFF,
the DRIVER cannot be operated by turning ON the /HWBB1 and /HWBB2 signals. Cancel the utility func-
tion first, and then set the DRIVER to the utility function again and restart operation.

- JOG operation (Fn002)

- Origin search (Fn003)
- Program JOG operation (Fn004)
- Advanced autotuning (Fn201)
- EasyFFT (Fn206)
- Automatic offset-signal adjustment of motor current detection signal (Fn00E)

(8) Servo Ready Output (/S-RDY)

The servo ON (SV_ON) command will not be accepted in the HWBB state. Therefore, the servo ready
output will turn OFF. The servo ready output will turn ON if the servomotor power is OFF (set to BB state)
when both the /HWBB1 and /HWBB2 signals are ON.

The following diagram shows an example where the main circuit power supply is turned ON, the Turn
Sensor ON (SENS_ON) command is sent (with an absolute encoder), and no servo alarm occurs.

DRIVER
State

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 4 Operation

(9) Lock signal (/BK)

When the /HWBB1 or /HWBB2 signal is OFF and the HWBB function operates, the lock signal (/BK) will
turn OFF. At that time, Pn506 (lock Reference - servo OFF delay time) will be disabled. Therefore, the
servo- motor may be moved by external force until the actual lock becomes effective after the lock signal
(/BK) turns OFF.

CAUTION
• The lock signal is not a safety-related part of a control system. Be sure to design the system so that the
system will not be put into danger if the lock signal fails in the HWBB state. Moreover, if a servomotor with a
lock is used, keep in mind that the lock for the servomotor is used only to prevent the movable part from
being moved by gravity or an external force and it cannot be used to lock the servomotor.

(10) Dynamic Brake

If the dynamic brake is enabled in Pn001.0 (Stopping Method for Servomotor after SV_OFF Command is
Received), the servomotor will come to a stop under the control of the dynamic brake when the HWBB
function works while the /HWBB1 or /HWBB2 signal is OFF.

CAUTION
• The dynamic brake is not a safety-related part of a control system. Be sure to design the system so that
the system will not be put into danger if the servomotor coasts to a stop in the HWBB state. Usually, use a
sequence in which the HWBB state occurs after the servomotor is stopped using the reference.
• If the application frequently uses the HWBB function, do not use the dynamic brake to stop the servomo-
tor. Otherwise element deterioration in the DRIVER may result. To prevent internal elements from
deteriorating, use a sequence in which the HWBB state occurs after the servomotor has come to a stop.

(11) Servo Alarm Output Signal (ALM)

In the HWBB state, the servo alarm output signal (ALM) is not sent.

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 4 Operation

4.9.2 External Device Monitor (EDM1)

The external device monitor (EDM1) functions to monitor failures in the HWBB function. Connect the monitor
to feedback signals to the safety function device.

Note: To meet the performance level d (PLd) in EN ISO13849-1, the EDM signal must be monitored by a PC or
PLC...etc. If the EDM signal is not monitored by a PC or PLC...etc, the system only qualifies for the
performance level c (PLc).

- Failure Detection Signal for EDM1 Signal

The relation of the EDM1, /HWBB1, and /HWBB2 signals is shown below.

Detection of failures in the EDM1 circuit can be checked using the following four status of the EDM1
signal in the table. Failures can be detected if the failure status can be confirmed, e.g., when the power
supply is turned ON.

Signal
Logic
Name
/HWBB1 ON ON OFF OFF
/HWBB2 ON OFF ON OFF
EDM1 OFF OFF OFF ON

WARNING
• The EDM1 signal is not a safety output. Use it only for monitoring a failure.

4-59
 4 Operation
(1) Connection Example and Specifications of EDM1 Output Signal

Connection example and specifications of EDM1 output signal are explained below.

For safety function signal connections, the input signal is the 0 V common and the output
signal is the source output. This is opposite to other signals described in this manual. To
avoid confusion, the ON and OFF status of signals for safety functions are defined as fol-
lows:
ON: The state in which the relay contacts are closed or the transistor is ON and current
flows into the signal line.
OFF: The state in which the relay contacts are open or the transistor is OFF and no cur-
rent flows into the signal line.

- Connection Example
EDM1 output signal is used for source circuit.EDM1 output signal can’t use for sink circuit.
DRIVER PC or PLC...etc.

- Specifications
Signal Connector
Type Setting Meaning
Name Pin Number
Both the /HWBB1 and the /HWBB2 signals are working
ON (closed)
CN8-8 normally.
Output EDM1
CN8-7 The /HWBB1 signal, the /HWBB2 signal or both are not
OFF (open)
working normally.

Electrical characteristics of EDM1 signal are as follows.

Items Characteristics Remarks

Maximum Allowable Voltage 30 VDC −
Maximum Current 50 mADC −
Voltage between EDM1+ and EDM1- when current is 50
Maximum Voltage Drop at ON 1.0 V
mA
Time from the change in /HWBB1 or /HWBB2 until the
Maximum Delay Time 20 ms
change in EDM1

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 4 Operation

4.9.3 Application Example of Safety Functions

An example of using safety functions is shown below.

(1) Connection Example

In the following example, a safety unit is used and the HWBB function operates when the guard opens.

DRIVER

When a guard opens, both of signals, the /HWBB1 and the /HWBB2, turn OFF, and the EDM1 signal
turns ON. Since the feedback is ON when the guard closes, the safety unit is reset, and the /HWBB1 and
the / HWBB2 signals turn ON, and the operation becomes possible.

Note: The EDM1 signal is used as a sourcing output. Connect the EDM1 so that the current flows from
EMD1+ to EMD1-.

(2) Failure Detection Method

In case of a failure such as the /HWBB1 or the /HWBB2 signal remains ON, the safety unit is not reset
when the guard closes because the EDM1 signal keeps OFF. Therefore starting is impossible, then the
failure is detected.

In this case, an error in the external device, disconnection or short-circuiting of the external wiring, or a
failure in the DRIVER must be considered. Find the cause and correct the problem.

4-61
 4 Operation
(3) Procedure

4.9.4 Confirming Safety Functions

When starting the equipment or replacing the DRIVER for maintenance, be sure to conduct the following
confirmation test on the HWBB function after wiring.

- When the /HWBB1 and /HWBB2 signals turn OFF, check that the digital operator displays "Hbb" and that the
servomotor does not operate.
- Check with the display of the feedback circuit input of the connected device to confirm that the EDM1 signal
is OFF while in normal operation.

4-62
 4 Operation

4.9.5 Connecting a Safety Function Device

Connect a safety function device using the following procedure.

1. Remove the servomotor connection terminal connector while pressing the lock.
Applicable DRIVERs: LECYU2-V5, V7, V8

For DRIVER models not listed above, it is not necessary to remove the servomotor connection terminal
connector. Go to step 2.

2. Remove the safety function’s jumper connector from CN8.

3. Connect a safety function device to CN8.

Note: When not using the safety function, use the DRIVER with the safety function’s jumper connector
inserted in CN8. If the DRIVER is used without the jumper connector inserted into CN8, no current
will flow to the servomotor and no torque will be output.

4-63
 4 Operation

4.9.6 Precautions for Safety Function

WARNING
• To check that the HWBB function satisfies the safety requirements of the system, be sure to conduct
a risk assessment of the system.
Incorrect use of the machine may cause injury.
• The servomotor rotates if there is external force (e.g., gravity in a vertical axis) when the HWBB
function is operating. Therefore, use an appropriate device independently, such as a mechanical
brake, that satisfies safety requirements.
Incorrect use of the machine may cause injury.
• While the HWBB function is operating, the motor may rotate within an electric angle of 180° or less
as a result of a DRIVER failure. Use the HWBB function for applications only after checking that the
rotation of the motor will not result in a dangerous condition.
Incorrect use of the machine may cause injury.
• The dynamic brake and the lock signal are not safety-related parts of a control system. Be sure to
design the system that these failures will not cause a dangerous condition when the HWBB function
operates. Incorrect use of the machine may cause injury.
• Connect devices meeting safety standards for the signals for safety functions.
Incorrect use of the machine may cause injury.
• If the HWBB function is used for an emergency stop, turn OFF the power supply to the servomotor
with independent electric or mechanical parts.
Incorrect use of the machine may cause injury.
• The HWBB function does not shut off the power to the DRIVER or electrically isolate it. Take
measures to shut off the power to the DRIVER when performing maintenance on it.
Failure to observe this warning may cause an electric shock.

4-64
 5 Adjustments

5. Adjustments ............................................................................................................................. 2
5.1 Type of Adjustments and Basic Adjustment Procedure .................................................... 2
5.1.1 Adjustments ................................................................................................................ 2
5.1.2 Basic Adjustment Procedure ....................................................................................... 3
5.1.3 Monitoring Operation during Adjustment ................................................................... 4
5.1.4 Safety Precautions on Adjustment of Servo Gains ..................................................... 7
5.2 Tuning-less Function ......................................................................................................... 10
5.2.1 Tuning-less Function................................................................................................. 10
5.2.2 Tuning-less Levels Setting (Fn200) Procedure ........................................................... 13
5.2.3 Related Parameters .................................................................................................... 15
5.3 Advanced Autotuning (Fn201) ......................................................................................... 16
5.3.1 Advanced Autotuning................................................................................................ 16
5.3.2 Advanced Autotuning Procedure............................................................................... 19
5.3.3 Related Parameters .................................................................................................... 32
5.4 Advanced Autotuning by Reference (Fn202) ................................................................... 33
5.4.1 Advanced Autotuning by Reference .......................................................................... 33
5.4.2 Advanced Autotuning by Reference Procedure......................................................... 35
5.4.3 Related Parameters .................................................................................................... 40
5.5 One-parameter Tuning (Fn203) ........................................................................................ 41
5.5.1 One-parameter Tuning ............................................................................................... 41
5.5.2 One-parameter Tuning Procedure .............................................................................. 42
5.5.3 One-parameter Tuning Example ............................................................................... 45
5.5.4 Related Parameters .................................................................................................... 46
5.6 Anti-Resonance Control Adjustment Function (Fn204) ................................................... 47
5.6.1 Anti-Resonance Control Adjustment Function.......................................................... 47
5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure ........................ 48
5.6.3 Related Parameters .................................................................................................... 48
5.7 Vibration Suppression Function (Fn205).......................................................................... 49
5.7.1 Vibration Suppression Function ................................................................................. 49
5.7.2 Vibration Suppression Function Operating Procedure ............................................. 50
5.7.3 Related Parameters .................................................................................................... 52
5.8 Additional Adjustment Function ...................................................................................... 53
5.8.1 Switching Gain Settings ............................................................................................ 53
5.8.2 Manual Adjustment of Friction Compensation ......................................................... 58
5.8.3 Current Control Mode Selection Function................................................................. 60
5.8.4 Current Gain Level Setting ........................................................................................ 60
5.8.5 Speed Detection Method Selection ............................................................................ 60
5.8.6 Backlash Compensation Function ............................................................................. 61
5.8.7 Torque Reference Filter ............................................................................................ 68

5-1
 5 Adjustments

5. Adjustments
5.1 Type of Adjustments and Basic Adjustment Procedure
This section describes type of adjustments and the basic adjustment procedure.

5.1.1 Adjustments
Adjustments (tuning) are performed to optimize the responsiveness of the DRIVER. The
responsiveness is determined by the servo gain that is set in the DRIVER.
The servo gain is set using a combination of parameters, such as speed loop gain, position loop
gain, filters, friction compensation, and moment of inertia ratio. These parameters influence each
other. Therefore, the servo gain must be set considering the balance between the set values.

Generally, the responsiveness of a machine with high rigidity can be improved by increasing the
servo gain. If the servo gain of a machine with low rigidity is increased, however, the machine will
vibrate and the respon- siveness may not be improved. In such case, it is possible to suppress the
vibration with a variety of vibration suppression functions in the DRIVER.

The servo gains are factory-set to appropriate values for stable operation. The following utility
function can be used to adjust the servo gain to increase the responsiveness of the machine in
accordance with the actual conditions. With this function, parameters related to adjustment above
will be adjusted automatically and the need to adjust them individually will be eliminated.

This section describes the following utility adjustment functions.

Utility Function for Applicable Control
Outline
Adjustment Method
Tuning-less This function is enabled when the factory settings are used. This func-
Levels Setting tion can be used to obtain a stable response regardless of the type of Speed and Position
(Fn200) machine or changes in the load.
The following parameters are automatically adjusted using internal
references in the SERVOPACK during automatic operation.
• Moment of inertia ratio
Advanced Autotuning • Gains (position loop gain, speed loop gain, etc.)
Speed and Position
(Fn201) • Filters (torque reference filter, notch filter)
• Friction compensation
• Anti-resonance control adjustment function
• Vibration suppression function
The following parameters are automatically adjusted with the position
reference input from the host controller while the machine is in opera-
tion.
Advanced Autotuning • Gains (position loop gain, speed loop gain, etc.)
• Filters (torque reference filter, notch filter) Position
by Reference (Fn202)
• Friction compensation
• Anti-resonance control adjustment function
• Vibration suppression function
The following parameters are manually adjusted with the position or
speed reference input from the host controller while the machine is in
operation.
One-parameter Tuning
(Fn203)
• Gains (position loop gain, speed loop gain, etc.) 5
Speed and Position
• Filters (torque reference filter, notch filter)
• Friction compensation
• Anti-resonance control adjustment function
Anti-Resonance
Control Adjustment This function effectively suppresses continuous vibration. Speed and Position
Function (Fn204)
Vibration Suppression This function effectively suppresses residual vibration if it occurs
Position
Function (Fn205) when positioning.

5-2
 5 Adjustments

5.1.2 Basic Adjustment Procedure

The basic adjustment procedure is shown in the following flowchart. Make suitable adjustments
considering the conditions and operating requirements of the machine.

DRIVER

5-3
 5 Adjustments

5.1.3 Monitoring Operation during Adjustment

Check the operating status of the machine and signal waveform when adjusting the servo gain.
Connect a measuring instrument, such as a memory recorder, to connector CN5 analog monitor
connector on the DRIVER to monitor analog signal waveform.

The settings and parameters for monitoring analog signals are described in the following sections.

(1) Connector CN5 for Analog Monitor

To monitor analog signals, connect a measuring instrument with cable (YASKAWA
CONTROLS CO., LTD) to the connector CN5.

Line Color Signal Name Factory Setting

White Analog monitor 1 Torque reference: 1 V/100% rated torque
Red Analog monitor 2 Motor speed: 1 V/1000 min-1 *
Black (2 lines) GND Analog monitor GND: 0 V

(2) Monitor Signal

The shaded parts in the following diagram indicate analog output signals that can be
monitored.

DRIVER

5-4
 5 Adjustments

The following signals can be monitored by selecting functions with parameters Pn006 and Pn007.
Pn006 is used for analog monitor 1 and Pn007 is used for analog monitor 2.

Description
Parameter
Monitor Signal Unit Remarks
n.口口00
[Pn007
Factory
Motor rotating speed 1 V/1000 min-1 −
Setting]
n.口口01 Speed reference 1 V/1000 min-1 −
n.口口02
[Pn006
Factory
Torque reference 1 V/100% rated torque −
Setting]
n.口口03 Position error 0.05 V/1 reference unit 0 V at speed/torque control
n.口口04 0.05 V/1 encoder pulse Position error after electronic
Position amplifier error
unit gear conversion
n.口口05 Position reference speed 1 V/1000 min-1 −
Pn006
Pn007 n.口口06 Reserved (Do not change.) − −
n.口口07 Motor-load position error 0.01 V/1 reference unit −
Positioning completed:
n.口口08 5V Completion indicated by out-
Positioning completed
Positioning not com- put voltage.
pleted: 0 V
n.口口09 Speed feedforward 1 V/1000 min-1 −
n.口口0A Torque feedforward 1 V/100% rated torque −
n.口口0B 1st gain: 1 V Gain type indicated by output
Active gain *1 2nd gain: 2 V voltage.

n.口口0C Completed: 5 V Completion indicated by out-

Completion of position reference
Not completed: 0 V put voltage.
n.口口0D External encoder speed 1 V/1000 min-1 Value at motor shaft

∗1. Refer to 5.8.1 Switching Gain Settings for details.

(3) Setting Monitor Factor

The output voltages on analog monitors 1 and 2 are calculated by the following equations.

<Example>
Analog monitor output at n.口口00 (motor rotating speed setting)

5-5
 5 Adjustments

(4) Related Parameters

Use the following parameters to change the monitor factor and the offset.
Analog Monitor 1 Offset Voltage Speed Position Torque
Classification
Pn550 Setting Range Setting Unit Factory Setting When Enabled
-10000 to 10000 0.1 V 0 Immediately Setup
Analog Monitor 2 Offset Voltage Speed Position Torque
Classification
Pn551 Setting Range Setting Unit Factory Setting When Enabled
-10000 to 10000 0.1 V 0 Immediately Setup

Analog Monitor Magnification (× 1) Speed Position Torque

Classification
Pn552 Setting Range Setting Unit Factory Setting When Enabled
-10000 to 10000 × 0.01 100 Immediately Setup

Analog Monitor Magnification (× 2) Speed Position Torque

Classification
Pn553 Setting Range Setting Unit Factory Setting When Enabled
-10000 to 10000 × 0.01 100 Immediately Setup

5-6
 5 Adjustments

5.1.4 Safety Precautions on Adjustment of Servo Gains

CAUTION
If adjusting the servo gains, observe the following precautions.
Do not touch the rotating section of the servomotor while power is being supplied to the motor.
Before starting the servomotor, make sure that the DRIVER can come to an emergency stop at any time.
Make sure that a trial operation has been performed without any trouble.
Install a safety brake on the machine.

Set the following protective functions of the DRIVER to the correct settings before starting to adjust
the servo gains.

(1) Overtravel Function

Set the overtravel function. For details on how to set the overtravel function, refer to 4.3.2
Overtravel.

(2) Torque Limit

The torque limit calculates the torque required to operate the machine and sets the torque
limits so that the out- put torque will not be greater than required. Setting torque limits can
reduce the amount of shock applied to the machine when troubles occur, such as collisions or
interference. If a torque limit is set lower than the value that is needed for operation,
overshooting or vibration can be occurred.
For details, refer to 4.6 Limiting Torque.

(3) Excessive Position Error Alarm Level

The excessive position error alarm is a protective function that will be enabled when the
DRIVER is used in position control.

If this alarm level is set to a suitable value, the DRIVER will detect an excessive position error
and will stop the servomotor if the servomotor does not operate according to the reference.
The position error indicates the difference between the position reference value and the
actual motor position.
The position error can be calculated from the position loop gain (Pn102) and the motor speed
with the follow- ing equation.

Excessive Position Error Alarm Level (Pn520 [1 reference unit])

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 5 Adjustments

∗1. Refer to 4.4.3 Electronic Gear.

∗2. To check the Pn102 setting, change the parameter display setting to display all
parameters (Pn00B.0 = 1).
At the end of the equation, a coefficient is shown as "× (1.2 to 2)." This coefficient is used to
add a margin that prevents a position error overflow alarm (A.d00) from occurring in actual
operation of the servomotor.

Set the level to a value that satisfies these equations, and no position error overflow alarm
(A.d00) will be generated during normal operation. The servomotor will be stopped, however,
if it does not operate according to the reference and the DRIVER detects an excessive
position error.

The following example outlines how the maximum limit for position deviation is calculated.
These conditions apply.
• Maximum speed = 6000
• Encoder resolution = 1048576 (20 bits)
• Pn102 = 400
• Pn210/Pn20E = 1/1

Under these conditions, the following equation is used to calculate the maximum limit
(Pn520).

If the acceleration/deceleration of the position reference exceeds the capacity of the

servomotor, the servomo- tor cannot perform at the requested speed, and the allowable level
for position error will be increased as not to satisfy these equations. If so, lower the level of
the acceleration/deceleration for the position reference so that the servomotor can perform at
the requested speed or increase the excessive position error alarm level (Pn520).
- Related Parameter

Excessive Position Error Alarm Level Position

Classification
Pn520 Setting Range Setting Unit Factory Setting When Enabled
1 to 1073741823 1 reference unit 5242880 Immediately Setup
- Related Alarm
Alarm
Alarm Name Meaning
Display
A.d00 Position Error Overflow Position errors exceeded parameter Pn520.

(4) Vibration Detection Function

Set the vibration detection function to an appropriate value with the vibration detection level
initialization (Fn01B). For details on how to set the vibration detection function, refer to 6.15
Vibration Detection Level Initialization (Fn01B).

(5) Excessive Position Error Alarm Level at Servo ON

If position errors remain in the error counter when turning ON the servomotor power, the
servomotor will move and this movement will clear the counter of all position errors. Because
the servomotor will move suddenly and unexpectedly, safety precautions are required. To
prevent the servomotor from moving suddenly, select the appropriate level for the excessive
position error alarm level at servo ON (Pn526) to restrict opera- tion of the servomotor.

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- Related Parameters

Excessive Position Error Alarm Level at Servo ON Position

Classification
Pn526 Setting Range Setting Unit Factory Setting When Enabled
1 to 1073741823 1 reference unit 5242880 Immediately Setup

Excessive Position Error Warning Level at Servo ON Position

Classification
Pn528 Setting Range Setting Unit Factory Setting When Enabled
10 to 100 1% 100 Immediately Setup

Speed Limit Level at Servo ON Position

Classification
Pn529 Setting Range Setting Unit Factory Setting When Enabled
0 to 10000 1 min-1 10000 Immediately Setup

- Related Alarms
Alarm Dis-
Alarm Name Meaning
play
This alarm occurs if the servomotor power is turned ON when the position error is
Position Error Overflow
A.d01 greater than the set value of Pn526 while the servomotor power is OFF.
Alarm at Servo ON

When the position errors remain in the error counter, Pn529 limits the speed if the
Position Error Overflow servomotor power is turned ON. If Pn529 limits the speed in such a state, this alarm
A.d02 Alarm by Speed Limit at occurs when position references are input and the number of position errors exceeds
Servo ON the value set for the excessive position error alarm level (Pn520).

When an alarm occurs, refer to 9 Troubleshooting and take the corrective actions.

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5.2 Tuning-less Function

The tuning-less function is enabled in the factory settings. If resonance is generated or excessive
vibration occurs, refer to 5.2.2 Tuning-less Levels Setting (Fn200) Procedure and change the set value of
Pn170.2 for the rigidity level and the set value in Pn170.3 for the load level.

CAUTION
• The tuning-less function is enabled in the factory settings. A sound may be heard for a moment when
the SV_ON command is received for the first time after the servo drive is mounted to the machine. This
sound does not indicate any problems; it means that the automatic notch filter was set. The sound will
not be heard from the next time the SV_ON command is received. For details on the automatic notch
filter, refer to (3) Automatically Setting the Notch Filter on the next page.
• The servomotor may vibrate if the load moment of inertia exceeds the allowable load value. If vibration
occurs, set the mode to 2 in Fn200 or lower the adjustment level.

5.2.1 Tuning-less Function

The tuning-less function obtains a stable response without manual adjustment regardless of the
type of machine or changes in the load.

(1) Enabling/Disabling Tuning-less Function

The following parameter is used to enable or disable the tuning-less function.

Parameter Meaning When Enabled Classification

n.口口口0 Disables tuning-less function.
n.口口口1
Enables tuning-less function.
[Factory setting]
Pn170 n.口口0口 After restart Setup
Used as speed control.
[Factory setting]
n.口口1口 Used as speed control and PC or PLC...etc. used as
position control.

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(2) Application Restrictions

The tuning-less function can be used in position control or speed control. This function is not
available in torque control. The following application restrictions apply to the tuning-less
function.

Function Availability Remarks

Vibration detection level initialization
Available –
(Fn01B)
• This function can be used when the
moment of inertia is calculated.
Advanced autotuning (Fn201)
Available • While this function is being used, the
(Some conditions apply) tuning-less function cannot be used. After
completion of the autotuning, it can be
used again.
Advanced autotuning by reference (Fn202) Not available –
One-parameter tuning (Fn203) Not available –
Anti-resonance control adjustment func-
Not available –
tion (Fn204)
Vibration suppression function (Fn205) Not available –
While this function is being used, the tuning-
less function cannot be used. After
EasyFFT (Fn206) Available
completion of the EasyFFT, it can be used
again.
Friction compensation Not available –
Gain switching Not available –
Disable the tuning-less function by setting
Offline moment of inertia calculation * Not available
Pn170.0 to 0 before executing this function.
While this function is being used, the tuning-
less function cannot be used. After
Mechanical analysis* Available completion of the analysis, it can be used
again.
∗ Operate using SigmaWin+.

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(3) Automatically Setting the Notch Filter

Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.)
If this function is set to Auto Setting, vibration will be detected automatically and the notch
filter will be set when the tuning-less function is enabled.

Set this function to Not Auto Setting only if you do not change the notch filter setting before
executing tuning- less function.

Parameter Meaning When Enabled Classification

n.口0口口 Does not set the 2nd notch filter automatically with
utility function.
Pn460 Immediately Tuning
n.口1口口 Set the 2nd notch filter automatically with utility
[Factory setting] function.

(4) Tuning-less Level Settings

Two tuning-less levels are available: the rigidity level and load level. Both levels can be set in
the Fn200 util- ity function or in the Pn170 parameter.
- Rigidity Level

Parameter Meaning When Enabled Classification

n.口0口口 Rigidity level 0 (Level 0)
n.口1口口 Rigidity level 1 (Level 1)
n.口2口口 Rigidity level 2 (Level 2)
Pn170 Immediately Setup
n.口3口口 Rigidity level 3 (Level 3)
n.口4口口
Rigidity level 4 (Level 4)
[Factory setting]

- Load Level
Parameter Meaning When Enabled Classification
n.0口口口 Load level : Low (Mode 0)
n.1口口口
Pn170 Load level : Medium (Mode 1) Immediately Setup
[Factory setting]
n.2口口口 Low level : High (Mode 2)

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5.2.2 Tuning-less Levels Setting (Fn200) Procedure

CAUTION
• To ensure safety, perform the tuning-less function in a state where the DRIVER can come
to an emergency stop at any time.

The procedure to use the tuning-less function is given below.

Operate the tuning-less function from the SigmaWin+.

(1) Preparation
Check the following settings before performing the tuning-less function. If the settings are not
correct, "NO- OP" will be displayed during the tuning-less function.

• The tuning-less function must be enabled (Pn170.0 = 1).

• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• The test without a motor function must be disabled. (Pn00C.0 = 0).
(2) Operating Procedure with Sigma Win+
1. In the SigmaWin+ Σ-V component main window, click Setup and then Response Level
Setting.

2. Click the setting arrows to adjust the response level so that the machine does not
vibrate.
The factory setting is 4, the maximum level.
3. Click Completed to save the setting in the DRIVER.

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(3) Alarm and Corrective Actions

The autotuning alarm (A.521) will occur if resonance sound is generated or excessive
vibration occurs during position control. In such case, take the following actions.
- Resonance Sound
In the SigmaWin+, reduce the setting of the Response level.
- Excessive Vibration during Position Control
Take one of the following actions to correct the problem.

In the SigmaWin+, reduce the setting of the Response level.

Increase the setting of Pn170.3 (Load level) or reduce the setting of Pn170.2.

(4) Parameters Disabled by Tuning-less Function

When the tuning-less function is enabled in the factory settings, the settings of these
parameters are not avail- able: Pn100, Pn101, Pn102, Pn103, Pn104, Pn105, Pn106, Pn160,
Pn139, and Pn408. These gain-related parameters, however, may become effective
depending on the executing conditions of the functions specified in the following table. For
example, if EasyFFT is executed when the tuning-less function is enabled, the set- tings in
Pn100, Pn104, Pn101, Pn105, Pn102, Pn106, and Pn103, as well as the manual gain switch
setting, will be enabled, but the settings in Pn408.3, Pn160.0, and Pn139.0 will be not
enabled.
Parameters Disabled by Tuning-less Function Related Functions and Parameters*
Mechanical Analysis (Ver-
Item Name Pn Number Torque Con- trol Easy FFT
tical Axis Mode)
Speed Loop Gain Pn100
○ ○ ○
2nd Speed Loop Gain Pn104
Speed Loop Integral
Time Constant Pn101
× ○ ○
Gain Pn105
2nd Speed Loop Integral
Time Constant
Position Loop Gain Pn102
× ○ ○
2nd Position Loop Gain Pn106
Moment of Inertia Ratio Pn103 ○ ○ ○
Friction Compensation
Pn408.3 × × ×
Advanced Function Selec- tion
Control Anti-resonance Control
Pn160.0 × × ×
Adjustment Selection
Gain Switching Selection
Gain Switch-ing Pn139.0 × × ×
Switch
∗ ○: Parameter enabled
×: Parameter disabled

(5) Tuning-less Function Type

The following table shows the types of tuning-less functions for the version of DRIVER
software.
Software Version* Tuning-less Type Meaning
000A or earlier Tuning-less type 1 −
000B or later Tuning-less type 2 The level of noise produced is lower than that of Type 1.

∗Refer to "6.13 Product Information Display" for the confirm method of the software version.
The software version number of your DRIVER can be checked with Fn012.

Parameter Meaning When Enabled Classification

n.口口0口 Tuning-less type 1
Pn14F n.口口1口 After restart Tuning
Tuning-less type 2
[Factory setting]

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5.2.3 Related Parameters

The following table lists parameters related to this function and their possibility of being changed
while exe- cuting this function or of being changed automatically after executing this function.

- Parameters related to this function

These are parameters that are used or referenced when executing this function.

- Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.
No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

- Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.
No : Parameter set values are not automatically set or adjusted after execution of this
function.

Mid-execution Automatic
Parameter Name
changes changes
Pn170 Tuning-less Function Related Switch No Yes
Pn401 Torque Reference Filter Time Constant No Yes
Pn40C 2nd Notch Filter Frequency No Yes
Pn40D 2nd Notch Filter Q Value No Yes

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5.3 Advanced Autotuning (Fn201)

This section describes the adjustment using advanced autotuning.

• Advanced autotuning starts adjustments based on the set speed loop gain (Pn100).
Therefore, precise adjustments cannot be made if there is vibration when starting
adjustments. In this case, make adjustments after lowering the speed loop gain
(Pn100) until vibration is eliminated.
• Before performing advanced autotuning with the tuning-less function enabled
(Pn170.0 = 1: Factory setting), always set calculate the load moment of inertia. The
tuning-less function will automatically be disabled, and the gain will be set by
advanced autotuning.
With the load moment of inertia is not calculated, "Error" will be displayed on the panel
operator, and advanced autotuning will not be performed.
• If the operating conditions, such as the machine-load or drive system, are changed
after advanced autotuning, then change the following related parameters to disable
any values that were adjusted before performing advanced autotuning once again
with the setting to calculate the moment of inertia. If advanced autotun- ing is
performed without changing the parameters, machine vibration may occur, resulting
in damage to the machine.
Pn00B.0=1 (Displays all parameters.)
Pn140.0=0 (Does not use model following control.)
Pn160.0=0 (Does not use anti-resonance control.)
Pn408=n.00口0 (Does not use friction compensation, 1st notch filter, or 2nd notch
filter.)

5.3.1 Advanced Autotuning

Advanced autotuning automatically operates the servo system (in reciprocating movement in the
forward and reverse directions) within set limits and adjust the DRIVER automatically according to
the mechanical characteristics while the servo system is operating.

Advanced autotuning can be performed without connecting the PC or PLC...etc. The following
automatic operation specifications apply.
• Maximum speed: Rated motor speed × 2/3
• Acceleration torque: Approximately 100% of rated motor torque
The acceleration torque varies with the influence of the moment of
inertia ratio
(Pn103), machine friction, and external disturbance.
• Travel distance: The travel distance can be set freely. The distance is factory-set to a
value equivalent to 3 motor rotations.

DRIVER

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Advanced autotuning performs the following adjustments.

• Moment of inertia ratio
• Gains (e.g., position loop gain and speed loop gain)
• Filters (torque reference filter and notch filter)
• Friction compensation
• Anti-resonance control
• Vibration suppression (Mode = 2 or 3)
Refer to 5.3.3 Related Parameters for parameters used for adjustments.

CAUTION
• Because advanced autotuning adjusts the DRIVER during automatic operation, vibration or
over- shooting may occur. To ensure safety, perform advanced autotuning in a state where
the DRIVER can come to an emergency stop at any time.

(1) Preparation
Check the following settings before performing advanced autotuning.
The message “NO-OP” indicating that the settings are not appropriate will be displayed, if all
of the following conditions are not met.

• The main circuit power supply must be ON.

• There must be no overtravel.
• The servomotor power must be OFF.
• The control method must not be set to torque control.
• The gain selection switch must be in manual switching mode (Pn139.0 = 0).
• Gain setting 1 must be selected.
• The test without a motor function must be disabled (Pn00C.0 = 0).
• All alarms and warning must be cleared.
• The hardwire baseblock (HWBB) must be disabled.
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
• Jcalc must be set to ON to calculate the load moment of inertia when the tuning-less
function is enabled (Pn170.0 = 1: factory setting) or the tuning-less function must be
disabled (Pn170.0 = 0).
Note: If advanced autotuning is started while the DRIVER is in speed control, the mode will
change to position control automatically to perform advanced autotuning. The mode will
return to speed control after completing the adjustment. To perform advanced
autotuning in speed control, set the mode to 1 (Mode = 1).

(2) When Advanced Autotuning Cannot Be Performed

Advanced autotuning cannot be performed normally under the following conditions. Refer to
5.4 Advanced Autotuning by Reference (Fn202) and 5.5 One-parameter Tuning (Fn203) for
details.

• The machine system can work only in a single direction.

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(3) When Advanced Autotuning Cannot Be Performed Successfully

Advanced autotuning cannot be performed successfully under the following conditions. Refer
to 5.4 Advanced Autotuning by Reference (Fn202) and 5.5 One-parameter Tuning (Fn203)
for details.

• The operating range is not applicable.

• The moment of inertia changes within the set operating range.
• The machine has high friction.
• The rigidity of the machine is low and vibration occurs when positioning is performed.
• The position integration function is used.
• P control operation (proportional control) is used.
Note: If a setting is made for calculating the moment of inertia, an error will result when
P control operation is selected using /V_PPI of the servo command output signals
(SVCMD_IO) while the moment of inertia is being calculated.
• The mode switch is used.
Note: If a setting is made for calculating the moment of inertia, the mode switch function
will be disabled while the moment of inertia is being calculated. At that time, PI
control will be used. The mode switch function will be enabled after calculating
the moment of inertia.
• Speed feedforward or torque feedforward is input.
• The positioning completed width (Pn522) is too small.

• Advanced autotuning makes adjustments by referring to the positioning completed

width (Pn522). If the DRIVER is operated in position control (Pn000.1=1), set the
electronic gear ratio (Pn20E/Pn210) and positioning completed width (Pn522) to the
actual value during operation. If the DRIVER is operated in speed control
(Pn000.1=0), set Mode to 1 to perform advanced autotuning.
• Unless the positioning completed signal (/COIN) is turned ON within approximately
3 seconds after positioning has been completed, "WAITING" will flash. Furthermore,
unless the positioning completed signal (/COIN) is turned ON within approximately
10 seconds, "Error" will flash for 2 seconds and tuning will be aborted.

Change only the overshoot detection level (Pn561) to finely adjust the amount of overshooting
without chang- ing the positioning completed width (Pn522). Because Pn561 is set by default
to 100%, the allowable amount of overshooting is the same amount as that for the positioning
completed width.
When Pn561 is set to 0%, the amount of overshooting can be adjusted to prevent
overshooting the positioning completed width. If the setting of Pn561 is changed, however,
the positioning time may be extended.

Overshoot Detection Level Speed Position Torque

Classification
Pn561 Setting Range Setting Unit Factory Setting When Enabled
0 to 100 1% 100 Immediately Setup

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5.3.2 Advanced Autotuning Procedure

The following procedure is used for advanced autotuning.
Advanced autotuning is performed from the SigmaWin+.
The operating procedure from the SigmaWin+ is described here.

CAUTION
• When using the DRIVER with Jcalc = OFF (load moment of inertia is not calculated), be sure to set a
suitable value for the moment of inertia ratio (Pn103). If the setting greatly differs from the actual
moment of inertia ratio, normal control of the DRIVER may not be possible, and vibration may result.
• When using the MP2000 Series with phase control, select the mode = 1 (standard level). If 2
or 3 is selected, phase control of the MP2000 Series may not be possible.

(1) Operating Procedure

In the SigmaWin+ Σ-V component main window, click Tuning and then click Tuning.

Click Execute. The Tuning main window appears.

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 5 Adjustments

- Moment of Inertia (Mass) Identification

Click Execute in the Tuning main window. The Condition Setting box will appear.

1. Setting the Conditions

Set the conditions for identifying moment of inertia (mass) in the Condition Setting box.

Speed Loop Setting: Set the speed loop gain and integral time constant.
[Edit]
Click Edit to view the Speed Loop-Related Setting Change box.
Identification Start Level: Set the moment of inertia (mass) identification start level.
[Help]
Click Help to open the window for guidelines on the reference condition settings.
Reference Selection: Select the reference pattern for identifying the moment of inertia
(mass). (Recommended method.)
Detailed Setting: Create the reference pattern for setting the moment of inertia (mass) by
changing the values with the slider or by directly entering the values.

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 5 Adjustments

[Next>]
Click Next to view the Reference Transmission box.
[Cancel]
Click Cancel to return to the main window without changing the conditions.
[Confirm]
Click Confirm to view the reference wave.

2. Reference Transmission
Transfer the reference conditions to the DRIVER. Click Start in the Reference Transmission
box to begin the transfer.

[Start]
Click to Start to transfer the reference conditions to the DRIVER. A progress bar displays
the progress status of the transfer.
[Cancel]
The Cancel button is available only during the transfer to the DRIVER. After the
transmission is finished, it is unavailable and cannot be selected.
[Next>]
The Next button is available if the data is transferred successfully. If an error occurs or if
the transmission is interrupted, it is unavailable and cannot be selected.

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 5 Adjustments

Click Next to view the Operation/Measurement box.

[<Back]
Click Back to return to the Condition Setting box. The Back button is unavailable during a
data transfer.
[Cancel]
Click Cancel to stop processing and return to the main window.

After the data has been successfully transferred, click Next, and the Operation/
Measurement box appears.

3. Operation/Measurement
In the Operation/Measurement box, run and measure the actual motor. Measurements are
taken two to seven times and then verified. Run the motor and take measurements using the
following procedure.
1. Click Servo ON to turn on the servo power.

2. Click Forward to take measurements by turning (moving) the motor forward. After the
measurements and the data transmission are finished, the following window appears.

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 5 Adjustments

3. Click Reverse to take measurements by turning (moving) the motor in reverse. After the
measurements and the data transmission are finished, the following window appears.

4. Repeat steps 2 through 3 until all the measurements have been taken.
The actual number of times the measurements have been taken is displayed in the upper
left part on the screen.
The progress bar displays the percentage of data that has been transferred.1
5. After the measurement has been successfully completed, click Servo ON to turn to the
servo OFF status.
6. Click Next, and the Write Results box appears.
When Next is clicked without turning to the servo OFF status, the following message
appears.

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 5 Adjustments

Click OK to turn to the servo OFF status.

4. Writing Results
In the Write Results box, set the moment of inertia (mass) ratio calculated in the operation/
measurement to the parameters.

[Writing Results]
Click Writing Results to assign the value displayed in the identified moment of inertia
(mass) ratio to DRIVER parameter Pn103.
Pn103: Moment of Inertia (Mass) Ratio
Displays the value assigned to the parameter.
Click Write Results, and the new ratio calculated from the operation/measurement will
be displayed.
[<Back]
The Back button is unavailable.
[Cancel]
Click Cancel to return to the main window.
[Finish]
Click Finish, and a warning message appears reminding you to reset the origin position.
(No warning message appears when the Write Results box has been opened from the
Tuning main window.)

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 5 Adjustments

Click OK to return to the SigmaWin+ -V component Main window. If Pn103 (Moment of
Inertia (Mass) Ratio) has been changed, that new value will remain.

- Autotuning without Reference Input

To execute autotuning without using a reference input, use the following procedure.
1. Select the No reference input option under Reference input from host controller in the
Tuning main window, and then click Autotuning. The Autotuning-Setting Conditions
box will appear.

2. Select whether or not to use the load moment of inertia (load mass) identification
from the Switching the load moment of inertia (load mass) identification box, the mode
from the Mode selection box, the mechanism from the Mechanism selection box, and
enter the moving distance. Then, click Next.

•Calculating Moment of Inertia

Select the mode to be used. Usually, set to the Moment of inertia calculated.

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 5 Adjustments

•Mode Selection
Select the mode.
Mode = 1: Makes adjustments considering response characteristics and stability (Standard
level).
Mode = 2: Makes adjustments for positioning [Factory setting].
Mode = 3: Makes adjustments for positioning, giving priority to overshooting suppression.

•Mechanism Selection
Select the mechanism according to the machine element to be driven. If there is noise or the
gain does not increase, bet- ter results may be obtained by changing the rigidity type.
Type = 1: For belt drive mechanisms (LEFB, LEJB)
Type = 2: For ball screw drive mechanisms [Factory setting] (LEY, LEFS, LEJS)

•STROKE (Travel Distance) Setting

Travel distance setting range:
The travel distance setting range is from -99990000 to +99990000 [reference unit].
Specify the STROKE (travel distance) in increments of 1000 reference units.
The negative (-) direction is for reverse rotation, and the positive (+) direction is for forward
rotation.
Initial value: About 3 rotations

Notes:
•Set the number of motor rotations to at least 0.5; otherwise, "Error" will be displayed and the
travel distance cannot be set.
•To calculate the moment of inertia and ensure precise tuning, it is recommended to set the
number of motor rotations to around 3.

When the Start tuning using the default settings. check box is selected in the
Autotuning-Setting Conditions box, tuning will be executed using the tuning
parameters set to the default values.

3. Click Servo ON. The following box will appear.

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 5 Adjustments

4. Click Start tuning. The motor will start rotating and tuning will commence.

Vibration generated during tuning is automatically detected, and the optimum setting
for the detected vibration will be made. When the setting is complete, the LED
indicator lamps (bottom left of the box) of the functions used for the setting will light
up.

5. When tuning is completed, click Finish. The results of tuning will be written in the
parameters.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool
Sigma Win+ ONLINE MANUAL Σ-V Component 4.6.3 Autotuning without Reference Input.

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(2) Failure in Operation

When "NO-OP" Flashes on the Display
Probable Cause Corrective Actions
The main circuit power supply was OFF. Turn ON the main circuit power supply.
An alarm or warning occurred. Remove the cause of the alarm or the warning.
Overtraveling occurred. Remove the cause of the overtravel.
Gain setting 2 was selected by gain switching. Disable the automatic gain switching.
The HWBB function operated. Disable the HWBB function.

When "Error" Flashes on the Display

Error Probable Cause Corrective Actions
- Increase the set value for Pn522.
Machine vibration is occurring or the posi- - Change the mode from 2 to 3.
The gain adjustment was
tioning completed signal (/COIN) is turning - If machine vibration occurs, suppress the
not successfully complet-
ON and OFF when the servomotor is vibration with the anti-resonance control
ed.
stopped. adjustment function and the vibration
suppression function.
An error occurred during Refer to the following table •When an Error Occurs during Calculation of Moment of
the calculation of the mo- Inertia.
ment of inertia.
The travel distance is set to approximately
Increase the travel distance. It is recom-
Travel distance setting er- 0.5 rotation or less, which is less than the
mended to set the number of motor rota-
ror min- imum adjustable travel distance.
tions to around 3.

The positioning complet-

ed signal (/COIN) did not - Increase the set value for Pn522.
The positioning completed width is too nar-
turn ON within approxi-
row or proportional control (P control) is - Set 0 to V_PPI in the servo command
mately 10 seconds after
being used. output signals (SVCMD_IO).
positioning adjustment
was completed.
The moment of inertia - Turn OFF the tuning-less function.
When the tuning-less function was activat-
cannot be calculated
ed, Jcalc was set to the Moment of - Set to the Moment of inertia
when the tuning-less func-
tion was activated.
inertia not calculated so the moment of calculated, so the moment of inertia will
inertia was not calculated. be calculated.

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When an Error Occurs during Calculation of Moment of Inertia

The following table shows the probable causes of errors that may occur during the
calculation of the moment of inertia with the Moment of inertia calculated, along with
corrective actions for the errors.

Error Dis-
Probable Cause Corrective Actions
play
The DRIVER started calculating the moment - Increase the speed loop gain (Pn100).
Err1 of inertia, but the calculation was not
- Increase the STROKE (travel distance).
completed.
Set the calculation value based on the machine specifi-
The moment of inertia fluctuated greatly and
Err2 cations in Pn103 and execute the calculation with the
did not converge within 10 tries.
Jcalc set to OFF.
Double the set value of the moment of inertia calculat-
Err3 Low-frequency vibration was detected.
ing start level (Pn324).
- When using the torque limit, increase the torque
limit.
Err4 The torque limit was reached.
- Double the set value of the moment of inertia calcu-
lating start level (Pn324).
While calculating the moment of inertia, the
Operate the DRIVER with PI control while calcu-
Err5 speed control was set to proportional control by
lating the moment of inertia.
setting 1 to V_PPI in the servo command output
signals (SVCMD_IO).

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 5 Adjustments

(3) Related Functions on Advanced Autotuning

This section describes functions related to advanced tuning.
-Notch Filter
Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.)
If this function is set to Auto Setting, vibration will be detected automatically during
advanced autotuning and the notch filter will be set.

Set this function to Not Auto Setting only if you do not change the notch filter setting
before executing advanced autotuning.

Parameter Function When Enabled Classification

n.口口口0 Does not set the 1st notch filter automatically with
the utility function.
n.口口口1 Sets the 1st notch filter automatically with the utility
[Factory setting] function.
Pn460 Immediately Tuning
n.口0口口 Does not set the 2nd notch filter automatically with
the utility function.
n.口1口口 Sets the 2nd notch filter automatically with the utility
[Factory setting] function.

-Anti-Resonance Control Adjustment

This function reduces low vibration frequency, which the notch filter does not detect.

Usually, set this function to Auto Setting. (The anti-resonance control is factory-set to
Auto Setting.)
When this function is set to Auto Setting, vibration will be automatically detected during
advanced autotuning and anti-resonance control will be automatically adjusted and set.
Parameter Function When Enabled Classification
n.口口0口 Does not use the anti-resonance control automatically
with the utility function.
Pn160 Immediately Tuning
n.口口1口 Uses the anti-resonance control automatically with
[Factory setting] the utility function.

-Vibration Suppression
The vibration suppression function suppresses transitional vibration at frequency as low
as 1 to 100 Hz that is generated mainly when positioning if the machine stand vibrates.
Usually, set this function to Auto Setting. (The vibration suppression function is
factory-set to Auto Setting.) When this function is set to Auto Setting, vibration will be
automatically detected during advanced autotuning and vibration suppression will be
automatically adjusted and set.
Set this function to Not Auto Setting only if you do not change the setting for vibration
suppression before executing advanced autotuning.

Note: This function uses model following control. Therefore, the function can be
executed only if the mode is set to 2 or 3.
-Related Parameter
Parameter Function When Enabled Classification
n.口0口口 Does not use the vibration suppression function auto-
matically with the utility function.
Pn140 Immediately Tuning
n.口1口口 Uses the vibration suppression function automatically
[Factory setting] with the utility function.

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 5 Adjustments

-Friction Compensation
This function compensates for changes in the following conditions.
- Changes in the viscous resistance of the lubricant, such as the grease, on the sliding
parts of the machine
- Changes in the friction resistance resulting from variations in the machine assembly
- Changes in the friction resistance due to aging

The conditions for applying friction compensation depend on the mode. The friction
compensation setting in Pn408.3 applies when the Mode is 1. The friction compensation
function is always enabled regardless of the friction compensation setting in Pn408.3
when the Mode is 2 or 3.

Mode
Friction Mode = 1 Mode = 2 Mode = 3
Compensation
Selecting
n.0口口口
Adjusted without the friction
[Factory
compensation function Adjusted with the friction Adjusted with the friction
Pn408 setting]
compensation function compensation function
n.1口口口 Adjusted with the friction
compensation function

- Feedforward
If Pn140 is set to the factory setting and the mode setting is changed to 2 or 3, the
feedforward gain (Pn109), speed feedforward (VFF) input, and torque feedforward
(TFF) input will be disabled.

Set Pn140.3 to 1 if model following control is used together with the speed feedforward
(VFF) input and torque feedforward (TFF) input from the PC or PLC...etc.

Parameter Function When Enabled Classification

n.0口口口 Model following control is not used together with the
[Factory setting] speed/torque feedforward input.
Pn140 Immediately Tuning
n.1口口口 Model following control is used together with the
speed/torque feedforward input.

Refer to 8 MECHATROLINK-III Commands for details.

• Model following control is used to make optimum feedforward settings in the

DRIVER when model following control is used with the feedforward function.
Therefore, model following control is not normally used together with either the
speed feedforward (VFF) input or torque feedforward (TFF) input from the PC or
PLC...etc. However, model following control can be used with the speed
feedforward (VFF) input or torque feedforward (TFF) input if required. An
improper feedforward input may result in over- shooting.

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 5 Adjustments

5.3.3 Related Parameters

The following table lists parameters related to this function and their possibility of being changed
while executing this function or of being changed automatically after executing this function.

- Parameters related to this function

These are parameters that are used or referenced when executing this function.

- Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.
No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

- Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.
No : Parameter set values are not automatically set or adjusted after execution of this
function.

Mid-execution Automatic
Parameter Name
changes changes
Pn100 Speed Loop Gain No Yes
Pn101 Speed Loop Integral Time Constant No Yes
Pn102 Position Loop Gain No Yes
Pn103 Moment of Inertia Ratio No No
Pn121 Friction Compensation Gain No Yes
Pn123 Friction Compensation Coefficient No Yes
Pn124 Friction Compensation Frequency Correction No No
Pn125 Friction Compensation Gain Correction No Yes
Pn401 Torque Reference Filter Time Constant No Yes
Pn408 Torque Related Function Switch Yes Yes
Pn409 1st Notch Filter Frequency No Yes
Pn40A 1st Notch Filter Q Value No Yes
Pn40C 2nd Notch Filter Frequency No Yes
Pn40D 2nd Notch Filter Q Value No Yes
Pn140 Model Following Control Related Switch Yes Yes
Pn141 Model Following Control Gain No Yes
Pn142 Model Following Control Gain Compensation No Yes
Pn143 Model Following Control Bias (Forward Direction) No Yes
Pn144 Model Following Control Bias (Reverse Direction) No Yes
Pn145 Vibration Suppression 1 Frequency A No Yes
Pn146 Vibration Suppression 1 Frequency B No Yes
Pn147 Model Following Control Speed Feedforward Compensation No Yes
Pn160 Anti-Resonance Control Related Switch Yes Yes
Pn161 Anti-Resonance Frequency No Yes
Pn163 Anti-Resonance Damping Gain No Yes
Pn531 Program JOG Movement Distance No No
Pn533 Program JOG Movement Speed No No
Pn534 Program JOG Acceleration/Deceleration Time No No
Pn535 Program JOG Waiting Time No No
Pn536 Number of Times of Program JOG Movement No No

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 5 Adjustments

5.4 Advanced Autotuning by Reference (Fn202)

Adjustments with advanced autotuning by reference are described below.

Advanced autotuning by reference starts adjustments based on the set speed loop gain (Pn100).
Therefore, precise adjustments cannot be made if there is vibration when starting adjustments. In
this case, make adjustments after lowering the speed loop gain (Pn100) until vibration is
eliminated.

5.4.1 Advanced Autotuning by Reference

Advanced autotuning by reference is used to automatically achieve optimum tuning of the DRIVER
in response to the user reference inputs from the PC or PLC...etc.

Advanced autotuning by reference is performed generally to fine-tune the DRIVER after advanced
autotuning of the DRIVER has been performed.

If the moment of inertia ratio is correctly set to Pn103, advanced autotuning by reference can be
performed without performing advanced autotuning.

DRIVER
Advanced autotuning by reference performs the following adjustments.

• Gains (e.g., position loop gain and speed loop gain)

• Filters (torque reference filter and notch filter)
• Friction compensation
• Anti-resonance control
• Vibration suppression
Refer to 5.4.3 Related Parameters for parameters used for adjustments.

CAUTION
・Because advanced autotuning by reference adjusts the DRIVER during automatic operation, vibra- tion or overshooting
may occur. To ensure safety, perform advanced autotuning by reference in a state where the DRIVER can come to an
emergency stop at any time.

5-33
 5 Adjustments

(1) Preparation
Check the following settings before performing advanced autotuning by reference. The
message “NO-OP” indicating that the settings are not appropriate will be displayed, if all of
the following conditions are not met.
• The DRIVER must be in Servo Ready status (Refer to 4.8.4).
• There must be no overtravel.
• The servomotor power must be OFF.
• The position control must be selected when the servomotor power is ON.
• The gain selection switch must be in manual switching mode (Pn139.0 = 0).
• Gain setting 1 must be selected.
• The test without a motor function must be disabled. (Pn00C.0 = 0).
• All warnings must be cleared.
• The write prohibited setting parameter (Fn010) must be set to Write permitted
(P.0000).
• The tuning-less function must be disabled (Pn170.0 = 0).

(2) When Advanced Autotuning by Reference Cannot Be Performed Successfully

Advanced autotuning by reference cannot be performed successfully under the following
conditions. If the result of autotuning is not satisfactory, perform one-parameter tuning
(Fn203). Refer to 5.5 One-parameter Tuning (Fn203) for details.
• The travel distance in response to references from the PC or PLC...etc. is smaller than
the set positioning com- pleted width (Pn522).
• The motor speed in response to references from the PC or PLC...etc. is smaller than
the set rotation detection level (Pn502).
• The stopping time, i.e., the period while the positioning completed /COIN signal is OFF,
is 10 ms or less.
• The rigidity of the machine is low and vibration occurs when positioning is performed.
• The position integration function is used.
• P control operation (proportional control) is performed.
• The mode switch is used.
• The positioning completed width (Pn522) is too small.

• Advanced autotuning by reference starts adjustments based on the

positioning com- pleted width (Pn522). Set the electronic gear ratio
(Pn20E/Pn210) and positioning completed width (Pn522) to the actual value
during operation.
• Unless the positioning completed signal (/COIN) is turned ON within
approximately 3 seconds after positioning has been completed, "WAITING"
will flash. Furthermore, unless the positioning completed signal (/COIN) is
turned ON within approximately 10 seconds, "Error" will flash for 2 seconds
and tuning will be aborted.

Change only the overshoot detection level (Pn561) to finely adjust the amount of
overshooting without chang- ing the positioning completed width (Pn522). Because Pn561 is
set by default to 100%, the allowable amount of overshooting is the same amount as that for
the positioning completed width.
When Pn561 is set to 0%, the amount of overshooting can be adjusted without any
overshooting in the posi- tioning completed width. If the setting of Pn561 is changed,
however, the positioning time may be extended.

Overshoot Detection Level Speed Position Torque

Classification
Pn561 Setting Range Setting Unit Factory Setting When Enabled
0 to 100 1% 100 Immediately Setup

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 5 Adjustments

5.4.2 Advanced Autotuning by Reference Procedure

The following procedure is used for advanced autotuning by reference.
Advanced autotuning by reference is performed from the SigmaWin+.

CAUTION
• When using the MP2000 Series with phase control, select the mode = 1 (standard level). If 2 or
3 is selected, phase control of the MP2000 Series may not be possible.

(1) Operating Procedure

Set the correct moment of inertia ratio in Pn103 by using the advanced autotuning before
performing this pro- cedure.

In the SigmaWin+ Σ-V component main window, click Tuning and then click Tuning.

- Moment of Inertia (Mass) Identification

It is the same as 5.3.2 Advanced Autotuning Procedure.

- Autotuning with Reference Input

1. Select the Position reference input option under Reference input from host controller
in the Tuning main window, and then click Autotuning. The Autotuning-Setting
Conditions box will appear.

2. Select the mode from the Mode selection combo box and the mechanism from
Mechanism selection combo box, and then click Next. The Autotuning-Moment of
Inertia Ratio Setting box will appear. When the Start tuning using the default settings.
check box is selected in the Autotuning-Setting Conditions box, tuning will be
executed using tuning parameters set to the default value.

•Mode Selection
Select the mode.
Mode = 1: Makes adjustments considering response characteristics and stability (Standard
level).
Mode = 2: Makes adjustments for positioning [Factory setting].
Mode = 3: Makes adjustments for positioning, giving priority to overshooting
suppression.

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 5 Adjustments

•Type Selection
Select the type according to the machine element to be driven.
If there is noise or the gain does not increase, better results may be obtained by changing the
rigidity type.
Type = 1: For belt drive mechanisms (LEFB, LEJB)
Type = 2: For ball screw drive mechanisms [Factory setting] (LEY, LEFS, LEJS)

3. Enter the correct moment of inertia ratio and then click Next. The following window
will appear.

4. Turn the servo on and then input the reference from the host controller. Click Start
tuning to start tuning.

5-36
 5 Adjustments

Vibration generated during tuning is automatically detected and the optimum setting
for the detected vibration will be made. When setting is completed, the LED indicator
lamps (bottom left of the box) of the functions used for the setting will light up.
5. When tuning is complete, click Finish. The results of tuning will be written in the
parameters.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool
Sigma Win+ ONLINE MANUAL Σ-V Component 4.6.2 Autotuning with Reference Input.

(2) Failure in Operation

-When "NO-OP" Flashes on the Display
Probable Cause Corrective Actions
The main circuit power supply was OFF. Turn ON the main circuit power supply.
An alarm or warning occurred. Remove the cause of the alarm or the warning.
Overtraveling occurred. Remove the cause of the overtravel.
Gain setting 2 was selected by gain switching. Disable the automatic gain switching.
HWBB operated. Disable the HWBB function.

-When "Error" Flashes on the Display

Error Probable Cause Corrective Actions
• Increase the set value for Pn522.
Machine vibration is occurring or the posi- • Change the mode from 2 to 3.
The gain adjustment
was not successfully
tioning completed signal (/COIN) is turning • If machine vibration occurs, suppress the
ON and OFF when the servomotor is vibration with the anti-resonance control
completed.
stopped. adjustment function and the vibration sup-
pression function.
The positioning complet-
ed signal
(/COIN) did not turn ON The positioning completed width is too nar- • Increase the set value for Pn522.
within approximately 10 row or proportional control (P control) is • Set 0 to V_PPI of the servo command
seconds after position- being used. output signals (SVCMD_IO).
ing adjustment was com-
pleted.

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 5 Adjustments

(3) Related Functions on Advanced Autotuning by Reference

This section describes functions related to advanced autotuning by reference.
- Notch Filter
Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.)
If this function is set to Auto Setting, vibration will be detected automatically during
advanced autotuning by reference, and the notch filter will be set.

Set this function to Not Auto Setting only if you do not change the notch filter setting
before executing advanced autotuning by reference.

Parameter Function When Enabled Classification

n.口口口0 Does not set the 1st notch filter automatically with
the utility function.
n.口口口1 Sets the 1st notch filter automatically with the utility
[Factory setting] function.
Pn460 Immediately Tuning
n.口0口口 Does not set the 2nd notch filter automatically with
the utility function.
n.口1口口 Sets the 2nd notch filter automatically with the utility
[Factory setting] function.

- Anti-Resonance Control Adjustment

This function reduces low vibration frequency, which the notch filter does not detect.

Usually, set this function to Auto Setting. (The anti-resonance control is factory-set to
Auto Setting.)
When this function is set to Auto Setting, vibration will be automatically detected during
advanced autotuning by reference and anti-resonance control will be automatically
adjusted and set.
Parameter Function When Enabled Classification
n.口口0口 Does not use the anti-resonance control automatically
with the utility function.
Pn160 Immediately Tuning
n.口口1口 Uses the anti-resonance control automatically with
[Factory setting] the utility function.

- Vibration Suppression
The vibration suppression function suppresses transitional vibration at frequency as low
as 1 to 100 Hz that is generated mainly when positioning if the machine stand vibrates.
Usually, set this function to Auto Setting. (The vibration suppression function is
factory-set to Auto Setting.) When this function is set to Auto Setting, vibration will be
automatically detected during advanced autotuning by reference and vibration
suppression will be automatically adjusted and set.
Set this function to Not Auto Setting only if you do not change the setting for vibration
suppression before executing advanced autotuning by reference.

Note: This function uses model following control. Therefore, the function can be executed only if
the mode is set to 2 or 3.

-Related Parameters
Parameter Function When Enabled Classification
n.口0口口 Does not use the vibration suppression function auto-
matically.
Pn140 Immediately Tuning
n.口1口口 Uses the vibration suppression function automati-
[Factory setting] cally.

5-38
 5 Adjustments

- Friction Compensation
This function compensates for changes in the following conditions.

- Changes in the viscous resistance of the lubricant, such as the grease, on the sliding
parts of the machine
- Changes in the friction resistance resulting from variations in the machine assembly
- Changes in the friction resistance due to aging

Conditions to which friction compensation is applicable depend on the mode. The

friction compensation set- ting in Pn408.3 applies when the mode is 1. Mode = 2 and
Mode = 3 are adjusted with the friction compensa- tion function regardless of the friction
compensation setting in P408.3.
Mode
Friction Mode = 1 Mode = 2 Mode = 3
Compensation
Selecting
n.0口口口
Adjusted without the friction
[Factory
compensation function Adjusted with the friction Adjusted with the friction
Pn408 setting]
compensation function compensation function
n.1口口口 Adjusted with the friction
compensation function

- Feedforward
If Pn140 is set to the factory setting and the mode setting is changed to 2 or 3, the
feedforward gain (Pn109), speed feedforward (VFF) input, and torque feedforward
(TFF) input will be disabled.

Set Pn140.3 to 1 if model following control is used together with the speed feedforward
(VFF) input and torque feedforward (TFF) input from the PC or PLC...etc.

Parameter Function When Enabled Classification

n.0口口口 Model following control is not used together with the
[Factory setting] speed/torque feedforward input.
Pn140 Immediately Tuning
n.1口口口 Model following control is used together with the
speed/torque feedforward input.

Refer to 8 MECHATROLINK-III Commands for details.

• Model following control is used to make optimum feedforward settings in the

DRIVER when model following control is used with the feedforward function.
Therefore, model following control is not normally used together with either the
speed feedfor- ward (VFF) input or torque feedforward (TFF) input from the PC or
PLC...etc.. However, model following control can be used with the speed
feedforward (VFF) input or torque feedforward (TFF) input if required. An
improper feedforward input may result in over- shooting.

5-39
 5 Adjustments

5.4.3 Related Parameters

The following table lists parameters related to this function and their possibility of being changed
while exe- cuting this function or of being changed automatically after executing this function.

- Parameters related to this function

These are parameters that are used or referenced when executing this function.

- Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.
No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

- Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.
No : Parameter set values are not automatically set or adjusted after execution of this
function.

Mid-execution Automatic
Parameter Name
changes changes
Pn100 Speed Loop Gain No Yes
Pn101 Speed Loop Integral Time Constant No Yes
Pn102 Position Loop Gain No Yes
Pn103 Moment of Inertia Ratio No No
Pn121 Friction Compensation Gain No Yes
Pn123 Friction Compensation Coefficient No Yes
Pn124 Friction Compensation Frequency Correction No No
Pn125 Friction Compensation Gain Correction No Yes
Pn401 Torque Reference Filter Time Constant No Yes
Pn408 Torque Related Function Switch Yes Yes
Pn409 1st Notch Filter Frequency No Yes
Pn40A 1st Notch Filter Q Value No Yes
Pn40C 2nd Notch Filter Frequency No Yes
Pn40D 2nd Notch Filter Q Value No Yes
Pn140 Model Following Control Related Switch Yes Yes
Pn141 Model Following Control Gain No Yes
Pn142 Model Following Control Gain Compensation No Yes
Pn143 Model Following Control Bias (Forward Direction) No Yes
Pn144 Model Following Control Bias (Reverse Direction) No Yes
Pn145 Vibration Suppression 1 Frequency A No Yes
Pn146 Vibration Suppression 1 Frequency B No Yes
Pn147 Model Following Control Speed Feedforward Compensation No Yes
Pn160 Anti-Resonance Control Related Switch Yes Yes
Pn161 Anti-Resonance Frequency No Yes
Pn163 Anti-Resonance Damping Gain No Yes

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 5 Adjustments

5.5 One-parameter Tuning (Fn203)

Adjustments with one-parameter tuning are described below.

5.5.1 One-parameter Tuning

One-parameter tuning is used to manually make tuning level adjustments during operation with a
position ref- erence or speed reference input from the PC or PLC...etc.

One-parameter tuning enables automatically setting related servo gain settings to balanced
conditions by adjusting one or two tuning levels.

One-parameter tuning performs the following adjustments.

• Gains (e.g., position loop gain and speed loop gain)

• Filters (torque reference filter and notch filter)
• Friction compensation
• Anti-resonance control

Refer to 5.5.4 Related Parameters for parameters used for adjustments.

Perform one-parameter tuning if satisfactory response characteristics is not obtained with

advanced autotun- ing or advanced autotuning by reference.

To fine-tune each servo gain after one-parameter tuning, refer to 5.8 Additional Adjustment
Function.

CAUTION
• Vibration or overshooting may occur during adjustment. To ensure safety, perform one-parameter
tuning in a state where the DRIVER can come to an emergency stop at any time.

(1) Preparation
Check the following settings before performing one-parameter tuning.
The message “NO-OP” indicating that the settings are not appropriate will be displayed, if all
of the following conditions are not met.

• The test without a motor function must be disabled (Pn00C.0 = 0).

• The write prohibited setting parameter (Fn010) must be set to Write permitted
(P.0000).
• The tuning-less function must be disabled (Pn170.0 = 0).
• The tuning mode must be set to 0 or 1 when performing speed control.

5-41
 5 Adjustments

5.5.2 One-parameter Tuning Procedure

The following procedure is used for one-parameter tuning.

There are the following two operation procedures depending on the tuning mode being used.

• When the tuning mode is set to 0 or 1, the model following control will be disabled and
one-parameter tun- ing will be used as the tuning method for applications other than
positioning.
• When the tuning mode is set to 2 or 3, the model following control will be enabled
and it can be used for tuning for positioning.

One-parameter tuning is performed from the SigmaWin+.

Make sure that the moment of inertia ratio (Pn103) is set correctly using advance autotuning before
beginning operation.

The following section provides the operating procedure from the SigmaWin+.

CAUTION
When using the MP2000 Series with phase control, select the tuning mode = 0 or 1.
If 2 or 3 is selected, phase control of the MP2000 Series may not be possible.

(1)SigmaWin+ Operating Procedure

In the SigmaWin+ Σ-V component main window, click Tuning and then click Tuning.
Click Advanced adjustment in the Tuning main window, and then click Custom tuning in the
Tuning box that will appear. The Custom Tuning - Mode selection box will appear.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering
Tool Sigma Win+ ONLINE MANUAL Σ-V Component 4.6.4 Custom Tuning.

- Setting the Tuning Mode 0 or 1

•Tuning Mode
Select the tuning mode. Select the tuning mode 0 or 1.
Tuning Mode = 0: Makes adjustments giving priority to stability.
Tuning Mode = 1: Makes adjustments giving priority to responsiveness.

•Type Selection
Select the type according to the machine element to be driven.
If there is noise or the gain does not increase, better results may be obtained by
changing the rigidity type.
Type = 1: For belt drive mechanisms (LEFB, LEJB)
Type = 2: For ball screw drive mechanisms [Factory setting] (LEY, LEFS, LEJS)

•Tuning Leb el
Change the tuning level.

Note: The higher the lebel, the greater the responsiveness will be. If the value is too
large, however, vibration will occur.

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 5 Adjustments

- Setting the Tuning Mode 2 or 3

•Tuning Mode
Select the tuning mode. Select the tuning mode 2 or 3.
Tuning Mode = 2: Enables model following control and makes adjustments for
positioning.
Tuning Mode = 3: Enables model following control, makes adjustments for positioning,
and suppresses over- shooting.

•Type Selection
Select the type according to the machine element to be driven.
If there is noise or the gain does not increase, better results may be obtained by
changing the rigidity type.
Type = 1: For belt drive mechanisms (LEFB, LEJB)
Type = 2: For ball screw drive mechanisms [Factory setting] (LEY, LEFS, LEJS)

•FF Lebel, FB Lebel

Change the FF level and FB level.

Note: The higher the FF lebel, the positioning time will be shorter and the response will
be better. If the level is too high, however, overshooting or vibration may occur.
Overshooting will be reduced if the FB level is increased.

(2) Related Functions on One-parameter Tuning

This section describes functions related to one-parameter tuning.
- Notch Filter
Usually, set this function to Auto Setting. (The notch filter is factory-set to Auto Setting.)
If this function is set to Auto Setting, vibration will be detected automatically during
one-parameter tuning and the notch filter will be set.

Set this function to Not Auto Setting only if you do not change the notch filter setting
before executing one- parameter tuning.

Parameter Function When Enabled Classification

n.口口口0 Does not set the 1st notch filter automatically with
the utility function.
n.口口口1 Sets the 1st notch filter automatically with the utility
[Factory setting] function.
Pn460 Immediately Tuning
n.口0口口 Does not set the 2nd notch filter automatically with
the utility function.
n.口1口口 Sets the 2nd notch filter automatically with the utility
[Factory setting] function.

- Anti-Resonance Control Adjustment

This function reduces low vibration frequency, which the notch filter does not detect.

Usually, set this function to Auto Setting. (The anti-resonance control is factory-set to
Auto Setting.)
When this function is set to Auto Setting, vibration will be automatically detected during
one-parameter tuning and anti-resonance control will be automatically adjusted and set.
Parameter Function When Enabled Classification
n.口口0口 Does not use the anti-resonance control automatically
with the utility function.
Pn160 Immediately Tuning
n.口口1口 Uses the anti-resonance control automatically with
[Factory setting] the utility function.

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 5 Adjustments

- Friction Compensation
This function compensates for changes in the following conditions.
• Changes in the viscous resistance of the lubricant, such as the grease, on the sliding
parts of the machine
• Changes in the friction resistance resulting from variations in the machine assembly
• Changes in the friction resistance due to aging
Conditions to which friction compensation is applicable depend on the tuning mode.
The friction compensa- tion setting in F408.3 applies when the mode is 0 or 1. Tuning
Mode = 2 and Tuning Mode = 3 are adjusted with the friction compensation function
regardless of the friction compensation setting in P408.3.

Mode
Friction Tuning Mode = 0 Tuning Mode = 1 Tuning Mode = 2 Tuning Mode = 3
Compensation
Selecting
n.0口口口 Adjusted without the Adjusted without the
[Factory friction compensation friction compensation
setting] function function Adjusted with the Adjusted with the
Pn408 friction compensation friction compensation
Adjusted with the Adjusted with the function function
n.1口口口 friction compensation friction compensation
function function

- Feedforward
If Pn140 is set to the factory setting and the tuning mode setting is changed to 2 or 3,
the feedforward gain (Pn109), speed feedforward (VFF) input, and torque feedforward
(TFF) input will be disabled.

Set Pn140.3 to 1 if model following control is used together with the speed feedforward
(VFF) input and torque feedforward (TFF) input from the PC or PLC...etc.
Parameter Function When Enabled Classification
n.0口口口
Model following control is not used together with the
[Factory
speed/torque feedforward input.
Pn140 setting] Immediately Tuning
n.1口口口 Model following control is used together with the
speed/torque feedforward input.

Refer to 8 MECHATROLINK-III Commands for details.

• Model following control is used to make optimum feedforward settings in the

DRIVER when model following control is used with the feedforward function.
Therefore, model following control is not normally used together with either
the speed feedfor- ward (VFF) input or torque feedforward (TFF) input from
the PC or PLC...etc. However, model following control can be used with the
speed feedforward (VFF) input or torque feedforward (TFF) input if required.
An improper feedforward input may result in over- shooting.

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 5 Adjustments

5.5.3 One-parameter Tuning Example

The following procedure is used for one-parameter tuning on the condition that the tuning mode is
set to 2 or 3. This mode is used to reduce positioning time.

Step Measuring Instrument Display Example Operation

Measure the positioning time after setting the moment of iner-

tia ratio (Pn103) correctly. Tuning will be completed if the
1
specifications are met here. The tuning results will be saved in
the DRIVER.

The positioning time will become shorter if the FF level is

increased. The tuning will be completed if the specifications
2 are met. The tuning results will be saved in the DRIVER. If
overshooting occurs before the specifications are met, go to
step 3.

Overshooting will be reduced if the FB level is increased. If the

3
overshooting is eliminated, go to step 4.

The graph shows overshooting generated with the FF level

increased after step 3. In this state, the overshooting occurs, but
the positioning settling time is shorter. The tuning will be com-
pleted if the specifications are met. The adjustment results are
saved in the DRIVER. If overshooting occurs before the
specifications are met, repeat steps 3 and 4.
4 If vibration occurs before the overshooting is eliminated, the
vibration will be suppressed by the automatic notch filter and
anti-resonance control.
Note: The vibration frequencies may not be detected if the
vibration is too small. If that occurs, forcibly detect the
vibration frequencies.
5 The adjustment results are saved in the DRIVER.

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 5 Adjustments

5.5.4 Related Parameters

The following table lists parameters related to this function and their possibility of being changed
while executing this function or of being changed automatically after executing this function.

- Parameters related to this function

These are parameters that are used or referenced when executing this function.

- Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.
No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

- Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.
No : Parameter set values are not automatically set or adjusted after execution of this
function.

Mid-execution Automatic
Parameter Name
changes changes
Pn100 Speed Loop Gain No Yes
Pn101 Speed Loop Integral Time Constant No Yes
Pn102 Position Loop Gain No Yes
Pn103 Moment of Inertia Ratio No No
Pn121 Friction Compensation Gain No Yes
Pn123 Friction Compensation Coefficient No Yes
Pn124 Friction Compensation Frequency Correction No No
Pn125 Friction Compensation Gain Correction No Yes
Pn401 Torque Reference Filter Time Constant No Yes
Pn408 Torque Related Function Switch Yes Yes
Pn409 1st Notch Filter Frequency No Yes
Pn40A 1st Notch Filter Q Value No Yes
Pn40C 2nd Notch Filter Frequency No Yes
Pn40D 2nd Notch Filter Q Value No Yes
Pn140 Model Following Control Related Switch Yes Yes
Pn141 Model Following Control Gain No Yes
Pn142 Model Following Control Gain Compensation No Yes
Pn143 Model Following Control Bias (Forward Direction) No Yes
Pn144 Model Following Control Bias (Reverse Direction) No Yes
Pn145 Vibration Suppression 1 Frequency A No No
Pn146 Vibration Suppression 1 Frequency B No No
Pn147 Model Following Control Speed Feedforward Compensation No Yes
Pn160 Anti-Resonance Control Related Switch Yes Yes
Pn161 Anti-Resonance Frequency No Yes
Pn163 Anti-Resonance Damping Gain No Yes

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5.6 Anti-Resonance Control Adjustment Function (Fn204)

This section describes the anti-resonance control adjustment function.

5.6.1 Anti-Resonance Control Adjustment Function

The anti-resonance control adjustment function increases the effectiveness of the vibration
suppression after one-parameter tuning. This function is effective in supporting anti-resonance
control adjustment if the vibra- tion frequencies are from 100 to 1000 Hz.

This function rarely needs to be used because it is automatically set by the advanced autotuning or
advanced autotuning by reference input. Use this function only if fine-tuning is required, or vibration
detection is failed and readjustment is required.

Perform one-parameter tuning (Fn203) or use another method to improve the response
characteristics after performing this function. If the anti-resonance gain is increased with
one-parameter tuning performed, vibra- tion may result again. If that occurs, perform this function
again to fine-tune the settings.

CAUTION
• If this function is executed, related parameters will be set automatically. Therefore, there will be a large
response change after this function is executed. Enable the function in a state where the machine can
come to an emergency stop at any time to ensure the safety operation of the machine.
• Be sure to set a suitable value for the moment of inertia ratio (Pn103) using advanced autotuning before
executing the anti-resonance control adjustment function. If the setting greatly differs from the actual
moment of inertia ratio, normal control of the machine may not be possible, and vibration may result.

• This function detects vibration between 100 and 1000 Hz. Vibration will not be
detected for frequencies outside of this range, and instead, "F----" will be displayed. If
that occurs, use one-parameter tuning with tuning mode 2 selected to automatically
set a notch filter or use the vibration suppression function (Fn205).
• Vibration can be reduced more effectively by increasing the anti-resonance damping
gain (Pn163). The amplitude of vibration may become larger if the damping gain is
excessively high. Increase the damping gain from about 0% to 200% in 10% incre-
ments while checking the effect of vibration reduction. If the effect of vibration reduc-
tion is still insufficient at a gain of 200%, cancel the setting, and lower the control gain
using a different method, such as one-parameter tuning.

(1) Before Performing Anti-Resonance Control Adjustment Function

Check the following settings before performing anti-resonance control adjustment function.
The message “NO-OP” indicating that the settings are not appropriate will be displayed, if all
of the following conditions are not met.

• The tuning-less function must be disabled (Pn170.0 = 0).

• The test without a motor function must be disabled (Pn00C.0 = 0).
• The control must not be set to torque control.
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000). 5

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 5 Adjustments

5.6.2 Anti-Resonance Control Adjustment Function Operating Procedure

With this function, an operation reference is sent, and the function is executed while vibration is
occurring.

Anti-resonance control adjustment function is performed from the SigmaWin+. The following
methods can be used for the anti-resonance control adjustment function.

- Using anti-resonance control for the first time

- With undetermined vibration frequency
- With determined vibration frequency
- For fine-tuning after adjusting the anti-resonance control

The following describes the operating procedure from the digital operator.

In the SigmaWin+ Σ-V component main window, click Tuning and then click Tuning.
In the Tuning main window, click Advanced adjustment, Custom tuning, and then Anti-resonance
control.
For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool
Sigma Win+ ONLINE MANUAL Σ-V Component 4.6.6 Anti-resonance Control Adjustment Function.

Note:
If vibration is not detected even when vibration is occurring, lower the vibration detection sensitivity
(Pn311). When this parameter is lowered, the detection sensitivity will be increased. Vibration may
not be detected accurately if too small value is set.

Increase the damping gain from about 0% to 200% in 10% increments while checking the effect of
vibration reduction. If vibration reduction is still insufficient at a gain of 200%, cancel the setting, and
lower the control gain by using a different method, such as one-parameter tuning.

5.6.3 Related Parameters

The following table lists parameters related to this function and their possibility of being changed
while executing this function or of being changed automatically after executing this function.

- Parameters related to this function

These are parameters that are used or referenced when executing this function.

- Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.
No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

- Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.
No : Parameter set values are not automatically set or adjusted after execution of this
function.

Mid-execution Automatic
Parameter Name
changes changes
Pn160 Anti-Resonance Control Related Switch Yes Yes
Pn161 Anti-Resonance Frequency No Yes
Pn162 Anti-Resonance Gain Compensation Yes No
Pn163 Anti-Resonance Damping Gain No Yes
Pn164 Anti-Resonance Filter Time Constant 1 Compensation Yes No
Pn165 Anti-Resonance Filter Time Constant 2 Compensation Yes No

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5.7 Vibration Suppression Function (Fn205)

The vibration suppression function is described in this section.

5.7.1 Vibration Suppression Function

The vibration suppression function suppresses transitional vibration at frequency as low as 1 to 100
Hz that is generated mainly when positioning if the machine stand vibrates.

This function is set automatically when advanced autotuning or advanced autotuning by reference is
executed. In most cases, this function is not necessary. Use this function only if fine-tuning is
required or readjustment is required as a result of a failure to detect vibration.

Perform one-parameter tuning (Fn203) if required to improve the response characteristics after
performing this function.

CAUTION
• If this function is executed, related parameters will be set automatically. Therefore, there will be a large
response change after this function is enabled or disabled. Enable the function in a state where the
machine can come to an emergency stop at any time to ensure the safety operation of the machine.
• Be sure to set a suitable value for the moment of inertia ratio (Pn103) using advanced autotuning
before executing the vibration suppression function. If the setting greatly differs from the actual moment
of inertia ratio, normal control of the DRIVER may not be possible, and vibration may result.
• Phase control of the MP2000 Series may not be possible, if the vibration suppression function is per-
formed when using the MP2000 Series with phase control.

• This function detects vibration frequency between 1 to 100 Hz. Vibration will not be
detected for frequencies outside of this range, and instead, "F-----" will be displayed.
• Frequency detection will not be performed if no vibration results from position error or
the vibration frequencies are outside the range of detectable frequencies. If so, use a
device, such as a displacement sensor or vibration sensor, to measure the vibration
frequency.
• If vibration frequencies automatically detected are not suppressed, the actual fre-
quency and the detected frequency may differ. Fine-tune the detected frequency if
necessary.

(1) Preparation
Check the following settings before performing the vibration suppression function.
The message “NO-OP” indicating that the settings are not appropriate will be displayed, if all
of the following conditions are not met.

• The control must be set to position control.

• The tuning-less function must be disabled (Pn170.0 = 0).
• The test without a motor function must be disabled (Pn00C.0 = 0).
• The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).

(2)Items Influencing Performance

If continuous vibration occurs when the servomotor is not rotating, the vibration suppression
function cannot be used to suppress the vibration effectively. If the result is not satisfactory,
perform anti-resonance control adjustment function (Fn204) or one-parameter tuning (Fn203).

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 5 Adjustments

(3) Detection of Vibration Frequencies

No frequency detection may be possible if the vibration does not appear as a position error or
the vibration resulting from the position error is too small.
The detection sensitivity can be adjusted by changing the setting for the remained vibration
detection width (Pn560) which is set as a percentage of the positioning completed width
(Pn522). Perform the detection of vibration frequencies again after adjusting the remained
vibration detection width (Pn560).

Remained Vibration Detection Width Position

Classification
Pn560 Setting Range Setting Unit Factory Setting When Enabled
1 to 3000 0.1% 400 Immediately Setup
Note: As a guideline, change the setting 10% at a time. The smaller the set value is, the higher
the detection sensitivity will be. If the value is too small, however, the vibration may not
be detected accurately.
The vibration frequencies that are automatically detected may vary somewhat with each
positioning operation. Perform positioning several times and make adjustments while
checking the effect of vibration suppression.

5.7.2 Vibration Suppression Function Operating Procedure

The following procedure is used for vibration suppression function.

Vibration suppression function is performed from the SigmaWin+. The operating procedure from the
SigmaWin+ is described here.

(1) Operating Procedure

In the SigmaWin+ Σ-V component main window, click Tuning and then click Tuning.
In the Tuning main window, click Custom tuning, and then Vibration suppression.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering
Tool Sigma Win+ ONLINE MANUAL Σ-V Component 4.6.7 Vibration Suppression Function.

Note:
Frequency detection will not be performed if there is no vibration or the vibration frequency is
outside the range of detectable frequencies. If the vibration frequencies are not detected,
prepare a means of detecting and measuring the vibration. When the vibration frequencies are
measured, manually set the measured vibration frequency.

No settings related to the vibration suppression function will be changed during opera-
tion.
If the servomotor does not stop approximately 10 seconds after the setting changes, a
timeout error will result and the previous setting will be automatically enabled again. The
vibration suppression function will be enabled in sets the displayed frequency. The motor
response, however, will change when the servomotor comes to a stop with no reference
input.

(2) Related Function on Vibration Suppression Function

This section describes functions related to vibration suppression function.
-Feedforward
The feedforward gain (Pn109), speed feedforward (VFF) input, and torque feedforward
(TFF) input will be disabled in the factory setting.

Set Pn140.3 to 1 if model following control is used together with the speed feedforward
(VFF) input and torque feedforward (TFF) input from the PC or PLC...etc.

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 5 Adjustments

Parameter Function When Enabled Classification

n.0口口口 Model following control is not used together with the
[Factory setting] speed/torque feedforward input.
Pn140 Immediately Tuning
n.1口口口 Model following control is used together with the
speed/torque feedforward input.

Refer to 8. MECHATROLINK-III Commands for details.

Model following control is used to make optimum feedforward settings in

the DRIVER when model following control is used with the feedforward
function. Therefore, model following control is not normally used together
with either the speed feedfor- ward (VFF) input or torque feedforward (TFF)
input from the PC or PLC...etc. However, model following control can be
used with the speed feedforward (VFF) input or torque feedforward (TFF)
input if required. An improper feedforward input may result in over-
shooting.

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 5 Adjustments

5.7.3 Related Parameters

The following table lists parameters related to this function and their possibility of being changed
while executing this function or of being changed automatically after executing this function.

- Parameters related to this function

These are parameters that are used or referenced when executing this function.

- Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.
No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

- Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.
No : Parameter set values are not automatically set or adjusted after execution of this
function.

Mid-execution Automatic
Parameter Name
changes changes
Pn140 Model Following Control Related Switch Yes Yes
Pn141 Model Following Control Gain No Yes
Pn142 Model Following Control Gain Compensation No No
Pn143 Model Following Control Bias (Forward Direction) No No
Pn144 Model Following Control Bias (Reverse Direction) No No
Pn145 Vibration Suppression 1 Frequency A No Yes
Pn146 Vibration Suppression 1 Frequency B No Yes
Model Following Control Speed Feedforward Compen-
Pn147 No No
sation
Pn14A Vibration Suppression 2 Frequency No No
Pn14B Vibration Suppression 2 Compensation No No

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 5 Adjustments

5.8 Additional Adjustment Function

This section describes the functions that can be used for additional fine tuning after making adjustments
with advanced autotuning, advanced autotuning by reference, or one-parameter tuning.

- Switching gain settings

- Friction compensation
- Current control mode selection
- Current gain level setting
- Speed detection method selection

5.8.1 Switching Gain Settings

Two gain switching functions are available, manual switching and automatic switching. The manual
switching function uses an external input signal to switch gains, and the automatic switching
function switches gains automatically.

By using the gain switching function, the positioning time can be shortened by increasing the gain
during positioning and vibration can be suppressed by decreasing the gain while it is stopped.

Parameter Function When Enabled Classification

n.口口口0
Manual gain switching
Pn139 [Factory setting] Immediately Tuning
n.口口口2 Automatic gain switching
Note: n.口口口1 is reserved. Do not use.

For the gain combinations for switching, refer to (1) Gain Combinations for Switching. For the
manual gain switching, refer to (2) Manual Gain Switching.
For the automatic gain switching, refer to (3) Automatic Gain Switching.

(1) Gain Combinations for Switching

Model Follow-
Speed Loop Model Follow- Friction Com-
Speed Loop Position Loop Torque Refer- ing Control
Setting Integral Time ing Control pensation
Gain Gain ence Filter Gain Compen-
Constant Gain Gain
sation
Pn142*
Pn100
Pn101
Pn102
Pn401 Pn141* Pn121
Gain Speed Loop Torque Refer- Model Follow-
Speed Loop Position Loop Model Follow- Friction Com-
Setting 1 Integral Time ence Filter Time ing Control
Gain Gain ing Control pensation Gain
Constant Constant Gain Compen-
Gain
sation
Pn412 Pn149*
Pn104
Pn105
Pn106 1st Step 2nd Pn148* Pn122
Gain 2nd Speed Loop 2nd Model Fol- 2nd Gain for
2nd Speed Loop 2nd Position Torque Refer- 2nd Model Fol-
Setting 2 Integral Time lowing Control Friction
Gain Loop Gain ence Filter Time lowing Control
Constant Gain Compen- Compensation
Constant Gain
sation

∗ The switching gain settings for the model following control gain and the model following
control gain compensation are available only for manual gain switching. To enable the gain
switching of these parameters, a gain switching input signal must be sent, and the following
conditions must be met.
- No command being executed.
- Motor having been completely stopped.
If these conditions are not satisfied, the applicable parameters will not be switched although
the other parameters shown in this table will be switched.

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 5 Adjustments

(2) Manual Gain Switching

Manual gain switching uses G-SEL of the servo command output signals (SVCMD_IO) to
switch between gain setting 1 and gain setting 2.

Type Command Name Setting Meaning

G-SEL of the servo 0 Switches to gain setting 1.
Input command output signals
1 Switches to gain setting 2.
(SVCMD_IO)

(3) Automatic Gain Switching

Automatic gain switching is enabled only in position control. The switching conditions are
specified using the following settings.

Switching Wait
Parameter Setting Switching Condition Setting Switching Time
Time
Condition A satisfied. Gain setting 1 to Pn135 Pn131
gain setting 2 Gain Switching Gain Switching
Waiting Time 1 Time 1
Pn139 n.口口口2
Condition A not satis- Gain setting 2 to Pn136 Pn132
fied. gain setting 1 Gain Switching Gain Switching
Waiting Time 2 Time 2
Select one of the following settings for switching condition A.

For Other than Posi-

Switching Condition A When
Parameter tion Control (No Classification
for Position Control Enabled
Switching)
n.口口0口 Positioning completed
Fixed in gain setting 1
[Factory setting] signal (/COIN) ON
n.口口1口 Positioning completed
Fixed in gain setting 2
signal (/COIN) OFF
n.口口2口 Positioning near signal
Fixed in gain setting 1
(/NEAR) ON
Pn139 Positioning near signal Immediately Tuning
n.口口3口 Fixed in gain setting 2
(/NEAR) OFF
No output for position
n.口口4口 reference filter and posi- Fixed in gain setting 1
tion reference input OFF
n.口口5口 Position reference input
Fixed in gain setting 2
ON

Automatic switching pattern 1 (Pn139.0 = 2)

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 5 Adjustments

- Relationship between the Waiting and Switching Times for Gain Switching
In this example, the "positioning completed signal (/COIN) ON" condition is set as
condition A for automatic gain switching. The position loop gain is switched from the
value in Pn102 (position loop gain) to the value in Pn106 (2nd position loop gain). When
the /COIN signal goes ON, the switching operation begins after the waiting time set in
Pn135. The switching operation changes the position loop gain linearly from Pn102 to
Pn106 within the switching time set in Pn131.

Note: Automatic gain switching is available in the PI and I-P controls (Pn10B).

(4) Related Parameters

Speed Loop Gain Speed Position
Classification
Pn100 Setting Range Setting Unit Factory Setting When Enabled
10 to 20000 0.1 Hz 400 Immediately Tuning

Speed Loop Integral Time Constant Speed Position

Classification
Pn101 Setting Range Setting Unit Factory Setting When Enabled
15 to 51200 0.01 ms 2000 Immediately Tuning

Position Loop Gain Position

Classification
Pn102 Setting Range Setting Unit Factory Setting When Enabled
10 to 20000 0.1/s 400 Immediately Tuning

Torque Reference Filter Time Constant Speed Position Torque

Classification
Pn401 Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 0.01 ms 100 Immediately Tuning

Model Following Control Gain Position

Classification
Pn141 Setting Range Setting Unit Factory Setting When Enabled
10 to 20000 0.1/s 500 Immediately Tuning

Model Following Control Gain Compensation Position

Classification
Pn142 Setting Range Setting Unit Factory Setting When Enabled
500 to 2000 0.1% 1000 Immediately Tuning
Friction Compensation Gain Speed Position
Classification
Pn121 Setting Range Setting Unit Factory Setting When Enabled
10 to 1000 1% 100 Immediately Tuning

2nd Speed Loop Gain Speed Position

Classification
Pn104 Setting Range Setting Unit Factory Setting When Enabled
10 to 20000 0.1 Hz 400 Immediately Tuning

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 5 Adjustments

(cont’d)
2nd Speed Loop Integral Time Constant Speed Position
Classification
Pn105 Setting Range Setting Unit Factory Setting When Enabled
15 to 51200 0.01 ms 2000 Immediately Tuning

2nd Position Loop Gain Position

Classification
Pn106 Setting Range Setting Unit Factory Setting When Enabled
10 to 20000 0.1/s 400 Immediately Tuning
1st Step 2nd Torque Reference Filter Time Speed Position Torque
Constant Classification
Pn412
Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 0.01 ms 100 Immediately Tuning

2nd Model Following Control Gain Position

Classification
Pn148 Setting Range Setting Unit Factory Setting When Enabled
10 to 20000 0.1/s 500 Immediately Tuning

2nd Model Following Control Gain Compensation Position

Classification
Pn149 Setting Range Setting Unit Factory Setting When Enabled
500 to 2000 0.1% 1000 Immediately Tuning
2nd Gain for Friction Compensation Speed Position
Classification
Pn122 Setting Range Setting Unit Factory Setting When Enabled
10 to 1000 1% 100 Immediately Tuning

(5) Parameters for Automatic Gain Switching

Gain Switching Time 1 Position

Classification
Pn131 Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 1 ms 0 Immediately Tuning

Gain Switching Time 2 Position

Classification
Pn132 Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 1 ms 0 Immediately Tuning

Gain Switching Waiting Time 1 Position

Classification
Pn135 Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 1 ms 0 Immediately Tuning

Gain Switching Waiting Time 2 Position

Classification
Pn136 Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 1 ms 0 Immediately Tuning

5-56
 5 Adjustments

(6) Related Monitor

Monitor No. (Un) Name Value Remarks
1 For gain setting 1
Un014 Effective gain monitor
2 For gain setting 2
Note: When using the tuning-less function, gain setting 1 is enabled.
Analog Moni-
Parameter No. Name Output Value Remarks
tor
Pn006 Effective gain moni- 1V Gain setting 1 is enabled.
n.口口0B
Pn007 tor 2V Gain setting 2 is enabled.

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 5 Adjustments

5.8.2 Manual Adjustment of Friction Compensation

Friction compensation rectifies the viscous friction change and regular load change.

The friction compensation function can be automatically adjusted with advanced autotuning
(Fn201), advanced autotuning by reference input (Fn202), or one-parameter tuning (Fn203). This
section describes the steps to follow if manual adjustment is required.

(1) Required Parameter Settings

The following parameter settings are required to use friction compensation.

Parameter Function When Enabled Classification

n.0口口口
Does not use friction compensation.
Pn408 [Factory setting] Immediately Setup
n.1口口口 Uses friction compensation.

Friction Compensation Gain Speed Position

Classification
Pn121 Setting Range Setting Unit Factory Setting When Enabled
10 to 1000 1% 100 Immediately Tuning
Friction Compensation Coefficient Speed Position
Classification
Pn123 Setting Range Setting Unit Factory Setting When Enabled
0 to 100 1% 0 Immediately Tuning
Friction Compensation Frequency Correction Speed Position
Classification
Pn124 Setting Range Setting Unit Factory Setting When Enabled
-10000 to 10000 0.1 Hz 0 Immediately Tuning
Friction Compensation Gain Correction Speed Position
Classification
Pn125 Setting Range Setting Unit Factory Setting When Enabled
1 to 1000 1% 100 Immediately Tuning

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 5 Adjustments

(2) Operating Procedure for Friction Compensation

The following procedure is used for friction compensation.

CAUTION
Before using friction compensation, set the moment of inertia ratio (Pn103) as accurately as
possible. If the wrong moment of inertia ratio is set, vibration may result.

Step Operation
Set the following parameters for friction compensation to the factory setting as follows.
Friction compensation gain (Pn121): 100
Friction compensation coefficient (Pn123): 0
1 Friction compensation frequency correction (Pn124): 0
Friction compensation gain correction (Pn125): 100
Note: Always use the factory-set values for friction compensation frequency correction (Pn124) and
friction compensation gain correction (Pn125).
To check the effect of friction compensation, gradually increase the friction compensation coefficient (Pn123).
Note: Usually, set the friction compensation coefficient value to 95% or less. If the effect is insufficient,
increase the friction compensation gain (Pn121) by 10% increments until it stops vibrating.

Effect of Parameters for Adjustment

Pn121: Friction Compensation Gain
2 This parameter sets the responsiveness for external disturbance. The higher the set value is, the better the
responsiveness will be. If the equipment has a resonance frequency, however, vibration may result if the set
value is excessively high.
Pn123: Friction Compensation Coefficient
This parameter sets the effect of friction compensation. The higher the set value is, the more effective friction
compensation will be. If the set value is excessively high, however, the vibration will occur easily. Usually,
set the value to 95% or less.
Effect of Adjustment
The following graph shows the responsiveness with and without proper adjustment.

Insufficient responsiveness Responsiveness

because of friction i៺
s i៺
mp가
ro㧘
ve?d ៺
byዊ
friction
Small friction compensation.
Posit៺ ៺
io៺ rr??or
n e៺ Posit៺ ៺ rr??or
n e៺
io៺
3
៺
La៺
rg가
e friction

Refere៺
nc៺
e៺sp៺
ee៺
dㅦᐲ Refere៺
nc៺
e៺sp៺
ee៺
dㅦᐲ

Without friction compensation With friction compensation

5-59
 5 Adjustments

5.8.3 Current Control Mode Selection Function

This function reduces high-frequency noises while the servomotor is being stopped. This function is
enabled by default and set to be effective under different application conditions. Set Pn009.1 = 1 to
use this function.

*This function can not be used with LECYU2-V□.

Parameter Meaning When Enabled Classification

n. 口口0口 Selects the current control mode 1.
Pn009 n. 口口1口 After restart Tuning
Selects the current control mode 2 (low noise).
[Factory setting]

5.8.4 Current Gain Level Setting

This function reduces noises by adjusting the parameter value for current control inside the
DRIVER according to the speed loop gain (Pn100). The noise level can be reduced by reducing the
current gain level (Pn13D) from its factory setting of 2000% (disabled). If the set value of Pn13D is
decreased, the level of noise will be lowered, but the response characteristics of the DRIVER will
also be degraded. Adjust the current gain level within the allowable range at which DRIVER
response characteristics can be secured.

Current Gain Level Speed Position

Classification
Pn13D Setting Range Setting Unit Factory Setting When Enabled
100 to 2000 1% 2000 Immediately Tuning

• If the parameter setting of the current gain level is changed, the

responses character- istics of the speed loop will also change. The
DRIVER must, therefore, be read- justed again.

5.8.5 Speed Detection Method Selection

This function can ensure smooth movement of the servomotor while the servomotor is running. Set
the value of Pn009.2 to 1 and select speed detection 2 to smooth the movement of the servomotor
while the servomotor is running.

Parameter Meaning When Enabled Classification

n. 口0口口
Selects speed detection 1.
Pn009 [Factory setting] After restart Tuning
n. 口1口口 Selects speed detection 2.

• If the speed detection method is changed, the response

characteristics of the speed loop will change and the
DRIVER must be readjusted again.

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 5 Adjustments

5.8.6 Backlash Compensation Function

(1) Overview
When driving a machine with backlash, there will be a deviation between the travel distance in
the position reference that is managed by the PC or PLC...etc. and the travel distance of the
actual machine. Use backlash compensation function to add the backlash compensation
value to the position reference and use the result to drive the servomotor. This means that the
travel distance of the actual machine will be the same as the travel distance in the PC or
PLC...etc.

Note 1. This function is supported only for position control.

2. Software version 0023 or higher is required to use this function. For details, refer to
6.13 P r o d u c t I n f o r m a t i o n Display.

(2) Related Parameter

Set the following parameter to use backlash compensation.
- Backlash Compensation Direction
Set the direction in which to apply backlash compensation.

Parameter Function When Enabled Classification

n. 口口口0
Compensates with a reference in the forward direc-
[Factory
tion.
Pn230 setting] After restart Setup
n. 口口口1 Compensates with a reference in the reverse direc-
tion.

- Backlash Compensation Value

Set the amount of backlash compensation to add to the position reference.
The amount is set in increments of 0.1 reference unit. However, when the amount is
converted to encoder pulses, it is rounded off at the decimal point.

Example: If Pn231 is set to 6,553.6 [reference unit] and the electronic gear ratio
(Pn20E/Pn210) is set to 4/1, then the pulse equivalent is 6,553.6 × 4 = 26,214.4 [pulses].
⇒The backlash compensation value will be 26,214 encoder pulses.

Backlash compensation value Position

Classification
Pn231 Setting Range Setting Unit Factory Setting When Enabled
0.1 reference
-500000 to 500000 0 Immediately Setup
unit

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 5 Adjustments

• The backlash compensation value is restricted by the following formula. The specified compensation
is not performed if this condition is not met.

∗ For details on encoder resolution, refer to 8.3.5 Electronic Gear.

Example 1:
Assuming Pn20E = 4, Pn210 = 1, maximum motor speed = 6000
[min-1], encoder resolution = 1048576 (20 bits):
1/4 × 6000/60 × 1048576 × 0.00025 = 6553.6 [reference units]
⇒The upper limit for the backlash compensation is 6553.6 [reference units].

Example 2:
When using the conditions Pn20E = 4, Pn210 = 1, maximum motor speed = 6000 [min-1],
external encoder pitch count (Pn20A) = 500, signal resolution: 1/256:
1/4 × 6000/60 × (500 × 256) × 0.00025 = 800.0 [reference units]
⇒ The upper limit for the backlash compensation is 800.0 [reference units].

• Do not exceed the upper limit of the backlash compensation value. The upper limit of
the backlash compensation value can be confirmed in Un031.

- Backlash Compensation Time Constant

Set a time constant for a first order lag filter to use when adding the backlash
compensation value (Pn231) to the position reference.
If you set Pn233 to 0, the first order lag filter is disabled.

Backlash compensation time constant Position

Classification
Pn233 Setting Range Setting Unit Factory Setting When Enabled
0 to 65535 0.01 ms 0 Immediately Setup
Note: Changes to the set value are applied when there is no position reference input and
the servomotor is stopped. The current operation is not affected if the set value is
changed during servomotor operation.

(3) Related Monitor

The following monitoring parameters provide information on backlash compensation.
Displayed Information Unit
The current backlash compensation value 0.1 reference unit
Backlash compensation setting limit value 0.1 reference unit

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 5 Adjustments

(4) Compensation Operation

This section describes the operation that is performed for backlash compensation.

Note: The following figures are for when backlash compensation is applied for references in
the forward direction (Pn230.0 = 0). The following monitoring information is provided in
the figures: TPOS (target position in the reference coordinate system), POS (reference
position in the reference coordinate system), and APOS (feedback position in the
machine coordinate system). The monitoring information includes the feedback
position in machine coordinate system (APOS) and other feedback information. The
backlash compensation value is subtracted from the feed- back positions in the
monitoring information, so it is not necessary for the PC or PLC...etc. to consider the
backlash compensation value.

CAUTION
• The encoder output pulse will output the number of encoder pulses for which driving was
actually per- formed, including the backlash compensation value. If using the encoder output
pulse for position feed- back at the PC or PLC...etc., must consider the backlash
compensation value.

- When Servo is ON
The backlash compensation value (Pn231) is added in the compensation direction
when the servo is ON (i.e., the servomotor is powered) and a reference is input in the
same direction as the backlash compensation direc- tion (Pn230.0). If there is a
reference input in the direction opposite to the backlash compensation direction, the
backlash compensation value is not added (i.e., backlash compensation is not
performed).

The relationship between APOS and the servomotor shaft position is as follows:

If a reference is input in the compensation direction: APOS = Motor shaft position -

Pn231
If a reference is input in the direction opposite to the compensation direction: APOS =
Motor shaft position

The following figure shows driving the servomotor in the forward direction from target
position TPOS0 to TPOS1 and then to TPOS2, and then returning from TPOS2 to
TPOS1 and then to TPOS0.

Backlash compensation is applied when moving from TPOS0 to TPOS1, but not when
moving from TPOS2 to TPOS1.

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- When Servo is OFF

Backlash compensation is not applied when the servo is OFF (i.e., when the servomotor
is not powered). Therefore, the reference position POS moves by only the backlash
compensation value.

The relationship between APOS and the servomotor shaft position is as follows:

- When servo is OFF: APOS = Servomotor shaft position

The following figure shows what happens when the servo is turned OFF after driving the
servomotor in the forward direction from target position TPOS0 to TPOS1. Backlash
compensation is not applied when the servo is OFF (i.e., the DRIVER manages the
position data so that APOS and POS are the same).

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 5 Adjustments

- When There is Overtravel

When there is overtravel (i.e., when driving is prohibited due to an overtravel signal or
software limit), the operation is the same as for •When Servo is OFF, i.e., backlash
compensation is not applied.
- When Control is Changed
Backlash compensation is performed only for position control.
Backlash compensation is not applied if changing from position control to any other type
of control. Backlash compensation is applied in the same way as • When Servo is ON
if changing from any other type of control to position control.

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(5) Monitor Functions (Un Monitoring)

Displayed Information Unit Specification

Indicates the input reference speed before backlash
Input reference speed min-1 compensation.
Displays the position error with respect to the position
Position error amount Reference unit
reference after backlash compensation.
Displays the input reference counter before backlash
Input reference counter Reference unit
compensation.
Displays the pulse count of the actually driven motor
Feedback pulse counter Encoder pulse
encoder.
Fully-closed feedback External encoder Displays the pulse count of the actually driven external
pulse counter resolution encoder.
Displays the pulse count of the actually driven encoder
Feedback pulse counter Reference unit
in reference units.

(6) MECHATROLINK Monitor Information

This section describes the information that is set for the MECHATROLINK monitoring
information (Monitor 1, Monitor 2, Monitor 3, and Monitor 4) and the backlash compensation
operation.

Monitor
Designation Meaning Unit Remarks
Code
Reference position in the reference
Reference
0 POS coordinate system (after the position –
unit
reference filter)
Reference
1 MPOS Reference position –
unit
Reference
2 PERR Position error –
unit
Feedback position in the machine Reference Feedback position with the backlash
3 APOS
coordinate system unit compensation subtracted
Feedback latch position in the Reference Feedback position with the backlash
4 LPOS
machine coordinate system unit compensation subtracted
Reference position in the reference
Reference
5 IPOS coordinate system (before the position –
unit
reference filter)
Target position in the reference coor- Reference
6 TPOS –
dinate system unit
Option monitor 1
E OMN1 – –
(selected with Pn824)
Option monitor 2
F OMN2 – –
(selected with Pn825)

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 5 Adjustments

Parameters Monitor Information Output Unit Remarks

Reference
0003H Position error (lower 32 bits) –
unit
Reference
0004H Position error (upper 32 bits) –
unit
Reference
000AH Encoder count (lower 32 bits)
unit Count value of the actually driven
Reference motor encoder
000BH Encoder count (upper 32 bits)
unit
Reference
000CH FPG count (lower 32 bits)
unit Count value of the actually driven
Reference external encoder
000DH FPG count (upper 32 bits)
Pn824 unit
Pn825 0017H Input reference speed min-1 Same as monitor display Un007
Reference
0018H Position error amount Same as monitor display Un008
unit
Reference
001CH Input reference counter Same as monitor display Un00C
unit
Encoder
001DH Feedback pulse counter Same as monitor display Un00D
pulse
External
Fully-closed feedback pulse counter
001EH encoder Same as monitor display Un00E
resolution
Previous value of latched feedback Encoder Feedback position with the backlash
0080H
position (LPOS) pulse compensation subtracted
- Related Monitoring Diagrams

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5.8.7 Torque Reference Filter

As shown in the following diagram, the torque reference filter contains first order lag filter and notch
filters arrayed in series, and each filter operates independently. The notch filters can be enabled and
disabled with the Pn408.

(1)Torque Reference Filter

If you suspect that machine vibration is being caused by the servo drive, try adjusting the
filter time constants with Pn401. This may stop the vibration. The lower the value, the better
the response will be, but there may be a limit that depends on the machine conditions.

- Torque Reference Filter Time Constant Speed Position Torque

Classification
Pn401 Setting Range Setting Unit Factory Setting When Enabled
T
T 0 to 65535 0.01 ms 100 Immediately Tuning
o
- Trque Reference Filter Setting Guide
Use the speed loop gain (Pn100 [Hz]) and the torque filter time constant (Pn401 [ms])
to set the torque refer- ence filter.

Adjusted value for stable control: Pn401 [ms] ≤ 1000/ (2π × Pn100 [Hz] × 4) Critical gains:
Pn401 [ms] < 1000/ (2π × Pn100 [Hz] × 1)

2nd Step 2nd Torque Reference Filter

Speed Position Torque
Frequency Classification
Pn40F
Setting Range Setting Unit Factory Setting When Enabled
100 to 5000 1 Hz 5000* Immediately Tuning
2nd Step 2nd Torque Reference Filter
Speed Position Torque
Q Value Classification
Pn410
Setting Range Setting Unit Factory Setting When Enabled
50 to 100 0.01 50 Immediately Tuning

∗ The filter is disabled if 5000 is set.

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6. Utility Functions (Fn□□□) ...................................................................................................... 2
6.1 List of Utility Functions .................................................................................................... 2
6.2 Alarm History Display (Fn000) ......................................................................................... 3
6.3 JOG Operation (Fn002) ..................................................................................................... 4
6.4 Origin Search (Fn003) ....................................................................................................... 5
6.5 Program JOG Operation (Fn004) ...................................................................................... 6
6.6 Initializing Parameter Settings (Fn005) ........................................................................... 10
6.7 Clearing Alarm History (Fn006) ..................................................................................... 11
6.8 Offset Adjustment of Analog Monitor Output (Fn00C) .................................................. 12
6.9 Gain Adjustment of Analog Monitor Output (Fn00D) .................................................... 14
6.10 Automatic Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00E) . 16
6.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F) ...... 17
6.12 Write Prohibited Setting (Fn010) .................................................................................. 18
6.13 Product Information Display (Fn011) ............................................................................ 20
6.14 Resetting Configuration Errors in Option Modules (Fn014) ......................................... 21
6.15 Vibration Detection Level Initialization (Fn01B) .......................................................... 22
6.16 Origin Setting (Fn020) .................................................................................................. 24
6.17 Software Reset (Fn030) ................................................................................................. 25
6.18 EasyFFT (Fn206) .......................................................................................................... 26
6.19 Online Vibration Monitor (Fn207) ................................................................................ 28

6-1
 6 Utility Functions (Fn口口口)

6. Utility Functions (Fn□□□)

6.1 List of Utility Functions

Utility functions are used to execute the functions related to servomotor operation and adjustment.
The following table lists the utility functions and reference section.

Function Reference
Function Section
No.
Fn000 Alarm history display 6.2
Fn002 JOG operation 6.3
Fn003 Origin search 6.4
Fn004 Program JOG operation 6.5
Fn005 Initializing parameter settings 6.6
Fn006 Clearing alarm history 6.7
Fn008 Absolute encoder multiturn reset and encoder alarm reset 4.7.4
Fn00C Offset adjustment of analog monitor output 6.8
Fn00D Gain adjustment of analog monitor output 6.9
Fn00E Automatic offset-signal adjustment of the motor current detection signal 6.10
Fn00F Manual offset-signal adjustment of the motor current detection signal 6.11
Fn010 Write prohibited setting 6.12
Fn011 Product Information display 6.13
Fn013 Multiturn limit value setting change when a multiturn limit disagreement alarm occurs 4.7.6
Fn014 Resetting configuration error in option modules 6.14
Fn01B Vibration detection level initialization 6.15
Fn020 Origin setting 6.16
Fn030 Software reset 6.17
Fn200 Tuning-less levels setting 5.2.2
Fn201 Advanced autotuning 5.3.2
Fn202 Advanced autotuning by reference 5.4.2
Fn203 One-parameter tuning 5.5.2
Fn204 Anti-resonance control adjustment function 5.6.2
Fn205 Vibration suppression function 5.7.2
Fn206 EasyFFT 6.18
Fn207 Online vibration monitor 6.19

Note: Execute the utility function with SigmaWin+.

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 6 Utility Functions (Fn口口口)

6.2 Alarm History Display (Fn000)

This function displays the last ten alarms that have occurred in the DRIVER. The latest ten alarm numbers and
time stamps* can be checked.

∗ Time Stamps
A function that measures the ON times of the control power supply and main circuit power supply in 100-ms units
and displays the total operating time when an alarm occurs. The time stamp operates around the clock for
approximately 13 years.

<Example of Time Stamps>

If 36000 is displayed,
3600000 [ms] = 3600 [s] = 60 [min] = 1 [h]
Therefore, the total number of operating hours is 1 hour.

(1) Preparation
There are no tasks that must be performed before displaying the alarm history.

(2) Operating Procedure

In the SigmaWin+ Σ-V component main window, click Alarm and then click Display Alarm.
Click Alarm Traceback tab page, and are shown in order of occurrence with alarm codes and details about
the type of alarm, such as name.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool Sigma
Win+ ONLINE MANUAL Σ-V Component 4.2 Alarm Display.

Note:
・ If the same alarm occurs after more than one hour, the alarm will be saved. If it occurs in less than one
hour, it will not be saved.
・ Click Clear to delete or clear the alarm history. The alarm history is not cleared on alarm reset or
when the DRIVER main circuit power is turned OFF.

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 6 Utility Functions (Fn口口口)

6.3 JOG Operation (Fn002)

JOG operation is used to check the operation of the servomotor under speed control without connecting the
DRIVER to the host controller.

CAUTION
While the DRIVER is in JOG operation, the overtravel function will be disabled. Consider the operating
range of the machine when performing JOG operation for the DRIVER.

(1) Preparation
The following conditions must be met to perform a jog operation.

The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
The main circuit power supply must be ON.
All alarms must be cleared.
The hardwire baseblock (HWBB) must be disabled.
The servomotor power must be OFF.
The JOG speed must be set considering the operating range of the machine. Set the jog speed in Pn304.

Jog Speed Speed Position Torque

Classification
Pn304 Setting Range Setting Unit Factory Setting When Enabled
0 to 10000 1 min-1* 500 Immediately Setup

(2) Operating Procedure

Use the following procedure. The following example is given when the rotating direction of servomotor is set as
Pn000.0=0 (Forward rotation by forward reference).

1. In the SigmaWin+ Σ-V component main window, click Test Run, and then click Jog.
2. Set up the JOG speed. To change the JOG speed, click Edit.
3. Click Servo ON.
4. Press Forward or Reverse. A JOG operation is performed only while one of these buttons is pressed.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool Sigma Win+
ONLINE MANUAL Σ-V Component 4.7.1 JOG Operation.

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 6 Utility Functions (Fn口口口)

6.4 Origin Search (Fn003)

The origin search is designed to position the origin pulse position of the incremental encoder (phase Z) and to clamp at the
position.

CAUTION
Perform origin searches without connecting the coupling.
The forward run prohibited (P-OT) and reverse run prohibited (N-OT) signals are not effective in origin
search mode.

This function is used when the motor shaft needs to be aligned to the machine.
Motor speed at the time of execution: 60 min-1
(For SGMCS direct drive motors, the speed at the time of execution is 6 min-1.)
Servomotor Machine

For aligning the motor

shaft to the machine

(1) Preparation
The following conditions must be met to perform the origin search.

The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
The main circuit power supply must be ON.
All alarms must be cleared.
The hardwire baseblock (HWBB) must be disabled.
The servomotor power must be OFF.

(2) Operating Procedure

Use the following procedure.

1. In the SigmaWin+ Σ-V component main window, click Setup, and then click Search Origin.
2. Click Servo ON.
3. Press Forward or Reverse. The search is performed while one of these buttons is pressed. The axis stops
when the search is complete.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool Sigma
Win+ ONLINE MANUAL Σ-V Component 4.4.4 Origin Search.

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 6 Utility Functions (Fn口口口)

6.5 Program JOG Operation (Fn004)

The program JOG operation is a utility function, that allows continuous operation determined by the preset
operation pattern, movement distance, movement speed, acceleration/deceleration time, waiting time, and number
of times of movement.
This function can be used to move the servomotor without it having to be connected to a host controller for the
machine as a trial operation in JOG operation mode. Program JOG operation can be used to confirm the operation
and for simple positioning operations.

(1) Preparation
The following conditions must be met to perform the program JOG operation.

The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
The main circuit power supply must be ON.
All alarms must be cleared.
The hardwire baseblock (HWBB) must be disabled.
The servomotor power must be OFF.
The travel distance and speed must be set correctly considering the machine operation range and safe operation
speed.
There must be no overtravel.

(2) Additional Information

The functions that are applicable for position control, such as position reference filter, can be used.
The overtravel function is enabled in this function.

(3) Program JOG Operation Patterns

The following describes an example of program JOG operation pattern. The following example is given
when the rotating direction of the servomotor is set as Pn000.0 = 0 (Forward rotation by forward reference).

Note: When Pn536 (number of times of program JOG movement) is set to 0, infinite time operation is
enabled.

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 6 Utility Functions (Fn口口口)

Note: When Pn536 (Number of Times of Program JOG Movement) is set to 0, infinite time operation is
enabled.

Note: When Pn530.0 is set to 2, infinite time operation is disabled.

Note: When Pn530.0 is set to 3, infinite time operation is disabled.

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 6 Utility Functions (Fn口口口)

Note: When Pn536 (number of times of program JOG movement) is set to 0, infinite time operation is
enabled.

Note: When Pn536 (number of times of program JOG movement) is set to 0, infinite time operation is
enabled.

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 6 Utility Functions (Fn口口口)

(4) Related Parameters

The following parameters set the program JOG operation pattern. Operation pattern can change
setting at Running Condition Setting box of program JOG operation.
Do not change the settings while the program JOG operation is being executed.

Program JOG Operation Related Switch Speed Position Torque

Classification
Pn530 Setting Range Setting Unit Factory Setting When Enabled
0000 to 0005 − 0000 Immediately Setup

Program JOG Movement Distance Speed Position Torque

Classification
Pn531 Setting Range Setting Unit Factory Setting When Enabled
1 to 1073741824 1 reference unit 32768 Immediately Setup

Program JOG Movement Speed Speed Position Torque

Classification
Pn533 Setting Range Setting Unit Factory Setting When Enabled
1 to 10000 1 min-1* 500 Immediately Setup

Program JOG Acceleration/Deceleration Time Speed Position Torque

Classification
Pn534 Setting Range Setting Unit Factory Setting When Enabled
2 to 10000 1 ms 100 Immediately Setup

Program JOG Waiting Time Speed Position Torque

Classification
Pn535 Setting Range Setting Unit Factory Setting When Enabled
0 to 10000 1 ms 100 Immediately Setup

Number of Times of Program JOG Movement Speed Position Torque

Classification
Pn536 Setting Range Setting Unit Factory Setting When Enabled
0 to 1000 1 time 1 Immediately Setup

(5) Operating Procedure

Use the following procedure.

1. In the SigmaWin+ Σ-V component main window, click Test Run and then click Program JOG
Operation.
2. Set the running conditions and click Apply. The graph for the operation pattern is displayed.
3. Click Run and the Program JOG Operation box appears.
4. Click Servo ON and Execute. The program JOG operation starts.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool Sigma
Win+ ONLINE MANUAL Σ-V Component 4.7.2 Program JOG Operation.

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 6 Utility Functions (Fn口口口)

6.6 Initializing Parameter Settings (Fn005)

This function is used when returning to the factory settings after changing parameter settings.

Be sure to initialize the parameter settings while the servomotor power is OFF.
After initialization, turn OFF the power supply and then turn ON again to validate the
settings.

Note: Any value adjusted with Fn00C, Fn00D, Fn00E, and Fn00F cannot be initialized by Fn005.

(1) Preparation
The following conditions must be met to initialize the parameter values.

The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
The servomotor power must be OFF.

(2) Operating Procedure

Use the following procedure.

1. In the SigmaWin+ Σ-V component main window, click Parameters and then click Edit Parameters.
The Parameter Editing window for the online mode appears.
2. Click Initialize.
3. To enable the change in the setting, turn the power OFF and ON again.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool Sigma Win+
ONLINE MANUAL Σ-V Component 4.1.1 Editing Parameter.

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 6 Utility Functions (Fn口口口)

6.7 Clearing Alarm History (Fn006)

The clear alarm history function deletes all of the alarm history recorded in the DRIVER.

Note: The alarm history is not deleted when the alarm reset is executed or the main circuit power supply of the DRIVER is
turned OFF.

(1) Preparation
The follow conditions must be met to clear the alarm history.
The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).

(2) Operating Procedure

Use the following procedure.

1. In the SigmaWin+ Σ-V component main window, click Alarm and then click Display Alarm.
2. To clear an alarm, click Reset after removing the cause of the alarm.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool Sigma
Win+ ONLINE MANUAL Σ-V Component 4.2 Alarm Display.

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 6 Utility Functions (Fn口口口)

6.8 Offset Adjustment of Analog Monitor Output (Fn00C)

This function is used to manually adjust the offsets for the analog monitor outputs (torque reference monitor output
and motor speed monitor output). The offset values are factory-set before shipping. Therefore, the user need not
usually use this function.

(1) Adjustment Example

An example of offset adjustment to the motor speed monitor is shown below.

Analog monitor output

voltage

Offset
adjustment

Motor speed

Item Specifications
Offset Adjustment Range -2.4 V to + 2.4 V
Adjustment Unit 18.9 mV/LSB

Note:
-The adjustment value will not be initialized when parameter settings are initialized using Fn005.
-Make offset adjustment with a measuring instrument connected, so that the analog monitor output is zero.
An example of settings for a zero analog monitor output is shown below.
・While the servomotor is not turned ON, set the monitor signal to the torque reference.
・In speed control, set the monitor signal to the position error.

(2) Preparation
The following condition must be met to adjust the offsets of the analog monitor output.
-The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).

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 6 Utility Functions (Fn口口口)

(3) Operating Procedure

Use the following procedure to perform the offset adjustment of analog monitor output.

1. In the SigmaWin+ Σ-V component main window, click Setup, point to Adjust Offset and click Adjust the
Analog Monitor Output.
2. Click the Zero Adjustment tab.
3. While watching the analog monitor, use the +1 and -1 buttons to adjust the offset.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool Sigma
Win+ ONLINE MANUAL Σ-V Component 4.4.3 Offset Adjustment.

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 6 Utility Functions (Fn口口口)

6.9 Gain Adjustment of Analog Monitor Output (Fn00D)

This function is used to manually adjust the gains for the analog monitor outputs (torque reference monitor output
and motor rotating speed monitor output). The gain values are factory-set before shipping. Therefore, the user
need not usually use this function.

(1) Adjustment Example

An example of gain adjustment to the motor rotating speed monitor is shown below.

Analog monitor output voltage

1 [V]
Gain adjustment

1000 [min-1]
Motor speed

Item Specifications
Gain-adjustment Range 100±50%
Adjustment Unit 0.4%/LSB

The gain adjustment range is made with a 100% output set as a center value (adjustment range: 50% to 150%).
The following is a setting example.

<Setting the Set Value to −125>

100% + (−125 × 0.4) = 50%
Therefore, the monitor output voltage is 0.5 time as high.

<Setting the Set Value to 125>

100% + (125 × 0.4) =150%
Therefore, the monitor output voltage is 1.5 times as high.

Note: The adjustment value will not be initialized when parameter settings are initialized using Fn005.
(2) Preparation
The following condition must be met to adjust the gain of the analog monitor output.

- The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).

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 6 Utility Functions (Fn口口口)

(3) Operating Procedure

Use the following procedure to perform the gain adjustment of analog monitor output.

1. In the SigmaWin+ Σ-V component main window, click Setup, point to Adjust Offset and click Adjust
the Analog Monitor Output.
2. Click the Gain Adjustment tab.
3. While watching the analog monitor, use the +1 and -1 buttons to adjust the gain.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool Sigma
Win+ ONLINE MANUAL Σ-V Component 4.4.3 Offset Adjustment.

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 6 Utility Functions (Fn口口口)

6.10 Automatic Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00E)

Perform this adjustment only if highly accurate adjustment is required for reducing torque ripple caused by current
offset. The user need not usually use this function.

- Be sure to perform this function while the servomotor power is OFF.

- Execute the automatic offset adjustment if the torque ripple is too big when compared
with those of other DRIVERs.

Note: The adjusted value is not initialized by executing the Fn005 function (Initializing Parameter Settings).

(1) Preparation
The following conditions must be met to automatically adjust the offset of the motor current detection signal.
- The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
- The DRIVER must be in Servo Ready status (Refer to 4.8.4).
- The servomotor power must be OFF.

(2) Operating Procedure

Use the following procedure.

1. In the SigmaWin+ Σ-V component main window, click Setup, point to Adjust Offset and click Adjust the Motor
Current Detection Offset.
2. Click Continue, and then click the Automatic Adjustment tab.
3. Click Adjust. The automatically adjusted values are displayed in the New box.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool Sigma Win+
ONLINE MANUAL Σ-V Component 4.4.3 Offset Adjustment.

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 6 Utility Functions (Fn口口口)

6.11 Manual Offset-Signal Adjustment of the Motor Current Detection Signal (Fn00F)

Use this function only if the torque ripple is still high after the automatic offset-signal adjustment of the motor
current detection signal (Fn00E).

If this function is adjusted incorrectly and then executed, characteristics of the servomo-
tor performance could be affected.
Observe the following precautions when performing manual servo tuning.
- Run the servomotor at a speed of approximately 100 min-1.
- Adjust the offset while monitoring the torque reference with the analog monitor until the
ripple of torque reference monitor's waveform is minimized.
- Adjust the phase-U and phase-V offset amounts alternately several times until these
offsets are well balanced.

Note: The adjusted value is not initialized by executing the Fn005 function (Initializing Parameter Settings).

(1) Preparation
The following condition must be met to manually adjust the offset of the motor current detection signal.
- The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).

(2) Operating Procedure

Use the following procedure.

1. Turn the motor at 100 min-1.

2. In the SigmaWin+ Σ-V component main window, click Setup, point to Adjust Offset and click Adjust
the Motor Current Detection Offset.
3. Click Continue, and then click the Manual Adjustment tab.
4. While watching the analog monitor, use the +1 and -1 buttons to adjust the offset to minimize the ripple
on the torque reference monitor. The U-phase and V-phase currents must be adjusted so that they balance.
Repeat the adjustment alternately between them several times.

Repeat the operations of steps 4 to 6 (phase-U and-V alternately) until adjusting the offset amounts both for
phase-U and -V in both directions cannot reduce the torque ripple any more.
Then, perform the same operation by adjusting by smaller amount.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool Sigma
Win+ ONLINE MANUAL Σ-V Component 4.4.3 Offset Adjustment.

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 6 Utility Functions (Fn口口口)

6.12 Write Prohibited Setting (Fn010)

This function prevents changing parameters by mistake and sets restrictions on the execution of the utility function.

Parameter changes and execution of the utility function become restricted in the following manner when Write
prohibited (P.0001) is assigned to the write prohibited setting parameter (Fn010).
- Parameters: Cannot be changed. If you attempt to change it, "NO-OP" will flash on the display and the screen will
return to the main menu.
- Utility Function: Some functions cannot be executed. (Refer to the following table.) If you attempt to exe- cute
these utility functions, "NO-OP" will flash on the display and the screen will return to the main menu.

Parameter Write Prohibited Reference

Function
No. Setting Section
Fn000 Alarm history display Executable 6.2
Fn002 JOG operation Cannot be executed 6.3
Fn003 Origin search Cannot be executed 6.4
Fn004 Program JOG operation Cannot be executed 6.5
Fn005 Initializing parameter settings Cannot be executed 6.6
Fn006 Clearing alarm history Cannot be executed 6.7
Fn008 Absolute encoder multiturn reset and encoder alarm reset Cannot be executed 4.7.4
Fn00C Offset adjustment of analog monitor output Cannot be executed 6.8
Fn00D Gain adjustment of analog monitor output Cannot be executed 6.9
Automatic offset-signal adjustment of the motor current detection
Fn00E Cannot be executed 6.10
signal
Manual offset-signal adjustment of the motor current detection
Fn00F Cannot be executed 6.11
signal
Fn010 Write prohibited setting – 6.12
Fn011 Product Information display Executable 6.13
Multiturn limit value setting change when a multiturn limit dis-
Fn013 Cannot be executed 4.7.6
agreement alarm occurs
Fn014 Resetting configuration error in option modules Cannot be executed 6.14
Fn01B Vibration detection level initialization Cannot be executed 6.15
Fn020 Origin setting Cannot be executed 6.16
Fn030 Software reset Executable 6.17
Fn200 Tuning-less levels setting Cannot be executed 5.2.2
Fn201 Advanced autotuning Cannot be executed 5.3.2
Fn202 Advanced autotuning by reference Cannot be executed 5.4.2
Fn203 One-parameter tuning Cannot be executed 5.5.2
Fn204 Anti-resonance control adjustment function Cannot be executed 5.6.2
Fn205 Vibration suppression function Cannot be executed 5.7.2
Fn206 EasyFFT Cannot be executed 6.18
Fn207 Online vibration monitor Cannot be executed 6.19
6

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 6 Utility Functions (Fn口口口)

(2) Operating Procedure

Follow the steps to set enable or disable writing. Setting values are as follows:
- "P.0000": Write permitted (Releases write prohibited mode.) [Factory setting]
- "P.0001": Write prohibited (Parameters become write prohibited from the next power ON.)

1. In the SigmaWin+ Σ-V component main window, click Setup, and then click Write Prohibited
Setting.

<If the Write Prohibited Setting is ON>

2. Click the ▼ button to change the value to "0000" and click Setting. The write prohibited setting is off.

<If the Write Prohibited Setting is OFF>

2. Click the ▲ button to change the value to "0001" and click Setting. The write prohibited setting is on.

3. Click OK and restart the SERVOPACK.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool Sigma
Win+ ONLINE MANUAL Σ-V Component 4.4.5 Write Prohibited Setting.

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 6 Utility Functions (Fn口口口)

6.13 Product Information Display (Fn011)

This function is used to check the servomotor model, voltage, capacity, encoder type, encoder resolution, software
version, and ID. If the DRIVER has been custom-made, you can also check the specification codes of DRIVERs.

(1) Preparation
There are no tasks that must be performed before the execution.

(2) Operating Procedure

In the SigmaWin+ Σ-V component main window, click Monitor and then click Product Information.
Information about the DRIVER, the motor, and the option modules will be displayed.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool Sigma
Win+ ONLINE MANUAL Σ-V Component 4.3.1 Product Information.

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 6 Utility Functions (Fn口口口)

6.14 Resetting Configuration Errors in Option Modules (Fn014)

The DRIVER with option module recognizes installation status and types of option modules that are connected to
DRIVER. If an error is detected, the DRIVER issues an alarm. This function clears these alarms.

Note 1. Alarms related to option module can be cleared only by this function. These alarms cannot be cleared by
alarm reset or turning OFF the main circuit power supply.
2. Before clearing the alarm, perform corrective action for the alarm.

(1) Preparation
The following condition must be met to clear detection alarms of the option module.
-The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).

(2) Operating Procedure

Use the following procedure.

1. In the SigmaWin+ Σ-V component main window, click Setup and then Reset Configuration Error of
Option Card.
2. Check to see if the Clear check box of the option module whose detection result to be cleared is selected,
and then click Execute.
3. To enable the change in the setting, turn the power OFF and ON again.

The detection result Error detected cannot be cleared. Remove the option module, or
check to see if the option module is correctly mounted.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool Sigma
Win+ ONLINE MANUAL Σ-V Component 4.4.9 Resetting the Configuration Error of Option Module.

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 6 Utility Functions (Fn口口口)

6.15 Vibration Detection Level Initialization (Fn01B)

This function detects vibration when servomotor is connected to a machine in operation and automatically adjusts
the vibration detection level (Pn312) to output more exactly the vibration alarm (A.520) and the vibration warning
(A.911).

The vibration detection function detects vibration elements according to the motor speed.
Parameter Meaning When Enabled Classification
n.口口口0
Does not detect vibration.
[Factory setting]
Pn310 n.口口口1 Outputs the warning (A.911) when vibration is Immediately Setup
detected.
n.口口口2 Outputs the alarm (A.520) when vibration is detected.

If the vibration exceeds the detection level calculated by the following formula, the alarm or warning will be output
according to the setting of vibration detection switch (Pn310).

Use this function if the vibration alarm (A.520) or the vibration warning (A.911) is not output correctly when a
vibration at the factory setting of the vibration detection level (Pn312) is detected. In other cases, it is not necessary
to use this function.
The vibration alarm or warning detection sensibility differs depending on the machine conditions. In this case,
fine-tune the setting of the vibration detection sensitivity (Pn311) using the above detection level formula as a guide.

Vibration Detection Sensitivity Speed Position Torque

Classification
Pn311 Setting Range Setting Unit Factory Setting When Enabled
50 to 500 1% 100 Immediately Tuning

• The vibration may not be detected because of improper servo gains. Also, not all kinds
of vibrations can be detected. Use the detection result as a guideline.
• Set a proper moment of inertia ratio (Pn103). Improper setting may result in the vibration
alarm, warning misdetection, or non-detection.
• The references that are used to operate your system must be input to execute this
function.
• Execute this function under the operating condition for which the vibration detection level
should be set.
• Execute this function while the motor speed reaches at least 10% of its maximum.

(1) Preparation

The following conditions must be met to initialize the vibration detection level.
- The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
- The test without a motor function must be disabled (Pn00C.0 = 0).

6-22
 6 Utility Functions (Fn口口口)

(2) Operating Procedure

Use the following procedure.

1. In the SigmaWin+ Σ-V component main window, click Setup, and then click Initialize Vibration
Detection Level.
2. Select a percentage as the degree of vibration detection sensitivity and the vibration detection switch, and
then click Detection Start.
3. Click Execute. The level at which the vibrations are detected is automatically adjusted, and the setting is
displayed in the box on the right and saved in the DRIVER.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool Sigma
Win+ ONLINE MANUAL Σ-V Component 4.4.7 Initializing Vibration Detection Level.

(3) Related Parameters

The following table lists parameters related to this function and their possibility of being changed while exe-
cuting this function or of being changed automatically after executing this function.

- Parameters related to this function

These are parameters that are used or referenced when executing this function.

- Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.
No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

- Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.
No : Parameter set values are not automatically set or adjusted after execution of this function.

Mid-execution Automatic
Parameter Name
changes changes
Pn311 Vibration Detection Sensitivity Yes No
Pn312 Vibration Detection Level No Yes

6-23
 6 Utility Functions (Fn口口口)

6.16 Origin Setting (Fn020)

When using an external absolute encoder for fully-closed loop control, this function is used to set the current
position of the external absolute encoder as the origin (zero point position).
(Do not use origin setting in LECY series.)

This function can be used with the following products.

Mitutoyo Corporation ABS ST780A series
Model: ABS ST78口A/ST78口AL

• After execution of origin setting, the servo ready (/S-RDY) signal will become inactive
because the system position data will have been changed. Always turn the power
supply OFF and then ON again after execution of origin setting.

(1) Preparation
The following conditions must be met to set the origin.

- The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
- The servomotor power must be OFF.

(2) Operating Procedure

Use the following procedure.

1. In the SigmaWin+ Σ-V component main window, click Setup and then Zero Point Position Setting.
2. Click Execute.
3. Click Continue to execute the zero point position setting.
4. To enable the change in the setting, turn the power OFF and ON again.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool Sigma Win+
ONLINE MANUAL Σ-V Component 4.4.14 Setting the Zero Point Position.

6-24
 6 Utility Functions (Fn口口口)

6.17 Software Reset (Fn030)

This function enables resetting the DRIVER internally from software. This function is used when reset- ting alarms
and changing the settings of parameters that normally require restarting the DRIVER. This function can be used to
change those parameters without restarting the DRIVER.

- Start software reset operation after the servomotor power is OFF.

- This function resets the DRIVER independently of host controller. The DRIVER
carries out the same processing as when the power supply is turned ON and outputs
the ALM signal. The status of other output signals may be forcibly changed.

(1) Preparation
The following condition must be met to perform a software reset.
- The servomotor power must be OFF.

(2) Operating Procedure

Use the following procedure.

1. In the SigmaWin+ Σ-V component main window, click Setup and then click Software Reset.
2. Click Execute. The Software Reset window will appear.
3. Click Execute. When execution of the software reset function is complete, a warning message will appear,
asking you to reconnect the SigmaWin+ to the DRIVER.
4. Click OK to close the Software Reset window. All settings including parameters have been re-calculated.
Disconnect the SigmaWin+ from the DRIVER, and then reconnect.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool Sigma
Win+ ONLINE MANUAL Σ-V Component 4.4.14 Setting the Zero Point Position.

6-25
 6 Utility Functions (Fn口口口)

6.18 EasyFFT (Fn206)

EasyFFT sends a frequency waveform reference from the DRIVER to the servomotor and slightly rotates
the servomotor several times over a certain period, thus causing machine vibration. The DRIVER detects
the resonance frequency from the generated vibration and makes notch filter settings according to the
resonance frequency detection. The notch filter is effective for the elimination of high-frequency
vibration and noise.

Execute this function after the servomotor power is turned OFF if operation of the DRIVER results in
high-frequency noise and vibration.

WARNING
The servomotor rotates slightly when EasyFFT is executed. Do not touch the servomotor or
machine dur- ing execution of EasyFFT, otherwise injury may result.

CAUTION
Use the EasyFFT when the servo gain is low, such as in the initial stage of servo adjustment. If
EasyFFT is executed after increasing the gain, the servo system may vibrate depending on the
machine character- istics or gain balance.

DRIVER

In addition to this function, online vibration monitor (Fn207) can be used to detect machine vibration and
automatically make notch filter settings.

If a LECYU2-V□ Series is used to make adjustments, it is recommended to use advanced autotuning.

EasyFFT is normally no need to use it.

(1) Preparation
The following conditions must be met to perform EasyFFT.

- The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
- The main circuit power supply must be ON.
- All alarms must be cleared.
- The hardwire baseblock (HWBB) must be disabled.
- The servomotor power must be OFF.
- There must be no overtravel.
- The test without a motor function must be disabled (Pn00C.0 = 0).
- An external reference must not be input.

6-26
 6 Utility Functions (Fn口口口)

(2) Operating Procedure

Use the following procedure.

1. In the SigmaWin+ Σ-V component main window, click Setup and then click EasyFFT.
2. Click OK, and the EasyFFT box appears.
3. Click Servo ON.
4. Select the instruction amplitude and the rotation direction, and click Start. The motor begins to rotate, and
the measurement of the frequency starts. After the measurements have been taken, the results are
displayed in the lower section of the box.
Note: When making the initial settings for EasyFFT, do not change the setting for the reference amplitude. Start
with the original value of 15. Increasing reference amplitude increases the detection accuracy, but the
vibration and noise from the machine will increase. Increase the amplitude value little by little.
5. Click Measurement complete.
6. Click Result Writing to assign the results as parameter settings.
7. To enable the change in the setting, turn the power OFF and ON again.

< Important >

If two seconds or more are required for the operation although detection was successfully completed, the detection
accuracy might be insufficient. Increasing reference amplitude more than 15 increases the detection accuracy, but the
vibration and noise from the machine will increase. Increase the amplitude value little by little.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool Sigma
Win+ ONLINE MANUAL Σ-V Component 4.4.8 EasyFFT.

(3) Related Parameters

The following table lists parameters related to this function and their possibility of being changed while exe-
cuting this function or of being changed automatically after executing this function.

- Parameters related to this function

These are parameters that are used or referenced when executing this function.

- Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.
No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

- Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.
No : Parameter set values are not automatically set or adjusted after execution of this function.

Mid-execution Automatic
Parameter Name
changes changes
Pn408 Torque Related Function Switch Yes Yes
Pn409 1st Notch Filter Frequency No Yes
Pn40A 1st Notch Filter Q Value No No
Pn40C 2nd Notch Filter Frequency No Yes
Pn40D 2nd Notch Filter Q Value No No
Pn456 Sweep Torque Reference Amplitude No No

6-27
 6 Utility Functions (Fn口口口)

6.19 Online Vibration Monitor (Fn207)

If vibration is generated during operation and this function is executed while the servomotor power is still ON,
the machine vibration can sometimes be suppressed by setting a notch filter or torque reference filter for the
vibration frequencies.

When online, vibration frequency caused by machine resonance will be detected and the frequency that has the
highest peak will be displayed on the panel operator. The effective torque reference filter or notch filter frequency
for the vibration frequencies will be automatically selected and the related parameters will be automatically set.

In addition to this function, EasyFFT (Fn206) can be used to detect machine vibration and automatically make
notch filter settings. Use the following flowchart to determine how these functions should be used.

If a LECYU2-V□ Series DRIVER is used to make adjustments, it is recommended that you use advanced
autotuning. This function is normally no need to use it.

(1) Preparation
The following conditions must be met to perform online vibration monitoring.
- The write prohibited setting parameter (Fn010) must be set to Write permitted (P.0000).
- The servomotor power must be ON.
- There must be no overtravel.
- The correct moment of inertia (Pn103) must be set.
- The test without a motor function must be disabled (Pn00C.0 = 0).

6-28
 6 Utility Functions (Fn口口口)

(2) Operating Procedure

Use the following procedure.

1. In the SigmaWin+ Σ-V component main window, click Monitor, and then click Online Vibration
Monitor.
2. Click OK, and the Online Vibration Monitor box appears.
3. Click Execute to activate the vibration sensor. The peak frequencies of the vibrations are displayed.
4. Click Auto Setting. In the "Previous" column, the current settings are displayed.
5. Click Write result. The adjusted values for detected frequencies are displayed in the "Current" column,
and the values are stored in the SERVOPACK.

For more information on the usage of the SigmaWin+, refer to AC Servo Drives Engineering Tool Sigma
Win+ ONLINE MANUAL Σ-V Component 4.3.4 Online Vibration Monitor.

(3) Related Parameters

The following table lists parameters related to this function and their possibility of being changed while
executing this function or of being changed automatically after executing this function.

- Parameters related to this function

These are parameters that are used or referenced when executing this function.

- Allowed changes during execution of this function

Yes : Parameters can be changed using SigmaWin+ while this function is being executed.
No : Parameters cannot be changed using SigmaWin+ while this function is being executed.

- Automatic changes after execution of this function

Yes : Parameter set values are automatically set or adjusted after execution of this function.
No : Parameter set values are not automatically set or adjusted after execution of this function.

Mid-execution Automatic
Parameter Name
changes changes
Pn401 Torque Reference Filter Time Constant No Yes
Pn408 Torque Related Function Switch Yes Yes
Pn409 1st Notch Filter Frequency No Yes
Pn40A 1st Notch Filter Q Value No No
Pn40C 2nd Notch Filter Frequency No No
Pn40D 2nd Notch Filter Q Value No No

6-29
7. Monitor Displeys..................................................................................................................... 2
7.1 Monitor Displays ............................................................................................................... 2
7.1.1 System Monitor .......................................................................................................... 2
7.1.2 Status Monitor ............................................................................................................ 2
7.1.3 Motion Monitor .......................................................................................................... 2
7.1.4 Input Signal Monitor .................................................................................................. 2
7.1.5 Output Signal Monitor ............................................................................................... 3

7-1
 7 Monitor Displays

7. Monitor Displeys
7.1 Monitor Displays
The monitor displays can be used for monitoring the I/O signal status, and DRIVER internal status.
There are five types of monitor windows: System Monitor, Status Monitor, Motion Monitor, Input Signal Monitor,
and the Output Signal Monitor.
The monitor windows are independent of each other, but several windows can be displayed at the same time.
Select the items to be monitored in the Monitor Item Setting Window (For System Monitor, the items to be
monitored are fixed and cannot be selected.)

The monitor display can be checked or viewed in the SigmaWin+. For more information on the usage of the
SigmaWin+, refer to AC Servo Drives Engineering Tool Sigma Win+ ONLINE MANUAL Σ-V Component 4.3.2
Monitor.

7.1.1 System Monitor

The System Monitor window will automatically open when the SigmaWin+ starts. Or, in the SigmaWin+
Σ-Vcomponent window, click Monitor, point to Monitor, and then click System Monitor.
The display is as follows.
- DRIVER current status
Same as the status displayed on the panel operator on the front of DRIVER.
- DRIVER signal current status
Same as the signal status displayed in bit data on the panel operator on the
front of DRIVER.
- Starts the main functions directly from the System Monitor window.

7.1.2 Status Monitor

The status monitor function monitors the DRIVER status.
To monitor the status of the DRIVER, use the following procedure.
1. In the SigmaWin+ Σ-V component main window, click Monitor, point to Monitor and click Status
Monitor. The items which can be monitored are listed.
2. Select the items to be monitored. The current status of a selected item is displayed in "Value" column.

7.1.3 Motion Monitor

The motion monitor function monitors the DRIVER motion.
To monitor the motions of the DRIVER.
1. In the SigmaWin+ Σ-V component main window, click Monitor, point to Monitor and click Motion
Monitor. The items which can be monitored are listed.
2. Select the items to be monitored. The current status of a selected item is displayed in the "Value" column.

7.1.4 Input Signal Monitor

The input signal monitor function monitors the DRIVER input signals.
To monitor the input signals of the DRIVER.
1. In the SigmaWin+ Σ-V component main window, click Monitor, point to Monitor and click Input
Signal Monitor. The items which can be monitored are listed.
2. Select the items to be monitored. The current status of a selected item is displayed in the "Value" column.

Note: Input signals use the following circuit configuration.

OFF: Open
ON: Short-circuited
Example

OFF (open)

7-2
 7 Monitor Displays

7.1.5 Output Signal Monitor

The output signal monitor function monitors the DRIVER output signals.
To monitor the output signals of the DRIVER, use the following procedure.
1. In the SigmaWin+ Σ-V component main window, click Monitor, point to Monitor and click Output
Signal Monitor. The items which can be monitored are listed.
2. Select the items to be monitored. The current status of a selected item is displayed in the "Value" column.

Note: Input signals use the following circuit configuration.

OFF: Transistor OFF
ON: Transistor ON
Example

ON: Transistor ON

7-3
 8 MECHATROLINK-III Commands

8. MECHATROLINK-III Commands ............................................................................................ 4

8.1 Layers .................................................................................................................................... 4
8.2 Frame Structure ..................................................................................................................... 4
8.3 State Transition Diagram ....................................................................................................... 5
8.4 Command and Response Timing ........................................................................................... 6
8.4.1 Command Data Execution Timing ................................................................................. 6
8.4.2 Monitored Data Input Timing ......................................................................................... 6
8.4.3 Supporting the Transmission Cycle of 125 μs ................................................................ 7
8.5 List of Commands ................................................................................................................. 8
8.5.1 Command Types ............................................................................................................. 8
8.5.2 Main Commands ............................................................................................................ 8
8.5.3 Subcommands .............................................................................................................. 10
8.5.4 Combinations of Main Commands and Subcommands ................................................ 11
8.6 Common Command Format ................................................................................................ 12
8.7 Command Header Section of Main Command Area ........................................................... 14
8.7.1 Command Code (CMD/RCMD) .................................................................................. 14
8.7.2 Watchdog Data (WDT/RWDT) .................................................................................... 15
8.7.3 Command Control (CMD_CTRL) ............................................................................... 15
8.7.4 Command Status (CMD_STAT) ................................................................................... 16
8.8 Command Header Section of Subcommand Area ............................................................... 20
8.8.1 Subcommand Codes (SUB_CMD/SUB_RCMD) ........................................................ 20
8.8.2 Subcommand Control (SUB_CTRL) ........................................................................... 20
8.8.3 Subcommand Status (SUB_STAT) ............................................................................... 21
8.9 Servo Command Format ...................................................................................................... 22
8.10 Command Header Section ................................................................................................. 23
8.10.1 Servo Command Control (SVCMD_CTRL) .............................................................. 23
8.10.2 Servo Command Status (SVCMD_STAT) ................................................................ 25
8.10.3 Supplementary Information on CMD_PAUSE and CMD_CANCEL ....................... 27
8.10.4 Supplementary Information on Latching Operation .................................................. 30
8.11 Servo Command I/O Signal (SVCMD_IO) ....................................................................... 31
8.11.1 Bit Allocation of Servo Command Output Signals .................................................... 31
8.11.2 Bit Allocation of Servo Command I/O Signal Monitoring ........................................ 33
8.12 Command Data .................................................................................................................. 36
8.12.1 Data Order .................................................................................................................. 36
8.12.2 Specifying Units ........................................................................................................... 36
8.12.3 Specifying Monitor Data ............................................................................................ 37
8.12.4 Position Data .............................................................................................................. 37
8.13 Common Commands ......................................................................................................... 38
8.13.1 Common Commands .................................................................................................. 38
8.13.2 No Operation Command (NOP: 00H) ........................................................................ 39
8.13.3 Read ID Command (ID_RD: 03H) ............................................................................ 40
8.13.4 Setup Device Command (CONFIG: 04H) ................................................................. 47
8.13.5 Read Alarm or Warning Command (ALM_RD: 05H) .............................................. 49
8.13.6 Clear Alarm or Warning Command (ALM_CLR: 06H) ........................................... 51
8.13.7 Start Synchronous Communication Command (SYNC_SET: 0DH) ........................ 52
8.13.8 Establish Connection Command (CONNECT: 0EH) ................................................ 53
8.13.9 Disconnection Command (DISCONNECT: 0FH) ...................................................... 55
8.13.10 Read Memory Command (MEM_RD: 1DH) ........................................................... 56
8.13.11 Write Memory Command (MEM_WR: 1EH) ........................................................... 58

8-1
 8 MECHATROLINK-III Commands

8.14 Servo Commands .............................................................................................................. 61

8.14.1 Table of Servo Commands ......................................................................................... 61
8.14.2 Set Coordinates Command (POS_SET: 20H) ............................................................. 62
8.14.3 Apply Lock Command (BRK_ON: 21H) .................................................................. 64
8.14.4 Release Lock Command (BRK_OFF: 22H) ............................................................... 65
8.14.5 Turn Sensor ON Command (SENS_ON: 23H)............................................................ 67
8.14.6 Turn Sensor OFF Command (SENS_OFF: 24H) ....................................................... 68
8.14.7 Servo Status Monitor Command (SMON: 30H)......................................................... 69
8.14.8 Servo ON Command (SV_ON: 31H) ......................................................................... 70
8.14.9 Servo OFF Command (SV_OFF: 32H) ...................................................................... 71
8.14.10 Interpolation Command (INTERPOLATE: 34H) ..................................................... 73
8.14.11 Positioning Command (POSING: 35H) ................................................................... 74
8.14.12 Feed Command (FEED: 36H).................................................................................. 76
8.14.13 External Input Feed Command (EX_FEED: 37H) ................................................... 78
8.14.14 External Input Positioning Command (EX_POSING: 39H) .................................... 80
8.14.15 Zero Point Return Command (ZRET: 3AH) ............................................................. 82
8.14.16 Velocity Control Command (VELCTRL: 3CH)....................................................... 85
8.14.17 Torque (Force) Control Command (TRQCTRL: 3DH)............................................ 86
8.14.18 Read Servo Parameter Command (SVPRM_RD: 40H) ........................................... 87
8.14.19 Write Servo Parameter Command (SVPRM_WR: 41H)........................................... 88
8.14.20 Motion Command Data Setting Method .................................................................. 89
8.15 Subcommands ................................................................................................................... 91
8.15.1 No Operation Subcommand (NOP: 00H) ................................................................... 92
8.15.2 Read Alarm or Warning Subcommand (ALM_RD: 05H) .......................................... 93
8.15.3 Clear Alarm or Warning Subcommand (ALM_CLR: 06H)........................................ 94
8.15.4 Read Memory Subcommand (MEM_RD: 1DH) ........................................................ 95
8.15.5 Write Memory Subcommand (MEM_WR: 1EH) ....................................................... 96
8.15.6 Servo Status Monitor Subcommand (SMON: 30H).................................................... 97
8.15.7 Read Servo Parameter Subcommand (SVPRM_RD: 40H) ........................................ 98
8.15.8 Write Servo Parameter Subcommand (SVPRM_WR: 41H) ....................................... 99
8.16 Preparing for Operation ................................................................................................... 100
8.16.1 Setting MECHATROLINK-III Communications .................................................... 100
8.16.2 Checking the Communications Status ..................................................................... 100
8.17 Parameter Management and Operation Sequence............................................................ 101
8.17.1 Operation Sequence for Managing Parameters Using a PC or PLC...etc ................ 101
8.17.2 Operation Sequence for Managing Parameters Using a DRIVER .......................... 102
8.18 Setting the Zero Point before Starting Operation ............................................................. 103
8.19 Operation Sequence when Turning the Servo ON ........................................................... 104
8.20 Operation Sequence when OT (Overtravel Limit Switch) Signal is Input ....................... 104
8.21 Operation Sequence at Emergency Stop (Main Circuit OFF) .......................................... 104
8.22 Operation Sequence when a Safety Signal is Input ......................................................... 105
8.23 Operation Sequence at Occurrence of Alarm .................................................................. 107
8.24 Notes when the Positioning Completed State (PSET = 1) is Established while Canceling a
Motion Command ................................................................................................................... 107
8.25 Function/Command Related Parameters ......................................................................... 108
8.25.1 Interpolation Command ............................................................................................ 108
8.25.2 Positioning Command .............................................................................................. 109
8.25.3 Torque (Force) Limiting Function ............................................................................ 111
6.25.4 Torque (Force) Feedforward Function...................................................................... 113
8.25.5 Software Limit Function ........................................................................................... 114

8-2
 8 MECHATROLINK-III Commands

8.25.6 Latch Function .......................................................................................................... 116

8.25.7 Acceleration/Deceleration Parameter High-speed Switching Function .................... 121
8.26 Detecting Alarms/Warnings Related to Communications or Commands ...................... 125
8.26.1 Communication Related Alarms .............................................................................. 125
8.26.2 Warnings Related to Communication and Commands ............................................. 127
8.27 Common Parameters ....................................................................................................... 128
8.27.1 Overview .................................................................................................................. 128
8.27.2 List of Common Parameters ..................................................................................... 129
8.27.3 Common Parameters and Corresponding Device Parameters ................................... 138
8.28 Virtual Memory Space...................................................................................................... 140
8.29 Information Allocated to Virtual Memory ....................................................................... 141
8.29.1 ID Information Area................................................................................................. 141
8.29.2 Common Parameter Area ......................................................................................... 142
8.29.3 Adjustment Operation Area ...................................................................................... 143

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 8 MECHATROLINK-III Commands

8. MECHATROLINK-III Commands
8.1 Layers

The MECHATROLINK-III communications layers have functions equivalent to layers 1, 2, and 7 in the OSI (Open System
Interconnection) reference model.

Hierarchical Organization in the OSI Reference Model

OSI MECHATROLINK-III Protocol

Layer 7: Application layer MECHATROLINK-III application layer
Layers 3 to 6 None
Layer 2: Data link layer ASIC dedicated to MECHATROLINK-III
Layer 1: Physical layer Standard Ethernet PHY IEEE 802.3u

This chapter describes standard servo profile commands for the application layer.
8.2 Frame Structure

A standard servo profile command is composed of the combination of a main command and a subcommand as shown below. It is
also possible to use a main command alone.

Classification Byte Command Response

0 to 31 Used by main commands.
Information
Field Used by subcommands. The subcommands for servo commands use byte 33 to byte 48.
32 to 47
Note: In some main commands, subcommand cannot be used.

The application layer interfaces with only the information field.

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 8 MECHATROLINK-III Commands

8.3 State Transition Diagram

The master and slave station state transitions are shown in the following diagrams.

Master Station State Transition

Slave Station State Transition

Phase Abbreviation Description

1 P1 Waiting for establishment of connection.
2 P2 Asynchronous communications enabled. Only asynchronous commands can be used.
Synchronous communications enabled. Both synchronous and asynchronous commands
3 P3
can be used.

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 8 MECHATROLINK-III Commands

8.4 Command and Response Timing

This section describes command execution timing at the DRIVER and monitored data input timing at the master station.

These timings are constant, regardless of the transmission cycle and communication cycle.

8.4.1 Command Data Execution Timing

Motion commands (such as POSING and INTERPOLATE), and the servo command control and servo command I/O
signals (SVCMD_CTRL and SVCMD_IO) are executed 312.5 μs after their reception.

8.4.2 Monitored Data Input Timing

The monitor, I/O, and status data are the data of 312.5 μs before the response is sent.

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 8 MECHATROLINK-III Commands

8.4.3 Supporting the Transmission Cycle of 125 μs

By adopting a shorter transmission cycle, the command throughput of the host PC or PLC...etc is improved by
eliminating transmission delays.

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 8 MECHATROLINK-III Commands

8.5 List of Commands

8.5.1 Command Types

Standard servo profile commands are classified into common commands and servo commands.

Common commands: Commands that are common for MECHATROLINK-III communications, independent of profiles
Servo commands: Commands that are defined in the standard servo profile and specific to DRIVERs

8.5.2 Main Commands

The standard servo profile main commands used for LECY series DRIVERs are listed below.

Command
Category Code Command Command Name Function Reference
(Hex.)
00 NOP No operation command Nothing is performed. 8.13.2
03 ID_RD Read ID command Reads the device ID. 8.13.3
Device setup request
04 CONFIG Enables the current parameter settings. 8.13.4
command
Read alarm/ Reads the current alarm or warning status, and the
05 ALM_RD 8.13.5
warning command alarm history.
Clear alarm/ Clears the current alarm or warning status, and the
06 ALM_CLR 8.13.6
Common warning state command alarm history.
Commands Request for establishing
0D SYNC_SET Starts synchronous communications. 8.13.7
synchronization command
Request for establishing Requests the establishment of a connection and
0E CONNECT 8.13.8
connection command setting of the communication mode.
Request for releasing con-
0F DISCONNECT Requests disconnection. 8.13.9
nection command
1D MEM_RD Read memory command Reads data from virtual memory. 8.13.10
1E MEM_WR Write memory command Writes data to virtual memory. 8.13.11
20 POS_SET Set coordinates command Sets the coordinate system. 8.14.2
Request for applying Turns the lock signal OFF and applies the holding
21 BRK_ON 8.14.3
lock command lock.
Turns the lock signal ON and releases the holding
22 BRK_OFF Release lock command 8.14.4
lock.
Request for turning sensor Turns the encoder power supply ON, and gets the
23 SENS_ON 8.14.5
ON command position data.
Request for turning sensor
Servo 24 SENS_OFF Turns the encoder power supply OFF. 8.14.6
OFF command
Commands
Monitor servo status
30 SMON Monitors the DRIVER status. 8.14.7
command
31 SV_ON Servo ON command Turns the servo of the motor ON. 8.14.8
32 SV_OFF Servo OFF command Turns the servo of the motor OFF. 8.14.9
INTERPO-
34 Interpolation command Starts interpolation feeding. 8.14.10
LATE
Starts positioning to the target position (TPOS) at
35 POSING Positioning command 8.14.11
the target speed (TSPD).

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 8 MECHATROLINK-III Commands

Command
Category Code Command Command Name Function Reference
(Hex.)
Constant speed feed Starts constant speed feeding at the target speed
36 FEED 8.14.12
command (TSPD).
Starts constant speed feeding at the target speed
Positioning at constant
(TSPD). When an external signal is input part way
37 EX_FEED speed by external input 8.14.13
through, positioning to the specified position is
command
performed from the external signal input position.
Starts positioning to the target position (TPOS) at
the target speed (TSPD). When an external signal
Positioning by external
39 EX_POSING is input part way through, positioning to the speci- 8.14.14
input command
Servo fied position is performed from the external signal
Commands input position.
Zero point return
3A ZRET Performs zero point return. 8.14.15
command
3C VELCTRL Velocity control command Controls speed. 8.14.16
3D TRQCTRL Torque control command Controls torque. 8.14.17
Read servo parameter
40 SVPRM_RD Reads the specified servo parameter. 8.14.18
command
Write servo parameter
41 SVPRM_WR Writes the specified servo parameter. 8.14.19
command

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 8 MECHATROLINK-III Commands

8.5.3 Subcommands
The standard servo profile subcommands used for LECY series DRIVERs are listed below.

Command
Category Code Command Command Name Function Reference
(Hex.)
00 NOP No operation command Nothing is performed. 8.15.1
Read alarm/ Reads the current alarm or warning status, and the
05 ALM_RD 8.15.2
warning command alarm history.
Clear alarm/ Clears the current alarm or warning status, and the
06 ALM_CLR 8.15.3
warning state command alarm history.
1D MEM_RD Read memory command Reads data from virtual memory. 8.15.4
Servo
Commands 1E MEM_WR Write memory command Writes data to virtual memory. 8.15.5
Monitor servo status
30 SMON Monitors the DRIVER status. 8.15.6
command
Read servo parameter
40 SVPRM_RD Reads the specified servo parameter. 8.15.7
command
Write servo parameter
41 SVPRM_WR Writes the specified servo parameter. 8.15.8
command

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 8 MECHATROLINK-III Commands

8.5.4 Combinations of Main Commands and Subcommands

The combinations of main commands and subcommands are listed below. When an invalid combination is specified, an
alarm (SUBCMD_ALM = BM (A.95E)) occurs.

Subcommands
ALM_ ALM_ MEM_ MEM_ SVPRM SVPRM
NOP SMON
RD CLR RD WR _RD _WR
(00H) (30H)
(05H) (06H) (1DH) (1EH) (40H) (41H)
NOP (00H) 。 。 。 。 。 。 。 。
ID_RD (03H) 。 。 。 。 。 。 。 。
CONFIG (04H) 。 × × × × 。 × ×
ALM_RD (05H) 。 × × × × 。 × ×
Common ALM_CLR (06H) 。 × × × × 。 × ×
Commands SYNC_SET (0DH) 。 × × × × 。 × ×
CONNECT (0EH) 。 × × × × × × ×
DISCONNECT (0FH) 。 × × × × × × ×
MEM_RD (1DH) 。 × × × × 。 × ×
MEM_WR (1EH) 。 × × × × 。 × ×
POS_SET (20H) 。 × × × × 。 × ×
BRK_ON (21H) 。 × × × × 。 × ×
BRK_OFF (22H) 。 × × × × 。 × ×
Main SENS_ON (23H) 。 × × × × 。 × ×
Commands SENS_OFF (24H) 。 × × × × 。 × ×
SMON (30H) 。 。 。 。 。 。 。 。
SV_ON (31H) 。 。 。 。 。 。 。 。
SV_OFF (32H) 。 。 。 。 。 。 。 。
Servo INTERPOLATE (34H) 。 。 。 。 。 。 。 。
Commands POSING (35H) 。 。 。 。 。 。 。 。
FEED (36H) 。 。 。 。 。 。 。 。
EX_FEED (37H) 。 。 。 。 。 。 。 。
EX_POSING (39H) 。 。 。 。 。 。 。 。
ZRET (3AH) 。 。 。 。 。 。 。 。
VELCTRL (3CH) 。 。 。 。 。 。 。 。
TRQCTRL (3DH) 。 。 。 。 。 。 。 。
SVPRM_RD (40H) 。 × × × × 。 × ×
SVPRM_WR (41H) 。 × × × × 。 × ×

。: Can be combined
× : Cannot be combined

Note: Even for a valid combination, a command error (A.95A) occurs if the execution conditions of the commands are not
satisfied.
Example: If initialization of a parameter is attempted by the MEM_WR command while sending the SV_ON command
(during the servo ON state), a command error (A.95A) occurs instead of a command interference error (A.95E).

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 8 MECHATROLINK-III Commands

8.6 Common Command Format

This section describes the specifications that are common for all commands.

The format that is common for the commands sent from the master station and the responses returned from slave stations is
shown below.

The format of a command can be divided into the main command area (32 bytes) and the subcommand area (16 bytes). The
subcommand area is used to supplement the main command with another command. Whether the subcommand area is used or
not is determined by the setting of the number of transmission bytes. When the number of transmission bytes is 32, the
subcommand area is not used.

Both the main command area and subcommand area are divided into the command header section and the command data
section.

Fields in the command header section of the main command area

Command: CMD, WDT, CMD_CTRL
Response: RCMD, RWDT, CMD_STAT
Fields in the command header section of the subcommand area
Command: SUBCMD, SUB_CTRL
Response: RSUBCMD, SUB_STAT

Byte Command Response Description

0 CMD RCMD • CMD/RCMD:
1 WDT RWDT Command code specified for individual commands.
Refer to 8.7.1 Command Code (CMD/RCMD).
2
CMD_CTRL CMD_STAT • WDT/RWDT:
3 Refer to 8.7.2 Watchdog Data (WDT/RWDT).
4 • CMD_CTRL:
5 Refer to 8.7.3 Command Control (CMD_CTRL).
• CMD_STAT:
6
Refer to 8.7.4 Command Status (CMD_STAT).
7 • CMD_DATA/RSP_DATA:
8 Specified for individual commands.
9
10
11
12
13
14
Main 15
Command
Area 16
17
CMD_DATA RSP_DATA
18
19
20
21
22
23
24
25
26
27
28
29
30
31

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 8 MECHATROLINK-III Commands

Byte Command Response Description

32 SUBCMD RSUBCMD • SUBCMD/RSUBCMD:
33 Command code specified for individual commands.
Refer to 8.15 Subcommands.
34 SUB_CTRL SUB_STAT
• SUB_CTRL:
35 Refer to 8.8.2 Subcommand Control (SUB_CTRL).
36 • SUB_STAT:
Sub- 37 Refer to 8.8.3 Subcommand Status (SUB_STAT).
command • SUB_CMD_DATA/SUB_RSP_DATA:
Area 38
Specified for individual commands. Refer to 8.15
: Subcommands.
SUB_CMD_DATA SUB_RSP_DATA
:
45
46
47

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 8 MECHATROLINK-III Commands

8.7 Command Header Section of Main Command Area

This section describes the command header section of the main command area.

8.7.1 Command Code (CMD/RCMD)

This is the command code that defines the meaning of the messaging. Byte 0 of the command format is defined as the
CMD/RCMD field. The data set in this field of the response data is a copy of that of the command data.
The following table shows the command codes.
Command Communication
Profile Code Command Operation Compliance*1 Phases*3
(Hex.) 1 2 3
00 NOP No operation 。 – 。 。
01 PRM_RD Read parameter ×*2 – × ×
02 PRM_WR Write parameter ×*2 – × ×
03 ID_RD Read ID 。 – 。 。
04 CONFIG Device setup request Δ – 。 。
05 ALM_RD Read alarm/warning Δ – 。 。
06 ALM_CLR Clear alarm/warning state 。 – 。 。
Common Request for establishing
Commands 0D SYNC_SET 。 – 。 Δ
synchronization
Request for establishing
0E CONNECT
connection 。 。 Δ Δ
0F DISCONNECT Request for releasing connection 。 。 。 。
1B PPRM_RD Read stored parameter ×*2 – × ×
1C PPRM_WR Write stored parameter ×*2 – × ×
1D MEM_RD Read memory Δ – 。 。
1E MEM_WR Write memory Δ – 。 。
20 POS_SET Set coordinates 。 – 。 。
21 BRK_ON Request for applying lock 。 – 。 。
22 BRK_OFF Release lock 。 – 。 。
23 SENS_ON Request for turning sensor ON 。 – 。 。
24 SENS_OFF Request for turning sensor OFF 。 – 。 。
30 SMON Monitor servo status 。 – 。 。
31 SV_ON Servo ON 。 – 。 。
32 SV_OFF Servo OFF 。 – 。 。
34 INTERPOLATE Interpolation 。 – × 。
Servo
Commands 35 POSING Positioning 。 – 。 。
36 FEED Constant speed feed 。 – 。 。
Positioning at constant speed by
37 EX_FEED 。 – 。 。
external input
39 EX_POSING Positioning by external input 。 – 。 。
3A ZRET Zero point return 。 – 。 。
3C VELCTRL Velocity control 。 – 。 。
3D TRQCTRL Torque (force) control 。 – 。 。
40 SVPRM_RD Read servo parameter Δ – 。 。
41 SVPRM_WR Write servo parameter 。 – 。 。
∗1. Indicates the compliance status.
。: Possible, Δ: Possible with specification restrictions (Refer to the subsection describing each command for the
details of the restrictions.), ×: Not possible
∗2. The standard servo command profile does not use PRM_RD, PRM_WR, PPRM_RD and PPRM_WR, but uses
SVPRM_RD and SVPRM_WR instead.
∗3. 。: Can be executed, Δ: Ignored, ×: Command error, –: Indefinite response data

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 8 MECHATROLINK-III Commands

8.7.2 Watchdog Data (WDT/RWDT)

The details of the watchdog timer (WDT) data in commands and responses are described below. Byte 1 of the
command/response format is specified as the WDT/RWDT field.

MN:
Master station watchdog timer count

RSN:
DRIVER's watchdog timer count

The watchdog data (WDT) is checked after establishing synchronous communications (phase 3).
The watchdog data (RWDT) at the DRIVER will be refreshed regardless of the establishment of synchronous
communications.

8.7.3 Command Control (CMD_CTRL)

The following describes the command control data.

Byte 2 and byte 3 of the command format are specified as the CMD_CTRL field.

The designation in the CMD_CTRL field is valid even when an alarm specified by CMD_ALM has occurred.
The CMD_CTRL field is specified as shown below by the communication specification.

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

CMD_ID Reserved Reserved ALM_CLR Reserved Reserved Reserved

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved

(1) ALM_CLR: Clear Alarm/Warning State

- Definition
Clears the alarms and warnings that have occurred in the DRIVER.
0: Clear alarm/warning disabled
1: Clear alarm/warning triggered

- Description
Clears the alarm/warning state at the leading edge.
The same processing as when ALM_CLR_MODE = 0 for the ALM_CLR command (the current alarm/warning
state is cleared) is performed.

(2) CMD_ID: Command ID

- Definition
The master station uses the command ID to have a slave station acknowledge that the command is a new command
when the master station sends the same command repeatedly to the slave station.

Applicable commands: EX_FEED, EX_POSING, ZRET A value in the range 0 to 3 is used.

- Description
Since the slave station returns the CMD_ID of the command being executed, the master station can decisively
judge the command to which the slave station sent the response.
While CMD_RDY = 0 (while the execution process of the command is incomplete), the slave station disregards
commands that have a different CMD_ID and continues the execution of the command being executed.

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 8 MECHATROLINK-III Commands

8.7.4 Command Status (CMD_STAT)

The following describes the status of responses.
Byte 2 and byte 3 of the response format are specified as the CMD_STAT field.
The CMD_STAT field is specified as shown below by the communication specification.

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

ALM_CLR_
RCMD_ID Reserved Reserved CMDRDY D_WAR D_ALM
CMP

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

COMM_ALM CMD_ALM

(1) D_ALM
- Definition

This bit indicates the device alarm state of the slave station.
1: A device-specific alarm has occurred.
0: Other state (normal state, or the alarm specified by COMM_ALM or CMD_ALM has occurred.)

- Description

When a device-specific alarm other than the alarm state specified by COMM_ALM and CMD_ALM has occurred,
the D_ALM status bit is set to "1."
D_ALM is independent of COMM_ALM and CMD_ALM.
When a device-specific alarm has occurred and D_ALM is set to "1" in the servo ON state, the servo OFF state is
established.
When the slave station shifts from the alarm state to the normal state as a result of the execution of the ALM_CLR
command or CMD_CTRL.ALM_CLR, this bit is set to "0."

[Example]
Device alarm: Excessive position error (A.D00) → D_ALM = 1

(2) D_WAR
- Definition

This bit indicates the device warning state of the slave station.
1: A device-specific warning has occurred.
0: Other state (normal state, or the alarm specified by COMM_ALM or CMD_ALM has occurred.)

- Description

When a device-specific warning other than the warning state specified by COMM_ALM or CMD_ALM has
occurred, the D_WAR status bit is set to "1."
D_WAR is independent of COMM_ALM and CMD_ALM.
When a device-specific warning has occurred and the D_WAR status bit is set to "1" in the servo ON state, the
servo ON state is retained.
When the slave station shifts from the device warning state to the normal state as a result of the execution of the
ALM_CLR command or CMD_CTRL.ALM_CLR, this bit is set to "0."

[Example]
Device warning: Overload warning (A.910) → D_WAR = 1

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 8 MECHATROLINK-III Commands

(3) CMDRDY
- Definition

This bit indicates whether the slave station is ready to receive commands.
1: Command reception enabled
0: Command reception disabled

- Description

CMDRDY = 0 means that command processing is in progress. While CMDRDY = 0, the slave station con- tinues
to process the current command, but the slave station will discard new commands received while CMDRDY = 0.
Only the DISCONNECT command is executed immediately regardless of the CMDRDY value.
Completion of command execution is confirmed in accordance with the completion confirmation method of each
command.
The hold time for CMDRDY = 0 is specified for each command.
If command execution is possible despite an alarm or warning state, CMDRDY is set to "1."

(4) ALM_CLR_CMP
- Definition
This bit indicates the execution state of the ALM_CLR command.
1: Execution of the ALM_CLR command (CMD_CTRL.ALM_CLR) completed
0: Other

- Description

ALM_CLR_CMP is set to "1" in the following cases.

When the alarm clear processing executed by the ALM_CLR command has been completed ALM_CLR_CMP is
set to "1" when the alarm cannot be cleared as well.
When the alarm clear processing time (approx. 200 ms) has elapsed after receiving the ALM_CLR command.
ALM_CLR_CMP is set to "1" when the alarm cannot be cleared as well.
ALM_CLR_CMP can be cancelled by setting "0" for CMD_CTRL.ALM_CLR.

(5) RCMD_ID
- Definition
This is the echo-back of the CMD_ID in the CMD_CTRL field of the command data.

- Description
This is the identification code of the same commands that the slave station has received contiguously.
Returns the CMD_ID of the command format.

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 8 MECHATROLINK-III Commands

(6) CMD_ALM
- Definition
This bit indicates the validation result of the command.

- Description

CMD_ALM indicates whether the command is valid or not. The results of validations of the command codes, and
the combinations of commands and the data in the command frame are notified.
CMD_ALM is independent of COMM_ALM, D_ALM and D_WAR.
If a normal command is received after the occurrence of a command error, CMD_ALM is automatically cleared.
The phase doesn't change even if the status of CMD_ALM is not "0." The servo ON/OFF state doesn't change
either.

Code Description Remark

0 Normal
1 Invalid data
2
3
The slave station notifies the warning state, but operates at
Warning 4 the specified value or the value on clamping at the maximum
or minimum value.
5
6
7
8 Unsupported command received
9 Invalid data
Command execution condition
A
error
B Subcommand combination error The slave station notifies the alarm state and the command is
Alarm
not executed.
C Phase error
D
E
F

[Example]
Command error: Invalid data (A.94B) → CMD_ALM = 9H

Check the status of CMD_ALM with the host PC or PLC...etc for every
communication cycle and perform appropriate processing because
CMD_ALM will be automatically cleared.

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 8 MECHATROLINK-III Commands

(7) COMM_ALM
- Definition
This bit indicates the MECHATROLINK communications error status.

- Description

COMM_ALM shows if the data transmission in the physical or application layer has completed normally or not.
COMM_ALM is independent of CMD_ALM, D_ALM and D_WAR.
COMM_ALM is cleared by the ALM_CLR command or CMD_CTRL.ALM_CLR.

Code Description Remark

0 Normal
1 FCS error Occurs when an error is detected once.
2 Command data not received The servo ON state is retained when an error is detected in
the servo ON state.
3 Synchronous frame not received Error detection method
4 1: FCS error
The DRIVER detects FCS errors.
Warning 5
2: Command data not received
6 The DRIVER detects that command data has not been
received.
3: Synchronous frame not received
7 The DRIVER detects that the synchronous frame has not
been received.
8 FCS error
Occurs when an error is detected in the following detection
9 Command data not received methods.
A Synchronous frame not received • If the system is in communication phase 3, it will shift to
communication phase 2.
B Synchronization interval error • Establishes the servo OFF state.
Alarm
C WDT error Error detection method
8, 9, A: Set if an error is detected twice consecutively using
D the error detection method for warnings 1, 2 and 3
E described above.
B, C: Set immediately upon occurrence of a single error.
F
[Example]
Communications error (warning): Reception error warning (A.960) → COMM_ALM = 2H
Communications error (alarm): Reception error alarm (A.E60) → COMM_ALM = 9H

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 8 MECHATROLINK-III Commands

8.8 Command Header Section of Subcommand Area

Subcommands use byte 32 to byte 47 of the data field and function as a supplementary command to the main command. This
subsection describes the command header section of the subcommand area.

8.8.1 Subcommand Codes (SUB_CMD/SUB_RCMD)

This is the subcommand code that specifies the meaning of the subcommand messaging. Byte 32 of the command format
is defined as the SUB_CMD/SUB_RCMD field. The data set in this field of the response data is a copy of that of the
command data.

The following table shows the subcommand codes.

Command Communication
Profile Code Command Operation Phases*2
(Hex.) 1 2 3
00 NOP No operation – 。 。
05 ALM_RD*1 Read alarm/warning – 。 。
06 ALM_CLR Clear alarm/warning state – 。 。
1D MEM_RD*1 Read memory command – 。 。
Servo Commands
1E MEM_WR*1 Write memory command – 。 。
30 SMON Monitor servo status – 。 。
40 SVPRM_RD*1 Read servo parameter – 。 。
41 SVPRM_WR Write servo parameter – 。 。
∗1. Specification restrictions apply (Refer to the subsection describing each command for the details of the restrictions.)
∗ 2. 。: Can be executed, Δ: Ignored, ×: Command error, –: Indefinite response data

8.8.2 Subcommand Control (SUB_CTRL)

The following describes the subcommand control data.
Byte 33 to byte 35 of the command format are specified as the SUB_CTRL field.
The SUB_CTRL field is specified as shown below by the communication specification.

(1) SUB_CTRL Field

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Reserved Reserved Reserved

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

SEL_MON4 Reserved

bit 23 bit 22 bit 21 bit 20 bit 19 bit 18 bit 17 bit 16

SEL_MON6 SEL_MON5
(2) Details of Control Bits
The following table shows the details of the control bits.

Bit Name Description Value Setting

12 to 15 SEL_MON4 Monitor selection 4 0 to 15 Selects the monitor information with the setting value.
16 to 19 SEL_MON5 Monitor selection 5 0 to 15 Selects the monitor information with the setting value.
20 to 23 SEL_MON6 Monitor selection 6 0 to 15 Selects the monitor information with the setting value.

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 8 MECHATROLINK-III Commands

8.8.3 Subcommand Status (SUB_STAT)

The following describes the subcommand status of responses.
Byte 33 to byte 35 of the response format are specified as the SUB_STAT field.
The SUB_STAT field is specified as shown below by the communication specification.

(1) SUB_STAT Field

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

Reserved Reserved Reserved SUBCMDRDY Reserved Reserved

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

SEL_MON4 SUBCMD_ALM

bit 23 bit 22 bit 21 bit 20 bit 19 bit 18 bit 17 bit 16

SEL_MON6 SEL_MON5

(2) Details of Status Bits

The following table shows the details of the status bits.

Bit Name Description Value Setting

1 Subcommand reception enabled
2 SUBCMDRDY* Subcommand ready
0 Other
Refer to 8.7.4 Command Status
8 to 11 SUBCMD_ALM Subcommand alarm 0 to 15
(CMD_STAT) (6).
Indicates the selected monitor
12 to 15 SEL_MON4 Monitor selection 4 0 to 15
information. (Copy of the command)
Indicates the selected monitor
16 to 19 SEL_MON5 Monitor selection 5 0 to 15
information. (Copy of the command)
Indicates the selected monitor
20 to 23 SEL_MON6 Monitor selection 6 0 to 15
information. (Copy of the command)
∗ When no subcommand is used, the SUBCMDRDY status bit is set to "1."

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 8 MECHATROLINK-III Commands

8.9 Servo Command Format

This section describes the specifications of the servo commands.
The servo commands are specified by the 32-byte command and response data in the communication specifications as shown in
the table below.

The command/response data area can be expanded to 48 bytes by using subcommands. For the subcommands, refer to 8.15
Subcommands.

The following table shows the format of the servo command and response data.

Byte Command Response Description

0 CMD RCMD • CMD_CTRL:
Refer to 8.7.3 Command Control (CMD_CTRL).
1 WDT RWDT
• CMD_STAT:
2 Refer to 8.7.4 Command Status (CMD_STAT).
CMD_CTRL CMD_STAT • SVCMD_CTRL:
3
Refer to 8.10.1 Servo Command Control (SVCMD_CTRL).
4 • SVCMD_STAT:
5 Refer to 8.10.2 Servo Command Status (SVCMD_STAT).
SVCMD_CTRL SVCMD_STAT • SVCMD_IO:
6 Refer to 8.11 Servo Command I/O Signal (SVCMD_IO).
7 • CMD_DATA/RSP_DATA:
Specified for individual commands.
8
9
SVCMD_IO SVCMD_IO
10
11
12
13
14
15
16
17
18
19
20
21
CMD_DATA RSP_DATA
22
23
24
25
26
27
28
29
30
31

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 8 MECHATROLINK-III Commands

8.10 Command Header Section

Refer to 8.7 Command Header Section of Main Command Area for the details of the command header section (command code,
watchdog data and command control fields).

8.10.1 Servo Command Control (SVCMD_CTRL)

Byte 4 to byte 7 of the command format are specified as the SVCMD_CTRL field. The control bit specifies a motion
command for a slave station.

The SVCMD_CTRL field contains auxiliary data for the specified command and the control bits have no meaning with
commands other than the command that specified the data.
Note that the designation in this field is valid even when a CMD_ALM has occurred.
The SVCMD_CTRL field is specified as shown below by the communication specification.

(1) SVCMD_CTRL Field

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

CMD_ CMD_
Reserved (0) ACCFIL STOP_MODE
CANCEL PAUSE

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

Reserved (0) LT_SEL2 LT_SEL1 LT_REQ2 LT_REQ1

bit 23 bit 22 bit 21 bit 20 bit 19 bit 18 bit 17 bit 16

SEL_MON2 SEL_MON1

bit 31 bit 30 bit 29 bit 28 bit 27 bit 26 bit 25 bit 24

Reserved (0) SEL_MON3

(2) Details of Control Bits

The following table shows the details of the control bits.

Bit Name Description Value Setting Enabled Timing

0 None
Pause of Move
CMD_PAUSE Move command pause Level
Command 1
0 command
Pauses execution of the POSING, FEED, EX_FEED, EX_POSING, ZRET and VELCTRL commands
according to STOP_MODE.
0 None
Cancellation of
CMD_CANCEL Cancellation of move Level
Move Command 1
1 command
Cancels execution of the POSING, FEED, EX_FEED, EX_POSING, ZRET and VELCTRL commands
according to STOP_MODE.
0 Stop after deceleration
Selection of Stop 1 Immediate stop
STOP_MODE Level
2, 3 Mode 2 Reserved
3 Reserved
Selects the stop mode for CMD_PAUSE and CMD_CANCEL.

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 8 MECHATROLINK-III Commands

Bit Name Description Value Setting Enabled Timing

0 No position reference filter
Exponential function position
Selection of 1
reference filter
ACCFIL Position Reference Level
4, 5 Filter Movement average position
2
reference filter
3 Reserved
To be set when specifying the position reference filter.
0 None
LT_REQ1 Latch Request 1 Leading edge
8 1 Request for latch
Requests latch by the Z phase or an external input signal.
0 None
LT_REQ2 Latch Request 2 Leading edge
1 Request for latch
9
Requests latch by the Z phase or an external input signal.
This can be used as the continuous latch mode as well.
0 Z phase
1 External input signal 1 Leading edge of
LT_SEL1 Latch Signal Select 1
2 External input signal 2 LT_REQ1
10, 11
3 External input signal 3
Selects the Z phase or the external input signal for LT_REQ1.
Make a setting different from LT_SEL2.
0 Z phase
1 External input signal 1 Leading edge of
LT_SEL2 Latch Signal Select 2
2 External input signal 2 LT_REQ2

12, 13 3 External input signal 3

Selects the Z phase or the external input signal for LT_REQ2.
Make a setting different from LT_SEL1.
When the continuous latch mode is selected, this setting will be ignored since the signal set with the
parameter is used.

SEL_MON1 Monitor Selection 1 0 to 15 Monitor selection Level

16 to 18
Sets the monitor information.

SEL_MON2 Monitor Selection 2 0 to 15 Monitor selection Level

19 to 22
Sets the monitor information.

SEL_MON3 Monitor Selection 3 0 to 15 Monitor selection Level

23 to 26
Sets the monitor information.

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 8 MECHATROLINK-III Commands

8.10.2 Servo Command Status (SVCMD_STAT)

Byte 4 to byte 7 of the response format are specified as the SVCMD_STAT field. The status bit indicates the status of the
slave station.
Note that the designation in this field is valid even when a CMD_ALM has occurred.
The SVCMD_STAT field is specified as shown below by the communication specification.

(1) SVCMD_STAT Field

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

CMD CMD
Reserved (0) ACCFIL Reserved (0) _CANCEL _PAUSE
_CMP _CMP

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

Reserved (0) SV_ON M_RDY PON POS_RDY L_CMP2 L_CMP1

bit 23 bit 22 bit 21 bit 20 bit 19 bit 18 bit 17 bit 16

SEL_MON2 SEL_MON1

bit 31 bit 30 bit 29 bit 28 bit 27 bit 26 bit 25 bit 24

Reserved (0) SEL_MON3

(2) Details of Status Bits

The following table shows the details of the status bits.
bit Name Description Value Setting
Completion of Pause of Move 0 Incomplete (when pausing commanded)
CMD_PAUSE_CMP
Command 1 Pausing of move command completed
0
The status used to judge the completion of pausing of the POSING, FEED, EX_FEED, EX_POSING,
ZRET and VELCTRL commands
Incomplete (when cancellation
0
CMD_CANCEL_ Completion of Cancellation of commanded)
CMP Move Command Cancellation of move command
1 1
completed
The status used to judge the completion of cancellation of the POSING, FEED, EX_FEED, EX_POSING,
ZRET and VELCTRL commands
0 No position reference filter
Exponential function position reference
1
Current Position Reference filter
ACCFIL
4, 5 Filter Movement average position reference
2
filter
3 Reserved
The status used to judge the position reference filter currently being applied
0 Latch not completed
L_CMP1 Latch Completion 1
1 Latch completed
8
The status used to judge the completion of latching requested by LT_REQ1
Up until "0" is set for LT_REQ1, L_CMP1 is maintained at "1."
0 Latch not completed
L_CMP2 Latch Completion 2
1 Latch completed
9 The status used to judge the completion of latching requested by LT_REQ2
Up until "0" is set for LT_REQ2, L_CMP2 is maintained at "1."
In the continuous latch mode, L_CMP2 is returned to "0" after one communication cycle after completing
latching.

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 8 MECHATROLINK-III Commands

bit Name Description Value Setting

0 Disabled
POS_RDY Position Data Enabled
1 Enabled
The status used to judge if the position data currently being monitored as the monitor information of the
10 response data is valid
When an incremental encoder is used: "1" is set on completion of the CONNECT command.
When an absolute encoder is used: "1" is set on completion of the SENS_ON command and "0" is set
on completion of the SENS_OFF and CONFIG commands.
When position data cannot be obtained properly due to an encoder error, "0" is set.
0 Power OFF
PON Power ON
11 1 Power ON
The status used to judge if the power is turned ON or not
0 Not ready
M_RDY Motor Energization Ready
12 1 Ready
The status used to judge if the servo can be turned ON or not
0 Servo OFF
SV_ON Servo ON
13 1 Servo ON
The status used to judge if the motor is energized or not

Monitor Selection 1:
SEL_MON1 Returns what data is being 0 to 15 Monitor selection
monitored.
16 to 19
The status used to judge the data currently being monitored as the monitor information of the response
data
(Copy of the command)
For details, refer to 8.12.3 Specifying Monitor Data.

Monitor Selection 2:
SEL_MON2 Returns what data is being 0 to 15 Monitor selection
monitored.
20 to 23
The status used to judge the data currently being monitored as the monitor information of the response
data
(Copy of the command)
For details, refer to 8.12.3 Specifying Monitor Data.

Monitor Selection 3:
SEL_MON3 Returns what data is being 0 to 15 Monitor selection
monitored.
24 to 27
The status used to judge the data currently being monitored as the monitor information of the response
data
(Copy of the command)
For details, refer to 8.12.3 Specifying Monitor Data.

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 8 MECHATROLINK-III Commands

8.10.3 Supplementary Information on CMD_PAUSE and CMD_CANCEL

(1) CMD_PAUSE (Pausing a Command Operation)
CMD_PAUSE is used to pause motion command operation. (Motion command processing continues. Motion
command operation can be resumed by clearing CMD_PAUSE.)
CMD_PAUSE is valid only when the POSING, FEED, EX_FEED, EX_POSING, ZRET or VELCTRL command
is specified.

[Pausing Procedure]
1. The master station sets "1" for STOP_MODE and CMD_PAUSE and transmits one of the motion commands
given above.
2. The slave station stops in accordance with STOP_MODE. When deceleration to a stop is specified, the slave
station decelerates its motion at the deceleration specified in DECR of the command.
3. "1" is set for CMD_PAUSE_CMP at the slave station when CMD_PAUSE and ZSPD become "1."
Even after stopping, the slave station maintains the previous control mode and DEN remains at "0" (in the
position control mode).

[Precautions]
CMD_PAUSE is disregarded for commands for which CMD_PAUSE is not valid, and CMD_PAUSE_CMP
remains OFF.
When using CMD_PAUSE, execute the relevant motion command continuously until CMD_PAUSE_CMP
becomes "1."
By setting "0" for CMD_PAUSE, the pausing operation is canceled and the motion command operation is
resumed.

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 8 MECHATROLINK-III Commands

[Example of Pausing the POSING Command]

[Example of Pausing the VELCTRL Command]

(2) CMD_CANCEL (Canceling a Command Operation)

CMD_CANCEL is used to interrupt motion command operation. (Motion command processing is cleared.)
CMD_CANCEL is valid only when the POSING, FEED, EX_FEED, EX_POSING, ZRET or VELCTRL
command is specified.

[Canceling Procedure]
1. The master station sets "1" for STOP_MODE and CMD_PAUSE and transmits one of the motion commands
given above.
2. The slave station stops in accordance with STOP_MODE. When deceleration to a stop is specified, the slave
station decelerates its motion at the deceleration specified in DECR of the command.
3. "1" is set for CMD_CANCEL_CMP at the slave station in the following circumstances.
In the position control mode: When CMD_PAUSE and DEN become "1"
In the speed control mode: When CMD_CANCEL and ZSPD become "1" Even after stopping, the slave station
maintains the previous control mode.

[Precautions]
CMD_CANCEL is disregarded for commands for which CMD_CANCEL is not valid, and
CMD_CANCEL_CMP remains OFF.
When CMD_PAUSE and CMD_CANCEL are simultaneously turned ON or when CMD_CANCEL is turned ON
after CMD_PAUSE, CMD_CANCEL takes priority.
When using CMD_CANCEL, execute the relevant motion command continuously until CMD_CANCEL_CMP
becomes "1."
By setting "0" for CMD_CANCEL, the cancellation operation is canceled and the motion command is processed
as a new motion command.

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 8 MECHATROLINK-III Commands

[Example of Canceling the POSING Command]

[Example of Canceling the VELCTRL Command]

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 8 MECHATROLINK-III Commands

8.10.4 Supplementary Information on Latching Operation

The latch operation is enabled at the leading edge of LT_REQ1 and LT_REQ2. The operations to be per- formed when
commands are changed after enabling the latch operation are specified in the table below. (The value of LT_SEL is an
example.)

Command before Command after

Latch Operation
Switching Switching
Command without a latch
function
Common commands Continues the latch request before switching.
LT_SEL = 1
LT_REQ = 1
Command with a latch
function
Common commands Interrupts operation as a command with a latch function.
LT_SEL = 1
LT_REQ = 1
Command without a latch Command without a latch
function function
Continues the latch request before switching.
LT_SEL = 1 LT_SEL = 1
LT_REQ = 1 LT_REQ = 1
Command without a latch Command without a latch
function function
Continues the latch request before switching.
LT_SEL = 1 LT_SEL = 2
LT_REQ = 1 LT_REQ = 1
Switches to a latch request for the command after switching.
Command without a latch Command with a latch The servo drive executes another latch request. (Internal
function function processing)
LT_SEL = 1 LT_SEL = 1 If the status "L_CMP = 1" is established before command
LT_REQ = 1 LT_REQ = 1 switching, then the status is set to "L_CMP = 0" at command
switching.
Switches to a latch request for the command after switching.
Command with a latch Command without a latch The servo drive executes another latch request. (Internal
function function processing)
LT_SEL = 1 LT_SEL = 1 If the status "L_CMP = 1" is established before command
LT_REQ = 1 LT_REQ = 1 switching, then the status is set to "L_CMP = 0" at command
switching.
Switches to a latch request for the command after switching.
Command with a latch Command with a latch The servo drive executes another latch request. (Internal
function function processing)
LT_SEL = 1 LT_SEL = 1 If the status "L_CMP = 1" is established before command
LT_REQ = 1 LT_REQ = 1 switching, then the status is set to "L_CMP = 0" at command
switching.

Note 1. Commands with a latch function: EX_FEED, EX_POSING, ZRET

Commands without a latch function: POS_SET, BRK_ON, BRK_OFF, SENS_ON, SENS_OFF, SMON,
SV_ON, SV_OFF, INTERPOLATE, POSING, FEED, VELCTRL, TRQC-
TRL, SVPRM_RD, SVPRM_WR
Common commands: NOP, ID_RD, CONFIG, ALM_RD, ALM_CLR, SYNC_SET, CONNECT,
DISCONNECT, MEM_RD, MEM_WR
2. LT_SEL: LT_SEL1 or LT_SEL2
LT_REQ: LT_REQ1 or LT_REQ2

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 8 MECHATROLINK-III Commands

8.11 Servo Command I/O Signal (SVCMD_IO)

This section describes the servo command I/O signal monitoring.

8.11.1 Bit Allocation of Servo Command Output Signals

Byte 8 to byte 11 of the command format are specified as the SVCMD_IO (output) field. The servo command output
signals are signals output to the slave station.
Note that the designation in this field is valid even when a CMD_ALM has occurred.

(1) SVCMD_IO (Output) Field

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

N_CL P_CL P_PPI V_PPI Reserved (0)

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

Reserved (0) G-SEL

bit 23 bit 22 bit 21 bit 20 bit 19 bit 18 bit 17 bit 16

Reserved SO3 SO2 SO1 BANK_SEL

bit 31 bit 30 bit 29 bit 28 bit 27 bit 26 bit 25 bit 24

Reserved (0)

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 8 MECHATROLINK-III Commands

(2) Details of Output Signal Bits

The following table shows the details of the output signal bits.

bit Name Description Value Setting Enabled

Timing
0 PI control
V_PPI Speed Loop P/PI Control Level
1 P control
4
Switches the speed control from PI control to P control.
Used for adjusting the settling time by suppressing overshoot during acceleration.
0 PI control
P_PPI Position Loop P/PI Control Level
1 P control
5
Switches the position control automatically from PI control to P control.
Used for shortening the settling time by suppressing overshoot during positioning movement.
0 Torque not clamped
P_CL Forward Torque Limit Level
1 Torque clamped
6
Used to select whether the forward torque is clamped or not according to the forward torque limit
(common parameter 8C).
0 Torque not clamped
N_CL Reverse Torque Limit Level
1 Torque clamped
7
Used to select whether the reverse torque is clamped or not according to the reverse torque limit
(common parameter 8D).
0 First gain
1 Second gain
G_SEL Gain Select Level
Reserved (Do not
2 to 15
set.)
8 to 11
Used to select the position loop gain, speed loop gain and other settings as desired according to the
G_SEL value.
0: First gain
1: Second gain
2 to 15: Reserved (Do not set.)
0 Bank 0
1 Bank 1
BANK_SEL Bank Selector Level
16 to 19
…

F Bank F
High-speed acceleration/deceleration parameter (bank switching) function
0 Signal OFF
SO1 to SO3 I/O Signal Output Command Level
1 Signal ON
Turns ON/OFF the signal output for I/O signal outputs (SO1 to SO3).
20 to 22
[Important]
The OUT_SIGNAL operation is disabled when other output signals are allocated at the same time to
parameters Pn50E, Pn50F and Pn510. To use OUT_SIGNAL, set all of parameters Pn50E, Pn50F and
Pn510 to "0."

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 8 MECHATROLINK-III Commands

8.11.2 Bit Allocation of Servo Command I/O Signal Monitoring

Byte 8 to byte 11 of the response format are specified as the SVCMD_IO (I/O signal) field. Note that the designation in
this field is valid even when a CMD_ALM has occurred.

(1) SVCMD_IO (I/O Signal) Field

bit 7 bit 6 bit 5 bit 4 bit 3 bit 2 bit 1 bit 0

ESTP EXT3 EXT2 EXT1 N-OT P-OT DEC Reserved (0)

bit 15 bit 14 bit 13 bit 12 bit 11 bit 10 bit 9 bit 8

ZPOINT PSET NEAR DEN N-SOT P-SOT BRK_ON Reserved (0)

bit 23 bit 22 bit 21 bit 20 bit 19 bit 18 bit 17 bit 16

Reserved (0) ZSPD V_CMP V_LIM T_LIM

bit 31 bit 30 bit 29 bit 28 bit 27 bit 26 bit 25 bit 24

IO_STS8 IO_STS7 IO_STS6 IO_STS5 IO_STS4 IO_STS3 IO_STS2 IO_STS1

(2) Details of I/O Signal Bits

The following table shows the details of the I/O signal bits.

Bit Name Description Value Setting

Zero Return Deceleration 0 OFF
DEC
1 Limit Switch Input 1 ON
The status used to judge the state of the deceleration limit switch used for zero point return operation
Forward Drive Prohibition 0 OFF
P_OT
Input 1 ON
2 Overtravel (OT) is a function that forcibly stops a movable machine unit if it moves beyond its range
of movement.
P_OT is the status used to judge if the movable machine unit is in the forward drive prohibited state.
The OT stop judgment is made based on ZSPD.
Reverse Drive Prohibition 0 OFF
N_OT
Input 1 ON
3 Overtravel (OT) is a function that forcibly stops a movable machine unit if it moves beyond its range
of movement.
N_OT is the status used to judge if the movable machine unit is in the reverse drive prohibited state.
The OT stop judgment is made based on ZSPD.
0 OFF
EXT1 External Latch 1 Input
4 1 ON
The status used to judge the state of the external latch 1 input signal
0 OFF
EXT2 External Latch 2 Input
5 1 ON
The status used to judge the state of the external latch 2 input signal
0 OFF
EXT3 External Latch 3 Input
6 1 ON
The status used to judge the state of the external latch 3 input signal
ESTP 0 OFF
Emergency Stop
(HWBB) 1 ON
7
When the HWBB1 or HWBB2 signal is input, the power to the motor is shut down forcibly and the
motor stops according to the setting of the 1st digit of parameter Pn001.

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 8 MECHATROLINK-III Commands

Bit Name Description Value Setting

0 Lock released
BRK_ON Lock Application Output
1 Lock applied
9 The holding lock is used in applications where the servo driver controls the vertical axis.
This is the status used to judge the state of the holding lock control signal (/BK). Note that the logic is
the inverse of that of the hardware output (/BK).
0 Range of motion
P_SOT Forward Software Limit Drive prohibited due to forward soft-
1
ware limit
10 The software limit forcibly stops a movable machine unit if it moves beyond the software limit range
in the same manner as the overtravel function, with or without using P_OT and N_OT (overtravel
signals).
This is the status used to judge if the movable machine unit is in the Forward Software Limit state
(common parameter 26).
0 Range of motion
N_SOT Reverse Software Limit Drive prohibited due to reverse soft-
1
ware limit
11 The software limit forcibly stops a movable machine unit if it moves beyond the software limit range
in the same manner as the overtravel function, with or without using P_OT and N_OT (overtravel
signals).
This is the status used to judge if the movable machine unit is in the Reverse Software Limit state
(common parameter 28).
Distribution Completed 0 During distribution
DEN
(Position Control Mode) 1 Distribution completed
12
The status used to judge if the position reference from the servo drive has been completed
This bit is valid only in the position control mode.
Near Position 0 Outside the near-position range
NEAR
(Position Control Mode) 1 Within the near-position range
13
The status used to judge if the current position is within the range of the NEAR Signal Width
(common parameter: 67)
This bit is valid only in modes other than the position control mode.
Outside the positioning completion
0
Positioning Completed range
PSET
(Position Control Mode) Within the positioning completion
1
range
14 The status used to judge if the current position is within the range of the Positioning Completed Width
(common parameter: 66)
This bit is valid only in the position control mode.
Refer to 8.24 Notes when the Positioning Completed State (PSET = 1) is Established while Canceling
a Motion Command.
0 Outside the zero point position range
ZPOINT Zero Point
1 Within the zero point position range
15
The status used to judge if the current position is within the range of the Origin Detection Range
(common parameter: 8B)
0 Not in the torque limited state
T_LIM Torque Limit
16 1 In the torque limited state
The status to judge if the torque is clamped at the Forward Toque Limit or the Reverse Toque Limit
Speed Limit 0 Speed limit not detected
V_LIM
(Torque Control Mode) 1 Speed limit detected
17
The state to judge if the speed is clamped at the limit value specified in the command or parameter
This bit is valid only in the torque control mode.

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 8 MECHATROLINK-III Commands

Bit Name Description Value Setting

Speed Match 0 Speed not matched
V_CMP
(Speed Control Mode) 1 Speed match
18
The status used to judge if the speed is within the Speed Match Signal Detection Range (common
parameter: 8F)
This bit is valid only in the speed control mode.
0 Zero speed not detected
ZSPD Zero Speed
1 Zero speed detected
19
The status used to judge if the current speed is within the Zero Speed Detection Range (common
parameter: 8E)
IO_STS1 to 0 Signal OFF
I/O Signal Monitor
IO_STS8 1 Signal ON
24 to 31
The status used to indicate the I/O signal state of CN1
Allocate the input signals using parameters Pn860 to Pn866, Pn868, and Pn869.

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 8 MECHATROLINK-III Commands

8.12 Command Data

This section describes the servo-specific data used with servo commands.

8.12.1 Data Order

Data in commands and responses is stored in little endian byte order.
For example, 4-byte data "0x1234ABCD" in hexadecimal is stored from the least significant byte as shown below.

Byte Data
1 CD
2 AB
3 34
4 12

8.12.2 Specifying Units

The units for the user command and parameter data can be selected.
The system of units is set in the common parameters. For the details on the common parameters, refer to 8.27 Common
Parameters.
(1) Speed
The following units can be selected.
Settings are made with common parameters 41 and 42.

Unit Remark
Reference unit/s (default) ×10n [reference unit/s] can be set.
Reference unit/min ×10n [reference unit/min] can be set.
"%" of rated speed ×10n [%] can be set.
min−1 (rpm) ×10n [min−1] can be set.
Max. motor speed/40000000 (Hex.) Set "0" for common parameter 42.

(2) Position
The following units can be selected.
Settings are made with common parameters 43 and 44.

Unit Remark
[Reference unit] Fixed
Reference unit (default)
Set "0" for common parameter 44.

(3) Acceleration
The following units can be selected.
Settings are made with common parameters 45 and 46.

Unit Remark
Reference unit/s2 (default) ×10n [reference unit/s2] can be set.

(4) Torque
The following units can be selected.
Settings are made with common parameters 47 and 48.

Unit Remark
% of rated torque (default) ×10n [%] can be set.
Max. torque/40000000 (Hex.) Set "0" for common parameter 48.

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 8 MECHATROLINK-III Commands

8.12.3 Specifying Monitor Data

The master station sets the selection code of the monitor data to be read from a slave station at monitor selection bits
SEL_MON1 to 3 in the servo command control field (SVCMD_CTRL) and at monitor selection bits SEL_MON4 to 6 in
the subcommand control field (SUB_CTRL). The slave station sets the specified monitor selection code and the monitor
data in the response.

The following table lists the monitor data.

Selection Monitor
Description Remark
Code Name
0 APOS Feedback Position
1 CPOS Command Position
2 PERR Position Error
3 LPOS1 Latched Position 1
4 LPOS2 Latched Position 2
5 FSPD Feedback Speed
6 CSPD Reference Speed
7 TRQ Reference Torque (Force)
Detailed Information on the When an alarm has occurred after the occurrence of a
8 ALARM
Current Alarm warning, the information on the alarm is displayed.
Input reference position in a position control loop
9 MPOS Command Position
MPOS = APOS + PERR
A – Reserved
B – Reserved
C CMN1 Common Monitor 1 Selects the monitor data specified at common parameter 89.
D CMN2 Common Monitor 2 Selects the monitor data specified at common parameter 8A.
E OMN1 Optional Monitor 1 Selects the monitor data specified at parameter Pn824.
F OMN2 Optional Monitor 2 Selects the monitor data specified at parameter Pn825.

8.12.4 Position Data

Servo commands use 4-byte data as position data. For infinite length operation, position data beyond this limit are
expressed as shown in the diagram below.

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 8 MECHATROLINK-III Commands

8.13 Common Commands

8.13.1 Common Commands

The table below shows the common commands.

Profile Command Command Operation Compliance*1

Code
(Hex.)
00 NOP No operation ○
01 PRM_RD Read parameter ×*2
02 PRM_WR Write parameter ×*2
03 ID_RD Read ID ○
04 CONFIG Device setup request Δ
05 ALM_RD Read alarm/warning ○
Common 06 ALM_CLR Clear alarm/warning state ○
Commands 0D SYNC_SET Request for establishing synchronization ○
0E CONNECT Request for establishing connection ○
0F DISCONNECT Request for releasing connection ○
1B PPRM_RD Read retentive parameter ×*2
1C PPRM_WR Write retentive parameter ×*2
1D MEM_RD Read memory Δ
1E MEM_WR Write memory Δ

∗1. Indicates the compliance status.

○: Possible
Δ : Possible with specification restrictions (Refer to the subsection describing each command for the details of the
restrictions.)
× : Not possible
∗2. The standard servo profile does not use PRM_RD, PRM_WR, PPRM_RD and PPRM_WR, but uses SVPRM_RD
and SVPRM_WR instead.

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 8 MECHATROLINK-III Commands

8.13.2 No Operation Command (NOP: 00H)

Data Format
Phases in which the Command Common Asynchronous
2, 3
Command can be Executed Classification command command
Within
Processing Time communication Subcommand Can be used
cycle
NOP
Byte Description
Command Response
0 00H 00H • The NOP command is used for network control.
1 WDT RWDT • The current state is returned as a response.
• Confirm that RCMD = NOP (= 00H) and
2 CMD_STAT.CMDRDY = 1.
CMD_CTRL CMD_STAT
3
4
5
6
7
8
9
10
11
12
13
14
15
16
17
Reserved Reserved
18
19
20
21
22
23
24
25
26
27
28
29
30
31

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 8 MECHATROLINK-III Commands

8.13.3 Read ID Command (ID_RD: 03H)

(1) Data Format

Phases in which the Command Common Asynchronous

2, 3
Command can be Executed Classification command command
Within
Processing Time communication Subcommand Can be used
cycle
ID_RD
Byte Description
Command Response
0 03H 03H • The ID_RD command reads the ID of a device. This command
reads the product information as ID data.
1 WDT RWDT
• The ID data is selected in detail by specifying ID_CODE.
2 • Confirm the completion of the command execution by
CMD_CTRL CMD_STAT checking that RCMD = ID_RD (= 03H) and
3
CMD_STAT.CMDRDY = 1, and also checking the setting for
4 ID_CODE ID_CODE ID_CODE, OFFSET and SIZE.
5 OFFSET OFFSET
In the following cases, an alarm will occur. Do not read ID in the
6 response in those cases because the ID value will be indefinite.
SIZE SIZE
7 • When the ID_CODE data is invalid:
CMD_ALM = 9H (A.94A)
8
• When the OFFSET data is invalid or the SIZE data do not
9 match: CMD_ALM = 9H (A.94D)
10 If the OFFSET or SIZE data is invalid for the specified
ID_CODE, an alarm occurs.
11 Example: Setting OFFSET = 3 and SIZE = 4 for reading the
12 device version (4-byte data) specifies reading of
data outside the device version data (4 bytes) and
13 generates an alarm.
14
15
16
17
18
19
Reserved ID
20
21
22
23
24
25
26
27
28
29
30
31

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 8 MECHATROLINK-III Commands

(2) Command Parameters

ID_CODE: ID data selection code

OFFSET: ID read offset
SIZE: Read data size [bytes]

The following tables describe details of the ID_CODE.

ID_CODE Description Data Size Data Type Compliance

Vendor ID Code 4 bytes Binary Data 。

01H 00000000H
An ID code used to specify the vendor. Vendor ID codes are managed by the MECHATROLINK
Members Association.
Device Code 4 bytes Binary Data 。
02200000H (LECY series DRIVERs).
02H This is a code specific to each device.
Device Version 4 bytes Binary Data 。
03H Returns the firmware version of this product. Example: 00160000H
Version information of device
Device Information File Version 4 bytes Binary Data 。
This is the version information of the device information (MDI) file supported by this product.

04H
Major version: When there are major changes to the MDI associated with function additions and
function changes, such as addition of profiles.
Minor version: When there are changes to the MDI associated with minor function additions or
function changes.
Revision No.: Normally returns "0."
Bit 16 to 31: Reserved (0)

Extended Address Setting 。

4 bytes Binary Data
(for Future Use)
05H 1
This is the number of extended addresses used. The value is always "1" because this product
comprises a single axis.
ASCII Code 。
Serial No. 32 bytes
06H (Delimiter: 00)
Serial number specific to each device
Profile Type 1 (Primary) 4 bytes Binary Data 。
00000010H (Standard servo profile)
Profile type (primary) that the device supports
10H This product supports the following two profile types.
(1) Profile type 1: Servo profile (this ID_CODE)
(2) Profile type 2: MECHATROLINK-II compatible profile (12H)
(3) Profile type 3: None (14H)
Profile Version 1 (Primary) 4 bytes Binary Data 。
11H 00000030H
Profile version (primary) that the device supports.
Profile Type 2 4 bytes Binary Data 。
12H
00000000H (MECHATROLINK-II compatible profile)

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 8 MECHATROLINK-III Commands

ID_CODE Description Data Size Data Type Compliance

Profile Version 2 4 bytes Binary Data 。
13H
00000021H
Profile Type 3 4 bytes Binary Data 。
14H
000000FFH (Not supported code)
Profile Version 3 4 bytes Binary Data 。
15H
00000000H
Minimum Value of Transmission 。
4 bytes Binary Data
Cycle
16H 12500 [0.01 μs unit] (0.125 ms)
The minimum transmission cycle that the device can support in the granularity level of the
transmission cycle increment (18H)
Maximum Value of Transmission 。
4 bytes Binary Data
Cycle
17H 400000 [0.01 μs unit] (4 ms)
The maximum transmission cycle that the device can support in the granularity level of the
transmission cycle increment (18H)
Transmission Cycle Increment 。
4 bytes Binary Data
(Granularity)
00000003H
There are the following four levels of transmission cycle increment that the device supports.
18H This product supports level 03H.
00H: 31.25, 62.5, 125, 250, 500 (μsec), 2 to 64 (msec) (2 msec increment)
01H: 31.25, 62.5, 125, 250, 500 (μsec), 1 to 64 (msec) (1 msec increment)
02H: 31.25, 62.5, 125, 250, 500 (μsec), 1 to 64 (msec) (0.5 msec increment)
03H: 31.25, 62.5, 125, 250, 500, 750 (μsec), 1 to 64 (msec) (0.5 msec increment)
Minimum Value of Communication 。
4 bytes Binary Data
Cycle
19H
25000 [0.01 μs unit] (0.25 ms)
The minimum communication cycle that the device supports
Maximum Value of Communication 。
4 bytes Binary Data
Cycle
1AH
3200000 [0.01 μs unit] (32 ms)
The maximum communication cycle that the device supports
Number of Transmission Bytes 4 bytes Binary Data 。
0000000EH
The number of transmission bytes that the device supports
The numbers of bytes to be transmitted are allocated to the following bits. (Supported: 1, Not
supported: 0)
1BH

bit 5 to 63: Reserved (0)

Number of Transmission Bytes 。
4 bytes Binary Data
(Current Setting)
0000000xH
The number of transmission bytes that is currently set with DIP switch (S3). One of the bits
indicated by "–" will be set to "1."
1CH The numbers of bytes to be transmitted are allocated to the following bits.

bit 5 to 63: Reserved (0)

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 8 MECHATROLINK-III Commands

ID_CODE Description Data Size Data Type Compliance

Profile Type (Current Selection) 4 bytes Binary Data 。
1DH
This is the profile selected with the CONNECT command.
Supported Communication Mode 4 bytes Binary Data 。
00000002H (Cyclic communication)
20H The communication mode that the device supports
The communication modes are allocated to the following bits. (Supported: 1, Not supported: 0)
bit 1: Cyclic communication
MAC Address
21H
Not supported
List of Supported Main Commands 32 bytes Array 。
The list of the main commands that the device supports
The commands are allocated as shown below.
bit 0 to 255: 0: Command not supported
1: Command supported

bit 16 to 23: Reserved (0)

30H

bit 40 to 47: Reserved (0)

bit 72 to 255: Reserved (0)

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 8 MECHATROLINK-III Commands

ID_CODE Description Data Size Data Type Compliance

List of Supported Subcommands 32 bytes Array 。
The list of the subcommands that the device supports
The commands are allocated as shown below.

bit 0 to 255: 0: Command not supported

1: Command supported
bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
Reserved ALM_ ALM_ Reserved Reserved PRM_
PRM_RD NOP
(0) CLR RD (0) (0) WR
0 1 1 0 0 0 0 1

bit 8 to 23: Reserved (0)

bit31 bit30 bit29 bit28 bit27 bit26 bit25 bit24
Reserved MEM_ MEM_ PPRM_ PPRM_ Reserved Reserved Reserved
(0) WR RD WR RD (0) (0) (0)
38H
0 1 1 0 0 0 0 0

bit 32 to 47: Reserved (0)

bit55 bit54 bit53 bit52 bit51 bit50 bit49 bit48
Reserved Reserved Reserved Reserved Reserved Reserved Reserved
SMON
(0) (0) (0) (0) (0) (0) (0)
0 0 0 0 0 0 0 1

bit 56 to 63: Reserved (0)

bit71 bit70 bit69 bit68 bit67 bit66 bit65 bit64

Reserved Reserved Reserved Reserved Reserved Reserved SVPRM_ SVPRM_
(0) (0) (0) (0) (0) (0) WR RD
0 0 0 0 0 0 1 1
bit 72 to 255: Reserved (0)
List of Supported Common
Parameters
32 bytes Array 。

The list of the common parameter numbers that the device supports
The common parameters are allocated as shown below.

bit 0 to 255: 0: Common parameter not supported

1: Common parameter supported

40H

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 8 MECHATROLINK-III Commands

ID_CODE Description Data Size Data Type Compliance

bit 16 to 31: Reserved (0)

bit 48 to 63: Reserved (0)

bit 80 to 95: Reserved (0)

40H
(Continued)

bit 112 to 127: Reserved (0)

bit 152 to 255: Reserved (0)

ASCII Code
Main Device Name 32 bytes
(Delimiter: 00) 。

80H Product model Example: SGDV-1R6A21A

The main device name (ASCII code)
<Notice>
To judge the device with the host device, use the device code (02H) instead of this ID_CODE.
Refer to before for the correspondence of device name and LECY's model.

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 8 MECHATROLINK-III Commands

ID_CODE Description Data Size Data Type Compliance

ASCII Code
Sub Device 1 Name 32 bytes
(Delimiter: 00) 。
90H
Motor model Example: SGMJV-01ADA21
The name of sub device 1 (ASCII code)
Refer to before for the correspondence of device name and LECY's model.

Sub Device 1 Version 4 bytes Binary Data 。

98H Firmware version of the motor encoder Example: 00000001H
The version number of sub device 1
ASCII Code
Sub Device 2 Name 32 bytes
(Delimiter: 00) 。
A0H
External encoder model Example:
The name of sub device 2 (ASCII code)
Sub Device 2 Version 4 bytes Binary Data 。
A8H The software version of the external encoder Example: 0000001H
The version number of sub device 2
ASCII Code
Sub Device 3 Name 32 bytes
(Delimiter: 00) 。
B0H
Not supported: NULL
The name of sub device 3 (ASCII code)
Sub Device 3 Version 4 bytes Binary Data 。
B8H Not supported: 0000000H
The version number of sub device 3
BCH to BFH Reserved
ASCII Code
Sub Device 4 Name 32 bytes
(Delimiter: 00) 。
C0H
The safety option module model
The name of sub device 4 (ASCII code)
Sub Device 4 Version 4 bytes Binary Data 。
C8H The software version of the safety option module Example: 00000001H
The version number of sub device 4
ASCII Code
Sub Device 5 Name 32 bytes
(Delimiter: 00) 。
D0H
The feedback option module model
The name of sub device 5 (ASCII code)
Sub Device 5 Version 4 bytes Binary Data 。
D8H The software version of the feedback option module Example: 00000001H
The version number of sub device 5
ASCII Code
Sub Device 6 Name 32 bytes
(Delimiter: 00) 。
E0H
Reserved
The name of sub device 6 (ASCII code)
Sub Device 6 Version 4 bytes Binary Data 。
E8H Reserved
The version number of sub device 6

Note: The ID_CODE values of C0H and above are the vendor-specific area.

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 8 MECHATROLINK-III Commands

8.13.4 Setup Device Command (CONFIG: 04H)

(1) Data Format

Phases in which the Command Common Asynchronous

2, 3
Command can be Executed Classification command command
Refer to the
Processing Time specifications of Subcommand Cannot be used
CONFIG_MOD.
CONFIG
Byte Description
Command Response
0 04H 04H • The CONFIG command sets up devices.
1 WDT RWDT • Confirm the completion of the command execution by
checking that RCMD = CONFIG (= 04H) and
2 CMD_STAT.CMDRDY = 1, and also checking the setting for
CMD_CTRL CMD_STAT CONFIG_MOD.
3
• CMD_STAT:
4 CONFIG_MOD CONFIG_MOD Indefinite until the completion of the command
5
In the following cases, an alarm will occur and the command
6 will not be executed.
7 • When the CONFIG_MOD data is invalid:
CMD_ALM = 9H (A.94B)
8
• While in the servo ON state:
9 CMD_ALM = AH (A.95A) (In MECHATROLINK-II
10 communications, the servo OFF state is established and the
command is executed.)
11 • While editing using SigmaWin+: CMD_ALM = AH (A.95A)
12
13
14
15
16
17
18 Reserved Reserved
19
20
21
22
23
24
25
26
27
28
29
30
31

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 8 MECHATROLINK-III Commands

(2) Command Parameters

CONFIG_MOD: Configuration mode
0: Parameter re-calculation and setup, processing time: 5 seconds or less
1: Not supported (CMD_ALM = 9H (A.94B))
2: Initialization to the factory-set parameter setting values, processing time: 20 seconds or less Turn the power
OFF after completion of the process and turn it back ON.

(3) State of Each Status during CONFIG Command Execution

The following tables show the state of each status before, during and after CONFIG command processing.

- When Re-calculating and Setting up the Parameters

Status and Output Signal Before CONFIG During CONFIG After CONFIG
Processing Processing Processing
ALM Current state Current state Current state
CMDRDY 1 0 1
M_RDY Current state Indefinite Current state
Other Statuses Current state Indefinite Current state
ALM (CN1 Output Signal) Current state Current state Current state
/S-RDY (CN1 Output Signal) Current state OFF Current state
Other Output Signals Current state Indefinite Current state

- When Initializing to the Factory-set Parameter Settings

Status and Output Signal Before CONFIG During CONFIG After CONFIG
Processing Processing Processing
ALM Current state Current state Current state
CMDRDY 1 0 1
M_RDY Current state 0 0
Other Statuses Current state Indefinite Current state
ALM (CN1 Output Signal) Current state Current state Current state
/S-RDY (CN1 Output Signal) Current state OFF OFF
Other Output Signals Current state Indefinite Current state

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 8 MECHATROLINK-III Commands

8.13.5 Read Alarm or Warning Command (ALM_RD: 05H)

(1) Data Format

Phases in which the Command Common Asynchronous

2, 3
Command can be Executed Classification command command
Refer to the
Processing Time specifications of Subcommand Cannot be used
ALM_RD_MOD
ALM_RD
Byte Description
Command Response
0 05H 05H • The ALM_RD command reads the alarm or warning state.
1 WDT RWDT • The current alarm or warning state is read to ALM_DATA.
• Confirm the completion of the command execution by
2 checking that RCMD = ALM_RD (= 05H) and
CMD_CTRL CMD_STAT CMD_STAT.CMDRDY = 1, and also checking the setting for
3
ALM_RD_MOD and ALM_INDEX.
4
ALM_RD_MOD ALM_RD_MOD
5 In the following cases, an alarm will occur. Do not read
ALM_DATA in the response in these cases because the
6 ALM_DATA value will be indefinite.
ALM_INDEX ALM_INDEX
7 • When the ALM_RD_MOD data is invalid:
CMD_ALM = 9H (A.94B)
8
• When the ALM_INDEX data is invalid:
9 CMD_ALM = 9H (A.94B)
10
11
12
13
14
15
16
17
18
19
Reserved ALM_DATA
20
21
22
23
24
25
26
27
28
29
30
31
Note 1. ALM_DATA specifies an alarm using 2 bytes.
2. The alarm history arranges alarms in the order of occurrence starting from the latest alarm.
3. 0000H is set in the normal state.

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 8 MECHATROLINK-III Commands

(2) Command Parameters

The details of ALM_RD_MOD are described below.

ALM_RD_MOD Description Processing Time

Current alarm/warning state
Within communication
0 Max. 10 items (byte 8 to 27)
cycle
(00H is set for the remaining bytes (byte 28 to 31).)
Alarm occurrence status history
(Warnings are not retained in the history.)
1 Within 60 ms
Max. 10 items (byte 8 to 27)
(00H is set for the remaining bytes (byte 28 to 31).)

For LECY series DRIVERs, alarm codes are defined as 2-byte data with the following configuration.

Bit 15 to 12 Bit 11 to 0
0 Alarm code
Example: A.94B 0H 94BH

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 8 MECHATROLINK-III Commands

8.13.6 Clear Alarm or Warning Command (ALM_CLR: 06H)

(1) Data Format
Phases in which the Command Common Asynchronous
2, 3
Command can be Executed Classification command command
Refer to the
Processing Time specifications of Subcommand Cannot be used
ALM_CLR_MOD.
ALM_CLR
Byte Description
Command Response
0 06H 06H • The ALM_CLR command clears the alarm or warning state. It
changes the state of a slave station, but does not eliminate the
1 WDT RWDT
cause of the alarm or warning. ALM_CLR should be used to
2 clear the state after the cause of the alarm or warning has been
CMD_CTRL CMD_STAT eliminated.
3
• When a communication error (reception error) or synchronous
4 communication error (watchdog data error) occurs during
ALM_CLR_MOD ALM_CLR_MOD synchronous communication, synchronous communication
5
must be recovered by using the SYNC_SET command after
6 the ALM_CLR command has been executed.
7 • Confirm the completion of the command execution by
checking that RCMD = ALM_CLR (= 06H) and
8 CMD_STAT.CMDRDY = 1, and also checking the setting for
9 ALM_CLR_MOD.

10 In the following cases, an alarm will occur and the command

11 will not be executed.
• When the ALM_CLR_MOD data is invalid:
12
CMD_ALM = 9H (A.94B)
13 • While editing using SigmaWin+: CMD_ALM = AH (A.95A)
14
Use this command with CMD_CTRL.ALM_CLR set to "0."
15
16
17
18
Reserved Reserved
19
20
21
22
23
24
25
26
27
28
29
30
31

(2) Command Parameters

The details of ALM_CLR_MOD are described below.

ALM_CLR_MOD Description Processing Time

0 Clearance of the current alarm or warning state Within 200 ms
1 Clearance of the alarm history Within 2 s

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 8 MECHATROLINK-III Commands

8.13.7 Start Synchronous Communication Command (SYNC_SET: 0DH)

Data Format
Phases in which the Command Common Asynchronous
2
Command can be Executed Classification command command
Communication
Processing Time cycle or greater, and Subcommand Cannot be used
5 seconds or less
SYNC_SET
Byte Description
Command Response
0 0DH 0DH • The SYNC_SET command starts synchronous
communication. The system will be in the synchronous
1 WDT RWDT
communication mode (phase 3) when the execution of this
2 command is completed and watchdog data error detection
CMD_CTRL CMD_STAT starts.
3
• It can be used to return to synchronous communication (phase
4 3), for example, when a shift has been made to asynchronous
5 communication (phase 2) as a result of a communication error.
Synchronous communication is established by taking the
6 transition of the watchdog data (WDT) during the execution of
7 this command as the reference.
• Maintains this command at the master station until processing
8 has been completed.
9 • Confirm the completion of the command execution by check-
ing that RCMD = SYNC_SET (= 0DH) and
10 CMD_STAT.CMDRDY = 1.
11 • If the system is in communication phase 2, it will establish the
servo OFF state and shift to communication phase 3.
12
• If the system is in communication phase 3, this command will
13 be ignored and a normal response will be returned.
14 • If 8 or a higher COMM_ALM has occurred, the system shifts
to communication phase 2. In such a case, restart synchronous
15 communication by sending this command.
16
In the following case, an alarm will occur and the command will
17 not be executed.
Reserved Reserved
18 • When editing using SigmaWin+: CMD_ALM = AH (A.95A)
19
20
21
22
23
24
25
26
27
28
29
30
31

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 8 MECHATROLINK-III Commands

8.13.8 Establish Connection Command (CONNECT: 0EH)

(1) Data Format

Phases in which the Command Common Asynchronous

1
Command can be Executed Classification command command
Communication
Processing Time cycle or greater, and Subcommand Cannot be used
5 seconds or less
CONNECT
Byte Description
Command Response
0 0EH 0EH • The CONNECT command establishs a MECHATROLINK
connection. When the execution of this command has been
1 WDT RWDT
completed, the control of slave stations is started by means of
2 MECHATROLINK communication.
CMD_CTRL CMD_STAT • Confirm the completion of the command execution by
3
checking that RCMD = CONNECT (= 0EH) and
4 VER VER CMD_STAT.CMDRDY = 1, and also that the settings of VER,
5 COM_MOD COM_MOD COM_MODE, COM_TIME, and PROFILE_TYPE of the
response agree with the set data.
6 COM_TIM COM_TIM
7 PROFILE_TYPE PROFILE_TYPE In the following cases, an alarm will occur and the system will
remain in communication phase 1.
8 • When the VER data is invalid:
9 CMD_ALM = 9H (A.94B)
• When the COM_TIM data is invalid:
10
CMD_ALM = 9H (A.94B)
11 • When the PROFILE_TYPE data is invalid:
12 CMD_ALM = 9H (A.94B)
• When the number of transmission bytes is 32
13 and SUBCMD = 1:
14 CMD_ALM=9H (A.94B)
• While editing using SigmaWin+: CMD_ALM = AH (A.95A)
15
16
17
18
19
Reserved Reserved
20
21
22
23
24
25
26
27
28
29
30
31

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 8 MECHATROLINK-III Commands

(2) Command Parameters

VER: MECHATROLINK application layer version
For servo profile: VER = 30H

COM_MOD: Communication mode

bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
SUBCMD 0 0 0 DTMODE SYNCMODE 0

- SYNCMODE: Synchronization setting

1: Performs synchronous communication.
(Watchdog data error detection enabled. Synchronous communication commands can be used.)
0: Performs asynchronous communication.
(Watchdog data error detection disabled. Synchronous communication commands cannot be used.)

- DTMODE: Data transfer method

00: Single transmission
01: Consecutive transmission
10: Reserved
11: Reserved

- SUBCMD: Subcommand setting

0: Subcommand disabled
1: Subcommand enabled

COM_TIM: Communication cycle setting

Sets the number by which the transmission cycle is multiplied. This result is the setting for
the communi- cation cycle.
Setting range: 1 to 32 for software version 0020 or earlier
1 to 255 for software version
0021 or later The set value must satisfy the
following conditions.

0.25 [ms] ≤ Transmission cycle [ms] × COM_TIME ≤ 32

[ms] Transmission cycle: for 0.125 ms, set a multiple of 2.
Example: When the transmission cycle is 0.5 [ms] and the communication cycle is 2
[ms] COM_TIME = 2/0.5 = 4

PROFILE_TYPE: Profile type setting

Sets the profile type to be used.
PROFILE_TYPE = 10H (Standard servo profile)

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 8 MECHATROLINK-III Commands

8.13.9 Disconnection Command (DISCONNECT: 0FH)

Data Format

Phases in which the Command Common Asynchronous

All phases
Command can be Executed Classification command command
Communication
Processing Time cycle or greater, and Subcommand Cannot be used
5 seconds or less
DISCONNECT
Byte Description
Command Response
0 0FH 0FH • When releasing a connection, the master station transmits the
DISCONNECT command for two or more communication
1
cycles. At this time, the slave station interrupts current
2 processing and then performs the initialization required to
reestablish the connection. It then waits for the connect
3
establishment request from the master station.
4 • The DISCONNECT command can be sent regardless of the
5 state of the CMD_STAT.CMDRDY bit. If the DISCONNECT
command is sent when the CMD_STAT.CMDRDY state bit is
6 0, processing is interrupted and this command is processed.
7 • Control with the command sending time of the master station
as two or more communication cycles.
8 • Upon receipt of this command, the following operation is
9 performed.
- Shifts the communication phase to phase 1.
10 - Establishes the servo OFF state.
11 - Disables reference point setting.
- Initializes the position data.
12 • When the control power is turned OFF at the same time the
13 DISCONNECT command is sent, the response data is
indefinite.
14
15
16 Reserved Reserved
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31

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 8 MECHATROLINK-III Commands

8.13.10 Read Memory Command (MEM_RD: 1DH)

(1) Data Format

Phases in which the Command Common Asynchronous

2, 3
Command can be Executed Classification command command
Processing Time Within 200 ms Subcommand Cannot be used
MEM_RD
Byte Description
Command Response
0 1DH 1DH • The MEM_RD command reads the data stored in virtual
memory by specifying the initial address and the data size for
1 WDT RWDT
reading.
2 • Confirm the completion of the command execution by
CMD_CTRL CMD_STAT checking that RCMD = MEM_RD (= 1DH) and
3
CMD_STAT.CMDRDY = 1, and also checking the setting for
4 Reserved Reserved ADDRESS, SIZE and MODE/DATA_TYPE.
MODE/ MODE/
5 In the following cases, an alarm will occur. Do not read DATA in
DATA_TYPE DATA_TYPE
the response in these cases because the DATA value will be
6 indefinite.
SIZE SIZE
7 • When the ADDRESS data is invalid:
CMD_ALM = 9H (A.94A)
8
• When the MODE/DATA_TYPE data is invalid:
9 CMD_ALM = 9H (A.94B)
ADDRESS ADDRESS • When the SIZE data is invalid: CMD_ALM = 9H (A.94D)
10
• While editing using SigmaWin+: CMD_ALM = AH (A.95A)
11
12 For details, refer to 8.13.11 -
Method to Access Virtual Memory
Areas.
13
14
15
16
17
18
19
20
21
Reserved DATA
22
23
24
25
26
27
28
29
30
31

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 8 MECHATROLINK-III Commands

(2) Command Parameters

The details of MODE/DATA_TYPE are described below.

bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0

MODE DATA_TYPE

MODE = 1: Volatile memory, 2: Not supported

DATA_TYPE = 1: Byte, 2: Short, 3: Long, 4: Not supported

SIZE: Data size for reading (of type specified by DATA_TYPE)

ADDRESS: Initial address for reading
DATA: Read data

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 8 MECHATROLINK-III Commands

8.13.11 Write Memory Command (MEM_WR: 1EH)

(1) Data Format

Phases in which the Command Common Asynchronous

2, 3
Command can be Executed Classification command command
Refer to
- Executing the
Processing Time Subcommand Cannot be used
Adjustment
Operation.
MEM_WR
Byte Description
Command Response
0 1EH 1EH • The MEM_WR command writes the data in virtual memory
by specifying the initial address, the data size and the data for
1 WDT RWDT
writing.
2 • This command provides an adjustment function equivalent to
CMD_CTRL CMD_STAT that of the ADJ command of the MECHATROLINK-II
3
compatible profile.
4 Reserved Reserved • Confirm the completion of the command execution by
MODE/ MODE/ checking that RCMD = MEM_WR (= 1EH) and
5 CMD_STAT.CMDRDY = 1, and also checking the setting for
DATA_TYPE DATA_TYPE
ADDRESS, SIZE, MODE/DATA_TYPE and DATA.
6
SIZE SIZE
7 In the following cases, an alarm will occur and the command
will not be executed.
8
• When the ADDRESS data is invalid:
9 CMD_ALM = 9H (A.94A)
ADDRESS ADDRESS • When the MODE/DATA_TYPE data is invalid:
10
CMD_ALM = 9H (A.94B)
11 • When the SIZE data is invalid: CMD_ALM = 9H (A.94D)
12 • When the DATA data is invalid: CMD_ALM = 9H (A.94B)
• When the conditions for executing the adjustment operation in
13 the next page are not satisfied: CMD_ALM=AH (A.95A)
14 • While editing using SigmaWin+: CMD_ALM = AH (A.95A)
15
For details, refer to -
Method to Access Virtual Memory Areas.
16
17
18
19
20
21
DATA DATA
22
23
24
25
26
27
28
29
30
31

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 8 MECHATROLINK-III Commands

(2) Command Parameters

The details of MODE/DATA_TYPE are described below.

bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0

MODE DATA_TYPE

MODE = 1: Volatile memory, 2: Non-volatile memory (Non-volatile memory can be selected only for common
parameters)
DATA_TYPE = 1: Byte, 2: Short, 3: Long, 4: Not supported

SIZE: Data size for writing (type specified by DATA_TYPE)

ADDRESS: Initial address for writing
DATA: Data to be written

- Executing the Adjustment Operation

The table below lists the adjustment operations that can be executed.

Adjustment Request Preparation before Processing Execution Conditions

Code Execution Time
Normal mode 0000H None 200 ms max. –
Initialization impossible while the servo is ON.
Parameter
1005H None 20 s max. After initialization, the power supply must be
initialization
turned OFF and then ON again.
When using an incremental encoder, impossible
Absolute encoder to reset the encoder while the servo is ON.
1008H Required 5 s max.
reset After execution, the power supply must be
turned OFF and then ON again.
Automatic offset Adjustment is disabled:
adjustment of • While the main circuit power supply is OFF
100EH None 5 s max.
motor current • While the servo is ON
detection signals • While the servomotor is running
When using an incremental encoder, the setting
is disabled unless A.CC0 (Multiturn limit dis
Multiturn limit
1013H Required 5 s max. agreement) occurs.
setting
After execution, the power supply must be
turned OFF and then ON again.

• Details of Command for Adjustment

1. Send the following data and set the request code of the adjustment to be executed.
Command = MEM_WR
ADDRESS = 80004000H
MODE/DATA_TYPE = 12H
SIZE = 0001H
DATA = Request code of the adjustment to be executed
To confirm the completion of the execution, check that CMDRDY = 1. If an error occurs, carry out the
operation in step 4 to abort execution.
2. For adjustment that requires a preparation process in the table, send the following data.
Command = MEM_WR
ADDRESS = 80004002H
MODE/DATA_TYPE = 12H
SIZE = 0001H
DATA = 0002H
To confirm the completion of the execution, check that CMDRDY = 1. If an error occurs, carry out the
operation in step 4 to abort execution.

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 8 MECHATROLINK-III Commands

3. Send the following data to execute adjustment.

Command = MEM_WR
ADDRESS = 80004002H
MODE/DATA_TYPE = 12H
SIZE = 0001H
DATA = 0001H
To confirm the completion of the execution, check that CMDRDY = 1. If an error occurs, carry out the
operation in step 4 to abort execution.
4. Send the following data to abort the execution.
Command = MEM_WR
ADDRESS = 80004000H
MODE/DATA_TYPE = 12H
SIZE = 0001H
DATA = 0000H
To confirm the completion of the execution, check that CMDRDY = 1.

- Method to Access Virtual Memory Areas

For the information on the allocation of virtual memory areas, refer to 8.29 Virtual Memory Space. The
details of the units (DATA_TYPE) for accessing the virtual memory areas are described below.
Area Name Details DATA_TYPE SIZE* Accessible/inaccessible
Reserved Inaccessible
Vendor-specific area
Register area Short, long Number of data Accessible
Reserved Reserved Inaccessible
Common
Common parameter area Long Number of data Accessible
parameters
Reserved
ID area Byte, short, long Number of data Accessible
ID

∗ Set the number of data of the data type specified by DATA_TYPE.

The details of CMD_ALM of the MEM_RD/MEM_WR command are described below.

CMD_ALM Displayed Code Error Details

When an initial address outside the defined areas is specified
When an address within the reserved ranges of common parameter or vendor-specific
A.94A areas is specified
When a value other than a multiple of the data size specified in DATA_TYPE is set
9H for ADDRESS
A.94B When the MODE or DATA_TYPE data is invalid
When the initial address is within the defined areas but the specified size goes beyond
A.94D those areas
When a data size beyond the specification of the command format is set for SIZE

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 8 MECHATROLINK-III Commands

8.14 Servo Commands

8.14.1 Table of Servo Commands

The following table shows the servo commands.

Command Code
Profile
(Hex.)
Command Operation Compliance*

20 POS_SET Set coordinates ○

21 BRK_ON Request for applying lock ○
22 BRK_OFF Release lock ○
23 SENS_ON Request for turning sensor ON ○
24 SENS_OFF Request for turning sensor OFF ○
30 SMON Monitor servo status ○
31 SV_ON Servo ON ○
32 SV_OFF Servo OFF ○
34 INTERPOLATE Interpolation ○
Standard
Servo 35 POSING Positioning ○
36 FEED Constant speed feed ○
Positioning at constant speed by external
37 EX_FEED ○
input
39 EX_POSING Positioning by external input ○
3A ZRET Zero point return ○
3C VELCTRL Velocity control ○
3D TRQCTRL Torque (force) control ○
40 SVPRM_RD Read servo parameter Δ
41 SVPRM_WR Write servo parameter ○

∗ Indicates the compliance status.

○ : Possible
Δ : Possible with specification restrictions (Refer to the subsection describing each command for the details of the
restrictions.)
× : Not possible

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 8 MECHATROLINK-III Commands

8.14.2 Set Coordinates Command (POS_SET: 20H)

(1) Data Format

Phases in which the Command Common motion Asynchronous

2, 3
Command can be Executed Classification command command
Within
Processing Time communication Subcommand Cannot be used
cycle
POS_SET
Byte Description
Command Response
0 20H 20H • The POS_SET command sets the coordinate system for the
slave station. Specify the type of coordinates with the monitor
1 WDT RWDT
selection code using POS_SEL.
2 • This command also provides a function to set the reference
CMD_CTRL CMD_STAT point. Specifying this command after setting REFE = 1 sets
3
the machine zero point according to the coordinate setting
4 values and enables the stroke check (software limit) function.
5 • Confirm the completion of the command execution by
SVCMD_CTRL SVCMD_STAT checking that RCMD = POS_SET (= 20H) and
6 CMD_STAT.CMDRDY = 1, and also checking the setting for
7 POS_SEL and POS_DATA.

8 In the following case, an alarm will occur and the command will
9 not be executed.
SVCMD_IO SVCMD_IO • When the POS_SET_MOD data is invalid:
10
CMD_ALM = 9H (A.94B)
11
12
13
POS_SET_MOD POS_SET_MOD
14
15
16
17
POS_DATA POS_DATA
18
19
20
21
MONITOR1
22
23
24
25
Reserved MONITOR2
26
27
28
29
MONITOR3
30
31

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 8 MECHATROLINK-III Commands

(2) Command Parameters

POS_SET_MOD: Coordinates Setting Mode

bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0

REFE 0 0 0 POS_SEL

bit15 bit14 bit13 bit12 bit11 bit10 bit9 bit8

Reserved

bit23 bit22 bit21 bit20 bit19 bit18 bit17 bit16

Reserved

bit31 bit30 bit29 bit28 bit27 bit26 bit25 bit24

Reserved

- POS_SEL: Select coordinates system (specify using the monitor selection code).
When APOS (feedback position of the machine coordinates system) = 0 is selected, the command/ machine
coordinates system is set at POS_DATA.

- REFE: Enable/Disable setting of reference point

0: Disables setting of a reference point.
1: Enables setting of a reference point. The coordinate reference point setting is confirmed and the
ZPOINT (zero point position) and software limit become effective.

- POS_DATA: Coordinates set value

- Set the reserved bits to "0."

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 8 MECHATROLINK-III Commands

8.14.3 Apply Lock Command (BRK_ON: 21H)

Data Format
Phases in which the Command Servo standard Asynchronous
2, 3
Command can be Executed Classification command command
Within
Processing Time communication Subcommand Cannot be used
cycle
BRK_ON
Byte Description
Command Response
0 21H 21H • The BRK_ON command outputs a lock operation signal.
1 WDT RWDT • Confirm the completion of the command execution by
checking that RCMD = BRK_ON (= 21H) and
2 CMD_STAT.CMDRDY = 1.
CMD_CTRL CMD_STAT • Valid only in the servo OFF state.
3
• This command is enabled when Pn50F.2 is set to a value other
4 than "0" (allocation of /BK).
5
SVCMD_CTRL SVCMD_STAT
6
7
8
9
SVCMD_IO SVCMD_IO
10
11
12
13 CPRM_SEL_
14 MON1
15
16
17 CPRM_SEL_
18 MON2
19
20
21
Reserved MONITOR1
22
23
24
25
MONITOR2
26
27
28
29
MONITOR3
30
31

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 8 MECHATROLINK-III Commands

8.14.4 Release Lock Command (BRK_OFF: 22H)

Data Format

Phases in which the Command Servo standard Asynchronous

2, 3
Command can be Executed Classification command command
Within
Processing Time communication Subcommand Cannot be used
cycle
BRK_OFF
Byte Description
Command Response
0 22H 22H • The BRK_OFF command releases the lock.
1 WDT RWDT • Confirm the completion of the command execution by
checking that RCMD = BRK_OFF (= 22H) and
2 CMD_STAT.CMDRDY = 1.
CMD_CTRL CMD_STAT
3 • This command is enabled when Pn50F.2 is set to a value other
than "0" (allocation of /BK).
4
5
SVCMD_CTRL SVCMD_STAT
6
7
8
9
SVCMD_IO SVCMD_IO
10
11
12
13 CPRM_SEL_
14 MON1
15
16
17 CPRM_SEL_
18 MON2
19
20
21
Reserved MONITOR1
22
23
24
25
MONITOR2
26
27
28
29
MONITOR3
30
31

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 8 MECHATROLINK-III Commands

- Lock signal Output Timing

• Normally, lock signals are controlled by the DRIVER parameters.

• BRK_ON and BRK_OFF commands are always valid as command
as long as no warning occurs.
• Always make sure of the status of lock control command when using
BRK_ON or BRK_OFF command.
Sending BRK_OFF command while the servomotor is being powered (servo ON)
will not change the operation status. However, it is very dangerous to send
SV_OFF command in the above status since the lock is kept released.

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 8 MECHATROLINK-III Commands

8.14.5 Turn Sensor ON Command (SENS_ON: 23H)

Data Format

Phases in which the Command Common Asynchronous

2, 3
Command can be Executed Classification command command
Processing Time Within 2 s Subcommand Cannot be used
SENS_ON
Byte Description
Command Response
0 23H 23H • The SENS_ON command is the sensor information
initialization request command. It initializes the sensor.
1 WDT RWDT
• Confirm the completion of the command execution by
2 checking that RCMD = SENS_ON (= 23H) and
CMD_CTRL CMD_STAT CMD_STAT.CMDRDY = 1.
3
• CPRM_SEL_MON1/CPRM_SEL_MON2:
4 Monitor data can be selected by changing the common
5 parameter setting. For details, refer to 8.27 Common
SVCMD_CTRL SVCMD_STAT Parameters.
6 • When an absolute encoder is used, the initial position is
7 acquired from the encoder.
The current position is taken to be: acquired encoder position +
8 zero point position offset (common parameter 23).
9 The coordinate reference point setting is confirmed and the
SVCMD_IO SVCMD_IO ZPOINT (zero point position) and software limit become
10 effective.
11
12
13 CPRM_SEL_
14 MON1
15
16
17 CPRM_SEL_
18 MON2
19
20
21
Reserved MONITOR1
22
23
24
25
MONITOR2
26
27
28
29
MONITOR3
30
31

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 8 MECHATROLINK-III Commands

8.14.6 Turn Sensor OFF Command (SENS_OFF: 24H)

Data Format
Phases in which the Command Common Asynchronous
2, 3
Command can be Executed Classification command command
Processing Time Within 2 s Subcommand Cannot be used
SENS_OFF
Byte Description
Command Response
0 24H 24H • The SENS_OFF command is the sensor power OFF request
command. It is used to turn OFF the power to the sensor.
1 WDT RWDT
• Confirm the completion of the command execution by
2 checking that RCMD = SENS_OFF (= 24H) and
CMD_CTRL CMD_STAT CMD_STAT.CMDRDY = 1.
3
• CPRM_SEL_MON1/CPRM_SEL_MON2:
4 Monitor data can be selected by changing the common
5 parameter setting. For details, refer to 8.27 Common
SVCMD_CTRL SVCMD_STAT Parameters.
6 • When an absolute encoder is used the position data is
7 indefinite. "0" is set for POS_RDY.
The coordinate reference point setting becomes invalid and
8 the ZPOINT (zero point position) and software limit also
9 become invalid.
SVCMD_IO SVCMD_IO
10 In the following case, an alarm will occur and the command will
11 not be executed.
• In the servo ON state: CMD_ALM = AH (A.95A)
12
13 CPRM_SEL_
14 MON1
15
16
17 CPRM_SEL_
18 MON2
19
20
21
Reserved MONITOR1
22
23
24
25
MONITOR2
26
27
28
29
MONITOR3
30
31

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 8 MECHATROLINK-III Commands

8.14.7 Servo Status Monitor Command (SMON: 30H)

Data Format

Phases in which the Command Servo standard Asynchronous

2, 3
Command can be Executed Classification command command
Within
Processing Time communication Subcommand Can be used
cycle
SMON
Byte Description
Command Response
0 30H 30H • The SMON command reads the alarms, status, and monitor
information (position, speed, output, torque, etc.) specified in
1 WDT RWDT
monitor setting, and the state of the I/O signals of the servo
2 drive.
CMD_CTRL CMD_STAT • Confirm the completion of the command execution by
3
checking that RCMD = SMON (= 30H) and
4 CMD_STAT.CMDRDY = 1.
5 • CPRM_SEL_MON1/CPRM_SEL_MON2:
SVCMD_CTRL SVCMD_STAT Monitor data can be selected by changing the common
6 parameter setting. For details, refer to 8.27 Common
7 Parameters.

8
9
SVCMD_IO SVCMD_IO
10
11
12
13 CPRM_SEL_
14 MON1
15
16
17 CPRM_SEL_
18 MON2
19
20
21
Reserved MONITOR1
22
23
24
25
MONITOR2
26
27
28
29
MONITOR3
30
31

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 8 MECHATROLINK-III Commands

8.14.8 Servo ON Command (SV_ON: 31H)

Data Format
Phases in which the Command Servo standard Asynchronous
2, 3
Command can be Executed Classification command command
Normally 50 ms
Processing Time Subcommand Can be used
(10 s max.)
SV_ON
Byte Description
Command Response
0 31H 31H • The SV_ON command supplies the power to the servomotor
and makes it ready for operation.
1 WDT RWDT
• Confirm the completion of the command execution by
2 checking that RCMD = SV_ON (= 31H) and
CMD_CTRL CMD_STAT CMD_STAT.CMDRDY = 1.
3
• CPRM_SEL_MON1/CPRM_SEL_MON2:
4 Monitor data can be selected by changing the common
5 parameter setting. For details, refer to 8.27 Common
SVCMD_CTRL SVCMD_STAT Parameters.
6 • To establish the servo ON state after a warning has occurred,
7 send a command other than SV_ON, such as the SV_OFF
command, and then send the SV_ON command.
8 • Upon completion of execution of this command, the reference
9 position (CPOS) must be read, and the PC or PLC...etc.
SVCMD_IO SVCMD_IO coordinate system must be set up.
10
• Confirm that M_RDY = 1 before sending this command.
11
12 In the following cases, AH (A.95A) will be set for CMD_ALM
and the command will not be executed.
13 CPRM_SEL_ • When an alarm (COM_ALM = 8H or greater, or D_ALM = 1)
14 MON1 has occurred
• When PON = 0
15
• When the execution of the SENS_ON command has not
16 completed with an absolute encoder used
17 • When ESTP (HWBB signal off) = 1
CPRM_SEL_
• When parameters have been initialized
18 MON2
19
20
21
Reserved MONITOR1
22
23
24
25
MONITOR2
26
27
28
29
MONITOR3
30
31

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 8 MECHATROLINK-III Commands

8.14.9 Servo OFF Command (SV_OFF: 32H)

Data Format

Phases in which the Command Servo standard Asynchronous

2, 3
Command can be Executed Classification command command
Time set with
Processing Time Pn506 Subcommand Can be used
500 ms max.
SV_OFF
Byte Description
Command Response
0 32H 32H • The SV_OFF command shuts the power to the servomotor.
1 WDT RWDT • Confirm the completion of the command execution by
checking that RCMD = SV_OFF (= 32H) and
2 CMD_STAT.CMDRDY = 1.
CMD_CTRL CMD_STAT • CPRM_SEL_MON1/CPRM_SEL_MON2:
3
Monitor data can be selected by changing the common
4 parameter setting. For details, refer to 8.27 Common
5 Parameters.
SVCMD_CTRL SVCMD_STAT • When Pn829 (SVOFF waiting time at deceleration to a stop)
6 is set to a value other than "0", the servo will be turned OFF
7 after the servomotor decelerates to a stop according to the
deceleration constant for stopping set by the parameter. (The
8 servomotor decelerates to a stop in position control mode.)
9 • When Pn829 (SVOFF waiting time at deceleration to a stop)
SVCMD_IO SVCMD_IO is set to "0", the servo will be turned OFF immediately after
10 reception of this command (default setting).
11 (The control mode before receiving the SV_OFF command
remains unchanged.)
12
• Executing the SV_OFF command will cancel the speed
13 CPRM_SEL_ reference, speed feedforward, torque feedforward, and torque
MON1 limits set by a position/speed control command.
14
15
16
17 CPRM_SEL_
18 MON2
19
20
21
Reserved MONITOR1
22
23
24
25
MONITOR2
26
27
28
29
MONITOR3
30
31

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 8 MECHATROLINK-III Commands

- Related Parameters

Parameter No. Description

Pn829 SVOFF waiting time at deceleration to a stop
Pn827 (Pn840) Linear deceleration constant for stopping
Parameter numbers in parentheses are those when Pn833 = 1.

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 8 MECHATROLINK-III Commands

8.14.10 Interpolation Command (INTERPOLATE: 34H)

Data Format

Phases in which the Command Servo standard Synchronous

3
Command can be Executed Classification command command
Within
Processing Time communication Subcommand Can be used
cycle
INTERPOLATE
Byte Description
Command Response
0 34H 34H • The INTERPOLATE command performs interpolation
feeding by specifying the interpolation positions every
1 WDT RWDT
communication cycle set in the CONNECT command.
2 • Confirm the completion of the command execution by
CMD_CTRL CMD_STAT checking that RCMD = INTERPOLATE (= 34H) and
3
CMD_STAT.CMDRDY = 1.
4 • Confirm motion reference output completion by checking that
5 SVCMD_IO.DEN = 1, and the completion of positioning by
SVCMD_CTRL SVCMD_STAT checking that SVCMD_IO.PSET = 1.
6 • CPRM_SEL_MON1/CPRM_SEL_MON2:
7 Monitor data can be selected by changing the common
parameter setting. For details, refer to 8.27 Common
8 Parameters.
9
SVCMD_IO SVCMD_IO <Notes on using the command>
10
• TPOS (target position):
11 Set the target position with a signed value.
12 • VFF (velocity feedforward):
Set the speed feedforward value with a signed value.
13 CPRM_SEL_ Use it as a speed feedforward function.
TPOS
14 MON1 • TFF (torque feedforward):
Set the torque feedforward value with a signed value.
15 Use it as a torque (force) feedforward function.
16 • TLIM (torque limit):
Set the torque limit with an unsigned value.
17 CPRM_SEL_
VFF • For the information on the settings of the above reference
18 MON2 data, refer to 8.14.20 Motion Command Data Setting
Method.
19
• For the units of command values set in the command area,
20 refer to 8.12.2 Specifying Units.
21
TFF MONITOR1 In the following cases, an alarm will occur and the command
22 will not be executed.
23 • When used in communication phase 2:
CMD_ALM = CH (A.97A)
24 • In the servo OFF state: CMD_ALM = AH (A.95A)
25 • When the difference relative to the previous TPOS exceeds
Reserved MONITOR2 the limit value: CMD_ALM = 9H (A.94B)
26
In the following cases, an alarm will occur and the relevant
27 value will be clamped at the limit value.
28 • When the VFF data is invalid: CMD_ALM = 1H (A.94B)
• When the TFF data is invalid: CMD_ALM = 1H (A.94B)
29
TLIM MONITOR3
30
31

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 8 MECHATROLINK-III Commands

8.14.11 Positioning Command (POSING: 35H)

Data Format
Phases in which the Command Servo standard Asynchronous
2, 3
Command can be Executed Classification command command
Within
Processing Time communication Subcommand Can be used
cycle
POSING
Byte Description
Command Response
0 35H 35H • The POSING command executes positioning to the specified
position.
1 WDT RWDT • Positioning is executed to the target position (P1) at the
positioning speed.
2 • Confirm the completion of the command execution by checking
CMD_CTRL CMD_STAT
3 that RCMD = POSING (= 35H) and CMD_STAT.CMDRDY =
1.
4 • Confirm motion reference output completion by checking that
SVCMD_IO.DEN = 1, and the completion of positioning by
5 checking that SVCMD_IO.PSET = 1.
SVCMD_CTRL SVCMD_STAT • Confirm the completion of the cancellation of the command by
6 checking that RCMD = POSING (= 35H),
CMD_STAT.CMDRDY = 1 and
7
SVCMD_STAT.CMD_CANCEL_CMP = 1.
8 • Confirm the completion of pausing of the command by
checking that RCMD = POSING (= 35H),
9 CMD_STAT.CMDRDY = 1 and
SVCMD_IO SVCMD_IO SVCMD_STAT.CMD_PAUSE_CMP = 1.
10 • CPRM_SEL_MON1/CPRM_SEL_MON2:
Monitor data can be selected by changing the common parameter
11 setting. For details, refer to 8.27 Common Parameters.
12 <Notes on using the command>
• TPOS (target position):
13 Set the target position with a signed value.
CPRM_SEL_
TPOS
MON1 • TSPD (target speed):
14 Set the target speed with an unsigned value.
• ACCR (acceleration):
15
Set the acceleration with an unsigned value.
16 • DECR (deceleration):
Set the deceleration with an unsigned value.
17 When both ACCR and DECR are "0", acceleration/deceleration
CPRM_SEL_
TSPD is performed according to the parameter settings.
18 MON2
To perform two-step acceleration/deceleration, set both ACCR
and DECR to "0." For details, refer to 8.25.2 Positioning
19 Command.
20 • TLIM (torque limit):
Set the torque limit with an unsigned value.
21 When not applying the torque limit, set the maximum value.
ACCR MONITOR1 • For the information on the settings of the above reference data,
22 refer to 8.14.20 Motion Command Data Setting Method.
• For the units of command values set in the command area, refer
23 to 8.12.2 Specifying Units.
24 In the following cases, an alarm will occur and the command will
not be executed.
25 • In the servo OFF state: CMD_ALM = AH (A.95A)
DECR MONITOR2 • When the TSPD data is invalid:
26 CMD_ALM = 9H (A.94B)
• When the ACCR or DECR data is invalid:
27 CMD_ALM = 9H (A.94B)
28 • When either of the ACCR or DECR data is set to "0":
CMD_ALM = 9H (A.94B)
29 In the following case, an alarm will occur and the relevant value
TLIM MONITOR3 will be clamped at the limit value.
30 • When the TLIM data is invalid: CMD_ALM = 1H (A.94B)
31

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 8 MECHATROLINK-III Commands

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 8 MECHATROLINK-III Commands

8.14.12 Feed Command (FEED: 36H)

Data Format

Phases in which the Command Servo standard Asynchronous

2, 3
Command can be Executed Classification command command
Within
Processing Time communication Subcommand Can be used
cycle
FEED
Byte Description
Command Response
0 36H 36H • The FEED command performs constant speed feed control at
the specified feed speed.
1 WDT RWDT
• To change the speed and direction of feed, change the feed
2 speed setting.
CMD_CTRL CMD_STAT • To cancel constant speed feed, set
3 SVCMD_CTRL.CMD_CANCEL to "1."
4 • To pause constant speed feed, set
SVCMD_CTRL.CMD_PAUSE to "1."
5 • Confirm the completion of the cancellation of the command by
SVCMD_CTRL SVCMD_STAT checking that RCMD = FEED (= 36H), CMD_STAT.CMDRDY
6
= 1 and SVCMD_STAT.CMD_CANCEL_CMP = 1.
7 Confirm motion reference output completion by checking that
SVCMD_IO.DEN = 1, and the completion of positioning by
8 checking that SVCMD_IO.PSET = 1.
• Confirm the completion of pausing of the command by
9
SVCMD_IO SVCMD_IO checking that RCMD = FEED (= 36H),
10 CMD_STAT.CMDRDY = 1 and
SVCMD_STAT.CMD_PAUSE_CMP = 1.
11 • CPRM_SEL_MON1/CPRM_SEL_MON2:
Monitor data can be selected by changing the common
12
parameter setting. For details, refer to 8.27 Common
13 Parameters.
CPRM_SEL_
Reserved
14 MON1
<Notes on using the command>
15 • TSPD (target speed):
Set the target speed with a signed value.
16 • ACCR (acceleration):
Set the acceleration with an unsigned value.
17
TSPD
CPRM_SEL_ • DECR (deceleration):
18 MON2 Set the deceleration with an unsigned value.
• When both ACCR and DECR are "0", acceleration/deceleration
19 is performed according to the parameter settings.
To perform two-step acceleration/deceleration, set both ACCR
20
and DECR to "0." For details, refer to 8.25.2 Positioning
21 Command.
ACCR MONITOR1 • TLIM (torque limit):
22 Set the torque limit with an unsigned value.
23 • For the information on the settings of the above reference data,
refer to 8.14.20 Motion Command Data Setting Method.
24 • For the units of command values set in the command area, refer
to 8.12.2 Specifying Units.
25
DECR MONITOR2
26 In the following cases, an alarm will occur and the command will
not be executed.
27 • In the servo OFF state: CMD_ALM = AH (A.95A)
• When the TSPD data is invalid: CMD_ALM = 9H (A.94B)
28
• When the ACCR or DECR data is invalid:
29 CMD_ALM = 9H (A.94B)
TLIM MONITOR3 • When either of the ACCR or DECR data is set to "0":
30 CMD_ALM = 9H (A.94B)
31 In the following case, an alarm will occur and the relevant value
will be clamped at the limit value.
• When the TLIM data is invalid: CMD_ALM = 1H (A.94B)

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 8 MECHATROLINK-III Commands

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 8 MECHATROLINK-III Commands

8.14.13 External Input Feed Command (EX_FEED: 37H)

(1) Data Format
Phases in which the Command Servo standard Asynchronous
2, 3
Command can be Executed Classification command command
Within
Processing Time communication Subcommand Can be used
cycle
EX_FEED
Byte Description
Command Response
0 37H 37H • The EX_FEED command performs positioning in response to the
input of the external positioning signal during constant speed
1 WDT RWDT feed at the specified feed speed.
• To change the speed and direction of feed, change the feed speed
2 setting.
CMD_CTRL CMD_STAT • To pause external input feed, set SVCMD_CTRL.CMD_PAUSE
3 to "1."
• Confirm the completion of the command execution by checking
4 that RCMD = EX_FEED (= 37H) and CMD_STAT.CMDRDY =
1.
5 • To cancel the constant speed feed, set
SVCMD_CTRL SVCMD_STAT SVCMD_CTRL.CMD_CANCEL to "1."
6 • Confirm the completion of latching by the latch signal by
checking that SVCMD_CTRL.L_CMP1 = 1.
7 • Confirm motion reference output completion by checking that
SVCMD_CTRL.DEN = 1, and the completion of positioning by
8 checking that SVCMD_CTRL.PSET = 1.
• Confirm the completion of the cancellation of the command by
9 checking that RCMD = EX_FEED (= 37H),
SVCMD_IO SVCMD_IO CMD_STAT.CMDRDY = 1 and
10 SVCMD_STAT.CMD_CANCEL_CMP = 1.
11 • Confirm the completion of pausing of the command by checking
that RCMD = EX_FEED (= 37H), CMD_STAT.CMDRDY = 1
12 and SVCMD_STAT.CMD_PAUSE_CMP = 1.
• CPRM_SEL_MON1/CPRM_SEL_MON2:
13 Monitor data can be selected by changing the common parameter
CPRM_SEL_ setting. For details, refer to 8.27 Common Parameters.
Reserved
14 MON1
<Notes on using the command>
15 • To send this command, select the latch signal with LT_SEL1 of
SVCMD_CTRL and output the latch request by setting
16 LT_REQ1 = 1.
• TSPD (target speed):
17 Set the target speed with a signed value.
CPRM_SEL_
TSPD • ACCR (acceleration):
18 MON2
Set the acceleration with an unsigned value.
• DECR (deceleration):
19 Set the deceleration with an unsigned value.
• When both ACCR and DECR are "0", acceleration/deceleration
20
is performed according to the parameter settings.
21 To perform two-step acceleration/deceleration, set both ACCR
ACCR MONITOR1 and DECR to "0." For details, refer to 8.25.2 Positioning
22 Command.
• TLIM (torque limit):
23 Set the torque limit with an unsigned value.
24 • For the information on the settings of the above reference data,
refer to 8.14.20 Motion Command Data Setting Method.
25 • For the units of command values set in the command area, refer
DECR MONITOR2 to 8.12.2 Specifying Units.
26
In the following cases, an alarm will occur and the command will
27 not be executed.
28 • In the servo OFF state: CMD_ALM = AH (A.95A)
• When the TSPD data is invalid: CMD_ALM = 9H (A.94B)
29 • When the ACCR or DECR data is invalid:
TLIM MONITOR3 CMD_ALM = 9H (A.94B)
30 In the following case, an alarm will occur and the relevant value
will be clamped at the limit value.
31 • When the TLIM data is invalid: CMD_ALM = 1H (A.94B)

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 8 MECHATROLINK-III Commands

(2) Operating Sequence

The following describes the operating sequence for external input positioning operation using the EX_FEED
command.

1. The master station sends the EX_FEED command. It selects the latch signal with
LT_SEL1 of SVCMD_CTRL and outputs the latch request by setting LT_REQ1 =
1.
2. The slave station starts feeding at the specified speed when it receives the EX_FEED
command. At the same time, it enters the external signal positioning mode.
3. When the external positioning signal is input, the slave station sets latch completion status
L_CMP1 to "1" to notify the master station that current position latching by the external
positioning signal is completed.
4. The slave station calculates "(External input positioning target P3) = (Position P2 latched by
the external positioning signal) + (Travel distance for external input positioning (common
parameter 83))" and performs positioning to external input positioning target P3.
5. After the completion of motion reference output to move the device to target position P3, the
slave station sets the motion reference output completed flag (DEN) to "1" to notify the master
station of the completion of motion reference output to move the device to target position P3.

Note:
• To cancel the external input feed, set SVCMD_CTRL.CMD_CANCEL to "1."
• The motion direction after latching is determined by the sign of the value set for the external positioning
final travel distance.
If the final travel distance for external positioning is a positive value:
• After latching during motion in the positive direction, the motor rotates in the positive direction (the
same direction) for positioning.
• After latching during motion in the negative direction, the motor rotates in the positive direction (the
reverse direction) for positioning.
If the final travel distance for external positioning is a negative value:
• After latching during motion in the positive direction, the motor rotates in the negative direction (the
reverse direction) for positioning.
• After latching during motion in the negative direction, the motor rotates in the negative direction (the
same direction) for positioning.

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 8 MECHATROLINK-III Commands

8.14.14 External Input Positioning Command (EX_POSING: 39H)

(1) Data Format
Phases in which the Command Servo standard Asynchronous
2, 3
Command can be Executed Classification command command
Within
Processing Time communication Subcommand Can be used
cycle
EX_POSING
Byte Description
Command Response
0 39H 39H • The EX_POSING command performs positioning in response
to the input of the external positioning signal.
1 WDT RWDT • To pause the external input positioning, set
2 SVCMD_CTRL.CMD_PAUSE to "1."
CMD_CTRL CMD_STAT • Confirm the completion of the command execution by
3 checking that RCMD = EX_POSING (= 39H) and
4 CMD_STAT.CMDRDY = 1.
• Confirm the completion of latching by the latch signal by
5 checking that SVCMD_CTRL.L_CMP1 = 1.
SVCMD_CTRL SVCMD_STAT • Confirm motion reference output completion by checking that
6 SVCMD_CTRL.DEN = 1, and the completion of positioning
by checking that SVCMD_CTRL.PSET = 1.
7 • Confirm the completion of the cancellation of the command
by checking that RCMD = EX_POSING (= 39H),
8 CMD_STAT.CMDRDY = 1 and
SVCMD_STAT.CMD_CANCEL_CMP = 1.
9 • Confirm the completion of pausing of the command by
SVCMD_IO SVCMD_IO checking that RCMD = EX_POSING (= 39H),
10 CMD_STAT.CMDRDY = 1 and
SVCMD_STAT.CMD_PAUSE_CMP = 1.
11
• CPRM_SEL_MON1/CPRM_SEL_MON2:
12 Monitor data can be selected by changing the common
parameter setting. For details, refer to 8.27 Common
13 Parameters.
CPRM_SEL_
TPOS
14 MON1 <Notes on using the command>
• To send this command, select the latch signal with LT_SEL1
15 of SVCMD_CTRL and output the latch request by setting
LT_REQ1 = 1.
16 • TPOS (target position):
Set the target position with a signed value.
17 CPRM_SEL_ • TSPD (target speed):
TSPD Set the target speed with an unsigned value.
18 MON2
• ACCR (acceleration):
Set the acceleration with an unsigned value.
19
• DECR (deceleration):
20 Set the deceleration with an unsigned value.
• When both ACCR and DECR are "0",
21 acceleration/deceleration is performed according to the
ACCR MONITOR1 parameter settings.
22 To perform two-step acceleration/deceleration, set both ACCR
and DECR to "0." For details, refer to 8.25.2 Positioning
23 Command.
• TLIM (torque limit):
24 Set the torque limit with an unsigned value.
• For the information on the settings of the above reference data,
25
DECR MONITOR2 refer to 8.14.20 Motion Command Data Setting Method.
26 • For the units of command values set in the command area,
refer to 8.12.2 Specifying Units.
27 In the following cases, an alarm will occur and the command
28 will not be executed.
• In the servo OFF state: CMD_ALM = AH (A.95A)
29 • When the TSPD data is invalid: CMD_ALM = 9H (A.94B)
TLIM MONITOR3 • When the ACCR or DECR data is invalid:
30 CMD_ALM = 9H (A.94B)
31 In the following case, an alarm will occur and the relevant value
will be clamped at the limit value.
• When the TLIM data is invalid: CMD_ALM = 1H (A.94B)
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 8 MECHATROLINK-III Commands

(2) Operating Sequence

The following describes the operating sequence for external input positioning operation using the EX_POSING
command.

1. The master station sends the EX_POSING command. Target position P1 is set in the "target
position" field to be used as the positioning target if the external signal is not input. It selects
the latch signal with LT_SEL1 of SVCMD_CTRL and outputs the latch request by setting
LT_REQ1 = 1.
2. The slave station starts feeding toward the positioning target position P1 at the specified
speed when it receives the EX_POSING command. At the same time, it enters the external
input positioning mode.
3. When the external positioning signal is input, the slave station sets latch completion status
L_CMP1 to "1" to notify the master station that current position latching by the external
positioning signal is completed.
4. The slave station calculates "(External input positioning target P3) = (Position P2 latched by
the external positioning signal) + (Travel distance for external input positioning (common
parameter 83))" and performs positioning to external input positioning target P3.
5. After the completion of motion reference output to move the device to target position P3, the
slave station sets the motion reference output completed flag (DEN) to "1" to notify the master
station of the completion of motion reference output to move the device to target position P3.

Note:
• To cancel the external input positioning, set SVCMD_CTRL.CMD_CANCEL to "1."
• The motion direction after latching is determined by the sign of the value set for the external positioning
final travel distance.
If the final travel distance for external positioning is a positive value:
• After latching during motion in the positive direction, the motor rotates in the positive direction (the
same direction) for positioning.
• After latching during motion in the negative direction, the motor rotates in the positive direction (the
reverse direction) for positioning.
If the final travel distance for external positioning is a negative value:
• After latching during motion in the positive direction, the motor rotates in the negative direction (the
reverse direction) for positioning.
• After latching during motion in the negative direction, the motor rotates in the negative direction (the
same direction) for positioning.

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 8 MECHATROLINK-III Commands

8.14.15 Zero Point Return Command (ZRET: 3AH)

(1) Data Format
Phases in which the Command Servo standard Asynchronous
2, 3
Command can be Executed Classification command command
Within
Processing Time communication Subcommand Can be used
cycle
ZRET
Byte Description
Command Response
0 3AH 3AH • The ZRET command specifies the type of zero point return
operation and performs the operation using the zero point
1 WDT RWDT limit switch and the position latch signal.
2 • The signal used to latch the position is specified by "latch
CMD_CTRL CMD_STAT signal selection."
3 • To pause the zero point return operation, set
4 SVCMD_CTRL.CMD_PAUSE to "1."
• Confirm the completion of the command execution by
5 checking that RCMD = ZRET (= 3AH) and
SVCMD_CTRL SVCMD_STAT CMD_STAT.CMDRDY= 1.
6 • Confirm the completion of motion reference output by
checking that SVCMD_IO.DEN = 1, and the completion of
7 positioning at the zero point by checking that
SVCMD_IO.ZPOINT (zero point position) = 1 and
8 SVCMD_IO.PSET = 1.
• Confirm the completion of the cancellation of the command
9 by checking that RCMD = ZRET (= 3AH),
SVCMD_IO SVCMD_IO CMD_STAT.CMDRDY = 1 and
10 SVCMD_STAT.CMD_CANCEL_CMP = 1.
• Confirm the completion of pausing of the command by
11 checking that RCMD = ZRET (= 3AH),
CMD_STAT.CMDRDY = 1 and
12 SVCMD_STAT.CMD_PAUSE_CMP = 1.
• CPRM_SEL_MON1/CPRM_SEL_MON2:
13 CPRM_SEL_
MODE Monitor data can be selected by changing the common
14 MON1 parameter setting. For details, refer to 8.27 Common
Parameters.
15 <Notes on using the command>
• To send this command, select the latch signal with LT_SEL1
16 of SVCMD_CTRL and output the latch request by setting
LT_REQ1 = 1.
17 • TSPD (target speed):
CPRM_SEL_
TSPD Set the target speed with an unsigned value.
MON2
18 • ACCR (acceleration):
Set the acceleration with an unsigned value.
19 • DECR (deceleration):
Set the deceleration with an unsigned value.
20 • When both ACCR and DECR are "0",
21 acceleration/deceleration is performed according to the
ACCR MONITOR1 parameter settings.
22 To perform two-step acceleration/deceleration, set both
ACCR and DECR to "0." For details, refer to 8.25.2
23 Positioning Command.
• TLIM (torque limit):
24 Set the torque limit with an unsigned value.
• For the information on the settings of the above reference
25 data, refer to 8.14.20 Motion Command Data Setting
DECR MONITOR2 Method.
26
• For the units of command values set in the command area,
27 refer to 8.12.2 Specifying Units.
In the following cases, an alarm will occur and the command
28 will not be executed.
• In the servo OFF state: CMD_ALM = AH (A.95A)
29 • When the TSPD data is invalid: CMD_ALM = 9H (A.94B)
TLIM MONITOR3 • When the ACCR or DECR data is invalid:
30 CMD_ALM = 9H (A.94B)
In the following case, an alarm will occur and the relevant value
31 will be clamped at the limit value.
• When the TLIM data is invalid: CMD_ALM = 1H (A.94B)

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 8 MECHATROLINK-III Commands

(2) Command-specific Data

The following describes the data specific to the ZRET command.

MODE (Lower 1 byte)

bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0
HOME_DIR Reserved Reserved Reserved TYPE

- MODE.HOME_DIR (Zero point return direction)

Selects the zero point return direction.
MODE.HOME_DIR = 0: Positive direction
MODE.HOME_DIR = 1: Negative direction

- MODE.TYPE (Zero point return type)

Sets the zero point return type on selection of the type from the patterns below.
MODE.TYPE = 0: Latch signal
MODE.TYPE = 1: Deceleration limit switch + Latch signal

(3) Operating Sequence

The following describes the zero point return operating sequence for each of the zero point return modes.

1. MODE = 0 (Latch Signal)

(1) The master station sends the ZRET command. It selects the latch signal with
LT_SEL1 of SVCMD_CTRL and outputs the latch request by setting
LT_REQ1 = 1.
(2) The slave station starts feeding in the direction specified by MODE.HOME_DIR at the
speed set for the Homing Approach Speed (common parameter 84).
(3) When the current position latch signal, specified by LT_SEL1 of SVCMD_CTRL, is input,
the slave station executes positioning through the movement of the Final Travel Distance
for Homing (common parameter 86) at the Homing Creep Speed (common parameter 85).
After the completion of positioning, the slave station sets the zero point of the reference
coordinate system.

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 8 MECHATROLINK-III Commands

2. MODE = 1 (Deceleration Limit Switch Signal + Latch Signal)

(1) The master station sends the ZRET command. It selects the latch signal with
LT_SEL1 of SVCMD_CTRL and outputs the latch request by setting
LT_REQ1 = 1.
(2) The slave station starts feeding in the direction specified by MODE.HOME_DIR at the
speed set in the "TSPD" field.
(3) When the "deceleration limit switch" is closed (DEC = 1), the feed speed is switched
to the Homing Approach Speed (common parameter 84).
(4) When the current position latch signal, specified by LT_SEL1 of SVCMD_CTRL, is
input after the "deceleration limit switch" is opened (DEC = 0), the slave station executes
positioning through the movement of the Final Travel Distance for Homing (common
parameter 86) at the Homing Creep Speed (common parameter 85). After the completion
of positioning, the slave station sets the zero point of the reference coordinate system.

Note:
The motion direction after latching is determined by the sign of the value set for the Final Travel Distance
for Homing.

If the Final Travel Distance for Homing is a positive value:

- After latching during motion in the positive direction, the motor rotates in the positive
direction (the same direction) for positioning.
- After latching during motion in the negative direction, the motor rotates in the positive
direction (the reverse direction) for positioning. (With ZRET in the MECHATROLINK-II
compatible profile, the motor rotates in the negative direction (the same direction) for
positioning.)
If the Final Travel Distance for Homing is a negative value:
- After latching during motion in the positive direction, the motor rotates in the negative direction (the
reverse direction) for positioning.
- After latching during motion in the negative direction, the motor rotates in the negative direction (the
same direction) for positioning. (With ZRET in the MECHATROLINK-II compatible profile, the
motor rotates in the positive direction (the reverse direction) for positioning.)

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 8 MECHATROLINK-III Commands

8.14.16 Velocity Control Command (VELCTRL: 3CH)

Data Format

Phases in which the Command Servo standard Asynchronous

2, 3
Command can be Executed Classification command command
Within
Processing Time communication Subcommand Can be used
cycle
VELCTRL
Byte Description
Command Response
0 3CH 3CH • The VELCTRL command sends the speed reference to a slave
station to perform speed control. The slave station performs
1 WDT RWDT
speed control directly without position control.
2 • To cancel the speed control, set the speed reference as VREF =
CMD_CTRL CMD_STAT 0 or set SVCMD_CTRL.CMD_CANCEL to "1."
3
• To pause the speed control, set
4 SVCMD_CTRL.CMD_PAUSE to "1."
• Confirm the completion of the command execution by check-
5 ing that RCMD = VELCTRL (= 3CH) and
SVCMD_CTRL SVCMD_STAT
6 CMD_STAT.CMDRDY = 1.
• To cancel the speed control, set the speed reference as VREF =
7 0 or set SVCMD_CTRL.CMD_CANCEL to "1."
• Confirm the arrival of the feedback speed at the speed
8 reference (VREF) by checking that SVCMD_IO.V_CMP =
9 1.
SVCMD_IO SVCMD_IO • Confirm the completion of pausing of the command by
10 checking that RCMD = VELCTRL (= 3CH),
CMD_STAT.CMDRDY = 1 and
11 SVCMD_STAT.CMD_PAUSE_CMP = 1.
12 • CPRM_SEL_MON1/CPRM_SEL_MON2:
Monitor data can be selected by changing the common
13 CPRM_SEL_ parameter setting. For details, refer to 8.27 Common
TFF Parameters.
14 MON1

15 <Notes on using the command>

• VREF (Velocity reference):
16 Set the speed reference with a signed value.
• TFF (torque feedforward):
17 CPRM_SEL_ Set the torque feedforward value with a signed value.
VREF
18 MON2 Use it as a torque (force) feedforward function.
• ACCR (acceleration):
19 Set the acceleration with an unsigned value.
• DECR (deceleration):
20 Set the deceleration with an unsigned value.
21 • TLIM (torque limit):
ACCR MONITOR1 Set the torque limit with an unsigned value.
22 • For the information on the settings of the above reference data,
refer to 3.2.20 Motion Command Data Setting Method.
23
• For the units of command values set in the command area,
24 refer to 8.12.2 Specifying Units.
• If the command is sent in the servo OFF state (SVON = 0), the
25 command becomes effective next time the servo ON state
DECR MONITOR2 (SVON = 1) is established.
26
27 In the following case, an alarm will occur and the command will
not be executed.
28 • When the ACCR or DECR data is invalid:
CMD_ALM = 9H (A.94B)
29
TLIM MONITOR3 In the following cases, an alarm will occur and the relevant value
30 will be clamped at the limit value.
• When the VREF data is invalid: CMD_ALM = 1H (A.94B)
31 • When the TLIM data is invalid: CMD_ALM = 1H (A.94B)

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 8 MECHATROLINK-III Commands

8.14.17 Torque (Force) Control Command (TRQCTRL: 3DH)

Data Format

Phases in which the Command Servo standard Asynchronous

2, 3
Command can be Executed Classification command command
Within
Processing Time communication Subcommand Can be used
cycle
TRQCTRL
Byte Description
Command Response
0 3DH 3DH • The TRQCTRL command sends the torque (force) reference
to a slave station to performs torque (force) control. The slave
1 WDT RWDT
station performs torque control directly without speed control
2 and position control.
CMD_CTRL CMD_STAT • Confirm the completion of the command execution by check-
3
ing that RCMD = TRQCTRL (= 3DH) and
4 CMD_STAT.CMDRDY = 1.
5 • CPRM_SEL_MON1/CPRM_SEL_MON2:
SVCMD_CTRL SVCMD_STAT Monitor data can be selected by changing the common
6 parameter setting. For details, refer to 8.27 Common
7 Parameters.

8 <Notes on using the command>

9 • TQREF (Torque reference):
SVCMD_IO SVCMD_IO Set the torque reference with a signed value.
10
• VLIM (Velocity limit):
11 Set the speed limit with an unsigned value.
12 • For the information on the settings of the above reference data,
refer to 8.14.20 Motion Command Data Setting Method.
13 CPRM_SEL_ • For the units of command values set in the command area,
VLIM
14 MON1 refer to 8.12.2 Specifying Units.
• If the command is sent in the servo OFF state (SVON = 0), the
15 command becomes effective next time the servo ON state
16 (SVON = 1) is established.
17 CPRM_SEL_
TQREF In the following cases, an alarm will occur and the relevant value
18 MON2 will be clamped at the limit value.
19 • When the TQREF data is invalid: CMD_ALM = 1H (A.94B)
• When the VLIM data is invalid: CMD_ALM = 1H (A.94B)
20
21
MONITOR1
22
23
24
25
Reserved MONITOR2
26
27
28
29
MONITOR3
30
31

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 8 MECHATROLINK-III Commands

8.14.18 Read Servo Parameter Command (SVPRM_RD: 40H)

(1) Data Format
Phases in which the Command Servo standard Asynchronous
2, 3
Command can be Executed Classification command command
Processing Time Within 200 ms Subcommand Cannot be used
SVPRM_RD
Byte Description
Command Response
0 40H 40H • The SVPRM_RD command reads the servo parameters on
1 WDT RWDT specification of the servo parameter number, data size, and the
read mode.
2 • Select the parameter type (common parameter or device
CMD_CTRL CMD_STAT parameter) in the read mode to read the corresponding servo
3
parameter.
4 • Confirm the completion of the command execution by checking
5 that RCMD = SVPRM_RD (= 40H) and
SVCMD_CTRL SVCMD_STAT CMD_STAT.CMDRDY = 1, and also checking the setting for
6 NO, SIZE and MODE.
7
8 In the following cases, an alarm will occur. Do not read PARAM-
ETER in the response in these cases because the PARAMETER
9 value will be indefinite.
SVCMD_IO SVCMD_IO
10 • When the NO data is invalid: CMD_ALM = 9H (A.94A)
• When the SIZE data is invalid: CMD_ALM = 9H (A.94D)
11
• When the MODE data is invalid: CMD_ALM = 9H (A.94B)
12 • While editing using SigmaWin+: CMD_ALM = AH (A.95A)
NO NO
13
14 SIZE SIZE
15 MODE MODE
16
17
18
19
20
21
22
23
Reserved PARAMETER
24
25
26
27
28
29
30
31

(2) Command Parameters

NO: Servo parameter number
SIZE: Servo parameter data size [byte]
MODE: Servo parameter read mode
Servo Parameter Type Reading Source Mode Setting
Common Parameters RAM area 00H
Device Parameter RAM area 10H

PARAMETER: Servo parameter data

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 8 MECHATROLINK-III Commands

8.14.19 Write Servo Parameter Command (SVPRM_WR: 41H)

(1) Data Format
Phases in which the Command Servo standard Asynchronous
2, 3
Command can be Executed Classification command command
Processing Time Within 200 ms Subcommand Cannot be used
SVPRM_WR
Byte Description
Command Response
0 41H 41H • The SVPRM_WR command writes the servo parameters on
specification of the servo parameter number, data size, and
1 WDT RWDT
write mode.
2 • Select the parameter type (common parameter or device
CMD_CTRL CMD_STAT parameter) and the writing destination (RAM area or retentive
3
memory area) in the write mode to write the corresponding
4 servo parameter.
5 • When specifying offline parameters, the CONFIG command
SVCMD_CTRL SVCMD_STAT must be sent to set up after the parameters are written.
6
• Confirm the completion of the command execution by checking
7 that RCMD = SVPRM_WR (= 41H) and
8 CMD_STAT.CMDRDY = 1, and also checking the setting for
NO, SIZE, MODE and PARAMETER.
9
SVCMD_IO SVCMD_IO
10 In the following cases, an alarm will occur and the command will
11 not be executed.
• When the NO data is invalid: CMD_ALM = 9H (A.94A)
12
NO NO • When the SIZE data is invalid: CMD_ALM = 9H (A.94D)
13 • When the MODE data is invalid: CMD_ALM = 9H (A.94B)
14 SIZE SIZE • When the PARAMETER data is invalid:
15 MODE MODE CMD_ALM = 9H (A.94B)
• While editing using SigmaWin+: CMD_ALM = AH (A.95A)
16
17
18
19
20
21
22
23
24 PARAMETER PARAMETER
25
26
27
28
29
30
31

(2) Command Parameters

NO: Servo parameter number
SIZE: Servo parameter data size [byte]
MODE: Servo parameter write mode
Servo Parameter Type Writing Destination Mode Setting
RAM area 00H
Common Parameters
Retentive memory area 01H
RAM area 10H
Device Parameter
Retentive memory area 11H
PARAMETER: Servo parameter data

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 8 MECHATROLINK-III Commands

8.14.20 Motion Command Data Setting Method

This subsection provides information on the settings of the following data fields of the motion commands: TSPD, VREF,
VFF, TREF, TFF, TLIM, VLIM, ACCR and DECR.

CMD_ALM
Name Description Setting Warning Operation for the Setting
Code
FEED, EX_FEED: Set signed 4-byte data.
–Maximum commandable
0H
speed*1 to + Maximum com- Normal
Operates according to the setting.
mandable speed
9H
Other than above Ignores the command and continues the previous command.
A.94B
TSPD Target speed POSING, EX_POSING, ZRET: Set unsigned 4-byte data.
0 to Maximum commandable
speed 0H
Operates according to the setting.
and also Normal
TSPD ≤ 7FFFFFFFFH
9H
Other than above Ignores the command and continues the previous command.
A.94B
Set signed 4-byte data.
Velocity
VREF reference, –Maximum output speed*2 to 0H
Operates according to the setting.
Normal
VFF Velocity feed- +Maximum output speed
forward value 1H Operates with the speed clamped at the maximum output
Other than above
A.97B speed.
Set signed 4-byte data.
Torque
–Maximum torque to 0H
TQREF reference, Operates according to the setting.
+Maximum torque Normal
TFF Torque feed-
forward value 1H
Other than above Operates with the torque clamped at the maximum torque.
A.97B
Set the limit with unsigned 4-byte data.
0H
0 to Maximum torque Operates according to the setting.
Normal
1H
Maximum torque or greater Operates with the torque clamped at the maximum torque.
A.97B
TLIM Torque limit
1H
80000000H to FFFFFFFEH DRIVER processes as TLIM = 7FFFFFFFH internally.
A.97B
No torque limit applies.
0H
FFFFFFFFH (The torque is clamped at the maximum torque and the alarm
Normal
CMD_ALM does not occur.)

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 8 MECHATROLINK-III Commands

CMD_ALM
Name Description Setting Warning Operation for the Setting
Code
Set the limit with unsigned 4-byte data.
0H
0 to Maximum output speed*2 Normal
Operates according to the setting.

Maximum output speed or 1H Operates with the speed clamped at the maximum output
greater A.97B speed.
VLIM Speed limit
1H
80000000H to FFFFFFFEH DRIVER processes as VLIM = 7FFFFFFFH internally.
A.97B
No speed limit applies.
0H
FFFFFFFFH (The speed is clamped at the maximum output speed and the
Normal
alarm CMD_ALM does not occur.)
Set the acceleration/deceleration with unsigned 4-byte data.
1 to
0H
Maximum acceleration*3 Normal
Operates according to the setting.
Maximum deceleration
Maximum acceleration or
Acceleration, greater 9H
Ignores the command and continues the previous command.
ACCR Deceleration Maximum deceleration or A.94B
DECR (position greater
control) 9H
0, 80000000H to FFFFFFFEH Ignores the command and continues the previous command.
A.94B
0H Operates at the maximum acceleration/deceleration and the
FFFFFFFFH
Normal alarm CMD_ALM does not occur.
Both ACCR and DECR are set 0H Acceleration/deceleration is performed according to the
at "0." Normal parameter settings.
Set the acceleration/deceleration with unsigned 4-byte data.
Unit: × 10n [Reference unit/s2]
1 to
0H
Maximum acceleration Operates according to the setting.
Normal
Maximum deceleration
Maximum acceleration or
Acceleration, 9H
greater
ACCR Deceleration Ignores the command and continues the previous command.
Maximum deceleration or A.94B
DECR (speed greater
control)
9H
0, 80000000H to FFFFFFFEH Ignores the command and continues the previous command.
A.94B
0H Operates at the maximum acceleration/deceleration and the
FFFFFFFFH
Normal alarm CMD_ALM does not occur.
Both ACCR and DECR are set 9H
Ignores the command and continues the previous command.
at "0." A.94B

∗1. Maximum commandable speed = 2097152000 [Reference unit/s]

∗2. Maximum output speed = Common parameter 05
∗3. Maximum acceleration/deceleration = 209715200000 [Reference unit/s2]

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8.15 Subcommands
The following table shows the subcommands.

For information on the combinations of main commands and subcommands, refer to 8.5.4 Combinations of Main Commands
and Subcommands.

Command Communication
Profile Code Command Operation Phases*2
(Hex.) 1 2 3
00 NOP No operation – ○ ○
05 ALM_RD *1 Read alarm/warning – ○ ○
06 ALM_CLR Clear alarm/warning state – ○ ○
1D MEM_RD*1 Read memory command – ○ ○
Servo Commands
1E MEM_WR*1 Write memory command – ○ ○
30 SMON Monitor servo status – ○ ○
40 SVPRM_RD*1 Read servo parameter – ○ ○
41 SVPRM_WR Write servo parameter – ○ ○
∗1. Specification restrictions apply (Refer to the subsection describing each command for the details of the restrictions.)
∗2. ○ : Can be executed, Δ: Ignored, ×: Command error, –: Indefinite response data

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8.15.1 No Operation Subcommand (NOP: 00H)

Data Format

Phases in which the Command Common Asynchronous

2, 3
Command can be Executed Classification command command
Within
Processing Time communication
cycle
NOP
Byte Description
Command Response
32 00H 00H • The NOP subcommand is used for network control.
33 • Confirm the completion of the subcommand execution by
checking that RSUBCMD = NOP (= 00H) and
34 SUB_CTRL SUB_STAT SUB_STAT.SBCMDRDY = 1.
35
36
37
38
39
40
41
Reserved Reserved
42
43
44
45
46
47

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8.15.2 Read Alarm or Warning Subcommand (ALM_RD: 05H)

(1) Data Format

Phases in which the Command Common Asynchronous

2, 3
Command can be Executed Classification command command
Refer to the
Processing Time specifications of
ALM_RD_MOD
ALM_RD
Byte Description
Command Response
32 05H 05H • The ALM_RD subcommand reads the current alarm or
warning state as an alarm or warning code.
33
• Confirm the completion of the subcommand execution by
34 SUB_CTRL SUB_STAT checking that RSUBCMD = ALM_RD (= 05H) and
35 SUB_STAT.SBCMDRDY = 1.

36 In the following cases, an alarm will occur and the subcommand

ALM_RD_MOD ALM_RD_MOD
37 will not be executed.
• When the ALM_RD_MOD data is invalid:
38 CMD_ALM = 9H (A.94B)
ALM_INDEX ALM_INDEX
39 • When the ALM_INDEX data is invalid:
CMD_ALM = 9H (A.94B)
40
41
42
43
Reserved ALM_DATA
44
45
46
47

(2) Command Parameters

The details of ALM_RD_MOD are described below.

ALM_RD_MOD Description Processing Time

Current alarm or warning state Within
0
Maximum of 4 records (from byte 40 to byte 47) communication cycle
Alarm occurrence status history
1 (Warnings are not retained in the history.) Within 60 ms
Maximum of 4 records (from byte 40 to byte 47)

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8.15.3 Clear Alarm or Warning Subcommand (ALM_CLR: 06H)

(1) Data Format

Phases in which the Command Common Asynchronous

2, 3
Command can be Executed Classification command command
Refer to the
Processing Time specifications of Subcommand
ALM_RD_MOD
ALM_CLR
Byte Description
Command Response
32 06H 06H • The ALM_CLR subcommand clears the alarm or warning
state. It changes the state of a slave station, but does not
33
eliminate the cause of the alarm or warning. ALM_CLR
34 SUB_CTRL SUB_STAT should be used to clear the state after the cause of the alarm or
warning has been eliminated.
35
• Confirm the completion of the subcommand execution by
36 checking that RSUBCMD = ALM_CLR (= 06H) and
ALM_CLR_MOD ALM_CLR_MOD SUB_STAT.SBCMDRDY = 1.
37
38 In the following cases, an alarm will occur and the subcommand
39 will not be executed.
• When the ALM_CLR_MOD data is invalid:
40 SUBCMD_ALM = 9H (A.94B)
41 • While editing using SigmaWin+:
SUBCMD_ALM = AH (A.95A)
42
Reserved Reserved
43
44
45
46
47

(2) Command Parameters

The details of ALM_CLR_MOD are described below.

ALM_CLR_MOD Description Processing Time

0 Clearance of the current alarm or warning state Within 200 ms
1 Clearance of the alarm history Within 2 s

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8.15.4 Read Memory Subcommand (MEM_RD: 1DH)

(1) Data Format

Phases in which the Command Common Asynchronous

2, 3
Command can be Executed Classification command command
Processing Time Within 200 ms Subcommand
MEM_RD
Byte Description
Command Response
32 1DH 1DH • The MEM_RD subcommand reads the data stored in virtual
memory by specifying the initial address and the data size for
33
reading.
34 SUB_CTRL SUB_STAT • Confirm the completion of the subcommand execution by
35 checking that RSUBCMD = MEM_RD (= 1DH) and
SUB_STAT.SUBCMDRDY = 1, and also checking the setting
36 Reserved (0) Reserved (0) for ADDRESS and SIZE.

MODE/ MODE/ In the following cases, an alarm will occur and the subcommand
37
DATA_TYPE DATA_TYPE will not be executed.
38 • When the ADDRESS data is invalid:
SIZE SIZE SUBCMD_ALM = 9H (A.94A)
39 • When the MODE/DATA_TYPE data is invalid:
SUBCMD_ALM = 9H (A.94B)
40 • When the SIZE data is invalid:
SUBCMD_ALM = 9H (A.94D)
41 • While editing using SigmaWin+:
ADDRESS ADDRESS SUBCMD_ALM = AH (A.95A)
42 For details, refer to 8.13.11 Write Memory Command (MEM_WR:
1EH) - Method to Access Virtual Memory Areas.
43

44

45
Reserved DATA
46

47

(2) Command Parameters

The details of MODE/DATA_TYPE are described below.

bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0

MODE DATA_TYPE

MODE = 1: Volatile memory, 2: Not supported

DATA_TYPE = 1: Byte, 2: Short, 3: Long, 4: Not supported

SIZE: Data size for reading (of type specified by DATA_TYPE)

ADDRESS: Initial address for reading
DATA: Read data

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8.15.5 Write Memory Subcommand (MEM_WR: 1EH)

(1) Data Format

Phases in which the Command Common Asynchronous

2, 3
Command can be Executed Classification command command
Processing Time Refer to 8.13.11 (2) Subcommand
Command Parame-
ters - 
Executing the
Adjustment Opera-
tion.
MEM_WR
Byte Description
Command Response
32 1EH 1EH • The MEM_WR subcommand writes the data in virtual
memory by specifying the initial address, the data size and the
33
data for writing.
34 SUB_CTRL SUB_STAT • This subcommand provides an adjustment function equivalent
35 to that of the ADJ command of the MECHATROLINK-II
compatible profile. For the operation procedure, refer to the
36 Reserved (0) Reserved (0) MEM_WR main command.
• Confirm the completion of the subcommand execution by
MODE/ MODE/ checking that RSUBCMD = MEM_WR (= 1EH) and
37
DATA_TYPE DATA_TYPE SUB_STAT.SUBCMDRDY = 1, and also checking the setting
for ADDRESS, SIZE and DATA.
38
SIZE SIZE
In the following cases, an alarm will occur and the subcommand
39
will not be executed.
40 • When the ADDRESS data is invalid:
SUBCMD_ALM = 9H (A.94A)
41 • When the MODE/DATA_TYPE data is invalid:
ADDRESS ADDRESS SUBCMD_ALM = 9H (A.94B)
42 • When the SIZE data is invalid:
SUBCMD_ALM = 9H (A.94D)
43 • When the conditions for executing the adjustment operation
are not satisfied: SUBCMD_ALM = AH (A.95A)
44 • While editing using SigmaWin+:
SUBCMD_ALM = AH (A.95A)
45 For details, refer to 8.13.11 Write Memory Command
DATA DATA (MEM_WR: 1EH) - Method to Access Virtual Memory Areas.
46

47

(2) Command Parameters

The details of MODE/DATA_TYPE are described below.

bit7 bit6 bit5 bit4 bit3 bit2 bit1 bit0

MODE DATA_TYPE

MODE = 1: Volatile memory, 2: Non-volatile memory (Non-volatile memory can be selected only for common
parameters)
DATA_TYPE = 1: Byte, 2: Short, 3: Long, 4: Not supported
SIZE: Data size for writing (of type specified by DATA_TYPE)
ADDRESS: Initial address for writing
DATA: Data to be written

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8.15.6 Servo Status Monitor Subcommand (SMON: 30H)

Data Format

Phases in which the Command Common command Asynchronous

2, 3
Command can be Executed Classification command
Within
Processing Time communication Subcommand
cycle
SMON
Byte Description
Command Response
32 30H 30H • The SMON subcommand reads the alarms, status, and monitor
information (position, speed, output, torque, etc.) specified in
33
monitor setting, and the state of the I/O signals of the servo
34 SUB_CTRL SUB_STAT drive.
35 • Confirm the completion of the subcommand execution by
checking that RSUBCMD = SMON (= 30H) and
36 SUB_STAT.SUBCMDRDY = 1.
37
MONITOR4
38
39
40
41
Reserved MONITOR5
42
43
44
45
MONITOR6
46
47

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8.15.7 Read Servo Parameter Subcommand (SVPRM_RD: 40H)

(1) Data Format

Phases in which the Command Servo standard Asynchronous

2, 3
Command can be Executed Classification command command
Processing Time Within 200 ms Subcommand
SVPRM_RD
Byte Description
Command Response
32 40H 40H • The SVPRM_RD subcommand reads the servo parameters on
specification of the servo parameter number, data size, and the
33
read mode.
34 SUB_CTRL SUB_STAT • Confirm the completion of the subcommand execution by
35 checking that RSUBCMD = SVPRM_RD (= 40H) and
SUB_STAT.SUBCMDRDY = 1, and also checking the setting
36 for NO, SIZE and MODE.
NO NO
In the following cases, an alarm will occur. Do not read
37 PARAMETER in the response in these cases because the
PARAMETER value will be indefinite.
38 SIZE SIZE • When the NO data is invalid:
SUBCMD_ALM = 9H (A.94A)
• When the SIZE data is invalid:
39 MODE MODE
SUBCMD_ALM = 9H (A.94D)
• When the MODE data is invalid:
40 SUBCMD_ALM = 9H (A.94B)
• While editing using SigmaWin+:
41 SUBCMD_ALM = AH (A.95A)

42

43
Reserved PARAMETER
44

45

46

47

(2) Command Parameters

NO: Servo parameter number
SIZE: Servo parameter data size [byte]
MODE: Servo parameter read mode

Servo Parameter Type Reading Source Mode Setting

Common Parameters RAM area 00H
Device Parameter RAM area 10H

PARAMETER: Servo parameter data

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8.15.8 Write Servo Parameter Subcommand (SVPRM_WR: 41H)

(1) Data Format

Phases in which the Command Servo standard Asynchronous

2, 3
Command can be Executed Classification command command
Processing Time Within 200 ms Subcommand
SVPRM_WR
Byte Description
Command Response
32 41H 41H • The SVPRM_WR subcommand writes the servo parameters
on specification of the servo parameter number, data size, and
33
write mode.
34 SUB_CTRL SUB_STAT • Confirm the completion of the subcommand execution by
35 checking that RSUBCMD = SVPRM_WR (= 41H) and
SUB_STAT.SUBCMDRDY = 1, and also checking the setting
for NO, SIZE, MODE and PARAMETER.
36
NO NO In the following cases, an alarm will occur and the subcommand
37 will not be executed.
• When the NO data is invalid:
38 SIZE SIZE SUBCMD_ALM = 9H (A.94A)
• When the SIZE data is invalid:
SUBCMD_ALM = 9H (A.94D)
39 MODE MODE • When the MODE data is invalid:
SUBCMD_ALM = 9H (A.94B)
40 • When the PARAMETER data is invalid:
SUBCMD_ALM = 9H (A.94B)
• While editing using SigmaWin+:
41 SUBCMD_ALM = AH (A.95A)

42

43
PARAMETER PARAMETER
44

45

46

47

Note: If the main command and subcommand specifying the same NO are received at the same time as new
commands, the main command takes precedence and the alarm specified by SUBCMD_ALM occurs for the
subcommand.

(2) Command Parameters

NO: Servo parameter number
SIZE: Servo parameter data size [byte]
MODE: Servo parameter write mode

Servo Parameter Type Reading Source Mode Setting

RAM area 00H
Common Parameters
Retentive memory area 01H
RAM area 10H
Device Parameter
Retentive memory area 11H

PARAMETER: Servo parameter data

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 8 MECHATROLINK-III Commands

8.16 Preparing for Operation

This section describes how to set communications specifications before starting communications, and how to confirm the
communications status.

8.16.1 Setting MECHATROLINK-III Communications

The rotary switches (S1 and S2) and DIP switch (S3), which are located near the top under the front cover of LECY
series DRIVER, are used as shown below to set the communications specifications. The station address and the number
of transmission bytes are set with these switches.

Description
03H to EFH
Station Address Set with the rotary switches (S1 and S2).
Example: To set the address 48H, set S1 = 4 and S2 = 8.
Set with the DIP switch (S3).
Number Switch Setting
Remark
of Bytes 1 2 3 4
Number of
Transmission 16 OFF OFF OFF OFF Do not use this setting.
Bytes
32 ON OFF OFF OFF Make this setting when subcommands are disabled.
48 OFF ON OFF OFF Make this setting when subcommands are enabled.
– ON ON OFF OFF Do not use this setting.

8.16.2 Checking the Communications Status

To confirm that the DRIVER is in the communication enabled state, check the L1, L2 and CN LEDs.

Description
When communications in the data link layer have started, these LEDs are lit.
The L1 LED indicates the status of the communication port at the CN6A connector and the L2
L1 LED
LED that at the CN6B connector.
L2 LED
Lit: In normal communication
Unlit: Communication not in progress due to disconnected cable, etc.
When the connection in the application layer has been established, this LED is lit.
CN LED Lit: In the CONNECT command completed state
Unlit: In the CONNECT command incompleted state
In normal state: Indicates the status.
In alarm/warning state: Indicates the alarm/warning code.

7-segment LED

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 8 MECHATROLINK-III Commands

8.17 Parameter Management and Operation Sequence

8.17.1 Operation Sequence for Managing Parameters Using a PC or PLC...etc

When the parameters are managed by a PC or PLC...etc, the parameters are automatically transmitted from the PC or
PLC...etc to the DRIVER when the power is turned ON. Therefore, the settings of DRIVER do not need to be changed
when the DRIVER is replaced.

Procedure Operation Command to Send

1 Turn ON the control and main circuit power supplies. –
2 Confirm the completion of the initialization process of the DRIVER. NOP
3 Reset the previous communications status. DISCONNECT *
4 Establish communications connection and starts WDT count. CONNECT
5 Check information such as device ID. ID_RD
6 Read device setting data such as parameters. SVPRM_RD
7 Set the parameters required for the device. SVPRM_WR
8 Enable the parameter settings (Setup). CONFIG
9 Turn ON the encoder power supply to obtain the position data. SENS_ON
10 Turn the servo ON. SV_ON
POSING,
11 Start operation.
INTERPOLATE, etc.
12 Turn the servo OFF. SV_OFF
13 Disconnect the communications connection. DISCONNECT
14 Turn OFF the control and main circuit power supplies. –

∗ When starting the operation sequence with turning the power ON as the first step, it is not necessary to send the
DISCONNECT command.
Note: This example sequence shows the steps to enable starting of communications regardless of the status at that point.

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8.17.2 Operation Sequence for Managing Parameters Using a DRIVER

To manage the parameters by using DRIVER's non-volatile memory, save the parameters in the non-volatile memory at
setup and use an ordinary operation sequence.

(1) Setup Sequence

Procedure Operation Command to Send

1 Turn ON the control and main circuit power supplies. NOP
2 Reset the previous communications status. DISCONNECT *
3 Establish communications connection and starts WDT count. CONNECT
4 Check information such as device ID. ID_RD
5 Get device setting data such as parameters. SVPRM_RD
SVPRM_WR
6 Save the parameters required for the device in the non-volatile memory.
Note: Do not use RAM.
7 Disconnect the communications connection. DISCONNECT
8 Turn OFF the control and main circuit power supplies. –
∗ If the connection cannot be released normally, send a DISCONNECT command for 2 or more communication
cycles, and then send a CONNECT command.
(2) Ordinary Operation Sequence

Procedure Operation Command to Send

1 Turn ON the control and main circuit power supplies. NOP
2 Reset the previous communications status. DISCONNECT *
3 Establish communications connection and starts WDT count. CONNECT
4 Check information such as device ID. ID_RD
5 Get device setting data such as parameters. SVPRM_RD
6 Turn ON the encoder power supply to obtain the position data. SENS_ON
7 Turn the servo ON. SV_ON
POSING, INTERPOLATE,
8 Start operation.
etc.
9 Turn the servo OFF. SV_OFF
10 Disconnect the communications connection. DISCONNECT
11 Turn OFF the control and main circuit power supplies. –
∗ If the connection cannot be released normally, send a DISCONNECT command for 2 or more communication
cycles, and then send a CONNECT command.

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8.18 Setting the Zero Point before Starting Operation

(1) When Using an Absolute Encoder

When an absolute encoder is used in the slave station, the SENS_ON command can be used to set the
reference coordinate system of the slave station. The reference coordinate system will be set according to the
position detected by the absolute encoder and the coordinate system offset of the encoder (i.e., the offset
between the encoder's coordinate system and the reference coordinate system (device built-in parameter)).
The relationship between the reference coordinate system (CPOS and APOS), the encoder's coordinate
system, and the coordinate system offset of the encoder are shown in the following figure.

CPOS: Reference position

APOS: Feedback position

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8.19 Operation Sequence when Turning the Servo ON

Motor control using a PC or PLC...etc is performed using motion commands only in the servo ON state (motor power ON).

In the servo OFF state (when the power to the motor is shut OFF), the DRIVER manages position data so that the reference
coordinate system (CPOS, MPOS) and the feedback coordinate system (APOS) are equal. For correct execution of motion
commands, therefore, it is necessary to use the SMON (status monitoring) command after the servo ON state has been
established, to read the servo reference coordinates (CPOS) and send an appropriate reference position. Set the coordinate
system of the DRIVER using the POS_SET command as necessary.

After completing the setting of the coordinate systems, carry out machine operation using motion commands.

8.20 Operation Sequence when OT (Overtravel Limit Switch) Signal is Input

When an OT signal is input, the DRIVER prohibits the motor from rotating in the way specified in parameter Pn001. The motor
continues to be controlled by the DRIVER while its rotation is prohibited.

When an OT signal is input, use the following procedure to process the OT signal.

Procedure Operation
Monitor OT signals. When an OT signal is input, send an appropriate stop command:
While an interpolation command (INTERPOLATE) is being executed: Continues execution of the
1 interpolation command while stopping updating of the interpolation position. Or, sends an SMON
command. While a move command (such as POSING) other than interpolation commands is being
executed: sets CMD_CANCEL = 1.
Check the output completion flag DEN. If DEN = 1, the DRIVER completed the OT processing. At
2 the same time, check the flag ZSPD. If ZSPD = 1, the motor is completely stopped. Keep the
command used in procedure 1 active until both of the above flags are set to 1.
3 Read out the current reference position (CPOS) and use it as the start position for retraction processing.
Use a move command such as POSING or INTERPOLATE for retraction processing. Continue to use
4 this command until the retraction is finished. If the move command ends without finishing the retraction,
restart the move command continuously from the last target position.

Note: • When an OT signal is input during execution of a motion command such as ZRET, EX_FEED or EX_POSING,
the execution of the command will be cancelled.
• During the overtravel state (P-OT = 1 or N-OT = 1), the servomotor is not positioned to the target position
specified by the host PC or PLC...etc. Check the feedback position (APOS) to confirm that the axis is stopped at
a safe position.

If the state of an OT signal varies over a short time (in a pulsing manner for
example), the host PC or PLC...etc may not be able to monitor the variation of
the OT signal properly. Take due care about the selection of limit switches and
their mounting and wiring to avoid chattering of OT signals and malfunctioning.

8.21 Operation Sequence at Emergency Stop (Main Circuit OFF)

For circuits incorporating the recommended processing that the control and main circuit power supplies turn OFF on occurrence
of an emergency stop, no specific process is required.

For circuits that turn OFF only the main circuit power supply, follow the procedure below.

After confirming that the SV_ON or PON bit in the STATUS field of the response data is OFF (= 0), send an SV_OFF
command. While in an emergency stop state, always monitor the DRIVER status using a command such as the SMON (status
monitoring) command.

For recovery from an emergency stop state, follow the action to be taken on occurrence of an alarm.

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8.22 Operation Sequence when a Safety Signal is Input

When an HWBB1 or HWBB2 signal is input while the motor is being operated, current to the motor will be forcibly stopped,
and the motor will be stopped according to the setting of the 1st digit of parameter Pn001.

[When an HWBB signal is input after the DRIVER stops powering the motor]

DRIVER
status

[When an HWBB signal is input while the DRIVER is powering the motor]

DRIVER
status

- When an HWBB Signal is Input:

Monitor the HWBB input signal and SCM output signal status, or ESTP signal (HWBB) status in the SVCMD_IO (servo
command input signal) field. If a forced stop status is detected, send a command such as SV_OFF to stop the motor.

- Recovery from Stop Status:

Recover from the stop status by following the procedure below.

1. Reset the HWBB1 or HWBB2 signal.

The HWBB state is still valid at this point.
2. Send an SV_OFF command to shift the DRIVER to the base block state.
3. Carry out PC or PLC...etc and system recovery processing.
4. Send an SV_ON command to establish the servo ON state.
5. Complete the preparation for operation after establishing the servo ON state.
6. Start operation.

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 8 MECHATROLINK-III Commands

Note 1. If the DRIVER enters the HWBB status while sending an SV_ON command, reset the /HWBB1 or /HWBB2
signal and then send a command other than SV_ON, such as SV_OFF. Then, send the SV_ON command again
to restore the normal operation status.
2. If the DRIVER enters the HWBB status during execution of an SV_OFF, INTERPOLATE, POSING, FEED,
EX_FEED, EX_POSING, or ZRET command, a command warning will occur since the DRIVER status
changes to the servo OFF state. Execute the clear alarm or warning (ALM_CLR) command to restore normal
operation.

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8.23 Operation Sequence at Occurrence of Alarm

When the D_ALM bit in the CMD_STAT field of the response is 1 or a COMM_ALM field of 8 or a greater value is detected,
send the SV_OFF command. Use the ALM_RD command to check the alarm code.
To clear the alarm status, send the ALM_CLR command or set the ALM_CLR bit of the CMD_CTRL command to "1" after
eliminating the cause of the alarm. However, this will not clear the alarm status that require the power supply to be turned OFF
and back ON for clearance.

- For Communication Error Alarms

When a communication error alarm (COMM_ALM ≥ 8) occurs, the communication phase shifts to phase 2. To restore
communication phase 3, send a SYNC_SET command after resetting the alarm.

- For Warnings
When the D_WAR bit is 1 or the COMM_ALM field of a value from 1 to 7 is detected, a warning occurs but the servo
OFF state will not be established. Check the alarm code using the ALM_RD command and perform appropriate
processing. To clear the warning state, send the ALM_CLR command or set the ALM_CLR bit of the CMD_CTRL
command to "1."

- For Command Errors

Check the status of CMD_ALM with the host PC or PLC...etc in every communication cycle and perform appropriate
processing because CMD_ALM will be automatically cleared on reception of the next normal command after detecting
CDM_ALM ≠ 0.

8.24 Notes when the Positioning Completed State (PSET = 1) is Established while Canceling a Motion
Command
When the DRIVER enters any of the following states during execution of a motion command, it may cancel the execution of the
motion command and establish the positioning completed state (PSET = 1).

- The servo OFF state (SV_ON of SVCMD_STAT set to "0") has been established due to an alarm (D_ALM of CMD_STAT
set to "0" or COMM_ALM ≥ 8).
- The servo OFF state (SV_ON of SVCMD_STAT set to "0") has been established because the main power supply was turned
OFF (PON of SVCMD_STAT set to "0").
- The motor has stopped due to overtravel (P-OT or N-OT of SVCMD_IO set to "1") or a software limit (P_SOT or N_SOT of
SVCMD_IO set to "1").
- The servo OFF state (SV_ON of SVCMD_STAT set to "0") has been established because the HWBB signal was turned OFF
(ESTP of SVCMD_IO set to "1").

In this case, the motor has not reached the target position specified by the host PC or PLC...etc even though PSET is set to "1."
Check the feedback position (APOS) to confirm that the axis is stopped at a safe position.

If the state of an OT signal varies over a short time (in a pulsing manner for
example), the host PC or PLC...etc may not be able to monitor the variation of
the OT signal properly. Take due care about the selection of limit switches and
their mounting and wiring to avoid chattering of OT signals and malfunctioning.

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8.25 Function/Command Related Parameters

8.25.1 Interpolation Command

When sending the INTERPOLATE command, the speed feedforward and torque feedforward values can be specified
along with the target position.

The sum of the speed feedforward value specified by the INTERPOLATE command and the (speed) feedforward value
set in the parameters (common parameter 64 (Pn109) and Pn10A) will be applied.

Specifying the speed feedforward value using the INTERPOLATE command may lead to overshooting if the settings of
the following parameters (common parameter 64 (Pn109) and Pn10A) are inappropriate. When specifying the speed
feedforward value using the INTERPOLATE command, set the parameters to "0" (factory setting).

Common Data Size Setting Factory

Name Unit
Parameters (Byte) Range Setting
64 Feedforward Compensation 4 0 to 100 % 0

Data Size Setting Factory

Parameter Name Unit
(Byte) Range Setting
Pn109 Feedforward Gain 2 0 to 100 1% 0
Pn10A Feedforward Filter Time Constant 2 0 to 64000 0.01 ms 0

If the speed feedforward and torque feedforward values are specified using the INTERPOLATE command, the values will
be cleared when another command is executed.

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8.25.2 Positioning Command

There are the following two kinds of acceleration/deceleration method for positioning commands (POSING, FEED,
EX_FEED, EX_POSING, and ZRET).
- Using the acceleration/deceleration specified by the command
- Using the acceleration/deceleration set in the parameters

(1) Using the Acceleration/Deceleration (ACCR and DECR) Specified by the Command
When using the acceleration/deceleration (ACCR and DECR) specified by the command, positioning will be
performed with 1-step acceleration/deceleration.

When both the acceleration and deceleration (ACCR and DECR) are set to "0" in the command, positioning will
be performed with 2-step acceleration/deceleration according to the parameter settings.

(2) Using the Acceleration/Deceleration Set in the Parameters

Set both the acceleration and deceleration (ACCR and DECR) to "0" in the command and select which parameter
setting should be used for the acceleration/deceleration with the 1st digit of parameter Pn833.

Note: Make settings so that the distance required for deceleration and the deceleration satisfy the following
conditions.
Deceleration [reference unit/s2] ≥ Maximum reference speed [reference unit/s]2 / (Maximum deceleration
distance [reference unit]*2)

- Acceleration/Deceleration Constant Switching Setting

Data Size Setting

Parameter Meaning Unit
(Byte) Range
n.口口口0 Use parameters Pn80A to Pn80F and Pn827.
[Factory setting] (Parameters Pn834 to Pn840 are invalid.) 0000H to
Pn833 2 –
Use parameters Pn834 to Pn840. 0001H
n.口口口1 (Parameters Pn80A to Pn80F and Pn827 are invalid.)
Note: The setting will be validated by turning the power supply OFF and then ON again, or by executing the
CONFIG command.

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- Acceleration/Deceleration Parameters when Pn833=n.口口口0

Data Size Setting Factory

Parameter Name Unit
(Byte) Range Setting
Pn80A 1st Linear Acceleration Constant 2 1 to 65535 10000 reference units/s2 100
Pn80B 2nd Linear Acceleration Constant 2 1 to 65535 10000 reference units/s2 100
Pn80C Acceleration Constant Switching Speed 2 0 to 65535 100 reference units/s 0
Pn80D 1st Linear Deceleration Constant 2 1 to 65535 10000 reference units/s2 100
Pn80E 2nd Linear Deceleration Constant 2 1 to 65535 10000 reference units/s2 100
Pn80F Deceleration Constant Switching Speed 2 0 to 65535 100 reference units/s 0
Pn827 Linear Deceleration Constant for Stopping 2 1 to 65535 10000 reference units/s2 100

- Acceleration/Deceleration Parameters when Pn833=n.口口口1

Data Size Factory
Parameter Name Setting Range Unit
(Byte) Setting
Pn834 1st Linear Acceleration Constant 2 4 1 to 20971520 10000 reference units/s2 100
Pn836 2nd Linear Acceleration Constant 2 4 1 to 20971520 10000 reference units/s2 100
Acceleration Constant Switching
Pn838 4 0 to 20971520 100 reference units/s 0
Speed 2
Pn83A 1st Linear Deceleration Constant 2 4 1 to 20971520 10000 reference units/s2 100
Pn83C 2nd Linear Deceleration Constant 2 4 1 to 20971520 10000 reference units/s2 100
Deceleration Constant Switching
Pn83E 4 0 to 20971520 100 reference units/s 0
Speed 2
Linear Deceleration Constant 2
Pn840
for Stopping
4 1 to 20971520 10000 reference units/s2 100

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8.25.3 Torque (Force) Limiting Function

The torque (force) limiting function limits the torque (force) during position/speed control to protect the con- nected
machine, etc. There are three ways to limit the output torque (force).
• Internal torque (force) limit according to parameter settings
• External torque (force) limit using the P_CL and N_CL bits of the SVCMD_IO field
• Torque (force) limit by position/speed control command
If all of the above three methods are used, the smallest torque (force) limit will be applied.

(1) Internal Torque (Force) Limit

This method always limits the maximum output torque (force) to the set values of the following parameters.
Data Size Setting Factory
Parameter Name Unit
(Byte) Range Setting
Forward Torque Limit
Pn402 2 0 to 800 % 800
(For rotational servomotors)
Reverse Torque Limit
Pn403 2 0 to 800 % 800
(For rotational servomotors)

(2) External Torque (Force) Limit Using P_CL/N_CL Bits of SVCMD_IO Field
This method uses the P_CL and N_CL bits of the SVCMD_IO field to limit the output torque (force) to the values
set for the following parameters. Settings can be made using common parameters.
Common Data Size Setting Factory
Name Unit
Parameters (Byte) Range Setting
8C Forward Torque (Force) Limit 4 0 to 800 % 100
8D Reverse Torque (Force) Limit 4 0 to 800 % 100

Data Size Setting Factory

Parameter Name Unit
(Byte) Range Setting
Forward External Torque (Force)
Pn404 2 0 to 800 % 100
Limit
Pn405 Reverse External Torque (Force) Limit 2 0 to 800 % 100

(3) Torque (Force) Limit by Position/Speed Control Command

Torque (force) limits can be specified using the following commands.
INTERPOLATE, POSING, FEED, EX_FEED, EX_POSING, ZRET, VELCTRL
This method limits the torque (force) to the value set for TLIM of the position/speed control command.
The torque (force) limit will be applied according to the settings of the parameters (Pn81F.1 and Pn002.0).
(Enabled by factory setting)
Data Size Setting
Parameter Meaning Unit
(Byte) Range
n.口口0口 Reserved
The settings of the TFF and TLIM fields of position 0000H to
Pn81F n.口口1口 2 –
control commands are enabled. 0001H
[Factory
The torque (force) limit will be applied according to
setting]
the setting of parameter Pn002.0.
n.口口口0 Reserved
n.口口口1 Forward and reverse torque limits based on the set-
[Factory ting of the TLIM field of the position/speed control 0000H to
Pn002 setting] commands are enabled. 2 –
0003H
n.口口口2 Reserved
n.口口口3 Reserved

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The following table shows the operation when all of the three methods are used. The smallest torque (force) limit
in each group will be applied.

Forward Torque Limit Reverse Torque Limit

Pn002.0
When P_CL is set to 0 When P_CL is set to 1 When N_CL is set to 0 When N_CL is set to 1
Pn402 Pn403
Pn402 Pn403
Common parameter 8C Common parameter 8D
1
TLIM (Pn404) TLIM (Pn405)
TLIM TLIM

When sending a command other than the commands that can specify torque limit, the last torque limit specified by
the TLIM field remains valid. During execution of the SV_OFF or TRQCTRL command, the torque limit
specified by the TLIM field becomes invalid and the maximum torque will be used as the limit.

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6.25.4 Torque (Force) Feedforward Function

This function is used to apply a torque (force) feedforward (TFF) from a position/speed control command to shorten
positioning time. The host PC or PLC...etc differentiates a position reference to generate a torque (force) feedforward
reference.

[Torque (Force) Feedforward Reference Settable Commands]

INTERPOLATE, VELCTRL

[Setting Parameters]
Set the following parameters to use the torque (force) feedforward reference. (Enabled by factory setting)

Position Control Command TFF/TLIM Function Allocation

Pn81F
n.口口1口 Enables allocation (Set TFF/TLIM operation using Pn002.)

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8.25.5 Software Limit Function

This function forcibly stops the servomotor in the same way as the overtravel function when the moving part of the
machine enters the software limit range specified by the parameters (common parameter 26 (Pn804), common parameter
28 (Pn806)).

The method for stopping the servomotor is the same as when an OT signal is input.

(1) Conditions for Enabling the Software Limit Function

The software limit function is enabled when the following operations are completed. In other cases, the function
remains disabled.
- Zero point return operation by the ZRET command is completed.
- The coordinate setting is completed after reference point setting (REFE = 1) by executing the POS_SET
command.
- When using an absolute encoder, the sensor is turned on by the SENS_ON command.

(2) Parameters Related to Software Limit Functions

Common Data Size Factory

Name Setting Range Unit
Parameters (Byte) Setting
Limit Setting
bit 0 P-OT (0: Enabled, 1: Disabled)
bit 1 N-OT (0: Enabled, 1: Disabled)
bit 2 Reserved
25 bit 3 Reserved 4 0 to 33H 0000H 0000H
bit 4 P-SOT (0: Disabled, 1: Enabled)
bit 5 N-SOT (0: Disabled, 1: Enabled)
bit 6 to
Reserved
31

26 Forward Software Limit 4 −1073741823 to Reference

1073741823
1073741823 unit
−1073741823 to Reference
28 Reverse Software Limit 4
1073741823 unit −1073741823

Data Size
Parameter Meaning Setting Range Unit
(Byte)
n.口口口0 Enables forward and reverse software limit.
n.口口口1 Disables forward software limit.
n.口口口2 Disables reverse software limit.
n.口口口3
[Factory Disables software limit in both directions.
setting]
Pn801 n.口口0口 2 0000H to 0103H –
[Factory Reserved
setting]
n.口0口 Disables software limit for reference.
n.口1口口 Enables software limit for reference.
n.0口口口
[Factory Reserved
setting]

Pn804 Forward Software Limit 4 −1073741823 to Reference

1073741823 unit

Pn806 Reverse Software Limit 4 −1073741823 to Reference

1073741823 unit

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(3) Software Limit Monitoring

Check servo command input signal monitoring bits P_SOT and N_SOT for software limits.

Software limit operations are not performed in directions for which the software limit function is disabled, and the
corresponding servo command input signal monitoring bit is always "0."

- Software Limit for Reference (Pn801.2)

If the target position specified by a command such as POSING and INTERPOLATE is in the software limit
range, positioning will be performed by using the software limit value as the target position.

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8.25.6 Latch Function

Three types of current position latch function using an external signal input are available:

- Latching by using the move command with the latch function (EX_FEED, EX_POSING, ZRET)
- Latching based on the latch request set by the LT_REQ1 and LT_REQ2 bits
- Continuous latch based on the latch request set by the LT_REQ2 bit

An overview of the latch operation is presented below.

Type Latching Based on the Latch Continuous Latch Based on

Move Command with Latch
Request Set by the the Latch Request Set by the
Operation Function
LT_REQ1 and LT_REQ2 Bits LT_REQ2 Bit
The slave station starts latching
The slave station starts latching The slave station starts latching
on reception of the command if
if LT_REQ1 = 1 and LT_REQ2 if LT_REQ2 = 1, and repeats
Latch Operation LT_REQ1 = 1, and ends latching
= 1, and ends latching on input latching on input of the specified
on input of the specified latch
of the specified latch signal. latch signal.
signal.
Cancelled by LT_REQ1 = 0
Canceling Cancelled by LT_REQ1 = 0 and
Cancelled when the slave station Cancelled by LT_REQ2 = 0
Latching LT_REQ2 = 0
receives another command
Checking
Check L_CMP2 and
Completion of Check L_CMP1. Check L_CMP1 and L_CMP2.
EX_STATUS.
Latching
Outputting
Latched LPOS1 LPOS1, 2 LPOS2
Position*
Latching
According to the settings of Pn820 and Pn822
Allowable Area

∗ The specification differs from that of the MECHATROLINK-II compatible profile. Monitor the latched position by
selecting the latched position with monitor selection bits SEL_MON1 to 3.

The relationship among the signals related to latching is shown in the diagram below.

Even if a request for latching is made, latch signals will not be accepted until the latching conditions are satisfied.

Whether the latching conditions have been satisfied or not can be checked at LT_RDY1 and LT_RDY2 selected with
common monitor 1 (CMN1) and common monitor 2 (CMN2). These monitors correspond to the 0th and 1st bits of the
SV_STAT field of common parameter 89 (PnB12).

In either of the following cases, latching will not be performed since the latching conditions are not satisfied.
• Outside the latching allowable area set by parameters
• Inside the latching disabled area in the operation sequence for the ZRET command

- Operation when Latching is Completed

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- Operation when Latching is not Completed

- Latch Time Lag

• From reception of the command to latching start: 250 μs max.

• From completion of latching to transmission of a response: One communication cycle max.

(1) Continuous Latch by LT_REQ2 Bit

This function sequentially latches the input positions of sequence signal 1 to sequence signal n (n = 1 to 8) a
specified number of times. The continuous latch operation can be aborted by setting the LT_REQ2 bit to OFF
(LT_REQ2 = 0). This function can shorten the time between latch completion and the start of the next latch, and
enables sequential latch operations at high speed.

[How to Start and Stop Continuous Latch Operation]

Set the following parameters, and then set LT_REQ2 to "1" to start continuous latch operation. To abort the
operation, set LT_REQ2 to "0."
Pn850: Latch Sequence Number n
Pn851: Continuous Latch Count m (When m = 0, the continuous latch operation will be infinitely
repeated.)
Pn852: Latch Sequence Signal 1 to 4 Setting
Pn853: Larch Sequence Signal 5 to 8 Setting
Note: If Pn850 is set to "0" and LT_REQ2 to "0", normal latching will be performed.
[Latch Status]
Latch completion can be confirmed by the following status.
[SVCMD_STAT]
L_CMP2: L_CMP2 is set to "1" for one communication cycle every time the external signal is input.
[EX_STATUS]
EX_STATUS is allocated to OMN1 (Pn824) or OMN2 (Pn825). (Pn824 = 84H or Pn825 = 84H)
L_SEQ_NO (D8-D11): The latch sequence signal number (≤ n) on completion of latching of the current
position
(Added on completion of position latching)
L_CMP_CNT (D0-D7): The continuous latch count (≤ m)
(Added on completion of position latching when the latch sequence signal
n is input.)

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[Latched Position Data]

The latest latched position data at completion of latching can be obtained by using the following monitor.

Name Code Remark

Feedback Latch Position LPOS2 The latest latch signal input position

The previously latched position data can be obtained by using the following optional monitors.

Name Code Remark

Pn824 = 81H:
Optional Monitor 1 OMN1
Previous latch (sequence) signal 2 input position (LPOS2)
Pn825 = 81H:
Optional Monitor 2 OMN2
Previous latch (sequence) signal 2 input position (LPOS2)

[Operation Example]
An example of a continuous latch operation using two latch sequence signals EXT1 and EXT2 is illustrated
below.

(The parameters are set as follows: Pn850 = 2, Pn851 = 2 or more, Pn852 = 0021H, Pn853 = any)

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[Setting Parameters]

Parameter Data Size Setting Factory

Name Unit
No. Digit (Byte) Range Setting
Pn850 Latch Sequence Number 2 0 to 8 – 0
Pn851 Continuous Latch Sequence Count 2 0 to 255 – 0
0000H to
Latch Sequence Signal 1 to 4 Setting 2 – 0000H
3333H
0 Phase Z

Latch Sequence 1 1 EXT1 signal

1 – 0 to 3 – 0
Signal Selection 2 EXT2 signal
Pn852 3 EXT3 signal
Latch Sequence 2
2 As above
Signal Selection
Latch Sequence 3
3 As above
Signal Selection
Latch Sequence 4
4 As above
Signal Selection
0000H to
Latch Sequence Signal 5 to 8 Setting 2 – 0000H
3333H
0 Phase Z
Latch Sequence 5 1 EXT1 signal
1 – 0 to 3 – 0
Signal Selection 2 EXT2 signal
Pn853 3 EXT3 signal
Latch Sequence 6
2 As above
Signal Selection
Latch Sequence 7
3 As above
Signal Selection
Latch Sequence 8
4 As above
Signal Selection

[Application Notes]
1. The minimum interval between latch signals is 500 μs. An interval between latch signals that is
longer than the communication cycle is required to continuously obtain latched position data.
2. If two latch signals are input without allowing the minimum required interval, only the first
latch signal input position will be latched. The second latch signal will be ignored.
3. The parameters Pn850 to Pn853 can be changed only while the continuous latch operation is
stopped.

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(2) Setting the Latching Allowable Area

Use the following parameters to set the latching allowable area.

Data Size Factory

Parameter Name Setting Range Unit
(Byte) Setting
Forward Latching Allowable –2147483648 to Reference
Pn820 4 0
Area 2147483647 unit
Reverse Latching Allowable –2147483648 to Reference
Pn822 4 0
Area 2147483647 unit
Latch signal input is enabled when the following two conditions are satisfied.

• Within the latching allowable area set by Pn820 and Pn822

• The LT_REQ1 and LT_REQ2 bits of the SVCMD_CTRL field is set to "1" (requesting latching).*
∗ For the MECHATROLINK-II compatible profile, the conditions are different.

The above conditions for enabling latch signal input are valid for the latch operation for any command.

(a) When Pn820 > Pn822

(b) When Pn820 ≤ Pn822

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8.25.7 Acceleration/Deceleration Parameter High-speed Switching Function

This function switches all of the acceleration/deceleration parameters that are used for positioning at the same time.

Register the acceleration/deceleration parameter settings in a bank before starting operation, and specify bank selector
BANK_SEL1 in the data field of the command to switch the acceleration/deceleration parameter set- tings to those of the
registered bank.

[Specifying a Bank]
Specify a bank with the BANK_SEL1 bits of the SVCMD_IO field of the command.

Name Description Setting Data

Bank selector 1
BANK_SEL1 (4 bits) Bank 0 to 15
(acceleration/deceleration bank)
Note: If a bank number larger than the bank number set in Pn900 is specified (BANK_SEL1 ≥ Pn900), the
parameter bank will not switch and the currently active bank will be used. The parameters will not switch
while DEN = 0 (Distributing) either.

[Parameter Bank Setting]

Set the following parameters.

Data Size Factory

Parameter No. Name Setting Range
(Byte) Setting
Pn900 Parameter Bank Number 2 0 to 16 0
Pn901 Parameter Bank Member Number 2 0 to 15 0
Parameter Bank Member
Pn902 to Pn910 2 0000H to 08FFH 0
Definition
0000H to FFFFH
Pn920 to Pn95F* Parameter Bank Data 2 0
Depends on bank member.
∗ The parameters Pn920 to Pn95F will not be stored in the non-volatile memory. They need to be set every time the
power is turned ON.

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[Parameters that can be Registered as Bank Members]

The following parameters can be registered as parameter bank members by parameters Pn902 to Pn910.

For 4-byte parameters, one parameter must be registered as two consecutive members. (See Setting Example 2.)

Data Size Factory

Parameter Name Setting Range Unit
(Byte) Setting
Pn80A 1st Linear Acceleration Constant 2 1 to 65535 10000 reference units/s2 100
Pn80B 2nd Linear Acceleration Constant 2 1 to 65535 10000 reference units/s2 100
Acceleration Constant Switching
Pn80C 2 0 to 65535 100 reference units/s 0
Speed
Pn80D 1st Linear Deceleration Constant 2 1 to 65535 10000 reference units/s2 100
Pn80E 2nd Linear Deceleration Constant 2 1 to 65535 10000 reference units/s2 100
Deceleration Constant Switching
Pn80F 2 0 to 65535 100 reference units/s 0
Speed
Pn834 1st Linear Acceleration Constant 2 4 1 to 20971520 10000 reference units/s2 100
Pn836 2nd Linear Acceleration Constant 2 4 1 to 20971520 10000 reference units/s2 100
Acceleration Constant Switching
Pn838 4 0 to 2097152000 Reference unit/s 0
Speed 2
Pn83A 1st Linear Deceleration Constant 2 4 1 to 20971520 10000 reference units/s2 100
Pn83C 2nd Linear Deceleration Constant 2 4 1 to 20971520 10000 reference units/s2 100
Deceleration Constant Switching
Pn83E 4 0 to 2097152000 Reference unit/s 0
Speed 2
Exponential Function Acceleration/
Pn810 2 0 to 65535 100 reference units/s 0
Deceleration Bias
Exponential Function Acceleration/
Pn811 2 0 to 5100 0.1 ms 0
Deceleration Time Constant
Pn812 Movement Average Time 2 0 to 5100 0.1 ms 0

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[Setting Procedure]
STEP1:
1. Set Pn900 (Parameter Bank Number) to m.
2. Set Pn901 (Parameter Bank Member Number) to n. Set Pn900 and Pn901 so that Pn900 × Pn901
≤ 64.
3. Register bank member parameter numbers using parameters Pn902 to Pn910.
4. To enable the bank function, execute the CONFIG command or turn the power supply OFF
and then ON again.

STEP2:
5. Set the data of each bank in the parameter bank data area from the leading parameter
Pn920 in order as shown below.
Bank 0: Pn920 to Pn (920 + n – 1)
Bank 1: Pn (920 + n) to Pn (920 + 2n–1)
:
Bank m – 1: Pn {920 + (m – 1) × n} to Pn (920 + m × n – 1)

Note 1. If parameters Pn900 to Pn910 set in STEP 1, 2, and 3 are saved in the non-volatile memory, carry out
STEP 5 only after turning the power ON the next and subsequent times.
However, if you turn the power supply OFF and then ON again after saving parameters Pn900 to
Pn910 in the non-volatile memory (i.e. with the bank function enabled), and start the operation
without setting parameters
Pn920 to Pn95F, the operation will be carried out under the condition that all bank data is set to 0
(zero) or the minimum setting.
2. If parameters Pn900 to Pn910 set in STEP 1, 2, and 3 are not saved in the non-volatile memory, carry
out STEP 1
to 5 each time the power supply is turned ON.

Setting Example 1: Switching three banks of members Pn80B, Pn80E, and Pn80C

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 8 MECHATROLINK-III Commands

Setting Example 2: Switching two banks of members Pn836, Pn83C, and Pn838

[Application Notes]
1. If Pn900 (Parameter Bank Number) or Pn901 (Parameter Bank Member Number) is set to 0,
the bank function will be disabled.
2. If one parameter is registered for more than one bank member definition, the bank data of
the biggest bank member definition parameter number will be applied.
3. The acceleration/deceleration parameter high-speed switching function is enabled only while
DEN = 1 (distribution completed). The parameters will not switch while DEN = 0
(distributing).
4. In the following cases, error A.04A (parameter setting error) will occur when the power
supply is turned back ON or CONFIG command is executed.
• One 4-byte parameter is not registered for two consecutive bank members.
• The total number of bank data entries exceeds 64 (Pn900 × Pn901 > 64).
5. If a parameter that is not allowed to be a bank member is registered, the bank data of the
parameter-registered member will become invalid.
6. Bank data that exceeds the setting range of the registered bank member parameter will
be clamped to a value within the setting range.
7. If a bank number larger than the bank number set in Pn900 is specified (BANK_SEL1 ≥
Pn900), the parameter bank will not switch and the currently active bank will be used.
8. The parameters Pn920 to Pn95F will not be stored in the non-volatile memory. They need
to be set every time the power is turned ON.

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8.26 Detecting Alarms/Warnings Related to Communications or Commands

8.26.1 Communication Related Alarms

The table below shows the communication alarms that may occur in MECHATROLINK-III communications.

If an error is found in the command or data that a DRIVER receives, the DRIVER returns the corresponding alarm code
(in the COMM_ALM bit of the CMD_STAT field of the response).

At the same time, the alarm code is displayed on the DRIVER.

Alarm in Response DRIVER Side

Category COMM Remedy Stopping Alarm Alarm
Name Meaning
_ALM Method Code Reset
The received data size does not
match the data size set at the local Review the number of trans-
Communica- station. Zero-
mission bytes (S3). Possi-
0 tion data size speed A.E41
Communi- The communication data reception Review the communication stopping ble
setting error
cation status after starting communica- setting of the PC or
Setting tion is abnormal. PLC...etc.
Error The station address setting is
Zero-
Station address invalid or a station assigned the Review the station addresses Impos-
0 speed A.E42
setting error same station address exists in the (S1, S2). sible
stopping
communication network.
Transmission An unsupported transmission Review the transmission Zero-
Possi-
B cycle setting cycle was set on reception of a cycle setting of the PC or speed A.E40
ble
error CONNECT command. PLC...etc. stopping
Communi- On reception of the CONNECT
cation Review the WDT process-
command and then the ing of the PC or PLC...etc.
Establish- SYNC_SET command, the WDT Zero-
ment Error Synchroniza- Check communication con- Possi-
C data is not refreshed in each com- speed A.E51
tion failure munication cycle and the commu- nections. ble
stopping
nication timing cannot be Take countermeasures
synchronized. against noise.

Check communication con-

Data reception errors occurred nections.
twice consecutively after complet- Take countermeasures
ing the execution of the CON- against noise.
NECT command. (Influence of Zero-
Data reception To recover from the alarm Possi-
9 noise, etc.) speed A.E60
error state, send the ALM_CLR ble
stopping
command and then the
An error is detected on the com- SYNC_SET command.
munication LSI. If the alarm continues,
replace the DRIVER.
Check communication con-
nections.
Communi-
FCS errors occurred twice consec- Take countermeasures
cation Zero-
utively after completing the execu- against noise. Possi-
Error 8 FCS error speed A.E62
tion of the CONNECT command. To recover from the alarm ble
stopping
(Influence of noise, etc.) state, send the ALM_CLR
command and then the
SYNC_SET command.
Check communication con-
nections.
The synchronous frame not
Take countermeasures
Synchronous received state was detected twice Zero-
against noise. Possi-
A frame not consecutively after completing the speed A.E63
To recover from the alarm ble
received execution of the CONNECT com- stopping
mand. (Influence of noise, etc.) state, send the ALM_CLR
command and then the
SYNC_SET command.

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 8 MECHATROLINK-III Commands

Alarm in Response DRIVER Side

Category COMM Remedy Stopping Alarm Alarm
Name Meaning
_ALM Method Code Reset
Review the WDT process-
The PC or PLC...etc is not
ing of the PC or PLC...etc.
refreshing the WDT data in each Zero-
Synchroniza- To recover from the alarm Possi-
C communication cycle after speed A.E50
tion error state, send the ALM_CLR ble
completing communi- cation stopping
command and then the
synchronization (in commu-
SYNC_SET command.
nication phase 3).
Review the transmission
cycle interval of the PC or
The transmission cycle interval PLC...etc. Zero-
Transmission Possi-
B varied after completing the execu- To recover from the alarm speed A.E61
cycle error ble
tion of the CONNECT command. state, send the ALM_CLR stopping
Communi- command and then the
cation SYNC_SET command.
Synchroni-
zation Review the transmission
Error cycle interval of the PC or
Internal The transmission cycle interval PLC...etc. Stop by
Impos-
0 synchroniza- varied after completing the execu- dynamic A.E02
To recover from the alarm sible
tion error tion of the CONNECT command. brake
state, turn OFF the power
and then turn it back ON.
Review the transmission
cycle interval of the PC or
Internal The transmission cycle interval PLC...etc. Zero-
Possi-
0 synchroniza- varied after completing the execu- To recover from the alarm speed A.EA2
ble
tion error tion of the CONNECT command. state, send the ALM_CLR stopping
command and then the
SYNC_SET command.
Communica-
Stop by
tion LSI The initialization process of the Impos-
0 Replace the DRIVER. dynamic A.b6A
initialization communication LSI failed. sible
System brake
error
Error
Take countermeasures Stop by
Communica- An error is detected on the com- Impos-
0 against noise. dynamic A.b6b
tion LSI error munication LSI. sible
Replace the DRIVER. brake
The parameter settings are not cor-
rect when turning the power ON or
on execution of the CONFIG com-
mand.
Cause 1: There is an error in the
bank parameter set-
tings. (Refer to 8.25.7
Acceleration/Decelera-
Correct invalid parameter
tion Parameter High-
settings. Correct the set- Stop by
Parameter Parameter speed Switching Func- Possi-
0 tings manually or through dynamic A.04A
Error setting error tion for details.) ble
communication as appropri- brake
Cause 2: The settings of the ate.
reserved parameters
have been changed as
follows.
Pn200.2≠1
Pn207.1≠1
Pn50A≠*881H
Pn50C≠8888H
Pn50D≠8888H
Command The execution of the SV_ON or Zero-
Command tim- Send the command while Possi-
Execution 0 SENS_ON command was not speed A.ED1
eout error the motor is stopped. ble
Error completed within the set period. stopping

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8.26.2 Warnings Related to Communication and Commands

Warnings are divided into two categories, warnings related to data reception and procedures in MECHATROLINK-III
communications and warnings related to the validity of commands.

(1) Communication Errors (COMM_ALM)

The table below shows the warnings related to procedures in MECHATROLINK-III communications. When an
error of this kind is detected, the warning code is displayed on the DRIVER as well.
If any of these warnings occur, the relevant command will not be executed because the command data is not
properly received. The operation of the servomotor continues. Therefore, the response will be the same as that of
the previous command.

Alarm in Response DRIVER Side

Category COMM_
Meaning Remedy Warning Code Warning Code Reset
ALM
2 Communication error Check communication A.960
Communi-
1 FCS error connections. A.962
cations Necessary
Warning Take countermeasures against
3 Synchronization frame not received noise. A.963
If a warning A.96口 occurs during the interpolation operation (INTERPOLATE), the interpolation operation at the
current feed speed continues within the communication cycle in which the warning A.96口 was detected.

(2) Command Errors (CMD_ALM)

The table below shows the warnings related to the validity of commands.
When an error of this kind is detected, the warning code is displayed on the DRIVER as well.

Alarm in Response DRIVER Side

Category Warning Remark
CMD_ Warning
Meaning Remedy Code
ALM Code
Reset
Parameter numbers or data addresses
9 A.94A
are incorrect.
9 The data in the command is invalid. A.94b The command received
on occurrence of the
The combination of data settings is Cleared
9 Review the content of A.94C warning will be
incorrect. automati-
the command data sent ignored. The servomo-
Data cally
The data size specified by the com- by the PC or PLC...etc. tor continues its opera-
Setting mand is incorrect. tion.
(Refer to the setting
Warning 9 A.94d
The data is specified outside the range conditions of each
for the relevant data. command and
parameter.)
The command will be
The data in the command is beyond Cleared
executed with the data
1 the limit. A.97b automati- clamped at the limit
It will be clamped at the limit value. cally value.
A The command sequence is incorrect. A.95A
An unsupported command has been
8 A.95b
received.
A Latch command interferes. Review the command A.95d
sending sequence of the Cleared
Command Subcommand and main command
B PC or PLC...etc. (Refer A.95E automati- –
Warning interfere. to the conditions of cally
An illegal command has been each com- mand.)
8 A.95F
received.
A command not allowed in this com-
C A.97A
munication phase has been received.
On reception of a normal command after a command error has occurred, CMD_ALM (A.94口 and A.95口) is
cleared automatically.

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8.27 Common Parameters

8.27.1 Overview

Common parameters are assigned common parameter numbers that are defined in the standard servo profile and are
independent of individual devices. The utilization of common parameters means that parameters can be read or set
without using parameter numbers or names specific to individual devices.

To read or set common parameters, select "common parameters" in the MODE field of the SVPRM_RD or SVPRM_WR
command.

In the common parameters, there are various parameters that have equivalent functions to device parameters (Pn0口口
to
Pn8口口) specific to this DRIVER. As shown in the following example, setting either the common parameter or the
device parameter will change the value of the corresponding parameter. (Refer to 8.27.3 Common Parameters and
Corresponding Device Parameters.)

The units (number of significant digits) differ between common parameters and device parameters (Pn0口口 to Pn8口口).
Therefore, the values are converted between them as shown in the example below so that the device can operate at the
accuracy defined with the device parameters.

Example: Changing the position loop gain

Common Parameter LECY Device Parameter

No. 63 = 40.000 Pn102 = 40.00

Changed ↓

No. 63 = 50.005 →Converted→ Pn102 = 50.00

Changed ↓

No. 63 = 60.010 ←
Converted ← Pn102 = 60.01

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8.27.2 List of Common Parameters

The following list shows the common parameters. These common parameters are used to make settings from the host PC
or PLC...etc via MECHATROLINK communications. Do not change settings with the SigmaWin+.

Parameter Setting Units Factory Enabled

Size Name Category
No. Range [Resolution] Setting Timing
Encoder Type (read only) 0 to 1 – –
01
4 0000H Absolute encoder –
(PnA02)
0001H Incremental encoder
02 Motor Type (read only) 0 to 1 – –
(PnA04) –
4 0000H Rotational servomotor
Semi-closed/Fully-closed Type
0 to 1 – –
(read only)
03
4 –
(PnA06) 0000H Semi-closed
0001H Fully-closed
04 0 to
(PnA08)
4 Rated Speed (read only) FFFFFFFFH min−1 – –

05 0 to Device
(PnA0A)
4 Maximum Output Speed (read only)
FFFFFFFFH min−1 – –
Information
06 Related
4 Speed Multiplier (read only) – – – – Parameters
(PnA0C)
07 0 to
4 Rated Torque (read only) FFFFFFFFH Nm – –
(PnA0E)
08 Maximum Output Torque 0 to
4 Nm – –
(PnA10) (read only) FFFFFFFFH
09
4 Torque Multiplier (read only) – – – –
(PnA12)
0A 0 to
4 Resolution (read only) pulse/rev – –
(PnA14) FFFFFFFFH
0B nm After
4 Scale Pitch 0 to 65536000 0
(PnA16) [0.01 μm]*1 restart
0C 0 to
4 Pulses per Scale Pitch (read only) pulse/pitch – –
(PnA18) FFFFFFFFH
Note: When using parameters that are enabled after restarting the DRIVER, a CONFIG command must be input or the
power must be turned OFF and then ON again.
∗1. Set the units to multiples of 10. 8

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Parameter Setting Units Factory Enabled

Size Name Category
No. Range [Resolution] Setting Timing
21 1 to After
4 Electronic Gear Ratio (Numerator) – 1
(PnA42) 1073741824 restart
22 Electronic Gear Ratio 1 to After
4 – 1
(PnA44) (Denominator) 1073741824 restart
–1073741823 Immedi-
23 1 reference
4 Absolute Encoder Origin Offset to 0
(PnA46)
1073741823
unit ately*2

24 After
4 Multiturn Limit Setting 0 to 65535 Rev 65535
(PnA48) restart
Limit Setting 0 to 33H 0000H
bit 0 P-OT (0: Enabled, 1: Disabled)
bit 1 N-OT (0: Enabled, 1: Disabled)
bit 2 Reserved
Machine
25 bit 3 Reserved After
4 0000H Specifica-
(PnA4A) bit 4 P-SOT (0: Disabled, 1: Enabled) restart
tion Related
bit 5 N-SOT (0: Disabled, 1: Enabled) Parameters
bit 6 Reserved
bit 7 to
Reserved
31
–1073741823
26 1 reference Immedi-
4 Forward Software Limit to 1073741823
(PnA4C) unit ately
1073741823
27 Immedi-
4 Reserved by System – – 0
(PnA4E) ately
–1073741823
28 1 reference Immedi-
4 Reverse Software Limit to –1073741823
(PnA50) unit ately
1073741823
29 Immedi-
4 Reserved by System – – 0
(PnA52) ately
Speed Unit*3 0 to 4 –
0000H Reference unit/sec

41 0001H Reference unit/min

After
4 0
(PnA82) 0002H Percentage (%) of rated speed*4 restart

0003H min−1 *4
0004H Max. motor speed/40000000H*5
Unit System
Speed Base Unit*4, *5 Related
42 (Set the value of "n" used as the After Parameters
4 –3 to 3 – 0
(PnA84) exponent in 10n when calculating restart
the Speed Unit (41).)

43 Position Unit 0 – After

4 0
(PnA86) 0000H Reference unit restart
Position Base Unit
44 (Set the value of "n" used as the After
4 0 – 0
(PnA88) exponent in 10n when calculating restart
the Position Unit (43).)
Note: When using parameters that are enabled after restarting the DRIVER, a CONFIG command must be input or the
power must be turned OFF and then ON again.
∗2. Available after the SENS_ON command is input.
∗3. When using fully-closed loop control, set 0000H (Reference unit/sec).
∗4. When either 0002H or 0003H is selected for the Speed Unit (parameter 41), set the Speed Base Unit (parameter 42) to
a number between -3 and 0.
∗5. When 0004H is selected for the Speed Unit (parameter 41), set the Speed Base Unit (parameter 42) to 0.

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Parameter Setting Units Factory Enabled

Size Name Category
No. Range [Resolution] Setting Timing
Acceleration Unit – –
45 After
(PnA8A)
4 0000H Reference unit/sec2 0
restart
0001H Not supported
Acceleration Base Unit
46 (Set the value of "n" used as the After
4 4 to 6 – 4
(PnA8C) exponent in 10n when calculating restart
the Acceleration Unit (45).)
Torque Unit 1 to 2 –

47 0000H Not supported After

4 1
(PnA8E) 0001H Percentage (%) of rated torque restart
0002H Max. torque/40000000H*6
Torque Base Unit*6
48 4 (Set the value of "n" used as the –5 to 0 – 0 After
(PnA90) exponent in 10n when calculating restart
the Torque Unit (47).)
Compliance Unit System – –
(read only)
Speed
bit 0 Reference unit/s (1: Enabled)
bit 1 Reference unit/min (1: Enabled)
Unit System
bit 2 Percentage (%) of rated speed (1: Enabled) Related
Parameters
bit 3 min−1 (rpm) (1: Enabled)
bit 4 Max. motor speed/4000000H (Hex.) (1: Enabled)
bit 5 to
Reserved (0: Disabled)
7
Position
bit 8 Reference unit (1: Enabled)
49 4 bit 9 to 0601011FH –
(PnA92) Reserved (0: Disabled)
15
Acceleration
bit 16 Reference unit/s2 (1: Enabled)

bit 17 msec (Acceleration time taken to reach the rated speed)

(0: Disabled)
bit 18 to
Reserved (0: Disabled)
23
Torque
bit 24 Nm (N) (0: Disabled)
bit 25 Percentage (%) of rated torque (1: Enabled)
bit 26 Max. torque/40000000 (Hex.) (1: Enabled)
bit 27 to
Reserved (0: Disabled)
31
Note: When using parameters that are enabled after restarting the DRIVER, a CONFIG command must be input or the
power must be turned OFF and then ON again.
∗6. When 0002H is selected for the Torque Unit (parameter 47), set the Torque Base Unit (parameter 48) to 0.

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Parameter Setting Units Factory Enabled

Size Name Category
No. Range [Resolution] Setting Timing
61 1000 to 0.001 Hz Immedi-
4 Speed Loop Gain 40000
(PnAC2) 2000000 [0.1 Hz] ately
62 Immedi-
(PnAC4)
4 Speed Loop Integral Time Constant 150 to 512000 μs [0.01 ms] 20000
ately
63 4 Position Loop Gain
1000 to
0.001/s [0.1/s] 40000 Immedi-
(PnAC6) 2000000 ately
Adjustment
64 Immedi- Related
4 Feedforward Compensation 0 to 100 % 0
(PnAC8) ately Parameters
65 Position Loop Integral Time Immedi-
(PnACA)
4
Constant
0 to 5000000 μs [0.1 ms] 0
ately
66 4 Positioning Completed Width
0 to 1 reference 7 Immedi-
(PnACC) 1073741824 unit ately
67 4 NEAR Signal Width
1 to 1 reference 1073741824 Immedi-
(PnACE) 1073741824 unit ately
81 Exponential Function Accel/Decel μs Immedi-
4 0 to 510000 0
(PnB02) Time Constant [0.1 ms] ately*7
82 μs Immedi-
4 Movement Average Time 0 to 510000 0
(PnB04) [0.1 ms] ately*7
–1073741823
83 4 Final Travel Distance for External 1 reference 100 Immedi-
to
(PnB06) Positioning unit ately
1073741823
5000
value obtained Command
84 0 to Immedi-
(PnB08)
4 Homing Approach Speed
3FFFFFFFH 10−3 min−1 by converting
ately
Related
reference/s into Parameters
10−3 min−1
500
value obtained
85 0 to Immedi-
(PnB0A)
4 Homing Creep Speed
3FFFFFFFH 10−3 min−1 by converting
ately
reference/s into
10−3 min−1
–1073741823
86 4 Final Travel Distance for Homing 1 reference 100 Immedi-
to
(PnB0C) unit ately
1073741823
Note: When using parameters that are enabled after restarting the DRIVER, a CONFIG command must be input or the
power must be turned OFF and then ON again.
∗7. Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the output during
operation.

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Parameter Setting Units Factory Enabled

Size Name Category
No. Range [Resolution] Setting Timing
Monitor Selection 1 0 to F –
0000H APOS
0001H CPOS
0002H PERR
0003H LPOS1
0004H LPOS2
0005H FSPD
0006H CSPD
87 4 0007H TRQ 1 Immedi-
(PnB0E) ately
0008H ALARM Command
Related
0009H MPOS Parameters
000AH Reserved (Indefinite value)
000BH Reserved (Indefinite value)
000CH CMN1 (Common monitor 1)
000DH CMN2 (Common monitor 2)
000EH OMN1 (Optional monitor 1)
000FH OMN2 (Optional monitor 2)
Monitor Selection 2 – –
88 0000H Immedi-
4 0
(PnB10) to Same as Monitor Selection 1. ately
000FH

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Parameter Setting Units Factory Enabled

Size Name Category
No. Range [Resolution] Setting Timing
Monitor Selection for SEL_MON1
0 to 6 –
(CMN1)
0000H TPOS (Target position in the command coordinates)
0001H IPOS (Reference position in the command coordinates)
POS_OFSET (Offset value set in the set coordinates
0002H
command (POS_SET))
0003H TSPD (Target speed)
0004H SPD_LIM (Speed limit value)
0005H TRQ_LIM (Torque limit value)
SV_STAT
Monitor
byte 1: Current communication phase
00H: Phase 0
01H: Phase 1
02H: Phase 2
03H: Phase 3
byte 2: Current control mode
00H: Position control mode
01H: Speed control mode
02H: Torque control mode
byte 3: Reserved
byte 4: Expansion signal monitor

Command
89 Immedi-
4 0 Related
(PnB12) ately
Parameters
0006H

0007H Reserved
64-bit data for the initial
0008H INIT_PGPOS (Low) encoder value converted to a
command value (lower 32 bits)
64-bit data for the initial
0009H INIT_PGPOS (High) encoder value converted to a
command value (higher 32 bits)

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Parameter Setting Units Factory Enabled

Size Name Category
No. Range [Resolution] Setting Timing
Monitor Select for SEL_MON2
0 to 6 –
(CMN2)
8A Immedi-
4 0000H 0
(PnB14) ately
to Same as Monitor Selection for SEL_MON1.
0006H
8B 1 reference Immedi-
4 Origin Detection Range 0 to 250 10
(PnB16) unit ately
8C Immedi-
4 Forward Torque Limit 0 to 800 % 100
(PnB18) ately
8D Immedi-
4 Reverse Torque Limit 0 to 800 % 100
(PnB1A) ately
8E 1000 to Immedi-
(PnB1C) 4 Zero Speed Detection Range
10000000 10−3 min−1 20000 ately
8F Speed Coincidence Signal Output Immedi-
(PnB1E)
4
Width
0 to 100000 10−3 min−1 10000
ately
Servo Command Control Field
– –
Enabled/Disabled (read only)
bit 0 CMD_PAUSE (1: Enabled)
bit 1 CMD_CANCEL (1: Enabled)
bit 2, 3 STOP_MODE (1: Enabled)
bit 4, 5 ACCFIL (1: Enabled)
bit 6, 7 Reserved (0: Disabled)
Command
bit 8 LT_REQ1 (1: Enabled)
Related
bit 9 LT_REQ2 (1: Enabled) Parameters
bit 10,
LT_SEL1 (1: Enabled)
90 11
4 0FFF3F3FH –
(PnB20)
bit 12,
LT_SEL2 (1: Enabled)
13
bit 14,
Reserved (0: Disabled)
15
bit 16 to
SEL_MON1 (1: Enabled)
19
bit 20 to
SEL_MON2 (1: Enabled)
23
bit 24 to
SEL_MON3 (1: Enabled)
27
bit 28 to
Reserved (0: Disabled)
31

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 8 MECHATROLINK-III Commands

Parameter Setting Units Factory Enabled

Size Name Category
No. Range [Resolution] Setting Timing
Servo Command Status Field
– 0
Enabled/Disabled (read only)
bit 0 CMD_PAUSE_CMP (1: Enabled)
bit 1 CMD_CANCEL_CMP (1: Enabled)
bit 2, 3 Reserved (0: Disabled)
bit 4, 5 ACCFIL (1: Enabled)
bit 6, 7 Reserved (0: Disabled)
bit 8 L_CMP1 (1: Enabled)
bit 9 L_CMP2 (1: Enabled)
bit 10 POS_RDY (1: Enabled)
91 bit 11 PON (1: Enabled)
4 0FFF3F33H –
(PnB22)
bit 12 M_RDY (1: Enabled)
bit 13 SV_ON (1: Enabled)
bit 14,
Reserved (0: Disabled)
15
bit 16 to
SEL_MON1 (1: Enabled)
19
bit 20 to
SEL_MON2 (1: Enabled)
23
bit 24 to
SEL_MON3 (1: Enabled)
27 Command
bit 28 to Related
Reserved (0: Disabled) Parameters
31
I/O Bit Enabled/Disabled
(Output) – –
(read only)
bit 0 to
Reserved (0: Disabled)
3
bit 4 V_PPI (1: Enabled)
bit 5 P_PPI (1: Enabled)
bit 6 P_CL (1: Enabled)
bit 7 N_CL (1: Enabled)
bit 8 G_SEL (1: Enabled)
92
4 007F01F0H –
(PnB24) bit 9 to
G_SEL (0: Disabled)
11
bit 12 to
Reserved (0: Disabled)
15
bit 16 to
BANK_SEL (1: Enabled)
19
bit 20 to
SO1 to SO3 (1: Enabled)
22
bit 23 Reserved (0: Disabled)
bit 24 to
Reserved (0: Disabled)
31

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 8 MECHATROLINK-III Commands

Parameter Setting Units Factory Enabled

Size Name Category
No. Range [Resolution] Setting Timing
I/O Bit Enabled/Disabled
(Input) – –
(read only)
bit 0 Reserved (0: Disabled)
bit 1 DEC (1: Enabled)
bit 2 P-OT (1: Enabled)
bit 3 N-OT (1: Enabled)
bit 4 EXT1 (1: Enabled)
bit 5 EXT2 (1: Enabled)
bit 6 EXT3 (1: Enabled)
bit 7 ESTP (1: Enabled)
bit 8 Reserved (0: Disabled)
bit 9 BRK_ON (1: Enabled) Command
93
4 bit 10 P-SOT (1: Enabled) FF0FFEFEH – Related
(PnB26)
Parameters
bit 11 N-SOT (1: Enabled)
bit 12 DEN (1: Enabled)
bit 13 NEAR (1: Enabled)
bit 14 PSET (1: Enabled)
bit 15 ZPOINT (1: Enabled)
bit 16 T_LIM (1: Enabled)
bit 17 V_LIM (1: Enabled)
bit 18 V_CMP (1: Enabled)
bit 19 ZSPD (1: Enabled)
bit 20 to
Reserved (0: Disabled)
23
bit 24 to
I0_STS1 to 8 (1: Enabled)
31

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 8 MECHATROLINK-III Commands

8.27.3 Common Parameters and Corresponding Device Parameters

Common Parameters and Corresponding Device Parameters

Common Corresponding
Category Meaning Remark
Parameters Device Parameter
1 Encoder Type –
2 Motor Type –
3 Semi-closed/Fully-closed Type –
4 Rated Speed –
5 Maximum Output Speed –
Device
Information 6 Speed Multiplier –
Related 7 Rated Torque –
Parameters
8 Maximum Output Torque –
9 Torque Multiplier –
0A Resolution (Rotary) –
0B Scale Pitch (Linear) –
0C Pulses per Scale Pitch (Linear) –
21 Electronic Gear Ratio (Numerator) Pn20E
22 Electronic Gear Ratio (Denominator) Pn210
23 Absolute Encoder Origin Offset Pn808
24 Multiturn Limit Setting Pn205
Machine
Pn50A
Specification
25 Limit Setting Pn50B
Related
Pn801
Parameters
26 Forward Software Limit Pn804
27 Reserved by System –
28 Reverse Software Limit Pn806
29 Reserved by System –
41 Speed Unit –
42 Speed Base Unit –
43 Position Unit –
Unit System 44 Position Base Unit –
Related
Parameters 45 Acceleration Unit –
46 Acceleration Base Unit –
47 Torque Unit –
48 Torque Base Unit –
61 Speed Loop Gain Pn100
62 Speed Loop Integral Time Constant Pn101
63 Position Loop Gain Pn102
Adjustment
Related 64 Feedforward Compensation Pn109
Parameters
65 Position Loop Integral Time Constant Pn11F
66 Positioning Completed Width Pn522
67 NEAR Signal Width Pn524

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 8 MECHATROLINK-III Commands

Common Parameters and Corresponding Device Parameters

Common Corresponding
Category Meaning Remark
Parameters Device Parameter
81 Exponential Function Accel/Decel Time Constant Pn811
82 Movement Average Time Pn812
EX_POSING,
83 Final Travel Distance for External Positioning Pn814
EX_FEED
84*1 Homing Approach Speed Pn817, Pn842 ZRET

85*2 Homing Creep Speed Pn818, Pn844 ZRET

86 Final Travel Distance for Homing Pn819 ZRET
87 Monitor Selection 1 –
88 Monitor Selection 2 –
89 Monitor Select for SEL_MON1 –
8A Monitor Select for SEL_MON2 –
Command 8B Origin Detection Range Pn803
Related
Parameters 8C Forward Torque Limit Pn404
8D Reverse Torque Limit Pn405
8E Zero Speed Detection Range Pn502
8F Speed Coincidence Signal Output Width Pn503
90 Servo Command Control Field Enabled/Disabled –
91 Servo Command Status Field Enabled/Disabled –
92 I/O Bit Enabled/Disabled (Output) –
93 I/O Bit Enabled/Disabled (Input) –
∗1. The common parameter 84 is linked with Pn817 or Pn824. At factory setting, the value of Pn817 is effective.
When Pn817 is set to zero or a value outside the allowable range, the value of Pn824 will become effective. After
the value of Pn824 become effective, the value stays effective even if the value of Pn817 within the allowable
range is set to parameter 84.
∗2. The common parameter 85 is linked with Pn818 or Pn844. At factory setting, the value of Pn818 is effective.
When Pn818 is set to zero or a value outside the allowable range, the value of Pn844 will become effective. After
the value of Pn844 become effective, the value stays effective even if the value of Pn818 within the allowable
range is set to parameter 85.

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8.28 Virtual Memory Space

The virtual memory space is the memory area that can be accessed by using the read memory command (MEM_RD: 1DH) and
write memory command (MEM_WR: 1EH).

By adopting the concept of virtual memory, the memory areas that vary among devices and vendors can be accessed at common
addresses.

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8.29 Information Allocated to Virtual Memory

The ID information, common parameter and adjustment operation areas are allocated to virtual memory.

8.29.1 ID Information Area

When accessing virtual memory using the MEM_RD or MEM_WR command, use virtual memory addresses. The
address map is given below.
For details, refer to the ID_CODE value in 8.27.2 Read ID Command (ID_RD: 03H) that corresponds to the one in the
following table.
Data in this area can also be read by using the ID_RD command.

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8.29.2 Common Parameter Area

When accessing virtual memory using the MEM_RD or MEM_WR command, use virtual memory addresses. The
address map is given below.
Data in this area can also be read using the SVPRM_RD or SVPRM_WR command.
For details, refer to the common parameter No. in 8.27.2 List of Common Parameters that corresponds to the one in the
following table.

8-142
 8 MECHATROLINK-III Commands

8.29.3 Adjustment Operation Area

Use the MEM_RD or MEM_WR command to access this area. The address map is given below.

For the command communication procedure for adjustment operations, refer to 8.13.11 Write Memory Command
(MEM_WR: 1EH).

Data Size
Address Description Data Type
(Byte)
Description The area where the command codes specifying adjustment operations are written
8000 4000HEX
Name Command code 2 Binary Data
Description The area where commands for preparing or starting adjustment operations are written
8000 4002HEX
Name Start command 2 Binary Data

8-143
9 Troubleshooting ....................................................................................................................... 2
9.1 Alarm Displays .................................................................................................................. 2
9.1.1 List of Alarms............................................................................................................. 3
9.1.2 Troubleshooting of Alarms ........................................................................................ 5
9.2 Warning Displays ............................................................................................................ 22
9.2.1 List of Warnings....................................................................................................... 22
9.2.2 Troubleshooting of Warnings .................................................................................. 24
9.3 Monitoring Communication Data on Occurrence of an Alarm or Warning ....................... 30
9.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor .... 31

9-1
 9 Troubleshooting

9 Troubleshooting

9.1 Alarm Displays

The following sections describe troubleshooting in response to alarm displays.
The alarm name, alarm meaning, alarm stopping method, and alarm reset capability are listed in order of the alarm
numbers in 9.1.1 List of Alarms.
The causes of alarms and troubleshooting methods are provided in 9.1.2 Troubleshooting of Alarms.

"6" of the figure, "B" of the alphabet, and "D" are displayed as follows.

6→ B→ D→

9-2
 9 Troubleshooting

9.1.1 List of Alarms

This section provides list of alarms.
After its cause has been removed, the alarm can be deactivated in any of the methods marked in the alarm
reset column.
Alarm reset
SigmaWin+ SigmaWin+
Servo motor Power [Alarm] [Setup]
Alarm Stop ping Alarm warning
Number
Alarm Name OFF ｜ ｜
Method*1 ↓
clear command
[Display Alarm] [Software Reset]
[ALM-CLR]
ON ｜ ｜
Reset button Execute button
A.020 Parameter Checksum Error 1 Gr.1 ○ - - ○
A.021 Parameter Format Error 1 Gr.1 ○ - - ○
A.022 System Checksum Error 1 Gr.1 ○ - - ○
A.030 Main Circuit Detector Error Gr.1 ○ ○ ○ ○
A.040 Parameter Setting Error 1 Gr.1 ○ - - ○
A.041 Encoder Output Pulse Setting Error Gr.1 ○ - - ○
A.042 Parameter Combination Error Gr.1 ○ - - ○
A.044 Semi-closed/Fully-closed Loop Control Parameter Setting Error Gr.1 ○ - - ○
A.04A Parameter Setting Error 2 Gr.1 ○ - - ○
A.050 Combination Error Gr.1 ○ ○ ○ ○
A.051 Unsupported Device Alarm Gr.1 ○ - - ○
A.0B0 Cancelled Servo ON Command Alarm Gr.1 ○ ○ ○ ○
A.100 Overcurrent or Heat Sink Overheated Gr.1 ○ - - ○
A.300 Regeneration Error Gr.1 ○ ○ ○ ○
A.320 Regenerative Overload Gr.2 ○ ○ ○ ○
A.330 Main Circuit Power Supply Wiring Error Gr.1 ○ ○ ○ ○
A.400 Overvoltage Gr.1 ○ ○ ○ ○
A.410 Undervoltage Gr.2 ○ ○ ○ ○
A.450 Main-Circuit Capacitor Overvoltage Gr.1 ○ - - ○
A.510 Overspeed Gr.1 ○ ○ ○ ○
A.511 Overspeed of Encoder Output Pulse Rate Gr.1 ○ ○ ○ ○
Alarm

A.520 Vibration Alarm Gr.1 ○ ○ ○ ○

A.521 Autotuning Alarm Gr.1 ○ ○ ○ ○
A.710 Overload: High Load Gr.2 ○ ○ ○ ○
A.720 Overload: Low Load Gr.1 ○ ○ ○ ○
A.730 Dynamic Brake Overload Gr.1 ○ ○ ○ ○
A.731 Overload of Surge Current Limit Resistor Gr.1 ○ ○ ○ ○
A.740 Heat Sink Overheated Gr.1 ○ ○ ○ ○
A.7A0 Built-in Fan in DRIVER Stopped Gr.1 ○ ○ ○ ○
A.7AB Encoder Backup Error Gr.1 ○ ○ ○ ○
A.810 Encoder Checksum Error Gr.1 ○ - - ○
A.820 Absolute Encoder Battery Error Gr.1 ○ - - ○
A.830 Encoder Data Error Gr.1 ○ ○ ○ ○
A.840 Encoder Overspeed Gr.1 ○ - - ○
A.850 Encoder Overheated Gr.1 ○ - - ○
A.860 External Encoder Error Gr.1 ○ - - ○
A.8A0 External Encoder Error of Module Gr.1 ○ ○ ○ ○
A.8A1 External Encoder Error of Sensor Gr.1 ○ ○ ○ ○
A.8A2 External Encoder Error of Position Gr.1 ○ ○ ○ ○
A.8A3 External Encoder Overspeed Gr.1 ○ ○ ○ ○
A.8A5 External Encoder Overheated Gr.1 ○ ○ ○ ○
A.8A6 Regeneration Error Gr.1 ○ ○ ○ ○
A.B31 Current Detection Error 1 Gr.1 ○ - - ○

9-3
 9 Troubleshooting

(cont’d)
Alarm reset
SigmaWin+ SigmaWin+
Servo motor Power [Alarm] [Setup]
Alarm Stop ping Alarm warning
Number
Alarm Name OFF ｜ ｜
Method*1 ↓
clear command
[Display Alarm] [Software Reset]
[ALM-CLR]
ON ｜ ｜
Reset button Execute button
A.B32 Current Detection Error 2 Gr.1 ○ - - ○
A.B33 Current Detection Error 3 Gr.1 ○ - - ○
A.B6A MECHATROLINK Communications ASIC Error 1 Gr.1 ○ - - ○
A.B6B MECHATROLINK Communications ASIC Error 2 Gr.2 ○ - - ○
A.BF0 System Alarm 0 Gr.1 ○ - - ○
A.BF1 System Alarm 1 Gr.1 ○ - - ○
A.BF2 System Alarm 2 Gr.1 ○ - - ○
A.BF3 System Alarm 3 Gr.1 ○ - - ○
A.BF4 System Alarm 4 Gr.1 ○ - - ○
A.C10 Servo Overrun Detected Gr.1 ○ ○ ○ ○
A.C80 Absolute Encoder Clear Error and Multiturn Limit Setting Error Gr.1 ○ - - ○
A.C90 Encoder Communications Error Gr.1 ○ - - ○
A.C91 Encoder Communications Position Data Error Gr.1 ○ - - ○
A.C92 Encoder Communications Timer Error Gr.1 ○ - - ○
A.CA0 Encoder Parameter Error Gr.1 ○ - - ○
A.CB0 Encoder Echoback Error Gr.1 ○ - - ○
A.CC0 Multiturn Limit Disagreement Gr.1 ○ - - ○
A.CF1 Feedback Option Module Communications Error (Reception error) Gr.1 ○ - - ○
A.CF2 Feedback Option Module Communications Error (Timer stop) Gr.1 ○ - - ○
A.D00 Position Error Overflow Gr.1 ○ ○ ○ ○
A.D01 Position Error Overflow Alarm at Servo ON Gr.1 ○ ○ ○ ○
A.D02 Position Error Overflow Alarm by Speed Limit at Servo ON Gr.2 ○ ○ ○ ○
Alarm

A.D10 Motor-load Position Error Overflow Gr.2 ○ ○ ○ ○

A.E02 MECHATROLINK Internal Synchronization Error 1 Gr.1 ○ ○ ○ ○
A.E40 MECHATROLINK Transmission Cycle Setting Error Gr.2 ○ ○ ○ ○
A.E41 MECHATROLINK Communications Data Size Setting Error Gr.2 ○ ○ ○ ○
A.E42 MECHATROLINK Station Address Setting Error Gr.2 ○ - - ○
A.E50 MECHATROLINK Synchronization Error Gr.2 ○ ○ ○ ○
A.E51 MECHATROLINK Synchronization Failed Gr.2 ○ ○ ○ ○
A.E60 MECHATROLINK Communications Error (Reception error) Gr.2 ○ ○ ○ ○
A.E61 MECHATROLINK Transmission Cycle Error (Synchronization interval error) Gr.2 ○ ○ ○ ○
A.E62 MECHATROLINK Communications Error (FCS error) Gr.2 ○ ○ ○ ○
A.E63 MECHATROLINK Synchronization Frame Not Received Alarm Gr.2 ○ ○ ○ ○
A.E71 Safety Option Module Detection Failure Gr.1 ○ - - ○
A.E72 Feedback Option Module Detection Failure Gr.1 ○ - - ○
A.E74 Unsupported Safety Option Module Gr.1 ○ - - ○
A.E75 Unsupported Feedback Option Module Gr.1 ○ - - ○
A.EA2 DRV Alarm 2 (DRIVER WDC error) Gr.2 ○ ○ ○ ○
A.EB1 Safety Function Signal Input Timing Error Gr.1 ○ - - ○
A.ED1 Command Execution Timeout Gr.2 ○ ○ ○ ○
A.F10 Main Circuit Cable Open Phase Gr.2 ○ ○ ○ ○
FL-1*2 - ○ - - -
System Alarm
FL-2*2 - ○ - - -
CPF00 Digital Operator Transmission Error 1 - ○ - - -
CPF01 Digital Operator Transmission Error 2 - ○ - - -
A.-- Not an error - - - - -
*1 Gr.1: The servomotor is stopped according to the setting in Pn001.0 if an alarm occurs. Pn001.0 is
factory-set to stop the servomotor by applying the DB.
Gr.2: The servomotor is stopped according to the setting in Pn00B.1 if an alarm occurs. Pn00B.1 is
factory-set to stop the servomotor by setting the speed reference to "0." The servomotor under torque
control will always use the Gr.1 method to stop. By setting Pn00B.1 to 1, the servomotor stops using
the same method as Gr.1. When coordinating a number of servomotors, use this stopping method to
prevent machine damage that may result due to differences in the stop method.
*2 These alarms are not stored in the alarm history and are displayed only in the panel display.

9-4
 9 Troubleshooting

9.1.2 Troubleshooting of Alarms

If an error occurs in servo drives, an alarm display such as A.口口口 and CPF口口 will appear on the panel
display.
Refer to the following table to identify the cause of an alarm and the action to be taken.

AlarmNumber:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
Set the power supply voltage within
The power supply voltage
Measure the power supply voltage. the specified range, and set Fn005
suddenly dropped.
to initialize the parameter.
The power supply went OFF
Check the circumstances when the Set Fn005 to initialize the parameter
while changing a parameter set-
power supply went OFF. and then set the parameter again.
ting.
The DRIVER may be faulty. Replace
The number of times that Check to see if the parameters were
the DRIVER. Reconsider the method
parameters were written exceeded frequently changed through the host
A.020: of writing parameters.
the limit. PC or PLC...etc.
Parameter Checksum
Error 1 Malfunction caused by noise Turn the power supply ON and OFF
(The parameter data in from the AC power supply or several times. If the alarm still Take countermeasures against
the DRIVER is grounding line, static electricity occurs, there may be noise noise.
incorrect.) noise, etc. interference.
Gas, water drops, or cutting oil
entered the DRIVER and caused The DRIVER may be faulty. Replace
Check the installation conditions.
failure of the internal components. the DRIVER.

Turn the power supply ON and OFF

several times. If the alarm still The DRIVER may be faulty. Replace
A DRIVER fault occurred.
occurs, the DRIVER may be faulty. the DRIVER.

Write the parameter of another

A.021: The software version of Check Fn012 to see if the set soft-
DRIVER of the same model with
Parameter Format Er- DRIVER that caused the alarm is ware version agrees with that of the
the same software version. Then
ror 1 older than that of the written DRIVER. If not, an alarm may occur.
turn the power OFF and then ON
(The parameter data in parameter.
again.
the DRIVER is
The DRIVER may be faulty. Replace
incorrect.) A DRIVER fault occurred. − the DRIVER.
The power supply voltage The DRIVER may be faulty. Replace
Measure the power supply voltage.
A.022: suddenly dropped. the DRIVER.
System Checksum The power supply went OFF Check the circumstances when the The DRIVER may be faulty. Replace
Error 1 while setting an utility function. power supply went OFF. the DRIVER.
(The parameter data in Turn the power supply ON and OFF
the DRIVER is several times. If the alarm still The DRIVER may be faulty. Replace
incorrect.) A DRIVER fault occurred.
occurs, the DRIVER may be faulty. the DRIVER.

A.030:
The DRIVER may be faulty.
Main Circuit Detector A DRIVER fault occurred. − Replace the DRIVER.
Error
The DRIVER and servomotor Select the proper combination of
Check the combination of DRIVER
capacities do not match each DRIVER and servomotor
and servomotor capacities.
other. capacities.
A.040:
Parameter Setting The DRIVER may be faulty. Replace
A DRIVER fault occurred. − the DRIVER.
Error 1
(The parameter setting The parameter setting is out of Check the setting ranges of the Set the parameter to a value within
was out of the setting the setting range. parameters that have been changed. the setting range.
range.)
Check the electronic gear ratio. The Set the electronic gear ratio in the
The electronic gear ratio is out of ratio must satisfy: range: 0.001< (Pn20E/Pn210)
the setting range.
0.001< (Pn20E/Pn210) < 4000. < 4000.

(cont’d)

9-5
 9 Troubleshooting

Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
The encoder output pulse (Pn212)
A.041:
is out of the setting range and
Encoder Output Pulse Check the parameter Pn212. Set Pn212 to a correct value.
does not satisfy the setting
Setting Error conditions.
The speed of program JOG
operation (Fn004) is lower than
the setting range after having Check if the detection conditions*1 Decrease the setting of the electronic
changed the electronic gear ratio are satisfied. gear ratio (Pn20E/Pn210).
(Pn20E/Pn210) or the
servomotor.
The speed of program JOG
A.042:*1 operation (Fn004) is lower than
Parameter the setting range after having Check if the detection conditions*1 Increase the setting of the program
Combination Error changed the setting of the pro- are satisfied. JOG movement speed (Pn533).
gram JOG movement speed
(Pn533).
The moving speed of advanced
autotuning is lower than the
setting range after having Check if the detection conditions*1 Decrease the setting of the electronic
are satisfied. gear ratio (Pn20E/Pn210).
changed the electronic gear ratio
(Pn20E/ Pn210) or the
servomotor.
A.044:
Semi-closed/Fully- The setting of the fully-closed The setting of fully-closed module
closed Loop Control module does not match with that Check the settings of Pn002.3. must be compatible with the setting
Parameter Setting of Pn002.3. of Pn002.3.
Error
For a 4-byte parameter bank, no Change the number of bytes for
registration in two consecutive – bank members to an appropriate
A.04A: bytes for two bank members. value.
Parameter Setting
Error 2 The total amount of bank data
Reduce the total amount of bank
exceeds 64. (Pn900 × Pn901 > –
data to 64 or less.
64)
Check the capacities to see if they
The DRIVER and servomotor satisfy the following condition: Select the proper combination of
A.050: capacities do not match each (1/4) ≦(Servomotor capacity / DRIVER and servomotor capacities.
other.
Combination Error DRIVER capacity ≦4)
(The DRIVER and
servomotor capacities do An encoder fault occurred. Replace the servomotor and see if
Replace the servomotor (encoder).
not correspond.) the alarm occurs again.
The DRIVER may be faulty.
A DRIVER fault occurred. − Replace the DRIVER.
An unsupported serial converter
A.051:
unit, encoder, or external encoder Check the product specifications, Select the correct combination of
Unsupported Device is connected to the DRIVER. and select the correct model. units.
Alarm
After executing the utility
A.0b0: function to turn ON the power to Turn the DRIVER power sup- ply
Cancelled Servo ON the motor, the servo ON − OFF and then ON again or exe-
Command Alarm command (SV_ON) was sent cute a software reset.
from the host PC or PLC...etc.
∗1. Detection conditions
If one of the following conditions detected, an alarm occurs.

9-6
 9 Troubleshooting

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
Incorrect wiring or contact fault Check the wiring. Refer to 3.1
Correct the wiring.
of main circuit cables. Main Circuit Wiring.
Check for short-circuits across the
servomotor terminal phases U, V,
Short-circuit or ground fault of and W, or between the grounding The cable may be short-circuited.
main circuit cables. and servomotor terminal phases U, Replace the cable.
V, or W. Refer to 3.1 Main Circuit
Wiring.
Check for short-circuits across the
servomotor terminal phases U, V,
Short-circuit or ground fault and W, or between the grounding The servomotor may be faulty.
inside the servomotor. and servomotor terminal phases U, Replace the servomotor.
V, or W. Refer to 3.1 Main Circuit
Wiring.
Check for short-circuits across the
servomotor connection terminals U,
Short-circuit or ground fault V, and W on the DRIVER, or The DRIVER may be faulty. Replace
inside the DRIVER. between the grounding and terminal the DRIVER.
U, V, or W. Refer to 3.1 Main
Circuit Wiring.
Incorrect wiring or contact fault Check the wiring. Refer to 3.7
A.100: Correct the wiring.
of the regenerative resistor. Connecting Regenerative Resistors.
Overcurrent or Heat
Check the power consumed by DB
Sink Overheated The dynamic brake (DB:
resistance (Un00B) to see how Change the DRIVER model,
(An overcurrent flowed Emergency stop executed from
many times the DB has been used. operating conditions, or the
through the IGBT or the DRIVER) was frequently
Or, check the alarm history display mechanism so that the DB does not
heat sink of DRIVER activated, or the DB overload
Fn000 to see if the DB overload need to be used so frequently.
overheated.) alarm occurred.
alarm A.730 or A.731 was reported.
The generated regenerative
Check the regenerative load ratio Check the operating condition
resistor value exceeded the
(Un00A) to see how many times the including overload, and reconsider
DRIVER regenerative energy
regenerative resistor has been used. the regenerative resistor value.
processing capacity.
Change the regenerative resistance
Check the regenerative load ratio
The DRIVER regenerative value to a value larger than the
(Un00A) to see how many times the
resistance is too small. DRIVER minimum allowable
regenerative resistor has been used.
resistance value.
A heavy load was applied while Check to see if the operating Reduce the load applied to the
the servomotor was stopped or conditions are outside servo drive servomotor or increase the operating
running at a low speed. specifications. speed.
Take countermeasures for noise,
Improve the wiring or installation
such as correct wiring of the FG.
Malfunction caused by noise environment, such as by reducing
Use an FG wire size equivalent to
interference. noise, and check to see if the alarm
the DRIVER main circuit wire size.
recurs.

Turn the power supply OFF and

then ON again. If the alarm still
A DRIVER fault occurred. − occurs, the DRIVER may be
faulty. Replace the DRIVER.

9-7
 9 Troubleshooting

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)

Regenerative resistor capacity

(Pn600) is set to a value other than Check the regenerative resistor Connect the regenerative resistor, or
0 for a LECYU2-V5, V7, and V8, connection and the value of the set Pn600 to 0 if no regenerative
Pn600. resistor is required.
and a regenerative resistor is
notconnected.

A.300:
Regeneration Error The jumper between the power
supply terminals B2 and B3 is Confirm that a jumper is mounted
removed for the DRIVERs other between the power supply terminals Correctly mount a jumper.
than the DRIVERs shown above. B2 and B3.

The regenerative resistor is

incorrectly wired, or is removed Check the regenerative resistor Correctly connect the
or disconnected. connection. regenerative resistor.

While the main circuit power

supply is OFF, turn the control
power supply OFF and then ON
A DRIVER fault occurred. − again. If the alarm still occurs, the
DRIVER may be faulty. Replace
the DRIVER.
The power supply voltage Measure the power supply voltage. Set the power supply voltage within
exceeds the specified limit. the specified range.

Insufficient external regenerative

resistance, regenerative resistor Change the regenerative resistance,
Check the operating condition or regenerative resistor capacity, or
capacity, or DRIVER capacity. the capacity. DRIVER capacity. Reconsider the
Or, regenerative power has been operating conditions.
continuously flowing back.

Regenerative power Reconsider the system including

A.320: continuously flowed back Check the load applied to the servo- servo, machine, and operating
Regenerative Over- because negative load was motor during operation. conditions.
load continuously applied.
The setting of parameter Pn600 is Check the regenerative resistor
smaller than the regenerative connection and the value of the Set the Pn600 to a correct value.
resistor's capacity. Pn600.
Change the regenerative resistance
The external regenerative to a correct value or use an
Check the regenerative resistance.
resistance is too high. regenerative resistor of appropriate
capacity.
The DRIVER may be faulty.
A DRIVER fault occurred. − Replace the DRIVER.

9-8
 9 Troubleshooting

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)

When using a regenerative resistor

The regenerative resistor Measure the resistance of the built in the DRIVER: Replace the
disconnected when the DRIVER regenerative resistor using a DRIVER.
power supply voltage was high. measuring instrument. When using an regenerative option:
Replace the regenerative option.

In the AC power input mode, DC Check the power supply to see if it Correct the settings to match the
power was supplied. is a DC power supply. actual power supply specifications.
A.330: In the DC power input mode, AC Check the power supply to see if it Correct the settings to match the
Main Circuit Power power was supplied. is an AC power supply. actual power supply specifications.
Supply Wiring Error Regenerative resistor capacity
(Detected when the (Pn600) is set to a value other
power to the main circuit than 0 for a LECYU2-V5, V7, Check the regenerative option Connect the regenerative option,
is turned ON.) connection and the value of the or set Pn600 to 0 if no regenerative
and V8, and an regenerative
Pn600. resistor is required.
option is not connected.

The jumper between the power

supply terminals B2 and B3 is Confirm that a jumper is mounted
removed for the DRIVERs other between the power supply terminals Correctly mount a jumper.
than the DRIVERs shown above. B2 and B3.

The DRIVER may be faulty. Replace

A DRIVER fault occurred. − the DRIVER.
- For 200-VAC DRIVERs:
The AC power supply voltage
exceeded 290 V.
Set AC/DC power supply voltage
- For 200-VAC DRIVERs: Measure the power supply voltage.
within the specified range.
with DC power supply input:
The DC power supply voltage
exceeded 410 V.
Improve the power supply
conditions by installing a surge
The power supply is unstable, or
absorber, etc. Then, turn the power
was influenced by a lightning Measure the power supply voltage.
supply OFF and ON again. If the
surge.
alarm still occurs, the DRIVER may
be faulty. Replace the DRIVER.
Voltage for AC power supply was Check the power supply voltage and
Set AC power supply voltage within
too high during acceleration or the speed and torque during
the specified range.
deceleration. operation.
A.400:
Overvoltage The external regenerative Select a regenerative resistance
Check the operating conditions and
(Detected in the resistance is too high for the actual value appropriate for the operating
the regenerative resistance.
DRIVER main circuit operating conditions. conditions and load.
power supply section.) The moment of inertia ratio Confirm that the moment of inertia Increase the deceleration time, or
exceeded the allowable value. ratio is within the allowable range. reduce the load.
Turn the control power OFF and
then ON again while the main
circuit power supply is OFF. If the
A DRIVER fault occurred. − alarm still occurs, the DRIVER9
may be faulty. Replace the
DRIVER.

9-9
 9 Troubleshooting

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)

- For 200-VAC DRIVERs:

Set the power supply voltage within
The AC power supply voltage Measure the power supply voltage. the specified range.
is 120 V or less.

The power supply voltage

Measure the power supply voltage. Increase the power supply capacity.
A.410: dropped during operation.
Undervoltage When the instantaneous power cut
(Detected in the Occurrence of instantaneous
Measure the power supply voltage. hold time (Pn509) is set, decrease
DRIVER main circuit power interruption.
the setting.
power supply section.)
Replace the DRIVER, connect a
The DRIVER fuse is blown out. −
reactor, and run the DRIVER.
The DRIVER may be faulty.
A DRIVER fault occurred. − Replace the DRIVER.
A.450:
Main-Circuit A DRIVER fault occurred. − Replace the DRIVER.
Capacitor Overvoltage
The order of phases U, V, and W
Confirm that the servomotor is
in the servomotor wiring is Check the motor wiring.
correctly wired.
incorrect.
A reference value exceeding the
A.510: Reduce the reference value or adjust
overspeed detection level was Check the input value.
Overspeed the gain.
input.
(The servomotor speed
exceeds the maximum.) Reduce the speed reference input
The motor speed exceeded the
Check the motor speed waveform. gain, adjust the servo gain, or
maximum.
reconsider the operating conditions.
The DRIVER may be faulty.
A DRIVER fault occurred. − Replace the DRIVER.
The encoder output pulse Check the encoder output pulse set- Decrease the setting of the encoder
frequency exceeded the limit. ting. output pulse (Pn212).
A.511:
Overspeed of Encoder The encoder output pulse output
Output Pulse Rate frequency exceeded the limit Check the encoder output pulse out-
Decrease the motor speed.
because the motor speed was too put setting and motor speed.
high.
Check for abnormal noise from the
Abnormal vibration was detected servomotor, and check the speed Reduce the motor speed or reduce
at the motor speed. and torque waveforms during the speed loop gain (Pn100).
A.520: operation.
Vibration Alarm The moment of inertia ratio
(Pn103) value is greater than the Set the moment of inertia ratio
Check the moment of inertia ratio.
actual value or is greatly (Pn103) to an appropriate value.
changed.
Reduce the load so that the moment
A.521: of inertia ratio falls within the
The servomotor vibrated
Autotuning Alarm allowable value, or raise the load
considerably while performing Check the motor speed waveform.
(Vibration was detected level using the tuning-less levels
tuning- less function.
while executing the one- setting (Fn200) or reduce the
parameter tuning, Easy- rigidity level.
FFT, or tuning-less Check the operation procedure of
The servomotor vibrated
function.)
considerably during Check the motor speed waveform. corresponding function and take a
one-parameter tuning or corrective action.
EasyFFT.

9-10
 9 Troubleshooting

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
Incorrect wiring or contact fault Confirm that the servomotor and
Check the wiring.
of servomotor and encoder. encoder are correctly wired.
Check the servomotor overload Reconsider the load conditions and
Operation beyond the overload
A.710: characteristics and executed run operating conditions. Or, increase
protection characteristics.
A.720: command. the motor capacity.
Overload Excessive load was applied during
A.710: High Load operation because the servomotor Check the executed operation
A.720: Low Load Remove the mechanical problems.
was not driven due to mechanical reference and motor speed.
problems.

The DRIVER may be faulty. Replace

A DRIVER fault occurred. − the DRIVER.
Take measures to ensure the servo-
The servomotor rotates because
Check the operation status. motor will not rotate because of
of external force.
external force.
A.730: Reconsider the following:
A.731:
Dynamic Brake Over- - Reduce the motor reference
load The rotating energy at a DB stop Check the power consumed by DB speed.
(An excessive power exceeds the DB resistance resistance (Un00B) to see how - Reduce the moment of inertia
consumption of dynamic capacity. many times the DB has been used. ratio.
brake was detected.) - Reduce the number of times of
the DB stop operation.
The DRIVER may be faulty. Replace
A DRIVER fault occurred. − the DRIVER.
The inrush current limit resistor
A.740: operation frequency at the main
Overload of Surge Reduce the frequency of turning the
circuit power supply ON/OFF − main circuit power supply ON/OFF.
Current Limit Resistor operation exceeds the allowable
(The main circuit power range.
is turned ON/OFF too
The DRIVER may be faulty. Replace
frequently.) A DRIVER fault occurred. − the DRIVER.
Decrease the surrounding air
The surrounding air temperature Check the surrounding air
temperature by improving the
is too high. temperature using a thermostat.
DRIVER installation conditions.
The overload alarm has been Check the alarm history display
Change the method for resetting the
reset by turning OFF the power (Fn000) to see if the overload alarm
alarm.
too many times. was reported.
A.7A0: Check the accumulated load ratio
Heat Sink Overheated Excessive load or operation (Un009) to see the load during
Reconsider the load and operating
(Detected when the heat beyond the regenerative energy operation, and the regenerative load
conditions.
sink temperature processing capacity. ratio (Un00A) to see the
exceeds 100°C.) regenerative energy processing
capacity.

Incorrect DRIVER installation Check the DRIVER installation

Install the DRIVER correctly as
orientation or/and insufficient conditions.
specified.
space around the DRIVER.

The DRIVER may be faulty. Replace

A DRIVER fault occurred. − the DRIVER.

A.7AB: Remove foreign matter or debris

The fan inside the DRIVER Check for foreign matter or debris from the DRIVER. If the alarm
Built-in Fan in
stopped. inside the DRIVER. still occurs, the DRIVER may be
DRIVER Stopped
faulty. Replace the DRIVER.

9-11
 9 Troubleshooting

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
Alarm occurred when the power
to the absolute encoder was Check to see if the power was Set up the encoder (Fn008).
initially turned ON. turned ON initially.

The encoder cable disconnected, Check to see if the power was Confirm the connection and set up
and connected again. turned ON initially. the encoder (Fn008).
A.810:
Encoder Backup Error The power from both the control
Replace the battery or take similar
power supply (+5 V) from the
(Only when an absolute Check the encoder connector battery measures to supply power to the
DRIVER and the battery power
encoder is connected.) or the connector contact status. encoder, and set up the encoder
supply is not being sup- plied.
(Detected on the encoder (Fn008).
side.)
If the alarm cannot be reset by set-
An absolute encoder fault
occurred. − ting up the encoder again, replace
the servomotor.
The DRIVER may be faulty.
A DRIVER fault occurred. − Replace the DRIVER.

Set up the encoder again using

Fn008. If the alarm still occurs,
An encoder fault occurred. − the servomotor may be faulty.
A.820: Replace the servomotor.
Encoder Checksum
Error
The DRIVER may be faulty.
(Detected on the encoder A DRIVER fault occurred. − Replace the DRIVER.
side.)
A.830: The battery connection is Check the battery connection. Reconnect the battery.
incorrect.
Absolute Encoder
Battery Error The battery voltage is lower than Measure the battery voltage. Replace the battery.
(The absolute encoder the specified value 2.7 V.
battery voltage is lower
The DRIVER may be faulty. Replace
than the specified value.) A DRIVER fault occurred. − the DRIVER.
Turn the power supply OFF and
then ON again. If the alarm still
An encoder malfunctioned. − occurs, the servomotor may be
A.840: faulty. Replace the servomotor.
Encoder Data Error
(Detected on the encoder Correct the wiring around the
side.) encoder by separating the encoder
Malfunction of encoder because
of noise interference, etc. − cable from the motor cable or by
checking the grounding and other
wiring.
The servomotor speed is higher Check the motor rotating speed Reduce the servomotor speed to a
than 200 min-1 when the control (Un000) to confirm the servomotor value less than 200 min-1, and turn
A.850: power supply was turned ON. speed when the power is turned ON. ON the control power supply.
Encoder Overspeed Turn the power supply OFF and
(Detected when the then ON again. If the alarm still
control power supply was An encoder fault occurred. − occurs, the servomotor may be
turned ON.) faulty. Replace the servomotor.
(Detected on the encoder
Turn the power supply OFF and
side.)
then ON again. If the alarm still
A DRIVER fault occurred. − occurs, the DRIVER may be faulty.
Replace the DRIVER.

9-12
 9 Troubleshooting

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
The ambient operating
Measure the ambient operating The ambient operating temperature
temperature around the
servomotor is too high. temperature around the servomotor. must be 40°C or less.

The motor load is greater than the Check the accumulated load ratio The motor load must be within the
A.860: rated load. (Un009) to see the load. specified range.
Encoder Overheated
(Only when an absolute Turn the power supply OFF and
encoder is connected.) then ON again. If the alarm still
An encoder fault occurred. − occurs, the servomotor may be
(Detected on the encoder
side.) faulty. Replace the servomotor.
Turn the power supply OFF and
then ON again. If the alarm still
A DRIVER fault occurred. − occurs, the DRIVER may be faulty.
Replace the DRIVER.
Before setting the zero point
Setting the zero point position of The servomotor must be stopped
position, use the fully-closed
A.8A0: external absolute encoder failed while setting the zero point
feedback pulse counter (Un00E)
External Encoder Error because the servomotor rotated. to confirm that the servomotor is
position.
not rotating.
An external encoder fault
occurred. − Replace the external encoder.

An external encoder fault

A.8A1: occurred. − Replace the external encoder.
External Encoder Error
of Module A serial converter unit fault
occurred. − Replace the serial converter unit.

A.8A2:
External Encoder Error An external encoder fault
of Sensor (Incremental) occurred. − Replace the external encoder.

A.8A3: The external absolute encoder may

External Encoder Error An external absolute encoder be faulty. Refer to the encoder
of Position (Absolute) fault occurred. − manufacturer’s instruction manual
for corrective actions.
A.8A5:
The overspeed from the external Check the maximum speed of the Keep the external encoder below its
External Encoder
encoder occurred. external encoder. maximum speed.
Overspeed
A.8A6:
The overheat from the external
External Encoder
encoder occurred. − Replace the external encoder.
Overheated
Turn the power supply OFF and
A.b31:
The current detection circuit for then ON again. If the alarm still
Current Detection Error phase U is faulty. − occurs, the DRIVER may be faulty.
1 Replace the DRIVER.
Turn the power supply OFF and
A.b32:
The current detection circuit for then ON again. If the alarm still
Current Detection
phase V is faulty. − occurs, the DRIVER may be
Error 2 faulty. Replace the DRIVER.
Turn the power supply OFF and
The detection circuit for the cur- then ON again. If the alarm still
A.b33: rent is faulty. − occurs, the DRIVER may be
Current Detection Error faulty. Replace the DRIVER.
3
Check for disconnection of the
The motor cable is disconnected. Correct the servomotor wiring.
motor cable.
A.b6A: Turn the power supply OFF and
DRIVER MECHATROLINK
MECHATROLINK then ON again. If the alarm still
Communications ASIC
communication section fault. − occurs, the DRIVER may be faulty.
Error 1 Replace the DRIVER.

9-13
 9 Troubleshooting

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
Take measures against noise. Check
the MECHATROLINK
MECHATROLINK data
communications cable and FG
reception error occurred due to − wiring and take measures such as
A.b6b: noise interference.
MECHATROLINK adding ferrite core on the
Communications ASIC MECHATROLINK
Error 2 communications cable.
Turn the power supply OFF and
DRIVER MECHATROLINK
then ON again. If the alarm still
communication section fault. − occurs, the DRIVER may be faulty.
Replace the DRIVER.
Turn the power supply OFF and
A.bF0: then ON again. If the alarm still
System Alarm 0
A DRIVER fault occurred. − occurs, the DRIVER may be faulty.
Replace the DRIVER.
Turn the power supply OFF and
A.bF1: then ON again. If the alarm still
System Alarm 1
A DRIVER fault occurred. − occurs, the DRIVER may be faulty.
Replace the DRIVER.
Turn the power supply OFF and
A.bF2: then ON again. If the alarm still
System Alarm 2
A DRIVER fault occurred. − occurs, the DRIVER may be faulty.
Replace the DRIVER.
Turn the power supply OFF and
A.bF3: then ON again. If the alarm still
A DRIVER fault occurred. − occurs, the DRIVER may be faulty.
System Alarm 3
Replace the DRIVER.
Turn the power supply OFF and
A.bF4: then ON again. If the alarm still
System Alarm 4
A DRIVER fault occurred. − occurs, the DRIVER may be faulty.
Replace the DRIVER.
The order of phases U, V, and W
Confirm that the servomotor is
in the servomotor wiring is Check the motor wiring.
correctly wired.
incorrect.
A.C10: If the alarm still occurs after turning
Servo Overrun the power OFF and then ON again,
Detected An encoder fault occurred. − even though the servomotor is
(Detected when the correctly wired, the servomotor
servomotor power is may be faulty. Replace the
ON.) servomotor.
Turn the power supply OFF and
then ON again. If the alarm still
A DRIVER fault occurred. − occurs, the DRIVER may be faulty.
Replace the DRIVER.
Turn the power supply OFF and
then ON again. If the alarm still
An encoder fault occurred. − occurs, the servomotor may be
A.C80:
Absolute Encoder faulty. Replace the servomotor.
Clear Error and Multi- Turn the power supply OFF and
turn Limit Setting Error then ON again. If the alarm still
A DRIVER fault occurred. − occurs, the DRIVER may be faulty.
Replace the DRIVER.

9-14
 9 Troubleshooting

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
Contact fault of connector or
Check the connector contact status Re-insert the connector and confirm
incorrect wiring for encoder
for encoder cable. that the encoder is correctly wired.
cable.
Cable disconnection for encoder
Use the cable with the specified
cable or short-circuit. Check the encoder cable.
rating.
Or, incorrect cable impedance.
Corrosion caused by improper
temperature, humidity, or gas, Improve the operating
short-circuit caused by intrusion environmental conditions, and
Check the operating environment.
A.C90: of water drops or cutting oil, or replace the cable. If the alarm still
connector contact fault caused by occurs, replace the DRIVER.
Encoder
vibration.
Communications Error
Correct the wiring around the
encoder by separating the encoder
Malfunction caused by noise
interference. − cable from the motor cable or by
checking the grounding and other
wiring.
Connect the servomotor to another
DRIVER, and turn ON the control
A DRIVER fault occurred. − power. If no alarm occurs, the
DRIVER may be faulty. Replace the
DRIVER.
Noise interference occurred on
the I/O signal line because the Check the encoder cable and Confirm that there is no problem
encoder cable is bent and the connector. with the cable layout.
sheath is damaged.
A.C91:
The encoder cable is bundled
Encoder Check the cable layout for encoder Confirm that there is no surge volt-
with a high-current line or near a
Communications cable. age on the cable.
high-current line.
Position Data Error
The FG potential varies because
of influence from machines on Check the cable layout for encoder Properly ground the machines to
the servomotor side, such as the cable. separate from the encoder FG.
welder.
Noise interference occurred on Take countermeasures against noise
the I/O signal line from the − for the encoder wiring.
encoder.
Excessive vibration and shocks Reduce the machine vibration or
Check the operating environment.
were applied to the encoder. correctly install the servomotor.
A.C92: Turn the power supply OFF and
Encoder then ON again. If the alarm still
Communications Timer An encoder fault occurred. − occurs, the servomotor may be
Error faulty. Replace the servomotor.
Turn the power supply OFF and
then ON again. If the alarm still
A DRIVER fault occurred. − occurs, the DRIVER may be faulty.
Replace the DRIVER.
Turn the power supply OFF and
then ON again. If the alarm still
An encoder fault occurred. − occurs, the servomotor may be
A.CA0: faulty. Replace the servomotor.
Encoder Parameter
Error Turn the power supply OFF and
then ON again. If the alarm still
A DRIVER fault occurred. − occurs, the DRIVER may be faulty.
Replace the DRIVER.

9-15
 9 Troubleshooting

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
The wiring and contact for
Check the wiring. Correct the wiring.
encoder cable are incorrect.
Use tinned annealed copper
Noise interference occurred due
shielded twisted-pair or screened
to incorrect cable specifications − unshielded twisted-pair cable with a
of encoder cable.
core of at least 0.12 mm2.
Noise interference occurred The wiring distance must be 50 m
because the wiring distance for − max.
the encoder cable is too long.
The FG potential varies because
A.Cb0: of influence from machines on Check the cable layout for encoder Properly ground the machines to
Encoder Echoback the servomotor side, such as the cable. separate from encoder FG.
Error welder.
Excessive vibration and shocks Reduce the machine vibration or
were applied to the encoder. Check the operating environment. correctly install the servomotor.
Turn the power supply OFF and
then ON again. If the alarm still
An encoder fault occurred. −
occurs, the servomotor may be
faulty. Replace the servomotor.
Turn the power supply OFF and
then ON again. If the alarm still
A DRIVER fault occurred. −
occurs, the DRIVER may be faulty.
Replace the DRIVER.
When using a direct drive (DD)
servomotor, the multiturn limit Check the value of the Pn205. Correct the setting of Pn205 (0 to
value (Pn205) is different from 65535).
that of the encoder.
The multiturn limit value of the
A.CC0: encoder is different from that of Check the value of the Pn205 of the Execute Fn013 at the occurrence of
Multiturn Limit the DRIVER. Or, the multi- turn DRIVER. alarm.
Disagreement limit value of the DRIVER has
been changed.
Turn the power supply OFF and
then ON again. If the alarm still
A DRIVER fault occurred. −
occurs, the DRIVER may be faulty.
Replace the DRIVER.
Wiring of cable between serial
converter unit and DRIVER is Check the external encoder wiring. Correct the cable wiring.
incorrect or contact is faulty.
The specified cable is not used Confirm the external encoder wiring
A.CF1: Use the specified cable.
between serial converter unit and specifications.
Feedback Option
DRIVER.
Module
Communications Cable between serial converter
Error (Reception Measure the length of this cable. Use 20-m cable max.
unit and DRIVER is too long.
error)
Sheath of cable between serial
converter unit and DRIVER is Check the cable for damage. Replace the cable.
broken.
Correct the wiring around serial
A.CF2: Noise interferes with the cable converter unit, e.g., separating I/O
between serial converter unit and −
Feedback Option signal line from main circuit cable
DRIVER. or grounding.
Module
Communications Error A serial converter unit fault
(Timer stop) occurred. − Replace the serial converter unit.

A DRIVER fault occurred. − Replace the DRIVER.

9-16
 9 Troubleshooting

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
Confirm that there is no contact
The servomotor U, V, and W Check the motor cable connection.
fault in the motor wiring or encoder
wirings is faulty.
wiring.
Reduce the position reference speed
The position reference speed is Reduce the reference speed, and or acceleration of position reference.
too high. operate the DRIVER. Or, reconsider the electronic gear
ratio.

A.d00: Reduce the reference acceleration

of the position reference using a
Position Error Over-
MECHATROLINK command, or
flow
The acceleration of the position Reduce the reference acceleration, smooth the acceleration of the
(Position error exceeded reference is too high. and operate the DRIVER. position reference by selecting the
the value set in the position reference filter (ACCFIL)
excessive position error using a MECHATROLINK
alarm level (Pn520).) command.
Setting of the excessive position Check the alarm level (Pn520) to
error alarm level (Pn520) is low see if it is set to an appropriate Set the Pn520 to proper value.
against the operating condition. value.
Turn the power supply OFF and
then ON again. If the alarm still
A DRIVER fault occurred. − occurs, the DRIVER may be faulty.
Replace the DRIVER.
This alarm occurs if the
A.d01:
servomotor power is turned ON Check the position error amount
Position Error Over- Correct the excessive position error
when the position error is greater (Un008) while the servomotor
flow Alarm at Servo alarm level at servo ON (Pn526).
than the set value of Pn526 while power is OFF.
ON
the servomotor power is OFF.
When the position errors remain
in the error counter, Pn529 limits
the speed if the servomotor power
A.d02: is ON. If Pn529 limits the speed Correct the excessive position error
Position Error Over- in such a state, this alarm occurs alarm level (Pn520).
flow Alarm by Speed when position references are − Or, adjust the speed limit level at
Limit at Servo ON input and the number of position servo ON (Pn529).
errors exceeds the value set for
the excessive position error alarm
level (Pn520).
Install the external encoder in the
Motor rotation direction and opposite direction, or change the
Check the and the external encoder
external encoder installation setting of the external encoder
A.d10: installation direction.
direction are opposite. usage method (Pn002.3) to reverse
Motor-load Position the direction.
Error Overflow
Mounting of the load (e.g., stage)
Check the external encoder
and external encoder joint Check the mechanical joints.
mechanical connection.
installation are incorrect.
MECHATROLINK transmission Remove the cause of transmission
A.E02: cycle fluctuated. − cycle fluctuation at host PC or
MECHATROLINK PLC...etc.
Internal Turn the power supply OFF and
Synchronization then ON again. If the alarm still
Error 1 A DRIVER fault occurred. − occurs, the DRIVER may be faulty.
Replace the DRIVER.
A.E40:
Setting of MECHATROLINK
MECHATROLINK Check the MECHATROLINK Set the transmission cycle to the
transmission cycle is out of
Transmission Cycle transmission cycle setting. proper value.
specifications range.
Setting Error

9-17
 9 Troubleshooting

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
A.E41:
The number of transmission bytes Check the MECHATROLINK com- Reset the setting of the DIP switch
MECHATROLINK
set by the DIP switch S3 is munications data size of the host PC S3 to change the number of
Communications Data transmission bytes to the proper
incorrect. or PLC...etc.
Size Setting Error
value.
Check the setting for the station
address of the host PC or PLC...etc,
Check the rotary switches, S1 and S2,
The station address is out of the and reset the setting of the rotary
to see if the station address is within
allowable setting range. switches, S1 and S2 to change the
the allowable range from 03 to EF.
A.E42: address to the proper value between
MECHATROLINK 03 and EF.
Station Address Setting Check the setting for the station
Error address of the host PC or PLC...etc,
Two or more stations on the Check that two or more stations on
and reset the setting of the rotary
communications network have the the communications network have
switches, S1 and S2 to change the
same address. the same address.
address to the proper value between
03 and EF.
WDT data of host PC or Check the WDT data updating for Update the WDT data at the host PC
PLC...etc was not updated the host PC or PLC...etc. or PLC...etc correctly.
A.E50: correctly.
MECHATROLINK
Synchronization Error Turn the power supply OFF and
then ON again. If the alarm still
A DRIVER fault occurred. − occurs, the DRIVER may be faulty.
Replace the DRIVER.
WDT data of host PC or
PLC...etc was not updated Check the WDT data updating for Update the WDT data at the host PC
correctly at the synchronization the host PC or PLC...etc. or PLC...etc correctly.
A.E51:
communications start, and
MECHATROLINK synchronization communications
Synchronization could not start.
Failed
Turn the power supply OFF and
then ON again. If the alarm still
A DRIVER fault occurred. − occurs, the DRIVER may be faulty.
Replace the DRIVER.
Correct the MECHATROLINK
MECHATROLINK wiring is Check the MECHATROLINK
wiring.
incorrect. wirings.
Connect the terminator correctly.
Take measures against noise. Check
A.E60: the MECHATROLINK
communications cable and FG
MECHATROLINK MECHATROLINK data wiring and take measures such as
Communications error reception error occurred due to −
adding ferrite core on the
(Reception error) noise interference. MECHATROLINK
communications cable.
Turn the power supply OFF and
then ON again. If the alarm still
A DRIVER fault occurred. − occurs, the DRIVER may be faulty.
Replace the DRIVER.
A.E61: MECHATROLINK transmission Check the MECHATROLINK Remove the cause of transmission
MECHATROLINK cycle fluctuated. transmission cycle setting. cycle fluctuation at host PC or
Transmission Cycle PLC...etc.
Error
Turn the power supply OFF and
(Synchronization
then ON again. If the alarm still
interval error) A DRIVER fault occurred. − occurs, the DRIVER may be faulty.
Replace the DRIVER.

9-18
 9 Troubleshooting

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
A.E62: MECHATROLINK wiring is Check the MECHATROLINK Correct the MECHATROLINK
MECHATROLINK incorrect. wirings. wiring.
Communications error
(FCS error) MECHATROLINK data reception Take measures against noise. Check
error occurred due to noise the MECHATROLINK
interference. communications cable and FG wiring
− and take measures such as adding
ferrite core on the
MECHATROLINK communications
cable.
Turn the power supply OFF and then
A DRIVER fault occurred.
ON again. If the alarm still occurs,
− the DRIVER may be faulty. Replace
the DRIVER.
A.E63: MECHATROLINK wiring is Check the MECHATROLINK Correct the MECHATROLINK
MECHATROLINK incorrect. wirings. wiring.
Synchronization
Frame Not Received MECHATROLINK data reception Take measures against noise. Check
Alarm error occurred due to noise the MECHATROLINK
interference. communications cable and FG wiring
− and take measures such as adding
ferrite core on the
MECHATROLINK communications
cable.
A DRIVER fault occurred. Turn the power supply OFF and then
ON again. If the alarm still occurs,
− the DRIVER may be faulty. Replace
the DRIVER.
The connection between the Check the connection between the
Correctly connect the safety option
DRIVER and the safety option DRIVER and the safety option
module.
module is faulty. module.
Execute Fn014 (Resetting
configuration error of option
A.E71: The safety option module was
module) with using the SigmaWin+
Safety Option Module disconnected.
– and turn the power supply OFF and
Detection Failure then ON again.
A safety option module fault
– Replace the safety option module.
occurred.

A DRIVER fault occurred. – Replace the DRIVER.

The connection between the Check the connection between the
Correctly connect the Feedback
DRIVER and the Feedback DRIVER and the Feedback Option
Option Module.
Option Module is Faulty. Module.
A.E72: Execute resetting configuration
Feedback Option The Feedback Option Module error in option modules (Fn014) and
Module Detection was disconnected. − turn the power supply OFF and then
Failure ON again.
A Feedback Option Module fault Replace the Feedback Option
occurred. − Module.
A DRIVER fault occurred. − Replace the DRIVER.

9-19
 9 Troubleshooting

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
A safety option module fault
A.E74: − Replace the safety option module.
occurred.
Unsupported Safety
A unsupported safety option Refer to the catalog of the Connect a compatible safety
Option Module
module was connected. connected safety option module. option module.
A feedback option module Replace the feedback option
−
A.E75: fault occurred. module.
Unsupported Feed- Refer to the catalog of the
A unsupported feedback Connect a compatible feedback
back Option Module connected feedback option module
option module was connected. option module.
or the manual of the DRIVER.
MECHATROLINK Check the MECHATROLINK Remove the cause of transmission
A.EA2: transmission cycle fluctuated. transmission cycle setting. cycle fluctuation at host PC or
DRV Alarm 2 PLC...etc.
Turn the power supply OFF and
(DRIVER WDT then ON again. If the alarm still
A DRIVER fault occurred. −
error) occurs, the DRIVER may be
faulty. Replace the DRIVER.
A.Eb1 Please contact SMC.

Execute the SV_ON or

Check the motor status when the SENS_ON command only when
A.Ed1: A timeout error occurred when command is executed. the motor is not running.
Command Execution using an MECHATROLINK For fully-closed loop control,
Timeout command. Execute the SENS_ON command
check the status of the external
only when an external encoder is
encoder after an output is made to
connected.
execute the command.

The three-phase power supply Confirm that the power supply is

Check the power supply wiring.
wiring is incorrect. correctly wired.
A.F10:
Main Circuit Cable
The three-phase power supply Measure the voltage at each phase Balance the power supply by
Open Phase
is unbalanced. of the three-phase power supply. changing phases.
(With the main power
supply ON, voltage was
A single-phase power is input
low for more than 1
without setting Pn00B.2 (power
second in an R, S, or T Check the power supply and the Match the parameter setting to the
supply method for three-phase
phase.) parameter setting. power supply.
DRIVER) to 1 (single-phase
(Detected when the main
power supply).
power supply was turned
ON.) Turn the power supply OFF and
then ON again. If the alarm still
A DRIVER fault occurred. −
occurs, the DRIVER may be
faulty. Replace the DRIVER.

9-20
 9 Troubleshooting

(cont’d)
Alarm Number:
Alarm Name Cause Investigative Actions Corrective Actions
(Alarm Description)
FL-1*2: Turn the power supply OFF and
−
System Alarm then ON again. If the alarm still
DRIVER failure
FL-2*2: occurs, the DRIVER may be faulty.
− Replace the DRIVER.
System Alarm
The contact between the digital
Insert securely the connector or
CPF00*3: operator and the DRIVER is Check the connector contact.
replace the cable.
Digital Operator faulty.
Transmission Error 1 Malfunction caused by noise Keep the digital operator or the
interference. cable away from noise sources.
Disconnect the digital operator and
then re-connect it. If the alarm still
A digital operator fault occurred.
occurs, the digital operator may be
CPF01*3: faulty. Replace the digital operator.
Digital Operator
Transmission Error 2 Turn the power supply OFF and
then ON again. If the alarm still
A DRIVER fault occurred.
occurs, the DRIVER may be faulty.
Replace the DRIVER.
∗2. These alarms are not stored in the alarm history and are displayed only in the panel display.
∗3. Digital operator is made of the YASUKAWA ELECTRIC Ltd.

9-21
 9 Troubleshooting

9.2 Warning Displays

The following sections describe troubleshooting in response to warning displays.
The warning name and warning meaning output are listed in order of the warning numbers in 9.2.1 List of Warnings.
The causes of warnings and troubleshooting methods are provided in 9.2.2 Troubleshooting of Warnings.

9.2.1 List of Warnings

This section provides list of warnings.
After its cause has been removed, the warning can be deactivated in any of the methods marked in the
warning reset column.

(1) Commands for the MECHATROLINK-III standard servo profile

Warning reset
SigmaWin+ SigmaWin+
Power [Alarm] [Setup]
Warning Alarm warning
Warning Name Automatically OFF ｜ ｜
Number clear command
*6
↓ [Display Alarm] [Software Reset]
[ALM-CLR]
ON ｜ ｜
Reset button Execute button
A.900*3 Position Error Overflow - ○ ○ ○ ○
A.901*3 Position Error Overflow Alarm at Servo ON - ○ ○ ○ ○
A.910*3 Overload - ○ ○ ○ ○
A.911*3 Vibration - ○ ○ ○ ○
A.920*3 Regenerative Overload - ○ ○ ○ ○
A.921*3 Dynamic Brake Overload - ○ ○ ○ ○
A.930*3 Absolute Encoder Battery Error - ○ ○ ○ ○
Data Setting Warning 1 (Parameter Number ○ ○ ○ ○ ○
A.94A*4
Error)
A.94B*4
Data Setting Warning 2 (Out of Range) ○ ○ ○ ○ ○
A.94C*4 Data Setting Warning 3 (Calculation Error) ○ ○ ○ ○ ○
A.94D*4 Data Setting Warning 4 (Parameter Size) ○ ○ ○ ○ ○
Warning

A.94E*4 Data Setting Warning 5 (Latch Mode Error) - ○ ○ ○ ○

A.95A*4 Command Warning 1 (Unsatisfying Command) ○ ○ ○ ○ ○
A.95B*4 Command Warning 2 (Non-supported Command) ○ ○ ○ ○ ○
A.95D*4 Command Warning 4 (Command Interference) ○ ○ ○ ○ ○
A.95E*4 Command Warning 5 (Subcommand Disable) ○ ○ ○ ○ ○
A.95F*4 Command Warning 6 (Undefined Command) ○ ○ ○ ○ ○
A.960*4 MECHATROLINK Communications Warning - ○ ○ ○ ○
MECHATROLINK Communications
A.962*4 - ○ ○ ○ ○
Warning (FCS Error)
MECHATROLINK Communications Warning
A.963*4 - ○ ○ ○ ○
(Synchronization Frame Not Received)
A.971*5
Undervoltage - ○ ○ ○ ○
A.97A*4 Command Warning 7 (Phase Error) ○ ○ ○ ○ ○
A.97B*4 Data Clamp (Out of Range) ○ ○ ○ ○ ○
A.9A0*3 Overtravel - ○ ○ ○ ○
∗3. Use Pn008.2 to activate or not the warning detection.
∗4. Use Pn800.1 to activate or not the warning detection.
∗5. Use Pn008.1 to activate or not the warning detection.
∗6. If using the commands for the MECHATROLINK-III standard servo profile, the warning will automatically
be cleared after the correct command is received.

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 9 Troubleshooting

(2) Commands for the MECHATROLINK-II-compatible profile

Warning reset
SigmaWin+ SigmaWin+
Power [Alarm] [Setup]
Warning Alarm warning
Warning Name OFF ｜ ｜
Number clear command
↓ [Display Alarm] [Software Reset]
[ALM-CLR]
ON ｜ ｜
Reset button Execute button
A.900*3 Position Error Overflow ○ ○ ○ ○
A.901*3 Position Error Overflow Alarm at Servo ON ○ ○ ○ ○
A.910*3 Overload ○ ○ ○ ○
A.911*3 Vibration ○ ○ ○ ○
A.920*3 Regenerative Overload ○ ○ ○ ○
A.921*3 Dynamic Brake Overload ○ ○ ○ ○
A.930*3 Absolute Encoder Battery Error ○ ○ ○ ○
A.94A*4 Data Setting Warning 1 (Parameter Number Error) ○ ○ ○ ○
A.94B*4 Data Setting Warning 2 (Out of Range) ○ ○ ○ ○
A.94C*4 Data Setting Warning 3 (Calculation Error) ○ ○ ○ ○
A.94D*4 Data Setting Warning 4 (Parameter Size) ○ ○ ○ ○
A.94E*4 ○ ○ ○ ○
Warning

Data Setting Warning 5 (Latch Mode Error)

A.95A*4 Command Warning 1 (Unsatisfying Command) ○ ○ ○ ○
A.95B*4 Command Warning 2 (Non-supported Command) ○ ○ ○ ○
A.95D*4 Command Warning 4 (Command Interference) ○ ○ ○ ○
A.95E*4 Command Warning 5 (Subcommand Disable) ○ ○ ○ ○
A.95F*4 Command Warning 6 (Undefined Command) ○ ○ ○ ○
A.960*4 MECHATROLINK Communications Warning ○ ○ ○ ○
MECHATROLINK Communications Warning (FCS
A.962*4 ○ ○ ○ ○
Error)
MECHATROLINK Communications Warning
A.963*4 ○ ○ ○ ○
(Synchronization Frame Not Received)
A.971*5
Undervoltage ○ ○ ○ ○
A.97A*4 Command Warning 7 (Phase Error) ○ ○ ○ ○
A.97B*4 Data Clamp (Out of Range) ○ ○ ○ ○
A.9A0*3 Overtravel ○ ○ ○ ○
∗3. Use Pn008.2 to activate or not the warning detection.
∗4. Use Pn800.1 to activate or not the warning detection.
∗5. Use Pn008.1 to activate or not the warning detection.

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 9 Troubleshooting

9.2.2 Troubleshooting of Warnings

Refer to the following table to identity the cause of a warning and the action to be taken. Contact SMC if the
problem cannot be solved by the described corrective action.

Warning
Number:
Cause Investigative Actions Corrective Actions
Warning Name
(Warning
Description)

The servomotor U, V, Check the motor cable connection. Confirm that there is no contact fault
and W wirings is faulty. in the motor wiring or encoder wiring.

The DRIVER gain is Increase the servo gain by using the

Check the DRIVER gain.
too low. function such as advanced autotuning.

Reduce the reference acceleration of

the position reference using a
The acceleration of the MECHATROLINK command, or
Reduce the reference acceleration, and
position reference is too smooth the acceleration of the position
A.900: operate the DRIVER.
high. reference by selecting the position
Position Error reference filter (ACCFIL) using a
Overflow MECHATROLINK command.
Setting of the excessive
position error alarm
Check the alarm level (Pn520) to see
level (Pn520) is low Set the Pn520 to proper value.
if it is set to an appropriate value.
against the operating
condition.

Turn the power supply OFF and then

A DRIVER fault ON again. If the alarm still occurs, the
occurred. − DRIVER may be faulty. Replace the
DRIVER.

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 9 Troubleshooting

Warning
Number:
Cause Investigative Actions Corrective Actions
Warning Name
(Warning
Description)
When the servomotor
power is ON, the
A.901: Set an appropriate value for the
position error
Position Error excessive position error warning level
Overflow Alarm
exceeded the − at servo ON (Pn528).
parameter setting
at Servo ON
(Pn526×Pn528/100).
Incorrect wiring or con-
Confirm that the servomotor and
tact fault of servomotor Check the wiring.
encoder are correctly wired.
and encoder.

Operation beyond the Reconsider the load conditions and

Check the motor overload
overload protection operating conditions. Or, increase the
A.910: characteristics and executed run
characteristics. motor capacity.
Overload command.
(Warning before Excessive load was
alarm A.710 or applied during operation
A.720 occurs) because the servomotor Check the executed operation reference
Remove the mechanical problems.
was not driven due to and motor speed.
mechanical problems.

A DRIVER fault − The DRIVER may be faulty.

occurred. Replace the DRIVER.
Abnormal vibration was Check for abnormal noise from the Reduce the motor speed or reduce the
detected at the motor servomotor, and check the speed and servo gain by using the function such
speed. torque waveforms during operation. as one-parameter tuning.
A.911: The moment of inertia
Vibration ratio (Pn103) value is
Set the moment of inertia ratio
greater than the actual Check the moment of inertia ratio.
(Pn103) to an appropriate value.
value or is greatly
changed.

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 9 Troubleshooting

(cont’d)
Warning
Number:
Cause Investigative Actions Corrective Actions
Warning Name
(Warning
Description)
The power supply volt-
Set the power supply voltage within
age exceeds the specified Measure the power supply voltage.
the specified range.
limit.
Insufficient external
regenerative resistance, Change the regenerative resistance,
A.920: regenerative resistor regenerative resistor capacity, or
Regenerative capacity, or DRIVER Check the operating condition or the
DRIVER capacity. Reconsider the
capacity.
Overload capacity. operating conditions.
(Warning before Or, regenerative power
the alarm A.320 has been continuously
occurs) flowing back.
Regenerative power
continuously flowed Reconsider the system including servo
Check the load to the servomotor during
back because negative drives, machine, and operating
operation.
load was continuously conditions.
applied.
The servomotor rotates Take measures to ensure the
because of external Check the operation status. servomotor will not rotate because of
force. external force.
A.921: Reconsider the following:
Dynamic Brake The rotating energy at a Check the power consumed by DB - Reduce the motor reference speed.
Overload DB stop exceeds the DB resistance (Un00B) to see how many - Reduce the moment of inertia ratio.
(Warning before resistance capacity. times the DB has been used. - Reduce the number of times of the
the alarm A.731 DB stop operation.
occurs)
A DRIVER fault The DRIVER may be faulty. Replace
−
occurred. the DRIVER.
A.930: The battery connection
Absolute is incorrect. Check the battery connection. Reconnect the battery.
Encoder Battery
Error
The battery voltage is
(The absolute lower than the specified Measure the battery voltage. Replace the battery.
encoder battery value 2.7 V.
voltage is lower
than the specified
value.)
A DRIVER fault The DRIVER may be faulty. Replace
∗ Only when an occurred. − the DRIVER.
absolute encoder
is connected.
A.94A: Refer to 9.3 Monitoring Communication
Data Setting Data on Occurrence of an Alarm or
Disabled parameter
Warning 1 Warning to determine which command Use the correct parameter number.
number was used.
(Parameter was the cause of the warning.
Number Error)

A.94B: Attempted to send Refer to 9.3 Monitoring Communication

Data Setting values outside the Data on Occurrence of an Alarm or
Set the value of the parameter within
Warning 2 range to the command Warning to determine which command
the allowable range.
data. was the cause of the warning.
(Out of Range)
A.94C: Refer to 9.3 Monitoring Communication
Data Setting Data on Occurrence of an Alarm or
Calculation result of set Set the value of the parameter within
Warning 3 Warning to determine which command
value is incorrect. the allowable range.
(Calculation was the cause of the warning.
Error)

9-26
 9 Troubleshooting

(cont’d)
Warning
Number:
Cause Investigative Actions Corrective Actions
Warning Name
(Warning
Description)

A.94D: Refer to 9.3 Monitoring

Communication Data on Occurrence
Data Setting Parameter size set in
of an Alarm or Warning to determine Use the correct parameter size.
Warning 4 command is incorrect.
which command was the cause of the
(Parameter Size) warning.
A.94E Refer to 9.3 Monitoring Change the setting value of Pn850 or
Data Setting Communication Data on Occurrence the LT_MOD data for the
Latch mode error is LTMOD_ON command sent by the
Warning 5 of an Alarm or Warning to determine
detected. host PC or PLC...etc to the proper
(Latch mode which command was the cause of the
error) warning. value.
A.95A Refer to 9.3 Monitoring
Command Communication Data on Occurrence
Command sending Send a command after command
Warning 1 of an Alarm or Warning to determine
condition is not satisfied. sending condition is satisfied.
(Unsatisfying which command was the cause of the
Command) warning.
A.95B Refer to 9.3 Monitoring
Command Communication Data on Occurrence
DRIVER received
Warning 2 of an Alarm or Warning to determine Do not sent an unsupported command.
unsupported command.
(Non-supported which command was the cause of the
Command) warning.
A.95D Refer to 9.3 Monitoring
Command sending
Command Communication Data on Occurrence
condition for Send a command after command
Warning 4 of an Alarm or Warning to determine
latch-related commands sending condition is satisfied.
(Command which command was the cause of the
is not satisfied.
Interference) warning.
A.95E Refer to 9.3 Monitoring
Command Subcommand sending Communication Data on Occurrence
Send a command after command
Warning 5 condition is not of an Alarm or Warning to determine
sending condition is satisfied.
(Subcommand satisfied. which command was the cause of the
Disable) warning.
A.95F Refer to 9.3 Monitoring
Command Communication Data on Occurrence
Undefined command
Warning 6 of an Alarm or Warning to determine Do not use an undefined command.
was sent.
(Undefined which command was the cause of the
Command) warning.

Correct the MECHATROLINK

MECHATROLINK wiring.
Confirm the wiring.
wiring is incorrect. Or, connect a terminal connector to
the terminal station.

Take measures against noise. Check

A.960 MECHATROLINK the MECHATROLINK
MECHATROLINK data reception error communications cable and FG wiring
Confirm the installation conditions.
Communications occurred due to noise and take measures such as adding
Warning interference. ferrite core on the
MECHATROLINK communications
cable.

A DRIVER fault A fault occurred in the DRIVER.

–
occurred. Replace the DRIVER.

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 9 Troubleshooting

(cont’d)
Warning Num-
ber: Warning
Cause Investigative Actions Corrective Actions
Name (Warning
Description)

Correct the MECHATROLINK wiring.

MECHATROLINK Or, connect a terminal to the terminal
Confirm the wiring.
wiring is incorrect. station.
Take measures against noise. Check
MECHATROLINK the MECHATROLINK communica-
A.962 data reception error tions cable and FG wiring and take
MECHATROLINK occurred due to noise Confirm the installation conditions.
measures such as adding ferrite core
Communications interference. on the MECHATROLINK communi-
Warning cations cable.
(FCS Error)

A DRIVER fault A fault occurred in the DRIVER.

–
occurred. Replace the DRIVER.

Correct the MECHATROLINK wir-

MECHATROLINK ing.
Confirm the wiring.
wiring is incorrect. Or, connect a terminal to the terminal
station.
A.963
Take measures against noise. Check
MECHATROLINK
MECHATROLINK the MECHATROLINK communica-
Communica- data reception error tions cable and FG wiring and take
tions Warning Confirm the installation conditions.
occurred due to noise measures such as adding ferrite core
(Synchronization interference. on the MECHATROLINK communi-
Frame Not cations cable.
Received)
A DRIVER fault – A fault occurred in the DRIVER.
occurred. Replace the DRIVER.
a) For 100
VAC DRIVERs:
The AC power supply
voltage is 60 V or
less.
b) For
200-VAC
Set the power supply voltage within
DRIVERs: Measure the power supply voltage.
the specified range.
The AC power supply
voltage is 140 V or
less.
c) For
400-VAC
DRIVERs:
A.971: Under-
The AC power supply
voltage
voltage is 280 V or
less.

The power supply volt-

age dropped during Measure the power supply voltage. Increase the power supply capacity.
operation.
Occurrence of instanta- When the instantaneous power cut
neous power interrup- Measure the power supply voltage. hold time (Pn509) is set, decrease the
tion. setting.

The DRIVER fuse is Replace the DRIVER and con- nect a

blown out. − reactor to the DRIVER.

A DRIVER fault The DRIVER may be faulty. Replace

occurred. − the DRIVER.

9-28
 9 Troubleshooting

(cont’d)
Warning Num-
ber: Warning
Cause Investigative Actions Corrective Actions
Name (Warning
Description)
A.97A
A command that cannot
Command Send a command after command
Warning 7
be executed in the cur- – sending condition is satisfied.
rent phase was sent.
(Phase Error)
The set command data
A.97B was clamped to a mini-
Set the value of the command data
Data Clamp mum or maximum – within the allowable range.
(Out Of Range) value out of the allow-
able setting range.
Refer to 9.4 Troubleshooting
Malfunction Based on Operation and
Conditions of the Servomotor. Even if
overtravel signals were not shown by
the input signal monitor (Un005),
A.9A0: momentary overtravel may have been
When the servomotor Check the input signal monitor detected. Take the following
Overtravel
power is ON, over- (Un005) to check the status of the precautions.
(Overtravel status travel status is detected. overtravel signals.
is detected.) a) Do not specify
movements that would cause
overtravel from the host PC or
PLC...etc.
b) Check the wiring of the
overtravel signals.
c) Take countermeasures for
noise.

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 9 Troubleshooting

9.3 Monitoring Communication Data on Occurrence of an Alarm or Warning

The command data received on occurrence of an alarm or warning, such as a data setting warning (A.94口) or a
command warning (A.95口) can be monitored using the following parameters. The following is an example of the
data when an alarm/warning has occurred in the normal state.

Command Data Monitor at Alarm/Warning Occurrence: Pn890 to Pn8A6

Response Data Monitor at Alarm/Warning Occurrence: Pn8A8 to Pn8BE

Note 1. Data is stored in little endian byte order and displayed in the hexadecimal format.
2. For details on commands, refer to 8 MECHATROLINK-III Commands.

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 9 Troubleshooting

9.4 Troubleshooting Malfunction Based on Operation and Conditions of the Servomotor

Troubleshooting for the malfunctions based on the operation and conditions of the servomotor is provided in this
section.
Be sure to turn OFF the servo system before troubleshooting items shown in bold lines in the table.

Problem Probable Cause Investigative Actions Corrective Actions

The control power supply is not Check voltage between control Correct the wiring.
ON. power terminals.
The main circuit power supply is Check the voltage between main Correct the wiring.
not ON. circuit power terminals.
Wiring of I/O signal connector CN1 Check if the connector CN1 is Correct the connector CN1
is faulty or disconnected. properly inserted and connected. connection.
Wiring for motor cable or encoder
cable is disconnected. Check the wiring. Correct the wiring.

Run under no load and check the Reduce load or replace with larger
Overloaded capacity servomotor.
load status.
Encoder type differs from Check the settings for parameter Set parameter Pn002.2 to the
parameter setting (Pn002.2). Pn002.2. encoder type being used.
Settings for the input signal
Check the settings for parameters Correct the settings for parameter
Servomotor Does selections (Pn50A, Pn50B and
Pn50A, Pn50B and Pn511. Pn50A, Pn50B and Pn511.
Not Start Pn511) is incorrect.
Check the command sent from the
SV_ON command is not sent. Send the SV_ON command.
host PC or PLC...etc.
Check the command sent from the Send the command in the correct
SENS_ON command is not sent.
host PC or PLC...etc. DRIVER sequence.
The forward run prohibited (P-OT)
Check P-OT or N-OT input signal. Turn P-OT or N-OT input signal
and reverse run prohibited (N-OT)
ON.
input signals are turned OFF.
Set the /HWBB1 and /HWBB2
input signal to ON.
The safety input signal (/HWBB1 or Check the /HWBB1 and /HWBB2 When not using the safety function,
/HWBB2) remains OFF. input signal. mount the safety function jumper
connector (provided as an
accessory) on the CN8.
A DRIVER fault occurred. − Replace the DRIVER.
Servomotor Servomotor wiring is incorrect. Check the wiring. Correct the wiring.
Moves
Instantaneously, Encoder wiring is incorrect. Check the wiring. Correct the wiring.
and then Stops
Check connections of power line
Servomotor Wiring connection to servomotor is Tighten any loose terminals or
(phases U, V, and W) and encoder
Speed Unstable defective. connectors and correct the wiring.
connectors.
Servomotor
Rotates Without A DRIVER fault occurred. − Replace the DRIVER.
Reference Input
Check the setting for parameter Correct the setting for parameter
Improper Pn001.0 setting
Pn001.0. Pn001.0.
Check if excessive moment of
Replace the DRIVER, and
Dynamic Brake DB resistor disconnected inertia, motor overspeed, or DB
reduce the load.
Does Not Operate frequently activated occurred.
There is a defective component in
DB drive circuit fault − the DB circuit. Replace the
DRIVER.

9-31
 9 Troubleshooting

(cont’d)
Problem Probable Cause Investigative Actions Corrective Actions
Reduce the load so that the moment
of inertia ratio becomes within the
The servomotor largely vibrated
allowable value, or increase the
during execution of tuning-less Check the motor speed waveform.
load level or lower the tuning level
function.
for the tuning-less levels setting
(Fn200).
Check if there are any loose Tighten the mounting screws.
mounting screws.
Check if there is misalignment of Align the couplings.
Mounting is not secured.
couplings.
Check if there are unbalanced Balance the couplings.
couplings.
Check for noise and vibration around Replace the servomotor.
Bearings are defective.
the bearings.
Check for any foreign matter,
Vibration source at the driven Contact the machine manufacturer.
damage, or deformations on the
machine.
machinery's movable parts.

The I/O signal cable must be tinned

Noise interference due to incorrect annealed copper shielded twistedpair Use the specified I/O signal cable.
I/O signal cable specifications. or screened unshielded twistedpair
cable with a core of 0.12 mm2 min.

Noise interference due to length of Check the length of the I/O signal The I/O signal cable length must be
Abnormal Noise I/O signal cable. cable. no more than 3 m.
from Servomotor The encoder cable must be tinned
Noise interference due to incorrect annealed copper shielded twisted-
cable specifications of encoder pair or screened unshielded Use the specified encoder cable.
cable. twistedpair cable with a core of 0.12
mm2 min.

Noise interference due to length of Check the length of the encoder The encoder cable must be no more
encoder cable. cable. than 50 m.

Noise interference due to damaged Check if the encoder cable is bent Replace the encoder cable and
encoder cable. and the sheath is damaged. correct the cable layout.
Check if the encoder cable is
Excessive noise to the encoder Correct the cable layout so that no
bundled with a high-current line or
cable. surge is applied.
near a high-current line.
The FG potential varies because of
Check if the machines are correctly Properly ground the machines to
influence from machines on the
grounded. separate from the encoder FG.
servomotor side, such as the welder.
Check if there is noise interference
DRIVER pulse counting error due to on the I/O signal line from the Take measures against noise in the
noise interference encoder wiring.
encoder.
Check if vibration from the machine
Reduce vibration from the machine,
Excessive vibration and shock to occurred or servomotor installation is
or secure the servomotor
the encoder incorrect (mounting surface
installation.
accuracy, fixing, alignment, etc.).
An encoder fault occurred. − Replace the servomotor.

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 9 Troubleshooting

(cont’d)
Problem Probable Cause Investigative Actions Corrective Actions
Check to see if the servo gains have Execute the advanced autotuning.
Unbalanced servo gains
been correctly adjusted.
Speed loop gain value (Pn100) too Check the speed loop gain (Pn100). Reduce the speed loop gain
high. Factory setting: Kv = 40.0 Hz (Pn100).
Servomotor Check the position loop gain
Position loop gain value (Pn102) (Pn102). Reduce the position loop gain
Vibrates at too high. (Pn102).
Frequency of Factory setting: Kp = 40.0/s
Approx. 200 to Check the speed loop integral time
400 Hz. Incorrect speed loop integral time constant (Pn101). Correct the speed loop integral time
constant (Pn101) constant (Pn101).
Factory setting: Ti = 20.0 ms
Incorrect moment of inertia ratio Check the moment of inertia ratio Correct the moment of inertia ratio
(Pn103) (Pn103). (Pn103).
Check to see if the servo gains have
Unbalanced servo gains Execute the advanced autotuning.
been correctly adjusted.
Speed loop gain value (Pn100) too Check the speed loop gain (Pn100). Reduce the speed loop gain
high Factory setting: Kv = 40.0 Hz (Pn100).
High Motor Speed Check the position loop gain
Position loop gain value (Pn102) (Pn102). Reduce the position loop gain
Overshoot on
too high (Pn102).
Starting and Stop- Factory setting: Kp = 40.0/s
ping
Check the speed loop integral time
Incorrect speed loop integral time constant (Pn101). Correct the speed loop integral time
constant (Pn101) constant (Pn101).
Factory setting: Ti = 20.0 ms
Incorrect moment of inertia ratio Check the moment of inertia ratio Correct the moment of inertia ratio
data (Pn103) (Pn103). (Pn103).
The encoder cable must be tinned
Noise interference due to incorrect annealed copper shielded twistedpair
cable specifications of encoder or screened unshielded twistedpair Use the specified encoder cable.
cable. cable with a core of 0.12 mm2 min.

Noise interference due to length of Check the length of the encoder The encoder cable must be no more
encoder cable. cable. than 50 m.
Noise interference due to damaged Check if the encoder cable is bent Replace the encoder cable and
encoder cable. and the sheath is damaged. correct the cable layout.

Excessive noise to the encoder Check if the encoder cable is Correct the cable layout so that no
cable. bundled with a high-current line or surge is applied.
near a high-current line.
Absolute Encoder FG potential varies because of Ground machines correctly, and
Position Check if the machines are correctly
influence of machines such as weld- grounded. prevent diversion to the FG on the
Difference Error ers at the servomotor. encoder side.
(The position
saved in the host DRIVER pulse counting error due Check if there is noise interference Take measures against noise in the
PC or PLC...etc to noise interference on the I/O signal line from the encoder wiring.
when the power encoder.
was turned OFF is Check if vibration from the machine Reduce vibration from the machine,
different from the Excessive vibration and shock to occurred or servomotor installation or secure the servomotor
position when the the encoder is incorrect (mounting surface installation.
power was next accuracy, fixing, alignment, etc.).
turned ON.)
An encoder fault occurred. − Replace the servomotor.
A DRIVER fault occurred.
Replace the DRIVER.
(The pulse count does not change.) −
Check the error detection section of Correct the error detection section
the host PC or PLC...etc. of the host PC or PLC...etc.
Check if the host PC or PLC...etc is Execute a multiturn data parity
Host PC or PLC...etc multiturn data executing data parity checks. check.
reading error
Check noise in the cable between Take measures against noise, and
the DRIVER and the host PC or again execute a multiturn data par-
PLC...etc. ity check.

9-33
 9 Troubleshooting

(cont’d)
Problem Probable Cause Investigative Actions Corrective Actions
Check the external power supply Correct the external power supply
(+24 V) voltage for the input signal. (+24 V) voltage.
Check if the overtravel limit switch
Correct the overtravel limit switch.
Forward or reverse run prohibited operates properly.
signal is input. Check if the overtravel limit switch Correct the overtravel limit switch
is wired correctly. wiring.
Check the settings for parameters Correct the settings for parameters
Pn50A and Pn50B. Pn50A and Pn50B.
Check the fluctuation of the
Stabilize the external power supply
external power supply (+24 V)
(+24 V) voltage.
voltage for the input signal.
Forward or reverse run prohibited Check if the overtravel limit switch
Correct the overtravel limit switch.
signal malfunctioning. operates correctly.
Overtravel (OT)
Check if the overtravel limit switch
Correct the overtravel limit switch
wiring is correct. (check for
wiring.
damaged cables or loose screws.)
Incorrect forward or reverse run Check if the P-OT signal is allocated If another signal is allocated in
prohibited signal (P-OT/N-OT) in Pn50A.3. Pn50A.3, allocate P-OT.
allocation (parameters Pn50A.3, Check if the N-OT signal is If another signal is allocated in
Pn50B.0) allocated in Pn50B.0. Pn50B.0, allocate N-OT.
Check the settings for parameters
Select a servomotor stop method
Pn001.0 and Pn001.1 when the
other than "coast to stop."
Incorrect servomotor stop method servomotor power is OFF.
selection Check the settings for parameters
Select a servomotor stop method
Pn001.0 and Pn001.1 when in
other than "coast to stop."
torque control.
Improper limit switch position and Install the limit switch at the
Improper Stop dog length − appropriate position.
Position by The overtravel limit switch position
Overtravel (OT) is too short for the coasting Install the overtravel limit switch at
Signal − the appropriate position.
distance.

9-34
 9 Troubleshooting

(cont’d)
Problem Probable Cause Investigative Actions Corrective Actions

The encoder cable must be tinned

annealed copper shielded twistedpair
Noise interference due to incorrect
encoder cable specifications or screened unshielded twistedpair Use the specified encoder cable.
cable with a core of 0.12 mm2 min.

The encoder cable must be no more

Noise interference due to length of Check the length of the encoder than 50 m.
encoder cable. cable.

Noise influence due to damaged Check if the encoder cable is bent Replace the encoder cable and
encoder cable. and the sheath is damaged. modify the cable layout.
Check if the encoder cable is
Change the cable layout so that no
Excessive noise to encoder cable. bundled with a high-current line or
surge is applied.
near a high-current line.
The FG potential varies because of
Check if the machines are correctly Properly ground the machines
influence from machines on the
grounded. encoder FG.
servomotor side such as the welder.
DRIVER pulse count error due to Check if the I/O signal line from the Take measures against noise in the
Position Error noise encoder is influenced by noise. encoder wiring.
(Without Alarm)
Check if vibration from the machine
Excessive vibration and shock to occurred or servomotor installation Reduce the machine vibration or
the encoder is incorrect (mounting surface mount the servomotor securely.
accuracy, fixing, alignment, etc.).
Check if a position error occurs at
Unsecured coupling between Secure the coupling between the
the coupling between machine and
machine and servomotor machine and servomotor.
servomotor.
The I/O signal cable must be tinned
Noise interference due to improper annealed copper shielded twistedpair Use input signal cable with the
I/O signal cable specifications or screened unshielded twistedpair specified specifications.
cable with a core of 0.12 mm2 min.

Noise interference due to length of The I/O signal cable length must be
Check the I/O signal cable length.
I/O signal cable no more than 3 m.
An encoder fault occurred. (The Replace the servomotor.
pulse count does not change.) −
A DRIVER fault occurred. − Replace the DRIVER.
Ambient operating temperature too Measure the servomotor ambient Reduce the ambient operating
high operating temperature. temperature to 40°C or less.
Servomotor Servomotor surface dirty Visually check the surface. Clean dust and oil from the surface.
Overheated If overloaded, reduce load or replace
Servomotor overloaded Check the load status with monitor. with larger capacity DRIVER and
servomotor.

9-35
 10 List of Parameters

10. List of Parameters ....................................................................................................................... 2

10.1 List of Parameters ................................................................................................................... 2
10.1.1 Utility Functions .............................................................................................................. 2
10.1.2 Parameters ....................................................................................................................... 3
10.1.3 MECHATROLINK-III Common Parameters ............................................................... 37
10.2 Parameter Recording Table ................................................................................................... 45

10-1
 10 List of Parameters

10. List of Parameters

10.1 List of Parameters

10.1.1 Utility Functions

The following list shows the available utility functions.

Parameter Reference
Function
No. Section
Fn000 Alarm history display 6.2
Fn002 JOG operation 6.3
Fn003 Origin search 6.4
Fn004 Program JOG operation 6.5
Fn005 Initializing parameter settings 6.6
Fn006 Clearing alarm history 6.7
Fn008 Absolute encoder multiturn reset and encoder alarm reset 4.7.4
Fn00C Offset adjustment of analog monitor output 6.8
Fn00D Gain adjustment of analog monitor output 6.9
Fn00E Automatic offset-signal adjustment of the motor current detection signal 6.10
Fn00F Manual offset-signal adjustment of the motor current detection signal 6.11
Fn010 Write prohibited setting 6.12
Fn011 Production information display 6.13
Fn013 Multiturn limit value setting change when a multiturn limit disagreement alarm occurs 4.7.6
Fn014 Resetting configuration error in option modules 6.14
Fn01B Vibration detection level initialization 6.15
Fn020 Origin setting 6.16
Fn030 Software reset 6.17
Fn200 Tuning-less levels setting 5.2.2
Fn201 Advanced autotuning 5.3.2
Fn202 Advanced autotuning by reference 5.4.2
Fn203 One-parameter tuning 5.5.2
Fn204 Anti-resonance control adjustment function 5.6.2
Fn205 Vibration suppression function 5.7.2
Fn206 EasyFFT 6.18
Fn207 Online vibration monitor 6.19

Note: Execute the utility function with SigmaWin+.

10-2
 10 List of Parameters

10.1.2 Parameters
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
Basic Function Select Switch 0000 to
2
0 00B3 − 0000 After restart Setup − −

Pn000

Application Function Select

2
Switch 1
0000 to 1122 − 0000 After restart Setup − −

Pn001

10-3
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
Application Function Select
2
Switch 2
0000 to 4113 − 0011 After restart Setup − −

Pn002

Maker setting：Do not change.

∗1. For details, refer to 8 MECHATROLINK-III Commands.

10-4
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
Application Function Select
2
Switch 6
0000 to 005F − 0002 Immediately Setup − 5.1.3

Pn006

Application Function Select

2
Switch 7
0000 to 005F − 0000 Immediately Setup − 5.1.3

Pn007

10-5
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
Application Function Select
2
Switch 8
0000 to 7121 − 4000 After restart Setup − −

Pn008

Detects warning and limits torque by Pn424 and Pn425. (Only in the DRIVER)

Application Function Select

2
Switch 9
0000 to 0111 − 0010 After restart Tuning − −

Pn009

10-6
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
Application Function Select
2
Switch B
0000 to 1111 − 0000 After restart Setup − −

Pn00B

Application Function Select 4.5,

2
Switch C
0000 to 0111 − 0000 After restart Setup − 4.5.1

Pn00C

10-7
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
Application Function Select
2 0000 to 1001 − 0000 Immediately Setup − –
Switch D

Pn00D

Pn081 2 Maker setting Do not change.

Pn100 2 Speed Loop Gain 10 to 20000 0.1 Hz 400 Immediately Tuning −

Speed Loop Integral Time
Pn101 2
Constant
15 to 51200 0.01 ms 2000 Immediately Tuning −
Pn102 2 Position Loop Gain 10 to 20000 0.1/s 400 Immediately Tuning −
Pn103 2 Moment of Inertia Ratio 0 to 20000 1% 100 Immediately Tuning − 5.8.1
Pn104 2 2nd Speed Loop Gain 10 to 20000 0.1 Hz 400 Immediately Tuning −
2nd Speed Loop Integral
Pn105 2
Time Constant
15 to 51200 0.01 ms 2000 Immediately Tuning −
Pn106 2 2nd Position Loop Gain 10 to 20000 0.1/s 400 Immediately Tuning −
Pn109 2 Feedforward Gain 0 to 100 1% 0 Immediately Tuning −
Feedforward Filter Time 5.9.1
Pn10A 2
Constant
0 to 6400 0.01 ms 0 Immediately Tuning −

10-8
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
Application Function for
2
Gain Select Switch
0000 to 5334 − 0000 − − − −

Pn10B

Mode Switch (torque refer-

Pn10C 2
ence)
0 to 800 1% 200 Immediately Tuning −

Mode Switch (speed refer-

Pn10D 2
ence)
0 to 10000 1 min-1 0 Immediately Tuning −
5.9.2
Pn10E 2 Mode Switch (acceleration) 0 to 30000 1 min-1/ s 0 Immediately Tuning −
1
Pn10F 2 Mode Switch (position error) 0 to 10000 reference 0 Immediately Tuning −
unit
Position Integral Time
Pn11F 2
Constant
0 to 50000 0.1 ms 0 Immediately Tuning − 5.9.4

Pn121 2 Friction Compensation Gain 10 to 1000 1% 100 Immediately Tuning −

2nd Gain for Friction
Pn122 2
Compensation
10 to 1000 1% 100 Immediately Tuning −

Friction Compensation
Pn123 2
Coefficient
0 to 100 1% 0 Immediately Tuning − 5.8.2
Friction Compensation -10000 to
Pn124 2
Frequency Correction 10000
0.1 Hz 0 Immediately Tuning −

Friction Compensation Gain

Pn125 2
Correction
1 to 1000 1% 100 Immediately Tuning −
Pn131 2 Gain Switching Time 1 0 to 65535 1 ms 0 Immediately Tuning −
Pn132 2 Gain Switching Time 2 0 to 65535 1 ms 0 Immediately Tuning −
Gain Switching 5.8.1
Pn135 2
Waiting Time 1
0 to 65535 1 ms 0 Immediately Tuning −
Gain Switching
Pn136 2
Waiting Time 2
0 to 65535 1 ms 0 Immediately Tuning −

10-9
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
Automatic Gain Changeover
2
Related Switch 1
0000 to 0052 − 0000 Immediately Tuning − 5.8.1

Pn139

Pn13D 2 Current Gain Level 100 to 2000 1% 2000 Immediately Tuning − 5.8.4
Model Following Control
2
Related Switch
0000 to 1121 − 0100 Immediately Tuning − −

Pn140

Model Following Control

Pn141 2
Gain
10 to 20000 0.1/s 500 Immediately Tuning − −

Model Following Control

Pn142 2
Gain Compensation
500 to 2000 0.1% 1000 Immediately Tuning − −

10-10
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
Model Following Control
Pn143 2 Bias 0 to 10000 0.1% 1000 Immediately Tuning − −
(Forward Direction)
Model Following Control
Pn144 2 Bias 0 to 10000 0.1% 1000 Immediately Tuning − −
(Reverse Direction)
Vibration Suppression 1
Pn145 2
Frequency A
10 to 2500 0.1 Hz 500 Immediately Tuning − −

Vibration Suppression 1
Pn146 2
Frequency B
10 to 2500 0.1 Hz 700 Immediately Tuning − −
Model Following Control
Pn147 2 Speed Feedforward 0 to 10000 0.1% 1000 Immediately Tuning − −
Compensation
2nd Model Following Control
Pn148 2
Gain
10 to 20000 0.1/s 500 Immediately Tuning − −

2nd Model Following Control

Pn149 2
Gain Compensation
500 to 2000 0.1% 1000 Immediately Tuning − −

Vibration Suppression 2
Pn14A 2
Frequency
10 to 2000 0.1 Hz 800 Immediately Tuning − −

Vibration Suppression 2
Pn14B 2
Compensation
10 to 1000 1% 100 Immediately Tuning − −
2 Control Related Switch 0000 to 0011 － 0011 After restart Tuning − –

Pn14F

10-11
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
5.3.1,
Anti-Resonance Control 5.4.1,
2
Related Switch
0000 to 0011 − 0010 Immediately Tuning − 5.5.1,
5.7.1

Pn160

Pn161 2 Anti-Resonance Frequency 10 to 20000 0.1 Hz 1000 Immediately Tuning − −

Anti-Resonance Gain
Pn162 2
Compensation
1 to 1000 1% 100 Immediately Tuning − −

Anti-Resonance Damping
Pn163 2
Gain
0 to 300 1% 0 Immediately Tuning − −

Anti-Resonance Filter Time -1000 to

Pn164 2
Constant 1 Compensation 1000
0.01 ms 0 Immediately Tuning − −

Anti-Resonance Filter Time -1000 to

Pn165 2
Constant 2 Compensation 1000
0.01 ms 0 Immediately Tuning − −

Tuning-less Function Related

2 0000 to 2411 − 1401 − – − –
Switch

Pn170

Pn205 2 Multiturn Limit Setting 0 to 65535 1 rev 65535 After restart Setup − 4.7.5

10-12
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
Position Control Function
2
Switch
0000 to 2210 − 0010 After restart Setup − −

Pn207

Pn20A 4 Maker setting Do not change.

Electronic Gear Ratio 1 to

Pn20E 4
(Numerator) 1073741824
1 1 After restart Setup −
4.4.3
Electronic Gear Ratio 1 to
Pn210 4
(Denominator) 1073741824
1 1 After restart Setup −
16 to
Pn212 4 Encoder Output Pulses
1073741824
1 P/rev 2048 After restart Setup − 4.4.5

Pn22A 2 Maker setting Do not change.

10-13
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
Position Control Expanded
2 0000 to 0001 – 0000 After reset Setup – 5.8.6
Function Switch

Pn230

0.1
Backlash Compensation -500000 to
Pn231 4 reference 0 Immediately Setup – 5.8.6
Value 500000
unit
Backlash Compensation Time
Pn233 2 0 to 65536 0.01 ms 0 Immediately Setup – 5.8.6
Constant

Pn281 2 Maker setting Do not change.

Pn304 2 JOG Speed 0 to 10000 1 min-1 500 Immediately Setup − 6.3

Pn305 2 Soft Start Acceleration Time 0 to 10000 1 ms 0 Immediately Setup −
−
Pn306 2 Soft Start Deceleration Time 0 to 10000 1 ms 0 Immediately Setup −
2 Vibration Detection Switch 0000 to 0002 − 0000 Immediately Setup − −

Pn310 6.15

Vibration Detection
Pn311 2
Sensibility
50 to 500 1% 100 Immediately Tuning −
6.15
Pn312 2 Vibration Detection Level 0 to 5000 1 min-1 50 Immediately Tuning −
Moment of Inertia
Pn324 2
Calculating Start Level
0 to 20000 1% 300 Immediately Setup − 5.3.2

Torque Reference Filter Time 0 to 65535 100 Tun-

Pn401 2
Constant
0.01 ms Immediately
ing − 5.9.3

10-14
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
Pn402 2 Forward Torque Limit 0 to 800 1% 800 Immediately Setup −
4.6.1
Pn403 2 Reverse Torque Limit 0 to 800 1% 800 Immediately Setup −
Forward External Torque
Pn404 2
Limit
0 to 800 1% 100 Immediately Setup −
4.6.2
Reverse External Torque
Pn405 2
Limit
0 to 800 1% 100 Immediately Setup −
Pn406 2 Emergency Stop Torque 0 to 800 1% 800 Immediately Setup − 4.3.2
Speed Limit during Torque
Pn407 2
Control
0 to 10000 1 min-1 10000 Immediately Setup − 4.8.8

Torque Related Function

2
Switch
0000 to 1111 − 0000 − − − −

Pn408

Pn409 2 1st Notch Filter Frequency 50 to 5000 1 Hz 5000 Immediately Tuning −

Pn40A 2 1st Notch Filter Q Value 50 to 1000 0.01 70 Immediately Tuning −
Pn40B 2 1st Notch Filter Depth 0 to 1000 0.001 0 Immediately Tuning −
Pn40C 2 2nd Notch Filter Frequency 50 to 5000 1 Hz 5000 Immediately Tuning −
Pn40D 2 2nd Notch Filter Q Value 50 to 1000 0.01 70 Immediately Tuning − 5.9.3
Pn40E 2 2nd Notch Filter Depth 0 to 1000 0.001 0 Immediately Tuning −
2nd Step 2nd Torque
Pn40F 2
Reference Filter Frequency
100 to 5000 1 Hz 5000 Immediately Tuning −

2nd Step 2nd Torque

Pn410 2
Reference Filter Q Value
50 to 100 0.01 50 Immediately Tuning −

1st Step 2nd Torque

Pn412 2 Reference Filter Time 0 to 65535 0.01 ms 100 Immediately Tuning − 5.8.1
Constant

10-15
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
Torque Limit at Main Circuit
Pn424 2
Voltage Drop
0 to 100 1% 50 Immediately Setup −

Release Time for Torque 4.3.7

Pn425 2 Limit at Main Circuit Voltage 0 to 1000 1 ms 100 Immediately Setup −
Drop
Sweep Torque Reference
Pn456 2
Amplitude
1 to 800 1% 15 Immediately Tuning − 6.18

5.2.1
Notch Filter Adjustment
2
Switch
0000 to 0101 − 0101 Immediately Tuning − 5.3.1
5.5.1

Pn460

Pn501 2 Zero Clamp Level 0 to 10000 1 min-1 10 Immediately Setup − −

Pn502 2 Rotation Detection Level 1 to 10000 1 min-1 20 Immediately Setup − 4.8.3
Speed Coincidence Signal
Pn503 2
Output Width
0 to 100 1 min-1 10 Immediately Setup − 4.8.5

Lock Reference - Servo OFF

Pn506 2
Delay Time
0 to 50 10 ms 0 Immediately Setup −

Lock Reference Output

Pn507 2
Speed Level
0 to 10000 1 min-1 100 Immediately Setup − 4.3.4

Waiting Time for Lock

Pn508 2
Signal When Motor Running
10 to 100 10 ms 50 Immediately Setup −

Instantaneous Power Cut

Pn509 2
Hold time
20 to 1000 1 ms 20 Immediately Setup − 4.3.6

10-16
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
0000 to
2 Input Signal Selection 1
FFF1 − 1881 After restart Setup − −

Pn50A

10-17
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section

2 Input Signal Selection 2

0000 to − 8882 After restart Setup − –
FFFF

10-18
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
2 Output Signal Selection 1 0000 to 3333 − 0000 After restart Setup − −

Pn50E

2 Output Signal Selection 2 0000 to 3333 − 0100 After restart Setup − −

Pn50F

10-19
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
2 Output Signal Selection 3 0000 to 0333 − 0000 After restart Setup − −

Pn510

10-20
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
0000 to
2 Input Signal Selection 5
FFFF − 6543 After restart Setup − 3.3.1

Pn511

10-21
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
2 Output Signal Inverse Setting 0000 to 0111 − 0000 After restart Setup − 3.3.2

Pn512

Pn517 2 Reserved (Do not change.) – – 0000 – – − –

Pn51B 4 Maker setting Do not change.

Excessive Position Error
Pn51E 2
Warning Level
10 to 100 1% 100 Immediately Setup − 9.2.1

1
Excessive Position Error 1 to 5.1.4
Pn520 4
Alarm Level 1073741823
reference 5242880 Immediately Setup − 9.1.1
unit
1
0 to
Pn522 4 Positioning Completed Width
1073741824
reference 7 Immediately Setup − 4.8.6
unit
1
1 to
Pn524 4 NEAR Signal Width
1073741824
reference 1073741824 Immediately Setup − 4.8.7
unit
1
Excessive Position Error 1 to
Pn526 4
Alarm Level at Servo ON 1073741823
reference 5242880 Immediately Setup −
unit
Excessive Position Error 5.1.4
Pn528 2
Warning Level at Servo ON
10 to 100 1% 100 Immediately Setup −

Speed Limit Level at Servo

Pn529 2
ON
0 to 10000 1 min-1 10000 Immediately Setup −

Pn52A 2 Maker setting Do not change.

Pn52B 2 Overload Warning Level 1 to 100 1% 20 Immediately Setup −
Derating of Base Current at 4.3.8
Pn52C 2
Detecting Overload of Motor
10 to 100 1% 100 After restart Setup −
Pn52D 2 Reserved (Do not change.) – – 50 – – − –
Pn52F 2 Reserved (Do not change.) − − 0FFF − − − –

10-22
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
Program JOG Operation
2
Related Switch
0000 to 0005 − 0000 Immediately Setup − 6.5

Pn530

1
Program JOG Movement 1 to
Pn531 4
Distance 1073741824
reference 32768 Immediately Setup −
unit
Program JOG Movement
Pn533 2
Speed
1 to 10000 1 min-1 500 Immediately Setup −
6.5
Program JOG Acceleration/
Pn534 2
Deceleration Time
2 to 10000 1 ms 100 Immediately Setup −
Pn535 2 Program JOG Waiting Time 0 to 10000 1 ms 100 Immediately Setup −
Number of Times of Program
Pn536 2
JOG Movement
0 to 1000 1 time 1 Immediately Setup −

Analog Monitor 1 Offset -10000 to

Pn550 2
Voltage 10000
0.1 V 0 Immediately Setup −

Analog Monitor 2 Offset -10000 to

Pn551 2
Voltage 10000
0.1 V 0 Immediately Setup −
5.1.3
Analog Monitor -10000 to
Pn552 2
Magnification (×1) 10000 ×0.01 100 Immediately Setup −
Analog Monitor -10000 to
Pn553 2
Magnification (×2) 10000 ×0.01 100 Immediately Setup −

Remained Vibration
Pn560 2
Detection Width
1 to 3000 0.1% 400 Immediately Setup − 5.7.1

5.3.1
Pn561 2 Overshoot Detection Level 0 to 100 1% 100 Immediately Setup − 5.4.1
Depends on
Regenerative Resistor DRIVER
Pn600 2
Capacity ∗2 Capacity ∗3
10 W 0 Immediately Setup − 3.7.2

Pn601 2 Reserved (Do not change.) – – 0 – – − –

∗2. Normally set to "0." When using an external regenerative resistor, set the capacity (W) of the regenerative
resistor.
∗3. The upper limit is the maximum output capacity (W) of the DRIVER.

10-23
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
2 Communications Control – – 1040 Immediately Setup − –

Pn800

∗9. This parameter is enabled only for MECHATROLINK-III standard servo profile.

10-24
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
Application Function Select 6
2 – – 0003 Immediately Setup − 4.3.3
(Software LS)

Pn801

1
Pn803 2 Origin Range 0 to 250 reference 10 Immediately Setup − *1
unit
-
1
1073741823
Pn804 4 Forward Software Limit
to
reference 1073741823 Immediately Setup −
unit
1073741823
4.3.3
-
1
1073741823
Pn806 4 Reverse Software Limit
to
reference -1073741823 Immediately Setup −
unit
1073741823
-
1
Absolute Encoder Origin 1073741823
Pn808 4
Offset to
reference 0 Immediately*4 Setup − 4.7.7
unit
1073741823
10000
1st Linear Acceleration reference Immediately*5 −
Pn80A 2 1 to 65535 100 Setup *1
Constant
unit/s2
10000
2nd Linear Acceleration reference Immediately*5 −
Pn80B 2 1 to 65535 100 Setup *1
Constant
unit/s2
100
Acceleration Constant
Immediately*5 −
Pn80C 2 0 to 65535 reference 0 Setup *1
Switching Speed
unit/s
10000
1st Linear Deceleration reference
Pn80D 2
Constant
1 to 65535 100 Immediately*5 Setup − *1
unit/s2
∗1. For details, refer to 8 MECHATROLINK-III Commands.
∗4. Available after the SENS_ON command is input.
∗5. Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the
output during operation.

10-25
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
10000
2nd Linear Deceleration reference
Pn80E 2
Constant
1 to 65535 100 Immediately*5 Setup − *1
unit/s2
100
Deceleration Constant
Immediately*5 −
Pn80F 2 0 to 65535 reference 0 Setup *1
Switching Speed
unit/s
Exponential Function 100
Immediately*6 −
Pn810 2 Acceleration/Deceleration 0 to 65535 reference 0 Setup *1
Bias unit/s
Exponential Function
Immediately*6 −
Pn811 2 Acceleration/Deceleration 0 to 5100 0.1 ms 0 Setup *1
Time Constant

−
*1
Pn812 2 Movement Average Time 0 to 5100 0.1 ms 0 Immediately*6 Setup
-1073741823 1
Final Travel Distance for
Pn814 4 to reference 100 Immediately Setup – *1
External Positioning
1073741823 unit
2 Homing Mode Setting – – 0000 Immediately Setup Μ2*10 –

Pn816

100
Homing Approach Speed
Pn817*7 Immediately*5 −
2 0 to 65535 reference 50 Setup *1
(Homing Approach Speed 1)
unit/s
100
Homing Creep Speed(Hom-
Pn818*8 Immediately*5 −
2 0 to 65535 reference 5 Setup *1
ing Approach Speed 2)
unit/s
-1073741823 1
Final Travel Distance for
−
Pn819 4 to reference 100 Immediately Setup *1
Homing
1073741823 unit
∗1. For details, refer to 8 MECHATROLINK-III Commands.
∗5. Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the
output during operation.
∗6. The settings are updated only if the sending of the reference has been stopped (DEN is set to 1).
∗7. The set value of Pn842 is valid when the set value of Pn817 is 0. Software version 0023 or higher is
required to use Pn842.
∗8. The set value of Pn844 is valid when the set value of Pn818 is 0. Software version 0023 or higher is
required to use Pn844.
∗10. This parameter is enabled only for MECHATROLINK-II-compatible profile.

10-26
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
Input Signal Monitor
2 – – 0000 Immediately Setup M2*10 –
Selection

Pn81E

2 Command Data Allocation – – 0010 After restart Setup M2*10 *1

Pn81F

-2147483648 1
Forward Latching Allowable
−
Pn820 4 to reference 0 Immediately Setup *1
Area
2147483647 unit
-2147483648 1
Reverse Latching Allowable
−
Pn822 4 to reference 0 Immediately Setup *1
Area
2147483647 unit
∗1. For details, refer to 8 MECHATROLINK-III Commands. 10
∗10. This parameter is enabled only for MECHATROLINK-II-compatible profile.

10-27
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
Option Monitor 1 Selection – –
Motor rotating speed
0000H
[1000000H/overspeed detection position]
Speed reference
0001H
[1000000H/overspeed detection position]
0002H Torque [1000000H/max. torque]
0003H Position error (lower 32 bits) [reference unit]
0004H Position error (upper 32 bits) [reference unit]
0005H System reserved
0006H System reserved
000AH Encoder count (lower 32 bits) [reference unit]
000BH Encoder count (upper 32 bits) [reference unit]
000CH FPG count (lower 32 bits) [reference unit]
000DH FPG count (upper 32 bits) [reference unit]
0010H Un000: Motor rotating speed [min-1]
0011H Un001: Speed reference [min-1]
0012H Un002: Torque reference [%]
Un003: Rotational angle 1 (encoder pulses
0013H
from the phase-Z origin: decimal display)
0014H Un004: Rotational angle 2 [deg] −
0015H Un005: Input signal monitor
Pn824 2 0016H Un006: Output signal monitor 0000 Immediately Setup *1

0017H Un007: Input position reference speed [min-1]

0018H Un008: Position error [reference unit]
0019H Un009: Accumulated load ratio [%]
001AH Un00A: Regenerative load ratio [%]
Un00B: DB resistance consumption power
001BH
[%]
Un00C: Input reference counter [reference
001CH
unit]
Un00D: Feedback pulse counter [encoder
001DH
pulse]
Un00E: Fully-closed loop feedback pulse
001EH
counter [external encoder resolution]
001FH System reserved
0023H Primary multi-turn data [Rev]
0024H Primary incremental data [pulse]
0027H Un022: Installation environment monitor
Previous value of latched feedback position
0080H
(LPOS) [encoder pulse]
Previous value of latched feedback position
0081H
(LPOS2) [encoder pulse]
0084H Continuous latch status M3*9

Others Reserved (Do not set.)

∗1. For details, refer to 8 MECHATROLINK-III Commands.
∗9. This parameter is enabled only for MECHATROLINK-III standard servo profile.

10-28
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
Option Monitor 2 Selection – – 0000 Immediately
0000H
Pn825 2 Setup − *1
to Same as Option Monitor 1 Selection.
0084H
10000
Linear Deceleration Constant reference Immediately*5 −
Pn827 2 1 to 65535 100 Setup *1
1 for Stopping
unit/s2
SVOFF Waiting Time
Immediately*5 −
Pn829 2 (SVOFF at deceleration to 0 to 65535 10 ms 0 Setup *1
stop)
0000 to
2 Option Field Allocation 1 – 1813 After restart Setup M2*10 –
1E1E

Pn82A

0000 to
2 Option Field Allocation 2 – 1D1C After restart Setup M2*10 –
1F1F

Pn82B

∗1. For details, refer to 8 MECHATROLINK-III Commands.

∗5. Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the
output during operation.
∗10. This parameter is enabled only for MECHATROLINK-II-compatible profile.

10-29
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
0000 to
2 Option Field Allocation 3 – 1F1E After restart Setup M2*10 –
1F1F

Pn82C

0000 to
2 Option Field Allocation 4 – 0000 After restart Setup M2*10 –
1F1C

Pn82D

0000 to
2 Option Field Allocation 5 – 0000 After restart Setup M2*10 –
1D1F

Pn82E

∗10. This parameter is enabled only for MECHATROLINK-II-compatible profile.

10-30
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
2 Motion Setting 0000 to 0001 – 0000 After restart Setup – *1

Pn833

10000
1st Linear Acceleration 1 to Immediately
Pn834 4 reference 100 Setup – *1
Constant 2 20971520 *5
unit/s2
10000
2nd Linear Acceleration 1 to Immediately
Pn836 4 reference 100 Setup – *1
Constant 2 20971520 *5
unit/s
1
Acceleration Constant 0 to Immediately
Pn838 4 reference 0 Setup – *1
Switching Speed 2 2097152000 *5
unit/s
10000
1st Linear Deceleration 1 to Immediately
Pn83A 4 reference 100 Setup – *1
Constant 2 20971520 *5
unit/s2
10000
2nd Linear Deceleration 1 to Immediately
Pn83C 4 reference 100 Setup – *1
Constant 2 20971520 *5
unit/s2
1
Deceleration Constant 0 to Immediately
Pn83E 4 reference 0 Setup – *1
Switching Speed 2 2097152000 *5
unit/s
10000
Linear Deceleration 1 to Immediately
Pn840 4 reference 100 Setup – *1
Constant 2 for Stopping 20971520 *5
unit/s2
100
Homing Approach Speed 0 to Immediately
Pn842*7 4 reference 0 Setup – *1
(Homing Approach Speed 12) 20971520 *5
unit/s
100
Homing Creep Speed (Hom- 0 to Immediately
Pn844*8 4 reference 0 Setup – *1
ing Approach Speed 22) 20971520 *5
unit/s
Pn850 2 Latch Sequence Number 0 to 8 – 0 Immediately Setup – *1

Pn851 2 Continuous Latch Count 0 to 255 – 0 Immediately Setup – *1

∗1. For details, refer to 8 MECHATROLINK-III Commands.

∗5. Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the
output during operation.
∗7. The set value of Pn842 is valid when the set value of Pn817 is 0. Software version 0023 or higher is
required to use Pn842.
∗8. The set value of Pn844 is valid when the set value of Pn818 is 0. Software version 0023 or higher is
required to use Pn844.

10-31
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
Latch Sequence Signal 1 to 4
2 0000 to 3333 – 0000 Immediately Setup – *1
Setting

Pn852

Latch Sequence Signal 5 to 8

2 0000 to 3333 – 0000 Immediately Setup – *1
Setting

Pn853

∗1. For details, refer to 8 MECHATROLINK-III Commands.

10-32
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
SVCMD_IO (input signal
2 0000 to 1717 – 0000 Immediately Setup M3*9 –
monitor) Allocation 1

Pn860

SVCMD_IO (input signal

2 0000 to 1717 – 0000 Immediately Setup M3*9 –
monitor) Allocation 2

Pn861

SVCMD_IO (input signal

2 0000 to 1717 – 0000 Immediately Setup M3*9 –
monitor) Allocation 3

Pn862

∗9. This parameter is enabled only for MECHATROLINK-III standard servo profile.

10-33
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
SVCMD_IO (input signal
2 0000 to 1717 – 0000 Immediately Setup M3*9 –
monitor) Allocation 4

Pn863

SVCMD_IO (input signal

2 0000 to 1717 – 0000 Immediately Setup M3*9 –
monitor) Allocation 5

Pn864

SVCMD_IO (input signal

2 0000 to 1717 – 0000 Immediately Setup M3*9 –
monitor) Allocation 6

Pn865

SVCMD_IO (input signal

2 0000 to 1717 – 0000 Immediately Setup M3*9 –
monitor) Allocation 7

Pn866

∗9. This parameter is enabled only for MECHATROLINK-III standard servo profile.

10-34
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
SVCMD_IO (output signal
2 0000 to 1717 – 0000 Immediately Setup M3*9 –
monitor) Allocation 1

Pn868

SVCMD_IO (output signal

2 0000 to 1717 – 0100 Immediately Setup M3*9 –
monitor) Allocation 2

Pn869

Station Address Monitor

Pn880 2 03 to EFH – 0 Immediately Setup – –
(for maintenance, read only)
Setting Transmission Byte
Pn881 2 Monitor [byte] 17, 32, 48 – 0 Immediately Setup – –
(for maintenance, read only)

∗9. This parameter is enabled only for MECHATROLINK-III standard servo profile.

10-35
 10 List of Parameters

(cont’d)
Parameter Setting Factory When Classi- Reference
Size Name Units Profile
No. Range Setting Enabled fication Section
Transmission Cycle Setting
Pn882 2 Monitor [0.25 μs] 0 to FFFFH – 0 Immediately Setup – –
(for maintenance, read only)
Communications Cycle Set-
ting Monitor
Pn883 2 0 to 32 – 0 Immediately Setup – –
[x transmission cycle]
(for maintenance, read only)
MECHATROLINK Receive
Pn88A 2 Error Counter Monitor (for 0 to 65535 – 0 Immediately Setup – –
maintenance, read only)
Command Data Monitor at
Pn890 to 0 to
4 Alarm/Warning Occurs – 0 Immediately Setup – *1
Pn8A6 FFFFFFFFH
(for maintenance, read only)
Response Data Monitor at
Pn8A8 to 0 to
4 Alarm/Warning Occurs – 0 Immediately Setup – *1
Pn8BE FFFFFFFFH
(for maintenance, read only)
Pn900 2 Parameter Bank Number 0 to 16 – 0 After restart Setup – *1

Parameter Bank Member

Pn901 2 0 to 15 – 0 After restart Setup – *1
Number
Pn902 to Parameter Bank Member 0000H to
2 – 0 After restart Setup – *1
Pn910 Definition 08FFH
Parameter Bank Data (non-
Pn920 to 0000H to
2 volatile memory save dis- – 0 Immediately Setup – *1
Pn95F FFFFH
abled)
∗1. For details, refer to 8 MECHATROLINK-III Commands.

10-36
 10 List of Parameters

10.1.3 MECHATROLINK-III Common Parameters

The following list shows the common parameters used by all devices for MECHATROLINK-III. These common
parameters are used to make settings from the host PC or PLC...etc via MECHATROLINK communications.
Do not change settings with the digital operator or any other device.
Parameter Units Factory When Classifica-
Size Name Setting Range
No. [Resolution] Setting Enabled tion
Encoder Type (read only) 0 to 1 – –
01
4 0000H Absolute encoder –
PnA02
0001H Incremental encoder

02 Motor Type (read only) 0 to 1 – –

4
PnA04 0000H Rotational servomotor –
Semi-closed/Fully-closed Type
0 to 1 – –
(read only)
03
4 –
PnA06 0000H Semi-closed
0001H Fully-closed
04 0 to
4 Rated Speed (read only) min-1 – – Device
PnA08 FFFFFFFFH
Information
05 0 to
4 Maximum Output Speed (read only) min-1 – – Related
PnA0A FFFFFFFFH Parameters
06 -1073741823 to
4 Speed Multiplier (read only) – – –
PnA0C 1073741823
07 0 to N.m
4 Rated Torque (read only) – –
PnA0E FFFFFFFFH
08 Maximum Output Torque (read 0 to N.m
4 – –
PnA10 only) FFFFFFFFH
09 -1073741823 to
4 Torque Multiplier (read only) – – –
PnA12 1073741823
0A 0 to
4 Resolution (read only) pulse/rev – –
PnA14 FFFFFFFFH
21 1 to After
4 Electronic Gear Ratio (Numerator) – 1
PnA42 1073741824 restart
22 Electronic Gear Ratio (Denomina- 1 to After
4 – 1
PnA44 tor) 1073741824 restart
23 –1073741823 Immedi-
4 Absolute Encoder Origin Offset 1 reference unit 0
PnA46 to 1073741823 ately*1
24 After
4 Multiturn Limit Setting 0 to 65535 Rev 65535
PnA48 restart
Limit Setting 0 to 33H 0000H Machine
Specifica-
Bit 0 P-OT (0: Enabled, 1: Disabled) tion Related
Bit 1 N-OT (0: Enabled, 1: Disabled) Parameters
Bit 2 Reserved
25 Bit 3 Reserved After
4 0000H
PnA4A restart
Bit 4 P-SOT (0: Disabled, 1: Enabled)
Bit 5 N-SOT (0: Disabled, 1: Enabled)
Bit 6 Reserved
Bit
Reserved
7 to 31

∗1. Available after the SENS_ON command is input.

Note: When using parameters that are enabled after restarting the DRIVER, a CONFIG command must be
input or the power must be turned OFF and then ON again.

10-37
 10 List of Parameters

(cont’d)
Parameter Units Factory When Classifica-
Size Name Setting Range
No. [Resolution] Setting Enabled tion
–1073741823
26 Immedi-
4 Forward Software Limit to 1 reference unit 1073741823
PnA4C ately
1073741823
27 Immedi- Machine
4 Reserved (Do not use.) – – 0 Specifica-
PnA4E ately
tion Related
–1073741823 Parameters
28 Immedi-
4 Reverse Software Limit to 1 reference unit –1073741823
PnA50 ately
1073741823
29 Immedi-
4 Reserved (Do not use.) – – 0
PnA52 ately
Speed Unit*2 0 to 4 –
0000H reference unit/sec

41 0001H reference unit/min

After
4 0
PnA82 0002H Percentage (%) of rated speed*3 restart

0003H min-1*3
0004H Max. motor speed/40000000H*4
Speed Base Unit
42 (Set the value of “n” used as the After
4 –3 to 3 – 0
PnA84 exponent in 10n when calculating restart
the Speed Unit (41).)*3*4
43 Position Unit 0 – After
4 0
PnA86 0000H reference unit restart
Position Base Unit
44 (Set the value of “n” used as the After
4 0 – 0 Unit System
PnA88 exponent in 10n when calculating restart
the Position Unit (43).) Related
Parameters
Acceleration Unit – –
45 After
PnA8A
4 0000H reference unit/sec2 0
restart
0001H Not supported
Acceleration Base Unit
46 (Set the value of “n” used as the After
4 4 to 6 – 4
PnA8C exponent in 10n when calculating restart
the Acceleration Unit (45).)
Torque Unit 1 to 2 –

47 0000H Not supported After

4 1
PnA8E 0001H Percentage (%) of rated torque restart
0002H Max. torque/40000000H*5
Torque Base Unit*5
48 (Set the value of “n” used as the After
4 –5 to 0 – 0
PnA90 exponent in 10n when calculating restart
the Torque Unit (47).)
∗2. When using fully-closed loop control, set 0000H (Reference unit/sec).
∗3. When either 0002H or 0003H is selected for the Speed Unit (parameter 41), set the Speed Base Unit
(parameter 42) to a number between -3 and 0.
∗4. When 0004H is selected for the Speed Unit (parameter 41), set the Speed Base Unit (parameter 42) to 0.
∗5. When 0002H is selected for the Torque Unit (parameter 47), set the Torque Base Unit (parameter 48) to
0.
Note: When using parameters that are enabled after restarting the DRIVER, a CONFIG command must be
input or the power must be turned OFF and then ON again.

10-38
 10 List of Parameters

(cont’d)
Parameter Units Factory When Classifica-
Size Name Setting Range
No. [Resolution] Setting Enabled tion
Compliance Unit System (read only) – –
Speed
Bit 0 reference unit/s (1: Enabled)
Bit 1 reference unit/min (1: Enabled)
Bit 2 Percentage (%) of rated speed (1: Enabled)
Bit 3 min-1 (rpm) (1: Enabled)
Bit 4 Max. motor speed/4000000H (1: Enabled)
Bit
Reserved (0: Disabled)
5 to 7
Position
Bit 8 reference unit (1: Enabled)
Bit Unit System
49 Reserved (0: Disabled)
4 9 to 15 0601011FH – Related
PnA92
Parameters
Acceleration
Bit 16 reference unit/s2 (1: Enabled)
msec (Acceleration time taken to reach the rated speed)
Bit 17
(0: Disabled)
Bit
Reserved (0: Disabled)
18 to 23
Torque
Bit 24 N.m (N) (0: Disabled)
Bit 25 Percentage (%) of rated torque (1: Enabled)
Bit 26 Max. torque/40000000H (1: Enabled)
Bit
Reserved (0: Disabled)
27 to 31
61 1000 to 0.001 Hz Immedi-
4 Speed Loop Gain 40000
PnAC2 2000000 [0.1 Hz] ately
62
4 Speed Loop Integral Time Constant 150 to 512000 μs 20000
Immedi-
PnAC4 [0.01 ms] ately
63 1000 to 0.001/s Immedi-
4 Position Loop Gain 40000
PnAC6 2000000 [0.1/s] ately
Adjustment
64 Immedi-
4 Feedforward Compensation 0 to 100 1% 0 Related
PnAC8 ately
Parameters
65
4
Position Loop Integral Time Con-
0 to 5000000 μs 0
Immedi-
PnACA stant [0.1 ms] ately
66 0 to Immedi-
4 Positioning Completed Width 1 reference unit 7
PnACC 1073741824 ately
67 1 to Immedi-
4 NEAR Signal Width 1 reference unit 1073741824
PnACE 1073741824 ately

10
10-39
 10 List of Parameters

(cont’d)
Parameter Units Factory When Classifica-
Size Name Setting Range
No. [Resolution] Setting Enabled tion
81
4
Exponential Function Accel/Decel
0 to 510000 μs 0
Immedi-
PnB02 Time Constant [0.1 ms] ately*6
82
4 Movement Average Time 0 to 510000 μs 0
Immedi-
PnB04 [0.1 ms] ately*6
83 Final Travel Distance for External –1073741823 Immedi-
4 1 reference unit 100
PnB06 Positioning to 1073741823 ately
5000
Value
84 0 to converted Immedi-
PnB08
4 Homing Approach Speed
3FFFFFFFH 10-3 min-1 ately
reference/s
into 10-3min-1
500
Value
85 0 to Immedi-
PnB0A
4 Homing Creep Speed
3FFFFFFFH 10-3 min-1 converted
ately
reference/s
into 10-3min-1
86 –1073741823 Immedi-
4 Final Travel Distance for Homing 1 reference unit 100
PnB0C to 1073741823 ately
Monitor Selection 1 0 to F –
0000H APOS
Command
0001H CPOS
Related
0002H PERR Parameters
0003H LPOS1
0004H LPOS2
0005H FSPD
0006H CSPD
87 Immedi-
4 0007H TRQ 1
PnB0E ately
0008H ALARM
0009H MPOS
000AH Reserved (Undefined value)
000BH Reserved (Undefined value)
000CH CMN1 (Common monitor 1)
000DH CMN2 (Common monitor 2)
000EH OMN1 (Optional monitor 1)
000FH OMN2 (Optional monitor 2)
Monitor Selection 2 – –
88 0000H Immedi-
4 0
PnB10 to Same as Monitor Selection 1. ately
000FH
∗6. Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the
output during operation.

10-40
 10 List of Parameters

(cont’d)
Parameter Units Factory When Classifica-
Size Name Setting Range
No. [Resolution] Setting Enabled tion
Monitor Selection for SEL_MON1
(CMN1) 0 to 6 –

0000H TPOS (Target position in the reference coordinates)

0001H IPOS (Reference position in the reference coordinates)
POS_OFSET (Offset value set in the set coordinates command
0002H
(POS_SET))
0003H TSPD (Target speed)
0004H SPD_LIM (Speed limit value)
0005H TRQ_LIM (Torque limit value)
SV_STAT
Monitor
Byte 1: Current communications phase
00H: Phase 0
01H: Phase 1
02H: Phase 2
03H: Phase 3
Byte 2: Current control mode
00H: Position control mode
01H: Speed control mode
02H: Torque control mode
Byte 3: Reserved
Byte 4: Expansion signal monitor
Bit Name Contents Value Setting
10 Processing status
Latch
0 detection not
for latch detection processed Command
89 Bit 0 LT_RDY1 specified by Immedi-
4 0 Related
PnB12 SVCMD_CTRL, During latch ately
1 detection Parameters
LT_REQ1
processing
Latch
Processing status 0 detection not
for latch detection processed
0006H Bit 1 LT_RDY1 specified by
SVCMD_CTRL, During latch
LT_REQ2 1 detection
processing
0 Phase C
External
1
input signal 1
Bit 2,
LT_SEL1R Latch signal External
Bit 3 2
input signal 2
External
3
input signal 3
0 Phase C
External
1
input signal 1
Bit 4,
LT_SEL2R Latch signal External
Bit 5 2
input signal 2
External
3
input signal 3
Bit 6 Reserved (0)

10-41
 10 List of Parameters

(cont’d)
Parameter Units Factory When Classifica-
Size Name Setting Range
No. [Resolution] Setting Enabled tion
Monitor Selection for SEL_MON2
0 to 6 –
(CMN2)
8A Immedi-
4 0000H 0
PnB14 ately
to Same as Monitor Selection for SEL_MON1.
0006H
8B Immedi-
4 Origin Detection Range 0 to 250 1 reference unit 10
PnB16 ately
8C Immedi-
4 Forward Torque Limit 0 to 800 1% 100
PnB18 ately
8D Immedi-
4 Reverse Torque Limit 0 to 800 1% 100
PnB1A ately
8E 1000 to Immedi-
PnB1C
4 Zero Speed Detection Range
10000000 10-3 min-1 20000 ately
8F Speed Coincidence Signal Output Immedi-
PnB1E
4
Width (read only)
0 to 100000 10-3 min-1 10000 ately
Servo Command Control Field
– –
Enabled/Disabled (read only)
Bit 0 CMD_PAUSE (1: Enabled)
Bit 1 CMD_CANCEL (1: Enabled) Command
Bit 2, 3 STOP_MODE (1: Enabled) Related
Parameters
Bit 4, 5 ACCFIL (1: Enabled)
Bit 6, 7 Reserved (0: Disabled)
Bit 8 LT_REQ1 (1: Enabled)
Bit 9 LT_REQ2 (1: Enabled)
Bit 10,
90 LT_SEL1 (1: Enabled)
11
PnB20
4 0FFF3F3FH –
Bit 12,
LT_SEL2 (1: Enabled)
13
Bit 14,
Reserved (0: Disabled)
15
Bit 16 to
SEL_MON1 (1: Enabled)
19
Bit 20 to
SEL_MON2 (1: Enabled)
23
Bit 24 to
SEL_MON3 (1: Enabled)
27
Bit 28 to
Reserved (0: Disabled)
31

10-42
 10 List of Parameters

(cont’d)
Parameter Units Factory When Classifica-
Size Name Setting Range
No. [Resolution] Setting Enabled tion

Servo Command Status Field

– 0
Enabled/Disabled (read only)

Bit 0 CMD_PAUSE_CMP (1: Enabled)

Bit 1 CMD_CANCEL_CMP (1: Enabled)
Bit 2, 3 Reserved (0: Disabled)
Bit 4, 5 ACCFIL (1: Enabled)
Bit 6, 7 Reserved (0: Disabled)
Bit 8 L_CMP1 (1: Enabled)
Bit 9 L_CMP2 (1: Enabled)
Bit 10 POS_RDY (1: Enabled)
91
PnB22
4 Bit 11 PON (1: Enabled) 0FFF3F33H –
Bit 12 M_RDY (1: Enabled)
Bit 13 SV_ON (1: Enabled)
Bit 14,
Reserved (0: Disabled)
15
Bit 16 to
SEL_MON1 (1: Enabled)
19
Bit 20 to
SEL_MON2 (1: Enabled)
23
Bit 24 to
SEL_MON3 (1: Enabled) Command
27
Related
Bit 28 to
Reserved (0: Disabled) Parameters
31

I/O Bit Enabled/Disabled (Output)

– –
(read only)

Bit
Reserved (0: Disabled)
0 to 3
Bit 4 V_PPI (1: Enabled)
Bit 5 P_PPI (1: Enabled)
Bit 6 P_CL (1: Enabled)
Bit 7 N_CL (1: Enabled)
Bit 8 G_SEL (1: Enabled)
92
PnB24
4
Bit 007F01F0H –
G_SEL (0: Disabled)
9 to 11
Bit 12 to
Reserved (0: Disabled)
15
Bit 16 to
BANK_SEL (1: Enabled)
19
Bit 20 to
SO1 to SO3 (1: Enabled)
22
Bit 23 Reserved (0: Disabled)
Bit 24 to
Reserved (0: Disabled)
31

10-43
 10 List of Parameters

(cont’d)
Parameter Units Factory When Classifica-
Size Name Setting Range
No. [Resolution] Setting Enabled tion

I/O Bit Enabled/Disabled (Input)

– –
(read only)

Bit 0 Reserved (0: Disabled)

Bit 1 DEC (1: Enabled)
Bit 2 P-OT (1: Enabled)
Bit 3 N-OT (1: Enabled)
Bit 4 EXT1 (1: Enabled)
Bit 5 EXT2 (1: Enabled)
Bit 6 EXT3 (1: Enabled)
Bit 7 ESTP (1: Enabled)
Bit 8 Reserved (0: Disabled)
Bit 9 BRK_ON (1: Enabled) Command
93
PnB26
4 Bit 10 P-SOT (1: Enabled) FF0FFEFEH – Related
Parameters
Bit 11 N-SOT (1: Enabled)
Bit 12 DEN (1: Enabled)
Bit 13 NEAR (1: Enabled)
Bit 14 PSET (1: Enabled)
Bit 15 ZPOINT (1: Enabled)
Bit 16 T_LIM (1: Enabled)
Bit 17 V_LIM (1: Enabled)
Bit 18 V_CMP (1: Enabled)
Bit 19 ZSPD (1: Enabled)
Bit 20 to
Reserved (0: Disabled)
23
Bit 24 to
I0_STS1 to 8 (1: Enabled)
31

10-44
 10 List of Parameters

10.2 Parameter Recording Table

Use the following table for recording parameters.

Note: Pn10B, Pn170, and Pn408 have two kinds of digits: the digit which does not need the restart after
changing the set- tings and the digit which needs the restart. The underlined digits of the factory setting
in the following table show the digit which needs the restart.

Factory When
Parameter Name
Setting Enabled
Pn000 0000 Basic Function Select Switch 0 After restart
Pn001 0000 Application Function Select Switch 1 After restart
Pn002 0011 Application Function Select Switch 2 After restart
Pn006 0002 Application Function Select Switch 6 Immediately
Pn007 0000 Application Function Select Switch 7 Immediately
Pn008 4000 Application Function Select Switch 8 After restart
Pn009 0010 Application Function Select Switch 9 After restart
Pn00B 0000 Application Function Select Switch B After restart
Pn00C 0000 Application Function Select Switch C After restart
Pn00D 0000 Application Function Select Switch D After restart

Pn081 0000 Maker setting -

Pn100 400 Speed Loop Gain Immediately
Pn101 2000 Speed Loop Integral Time Constant Immediately
Pn102 400 Position Loop Gain Immediately
Pn103 100 Moment of Inertia Ratio Immediately
Pn104 400 2nd Speed Loop Gain Immediately
2nd Speed Loop Integral Time Con-
Pn105 2000 Immediately
stant
Pn106 400 2nd Position Loop Gain Immediately
Pn109 0 Feedforward Gain Immediately
Pn10A 0 Feedforward Filter Time Constant Immediately
Application Function for Gain Select
Pn10B 0000
Switch −
Pn10C 200 Mode Switch (torque reference) Immediately
Pn10D 0 Mode Switch (speed reference) Immediately
Pn10E 0 Mode Switch (acceleration) Immediately
Pn10F 0 Mode Switch (position error) Immediately
Pn11F 0 Position Integral Time Constant Immediately
Pn121 100 Friction Compensation Gain Immediately
Pn122 100 2nd Gain for Friction Compensation Immediately
Pn123 0 Friction Compensation Coefficient Immediately
Friction Compensation Frequency
Pn124 0 Immediately
Correction
Friction Compensation Gain Correc-
Pn125 100 Immediately
tion
Pn131 0 Gain Switching Time 1 Immediately
Pn132 0 Gain Switching Time 2 Immediately
Pn135 0 Gain Switching Waiting Time 1 Immediately
Pn136 0 Gain Switching Waiting Time 2 Immediately

10-45
 10 List of Parameters

(cont’d)
Factory When
Parameter Name
Setting Enabled
Automatic Gain Changeover Related
Pn139 0000 Immediately
Switch 1
Pn13D 2000 Current Gain Level Immediately
Model Following Control Related
Pn140 0100 Immediately
Switch
Pn141 500 Model Following Control Gain Immediately
Model Following Control Gain Com-
Pn142 1000 Immediately
pensation
Model Following Control Bias
Pn143 1000 Immediately
(Forward Direction)
Model Following Control Bias
Pn144 1000 Immediately
(Reverse Direction)
Pn145 500 Vibration Suppression 1 Frequency A Immediately
Pn146 700 Vibration Suppression 1 Frequency B Immediately
Model Following Control Speed
Pn147 1000 Immediately
Feedforward Compensation
Pn148 500 2nd Model Following Control Gain Immediately
2nd Model Following Control Gain
Pn149 1000 Immediately
Compensation
Pn14A 800 Vibration Suppression 2 Frequency Immediately
Vibration Suppression 2 Compensa-
Pn14B 100 Immediately
tion
Pn14F 0011 Control Related Switch After restart
Anti-Resonance Control Related
Pn160 0010 Immediately
Switch
Pn161 1000 Anti-Resonance Frequency Immediately
Pn162 100 Anti-Resonance Gain Compensation Immediately
Pn163 0 Anti-Resonance Damping Gain Immediately
Anti-Resonance Filter Time Con-
Pn164 0 Immediately
stant 1 Compensation
Anti-Resonance Filter Time Con-
Pn165 0 Immediately
stant 2 Compensation
Pn170 1401 Tuning-less Function Related Switch −
Pn205 65535 Multiturn Limit Setting After restart
Pn207 0010 Position Control Function Switch After restart
Pn20A 32768 Maker setting -
Pn20E 1 Electronic Gear Ratio (Numerator) After restart
Pn210 1 Electronic Gear Ratio (Denominator) After restart
Pn212 2048 Encoder Output Pulses After restart

Pn22A 0000 Maker setting -

Position Control Expanded Function
Pn230 0000 After reset
Switch
Pn231 0 Backlash Compensation Value Immediately
Backlash Compensation Time Con-
Pn233 0 Immediately
stant
Pn281 20 Maker setting -
Pn304 500 JOG Speed Immediately
Pn305 0 Soft Start Acceleration Time Immediately

10-46
 10 List of Parameters

(cont’d)
Factory When
Parameter Name
Setting Enabled
Pn306 0 Soft Start Deceleration Time Immediately
Pn310 0000 Vibration Detection Switch Immediately
Pn311 100 Vibration Detection Sensibility Immediately
Pn312 50 Vibration Detection Level Immediately
Moment of Inertia Calculating Start
Pn324 300 Immediately
Level
Torque Reference Filter Time
Pn401 100 Immediately
Constant
Pn402 800 Forward Torque Limit Immediately
Pn403 800 Reverse Torque Limit Immediately
Pn404 100 Forward External Torque Limit Immediately
Pn405 100 Reverse External Torque Limit Immediately
Pn406 800 Emergency Stop Torque Immediately
Pn407 10000 Speed Limit during Torque Control Immediately
Pn408 0000 Torque Related Function Switch −
Pn409 5000 1st Notch Filter Frequency Immediately
Pn40A 70 1st Notch Filter Q Value Immediately
Pn40B 0 1st Notch Filter Depth Immediately
Pn40C 5000 2nd Notch Filter Frequency Immediately
Pn40D 70 2nd Notch Filter Q Value Immediately
Pn40E 0 2nd Notch Filter Depth Immediately
2nd Step 2nd Torque Reference Filter
Pn40F 5000 Immediately
Frequency
2nd Step 2nd Torque Reference Filter
Pn410 50 Immediately
Q Value
1st Step 2nd Torque Reference Filter
Pn412 100 Immediately
Time Constant
Pn415 0 Reserved −
Pn423 0000 Reserved −
Torque Limit at Main Circuit Voltage
Pn424 50 Drop Immediately
Release Time for Torque Limit at
Pn425 100 Immediately
Main Circuit Voltage Drop
Pn456 15 Sweep Torque Reference Amplitude Immediately
Pn460 0101 Notch Filter Adjustment Switch Immediately
Pn501 10 Zero Clamp Level Immediately
Pn502 20 Rotation Detection Level Immediately
Speed Coincidence Signal Output
Pn503 10 Immediately
Width
Lock Reference - Servo OFF Delay
Pn506 0 Time Immediately
Pn507 100 Lock Reference Output Speed Level Immediately
Waiting Time for Lock Signal When
Pn508 50 Immediately
Motor Running
Pn509 20 Instantaneous Power Cut Hold Time Immediately
Pn50A 1881 Input Signal Selection 1 After restart
Pn50B 8882 Input Signal Selection 2 After restart
Pn50E 0000 Output Signal Selection 1 After restart

10-47
 10 List of Parameters

(cont’d)
Factory When
Parameter Setting Name
Enabled

Pn50F 0100 Output Signal Selection 2 After restart

Pn510 0000 Output Signal Selection 3 After restart
Pn511 6543 Input Signal Selection 5 After restart
Pn512 0000 Output Signal Inverse Setting After restart
Pn517 0000 Reserved –
Excessive Error Level Between
Pn51B 1000 Immediately
Servomotor and Load Positions
Excessive Position Error Warning
Pn51E 100 Level Immediately
Excessive Position Error Alarm
Pn520 5242880 Level Immediately

Pn522 7 Positioning Completed Width Immediately

Pn524 1073741824 NEAR Signal Width Immediately
Excessive Position Error Alarm
Pn526 5242880 Level at Servo ON Immediately
Excessive Position Error Warning
Pn528 100 Level at Servo ON Immediately

Pn529 10000 Speed Limit Level at Servo ON Immediately

Multiplier per One Fully-
Pn52A 20 closed Rotation Immediately

Pn52B 20 Overload Warning Level Immediately

Derating of Base Current at Detecting
Pn52C 100 After restart
Overload of Motor
Pn52D 50 Reserved -
Pn52F 0FFF Reserved -
Pn530 0000 Program JOG Operation Related Immediately
Switch
Pn531 32768 Program JOG Movement Distance Immediately
Pn533 500 Program JOG Movement Speed Immediately
Program JOG
Pn534 100 Acceleration/Deceleration Time Immediately

Pn535 100 Program JOG Waiting Time Immediately

Number of Times of Program JOG
Pn536 1 Immediately
Movement
Pn550 0 Analog Monitor 1 Offset Voltage Immediately
Pn551 0 Analog Monitor 2 Offset Voltage Immediately
Pn552 100 Analog Monitor Magnification (1) Immediately
Pn553 100 Analog Monitor Magnification (2) Immediately
Pn560 400 Remained Vibration Detection Width Immediately
Pn561 100 Overshoot Detection Level Immediately
Pn600 0 Regenerative Resistor Capacity ∗2
Immediately
Pn601 0 Reserved -
Pn800 1040 Communications Control Immediately
Application Function Select 6
Pn801 0003 Immediately
(Software LS)
Pn803 10 Origin Range Immediately
Pn804 1073741823 Forward Software Limit Immediately
Pn806 -1073741823 Reverse Software Limit Immediately

10-48
 10 List of Parameters

(cont’d)
Factory When
Parameter Setting Name
Enabled
Immediately
Pn808 0 Absolute Encoder Origin Offset
∗1
Immediately
Pn80A 100 1st Linear Acceleration Constant
∗2
Immediately
Pn80B 100 2nd Linear Acceleration Constant
∗2
Acceleration Constant Switching Immediately
Pn80C 0
Speed ∗2
Immediately
Pn80D 100 1st Linear Deceleration Constant
∗2
Immediately
Pn80E 100 2nd Linear Deceleration Constant
∗2
Deceleration Constant Switching Immediately
Pn80F 0
Speed ∗2
Exponential Function Acceleration/ Immediately
Pn810 0
Deceleration Bias ∗2
Exponential Function Acceleration/ Immediately
Pn811 0
Deceleration Time Constant ∗2
Immediately
Pn812 0 Movement Average Time
∗2
Final Travel Distance for External Immediately
Pn814 100
Positioning ∗2
Immediately
Pn816 0000 Homing Mode Setting
∗2
Homing Approach Speed Immediately
Pn817 50
(Homing Approach Speed 1) ∗2
Homing Creep Speed Immediately
Pn818 5
(Homing Approach Speed 2) ∗2
Pn819 100 Final Travel Distance for Homing Immediately∗2
Pn81E 0000 Input Signal Monitor Selection Immediately
Pn81F 0010 Command Data Allocation After restart
Pn820 0 Forward Latching Allowable Area Immediately
Pn822 0 Reverse Latching Allowable Area Immediately
Pn824 0000 Option Monitor 1 Selection Immediately
Pn825 0000 Option Monitor 2 Selection Immediately
Linear Deceleration Constant 1 for Immediately
Pn827 100
Stopping ∗2
SVOFF Waiting Time (SVOFF at
Pn829 0 Immediately
deceleration to stop)
Pn82A 1813 Option Field Allocation 1 After restart
Pn82B 1D1C Option Field Allocation 2 After restart
Pn82C 1F1E Option Field Allocation 3 After restart
Pn82D 0000 Option Field Allocation 4 After restart
Pn82E 0000 Option Field Allocation 5 After restart
Pn833 0000 Motion Setting After restart

Pn834 100 1st Linear Acceleration Constant 2 Immediately∗2

∗1. Enabled after the SENS_ON is entered.
∗2. Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the
output during operation.

10-49
 10 List of Parameters

(cont’d)
Factory When
Parameter Name
Setting Enabled
Pn836 100 2nd Linear Acceleration Constant 2 Immediately∗2
Acceleration Constant Switching Immediately
Pn838 0
Speed 2 ∗2
Pn83A 100 1st Linear Deceleration Constant 2 Immediately∗2
Pn83C 100 2nd Linear Deceleration Constant 2 Immediately∗2
Deceleration Constant Switching Immediately
Pn83E 0
Speed 2 ∗2
Linear Deceleration Constant 2 for Immediately
Pn840 100
Stopping ∗2
Homing Approach Speed (Homing Immediately
Pn842 0
Approach Speed12) ∗2
Homing CreepSpeed (Homing Immediately
Pn844 0
Approach Speed 22) ∗2
Pn850 0 Latch Sequence Number Immediately
Pn851 0 Continuous Latch Count Immediately
Pn852 0000 Latch Sequence Signal 1 to 4 Setting Immediately
Pn853 0000 Latch Sequence Signal 5 to 8 Setting Immediately
SVCMD_IO (input signal monitor)
Pn860 0000 Immediately
Allocation 1
SVCMD_IO (input signal monitor)
Pn861 0000 Immediately
Allocation 2
SVCMD_IO (input signal monitor)
Pn862 0000 Immediately
Allocation 3
SVCMD_IO (input signal monitor)
Pn863 0000 Immediately
Allocation 4
SVCMD_IO (input signal monitor)
Pn864 0000 Immediately
Allocation 5
SVCMD_IO (input signal monitor)
Pn865 0000 Immediately
Allocation 6
SVCMD_IO (input signal monitor)
Pn866 0000 Immediately
Allocation 7
SVCMD_IO (output signal monitor)
Pn868 0000 Immediately
Allocation 1
SVCMD_IO (output signal monitor)
Pn869 0100 Immediately
Allocation 2
Station Address Monitor
Pn880 0 Immediately
(for maintenance, read only)
Setting Transmission Byte Monitor
Pn881 0 Immediately
[byte] (for maintenance, read only)
Transmission Cycle Setting Monitor
Pn882 0 [0.25 μs] Immediately
(for maintenance, read only)
Communications Cycle Setting
Pn883 0 Monitor [x transmission cycle] Immediately
(for maintenance, read only)
MECHATROLINK Receive Error
Pn88A 0 Counter Monitor Immediately
(for maintenance, read only)
∗2. Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the
output during operation.

10-50
 10 List of Parameters

(cont’d)
Factory When
Parameter Name
Setting Enabled
Command Data Monitor at Alarm/
Pn890 to
0 Warning Occurs Immediately
Pn8A6
(for maintenance, read only)
Response Data Monitor at Alarm/
Pn8A8 to
0 Warning Occurs Immediately
Pn8BE
(for maintenance, read only)
Pn900 0 Parameter Bank Number After restart
Pn901 0 Parameter Bank Member Number After restart
Pn902 to
0 Parameter Bank Member Definition After restart
Pn910
Pn920 to Parameter Bank Data (nonvolatile
0 Immediately
Pn95F memory save disabled)
01
– Encoder Type (read only) –
PnA02
02
– Motor Type (read only) –
PnA04
03 Semi-closed/Fully-closed Type (read
– –
PnA06 only
04
– Rated Speed (read only) –
PnA08
05
– Maximum Output Speed (read only) –
PnA0A
06
– Speed Multiplier (read only) –
PnA0C
07
– Rated Torque (read only) –
PnA0E
08
– Maximum Output Torque (read only) –
PnA10
09
– Torque Multiplier (read only) –
PnA12
0A
– Resolution (read only) –
PnA14
21
1 Electronic Gear Ratio (Numerator) After restart
PnA42
22
1 Electronic Gear Ratio (Denominator) After restart
PnA44
23
PnA46
0 Absolute Encoder Origin Offset Immediately∗1

24
65535 Multiturn Limit Setting After restart
PnA48
25
0000H Limit Setting After restart
PnA4A
26
1073741823 Forward Software Limit Immediately
PnA4C
27
0 Reserved (Do not use.) Immediately
PnA4E
28 -
Reverse Software Limit Immediately
PnA50 1073741823
∗1. Available after the SENS_ON command is input.
Note: When using parameters that are enabled after restarting the DRIVER, a CONFIG command must be
input or the power must be turned OFF and then ON again.

10-51
 10 List of Parameters

(cont’d)
Factory When
Parameter Name
Setting Enabled
29
0 Reserved (Do not use.) Immediately
PnA52
41
0 Speed Unit After restart
PnA82
42
0 Speed Base Unit After restart
PnA84
43
0 Position Unit After restart
PnA86
44
0 Position Base Unit After restart
PnA88
45
0 Acceleration Unit After restart
PnA8A
46
4 Acceleration Base Unit After restart
PnA8C
47
1 Torque Unit After restart
PnA8E
48
0 Torque Base Unit After restart
PnA90
49
0601011FH Compliance Unit System (read only) –
PnA92
61
40000 Speed Loop Gain Immediately
PnAC2
62
20000 Speed Loop Integral Time Constant Immediately
PnAC4
63
40000 Position Loop Gain Immediately
PnAC6
64
0 Feedforward Compensation Immediately
PnAC8
65
0 Position Loop Integral Time Constant Immediately
PnACA
66
7 Positioning Completed Width Immediately
PnACC
67
1073741824 NEAR Signal Width Immediately
PnACE
81 Exponential Function Accel/Decel
PnB02
0
Time Constant Immediately∗2

82
PnB04
0 Movement Average Time Immediately∗2

83 Final Travel Distance for External

100 Immediately
PnB06 Positioning
5000
Value con-
84
verted refer- Homing Approach Speed Immediately
PnB08 ence/s into
10-3 min-1
∗2. Change the setting when the reference is stopped (DEN is set to 1), because the change will affect the
output during operation.
Note: When using parameters that are enabled after restarting the DRIVER, a CONFIG command must be input or the
power must be turned OFF and then ON again.

10-52
 10 List of Parameters

(cont’d)
Factory When
Parameter Name
Setting Enabled
500
Value con-
85
verted refer- Homing Creep Speed Immediately
PnB0A ence/s into
10-3 min-1
86
100 Final Travel Distance for Homing Immediately
PnB0C
87
1 Monitor Selection 1 Immediately
PnB0E
88
0 Monitor Selection 2 Immediately
PnB10
89 Monitor Selection for SEL_MON1
0 Immediately
PnB12 (CMN1)
8A Monitor Selection for SEL_MON2
0 Immediately
PnB14 (CMN2)
8B
10 Origin Detection Range Immediately
PnB16
8C
100 Forward Torque Limit Immediately
PnB18
8D
100 Reverse Torque Limit Immediately
PnB1A
8E
20000 Zero Speed Detection Range Immediately
PnB1C
8F Speed Coincidence Signal Output
10000 Immediately
PnB1E Width (read only)
90 Servo Command Control Field
0FFF3F3FH –
PnB20 Enabled/Disabled (read only)
91 Servo Command Status Field
0FFF3F33H –
PnB22 Enabled/Disabled (read only)
92 I/O Bit Enabled/Disabled (Output)
007F01F0H –
PnB24 (read only)
93 I/O Bit Enabled/Disabled (Input)
FF0FFEFEH –
PnB26 (read only)

10-53
 Revision history
No.LEC-OM07101
Feb./2014 1st printing
No.LEC-OM07102
Aug./2014 2nd printing
Correction of words
No.LEC-OM07103 (No.JXC※-OMT0066)
Jan./2017 3nd printing
Correction of words

4-14-1, Sotokanda, Chiyoda-ku, Tokyo 101-0021 JAPAN

Tel: + 81 3 5207 8249 Fax: +81 3 5298 5362
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Note: Specifications are subject to change without prior notice and any obligation on the part of the manufacturer.
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