M0008338E

TYPE S
Built-in Positioning Function Model
For Rotary Motor
 Preface
This product corresponds with the shipping regulations given in the Export Trade Control
Ordinance (Table 1, item 16) and the Foreign Exchange Ordinance (Table 1, item 16). When
these products are exported by customers, and when exported including the other freight or
together with other freight, it is recommended to fulfill the requirements related to Security Export
Control with the relevant authorities, including “Information Requirements” and “Objective
Requirements.”

This manual outlines the functions, wiring, installation, operations, maintenance, specifications,
etc. of the AC servo amplifier “R” Series Type S, positioning built-in type. The “R” Series Type
S AC servo amplifier system, positioning built-in type is compatible with a wide variety of
various applications requiring low, medium or high capacity, high efficiency, reduced footprint,
and excellent cost performance.
This product was developed to offer a series of servo motors that are easy to use and offer
excellent functionality in an AC servo motor. It fulfills various needs, such as the downsizing of
the control panel, and offers compatability for a wide range of applications requiring a servo
motor.

Ì Precautions related to this Instruction Manual

・ In order to fully understand the functions of AC servo amplifier “R” Series Type S, positioning
built-in type, please read this instruction manual thoroughly before using it.
・ After reading this manual thoroughly, please keep it handy for reference.
・ Please contact the dealre or sales representative if there are defects such as nonconsecutive
pages, missing pages or if the manual is lost or damaged.
・ Carefully and completely follow the safety instructions outlined in this manual. Please note
that safety is not guaranteed for usage methods other than those specified in this manual or
usage methods intended for the original product.
・ The contents of this manual may be modified without prior notice, as revisions or additions are
made in the usage method of this product. Modifications are performed per the revisions of
this manual.
・ Permission is granted to reproduce or omit part of the attached figures (as abstracts) for use.
・ Although the manufacturer has taken all possible measures to ensure the veracity of the
contents of this manual, if you should notice any error or ommission, please notify the dealer
or sales office of the finding.
 【Safety Precautions】
This chapter is a summary of the safety precautions regarding the use of the R-series type-S, positioning built-in
type amplifier.
Please read this entire manual carefully prior to installing, operating, performing maintenance or inspecting this
device to ensure proper use.
Use this device only after learning about its operation, safety information, and the precautions related to its
use. After reading the User Manual, etc., keep it in a location where it is always available to the user for easy
reference.

The R-series servo amplifiers and servo motors were designed for use with general industrial equipment. The
following instructions should be followed:

■ Read the User Manual carefully before any installation or assembly work to ensure proper use.
■ Do not perform any retrofitting or modification of the product.
■ Consult with your sale representatives or a trained professional technician regarding the
installation and maintenance of these devices.
■ Special consideration, such as redundant services or an emergency generator, is required when
operating, maintaining and controlling devices in certain applications related to human safety or
public functions. Contact your distributor or sales office if you intend to use these devices in
applications such as;
* In medical instruments or systems used for life support;
* With control systems for trains or elevators, the failure of which could cause bodily injury;
* In computer systems of social or public importance;
* In other equipment or systems related to human safety or public infrastructure.

■ Additionally, please contact your distributor or sales office if the device is to be used in an
environment where vibration is present, such as in-vehicle or transport applications.
Safety Precautions [Make sure to follow]
This documentation uses the following annotation. Make sure to strictly follow these safety precautions.

■ Safety Precautions and symbols

Safety Precautions symbols

Danger
Denotes immediate hazards that will probably cause
/Injury
Danger severe bodily injury or death as a result of incorrect
operation. Electric shock

Caution
Denotes hazards that could cause bodily injury and
product or property damage as a result of incorrect
Caution operation. Even those hazards denoted by this
Fire
symbol could lead to a serious accident.
Burn

Prohibited
Indicates actions that must be carried out.
Prohibited (Mandatory actions). Disassembly
prohibited
Indicates actions that must not be allowed to occur.
Mandatory (Prohibited actions)
Mandatory

Danger

Do not use this device in explosive Do not touch the inside of the amplifier.
environment.

Injury or fire could otherwise result. Electric shock could otherwise

result.

Do not perform any wiring, maintenance or Only technically qualified personnel

inspection when the device is hot-wired. After should transport, install, wire, operate, or
switching the power off, wait at least 5 perform maintenance and inspection on this
minutes before performing these tasks. device.

Electric shock could otherwise result. Electric shock, injury or fire could
otherwise result.

The protective ground terminal ( ) Do not damage the cable, do not apply
should always be grounded to the control box unreasonable stress to it, do not place heavy
or equipment. The ground terminal of the items on it, and do not insert it in between
motor should always be connected to the objects.
protective ground
terminal ( ) of the amplifier.

Electric shock could otherwise result. Electric shock could otherwise result.

1
Safety Precautions [Make sure to follow]

Danger

Wiring should be done based on the Do not touch the rotating part of the motor
wiring diagram or the user manual. during operation.

Electric shock or fire could otherwise Bodily injury could otherwise result.
result.

Do not touch or get close to the terminal and Do not unplug the terminal and the connector
the connector while the device is powered up. while the device is powered up.

Electric shock could otherwise result. Electric shock could otherwise result.

Caution

Please read the User Manual carefully before Do not use the amplifier or the motor outside
installation, operation, maintenance or their specifications.
inspection, and perform these tasks according
to the instructions.

Electric shock, injury or fire could Electric shock, injury or damage to

otherwise result. the device could otherwise result.

Do not use the defective, damaged and burnt Use the amplifier and motor together in the
amplifier or the motor. specified combination.

Injury or fire could otherwise result. Fire or damage to the device could
otherwise result.

Be careful of the high temperatures generated Open the box only after checking its top and
by the amplifier/motor and the peripherals. bottom location.

Burn could otherwise result. Bodily injury could otherwise result.

2
Safety Precautions [Make sure to follow]

Caution

Verify that the products correspond to the Do not impress static electricity, the high
order sheet/packing list. voltage, etc. to the cable for encoders of the
If the wrong product is installed, injury or servo motor.
damage could result.

Injury or damage could result. Damage to the device could

otherwise result.

Do not measure the insulation resistance and Wiring should follow electric equipment
the pressure resistance. technical standards and indoor wiring
regulations.

Damage to the device could An electrical short or fire could

otherwise result. otherwise result.

Wiring connections must be secure.

Motor interruption or bodily injury

could otherwise result.

Do not place heavy objects on top of it or Do not obstruct the air intake and exhaust
stand on the device. vents, and keep them free of debris and
foreign matter.
Bodily injury could otherwise result.
Fire could otherwise result.

Make sure the mounting orientation is correct. Put the distance according to the manual in
the array in the control board of the servo
amplifier.

Fire or damage to the device could Damage to the device could

otherwise result. otherwise result.

Do not subject the device to excessive shock Secure the device against falling, overturning,
or vibration. or shifting inadvertently during installation.

Damage to the device could

otherwise result. Use the hardware supplied with the
motor (if applicable).

Do not expose the device to water, corrosive Install the device on a metal or other
or flammable gases, or any flammable non-flammable support.
material.

Fire or damage to the device could Fire could otherwise result.

otherwise result.

3
Safety Precautions [Make sure to follow]

Caution

There is no safeguard on the motor. Use an Do not touch the radiation fin of the amplifier,
over-voltage safeguard, short-circuit breaker, the regenerative resistor, or the motor while
overheating safeguard, and emergency stop the device is powered up, or immediately after
to ensure safe operation. switching the power off, as these parts
generate excessive heat.

Injury or fire could otherwise result. Burn could otherwise result.

In the case of any irregular operation, stop the Do not perform extensive adjustments to the
device immediately. device as they may result in unstable
operation.

Electric shock, injury or fire could Bodily injury could otherwise result.
otherwise result.

Trial runs should be performed with the motor The holding brake is not to be used as a
in a fixed position, separated from the safety stop for the mechanism. Install a safety
mechanism. After verifying successful stop device on the mechanism.
operation, install the motor on the mechanism.

Bodily injury could otherwise result. Bodily injury could otherwise result.

In the case of an alarm, first remove the cause Make sure the input power supply voltage is in
of the alarm, and then verify safety. Next, reset or less than the specification range.
the alarm and restart the device.

Bodily injury could otherwise result. Damage to the device could

otherwise result

Avoid getting close to the device, as a Standard specification servo amplifiers have a
momentary power outage could cause it to dynamic brake resistor. Do not rotate the
suddenly restart (although it is designed to be motor continuously from the outside when the
safe even in the case of a sudden restart). amplifier is not powered on, because the
dynamic brake resistor will heat up, and can
be dangerous.

Bodily injury could otherwise result. Fire or burn could otherwise result.

Be careful during maintenance and inspection, It is recommended to replace the electrolytic

as the body of the amplifier becomes hot. capacitors in the amplifier after 5 years, if used
at an average temperature of 40°C year
round.

Burn could otherwise result. Damage to the device could

otherwise result.

4
Safety Precautions [Make sure to follow]

Caution

Please contact your distributor or sales office if Make sure the device does not fall, overturn,
repairs are necessary. or move inadvertently during transportation.
Disassembly could render the device
inoperative.

Damage to the device could Bodily injury could otherwise result.

otherwise result.

Do not hold the device by the cables or the If the amplifier or the motor is no longer in use,
shaft while handling it. it should be discarded as industrial waste.

Damage to the device or bodily injury

could otherwise result.

Prohibited

Do not store the device where it could be The built-in brake is intended to secure the
exposed to rain, water, toxic gases or other motor; do not use it for regular control.
liquids. Damage to the brake could otherwise result.

Damage to the device could Damage to the device could

otherwise result. otherwise result.

Do not overhaul the device. Do not remove the nameplate cover attached
to the device.
Fire or electric shock could otherwise
result.

5
Safety Precautions [Make sure to follow]

Mandatory

Avoid direct sunlight and keep it by Please contact our office if the amplifier is to be
temperature and humidity within the range of stored for a period of 3 years or longer.
the specification. { - 20°C to + 65°C，below The capacity of the electrolytic capacitors
90% RH (non-condensing)}. decreases during long-term storage, and
could cause damage to the device.

Damage to the device could

otherwise result.

Install an external emergency stop circuit and Operate within the specified temperature and
enable it to stop the device and cut off the humidity range
power supply immediately. Install an external Amplifier:
protective circuit to the amplifier to cut off the Temperature 0°C to 55°C,
power from the main circuit in the case of an Humidity below 90% RH (non-condensing).
alarm. Motor:
Temperature 0°C to 40°C,
Humidity below 90%RH (non-condensing).

Motor interruption, bodily injury, Burnout or damage to the device

burnout, fire and secondary could otherwise result.
damages could otherwise result.

Follow the directions written on the outside The motor angling bolts are used for
box. Excess stacking could result in collapse. transporting the motor. Do not use them for
transporting the machinery, etc.

Bodily injury could otherwise result. Damage to the device or bodily injury
could otherwise result.

6
[Table of Contents]
[1 Prior to use] [5 Parameters]
Product verification ································································1-1 Parameter List ······································································· 5-1
Servo motor model number ··················································1-2 Parameter setting value【Group0】···································· 5-6
Servo amplifier model number··············································1-4 Parameter setting value【Group1】···································· 5-7
Servo amplifier part names ···················································1-8 Parameter setting value【Group2】···································· 5-9
Servo motor part names······················································1-10 Parameter setting value【Group3】·································· 5-10
Parameter setting value【Group4】·································· 5-12
[2 Installation] Parameter setting value【Group8】·································· 5-13
Servo amplifier·······································································2-1 Parameter setting value【Group9】·································· 5-15
Mounting direction and location ········································2-3 Parameter setting value【GroupA】·································· 5-17
Arrangement within the control machine··························2-3 Parameter setting value【GroupB】·································· 5-21
Servo motor ···········································································2-4 Parameter setting value【GroupC】 ································· 5-23
Mounting method·······························································2-4 Parameter setting value【GroupD】 ································· 5-24
Waterproofing and dust proofing ······································2-5 Parameter setting value【system parameter】················· 5-25
Protective cover installation···············································2-5
Gear installation·································································2-6 [6 Operations]
Integration with the target machinery································2-6 Procedure prior to operation ················································· 6-1
Allowable bearing load ······················································2-8 Confirmation of installation and wiring·································· 6-3
Cable installation considerations ······································2-9 Confirmation and change of servo amplifier specifications··················· 6-4
Confirmation & Change of servo motor encoder specification··············· 6-5

[3 Wiring] Confirmation & Change of servo motor model number······· 6-6

Packaged Wiring Diagram ··················································3-1 Confirmation of I/O signal and Unit operations ···················· 6-7
High Voltage Circuit; Terminal Name and Function·············3-5 Operation sequence······························································ 6-8
Wiring Example of High Voltage Circuit･Protective Circuit··3-7 Error sequence···································································· 6-11
Low Voltage Circuit/Description of CN Terminal··················3-9 Explanation of state display mode······································ 6-12
Low Voltage Circuit/CN1 Overall Wiring·····························3-11
Low Voltage Circuit/Wiring Example of CN1 Input Circuit·3-12
Low Voltage circuit/CN2 Wiring･Wire-saving
[7 Adjustment･Functions]
incremental encoder····························································3-14 Servo gain tuning ·································································· 7-1
Low Voltage circuit/CN2 Wiring･Battery [Functions of Group 8][Deviation clearance]························ 7-7
backup method absolute encoder and others····················3-15 [Functions of Group 8][Sequence operation torque restrictions]·············7-8
Low Voltage circuit/CN2 Wiring･Absolute [Functions of Group 8][Near range]······································ 7-9
encoder with incremental output·········································3-16 [Functions of Group 8][Velocity setting]······························ 7-10
Low Voltage circuit/CN2 Wiring･Request [Functions of Group 9][Gain switch over] ··························· 7-12
method absolute encoder····················································3-17 [Functions of Group B][Holding brake holding delay time]·················· 7-14
Power Supply･Peripherals··················································3-18 [Functions of Group B][Following Error Warning･
Wire diameter ······································································3-20 Deviation counter overflow･Overload warning] ················· 7-16
How to process CN1/CN2 shields ······································3-22 [Functions of Group C][Digital filter･External encoder polarity]············ 7-17
[Functions of Group C][Encoder division･Encoder clear]··················· 7-18

[4 Positioning Functions] [Monitor][Analog monitor]···················································· 7-19

CN1 I/O Signal·······································································4-1 [Monitor] [Digital monitor] [Displayed monitor list]············ 7-20
Parameter GroupD List ·······················································4-15 Description of operation tracing function···························· 7-22
Explanation of Parameter GroupD ·····································4-19
Explanation of Point Data····················································4-31
Performance by External Operation Input··························4-46
External data setting····························································4-54
Setting mandatory parameters ···········································4-55
Explanation of Infinite Revolving Specification···················4-61
Explanation of JOG with specific position stop ··················4-64
Explanation of CFZ external data setting function ·············4-67
[8 Maintenance] [Options]
Trouble Shooting ···································································8-1 Metal mounting fittings ··························································· 66
Alarm List ···············································································8-3 Monitor box············································································· 70
Troubleshooting when alarms occur·····································8-5 Lithium battery･EMC kit ························································· 71
Troubleshooting when errors occur ····································8-26
Troubleshooting by history ··················································8-27 [Encoder Clear]
About Code of status history···············································8-28 Encoder clear/ reset method·················································· 72
Inspection/Parts overhaul····················································8-29

[9 Specifications]
Servo amplifier·······································································9-1
Servo motor general specifications·······································9-4
Mechanical specifications of servo motor·····························9-5
Holding brake specifications ·················································9-7

[Materials]
[Selection Details]
Time of Acceleration and Deceleration/Permitted Repetition ···················· 1
Permitted Repetition································································· 2
Loading Precaution··································································· 3
Dynamic Brake ········································································· 4
Regeneration Process······························································ 7
Calculation Method of Regeneration Power by Operations along
Horizontal Axis··············································································· 8
Calculation Method of Regeneration Power by Operations along
Vertical Axis ·················································································· 9
Confirmation Method of Regeneration Power······················· 10
External regenerative resistor ················································ 11
External Regenerative Resistor Dimension ·························· 15

[International Standards]
International standards conformity··············································· 18
Compliance with EC Directives ·························································· 20

[Dimensions]
Servo amplifiers ······································································ 24
Servo motors ·········································································· 32

[Servo motor data sheet]

Characteristics table ······························································· 37
Velocity-Torque characteristics·············································· 42

[Digital Operator]
Names and Functions ···························································· 50
Changing Modes ···································································· 52
Monitor mode operations and display···································· 53
Basic Parameter Mode Operations and Display··················· 56
General parameter mode operations and display················· 58
Auto-adjustment mode operations and display····················· 60
Test run mode operations and display ·································· 61
System parameter mode operations and display ················· 63
Alarm trace/CPU Ver. mode operations and display ············ 64
Password Setting···································································· 65
1
[Prior to Use]
‹ Product verification····················································1-1

‹ Servo motor model number ······································1-2

‹ Servo amplifier model number··································1-4

‹ Servo amplifier part names ·······································1-8

‹ Servo motor part names ·········································1-10

1.Prior to Use [Product verification]

■ Verify the followings when the product arrives. If you find any discrepancy, contact your
distributor or sales office.

● Verify that the model number of the servo motor or servo amplifier is the same as ordered.
(The model number is located on the main name plate, following the word “MODEL”.)

● Verify that there are no abnormalities, such as damages to the exterior of the device, or missing
accessories.

● Verify that there are no loose screws on the servo motor or servo amplifier.

Servo motor

Servo motor main nameplate

AC SERVO SYSTEMS
Ｒ
MODEL R2AA06020FCP00MA
60W AC200V 0.53A Model No
3000min-1 3φ－・ CI.F IP40
SER No.090206001 2002
SANYO DENKI MADE IN JAPAN 00482921-01 Serial No

Servo amplifier Servo amp main nameplate

M TION

Model No.

Serial No

Interpretation of the serial number

Month (2 digits) + Year (2 digits) + Day (2 digits) + Serial number (4 digits) + Revision ("A" is abbreviated)

1-1
1. Prior to Use [Servo motor model number]
■ Interpretation of servo motor model number

Ｒ ２ ＡＡ ０６ ０２０ Ｆ Ｃ Ｐ ００ Ｍ Ａ

Gear identification
R-series A･･･Type A 1/3

Additional specification
Motor type identification
2: Medium inertia M･･･CE mark + UL supported
0･･･With decelerator
Specification identification /Without standards
00･･･Standard product None･･･Without decelerator
01･･･With Oil seal /Without standards

Voltage, Motor form

A･･･200V, A･･Standard flange Encoder type
E･･･100V, A･･Standard flange P･･･Battery backup method absolute encoder [PA035C]
H･･･Absolute encoder for incremental system [PA035S]

Flange angle Maximum rotational velocity Holding brake

Rated output
-1
dimensions F･･･6000min X･･･No brake
003･･･30W 020･･･200W
04･･･40, 42mm B･･･90 V brake
005･･･50W 040･･･400W
06･･･60mm C･･･24V brake
008･･･80W 075･･･750W
08･･･80, 86mm
010･･･100W

■ Encoder specifications

Type Within 1 rotation Multiple rotation Notes

PA035C 131072 (17bit) 65536(16bit) Battery backup method absolute encoder
PA035S 131072 (17bit) --- Absolute encoder for incremental system

To the customers using “Absolute encoder for incremental system”;

See the parameter set values for your servo amplifier in the table below and make sure to use them.

General parameter
Group Page Symbol Name Setting value Contents
C 00 ABS/INCSYS Position detection system choice 00:_Absolute Absolute system
C 08 ECLRFUNC Absolute Encoder Clear Function Selection 01:_Status Clear Only Encoder Status
Return-to-origin function of
D 41 Sw2 Function switch 2 Bit4 = 1: Available absolute encoder is necessary
to settle coordinate.

1-2
1. Prior to Use [Servo motor model number]
■ Interpretation of servo motor model number

Ｑ １ ＡＡ ０６ ０２０ Ｄ Ｃ Ｐ ００ Ｅ Ａ

Specification
identification Additional specification identification
Q-series 00 ･ ･ Standard E･･CE mark supported
product
U･･UL supported
M･･CE mark + UL supported
Motor type
1: Low inertia Encoder type
S･･･Wire-saving incremental encoder
2: Medium inertia [PP031/PP038/PP062]
3: High inertia D･･･Absolute encoder with incremental output
[PA035M]
P･･･Battery backup method absolute encoder Gear identification
[PA035C]
Voltage W･･･Absolute encoder without battery A･･･Type A 1/3
[RAO62C]
AA･･･200V
EA･･･100V
holding brake
X･･･No brake
Rated output
B･･･90 V brake
003･･･30W 050･･･500W 350･･･3.5kW
Flange angle dimensions C･･･24V brake
005･･･50W 075･･･750W 450･･･4.5kW
04･･･40､42mm 10･･･100mm
006･･･60W 100･･･1.0kW 550･･･5.5kW Maximum rotation speed
05･･･54mm 12･･･120mm -1 -1
010･･･100W 150･･･1.5kW 700･･･7.0kW S･･･1000min H･･･3000/3500min
06･･･60mm 13･･･130mm -1 -1
020･･･200W 200･･･2.0kW 11K･･･11kW M･･･1500min L･･･3000min
07･･･76mm 18･･･180mm -1 -1
030･･･300W 250･･･2.5kW 15K･･･15kW B･･･2000min D･･･4500/5000min
08･･･80､86mm 22･･･220mm -1 -1
040･･･400W 300･･･3.0kW 20K･･･20kW R･･･2500min F･･･6000min

■ Encoder specifications
・Incremental encoder
Type Resolution Flange angle dimensions Notes
PP031 8000/8192 P/R 40mm Min Wire-saving incremental encoder
PP038 4096 to 25000 P/R 42mm Min Wire-saving incremental encoder
PP062 8000/8192/20000/32768/40000 P/R 72mm Min Wire-saving incremental encoder
・Absolute encoder
Type Within 1 rotation Multiple rotation Notes
PA035C 131072(17bit) 65536(16bit) Battery backup method absolute encoder
PA035M 8192(13bit) --- Absolute encoder with incremental output
RA062C 131072(17bit) 8192(13bit) Absolute encoder without battery

To the customers using “Battery backup method absolute encoder” with incremental system;
See the parameter set values for your servo amplifier in the table below and make sure to use them.
General parameter
Group Page Symbol Name Setting value Contents
C 00 ABS/INCSYS Position detection system choice 01:_Incremental Absolute system
C 08 ECLRFUNC Absolute Encoder Clear Function Selection 01:_Status Clear Only Encoder Status
Return-to-origin function of
D 41 Sw2 Function switch 2 Bit4 = 1: Available absolute encoder is necessary
to settle coordinate.

1-3
1.Prior to Use [Servo amplifier model number]
■ Interpretation of servo amplifier model number (Full number)

ＲＳ１ Ａ ０１ Ａ Ｃ ０ ３４ Ａ３ Ｐ ００

Individual specification
R-series
00･･･Standard product
A1･･single phase specification
(AC200V)

Amplifier description
01･･･15A
Interface at control section
03･･･30A
S･･･Speed control type
05･･･50A
T･･･Torque control type
Motor combination marking
10･･･100A 0･･･Q,R series moor standard P･･･Position control type
15･･･150A combination
X･･･Speedtorque switch type
30･･･300A
Y･･･Positiontorque switch type
U･･･Positionspeed switch type
Motor type
A･･･rotary motor V･･･Internal speed control type

Code for encoder combination type

Control Hardware Identification
Details on next page
C…With Positioning Function

Code for combined motor type

Details on next page

Power input, power part details Model numbers by amplifier capacity

15A･･･RS1□01 50A･･･RS1□05 300A･･･RS1□30
Input Regenerati
DB 30A･･･RS1□03 100A･･･RS1□10
voltage ve resistor
150A･･･RS1□15
W L A ---
Built-in
W/O M B ---
AC200V
W A L A
---
W/O B M B
W N ---
Built-in
W/O P ---
AC100V
W E ---
---
W/O F ---

The design order is noted by alphabetical characters at the end of the Lot Number on the name plate.

1-4
1.Prior to Use [Servo amplifier model number]
■ Code for combined motor type
AC200V input AC100V input
Combined servo Servo motor Motor code Combined servo Servo motor Motor code Combined servo Servo motor Motor code Combined servo Servo motor Motor code
amplifier model amplifier model amplifier model amplifier model
number number number number
Q1AA04003D 31 Q1AA10100D 37 Q1AA13400D 3F Q1EA04003D 3S
Q1AA04005D 32 Q1AA10150D 38 Q1AA13500D 3G Q1EA04005D 3T
Q1AA04010D 33 Q1AA12100D 3B Q1AA18450M 3H Q1EA04010D 3U
Q1AA06020D 34 Q2AA08075D 4B Q2AA18350H 4L Q2EA04006D 4V
Q2AA04006D 41 Q2AA08100D 4C Q2AA18450H 4M Q2EA04010D 4W
Q2AA04010D 42 Q2AA10100H 4D Q2AA18550R 4N Q2EA05005D 4X
Q2AA05005D 43 Q2AA10150H 4E Q2AA22350H 4R Q2EA05010D 4Y
RS1L01A Q2AA05010D 44 RS1L05A Q2AA13100H 4G RS1L15A Q2AA22450R 4S RS1N01A R2EA04003F DP
RS1A01A Q2AA05020D 45 RS1A05A Q2AA13150H 4H RS1A15A Q2AA22550B 4T RS1E01A R2EA04005F DR
RS1M01A RS1M05A RS1M15A RS1P01A
RS1B01A Q2AA07020D 46 RS1B05A RS1B15A Q2AA22700S 4U RS1F01A R2EA04008F DW
Q2AA07030D 47 R2EA06010F DT
R2AA04003F D1
R2AA04005F D2
R2AA04010F D3
R2AA06010F D4
R2AA06020F D5
R2AA08020F DA
Q1AA06040D 35 Q1AA10200D 39 Q1AA18750H 3J Q1EA06020D 3V
Q1AA07075D 36 Q1AA10250D 3A Q2AA18550H 7M Q2EA05020D 4Z
Q2AA07040D 48 Q1AA12200D 3C Q2AA18750L 7N Q2EA07020D 71
RS1L03A RS1L10A RS1N03A
Q2AA07050D 49 Q1AA12300D 3D RS1L30A Q2AA2211KV 7R RE2EA6020F DU
RS1A03A RS1A10A RS1E03A
4A Q1AA13300D 3E RS1M30A Q2AA2215KV 7S
RS1M03A Q2AA08050D RS1M10A RS1P03A
RS1B03A Q2AA13050H 4F RS1B10A Q2AA13200H 4J RS1F03A
R2AA06040F D6 Q2AA18200H 4K
R2AA08040F D8 Q2AA22250H 4P
R2AA08075F D7

■ Code for combined encoder type

Wire-saving incremental encoder
Encoder
Measurement Resolution [P/R] Hard ID.
code
01 Optical 2000 A
02 Optical 6000 A
B2 Optical 10000 A

Battery backup method absolute encoder

Absolute encoder without battery
Encoder Multiple
Measurement Transmission format Resolution [P/R] Hard. ID. Remarks
code rotations
A3 Optical Half duplex start-stop synchronization 2.5M 17bit 16bit A
A4 Optical Half duplex start-stop synchronization 4.0M 17bit 16bit A Applicable to options
A7 Resolver Half duplex start-stop synchronization 2.5M 15bit -8192 A
A8 Resolver Half duplex start-stop synchronization 2.5M 17bit to A
A9 Resolver Half duplex start-stop synchronization 4.0M 15bit +8192 A Applicable to options
AA Resolver Half duplex start-stop synchronization 4.0M 17bit rotations A Applicable to options

Request method absolute encoder

Encoder Resolution Multiple
Measurement Transmission format Hard. ID. Remarks
code [P/R] rotations
AB Resolver Full duplex Manchester 1.0M 15bit 13bit Ｈ
AC Resolver Full duplex Manchester 2.0M 15bit 13bit Ｈ

Absolute encoder with incremental output

Encoder Multiple
code
Measurement Transmission format Resolution [P/R] Hard. ID. Remarks
rotations
Incremental:2048P/R
03 Optical Full duplex Manchester 1.0M 13bit Ｒ
Absolute:11bit

1-5
1.Prior to Use [Servo amplifier model number]
■ Interpretation of servo amplifier model number (Abbreviated number)

ＲＳ１ Ａ ０１ Ａ Ｃ

R-series

Control Hardware Identification

C…With Positioning Function

Motor type
A･･･rotary motor

Amplifier description
01･･･15A
03･･･30A
05･･･50A
10･･･100A
15･･･150A
30･･･300A

Power input, power part details Model numbers by amplifier capacity

DB 15A･･･RS1□01 50A･･･RS1□05 300A･･･RS1□30
Input Regenerative
30A･･･RS1□03 100A･･･RS1□10
voltage resistor
150A･･･RS1□15
W L A ---
Built-in
W/O M B ---
AC200V
W A L A
---
W/O B M B
W N ---
Built-in
W/O P ---
AC100V
W E ---
---
W/O F ---

Refer to Chapters 5 and 6 for how to change the settings of each parameter that is set at factory default value.

The design order is noted by alphabetical characters at the end of the Lot Number on the name plate.

1-6
1.Prior to Use [Servo amplifier model number]
■ Motor setting and encoder type of abbreviated model numbers
Servo amplifier model number Servo motor model number Encoder
RS1△01AC P50B03003D
RS1△03AC P50B07040D
RS1△05AC P50B08075D Wire-saving incremental
RS1△10AC P60B13200H encoder 2000P/R
RS1△15AC P80B22350H
RS1△30AC P60B18750R

△: Depends on input power voltage, regeneration resistance and dynamic brake resistance.
In case of 200VAC input voltage, A, B, L and M will be filled in.
In case of 100VAC input voltage, E, F, N and P will be filled in.
(However, there are onlyRS1△01 and RS1△03.)

1-7
 1.Prior to Use [Servo amplifier part names]

■ RS1□01A□/ RS1□03A□

Parts inside the cover (Same for all capacity amplifiers)

Battery space
Cover open
Battery connector

5-digit 7-segment LED

Analog monitor
MODE WR/ MODE WR
connector
Key to operate the Digital Operator.

CHARGE POWER Control power status LED (POWER, green)

Main power supply LED（CHARGE･Red）
P
T
C Setup software communication connector
Control power, main power supply S
C PC
input connector R N
CNA MSTB2.5/ 5-GF-5.08 t A
r
(Phoenix Contact Co. Ltd.) Connector for upper device input/output signals
CN1
C 10250-52A2JL（Sumitomo 3M Ltd.）
External regenerative resistor, DC
N
reactor connector DL1 1
CNB IC2.5/ 6-GF-5.08 DL2 C
(Phoenix Contact Co. Ltd.) P N
RB1 B

RB2

Encoder signal connector

Servo motor power connector CN2
CNC IC2.5/ 3-GF-5.08 C
W 10220-52A2JL（Sumitomo 3M Ltd.）
C N
(Phoenix Contact Co. Ltd.) V
N 2
U C

Protective ground terminal

■ RS1□05A□

5-digit 7-segment LED

MODE WR

Key to operate the Digital Operator.

Main power supply LED（CHARGE･Red） CHARGE POWER

Control power status LED (POWER, green)
Control power, main circuit power P
T
input connector C
S Setup software communication connector
C
CNA MSTB2.5/ 5-GF-5.08 R PC
N
(Phoenix Contact Co. Ltd.) t A
r
Connector for upper device input/output signals
CN1
External regenerative resistor, DC C 10250-52A2JL（Sumitomo 3M Ltd.）
reactor connector N
DL1
CNB IC2.5/ 6-GF-5.08 1
DL2 C
(Phoenix Contact Co. Ltd.) P N
RB1 B

RB2
Servo motor power connector Encoder signal connector
CNC IC2.5/ 3-GF-5.08 CN2
(Phoenix Contact Co. Ltd.) W
C 10220-52A2JL（Sumitomo 3M Ltd.）
C N
V
N 2
U C

Protective ground terminal

1-8
 1.Prior to Use [Servo amplifier part names]
■ RS1□10A□ / RS1□15A□

5-digit 7-segment LED

R
Main power input terminal board MODE WR/
S Key to operate the Digital Operator.

T CHARGE POWER Control power status LED (POWER, green)

P
Main power supply LED（CHARGE･Red） C
Setup software communication connector
DL1
PC

DL2
C
N
P Connector for upper device input/output signals
1
RB4
CN1
Terminal board for DC reactor, regeneration 10250-52A2JL（Sumitomo 3M Ltd）
resistor, servo motor power line RB1

RB2
C
N
U Encoder signal connector
2
CN2
V
10220-52A2JL（Sumitomo 3M Ltd）
W

Protective ground terminal r

Control power input terminal
t

■ RS1□30A□

R 5-digit 7-segment LED

Main power input
terminal MODE
Key to operate the Digital Operator.
S

T CHARGE POWER Control power status LED (POWER, green)

P
C
Setup software communication connector
Main power supply LED PC
（CHARGE･Red）
DL1 Connector for upper device input/output signals
Terminal for DC reactor, regeneration
resistor, servo motor power line CN1
C 10250-52A2JL（Sumitomo 3M Ltd）
DL2
N
1
P

U Encoder signal connector

C
CN2
V N 10220-52A2JL（Sumitomo 3M Ltd）
2

RB1 RB2 r t
Terminal for regeneration resistor,
Protective control power input
ground terminal

1-9
1.Prior to Use [Servo motor part names]

■ Lead wire types

Q1□○○○△□◇
Q1□A06○○○△□◇
Q1AA07○○○△□◇
Q2□A04○○○△□◇
Q2□A05○○○△□◇
Q2□A07○○○△□◇ Frame Encoder

Q2AA08○○○△□◇
R2□A04○○○△□◇
R2□A06○○○△□◇
R2AA08○○○△□◇ Shaft

Flange

Servo motor power line Encoder cable

■ Cannon plug type

Q1AA10○○○△□◇
Q1AA12○○○△□◇
Q1AA13○○○△□◇
Frame Encoder
Q1AA18○○○△□◇
Q2AA10○○○△□◇
Q2AA13○○○△□◇
Q2AA18○○○△□◇
Q2AA22○○○△□◇

Shaft

Flange

Encoder connector

Servo motor power line connector

1-10
No Text on This Page.
2

[Installation]
‹ Servo amplifier ························································· 2-1

■Mounting direction and location ··························· 2-3

■Arrangement within the control machine·············· 2-3

‹ Servo motor······························································ 2-4

■Mounting method·················································· 2-4

■Waterproofing and dust proofing·························· 2-5

■Protective cover installation·································· 2-5

■Gear installation···················································· 2-6

■Integration with the target machinery··················· 2-6

■Allowable bearing load ········································· 2-8

■Cable installation considerations·························· 2-9

2. Installation [Servo amplifier]
■ Please note the following points regarding the servo amplifier installation location and
mounting method.

Various precautions

The device should be installed on non-flammable Do not stand, put or drop heavy items on the servo
surfaces only. Installation on or near flammable amplifier.
materials can cause fire.
Operate the device within the specified environmental Do not drop the device or subject it to excessive
conditions. shock.

Do not install or operate a damaged device, or one Make sure no screws or other conductive or
with damaged parts; return it for repair immediately. flammable materials get inside the servo amplifier.

Contact your distributor or sales office if the servo

amplifier was stored or out of use for an extended
period of time. ( three years or more as a standard)
The capacity of an electrolytic condenser falls by
prolonged storage.

If enclosed in a cabinet

The temperature inside the cabinet can exceed the external temperature depending on the power
consumption of the device and the size of the cabinet. Consider the cabinet size, cooling, and placement, and
make sure the temperature around the servo amplifier does not exceed 55°C. For longevity and reliability
purposes it is recommended to keep the temperature below 40°C.

If there is a vibration source nearby

Protect the servo amplifier from vibration by installing it on a base with a shock absorber.

If there is a heat generator nearby

If the ambient temperature may increase due to convection or radiation, make sure the temperature near the
servo amplifier does not exceed 55°C.

If corrosive gas is present

Long-term use may cause contact failure on the connectors and connecting parts.
Never use the device where it may be exposed to corrosive gas.

2-1
2. Installation [Servo amplifier]

If explosive or combustible gas is present

Never use the device where explosive or combustible gas is present. The device’s relays and contacts,
regenerative resistors and other parts can arc (spark) and can cause fire or explosion.

If dust or oil mist is present

The device cannot be used where dust or oil mist is present. If dust or oil mist accumulates on the device, it
can cause insulation deterioration or leakage between the conductive parts, and damage the servo amplifier.

If a large noise source is present

If inductive noise enters the input signals or the power circuit, it can cause a malfunction. If there is a
possibility of noise, inspect the line wiring and take appropriate noise prevention measures. A noise filter
should be installed to protect the servo amplifier.

2-2
2. Installation [Servo amplifier]
■ Mounting direction and location
Rear-mounting Front-mounting
Front panel mounting
hardware

M4

M4

Ventilation
For metal fittings for front/rear mounting, refer to options (compatible with PY2 mounting).

■ Arrangement within the control machine

● Leave at least 50 mm space above and below the servo amplifier to ensure unobstructed airflow from
the inside of the servo amplifier and the radiator. If heat gets trapped around the servo amplifier,
use a cooling fan to create airflow.
● The ambient temperature of servo amplifier should always become 55°C or less.
In addition, in order to secure a long-life and high reliability, we recommend you to use temperature
below 40°C.

● Leave at least 10 mm space on both sides of the servo amplifier to ensure unobstructed airflow from the
heat-sinks on the side and from the inside of the servo amplifier.
● If the R-series servo amplifier is installed on its side, make sure that the ambient temperature does not
exceed 50°C, and mount the back panel to a metal plate.
RS1□01, RS1□03, RS1□05 : 2mm or more of recommendation metal plate thickness
RS1□10, RS1□15, RS1□30 : 5mm or more of recommendation metal plate thickness

● For RS1□03・RS1□05, a cooling fan is attached at the side. Therefore, it is recommended that the
servo amplifier be mounted in an arrangement as shown below.
Side view
Front view
At least 50mm
At least 50mm
Fan
ＲＳ１□○○ ＲＳ１□○○ RS１□○○

M W M W M W

P P P
Servo amplifier

Ventilation At least 50mm

At least 10mm At least 50mm
At least 10mm At least 10mm

2-3
2. Installation [Servo motor]
■ Please note the following regarding the installation location and mounting method for the servo
motor.

The servo motor is designed for indoor use. Make sure to Install it indoors.
Do not use the device in locations where the oil seal lip is continuously exposed to oil, or where the
device is exposed to large quantities of water, oil drops, or cutting fluid. The motor is designed to
withstand only small amounts of moisture spray.
Good ventilation, no corrosive or explosive gases
Ambient temperature: 0 to 40°C
present.
Storage temperature: -20 to 65°C
No dust or dirt accumulation in the environment.
Ambient humidity: 20 to 90%
Easy access for inspection and cleaning.

■ Mounting method

● Mounting in several orientations - horizontal, or with the shaft on top or bottom- is acceptable.

● If the output shaft is used in reduction devices that use grease, oil, or other lubricants, or in
mechanisms exposed to liquids, the motor should be installed in a perfectly horizontal or downward
position. In some models, there is an oil-seal attached to the output shaft. If the shaft is facing
upwards and the seal lip is continuously exposed to oil, oil can enter inside the motor and cause
damage, as a result of wear and degradation of the oil seal. In such cases an oil-seal should be
used on the load-side as well. Contact your distributor or sales office if the device is to be used in
such conditions.

● The motor connector and cable outlet should be installed facing downwards, as nearly vertical as
possible.

● In vertical installation, create a cable trap to prevent oily water from getting into the motor.

Cable trap

Lead wire

2-4
2. Installation [Servo motor]
■ Waterproofing and dust proofing

● The protection inside the motor conforms to IEC standards (IEC34-5). However, such protection is
suitable only for short-term use. For regular use, additional sealing measures are required. Be sure to
handle the connector carefully, as damage to the exterior of the connector (painted surface) can reduce
its waterproofing capability.

● The motor waterproofing is of IPX 7 class level, but still requires careful handling. If the motor is
continuously wet, due to the respiratory effect of the motor, liquid may penetrate inside the motor.

● Install a protective cover to prevent corrosion of the coating and the sealing material, which can be
caused by certain types of coolants (especially water soluble types).

● Q1- and Q2-series motors with the canon plugs are only IP67 rated if waterproof connectors and/or
conduits are used on the matching canon connectors.

● Q1-series motors (with all flange sizes) and Q2-series motors (with the 42mm flange size) not of the
canon plug type are IP40 rated, but IP67 rated waterproofing is also available as an option. Q2-series
motors with flange sizes of 54mm, 76mm and 86mm have IP67 rated waterproofing.

● R2-series motors have IP67 rated waterproofing, except for shaft passages and cable ends.

■ Protective cover installation

● Install a protective cover (as described below) for motors continuously subjected to liquids.

● Turn the connectors (lead outlets) downwards within the angle range shown in the picture below.

● Install the cover on the side where the water or oil would drip.

● Install the cover at an angle (for runoff), to prevent water or oil from collecting.

● Make sure that the cable does not get soaked in water or oil.

● Create a sag in the cable outside the cover, to make sure water or oil does not penetrate to the motor.

● If it is not possible to install the connectors (lead outlets) facing downwards, create a sag in the cable to
prevent water or oil from entering the motor.
Seal with sheet-packing, etc.

Cover

Sag

50°max 50°max

Water (oil) collector

2-5
2. Installation [Servo motor]
■ Gear installation
● The oil level of the gear box should be below the oil seal lip, for a slight spraying effect on the lip.

● Create a hole to prevent pressure build-up inside the gear box, as pressure can cause water or oil to
penetrate the oil seal and enter inside the motor.

● If the motor is used with the shaft facing upwards, an oil seal should be used on the opposite side of the
mechanism as well. In addition, install a drain to expel the water or oil that may penetrate through this
oil seal. Gear

Shaft outer

Motor

Oil level

Oil seal lip

■ Integration with the target machinery

● Refer to the drawing below for correct centering of the motor shaft and the target machinery. Please
note when using a rigid coupling that even a slight mistake in centering can damage the output shaft.

Measured at all 4 locations, the difference

between the maximum and the minimum
should not exceed 3/100mm
(coupling rotates jointly)

2-6
2. Installation [Servo motor]
● Do not subject the motor shaft to shock, as the precision encoder is directly connected to it. If it is
absolutely necessary to hit the motor for position adjustment or other reasons, use a rubber or plastic
hammer and hit the front flange area.

● If mounting to a machine, create enough mounting holes for smooth coupling of the motor flange rabbet.
The mounting surface should be flat, otherwise damage to the shaft or the load may occur.

● Use the screw at the end of the shaft for installing parts such as the gear, pulley, or coupling, to avoid
shock.
Bolt

Pulley
Pulley Patch

● Tapered motor shafts transmit the torque via the tapered surface. Make sure the key fits without rattling.
The tapered surface contact should be no less than 70%.

● Use a special tool for removing the gear, pulley, etc.

Taper

Removal tool

2-7
2. Installation [Servo motor]
■ Allowable bearing load

● The table below shows the allowable bearing load of the servo motors. Do not apply excessive thrust
load or radial load. In case of belt driving, make sure that the shaft converted value of belt tension does
not exceed the allowable values shown below. The thrust load and radial load tolerance values assume
individual application to the shaft.

LR

The radial load tolerance value is the LR／3

maximum load that can be applied at the
point measured 1/3 of the distance from Thrust load
the tip of the output shaft.
F-direction

F1-direction

Radial load FR

Assembly Operation
Model Radial load (N)s Thrust load (N) Radial load (N) Thrust load (N)
ＦＲ F direction F1 direction ＦＲ F direction F1 direction
Q1□A04003 98 78 78 49 29 29
Q1□A04005 150 98 98 98 29 29
Q1□A04010 150 98 98 98 29 29
Q1□A06020 390 200 200 200 78 78
Q1AA06040 390 200 200 250 98 98
Q1AA07075 590 390 390 340 200 200
Q1AA10100 980 290 290 690 200 200
Q1AA10150 980 290 290 690 200 200
Q1 Q1AA10200 980 290 290 690 200 200
Q1AA10250 980 290 290 690 200 200
Q1AA12100 980 290 290 690 290 290
Q1AA12200 980 290 290 690 290 290
Q1AA12300 980 290 290 690 290 290
Q1AA13300 2000 390 390 980 390 390
Q1AA13400 2000 390 390 1200 390 390
Q1AA13500 2000 390 390 1200 390 390
Q1AA18450 2300 1900 1900 1500 490 490
Q1AA18750 3900 2000 2000 1800 590 590
Q2□A04006 150 98 98 98 29 29
Q2□A04010 150 98 98 98 29 29
Q2□A05005 200 200 150 150 78 78
Q2□A05010 200 200 150 150 78 78
Q2□A05020 250 200 150 200 78 78
Q2□A07020 250 490 200 200 98 98
Q2AA07030 250 490 200 200 98 98
Q2AA07040 250 490 200 250 98 98
Q2AA07050 250 490 200 250 98 98
Q2 Q2AA08050 590 780 290 340 200 200
Q2AA08075 590 780 290 340 200 200
Q2AA08100 590 780 290 340 200 200
Q2AA10100 980 290 290 690 200 200
Q2AA10150 980 290 290 690 200 200
Q2AA13050 1700 1300 1300 490 290 290
Q2AA13100 1700 1300 1300 690 290 290
Q2AA13150 1700 1300 1300 690 290 290
Q2AA13200 1700 1300 1300 690 290 290
Q2AA18200 2300 1900 1900 1500 490 490

2-8
2. Installation [Servo motor]
Assembly Operation
Model Radial load (N)s Thrust load (N) Radial load (N) Thrust load (N)
ＦＲ F direction F1 direction ＦＲ F direction F1 direction
Q2AA22350 2300 1900 1900 1500 490 490
Q2AA22450 2300 1900 1900 1500 490 490
Q2AA22550 3900 2000 2000 1800 590 590
Q2
Q2AA22700 3900 2000 2000 2500 1100 1100
Q2AA2211K 3900 2000 2000 2700 1500 1500
Q2AA2215K 3900 2000 2000 2300 1500 1500
R2□A04003F 98 78 78 49 29 29
R2□A04005F 150 98 98 98 29 29
R2EA04008F 150 98 98 98 29 29
R2AA04010F 150 98 98 98 29 29
R2□A06010F 150 98 98 98 29 29
R2
R2□A06020F 390 200 200 200 68 68
R2AA08020F 390 200 200 200 98 98
R2AA06040F 390 200 200 250 68 68
R2AA08040F 390 200 200 250 98 98
R2AA08075F 590 390 390 340 200 200

■ Cable installation considerations

● Make sure that no stress is applied to the cable and that it is undamaged.

● If the servo motor is installed in a moving location, make sure that no excessive stress is applied to the
cable, by allowing a large bending radius.

● Avoid pulling the cable over sharp objects such as cutting scrap that can damage its exterior. Make
sure the cable is not touching any machinery, and that it is out of the path of people and machines.

● Prevent bending or additional weight stress on the cable connection by clamping the cable to the
machinery.
In applications where the motor or the cable is moving using a cable bear, the bending radius should be
based on the required cable-life and the type of cable used.

● Install the cables of moving parts in a manner that permits easy regular replacement.
Consult with your distributor or sales office for recommendations, if you use cables for moving parts.

2-9
3
[Wiring]
‹ Packaged Wiring Diagram ·················································3-1

‹ High Voltage Circuit; Terminal Name and Function ············3-5

‹ Wiring Example of High Voltage Circuit･Protective Circuit ··················3-7

‹ Low Voltage Circuit/Description of CN Terminal ·················3-9

‹ Low Voltage Circuit/CN1 Overall Wiring ····························3-11

‹ Low Voltage Circuit/Wiring Example of CN1 Input Circuit ··················3-12

‹ Low Voltage circuit/CN2 Wiring･Wire-saving incremental encoder ·····3-14

‹ Low Voltage circuit/CN2 Wiring･Battery backup method absolute encoder and others ··· 3-15

‹ Low Voltage circuit/CN2 Wiring･Absolute encoder with incremental output····· 3-16

‹ Low Voltage circuit/CN2 Wiring･Request method absolute encoder ··· 3-17

‹ Power Supply･Peripherals················································· 3-18

‹ Wire diameter····································································· 3-20

‹ How to process CN1/CN2 shields ····································· 3-22

3.Wiring [Packaged Wiring Diagram RS1□01/RS1□03/RS1□05]
■ Packaged wiring diagram Do not connect S-phase terminal in the usage of AC200V single phase input.

Setup software - R-Setup

DC reactor
Remove the short bar between DL1-DL2
Protective grounding and connect this here, when needed for Connected with PC using RS232C communication
wire high frequency waves.

Circuit breaker
Will cut off the power to
CNA MODE WR Communication cable for R-SetupRS232C can be purchased from
protect the power line in connector SANYO DENKI.
case of an over current or
significant leakage current.
Refer to page 3-18 for the CHARGE POWER
recommended items. PC connector plug Model number of input/output connector plug/housing
P MSTB2.5/5-STF-5.08
T CNA connector plug
C Phoenix Contact
S
R
C IC2.5/3-STF-5.08
N CN1 connector CNC connector plug
t A Phoenix Contact
Noise filter r 10150-3000PE
Used to protect the power CN1 connector plug
line from external noise SUMITOMO 3M Ltd.
and from the noise 10350-52A0-008
generated by the servo C CN1 connector plug
SUMITOMO 3M Ltd.
Regenerative resistor

amplifier. Refer to page

N
3-18 for the recommended DL1 10120-3000PE
1
items. CN2 connector plug
DL2 C SUMITOMO 3M Ltd.
P N
10320-52A0-008
RB1 B CN2 connector housing
SUMITOMO 3M Ltd.
RB2
User preparation PC connector plug/housing 3240-12P-TO-C
Electromagnetic (amplifier side) HIROSE Electric Co., Ltd.
contacts PC connector plug HDEB-9S
C
Switches the main circuit W (PC side) HIROSE Electric Co., Ltd.
C N
Power ON / OFF; require V
installation of a surge N 2 PC connector case GM-9L
U C
protector. Refer to page (PC side) HIROSE Electric Co., Ltd.
3-18 for the recommended
items.

Create the protective CN2 connector

circuit. Refer to page 3-7
for details of protective
circuit.

Protective circuit

Power source for brake

CNC Connector plug
User preparation

3-1
3.Wiring [Packaged Wiring Diagram RS1□01/RS1□03]
■ Packaged wiring diagram AC100V input type RS1□01A/ RS1□03A
DC reactor Setup software - R-Setup
Protective grounding wire Remove the short bar between DL1-DL2
and connect this here, when needed for Connected with PC using RS232C communication
high frequency waves.

Circuit breaker CAN

MODE WR
Will cut off the power to Regenerative Connector Communication cable for R-SetupRS232C can be purchased from
protect the power line in resistor
case of an over current or SANYO DENKI.
significant leakage current.
Refer to page 3-19 for the
CHARGE POWER
recommended items. PC connector plug
P
C Model number of input/output connector plug/housing
S
R
C MSTB2.5/4-STF-5.08
N CN1 connector CNA connector plug
t A
Phoenix Contact
Noise filter r IC2.5/3-STF-5.08
Used to protect the power CNC connector plug
line from external noise
Phoenix Contact
and from the noise 10150-3000PE
generated by the servo CN1 connector plug
C SUMITOMO 3M Ltd.
amplifier. Refer to page
3-19 for the recommended N 10350-52A0-008
DL1 1 CN1 connector housing
items. SUMITOMO 3M Ltd.
DL2 C 10120-3000PE
P N CN2 connector plug
RB1 B SUMITOMO 3M Ltd.
10320-52A0-008
RB2 CN2 connector housing
User preparation SUMITOMO 3M Ltd.
Electromagnetic PC connector plug/housing 3240-12P-TO-C
contacts (amplifier side) HIROSE Electric Co., Ltd.
Switches the main circuit C PC connector plug HDEB-9S
W
Power ON / OFF; require C N
V 2 (PC side) HIROSE Electric Co., Ltd.
installation of a surge N
protector. Refer to page U C PC connector case GM-9L
3-19 for the recommended (PC side) HIROSE Electric Co., Ltd.
items.

Create the protective

circuit. Refer to page 3-7
CN2 connector
for details of protective
circuit.

Protective
circuit

Power source for brake

CNC connector plug

User preparation

3-2
3.Wiring [Packaged Wiring Diagram RS1□10/RS1□15]
■ Packaged wiring diagram AC200V input type RS1□10A/ RS1□15A
Set-up software-R-Setup Model number of input/output connector plug/housing
Protective grounding DC reactor 10150-3000PE
wire Remove the short bar between CN1 connector plug
DL1-DL2 and connect this here, when SUMITOMO 3M Ltd.
needed for high frequency waves. 10350-52A0-008
CN1 connector housing
Circuit breaker SUMITOMO 3M Ltd.
R
Will cut off the power to 10120-3000PE
protect the power line in
MODE
CN2 connector plug
Connected with PC using SUMITOMO 3M Ltd.
case of an over current or S
significant leakage current. RS232C communication. 10320-52A0-008
CN2 connector housing
Refer to page 3-18 for the SUMITOMO 3M Ltd.
recommended items. T CHARGE POWER
PC connector 3240-12P-TO-C
P plug/housing HIROSE Electric Co., Ltd.
C
(amplifier side)
PC connector plug HDEB-9S
DL1 PC connector (PC side) HIROSE Electric Co., Ltd.
Noise filter DL2
PC connector case GM-9L
Used to protect the power (PC side) HIROSE Electric Co., Ltd.
line from external noise Regeneration resistor
and from the noise 【Built-in】
P C
generated by the servo Short circuit between N
amplifier. Refer to page RB4-RB1. 1
3-18 for the recommended RB4
【External】
items. Remove the short bar
between RB4-RB1, and RB1 Communication cable for R-SetupRS232C
connect the resistor CN1 connector/
between RB1-RB2. housing can be purchased from SANYO DENKI.
RB2
Connected to upper device
U C User preparation
Electromagnetic N
contacts 2
Switches the main circuit V
Power ON / OFF; require
installation of a surge W
protector. Refer to page
3-18 for the recommended CN2 connector
items.
Plug/housing
Create the protective r
circuit. Refer to page 3-7
for details of protective
circuit. t

Protective
circuit

Power source for brake

3-3 User preparation

3.Wiring [Packaged Wiring Diagram RS1□30]
■ Packaged wiring diagram AC200V input type /RS1□30A
Protective grounding Set-up software- R-Setup Model number of input/output connector
wire plug/housing
10150-3000PE
CN1 connector plug
R
SUMITOMO 3M Ltd.
10350-52A0-008
Circuit breaker CN1 connector housing
Will cut off the power to SUMITOMO 3M Ltd.
protect the power line in S MODE
Connected with PC using 10120-3000PE
case of an over current or CN2 connector plug
RS232C communication. SUMITOMO 3M Ltd.
significant leakage current.
Refer to page 3-18 for the 10320-52A0-008
T CN2 connector housing
recommended items. SUMITOMO 3M Ltd.
P PC connector 3240-12P-TO-C
C
plug/housing HIROSE Electric Co., Ltd.
DC reactor (amplifier side)
Remove the short bar
between DL1-DL2 and PC connector PC connector plug HDEB-9S
connect this here, (PC side) HIROSE Electric Co., Ltd.
Noise filter when needed for high DL1
Used to protect the power frequency waves. PC connector case GM-9L
line from external noise (PC side) HIROSE Electric Co., Ltd.
and from the noise C
generated by the servo DL2 N
amplifier. Refer to page 1
3-18 for the recommended
items. Regeneration resistor P
【External】
CN1 connector Communication cable for R-SetupRS232C
Connect the resistor between
RB1-RB2. Plug/housing can be purchased from SANYO DENKI.
U
Connected to upper device.
User preparation
C
Electromagnetic V N
contacts 2
Switches the main circuit
Power ON / OFF; require
installation of a surge W
protector. Refer to page
3-18 for the recommended CN2 connector
items. Plug/housing
RB1 RB2 ｒ t
Create the protective circuit.
Refer to page 3-7 for details
of protective circuit.

Protective
circuit Power source for brake

3-4 User preparation

3.Wiring [High Voltage Circuit; Terminal Name and Function]

■ High voltage circuit; terminal name and functions

Connector Remarks
Terminal name
marking
R･T Single phase AC100 to 115V +10%,-15% 50/60Hz±3%
Main power source or Single phase AC200 to 230V +10%,-15% 50/60Hz±3%
R･S･T Three phase AC200 to 230V +10%,-15% 50/60Hz±3%
Single phase AC100 to 115V +10%,-15% 50/60Hz±3%
Control power source r･t
Single phase AC200 to 230V +10%,-15% 50/60Hz±3%
Servo motor connector U･V･W Connected with servo motor
Safeguard connector Connected with grounding wire of power source and of servo motor.

RS1□01AA Regeneration resistance will be connected to RB1･RB2. If it is built-in,

RS1□03AA regeneration resistance has been connected at the time of shipment. In
RS1□05AA case of short regeneration power, an external regeneration resistance
Regeneration resistance RB1・RB2 RS1□30AA is connected to RB1・RB2. There is no terminal RB4.
connector RB4 In case of a built-in regeneration resistance, RB1･RB4 are short
RS1□10AA circuited by a short bar at the time of shipment. If regeneration power is
RS1□15AA short, remove the short bar between RB1･RB4 (open) and connect an
external regeneration resistance at RB1･RB2.
Short circuited at the time of shipment. If high frequency waves need to be controlled,
DC reactor connector DL1・DL2
remove the short bar between DL1･DL2 and connect a DC reactor between DL1･DL2.
Maker maintenance P・ For maker maintenance. Do not connect anything.

■ How to insert high voltage circuit connector

● Insert the wire into ferrule, and use a special tool to crimp it in.
● Insert the ferrule deep into the connector, and tighten it with a special minus screw driver or
something. The recommended torque is 0.5 to 0.6 N･m.

Wire

Ferrule

3-5
3.Wiring [High Voltage Circuit; Terminal Name and Function]

● Model number of recommended ferrules and crimping tools for various wire sizes
(Manufactured by Phoenix Contact.)

2 Model number
mm AWG
1Pcs/Pkt 1000Pcs/Pkt Taped components
2 AI0.75-8GY-B
0.75 mm 18 AI0.75-8GY AI0.75-8GY-1000
(1000Pcs/Pkt)
2 AI1-8RD-B
1.0 mm 18 AI1-8RD AI1-8RD-1000
(1000Pcs/Pkt)
2 AI1.5-8BK-B
1.5 mm 16 AI1.5-8BK AI1.5-8BK-1000
(1000Pcs/Pkt)
2 AI2.5-8BU-B
2.5 mm 14 AI2.5-8BU AI2.5-8BU-1000
(500Pcs/Pkt)

Note) GY: Gray, RD: Red, BK: Black, BU: Blue

Crimping tool model number: 0.25mm2 to 6mm2: CRIMPFOX UD 6-4, 0.75mm2 to 10mm2: CRIMPFOX UD 10-4

■ High voltage circuit terminal; tightening torque

Terminal marking
Amplifier CNA CNB CNC
type
RS1□01
[1.18 N･m]
RS1□03 [0.5 to 0.6 N･m]
M4(screw size)
RS1□05

Terminal marking
Amplifier R S T － r t
DL1 DL2 P RB4 RB1 RB2 U V W
type
RS1□10 [1.18 N･m]
RS1□15 M4(screw size)

Terminal marking
Amplifier R S T － RB2 r t
DL1 DL2 P U V W RB1
type
RS1□30 [3.73 N･m] [1.18 N･m]
M6(screw size) M4(screw size)

■ Wiring of the power line UVW

Servo motor canon
Servo amplifier
type
terminal number
terminal number

Q1AA10* U A

Q1AA187* V B
Q2AA10*
Q2AA185*,Q2AA187* W C

Q2AA22□□K* E D

Q1AA12* U D
Q1AA13*
Q1AA184* V E

Q2AA13* W F
Q2AA182* to 184*
Q2AA22□□0* E G, H

3-6
 3.Wiring [Wiring Example of High Voltage/Protective Circuit]

■ Three-phase 200V RS1□01A･RS1□03A･RS1□05A･RS1□30A

Three-phase
AC200 to 230V MC

T U SERVO MOTOR
S V

R W

t
Noise filter
For EMC countermeasures, refer to r
“International Standards” of the MC Operation ON OFF
DL1
attached document.

MC DL2

RB1
A-RDY
+E
RB2
RY Emergency
stop CN1
50
DC24V
24･25
COM
1･2

■ Single-phase 200V RS1□01A･RS1□03A･RS1□05A

Single-phase MC
AC200to230V

T U SERVO MOTOR

NC× S V

R W

t
Noise filter
For EMC countermeasures, refer r
to “International Standards” of the Operation ON OFF
MC DL1
attached document.
MC DL2

RB1
+E A-RDY
RB2
RY Emergency
stop
CN1
50
DC24V
24･25
COM
1･2

3-7
 3.Wiring [Wiring Example of High Voltage/Protective Circuit]

■ Three-phase 200V RS1□10A･RS1□15A

Three-phase
AC200 to 230V MC

T U SERVO MOTOR
S V

R W

t
Noise filter
For EMC countermeasures, DL1
r
refer to “International Standards” Operation ON OFF
of the attached document. MC DL2
MC RB2

A-RDY RB1
+E
RB4 In case of a built-in regeneration resistance,
Emergency RB1･RB4 are short circuited by a short bar at
RY
stop CN1 the time of shipment. Usually no connection is
necessary for these. If regeneration power is short,
50
remove the short bar between RB1･RB4 (open) and
DC24V 24･25 connect an external regeneration resistance at
COM RB1･RB2.
1･2

■ Single-phase 100V RS1□01A･RS1□03A

Single-phase MC
AC100to115V T SERVO MOTOR
U
50/60 Hz
S V

R W

t
Noise filter
For EMC countermeasures, refer r
to “International Standards” of the Operation ON OFF
attached document. MC DL1

MC DL2

RB1
A-RDY
+E
RB2
RY Emergency
stop CN1
50
DC24V 24･25
COM
1･2

3-8
3.Wiring [Low Voltage Circuit/Description of CN Terminal]

■ Low voltage circuit; terminal name and functions

Terminal
Terminal name Description
symbol
Upper device input/output signal CN1 Connects the input/output circuit between upper device (upper controller) and
connector the Servo amplifier.
Encoder connector CN2 Connects the encoder circuit of the servo motor.

■ Connector terminal number

● CN1 10150-3000PE (Soldered side)

24 22 20 18 16 14 12 10 8 6 4 2
25 23 21 19 17 15 13 11 9 7 5 3 1
49 47 45 43 41 39 37 35 33 31 29 27
50 48 46 44 42 40 38 36 34 32 30 28 26

● CN2 10120-3000PE (Soldered side)

Pin number is written here.

10 8 6 4 2
9 7 5 3 1
20 18 16 14 12
19 17 15 13 11

3-9
3.Wiring [Low Voltage Circuit/Description of CN1 terminal]
■ CN1 connector terminal layout

24 22 20 18 16 14 12 10 8 6 4 2
24G E-STR +OT OUT8 OUT6 OUT4 OUT2 ZFIN PFIN EXT HBON +24V
25 23 21 19 17 15 13 11 9 7 5 3 1
24G EXT-E -OT SDN OUT7 OUT5 OUT3 OUT1 INPOS MOVE Err NCRDY +24V
49 47 45 43 41 39 37 35 33 31 29 27
IN(128) IN(32) IN(8) IN(2) MFIN -1STEP SEL3 SEL1 CACL OVRID/RAP +JOG RUN
50 48 46 44 42 40 38 36 34 32 30 28 26
A-RDY IN(64) IN(16) IN(4) IN(1) I_RUN +1STEP SEL2 S-ON ARST -JOG ZRT IN-COM

■ CN1 terminal name

Terminal Signal Terminal Signal
Signal name Signal name
number cord number cord
1 +24V Power supply for output 26 IN-COM Input sequence power supply
2 +24V Power supply for output 27 RUN Set up
3 NCRDY NC ready 28 ZRT Return to zero
4 HBON Holding brake excitation timing 29 +JOG Manual (Forward)
output
5 Err Error output 30 -JOG Manual (Reverse)
6 EXT External operation effective 31 OVRID/ Over ride/Manual high velocity
output RAP
7 MOVE Moving output 32 ARST Alarm reset
8 PFIN Positioning complete output 33 CACL Cancel
9 INPOS In position output 34 S-ON Servo-on
10 ZFIN Home positioning complete 35 SEL1 Output selection 1
output
11 OUT1 General output 1 36 SEL2 Output selection 2
12 OUT2 General output 2 37 SEL3 Output selection 3
13 OUT3 General output 3 38 +1STEP 1 Step feeding (forward)
14 OUT4 General output 4 39 -1STEP 1 Step feeding (reverse)
15 OUT5 General output 5 40 I_RUN Inserting set up
16 OUT6 General output 6 41 MFIN MFIN
17 OUT7 General output 7 42 IN(1) Point specifying input 1
18 OUT8 General output 8 43 IN(2) Point specifying input 2
19 SDN Slowdown before home signal 44 IN(4) Point specifying input 4
20 +OT Forward over travel 45 IN(8) Point specifying input 8
21 -OT Reverse over travel 46 IN(16) Point specifying input 16
22 E-STR External data setting input 47 IN(32) Point specifying input 32
23 EXT-E External error 48 IN(64) Point specifying input 64
24 24G Output sequence power supply 49 IN(128) Point specifying input 128
common
25 24G Output sequence power supply 50 A-RDY Power-on permission
common

3-10
3.Wiring [Low Voltage Circuit/CN1 Overall Wiring]

■ CN1 Connector terminal layout

User device Servo Amplifier User device

External power supply (+24V) 1 External power supply (+24V)

2 26

19 Slowdown before home (SDN)

Power-on (A-RDY) 50 + Over travel (+OT)

20

NC ready (NCRDY) 3
- Over travel (-OT)
21
Holding brake excitation timing output 4
(HBON)
22 External data setting (E_STR)
Error output (Err) 5

23 External error (EXT-E)

External operation effective (EXT) 6

27 Set up (RUN)
Moving (MOVE) 7

28 Return to zero (ZRT)

Positioning complete (PFIN) 8

In position output (INPS) 9 29 + Manual (+JOG)

Home positioning complete 10 30 - Manual (-JOG)

(ZFIN)

OUT (1) 11 Over ride (OVRID)

31 /Manual high velocity (RAP)

OUT (2) 12
32 Alarm reset (ARST)

OUT (3) 13
33 Cancel (CACL)
General output

OUT (4) 14
34 Servo-on(S-ON)
OUT (5) 15
35 Output selection 1(SEL1)
OUT(6) 16

36 Output selection 2 (SEL2)

OUT (7) 17

37 Output selection 3 (SEL3)

OUT(8) 18

38 +1Step feeding (+1STEP)

External power supply (+24G) 24
25
39 -1Step feeding (-1STEP)

40 Inserting set up (I_RUN)

41 MFIN (MFIN)

42 IN (1)

43 IN (2)

44 IN (4)
Point specifying input

45 IN (8)

46 IN (16)

47 IN (32)

48 IN (64)

49 IN (128)

3-11
3.Wiring [Low Voltage Circuit/CN1 Overall Wiring]
■ Connection example with input circuit
● Composition of input circuit [Input circuit: Bi-directional photo coupler]

・Connected with transistor circuit of relay or open Host unit Servo amplifier
External
Power supply
collector. +24V
About 3mA 
(Input signal: 19pin to 23pin, 27pin to 49pin) 26

19

･Voltage range of power supply: DC24V ±10%

･Minimum current: 100mA 23

27

49

3－12
3.Wiring [Low Voltage Circuit/CN1 Overall Wiring]

■ Connection example with general output circuit

● Composition of output circuit [output circuit: open collector]

・Connected with photo coupler or relay circuit. Servo amplifier Host unit
External power
(Output signal: 3pin to 18pin･50pin) supply +24V
1
Photo-
・Outer power supply specification 2 coupler
Power supply voltage range: DC24V±10%
NCRDY
Minimum current: 80mA 3

・Specification of output circuit power

Power supply voltage range: DC24V±10%
ZFIN
(Maximum DC30V)
10
Maximum current: 50mA
OUT1
11

OUT8
18
Relay

A-RDY Diode
50

24

25
External power
supply 24G

✔ Make sure to install diode as a surge absorber when connecting induction load, such as relay, to
general (-purpose) output.
Please carefully install diode so as not to connect polarity of diode. Failure to do this causes servo
amplifier malfunction.

3－13
3.Wiring [Low Voltage circuit/CN2 Wiring・Wire-saving incremental encoder]

■ CN2 terminal layout

10 8 6 4 2
9 7 5 3 1
20 18 16 14 12
19 17 15 13 11

■ Wiring for Wire-saving incremental encoder

Wire-saving incremental encoder

Servo motor Servo motor
Terminal Signal
Description lead type wire canon type
No. name
color terminal number
1
- - - -
2
3 A0
――
A phase position signal blue A
4 A0 output brown D
5 BO
― ―
B phase position signal green B
6 BO output purple E
7 ZO
― ―
Z phase position signal white F
8 ZO output yellow G
9 5V 5V power supply (red) (J)
10 SG 5V power supply common (black) (N)
11 SG 5V power supply common (black) (N)
12 5V 5V power supply (red) (J)
13
14 - - - -
15
16 SG 5V power supply common (black) (N)
17 5V 5V power supply (red) (J)
18 SG 5V power source common (black) (N)
19 5V 5V power supply red J
20 SG 5V power supply common black N
G Plate Shield wire H

・ Refer to page 3-26 for how to process the shield wires.

・ The number of power terminals for servo motor encoder connections varies depending on the encoder cable
length. Refer to the following table.
Power connection (CN2) terminal number for servo motor encoder
Encoder cable 5V power source terminal 5V power source common terminal
length number number
Less than 5m 19 20
Less than 10m 19, 17 20, 18
Less than 20m 19, 17, 12 20, 18, 11
Less than 30m 19, 17, 12, 9 20, 18, 11, 16, 10

・ Use twisted pair and outer insulated shield cables.

・ CN2 plug: 10120-3000PE
・ CN2 shell: 10320-52A0-008
・ Servo motor encoder: canon plug
・JL04V-6A20-29S-J1(A72)
・JL04V-8A20-29S-J1-EB
・JL04V-6A20-29S-J1-EB
・MS3108B20-29S
・MS3106B20-29S

3-14
3.Wiring [Low Voltage circuit/CN2 Wiring・Battery backup method absolute encoder and others]

■ CN2 terminal layout

10 8 6 4 2
9 7 5 3 1
20 18 16 14 12
19 17 15 13 11

■ Wiring for Battery backup method absolute encoder/Absolute encoder without

battery/Absolute encoder for incremental system
Battery backup method absolute encoder/Absolute encoder without
battery/Absolute encoder for incremental system
Servo motor Servo motor
Terminal Signal
Description lead type wire canon type
No. cord
color terminal number
1 BAT No battery wiring necessary for
pink T
+ Absolute encoder without
Battery
2 BAT- purple S battery/Absolute encoder for
incremental system
3
4
5
- - - -
6
7
8
9 5V 5V power supply (red) (H)
10 SG 5V power supply common (black) (G)
11 SG 5V power supply common (black) (G)
12 5V 5V power supply (red) (H)
13 ES brown E
―― Position data output
14 ES blue F
15 - -
16 SG 5V power supply common (black) (G)
17 5V 5V supply source (red) (H)
18 SG 5V power supply common (black) (G)
19 5V 5V power supply red H
20 SG 5V power supply common black G
G Plate Shield wire J

・ Refer to page 3-26 for how to process the shield wires.

・ The number of power terminals for servo motor encoder connections varies depending on the encoder cable
length. Refer to the following table.
Power connection (CN2) terminal number for servo motor encoder
Encoder cable 5V power supply terminal 5V power supply common terminal
length number number
Less than 10m 19 20
Less than 25m 19, 17 20, 18
Less than 40m 19, 17, 12 20, 18, 11

・ Use twisted pair and outer insulated shield cables.

・ CN 2 plug: 10120-3000PE
・ CN 2 shell: 10320-52A0-008
・ Servo motor encoder: canon plug
・JL04V-6A20-29S-J1(A72)
・JL04V-8A20-29S-J1-EB
・JL04V-6A20-29S-J1-EB
・MS3108B20-29S
・MS3106B20-29S

3-15
3.Wiring [Low Voltage circuit/CN2 Wiring・Absolute encoder with incremental output]

■ CN2 terminal layout

10 8 6 4 2
9 7 5 3 1
20 18 16 14 12
19 17 15 13 11

■ Absolute encoder with incremental output

Absolute encoder with incremental output

Terminal Servo motor lead type wire color Servo motor canon type
Signal Cord Description
No. terminal number
1 BAT+ light orange or clear T
Battery
2 BAT- brown S
3 A0 pink A
A phase position signal output
4 ――
A0 red B
5 BO blue C
B phase position signal output
6 ― ―
BO green D
7 ZO yellow K
Z phase position signal output
8 ― ―
ZO Orange L
9 5V 5V power supply (white) (H)
10 SG 5V power supply common (black) (G)
11 SG 5V power supply common (black) (G)
12 5V 5V power supply (white) (H)
13 PS Pale blue E
Position data output
14 ― ―
PS purple F
15 ECLR Clear signal Dark green or light green R
16 SG 5V power supply common (black) (G)
17 5V 5V power supply (white) (H)
18 SG 5V power supply common (black) (G)
19 5V 5V power supply white H
20 SG 5V power supply common black G
G Plate Shield wire J

・ Refer to page 3-26 for how to process the shield wires.

・ The number of power terminals for servo motor encoder connections varies depending on the encoder cable
length. Refer to the following table.

Power connection (CN2) terminal number for servo motor encoder

Encoder cable length 5V power supply terminal number 5V power supply common terminal
number
Less than 5m 19 20, 16
Less than 10m 19, 17 20, 16, 18
Less than 20m 19, 17, 12 20, 16, 18, 11
Less than 30m 19, 17, 12, 9 20, 16, 18, 11, 10
Use twisted pair and outer insulation shield cables.
・ CN2 plug: 10120-3000PE
・ CN2 shell: 10320-52A0-008
・ Servo motor encoder: canon plug
・JL04V-6A20-29S-J1(A72)
・JL04V-8A20-29S-J1-EB
・JL04V-6A20-29S-J1-EB
・MS3108B20-29S
・MS3106B20-29S

3-16
3.Wiring [Low Voltage circuit/CN2 Wiring・Request method absolute encoder]

■ CN2 terminal layout

10 8 6 4 2
9 7 5 3 1
20 18 16 14 12
19 17 15 13 11

■ Request method absolute encoder

Request method absolute encoder
Terminal Servo motor lead type wire Servo motor canon type
Signal cord Description
No. color terminal number
1 - - - -
2 - - - -
3 REQ+ purple or orange N
Requested Signal
4 REQ- green P
5 - - - -
6 - - - -
7 - - - -
8 - - - -
9 5V 5V power supply (red) (H)
10 SG 5V power supply common (black) (G)
11 SG 5V power supply common (black) (G)
12 5V 5V power supply (red) (H)
13 PS brown E
Position data output
14 ― ―
PS blue F
15 ECLR Clear signal white R
16 SG 5V power supply common yellow (G)
17 5V 5V power supply (red) (H)
18 SG 5V power supply common (black) (G)
19 5V 5V power supply red H
20 SG 5V power supply common black G
G Plate Shield wire J

・ Refer to page 3-26 for how to process the shield wires.

・ The number of power terminals for servo motor encoder connections varies depending on the encoder cable
length. Refer to the following table.

Power connection (CN2) terminal number for servo motor encoder

Encoder cable length 5V power supply terminal number 5V power supply common terminal number
Less than 5m 19,9 20,16,10
Less than 30m 19,9,17,12 20,16,10,18,11

・ Use twisted pair and outer insulated shield cables.

・ CN 2 plug: 10120-3000PE
・ CN 2 shell: 10320-52A0-008
・ Servo motor encoder: canon plug
・JL04V-6A20-29S-J1(A72)
・JL04V-8A20-29S-J1-EB
・JL04V-6A20-29S-J1-EB
・MS3108B20-29S
・MS3106B20-29S

3-17
3.Wiring [Power Supply・Peripherals]
■ Power Capacity･Peripherals Examples
Noise filter
Servo amplifier Rated main power Power supply
Servo motor Rated (EMC Electro magnetic
Input Voltage capacity supply control Circuit breaker
model number Output(W) corresponding contactor
RS1＊□□A (KVA) (VA)
time)
Q1AA04003D 30 0.2
Q1AA04005D 50 0.2
Q1AA04010D 100 0.3
Q1AA06020D 200 0.8
Q2AA04006D 60 0.3
Q2AA04010D 100 0.4
Q2AA05005D 50 0.3
Q2AA05010D 100 0.4 NF30 shape 10A
01 Q2AA05020D 200 0.8 Manufactured by
Q2AA07020D 200 0.8 Mitsubishi Ltd.
Q2AA07030D 300 1.0
R2AA04003F 30 0.2
R2AA04005F 50 0.2
R2AA04010F 100 0.4
R2AA06010F 100 0.4
R2AA06020F 200 0.8
R2AA08020F 200 0.8 RF3020-DLC S-N10
Q1AA06040D 400 1.0 Manufactured by Manufactured by
Q1AA07075D 750 1.7 RASMI Mitsubishi Ltd.
Q2AA07040D 400 1.3
Q2AA07050D 500 1.5 NF30 shape 10A
03 Q2AA08050D 500 1.5 Manufactured y
Q2AA13050H 500 1.4 Mitsubishi Ltd.
R2AA06040F 400 1.0
R2AA08040F 400 1.0
R2AA08075F 750 1.7
Q1AA10100D 1000 2.5
Q1AA10150D 1500 3.0
Q1AA12100D 1000 2.5
Q2AA08075D 750 2.0 NF30 shape 15A
AC 05 Q2AA08100D 1000 2.5 Manufactured by
40
200V Mitsubishi Ltd.
Q2AA10100H 1000 2.5
Q2AA10150H 1500 3.0
Q2AA13100H 1000 2.5
Q2AA13150H 1500 3.0
Q1AA10200D 2000 4.0
Q1AA10250D 2500 4.2
Q1AA12200D 2000 4.0
Q1AA12300D 3000 5.0 NF50 shape 30A RF3020-DLC S-N18
10 Manufactured by Manufactured by Manufactured by
Q1AA13300D 3000 5.0 Mitsubishi Ltd. RASMI Mitsubishi Ltd.
Q2AA13200H 2000 5.0
Q2AA18200H 2000 5.0
Q2AA22250H 2500 5.9
Q1AA13400D 4000 6.7
Q1AA13500D 5000 8.3 RF3030-DLC
Q1AA18450M 4500 7.4 Manufactured by
Q2AA18350H 3500 6.9 RASMI
NF50 shape 50A S-N35
Q2AA18450H 4500 7.4 Manufactured by Manufactured by
3SUP-HL30-
Mitsubishi Ltd. Mitsubishi Ltd.
Q2AA18550R 5500 8.4 ER-6B
Q2AA22350H 3500 7.4 Manufactured by
15 Okaya Ltd.
Q2AA22450R 4500 8.4
Q2AA22550B 5500 10.1
3SUP- HL50-
ER-6B
NF100 shape 75A Manufactured by S-N50
Q2AA22700S 7000 12.2 Manufactured by Okaya Ltd. Manufactured by
Mitsubishi Ltd. FS5559-35-33 Mitsubishi Ltd.
Manufactured by
SCHAFFNER
Q1AA18750H 7500 12.6
Q2AA18550H 5500 10.1 NF100 shape 100A RF3070-DLC S-N65
30 Q2AA18750L 7500 12.6 Manufactured by Manufactured by Manufactured by
Q2AA2211KV 11000 15.7 Mitsubishi Ltd. RASMI Mitsubishi Ltd.
Q2AA2215KV 15000 21.4

3-18
3.Wiring [Power Supply・Peripherals]
Noise filter
Servo amplifier Rated main power Power supply
Servo motor Rated (EMC Electro magnetic
Input Voltage capacity supply control Circuit breaker
model number Output(W) corresponding contactor
RS1＊□□A (KVA) (VA)
time)
Q1EA04003D 30 0.2
Q1EA04005D 50 0.3
Q1EA04010D 100 0.5
Q2EA04006D 60 0.3
Q2EA04010D 100 0.5
01 Q2EA05005D 50 0.3
Q2EA05010D 100 0.5 NF30 shape 10A RF1010-DLC S-N10
AC R2EA04003F 30 0.2 40 Manufactured by Manufactured by Manufactured by
100V R2EA04005F 50 0.2 Mitsubishi Ltd. RASMI Mitsubishi
R2EA04008F 80 0.4
R2EA06010F 100 0.5
Q1EA06020D 200 0.5
Q2EA05020D 200 0.5
03
Q2EA07020D 200 0.5
R2EA06020F 200 0.8
* Recommended surge protector: R･A･V-781BXZ-2A Manufactured by Okaya Electric Industries Co.,Ltd.

3-19
3.Wiring [Wire diameter]

■ Recommended Wire Diameter Examples

Motor power wire Main power supply Control Regeneration CN1･CN2
Servo motor diameter wire diameter power wire resistance
Input servo amplifier Signal wire
model diameter wire diameter
Voltage (U･V･W･ ) combination (R･S･T･ ) diameter
number 2
mm AWG No mm2 AWG No － － －
Q1AA04003D
Q1AA04005D 0.5 #20 AWG 16
RS1□01 1.25 #16
Q1AA04010D 1.25 mm2
Q1AA06020D 0.75 #18
Q1AA06040D AWG 14
0.75 #18 RS1□03 2.0 #14
Q1AA07075D 2.0 mm2
Q1AA10100D
AWG 12
Q1AA10150D 3.5 #12 RS1□05 3.5 #12
3.5 mm2
Q1AA12100D
Q1AA10200D AWG 10
3.5 #12 RS1□10 5.5 #10
Q1AA10250D 5.5 mm2
Q1AA12200D
AWG 10
Q1AA12300D 5.5 #10 RS1□10 5.5 #10
5.5 mm2
Q1AA13300D
Q1AA13400D
AWG 8
Q1AA13500D 5.5 #10 RS1□15 8.0 #8
8.0 mm2
Q1AA18450M
AWG 6
Q1AA18750H 14.0 #6 RS1□30 14.0 #6
14.0 mm2
Q2AA04006D
0.5 #20
Q2AA04010D
Q2AA05005D
AWG 16
Q2AA05010D RS1□01 1.25 #16
1.25 mm2
Q2AA05020D 0.75 #18
Q2AA07020D
Q2AA07030D
Q2AA07040D
Q2AA07050D 0.75 #18 AWG 14
RS1□03 2.0 #14
Q2AA08050D 2.0 mm2
Q2AA13050H 2.0 #14
AWG 24
AC200V Q2AA08075D AWG 16
0.75 #18 0.2 mm2
Q2AA08100D
Q2AA10100H AWG 12
3.5 #12 RS1□05 3.5 #12
Q2AA10150H 3.5 mm2
Q2AA13100H
3.5 #12
Q2AA13150H
Q2AA13200H
AWG 10
Q2AA18200H 5.5 #10 RS1□10 5.5 #10
5.5 mm2
Q2AA22250H
Q2AA18350H
5.5 #10 RS1□15
Q2AA18450H
Q2AA18550R 8.0 #8
AWG 8
Q2AA22350H 8.0 #8
5.5 #10 8.0 mm2
Q2AA22450R RS1□15
Q2AA22550B
5.5 #10
Q2AA22700S
Q2AA18550H
Q2AA18750L
Q2AA2211KV AWG 6
14.0 #6 RS1□30 14.0 #6
Q2AA2215KV 14.0 mm2
Q4AA1811KB
Q4AA1815KB
R2AA04003F
R2AA04005F
0.5 #20
R2AA04010F AWG 16
RS1□01 1.25 #16
R2AA06010F 1.25 mm2
R2AA06020F
0.75 #18
R2AA08020F
R2AA06040F
AWG 14
R2AA08040F 0.75 #18 RS1□03 2.0 #14
2.0 mm2
R2AA08075F

3-20
3.Wiring [Wire diameter]
Motor power wire Main power supply Control Regeneration CN1･CN2
Servo motor diameter wire diameter power wire resistance
Input servo amplifier Signal wire
model diameter wire diameter
Voltage (U･V･W･ ) combination (R･S･T･ ) diameter
number
mm2 AWG No mm2 AWG No － － －
Q1EA04003D
Q1EA04005D
Q1EA04010D 0.5 #20
AWG 16
Q2EA04006D RS1□01 1.25 #16
1.25 mm2
Q2EA04010D
Q2EA05005D
0.75 #18
Q2EA05010D
Q1EA06020D AWG 24
AC100V AWG 16 AWG 14
Q2EA05020D 0.75 #18 RS1□03 2.0 #14 0.2 mm2
2.0 mm2
Q2EA07020D
R2EA04003F
R2EA04005F AWG 16
0.5 #20 RS1□01 1.25 #16
R2EA04008F 1.25 mm2
R2EA06010F
AWG 14
R2EA06020F 0.75 #18 RS1□03 2.0 #14
2.0 mm2

● The information in this table is based on rated current flowing through three bundled lead wires in ambient
temperature of 40C.
● When wires are bundled or put into a wire-duct, take the allowable current reduction ratio into account.
● If ambient temperature is high, service life of the wires becomes shorter due to heat-related deterioration. In
this case, use heat-resistant vinyl wires.
● The use of heat-resistant vinyl wires (HIV) is recommended.
● Depending on the servo motor capacity, thinner electric wires than indicated in the above table can be used
for the main circuit power input terminal.

■ Connector for Servo Amplifier

Sanyo Denki Manufacturer’s model Recommended
Name Model No. of applicable amplifier Name Manufacturer
Model No. No. tightening torque
Plug 10150-3000PE
① CN1 AL-00385594 All
Shell kit 10350-52A0-008 0.196±0.049 N・m
Sumitomo 3M Ltd.
Plug 10120-3000PE (jack-screw)
② CN2 AL-00385596 All
Shell kit 10320-52A0-008
③ CNA AL-00329461-01 RS1□01 to RS1□05(200V input only) Plug MSTB2.5/5-STF-5.08 0.5 to 0.6 N・m
④ CNA AL-00329461-02 RS1□01 to RS1□03(100V input only) Plug MSTB2.5/4-STF-5.08 0.5 to 0.6 N・m
Phoenix Contact Ltd.
⑤ CNB AL-Y0000988-01 RS1□01 to RS1□05(for both 100V･200V) Plug IC2.5/6-STF-5.08 0.5 to 0.6 N・m
⑥ CNC AL-00329458-01 RS1□01 to RS1□05(for both100V･200V) Plug IC2.5/3-STF-5.08 0.5 to 0.6 N・m
⑦ PC AL-00490833-01 All Communication cable for Set-up software -『 R-Setup 』

Combination Sanyo Denki Model No. Model No. of applicable amplifier

Set of ①+② AL-00292309 All

Set of ③+⑥ AL-00416792 RS1□01 to RS1□05 (200V input only)

Set of ①+②+③+⑥ AL-00393603 RS1□01 to RS1□05 (200V input only)

Set of ①+②+④+⑥ AL-00492384 RS1□01 to RS1□03 (100V input only)

● To have an insulation distance between the main circuit wires and between the main circuit and the
signal circuit wires, the use of pole terminals with insulation sleeves is recommended. (If the wire in use
is thicker than AWG12, these cannot be used.)

3-21
3.Wiring [How to process CN1/CN2 shields]

■ How to process CN1/CN2 shields.

The drawings below show how to process shields for CN1/CN2 connectors.
There are two ways to process shields; clamping and soldering.

● Clamping
ΦA
Drain wire

1 Sheath 3

Remove the cable sheath. Bend back the drain wire.

Tape or compression insert

1mm
2 4 Drain wire
Grand plate
Attach tape or compression insert.
When attached, tape or compression insert must Tighten the cable clamp over the drain wire.
completely be on the sheath of the cable. Attach approximately 1mm away from the tape or the
compression insert.

* Compression insert should only be attached before soldering the cable to the connector.

● Soldering (Conditions 1 and 2 are the same as for clamping.)

Drain wire Solder the drain wire

(○: stamped part)

3 1mm 4 5mm

Grand plate Gland Plate

Turn the cable and bring the drain wire close

to the grand plate.

● Applicable ΦA measurements for CN2

Applicable ΦA measurements are shown below. Compression insert is not required if the ΦA
measurements are within these.
Connector NO. Applicable ΦA measurement Connector model number Manufacturer
10150-3000PE
CN1 15.0 to 16.5mm Sumitomo 3M Ltd.
10350-52A0-008
10120-3000PE
CN2 10.5 to 12.0mm Sumitomo 3M Ltd.
10320-52A0-008

3-22
No Text on This Page.
４

[Positioning Functions]
 CN1 I/O Signal････････････････････････････････････････････ 4-1

 Parameter GroupD List････････････････････････････････････ 4-15

 Explanation of Parameter GroupD ･････････････････････････ 4-19

 Explanation of Point Data･･････････････････････････････････ 4-31

 Performance by External Operation Input････････････････････ 4-46

 External data setting･･････････････････････････････････････ 4-54

 Setting mandatory parameters･････････････････････････････ 4-55

 Explanation of Infinite Revolving Specification････････････････ 4-61

 Explanation of JOG with specific position stop････････････････ 4-64

 Explanation of CFZ external data setting function･････････････ 4-67

4.Positioning Function [CN1 I/O Signal]
■ CN1 I/O Signal
Specifications of CN1 input/output signals
Pin Conditions for input
Signal name Code I/O Outline of the specifications
number (Restrictions)
Slowdown SDN 19 I 1) When incremental encoder is Normally closed contact input
before Home used, this is effective during (SW2: standard setting)
home-position return 1) During home-position return operation
operation. with an incremental sensor used, Open
2) Ignored when absolute (OFF) makes the amplifier decelerates
encoder is used. (Home-position return low speed).
2) During low speed movement returning
to home, home-position return is
completed by Open (OFF)  Close
(ON).
How to return to zero:
・ Completed while Open (OFF) 
Close (ON) of SDN.
・ Completed when seaching
encoder C phase output signal
after Open (OFF)  Close (ON)
of SDN.
These can be selected by a parameter for
home-position return type (Z_typ).
+ Over travel +OT 20 I Always acceptable. Normally closed contact input
(Sw2:standard setting)
Forward move is prohibited by inputting
Open (OFF) and stops suddenly.
After sudden stop, servo is OFF.

- Over travel -OT 21 I Always acceptable. Normally closed contact input

(Sw2:standard setting)
Reverse move is prohibited by inputting
Open (OFF) and stops suddenly.
After sudden stop, servo is OFF.

External data E_STR 22 I Normally opened contact input

setting Move bit “3” of Sw2 to bit “0” in parameter
Group D.
It makes external data acceptable, then, can
be used as Data recording signal.
Move bit “3” of Sw2 to bit “1” in parameter
Group D.
It can be used for Home position setting by
selecting signals.
External error EXT-E 23 I Normally closed contact input
(Sw2:standard setting)
When inputting Open (OFF), alarm is
issued.

External power +24V 26 (I) Power sourse for input circuit; DC24V±10%.
source for input To be supplied from external power.

4-1
4.Positioning Function [CN1 I/O Signal]

Specifications of CN1 input/output signals

Pin Conditions for input
Signal name Code I/O Outline of the specifications
number (Restrictions)
Start RUN 27 I 1) Not acceptable when other Normally opened contact input
input signals (ZRT, A signal to start point move operations.
+JOG/-JOG, +1STEP / 1) Starts at the edge of Open (OFF) 
-1STEP, CACL) are ON. Close (ON).
2) Both MOVE and PFIN 2) Moves to specified point by point inptut
outputs must be OFF for ON at start reception.
points to newly move. 3) When start signal is turned OFF during
(Not acceptable during movement) operation, it decelerates and stops
3) Acceptable only at servo momentarily. When start signal is turned
“ON” status (8-segment LED ON again, continues point move.
displays a rotating character 4) Start signal is for positioning complete.
of 8) and at external operation (Keep ON status until PFIN turns ON.)
(operated from CN1).
Note) Point move in this chapter includes
continuous point move.

Homing start ZRT 28 I 1) Not acceptable when other Normally opened contact input Start signal
input signals (RUN, for home-position start.
+JOG/-JOG, 1STEP / ・ When an incremental encoder is used.
-1STEP, CACL) are ON. 1) Starts return-to-zero operation at the
2) Both MOVE and PFIN outputs edge of Open (OFF)  Close (ON)
must be OFF for points to 2) Homing start signal must be kept ON
newly move. until homing operation is complete
(Not acceptable during movement.) (PFIN signal turns ON).
3) Acceptable only at servo “ON” 3) At homing operation, if homing start
status (8-segment LED signal is turned OFF while high speed
displays a rotating character movement, it decelerates and stops into
of 8) and at external operation a temporary stop status (feed hold). And
(operated from CN1). when homing start signal is turned ON
again, resumes the homing operation.
When in the low move mode, even if
homing start signal is turned OFF,
temporary stop status may not occur.
・ When an absolute encoder is used.
4) Starts homing operation at the edge of
Open (OFF)  Close (ON).
5) At homing operation, returns to origin-set
coordinate.

4-2
4.Positioning Function [CN1 I/O Signal]

Specifications of CN1 input/output signals

Pin Conditions for
Signal name Code I/O Outline of the specifications
number Input(Restrictions)
+ Manual feeding +JOG 29 I 1) Not acceptable when other Normally opened contact input
input signals (RUN, ZRT, A signal to move forward at external
+1STEP / -1STEP) are ON. operation manual drive.
2) Do not turn ON both +JOG 1) Starts moving at the edge of Open
and -JOG signals at the (OFF)  Close(ON), moves while ON
same time. and decelerates / stops at OFF.
3) Not acceptable when alarms 2) When RAP signal is OFF, the speed set
or others are occuring. by parameter manual low speed (L_jog)
is the feeding speed, and when ON, the
speed set by parameter manual high
speed (H_jog) is the feeding speed.
3) During manual feeding, MOVE and
PFIN remain OFF.

- Manual feeding -JOG 30 I 1) Not acceptable when other Normally opened contact input
input signals (RUN, ZRT, A signal to move backward at external
+1STEP / -1STEP) are ON. operation manual drive.
2) Do not turn ON both +JOG 1) Starts moving at the edge of Open
and -JOG signals at the same (OFF)  Close (ON), moves while ON
time. and decelerates / stops at OFF.
3) Not acceptable when alarms 2) When RAP signal is OFF, the speed set
or others are occuring. by parameter manual low speed (L_jog)
is the feeding speed, and when ON, the
speed set by parameter manual high
speed (H_jog) is the feeding speed.
3) During manual feeding, MOVE and PFIN
remain OFF.

Over ride / RAP/ 31 I 1) Manual high speed: Normally opened contact input
Manual high OVRID Effective at manual feeding (Sw1: standard setting)
and 1 step feeding by 1) Switches high / low speed at manual
speed
external operation (operated drive. Switches the amount and speed
from CN1). of 1step feeding.
2) Over ride: 2) Moves by each multiple rate speed set
Acceptable at point move and by parameter (Ovride).
return-to-zero.

4-3
4.Positioning Function [CN1 I/O Signal]

Specifications of CN1 input/output signals

Pin Conditions for Input
Signal name Code I/O Outline of the specifications
number (Restrictions)
Alarm reset ARST 32 I 1) Effective at the time alarm / Normally opened contact input
error. A signal to release alarms/errors at
2) Effective only at external alarm/error status.
operation mode. 1) Reset the arlams/errors after their
causes have been eliminated.
2) Some alarms may not be released by
this signal depending on the contents.

Cancel CACL 33 I Effective only at move by RUN, Normally opened contact input
ZRT, +1step / -1step. A signal to cancel the point move, home
position return, 1 step feeding, and make
other move possible.
1) During point move, home-position return
and 1step feeding, turns into CACL
positioning status by CACL_ON.
2) When point move, return-to-zero and 1
step feeding signals are turned OFF
during CACL positioning status, and
when CACL signal is turned OFF,
operations are aborted (invalid) and
other moves are possible.

Servo ON S-ON 34 I Effective at times other than move Normally opened contact input
operation mode by PC and A signal to turn ON the motor excitation.
alarms. 1) When servo ON signal is turned OFF,
servo motor excitation becomes OFF
into free status.
2) When servo ON signal is turned OFF,
holding brake excitation timing output
(HBON) turns OFF.

4-4
4.Positioning Function [CN1 I/O Signal]

Specifications of CN1 input/output signals

Pin Conditions for Input
Signal name Code I/O Outline of the specifications
number (Restrictions)
Output selection 1 SEL1 35 I Always acceptable. Normally opened contact input
Signals to select meanings (contetns) of 8
bit signal of generic outputs (1) to (8). See
the combinations below.

SEL1 SEL2 SEL3 Contents

OFF OFF OFF Zone signal
ON OFF OFF Alarm/error code
Output selection 2 SEL2 36 I
Execution point
OFF ON OFF
number
ON ON OFF M output
OFF OFF ON Warning
Secondary
ON OFF ON
control signal
Positioning-com
Output selection 3 SEL3 37 I OFF ON ON
pleted point NO.
Reserved
ON ON ON

+1 step feeding +1step 38 I 1) Not acceptable when other Normally opened contact input
input signals (RUN, ZRT, A signal to move forward at external
+JOG/-JOG, CACL) are operation fixed amount feeding.
ON. 1) Starts moving at the edge of Open
2) Do not input both +1step (OFF)  Close(ON), and moves by
and -1step signals at the the amount set by parameter.
same time. 2) When RAP signal is OFF, moves by
the amount of “L_stp” at manual low
speed. When RAP signal is ON,
moves by the amount of “H_stp” at
manual high speed.

-1 step feeding -1step 39 I 1) Not acceptable when Normally opened contact input
other input signals (RUN, A signal to move backward at external
ZRT, +JOG/-JOG, CACL) operation fixed pulse feeding.
are ON. 1) Starts moving at the edge of Open
2) Do not input both +1step (OFF)  Close (ON), and moves by
and -1step signals at the the amount set by parameter.
same time. 2) When RAP signal is OFF, moves by
the amount of “L_stp” at manual low
speed. When RAP signal is ON,
moves by the amount of “H_stp” at
manual high speed.

4-5
4.Positioning Function [CN1 I/O Signal]

Specifications of CN1 input/output signals

Pin Conditions for Input
Signal name Code I/O Outline of the specifications
number (Restrictions)
Interruption start IRUN 40 I 1) Effective at external Normally opened contact input
operation mode. A signal to move to interruption point during
2) Can operate only while point move.
point move. 1) Duiring point move, moves to
interruption point set in the point data
which is being executed at the edge of
interruption start Open (OFF) 
Close(ON)
2) Interruption move during interruption
move is impossible.

MFIN MFIN 41 I Effective at both PC operation Normally opened contact input

and external operation. A signal to shake hands with M output
(MSTR). Turn the MFIN input Open (OFF)
 Close (ON) with the M output signal
(MSTR) ON to make a handshake with M
output. When M output type (M_typ) is “1”,
use this MFIN input for handshake to be
performed.

If moved by changing speed, even when M

output type is “1”, handshake is not
performed.

Point IN(1) 42 I Point number specification input Normally opened contact input
specification must have been established at (Sw1: standard setting)
IN(2) 43 I start time. A signal to specify the target point number
at start signal input (RUN).
IN(4) 44 I
1) Speicfy the number by binary code.
IN(8) 45 I 2) Numbers to be specified are from 0 to
253.
IN(16) 46 I

IN(32) 47 I

IN(64) 48 I

IN(128) 49 I

4-6
4.Positioning Function [CN1 I/O Signal]

Specifications of CN1 input/output signals

Pin Conditions for Input
Signal name Code I/O Outline of the specifications
number (Restrictions)
External power +24V 1 (I) Power source for driving output circuit.
source for output 2 DC24V±10%.
Supply from external DC power.

NC ready NCRDY 3 O 1) (TR_ON) approx. 0.5 sec 1) TR_ON when control power and
after power ON. main power are established, with no
2) (TR_OFF) when main alarms, and position loop is formed.
power is OFF and at 2) During TR_ON, operations of point
alarms. positioning move, home-position
return, manual feeding and 1 step
feeding are possible. NC ready is
also TR_ON when servo ON input
signal is Open (OFF).

Holding brake HBON 4 O (TR_ON) while motor is exciting. Outputs the holding brake excitation
excitation timing (release) timing.
output At TR_ON, holding brake is excited
(released).

Error Err 5 O It outputs at the time of the TR_ON in an error condition.

following errors.
+Soft limit
-Soft limit
Unregistered point
specification starting

External EXT 6 O 1) TR_On when external 1) TR_ON when external operation input
operation operation is effective. signal can be used.
effective 2) TR_OFF at PC operation. 2) TR_OFF when operated by PC (in the
PC mode). Do not oeprate externally
this time.

4-7
4.Positioning Function [CN1 I/O Signal]

Specifications of CN1 input/output signals

Pin Conditions for Input
Signal name Code I/O Outline of the specifications
number (Restrictions)
While operation MOVE 7 O 1) TR_OFF when power turns 1) TR_ON when receiving start input
ON. (RUN) at the time of point positioning
2) TR_OFF at alarms. move. When move has been
3) TR_ON during point move complete, TR_ON is maintained until
(from the time of move start signal is turned OFF. The same
completed until turning OFF for home-position return and 1 step
the start signal (RUN)). feeding; When move has been
4) TR_ON during complete, TR_ON is maintained until
home-position return (until homing signal or ±1STEP signal is
turning OFF the homing turned OFF.
signal (ZRT)). 2) When signals of MOVE and PFIN are
5) TR_ON during 1 step TR_ON, operation input singnals (start,
feeding (from the time of homing, manual feeding and 1 step
move completed until feeding) are not accepted.
turning OFF ±1STEP
signal).
6) TR_OFF during manual
feeding.

Positioning PFIN 8 I 1) TR_OFF when power turns

complete ON.
2) TR_OFF at alarms.
3) TR_ON from the time of
move completed until
turning OFF the start signal
(RUN) at point move.
4) TR_ON from the time of
move completed until
turning OFF the homing
signal (ZRT) at
home-position return
operation.
5) TR_ON from the time of
move completed until
turning OFF ±1STEP signal
at 1 step feeding operation.
6) TR_OFF at manual feeding.

In-position INPS 9 O 1) TR_ON if within the 1) TR_ON when current position is an

in-position width when ideal position within ± in-position width.
power turns ON. 2) TR_OFF once if moved outside the
2) TR_OFF generally during in-position width by an external means
move. TR_ON when moving while stopping in the status of
at low speed within the in-position output ON. TR_ON again
in-position width. when entering inside the in-position
3) TR_OFF during alarms. width by correcvie actions.
3) In-position width is set by system
in-position width parameter.

4-8
4.Positioning Function [CN1 I/O Signal]

Specifications of CN1 input/output signals

Pin Conditions for Input
Signal name Code I/O Outline of the specifications
number (Restrictions)
Homing complete ZFIN 10 O When incremental encoder is When incremental encoder is used.
(When used. 1) After power turned ON or alarms were
incremental 1) TR_OFF is maintained released, this is TR_ON when
encoder is used.) when power turns ON and home-position return operation, which
at alarms. matches the machine coordinate and
2) TR_ON when unit coordinate, is complete. After that
home-position return is TR_ON is maintained until another
complete. alarm or power shut off.
2) When power turns ON again or alarm
is released, TR_OFF is maintained
unless home-position return operation
is performed again.

Warning output WARN When ABS-E is used. When ABS-E is used.

(When absolute TR_ON in the status of battery This warning output is TR_ON when the
encoder is used.) warning. voltage of absolute encoder battery lowers
and warning is output from the encoder.

Selectable output OUT(1) 11 O Outputs the contents set by intput signals of

OUT(2) 12 SEL1, SEL2 and SEL3
O
(alarms, zone signals, etc.).
OUT(3) 13 O This has mening at TR_ON.
OUT(4) 14 O
OUT(5) 15 O
OUT(6) 16 O
OUT(7) 17 O
OUT(8) 18 O
Power ON ready A-RDY 50 O TR_ON within 2 sec after TR_ON when amplifier becomes the state
control power ON. that can be turned on the main power
supply, after control power established.

Common for 24G 24 (I) A common for driving output circuit, DC24V
output external 25 signal ground and (-) common for output
power TR.

4-9
4.Positioning Function [CN1 I/O Signal]

Contents of general outputs OUT (1) to (8)

Selection signal(Input)
Contents SEL1 SEL2 SEL3 Notes
(CN1-35) (CN1-36) (CN1-37)
a Zone signal × × × Switching is always
b Codes for errors, alarms ON × × effective.
c Execution point number × ON × However, due to delay
d M output ON ON × in contents switching,
e Warning × × ON instability lasts for
f Secondary control signal ON × ON 50msec after switching.
- (Reserved) × ON ON
- (Reserved) ON ON ON
The mark (×) in the above table means OFF.

a) Zone signals
(SEL1 to 3: OFF)

Current OUT(8) OUT(7) OUT(6) OUT(5) OUT(4) OUT(3) OUT(2) OUT(1)

position
zon1L
- - - - - - - ON
to zon1H
zon2L
- - - - - - ON -
to zon2H
zon3L
- - - - - ON - -
to zon3H
zon4L
- - - - ON - - -
to zon4H
zon5L
- - - ON - - - -
to zon5H
zon6L
- - ON - - - - -
to zon6H
zon7L
- ON - - - - - -
to zon7H
zon8L
ON - - - - - - -
to zon8H

Note that the mark “-“ can mean either ON or OFF.

For example, if the setting is the same for all zones, Out (8) to (1) are all ON (inside the zones), and are all
OFF (outside the zones). Zone setting (Zon1L to Zon8H) is by parameters.

4-10
4.Positioning Function [CN1 I/O Signal]

b) Codes for errors and alarms

(SEL1: ON)
* Errors  Rrefer to page 8-26 Troublehsooting the errors.
* Alarms  Refer to page 8-5 Troubleshooting the alarms.
OUT OUT OUT OUT OUT OUT OUT OUT Code
Contents
(8) (7) (6) (5) (4) (3) (2) (1) display
(Normal) × × × × × × × × 00
+ Sofware limit error × × × ON × ON ON × 16
- Sofware limit error × × × ON × ON ON ON 17
Defective point data error × × × ON ON × × × 18
Homing operation error × × × ON ON × ON ON 1B
Power element error × × ON × × × × ON 21
Current detection error0 × × ON × × × ON × 22
Current detection error1 × × ON × × × ON ON 23
Current detection erro2 × × ON × × ON × × 24
Forward over travel × × ON ON × × × ON 31
Reverse over travel × × ON ON × × ON × 32
Overload 1 × ON × × × × × ON 41
Regeneration error × ON × × × × ON ON 43
Amplifier overheating × ON × ON × × × ON 51
DB resistor overheating × ON × ON × × ON ON 53
Internal overheating × ON × ON × ON × × 54
External overheating × ON × ON × ON × ON 55
Over voltage × ON ON × × × × ON 61
Main circuit short voltage × ON ON × × × ON × 62
Main power failed phase × ON ON × × × ON ON 63
Control power short voltage × ON ON ON × × × ON 71
+12V power decrease × ON ON ON × × ON × 72
Encoer phases A/B pulse
signal error1 ON × × × × × × ON 81

Absolute signal disconnection ON × × × × × ON × 82

External encoder phases
A / B signal error ON × × × × × ON ON 83

Communication error between

encoder and amplifier ON × × × × ON × × 84

Encoder initialization error ON × × × × ON × ON 85

CS disconnection ON × × × × ON ON ON 87

Encoder command error ON × × ON × × × ON 91

Encoder FORM error ON × × ON × × ON × 92

Encoder SYNC error ON × × ON × × ON ON 93

Encoder CRC error ON × × ON × ON × × 94

4-11
4.Positioning Function [CN1 I/O Signal]

[Alarm codes- Continued]

OUT OUT OUT OUT OUT OUT OUT OUT Code
Contents
(8) (7) (6) (5) (4) (3) (2) (1) display
Encoder error 1 ON × ON × × × × ON A1
Absolute encoder
ON × ON × × × ON × A2
battery error
Encoder overheating ON × ON × × × ON ON A3
Encoder error 3 ON × ON × × ON × ON A5
Encoder error 4 ON × ON × × ON ON × A6
Encoder error 5 ON × ON × × ON ON ON A7
Encoder error 6 ON × ON × ON × × × A8
Encoder error 2 ON × ON ON × × ON × B2
Absolute encoder rotations
ON × ON ON × × ON ON B3
counter error
Absolute encoder one
ON × ON ON × ON × × B4
rotation counter error
Absolute encoder
permissible speed is
ON × ON ON × ON × ON B5
exceeded when power
turns ON
Encoder internal
ON × ON ON × ON ON × B6
memoryerror
Acceleration error ON × ON ON × ON ON ON B7
Over speed ON ON × × × × × ON C1
Speed control error ON ON × × × × ON × C2
Speed feedback error ON ON × × × × ON ON C3
Excessive position
ON ON × ON × × × ON D1
deviation
Position command
ON ON × ON × × ON × D2
pulsefrequency error 1
Position command
ON ON × ON × × ON ON D3
pulsefrequency error 2
Test mode end ON ON × ON ON ON ON ON DF
EEPROM error ON ON ON × × × × ON E1
EEPROM check
ON ON ON × × × ON × E2
sum error
Internal RAM error ON ON ON × × × ON ON E3
Processing error
ON ON ON × × ON × × E4
between CPU to ASIC
Parameter error 1 ON ON ON × × ON × ON E5
Parameter error 2 ON ON ON × × ON ON × E6
Point data check
ON ON ON × ON ON ON ON EF
sum error
Task processing error ON ON ON ON × × × ON F1

Initial time out ON ON ON ON × × ON × F2

The mark “×” in the above table means OFF.

4-12
4.Positioning Function [CN1 I/O Signal]

c) Executed point number (SEL2: ON)

The point number currently being executed is output by Binary code. For example, when a single
move by P001 is moved, “001” is output as a Binary code. When continuous moves by P002 to 006
are moved, currently executed points are output as Binary codes in “002”  “003”“004”  “005”
 “006”. These outputs are maintained until the next execution point is output or power shut off.

d) M output (SEL1, 2: ON)

(SEL1, 2: ON)
OUT(8) OUT(7) OUT(6) OUT(5) OUT(4) OUT(3) OUT(2) OUT(1)

Contents Mstr Not used Not used Not used Mout (M code output)

This is output by M code set by point data and by M output type. (For details, refer to page 4-41 M-output.)

e) Warning output (SEL3: ON)

(SEL3: ON)
・ For warnings, see the general ouotputs (1) to (8) as follows:
* For warning contents, refer to page 8-4 Warning list.
Condition OUT(8) OUT(7) OUT(6) OUT(5) OUT(4) OUT(3) OUT(2) OUT(1) Notes

No warning × × × × × × × ×
Amplifier internal
temperature × × × × × × × ON
warning
Main circuit
× × × × × × ON ×
power charging
Overload warning × × × × × ON × ×
Regeneration
× × × × ON × × ×
overload warning
Torque limit
× × × ON × × × ×
in operation
Speed limit
× × ON × × × × ×
in operation
Battery low
× ON × × × × × ×
voltage warning
Excessive
ON × × × × × × ×
deviation warning
The mark “×” in the above table means OFF.
Output condition here may be OFF for approx. 1 sec after power turns ON, therefore, check the
condition after the rise (ON status) of NC ready or in-position output.

f) Secondary control signal

(SEL1, 3: ON)
OUT(8) OUT(7) OUT(6) OUT(5) OUT(4) OUT(3) OUT(2) OUT(1)

A_RDY ALM
Contents Not used Not used Not used Not used Not used Not used
output Alarm
LAM Alarm output: Turns on at Alarm.

4-13
4.Positioning Function [CN1 I/O Signal]

g) Positioning-completed point number

(SEL1: OFF, SEL2, 3: ON)
This function outputs positioning-completed point number in binary code in conjunction with
positioning completion signal (PFIN). Codes to be output show valid values only when PFIN is on, if
PFIN is off, the value is always 0 (All OFF). In line with this, completion of point number 0 cannot
be recognized by using this signal.

モータ速度
Motor velocity

Motor
モータの動作operation

Designated-point
ポイント指定入力 ０ ５
output

起動入力
Start-up input

Positioning completion
位置決め完了出力
output

Function-completed
実行完了ポイント 0 (All OFF)
point NO. output ０ （すべてＯＦＦ） ５ ０
番号出力

4-14
4.Positioning Function [Parameter GroupD List]
■ Explanation of Parameter GroupD
● Parameter Group D List
Group Page Symbol Parameter Name and Description Standard Unit Setting Range
Level Setting
Value
D 00 S_vmx Basic System velocity limit *4 1 to 2147483647
・ If the velocity exceeds this value through external operation, the
velocity is limited at this setting.

01 T_vmx Basic Velocity limit of PC operation *4 1 to 2147483647

・ If the velocity exceeds this value through PC operation, the
velocity is limited at this setting velocity. In case of
S_vmx<T_vmx, the velocity is limited at S_vmx.
02 S_+OT Basic Positive direction software limit *5 -214748368 to
・ If the actual coordinate exceeds this valu,e, the software limit 2147483647
gets errors.

03 S_-OT Basic Negative direction software limit *5 -214748368 to

・ If the actual coordinate gets lower than this valu,e, the software 2147483647
limit gets errors.
04 Stp_P Basic Striking depth *1 Pulse 1 to 2147483647
・ The amount of soaking pulse is set up upon striking.
05 S_inp Basic System in-position width *1 Pulse 1 to 65535
・ If the deviation value is within the set imposition, imposition is
output.
06 S_ovf Basic System overflow *1 *5 1 to 2147483647
・ Excessive deviation value is setup at overflow.
07 T_ovf Basic Current limit overflow *1 *5 1 to 2147483647
・ Excessive deviation value is setup at overflow during current
limit.
08 Bakls Basic Backlash *5 0 to 32767
・ The amount of backlash of the machine can be setup
09 SOTde Basic Software limit detection - 0,1
･Whether the software limit isdisabled or enabled is setup.
“0”…Software limit is disabled (Disable)
“1”…Software limit is enabled (Enable)
0A M_dir Basic Operation direction *1 - 0,1
・ The operation direction of the motor is setup.
“0”…CCW: in case of rotary in the direction of positive coordinate
(Positive-Dir)
“1”…CW: in case of rotary in the direction of positive coordinate
(Negative-Dir)
0B Accel Basic Acceleration/deceleration constant *3 1to65535
・ Acceleration at external operation/PC operation mode is setup.
0C S_rat Basic S-acceleration/deceleration time ms 0 to 32767
・ S-shape time during an s-acceleration is setup.
・ This parameter is not applied when “JOG with specific position
stop” enabled. To smooth the velocity ramp, set position
command smoothing time constant.
0D T_jog Basic Jog current limit of PC operation % 0 to 510
・ The current limit value is setup when the current is limited
through the Jog operation of PC movement.

0E Z_typ Basic Home-position return type - 0 to 2

・ The direction of Home-position return is setup.
“0”-C phase signal search (C-Signal)
“1”-SDN OFF search (SDN-OFF)
“2”-Striking stop and C phase signal search (STP-C-Signal)
Note) Home-position return type “2” is only available the
4th part of software version is “0008” or after.
Ex) C0.00.1-B003-B731-0008-B003
Be sure to use type “0” or “1”, if the software version is
“0007” or before.

4-15
4.Positioning Function [Parameter GroupD List]
Group Page Symbol Parameter Name and Description Standard Unit Setting Range
Level Setting
Value
D 0F Z_dir Basic Home-position return direction - 0,1
・ The direction of Home-position return is setup.
“0”-High speed / Positive direction
Low speed/ Negative direction (Positive-Dir)
“1”-High speed/ Negative direction
Low speed/ Positive direction (Negative-Dir)
10 Z_hsp Basic Home-position return high speed *4 1 to 2147483647
・ High speed setup upon Home-position return (when using
incremental encoder)
Velocity setup upon Home-position return
(when using the absolute sensor)
11 Z_lsp Basic Home-position return low speed *4 1 to 2147483647
・ Low speed setup upon Home-position return
12 Z_add Basic Home-position coordinate *5 -214748368 to
・ This value will be Home-position of the user’s coordinate when 2147483647
Home-position returns.
(When using incremental encoder)
This value will be Home-position of the user’s coordinate when
‘home-position set’ is executed.
13 Z_ofs Basic Home-position offset value *5 -214748368 to
・ In Home-position return, this value is used as an offset between 2147483647
the vase signal (C-phase or SDN signal) position and the user
base position.
14 Z_inp Basic Home-position in-position width *1 Pulse 1 to 65535
・ Reducing this value improves the home-position return
precision.
15 +STROKE Basic +STROKE (Used for infinite coordinate only) *1 -214748368 to
Set maximum value of coordinate towards plus axis
*5 2147483647
16 A_ofs Basic Effective stroke length of absolute encoder *1 -214748368 to
(Normal coordinate)*2
*5 2147483647
・ Sets the valid stroke length from the home-position in the
absolute encoder.
・ -STROKE (Used for infinite revolving coordinate only)
Set minimum value of coordinate towards minus axis
17 Zon1L Basic Zone (1) Negative direction side *5 -214748368 to
・ Sets the valid negative direstion coordinates for the zone signal. 2147483647
18 Zon1H Basic Zone (1 )Positive direction side *5 -214748368 to
・ Sets the valid positive direstion coordinates for the zone signal. 2147483647

19 Zon2L Basic Zone (2) Negative direction side *5 -214748368 to

・ Sets the valid negative direstion coordinates for the zone signal. 2147483647

1A Zon2H Basic Zone (2) Positive direction side *5 -214748368 to

・ Sets the valid positive direstion coordinates for the zone signal. 2147483647

1B Zon3L Basic Zone (3) Negative direction side *5 -214748368 to

・ Sets the valid negative direstion coordinates for the zone signal. 2147483647

1C Zon3H Basic Zone (3) Positive direction side *5 -214748368 to

・ Sets the valid positive direstion coordinates for the zone signal. 2147483647
1D Zon4L Basic Zone (4) Negative direction side *5 -214748368 to
・ Sets the valid negative direstion coordinates for the zone signal. 2147483647

1E Zon4H Basic Zone (4) Positive direction side *5 -214748368 to

・ Sets the valid positive direstion coordinates for the zone signal. 2147483647

1F Zon5L Basic Zone (5) Negative direction side *5 -214748368 to

・ Sets the valid negative direstion coordinates for the zone signal. 2147483647

20 Zon5H Basic Zone (5) Positive direction side *5 -214748368 to

・ Sets the valid positive direstion coordinates for the zone signal. 2147483647

21 Zon6L Basic Zone (6) Negative direction side *5 -214748368 to

・ Sets the valid negative direstion coordinates for the zone signal. 2147483647

4-16
4.Positioning Function [Parameter GroupD List]
Group Page Symbol Parameter Name and Description Standard Unit Setting Range
Level Setting
Value
D 22 Zon6H Basic Zone (6 )Positive direction side *5 -214748368 to
・ Sets the valid positive direstion coordinates for the zone signal. 2147483647

23 Zon7L Basic Zone (7) Negative direction side *5 -214748368 to

・ Sets the valid negative direstion coordinates for the zone signal. 2147483647

24 Zon7H Basic Zone(7) Positive direction side *5 -214748368 to

・ Sets the valid positive direstion coordinates for the zone signal. 2147483647

25 Zon8L Basic Zone (8) Negative direction side *5 -214748368 to

・ Sets the valid negative direstion coordinates for the zone signal. 2147483647

26 Zon8H Basic Zone (8) Positive direction side *5 -214748368 to

・ Sets the valid positive direstion coordinates for the zone signal. 2147483647

27 H_jog Basic Manual high speed *4 1 to

・ High speed setting of in manual feed and 1step feed. 2147483647
High speed or low speed can be switched by entering RAP.
28 L_jog Basic Manual low speed *4 1 to
・ Low speed setting of in manual feed and 1step feed. 2147483647
High speed or low speed can be switched by entering RAP.
29 H_stp Basic High speed 1step travel distance *5 1 to
・ Sets the travel distance in case of +/-1step input. 2147483647
High speed travel distance / low speed travel distance can be switched by
entering RAP.
2A L_stp Basic Low speed 1step travel distance *5 1 to
・ Sets the travel distance in case of +/-1step input. 2147483647
High speed travel distance / low speed travel distance can be switched by
entering RAP.
2B Ovride0 Basic Oveerride 0 % 1to 255
・ This setting ratio is multiplied by travel velocity through this override input
2C Ovride1 Basic Oveerride 1 % 1to 255
・ This setting ratio is multiplied by travel velocity through this override input
2D Ovride2 Basic Oveerride 2 % 1to 255
・ This setting ratio is multiplied by travel velocity through this override input
2E Ovride3 Basic Oveerride 3 % 1to 255
・ This setting ratio is multiplied by travel velocity through this override input
2F Ovride4 Basic Oveerride 4 % 1to 255
・ This setting ratio is multiplied by travel velocity through this override input
30 Ovride5 Basic Oveerride 5 % 1to 255
・ This setting ratio is multiplied by travel velocity through this override input
31 Ovride6 Basic Oveerride 6 % 1to 255
・ This setting ratio is multiplied by travel velocity through this override input
32 Ovride7 Basic Oveerride 7 % 1to 255
・ This setting ratio is multiplied by travel velocity through this override input
33 Ovride8 Basic Oveerride 8 % 1to 255
・ This setting ratio is multiplied by travel velocity through this override input
34 Ovride9 Basic Oveerride 9 % 1to 255
・ This setting ratio is multiplied by travel velocity through this override input
35 Ovride10 Basic Oveerride 10 % 1to 255
・ This setting ratio is multiplied by travel velocity through this override input
36 Ovride11 Basic Oveerride 11 % 1to 255
・ This setting ratio is multiplied by travel velocity through this override input
37 Ovride12 Basic Oveerride 12 % 1to 255
・ This setting ratio is multiplied by travel velocity through this override input

4-17
4.Positioning Function [Parameter GroupD List]
Group Page Symbol Parameter Name and Description Standard Unit Setting Range
Level Setting
Value
D 38 Ovride13 Basic Oveerride 13 % 1 to 255
・ This setting ratio is multiplied by travel velocity through this
override input
39 Ovride14 Basic Oveerride 14 % 1 to 255
・ This setting ratio is multiplied by travel velocity through this
override input
3A Ovride15 Basic Oveerride 15 % 1 to 255
・ This setting ratio is multiplied by travel velocity through this
override input
3B S_pls Basic Number of system divisions *1 (Pulse) 1 to 131072
・ Number of divisions for 1 motor rotation.
3C U_pls Basic Number of user divisions *1 (mm) 1 to 131072
・ Travel distance per one motor rotation from the user point of
view.
3E D_dpo Basic Velocity, Position data decimal point *1 - 0 to 5
・ Setup of decimal point position for indication
“0”…No decimal point “1”…One place of decimals
“2”…Two places of decimals “3”…Three places of decimals
“4”…Four places of decimals “5”…Five places of decimals
3F Unit Basic Setting unit *1 - 00,01
・ Setting of the unit
“00”……pulse､ “01”…… mm
40 Sw1 Basic Function switch1 - 0000 to FFFF
41 Sw2 Basic Function switch2 - 0000 to FFFF
42 Sw3 Basic Function switch3 - 0000 to FFFF
43 Sw4 Basic Function switch4 - 0000 to FFFF
50 Z_Stp Basic Home-position return Striking depth *6 Pulse 1 to 2147483647
・ The amount of soaking pulse is set up upon striking while
Home-position return.
51 Z_Tlim Basic Home-position return Striking current limit *6 % 0 to 510
・ Motor current limit value is set up upon striking while
Home-position return.
*1 : If the set values are changed, restoration of the control power will be necessary.
*2 : If the set values are changed, Please be sure to perform zero set. Otherwise it will cause
displacement.
*3, 4, and 5 : Units are not specified in this instruction manual because user are supposed to setup the
parameters (S_pls, U_pls, D_dpo, Unit). Velocity system is displayed as “Uv” and position system “U”
in the explanation from here on. Refer to page 4-55 Parameters for positioning standard.
*6 : Parameters (Z_Stp, Z_Tlim) is only available the 4th part of software version is “0008” or after.
See last page of Chapter 4 about confirmation method of software version.

4-18
4.Positioning Function [Explanation of Parameter Group D]

● Detailed Explanation of Parameters Group D

Each parameter contained in the parameter group D is explained.
In addition, the explanation which has given *1, *2, etc. to the head of the sentence; since there are notes, refer
to it in accordance with 4 - 25 pages.

1) 00 S_vmx: System velocity limit (Uυ)

The operational velocity data is limited within this value even if it is set larger by external manipulation.

2) 01 T_vmx: Velocity limit of PC operation (Uυ)

The velocity is limited by this value like S_vmx when you manipulate through PC.
However, it is limited with the set value of S_vmx in the case of S_vmx < T_vmx.

3) 02 S_+OT: Positive direction software limit (U)

･Software limit is always enabled in the case of an absolute sensor and enabled after zero return in the case of an
incremental encoder.
･If the current position exceeds this set value, it decelerates and stops and forward transit is forbidden.
(Software limit error will be output.)
･Break-out should be conducted by manual (JOG) to the opposite direction (negative direction).
Error will be released by inputting alarmreset signal where it comes in the limit (operational range).
･SOTde: If you select”0 ” = ( page 09 ), it won’t work.

4) 03 S_-OT: Negative direction software limit (U)

･When the current position falls below this set value, backward transition is forbidden.
･Break-out should be conducted by manual (JOG) to the opposite direction (positive direction).
Error will be released by inputting alarmreset signal where it comes in the limit (operational range).
･SOTde: If you select”0 ” = ( page 09 ), it won’t work.

5) 04 Stp_P: Striking depth

This is a virtual entry depth at striking operation. It is a pulse that completes positioning even without reaching the
goal position if the striking depth falls in with the difference between command position and present one at the
striking operation during positioning feeding.

This much
6) 05 S_inp: System in-position width (Pulse)
･Positioning is completed and in-position is output when the difference between command position and present
position (deviation amount) is withinS_inp value().
･This value should usually be set with positioning error permissible value.

7) 06 S_ovf: System overflow (U)

･Values considered as overmuch position deviation (alarm) and defective position loop (defective trailing) including
operation are setup.
･Set values are determined in adjusted value and maximum velocity of position loop gain (Kp) and feed forward gain
(KFF).
S_ovf > VmaxX (100-Kff) / (100×Kp)

8) 07 T_ovf: Overflow at current limit (U)

･During current limit, position deviation is apt to be bigger than usual operation and overmuch deviation alarm
becomes sensitive.
･This is a parameter to avoid this state.
･Therefore usually it is T_ovf > S_ovf.

4-19
4.Positioning Function [Explanation of Parameter Group D]
9) 08 Bakls: Backlash (U)
・ Amount of backlash of a machine is set.
・ Amount of backlash is carried out being added to travel data every time travel direction changes.
・ Perform zero return operation when you use backlash correction or after you alter setting.
・ Correction starts when the direction reverses to the direction of zero return operational completion.

(Feeding screw)

(Work)

(Amount of backlash)

10) 09 SOTde: Software limit detection (-)

・ Validity / invalidity of software limit is setup.
“0”…Software limit is invalid.
“1”…Software limit is valid.

11) 0B Accel: Acceleration / deceleration constant (-)

This is used in all the transitions of manual, 1step, home-position return, point transition.
V

V1
Acceleration/deceleration is identical.

mm/ sec

α α

t1 t (sec)

V1  10( D _ dpo )
Accel = However V1 = (mm/s)
t1  10 3

When rising at 0.2sec until the velocity of 0375(mm/sec)

V1=375 (mm/sec)…(N=4500min-1)
t1=0.2 (sec) , D_dpo=2､ U_pls=5.00 (mm)
375  10 2
Accel = = 187.5  188
0.2  10 3
Note) When acceleration constant is too high, overshood or undershoot (vibration) is prone to happen.

4-20
4.Positioning Function [Explanation of Parameter Group D]

12) 0C S_rat: S-acceleration/deceleration time (msec)

・ The curb section (△t) of s-shape in the acceleration and decelaration is set with time.
・ Linear acceleration/deceleration when set value is below 4 (msec)
(Set “0” during the straight line.)
・ If acceleration time is short enough and the curb section of s-shape is too long, it can not reach
acceleration constant (Accel).

V S-shape
Straight

△ｔ △ｔ △ｔ △ｔ ｔ

・ Rising (downward) time at S-shape is about △t longer (curb section of S-shape) than at straight line.
・ The straight line at S-shape is acceleration constant (Accel).

13) 0D T-jog: Jog current limit of PC operation

This is current limit set value when limiting current at Jog running of PC operation.
<Explanation of PC operation/Jog operation>
Jog operation by PC is carried out at “test operation” or “Jog operation execution”.
Follow the directions below when you specially want to teach striking stop.
(1) Strike after Jog-moving at [current limit]+[low speed+] or [low speed-].
(2) Move the ideal value after striking making only pulses set by parameter“Step_P” as soaking pulses.
(3) When ideal value moves “Step_P”, deviation will be cleared and ideal value is completed at position B.

Step_P

(1) A
(2)
［Current limit］
+ [Low speed+]
(3)

(4) If you register teaching, position A is automatically registered and you can teach striking stop.
(In advance, set other data for striking stop.)

4-21
4.Positioning Function [Explanation of Parameter Group D]

14) 0E Z_typ: Home-position return type (-)

*2 When incremental encoder or incremental use absolute encoder are used, home-position return operation
should be done at first for matching internal command coordinate and actual machine coordinate.
Home-position return method can choose from type below at parameter Z_typ.

a) Home-position return type 0 (Set value: 0)

(1) ON of a zero return signal (ZRT) will start movement in the direction (Z_dir) of the starting point at the
velocity set up at the zero return high speed (Z_hsp).
(2) Once carries out a slowdown stop in OFF of a home position slowdown signal (SDN), and the direction of
operation is reversed.
After reversal, moves at the velocity set up at the zero return low speed (A_lsp).
(3) After home position slowdown signal (SDN) is again set to ON, an encoder C phase signal stops for the
first time in the position which added the starting point offset value (Z_ofs) to the position set to ON, and the
position serves as the starting point. The coordinates of a starting point position serve as a value set as the
starting point position coordinate (Z_add).

Homing signal
ON
OFF
(Input) (A)
H Velocity
Reversal Z_ofs
Motor velocity
L Velocity

(Input)
Slow down befor home ON
OFF
Encoder
C-Phase signal

Homing complete signal ON

OFF

4-22
4.Positioning Function [Explanation of Parameter Group D]

b) Home-position return type 1 (Set value: 1)

(1) and (2) are the same as that of the zero return type 0.
(3) Zero return slowdown signal (SDN) stops in the position which added the starting point offset value (Z_ofs)
to the position again set to ON, and the position serves as the starting point.
The coordinates of a starting point position serve as a value set as the starting point position coordinate (Z_add).

ON
Homing signal
OFF
(Input) (A)
H velocity
Reversal Z_ofs
Motor velocity
L velocity

(Input)
Slow down before home ON
OFF
Encoder
C-phase signal

Homing complete signal ON

OFF

4-23
4.Positioning Function [Explanation of Parameter Group D]

c) Home-position return type 2 (Set value: 2)

(1) ON of a zero return signal (ZRT) will start movement in the direction (Z_dir) of the starting point at the
velocity set up at the Home-position return high speed (Z_hsp).
(2) When application hits a stopper and motor stops rotating, the pushing operation will start with the
Home-position return Striking current limit (Z_Tlim).
(3) When difference between internal command position and actual motor position becomes larger than the
Home-position return Striking depth (Z_Stp), the pushing operation will end and rotation direction will be
reversed. Then, movement will start with the Home-position return low speed (Z_lsp).
(4) After rotation direction is reversed, an encoder C phase signal stops for the first time in the position which
added the Home-position offset value (Z_ofs) to the position set to ON, and that position serves as the
starting point. The coordinates of a starting point position serve as a value set as the Home-position
coordinate (Z_add).
After Homing complete signal is ON, the Home-position return signal (ZRT) will be OFF and the
Home-position return operation is end.

Stopper Pushing operation with setting

value of Z_Tlim
Homing signal ON
OFF
(Input) (A)
H velocity
Reversal Z_ofs
Motor velocity

L velocity
Setting value of Z_Stp

Position deviation

Encoder
C-Phase signal

Homing complete signal ON

OFF

Note1: Homing signal is accepted only when other operational signals (RUN, Jog, and 1 STEP) are all OFF.
Note2: In actual movement, since the position of the actually stopped position (A) differs from the position
decided by C phase signal (Type 1; signal before home position), it performs movement of the amount
of compensation +Z_ofs. Movement of the amount of compensation is performed also Z_ofs=0.

4-24
4.Positioning Function [Explanation of Parameter Group D]

15) 0F Z_dir: Home-position return direction (-)

*2 ･Seting “0”…Forward rotation at high speed Backward rotation at low speed
･Setting “1”…Backward rotation at high speed Forward rotation at low speed

16) 10 Z_hsp: Home-position return high speed (Uυ)

･With incremental encoder
Velocity at which it moves to the direction set by (Z_dir) without SDN input signal from homing start.
･With absolute encoder
Velocity of home positioning

17) 11 Z_lsp: Home-position return low speed (Uυ)

*2 ･At homing operation, it slows down from (Z_hsp) by slow-down signal and later reverses and get away from the
slow-down signal. Reverse velocity at that time.

18) 12 Z_add: Home-position coordinate (U)

*3 ･With incremental sensor
The coordinate set here becomes user coordinate value when home-position return is completed.
･With absolute sensor
The value set here becomes user coordinate value at home-position set.

Important
・Home-position return or Home-position set is necessary when this value is changed.

19) 13 Z_ofs: Home-position offset value (U)

･When home-position return, it moves at this value as home reference signal (C-phase or SDN signal) position and
correction amount of user reference position.
(When using incremental encoder)

20) 16 A_ofs: Effective stroke length of absolute encoder (U)

*1 ･Unnecessary with incremental encoder
･Setup effective stroke length at absolute encoder as absolute value. Set this value adding margin (±α) to
mechanical effective stroke. (If it exceeds this effective stroke length, normal positioning is impossible because it
exceeds the region of absolute encoder.)
･When the effective stroke of encoder is larger than a mechanism's stroke enough (more than twice), it can be
used with A_ofs=0.
(It is preset automatically in the center position of encoder stroke at the time of A_ofs=0.)

Important
Please be sure to set home if you change this value.
If you resore control power without home-position set, it causes displacement of position.

Notes
*1 Those are parameters needed only when encoder is absolute one.
*2 Those are parameters needed when incremental encoder or incremental use absolute encoder are
used. Check the position of zero when zero returns if you change this system parameters.
*3 Those are parameters needed by both absolute and incremental encoder.
*4 15 +STROKE, 16 A_ofs (-STROKE) are described in “Explanation of infinite revolving specification”

4-25
4.Positioning Function [Explanation of Parameter Group D]

21) 17 Zon1L: Zone signal (1) Negative direction side (U)

22) 18 Zon1H: Zone signal (1) Positive direction side (U)
・ Set the zone that outputs zone signal (1)with Zon1L and Zon1H. Note) Zon1L<Zon1H
・ It is necessary to select zone signal output for general-purpose output.
(Reference: Output selectionsignal)

Zone signal output is ON when current

position comes into this zone.

zon1L zon1H

(-) (+)

ON OFF
Zone signal (1)

・ It is not output if the time when it is within the zone is too short. (t≧40msec)
・ Zone signal is enabled after zero return completion with incremental encoder and always enabled with
absolute encoder.

23) 19 Zon2L: Zone signal (2) Negative direction side (U)

24) 1A Zon2H: Zone signal (2) Positive direction side (U)
25) 1B Zon3L: Zone signal (3) Negative direction side (U)
26) 1C Zon3H: Zone signal (3) Positive direction side (U)
27) 1D Zon4L: Zone signal (4) Negative direction side (U)
28) 1E Zon4H: Zone signal (4) Positive direction side (U)
29) 1F Zon5L: Zone signal (5) Negative direction side (U)
30) 20 Zon5H: Zone signal (5) Positive direction side (U)
31) 21 Zon6L: Zone signal (6) Negative direction side (U)
32) 22 Zon6H: Zone signal (6) Positive direction side (U)
33) 23 Zon7L: Zone signal (7) Negative direction side (U)
34) 24 Zon7H: Zone signal (7) Positive direction side (U)
35) 25 Zon8L: Zone signal (8) Negative direction side (U)
36) 26 Zon8H: Zone signal (8) Positive direction side (U)

37) 27 H_jog: Manual high speed (Uυ)

・ Velocity when it moves at high speed when rapid signal (RAP) is input during manual (JOG) operation or 1 step
feeding operation

38) 28 L_jog: Manual low speed (Uυ)

・ Velocity when rapid signal (RAP) is not input during manual (JOG) operation or 1 step feeding operation

39) 29 H_stp: High speed 1step travel distance (U)

・ 1 step travel distance when it travels at high speed when rapid signal is input

40) 2A L_stp: Low speed 1 step travel distance (U)

・ 1 step travel distance when rapid signal (RAP) is not input

4-26
4.Positioning Function [Explanation of Parameter Group D]

41) 2B Ovride0: Override 0(%)

・ It operates at the velocity multiplied by this rate with the set value as 100% to velocity set value of point data.
・ Example) If Ovride0=10% to the velocity set 10mm/ sec, execution speed will be 1mm/sec.
・ The time when override O is enabled is when “Home-position return, point movement” when OVRID input is OFF.
・ Note) It is disabled for manual (JOG) operation.

42) 2C Ovride1: Override 1(%)

・ The time override 1 is enabled when “Home-position return, point movement” when OVRID input is ON.

43) 2D Ovride2: Override 2(%)

・ Set Sw2 bit6=1 in order to enable override 2 to 15.
Note) Usable point numbers are limited to 1 to 31 because some point number specified input is allocated for
override number specified input if setting Sw2 bit6=1.
<Input allocation>
Item Sw2 bit6=0 Sw2 bit6=1
CN1-31 RAP/OVRID RAP / OVRID(1)
CN1-47 IN (32) : Point number OVRID (2)
CN1-48 IN (64) : Point number OVRID (4)
CN1-49 IN (128): Point number OVRID (8)
Effective point number 0 to 253 0 to 31
Effective override number 0,1 0 to 15
Select override number specification in combinations of the above four inputs.
The total of “a” will be override number at input OVRID (a) that is ON. (”a”=1.2.4.8)
Only CN1-47”OVRID (2)” is ON in the above four inputs if you specify override.
CN1-47”OVRID (2)” and CN1-49 ”OVRID(8)” are ON and the other two inputs are OFF in the above four
inputs if you specify override 10.
44) 2E Ovride3:Override3 (%)
45) 2F Ovride4:Override4 (%)
46) 30 Ovride5:Override5 (%)
47) 31 Ovride6:Override6 (%)
48) 32 Ovride7:Override7 (%)
49) 33 Ovride8:Override8 (%)
50) 34 Ovride9:Override9 (%)
51) 35 Ovride10:Override10 (%)
52) 36 Ovride11:Override11 (%)
53) 37 Ovride12:Override12 (%)
54) 38 Ovride13:Override13 (%)
55) 39 Ovride14:Override14 (%)
56) 3A Ovride15:Override15 (%)

4-27
4.Positioning Function [Explanation of Parameter Group D]

57) 4D Sw1: Function switch 1

・ Set values are given in hexadecimal.

Upper 15 14 13 12 11 10 9 8
0 0 0 0 0 0 0 0 Bit number

Lower
7 6 5 4 3 2 1 0
0/1 0/1 0/1 0/1 0/1 0 0/1 0/1

External data setting

0: No external data setting
1: Permitted external data setting

Coordinate at external data set teaching

0: Ideal position coordinate
1: Current position coordinate

Fixed to 0

Used when infinite rotation spec.

Refer to the clause of infinite rotation
specification for detail

Absolute encoder clear function

External I/O mode
0: Invalid
1: Valid

Deviation clear at striking stop

0: Clear deviation
1: Don’t clear deviation
Note) Set all that don’t have an explanation about bit to 0.

<Setting method> It will be in four-digit hexadecimal because bit numbers are displayed in hxidecimals per 4 bit unit.
(Each of 10 to 15 is displayed A, B, C, D, E, F)
Bit weight for 1st digit bit 3=8 bit 2=4 bit 1=2 bit 0=1
Bit weight for 2nd digit bit 7=8 bit 6=4 bit 5=2 bit 4=1
Bit weight for 3rd digit bit 11=8 bit 10=4 bit 9=2 bit 8=1
Bit weight for 4th digit bit 15=8 bit 14=4 bit 13=2 bit 12=1

Setting example)
・ No deviation clearance at striking stop････････････････････････････････････bit7=1
・ Coordinate at external data set teaching is current position coordinate･････bit1=1
・ External data setting shall be effective. (Permissible)･･････････････････････bit0=1
Setting value shall be 0083[H] in the above case.

4-28
4.Positioning Function [Explanation of Parameter Group D]

58) 41 Sw2: Function switch 2

・ It is used as function selection, logic reversal, and soft jumper.
・ Setting values are given in hexadecimal. (Refer to parameters “Sw1”)

High order 15 14 13 12 11 10 9 8 Bit number

0 0 0 0/1 0 0 0/1 0

JOG with specific position stop

0: Disabled
1: Enabled

Selection of timer to detect POFF when power supply is turned off

0: Operate simultaneously with Power Failure detection delay time.
1: Applies POFF detection delay time

Low order 7 6 5 4 3 2 1 0 Bit number

0/1 0/1 0/1 0/1 0/1 0/1 0/1 0/1

+0T -0T
Hard overtravel
0: external validity
1: internal forcing ON (Function disabled)

Hard overtravel logic

0: normally closed contact (external signal)
1: normally opened contact (external signal)

Home position setting input conversion

0: Home position setting execution by point
movement of a point 254.
E_STR signal is used for External data setting.
1: E_STR [ON] RUN [OFF  ON]
Home position setting execution by
(RUN starting).

Homing function of absolute encoder

0: None
External error detection 1: Effective
0: external validity
1: internal forcing ON
(Function disabled) Override selection
0: 1input selection (2-type selection)
SDN signal switchover 1: 4 input selection (16-type selection)
0: normally closed contact
(external signal)
1: normally opened contact
(external signal)

Note) Set all that don’t have an explanation about bit to 0.

Setting example) ･SDN signal shall be normally opened contact input.････････････････････bit7=1
･External error shall not be detected.(Internal forcing shall be ON)･･･････bit5=1
･Hard overtravel shall be normally opened contact input.････････････････bit2=1
Setting value is 00A4 [H] in the above case.

4-29
4.Positioning Function [Explanation of Parameter Group D]

59) 42 Sw3: Function switch 3/ 43 Sw4: Function switch 4

It is reserve area. Set “0000”.

60) 50 Z_Stp: Home-position return Striking depth

・ The amount of soaking pulse is set up upon striking while Home-position return.
When striking operation starts and motor stops rotating, striking operation will finish after the difference between
internal command position and actual motor position (as pulse counts) becomes larger than this value, and then
operation goes next.

61) 51 Z_Tlim: Home-position return Striking current limit

・ Motor current limit value is set up upon striking while Home-position return.
When zero is set, it means no limit and maximum torque of the motor is used.

● Homing function of absolute encoder

If bit4 of SW2 is set to "1" in the case of the combination of encoder PA-035C and PA035S, homing of absolute
encoder can be performed.
Although the zero return Type 0 and Type 1 can be performed similarly, Type 0 comes to stop at "0" in one
revolution of ABS coordinates because there is no C phase signal like incremental encoder.
The parameter which becomes valid：Z_typ, Z_dir, Z_hsp, Z_lsp, Z_ofs
The parameter which becomes invalid：A_ofs

● Absolute encoder clear function

Usually, although absolute encoder clear is performed via setup software, absolute encoder clear can be also
performed from CN1 input signal by the following method.
-The absolute encoder clear method-
・ Sw2: Setup of bit4= "0" (with no absolute encoder homing)
・ Sw1: Setup of bit6= "1" (Absolute encoder clear functional external I/O mode: Valid)
・ ALM state
With the above-mentioned setup and a state, absolute encoder clear is performed by "turning on" of simultaneously
CN1 incoming-signal SDN (19 pins) and ZRT (28 pins).
However, if an absolute encoder clear is performed, multi-turn part of coordinates will also be cleared and a
coordinate system will be unfixed.
Be sure to perform home position setting after execution of this function.

● Simplification of home position setting input

Usually, although home position setting is performed by point move specification of a point 254, by changing a
setup, home position setting can be performed also by E_STR "ON" and RUN "OFF->ON" (RUN starting).
However, since E_STR is used by an external data setting function, only when Sw1: Bit0 is [0] (mode which does
not use an external data setting function) and Sw2:Bit3 setup is [1], this change function becomes valid.
To perform “origin setting” on the display of R_Setup software, you need to perform the setting (Bit3 = “0”) to use
point 254.

4-30
 4.Positioning Function [Explanation of Point Data]
■ Explanation of Point Data
・Each role of point data and function are explained below.
Move mode M output

acceleration/deceler
Servo gain selection

Roop mode select

Speedchange:stop

ation time *1

Dwell time

Repetition
Acceleration

Currentlimit
StrikingW/ Wo

/continuous

S-shape

count
ABS/INC
Point

Mode3
Mode 1

Mode 2
Speed Position IP

Code
Type
number
Delay

* * * ms % * ms
0 100.0 0.0 0 0 1 0 0 0 0 0 0 250 10 350 0 0.0 0 0 0 0 0000
1
1 214748364.7 -214748364.7 0 0 0 0 0 0 0 1 0 65535 32767 510 2 214748364.7 1 0 32767 0000
5
to
253 10.0 50.0 0 0 1 0 0 0 1 0 0 200 0 150 0 0.0 0 253 0 100 0000
*1 R setup software is used for a setup of point data.
Refer to the separate volume "setup software instructions manual" about the detailed setting
direction.
*2 Explanation of Point Data tables described in the following pages may omit the columns of
“Servo gain select” and “Loop mode select”.
● Point number
 Setting range:0 to 253
 Speicify this point number to perform settings and operations.
 Use 8 bit external input for external specification by binary code.
● Speed (Uv)
 Setting range:0 to 2147483647 ･･･(Without decimal points)
0 to 214748364.7 ･･･(One place for decimals)
 Set this below motor maximum rotation speed.
● Position data (U)
 Setting range: -2147483648 to +2147483647 ･･･(without decimal points)
-214748364.8 to +214748364.7･･･(One place for decimals)
However, this must be within effective stroke.
 Whether this data is treated as an incremental amount (incremental command) or as a
coordinate (absolute command) is determined by operation patterns.
● Acceleration (Uv/ms)
 Setting range:0 to 65535
 Acceleration and deceleration are the same. (Refer to explanation of page 4-20)
● S-shaped acceleration/deceleration time (ms)
 Setting range:0 to 32767
 Acceleration and deceleration are the same. (Refer to explanation of page 4-21)
● Current limit (%)
 Setting range:0 to 510 (%)･･･At every 1 (%)
 To set this to “0”does not mean 0 (%) but without current limt. (For rotation tyep a motor,
current limit is treated the same as torque limit.)
In other words, operation is possible up until motor peak torque. Set this to “0” for usual
positioning.
 In general, set this current limit only when striking stop operation is performed. Setting this
current limit will cause endless overflowing or operations.
 Larger current than the maximum current determined by motors will be limited by
instantaneous maximum current.

4-31
4.Positioning Function [Explanation of Point Data]
● Move mode
See the move modes as follows:


a) Mode 1
00: Point data is not set 01: Positioning operation effective
10: Reserved 11: Reserved
b) Mode 2
00: Final move 01: Continuous move
10: Reserved 11: Reserved
c) Mode 3
Set this to “0”.
d) ABS / INC
0: Position data is absolute command.
1: Position data is incremental command.
e) Striking: Without/With
0: Normal move (Without striking)
1: Move by “striking stop“
f) Speed change: Stop/ Continuous
0: Stop and change speed operation (This is called the operation pattern 0.)
1: Continuous speed change operation (This is called the operation pattern 1.)

a) Mode 1
Whether the point data is valid or invalid (not set) is set at “Mode 1”. When ”Mode 1”is “01”, execution
is possible with valid data. When “Mode 1” is “00”, “10” and “11”, data is invalid and operation
becomes unfixed.

<Combination examples of operation patterns>

Data valid W/Wo continue Command position W/Wo striking Operation pattern
data
Mode1 Mode2 ABS/INC Striking Speed change
Stop and change
Absolute command [0]
speed[0]
Normal move Stop and change
Incremental command[1]
(without striking) speed[0]
[0] Continuous
Absolute command [0]
speed change[1]
Comoplete
Continuous
[00] Incremental command[1]
Valid speed change[1]
[01] Stop and change
Continue Absolute command [0]
speed[0]
[01]
Stop and change
Incremental command[1]
Move with striking speed[0]
[1] Continuous
Absolute command [0]
speed change[1]
Continuous
Incremental command[1]
speed change[1]

* Make sure to set a move point of “Mode 2” with a compleltion code “00” at the end of move pattern.

4-32
4.Positioning Function [Explanation of Point Data]

b) Mode 2 and f) speed change (operation)

Operation pattern is according to “Mode 2” (With/Without continue of point execution).
When “Mode 2” is “00”, the move is complete.
When “Mode 2” is “01”, the move continues.
When “Mode 2”is “10” and “11”, there will be “error 18” at execution.

0: Stop and change speed

After moving by a certain points, decelerates and stops, and makes positioning to the next point.
When “Mode 2”is “01”, the move continues, and when “Mode 2” is “00”, the move is complete at the
point.
<Example> *The last point of move pattern must have
“Mode 2” with ”00” at the end.

｢01｣ ｢01｣ ｢00｣  [Mode 2]

P001 P002 P003

Move start Positioning Positioning Positioning･Move complete

Move starts at P001, then to P001  P002  P003 (tempoprarily stops at each point). Since “Mode
2” at P003 is “00”, positioning and move is complete here.
Thus, when “Mode 2” is set to “01” in the point setting, the move continues to the next point (the point
with 1 added to the currently moving point) up until “00”of “Mode 2”appears.

1: Continuous speed change operation

Set at a certain point, the move does not stop at the next point, but accelerates or decelerates
according to the set speed and then moves. When “Mode 2” is “01”, the move continues and when
“Mode 2” is “00”, the move is complete at the point, which is the same as‘stop and change speed
operation’.
<Example>

“01” “01” “00”  [bit13･12]

P001 P002 P003

Move start Positioning Positioning Positioning･Move complete

Move starts at P001, then to P001  P002  P003 with continuous speed change, and the move is
complete at P003.
The point where the speed change is complete point where is a set position as the moving point.

4-33
4.Positioning Function [Explanation of Point Data]

<Notes for continuous speed change operation>

Continuous speed change does not occur in the following cases:
(1) The direction of move changes in the position data setting.(e.g. forward  reverse)
(2) Continuous speed change point is more than 8.
(3) Point operation to be executed is stop and change speed opration.
(4) The next point operation is stop and change speed operation.
(5) “Mode 2” includes “00” (feeding complete).
(6) Striking stop operation is being set.
(7) Dwell time is being set (to other than 0).

On the other hand, the following functions are restricted when continuous speed change is used:
(8) S-shaped acceleration/deceleration; At all the point numbers where continuous speed change
is set, the move is a straight acceleration/deceleration even if parameters for S-shaped
acceleration/deceleration are set.
(9) Handshaking of M output; At the point where continuous speed change is orerated, M
output handshaking is not executed even if it is set.

However, in the cases from (1) to (7) shown above where continuous speed change does not
actually occur in spite of the setting, M output handshaking is executed.
Customers are requested, generally, not to set M output handshaking under continuous speed
change operation configuration.

c) Mode 3
 Set “0” here, as this is a reserved zone.

d) ABS / INC
This determines as what kind of command the value set by position data will be treated.
0: Absolute command: Position data is treated as absolute coordinate system (user coordinate
system).
Example) When positioning by absolute command at the position data of 150.0 [mm],
assuming that the current position is 100.0 [mm];
100.0[mm] 150.0[mm]

50.0[mm]

Thus, moves forward by 50.0[mm] and gets positioned at 150.0[mm].

Therefore, the move amount varies depending on the current position.

1: Incremental command: Position data is treated as amount of feeding (user coordinatesystem).

Example) When positioning by incremental command at the position data of 150.0[mm],
assuming that the current position is 100.0[mm];
100.0[mm] 200.0[mm] 250.0[mm]

150.0[mm]

Thus, moves forward by 150.0[mm]and gets positioned at 250.0[mm].

Therefore, the position varies depending on the current position.

4-34
4.Positioning Function [Explanation of Point Data]

e) Striking: Without/With
Sets with / without striking stop in the point move.
0: Normal move (without striking) setting
1: Striking stop setting
* Striking stop
When striking stop is set, see the actual operation of striking stop as follows:

Stopper

(1) (2) (3)

Penetrated pulse set by (4)

Stp_P.
(6)
(5)

(1) Positioning move toward the stopper

(2) Strikes against the stopper, the current value stops, the ideal value keeps moving, and
deviation accumulates.
(3) Stops moving when penetrated pulse(deviation) ≧ Stp_P (parameter). (Evern if not reaching
positioning point.)
(4) During dwell time, pushing operation with penetrated pulse (deviation).
(5) After dwell time, penetrated pulse is cleared.
(6) Positioning complete or next move.
- Notes -
 When striking stop is used, set the current limit (torque limit) as well as this setting.
Striking peration without current limit may cause overloading.
 In the normal positioning, make sure to set “the current limit = 0”.
 When Stp_P (parameter) is small, or when deviation is large during move due to high
speed/acceleration (deviation≧Stp_P), striking stop may occur accidentally during move.
Make sure to keep the speed low.

4-35
4.Positioning Function [Explanation of Point Data]
● Move example1 (Action)
a) Absolute command single move

acceleration/dec
Move Mode Moutput

Acceleration

Repetition
eleration time

Current
Striking: Wo/W
Point

count
limit

Dwell
change :stop

S-shaped

time
/continuous
Speed Position IP

Code
Type
ABS/INC
number Delay

Mode1

Mode2

Mode3

Speed
* * * ms % * ms

1 10.0 200.0 0 1 0 0 0 0 0 0 250 0 0 0 0.0 0 0 0 0000

(1)
Speed
10.0
Coordinate
100.0 200.0 300.0
(2)
(1) When start moving by P001assuming that the strating point: 90.0
(2) When start moving by P001 assuing that the starting point: 290.0

b) Incremental command singla move

Move Mode Moutput
acceleratio

Repetition
Acceleration

n/decelera
tion time
S-shaped

Current
Point

count
Dwell
limit
IP

time
Speed Position
Striking: Wo/W

change :stop

Type

Code
ABS/INC

number
/continuous
Mode1

Mode2

Mode3

Delay
Speed

* * * ms % * ms
1 10.0 200.0 0 1 0 0 0 1 0 0 250 0 0 0 0.0 0 0 0 0000

Speed (1) (2)

10.0 (2) (1)

100.0 200.0 300.0 Coordinate

(1) When start moving by P001 assuming that the starting point: 100.0
(2) When start moving by P001 assuming that the starting point: 150.0

c) Incremental command stop-and-change-speed

Move Mode Moutput
n/decelerati

Repetition
Acceleration

acceleratio

Point
Current
S-shaped

on time

limit

count
Dwell

Speed Position
Striking: Wo/W

IP
time

number
change :stop

Type

Code
ABS/INC

/continuous
Mode1

Mode2

Mode3

Delay
Speed

* * * ms % * ms
1 40.0 100.0 0 1 0 1 0 1 0 0 250 0 0 0 0.0 0 0 0 0000
2 20.0 50.0 0 1 0 1 0 1 0 0 250 0 0 0 0.0 0 0 0 0000
3 10.0 30.0 0 1 0 0 0 1 0 0 250 0 0 0 0.0 0 0 0 0000

40.0

Speed P001:300.0 P002:350.0 P003:380.0

20.0

200.0 300.0 400.0 Coordinate

(1) When start moving by P001 assuming that the starting point: 200.0
* Even if the starting point is changed, move does not change.

4-36
4.Positioning Function [Explanation of Point Data]

d) Absolute command stop-and-change-speed

Move Mode Moutput

n/decelerat
acceleratio
Acceleration

Repetitio
Point

Current

n count
S-shaped

ion time

limit

Dwell
Speed Position

Striking: Wo/W
IP

time
number

change :stop

Type

Code
ABS/INC

/continuous
Mode1

Mode2

Mode3
Delay

Speed
* * * ms % * ms
1 40.0 100.0 0 1 0 1 0 0 0 0 250 0 0 0 0.0 0 0 0 0000
2 20.0 150.0 0 1 0 1 0 0 0 0 250 0 0 0 0.0 0 0 0 0000
3 10.0 180.0 0 1 0 0 0 0 0 0 250 0 0 0 0.0 0 0 0 0000

(1) When start moving by P001 assuming that the starting point: 0.0

P002:150.0
Speed P001:100.0 P003:180.0

0.0 50.0 100.0 200.0 Coordinate

(2) With the same setting, moves P002P003 reversely after moving by P001 assuming that the
starting point: 200

Speed P002:150.0 P003:180.0

0.0 50.0 100.0 150.0 200.0 Coordinate

P001:100.0

e) Incremental command continuous speed change

Move Mode Moutput
Accelerati

n/decelerati

Repetition
acceleratio

Point Positio
Current
S-shaped

on time

limit

count
Dwell
Speed
Striking: Wo/W

IP time
change :stop

on

number n
Type

Code
ABS/INC

/continuous
Mode1

Mode2

Mode3

Delay
Speed

* * * ms % * ms
1 40.0 100.0 0 1 0 1 0 1 0 1 250 0 0 0 0.0 0 0 0 0000
2 20.0 50.0 0 1 0 1 0 1 0 1 250 0 0 0 0.0 0 0 0 0000
3 10.0 30.0 0 1 0 0 0 1 0 1 250 0 0 0 0.0 0 0 0 0000

P001:300.0 P002:350.0 P003:380.0(Speed change position)

Speed

200.0 300.0 400.0 Coordinate

(1) Startmoving by P001 assuming that the startin point: 200.0
Speed change point of P001 and P002 is a registered position, however, it changes a little due
to CPU sampling delay, motor speed or acceleration/deceleration setting. When accuracy for
speed change point is desired, use a stop-and-change-speed operation.

4-37
4.Positioning Function [Explanation of Point Data]

f) Absolute command continuous speed change

Move Mode Moutput

n/decelerati

Repetition
Accelerat

acceleratio
Point

Current
S-shaped

on time

limit

count
Dwell
Speed Position

Striking: Wo/W
IP

time
ion
number

change :stop

Type

Code
ABS/INC

/continuous
Mode1

Mode2

Mode3
Delay

Speed
* * * ms % * ms
1 40.0 100.0 0 1 0 1 0 0 0 1 250 0 0 0 0.0 0 0 0 0000
2 20.0 150.0 0 1 0 1 0 0 0 1 250 0 0 0 0.0 0 0 0 0000
3 10.0 180.0 0 1 0 0 0 0 0 1 250 0 0 0 0.0 0 0 0 0000
(1) Start moving by P001 assuming that the starting point: 0.0
P001:100.0 P002:150.0 P003:180.0

Speed

0.0 100.0 200.0 Coordinate

(2) Startmoving by P001assuming that the starting point: 200.0

Stop-and-change-speed operation up to P001: 100.0, continuous speed changeP002P003.
Because rotation is reversed, P002: 150.0 P003:180.0
Stop-and-change-speed for P001

Speed

0.0 100.0 200.0 Coordinate

P001: 100.0

g) Continuous speed change for more than 8 points

(1) When operation is by “continuous speed change” for P001 to P010
* Continuous speed change for P001 to P007, stop-and-change-speed for P008, and
again continuous speed change for P009 P010.
P003
P004
P007 P009
P001 P005
P002 P006 P010
Speed P008

Coordinate

4-38
4.Positioning Function [Explanation of Point Data]

● Starting point ”Ip” at interruption start

When an interruption start is input during move, the point set here will be started as an interruption start.
In other words, when an interruption start is input, the move being executed is aborted and start
moving by the point number “Ip”which is set at the point data.
However, during interruption start, another interruption start cannot be input.

● Dwell time(msec)
Dwelltime function is that when the move is complete and current position is in-position, wait for the
time set here and then perform positioning complete or the next move.
<Example> In the case of 1 point move:
After the point move is complete, wait for dwell time and positioning complete is output.
And in the middle of continous move, wait for the dwell time and then to the next move.
* As a special treatment, when “Striking stop” is performed with the dwell time being set, pushing
control is performed for the penetrated pulse of the dwell time, and after that deviation is cleared.
* If the dwell time oter than 0 is set in the continuous speed change mode, the point is for
stop-and-change-speed, not for continuous speed change.

4-39
4.Positioning Function [Explanation of Point Data]

● Move example 2 (Striking･Interruption Move)

The moves below are applications of Striking stop and interruption Move.
Move Mode Moutput

on/deceler
Accelerati

ation time

Repetition
accelerati
S-shaped
Point

Current
limit

count
Dwell
Speed Position

Striking: Wo/W
IP

time
on
number

change :stop

Type

Code
ABS/INC

/continuous
Mode1

Mode2

Mode3
Delay

Speed
* * * ms % * ms
1 40.0 100.0 0 1 0 1 0 0 0 1 250 0 0 0 0.0 0 11 0 0000
2 20.0 150.0 0 1 0 1 0 0 0 1 250 0 0 0 0.0 0 11 0 0000
1000
3 5.0 180.0 0 1 0 1 0 0 1 1 250 0 40 0 0.0 0 10 0000
0
4 5.0 - 5.0 0 1 0 1 0 1 0 0 250 0 40 0 0.0 0 10 0 0000
5 40.0 0.0 0 1 0 0 0 0 0 0 250 0 0 0 0.0 0 11 0 0000
to
10 5.0 - 5.0 0 1 0 1 0 1 0 0 250 0 40 0 0.0 0 0 0 0000
11 40.0 0.0 0 1 0 0 0 0 0 0 250 0 0 0 0.0 0 0 0 0000

P002
P001 P003 (3) (4)

(5)
Speed (1)
(6)

(2) Stp_P width

0.0 100 200 Coordinate

(7)

P005 (8) P004

(1) From Starting position：0.0, start by P001 and change speed, then to P002.
(2) Move by P002, change speed, then to P003.
(3) During move by P003, strike the stopper and current position is stopped
(with 40% current limt hereafter).
(4) With the command value being output as is, idial position is allowed to enter and deviation
pulse of Stp_P (penetrated pulse) accumulates, then the move is cancelled.
(5) During the dwell time (10.0 msec), pushing operation for the penetrated pulse.
(6) After the dwell time, deviation pulse is cleared.
(7) Return “5.0” by P004 with an incremental command. (With 40% current limit so far.)
(8) Return to the starting position by P005 high speed move.
(9) This is the end of a series of operations. However, you can return to the starting position
during move by interruption start.
When an interruption is started during move by P001, P002 and P005, return to the origin with high
speed by P011. When an interruption is started during move by P003 andP004, continuous move is
performed from P010  P011, with current limit first and then return with high speed. If motor
rotating direction when interruption starts up and the target position of the interruption are the same,
moving to target position starts after once the motor stops.

4-40
4.Positioning Function [Explanation of Point Data]

● M-output
a) Code
b) Type
c) Delay
Functions of M output are determined by the 3 parameters above.
See the descriptions of each parameter.

a) Code
Sets the data for M output. M output is 4 bits from “00 to 15.”

b) Type
Sets the function of M output as follows:
0: Without M output operations. No change from the previous M output.
1: When the move is complete with handshaking mode, MSTR signal is output and wait until
MFIN signal is input. When MFIN signal is input, the next move is performed.
2: Only M output, without handshaking.

c) Delay
Sets the timing for outputting in M output as follows:
0: M output along with the start of the point move.
-1: M output when the point move is complete.
Positive value: M output after the move value set here (incremental value).
However, if this is larger than the value of point move, M output after the move is complete.

Notes *1) M output must be selected at general output selection.

(SEL1 and SEL2 are ON, and SEL3 is OFF.)
*2) When M output type is “1,” M output is output at the M output timing. However, M output
becomes “0” once after handshaking is complete.
*3) When operation pattern is continuous speed change, do not use M output type “1”,
Handshaking type.
*4) M output is not output at the final point move.
When the move is complete with 1 point move, there is no M output. Therefore, set a
dummy point (the same position) for output setting.

4-41
4.Positioning Function [Explanation of Point Data]

● Move example 3 (Moutput function)

a) In the case of M outputType  “2”

Move Mode Moutput

on/deceler
Accelerati

ation time

Repetition
accelerati
S-shaped
Point

Current

Dwell
limit

count
Speed Position

time
Striking: Wo/W
IP

ABS/INC

on
number

change :stop

Type

Code
/continuous
Mode1

Mode2

Mode3
Delay

Speed
* * * ms % * ms
1 40.0 100.0 0 1 0 1 0 0 0 0 250 0 0 2 0.0 1 0 0 0000
2 30.0 200.0 0 1 0 1 0 0 0 0 250 0 0 2 - 0.1 2 0 0 0000
3 20.0 300.0 0 1 0 1 0 0 0 0 250 0 0 2 50.0 3 0 0 0000
4 10.0 400.0 0 1 0 0 0 0 0 0 250 0 0 0 0.0 0 0 0 0000

P001 P002 P003 P004

Speed

0.0 100.0 200.0 300.0 400.0 Coordinate

MOUT”02”
Output: MOUT”01” MOUT”03”
MOUT

(1) (2) (3) (4)

(1) Since M output timing for P001 is “0”, M output along with start.
(2) Since M output timing for P002 is “-0.1(negative)”, M output along with positioning
complete.
(3) Since M output timing for P003 is “50.0”, M output in “50” incremental feeding after move
by P003.
(4) When M outputType is “0”, no change in M output.

4-42
4.Positioning Function [Explanation of Point Data]

b) In the case of M outputType  “1”

Move Mode Moutput

decel time
Accelerati

Repetition
S-shaped
Point

Current
accel /

Dwell
limit

count
Speed Position

time
Striking: Wo/W
IP

ABS/INC

on
number

change :stop

Type

Code
/continuous
Mode1

Mode2

Mode3
Delay

Speed
* * * ms % * ms
1 20.0 100.0 0 1 0 1 0 0 0 0 250 0 0 1 0.0 1 0 0 0000
2 20.0 200.0 0 1 0 1 0 0 0 0 250 0 0 1 - 0.1 2 0 0 0000
3 20.0 300.0 0 1 0 1 0 0 0 0 250 0 0 1 50.0 3 0 0 0000
4 20.0 400.0 0 1 0 0 0 0 0 0 250 0 0 0 0.0 0 0 0 0000

Start: 0.0 P001: 100.0 P002: 200.0 P003: 300.0 P004: 400.0

Speed
Coordinate

MOUT ”01” ”00” ”02” “00” ”03” ”00”

Output
MSTR

Input: MFIN

In the case of M outputType: “1”, handshaking is performed using input/output of MSTR and MFIN.
For example, in case of P001, M output timing is “0”, therefore, M output is output along with the start.
When the move by P001 is complete, MSTR outputs ON and waits.
When input MFIN turns “OFFON”, M output outputs“00”and enters the next move, and then M output is
executeed according to the next move setting.

● Servo gain selection

By setting up servo gain selection of point data, four kinds of gains can be changed for every point.

The setting list of gains is as follows.

Servo gain Position loop Position loop Velocity loop Velocity loop Load inertia Torque
selection proportional integral time proportional integral time ratio command
gain constant gain constant filter
0 The various functional effective conditions of the usual function become effective.
1 KP1 TPI1 KVP1 TVI1 JRAT1 TCFIL1
2 KP2 TPI2 KVP2 TVI2 JRAT2 TCFIL2
3 KP3 TPI3 KVP3 TVI3 JRAT3 TCFIL3
4 KP4 TPI4 KVP4 TVI4 JRAT4 TCFIL4
* Movement is performed by the above-mentioned servo gain setup according to setting up servo
gain selection with point data. However, it is continuously used by servo gain selection of the first
point performed, at the time of continuation movement in variable speed.
* Servo gain selection cannot be used together with auto tuning. Priority is given to auto tuning when
auto tuning is effective.

4-43
4.Positioning Function [Explanation of Point Data]
● A jump / loop function of a point

(1) Overview
A jump/loop of a point are possible by setting each up by the following point-data setup.
(A) Loop mode select: The kind of a jump/loop
(B) JP: The point number of a jump place
(C) Repeat times: The number of times which does a loop
A jump / loop setup of the point

(2) Data setting guideline of a jump / loop function

(A) Kinds of loop (loop mode select)
(a) Normal mode (Setting value: 0)
No jump. No loop.
(b) Unconditional jump (Setting value: 1)
Unconditional jump is done to other points. Only FEED_END(Mode 2:00) of move mode is
effective, it does not jump when other.
(c) 1 point jump (Setting value: 2)
This point is repeatedly performed by the number of times of repetition.
Only stop operation (operation pattern: 0) of move mode in variable speed is effective, it does not
perform except it.
(d) Condition jump (Setting value: 3)
Only the number of times of specification is jumped on other points. Only stop operation
(operation pattern: 0) in variable speed is effective, and move mode does not jump it other than it.

The nest to a maximum of 15 is possible for a condition jump. However, when other jumps are in a
loop, it becomes to a maximum of 15 including the jump.
When the jump place which does not become a nest in a condition jump is specified: It is set to ERR
1A. Moreover, when the number of nested (other jumps are included) is 15 or more: It is set to ERR19.

4-44
4.Positioning Function [Explanation of Point Data]
(B) JP
The point number of a jump place is set up.

(C) Repeat times

The number of times of a repeat in 1 point jump and conditional jump is specified.

Relation of each data of point data

Loop mode selection JP Repetition Operation conditions
Normal mode 0 --- --- －
Unconditional jump 1 ○ --- Mode2:0 (When the last moving)

1 point jump 2 --- ○ Speed change: 0

(When changing speed and stopping)
Conditional jump 3 ○ ○ Speed change: 0
(When changing speed and stopping)
○: data to be set up.
- : data which does not need a setup, and it is ignored even if it puts in data.
Loop command is not executed when loop command is inputted except a condition of operation.

(3) Example of operation

Functional explanation of each jump/loop is given for a point-data setup of the front page for an example.
(A) Conditional jump
Execution of the point [0] will perform the point [253] after point [0] execution.
* That makes it Infinite loop operation. Commands such as a cancel command need to be input to
stop it.
(B) 1 point jump
If the point [2] is performed, after point [2] execution, the point [3] will be repeated and performed
100 times.
P2 execution
P3; 100 times repeat execution

* Execution by one point is also possible, and when the point [3] is performed, P3 is repeated and
performed 100 times, then it ends.

(C) Conditional jump

Each 3 times

Execution of the point [6] will perform the point [7 to 8] 3 times after point [6] execution, and the point [7 to 9] is
performed 3 times. Since it is in the nest state, finally, the point [7 and 8] are performed 9 times and the point [9] is
performed 3 times.

4-45
4. Positioning Function [Performance by External Operation Input]

■ Operations by external input

See the descriptions of operations by external input. This is mainly operated by outputs such
as sequencer.

● Point specification move 1

(A) Input a point number at the external point specification input (IN1 to 8), and after data set up, the
start input (RUN) turns OFFON.
(B) MOVE (while operation output) becomes ON, and the move starts. (Start input remains ON.)
(C) After the move completes and the positioning complete output (PFIN) turns ON, turn OFF the
start input (RUN).
(D) Start input (RUN) turns OFF, therefore, MOVE (while operation output) and PFIN (positioning
complete output) turn OFF.
(E) Start in the same way as (A).
(A)

Point specification input

(IN1 to IN8)
T1 T2 (E)
Input

Start input
T6
(RUN) (B)
T3 (D)

While operation output (C) T5

(MOVE)
T4
Output

Positioning complete
output (PFIN)

Motor speed

T1≧0ms (Data set up time)

T2≧40ms (Data hold time)
T3,T5≧20ms (Start acceptance delay time)
T4≧0ms (Start signal holding time)
T6≧40ms (Start signal OFF time)

4-46
4. Positioning Function [Performance by External Operation Input]

● Point specification move 2

This section describes the feeding stop and move cancellation.

(A) Input a point number at the external point specification input (IN1 to 8), and after data set up,
the start input (RUN) turns OFFON. MOVE (while operation output) turns ON and the
move starts.
(B) Turning OFF the start input (RUN) during operation decelerates the motor. (This status is
called feeding stop.)
(C) Turning on the start input (RUN) again in the feeding stop status resumes the point move set
at (A) and positioning is performed (continues).
(D) Start in the same way as (A).
(E) Turn ON the cancellation input (CACL) during move, move cancellation mode makes the
motor decelerate.
(F) When the move cancellation is complete with the motor decelerating and stopping,
positioning complete output (PFIN) turns ON, which means the completion of cancellation.
(G) When positioning complete output (PFIN) turns ON, turn OFF the start input (RUN).
If MOVE (during operation input) and PFIN (positioning complete) are OFF, cancellation is
complete.
(H) Then, input a desired point number at the point specification input to start.

(A) (B) (C) (D) (E) (G) (H)

Point specification
Input (IN1 to IN8)
Input

Start input
(RUN)

Cancellation input
(CACL)

While operation output (Ｆ)

(MOVE)
Output

Positioning complete
output (PFIN)
Move
cancelled

Motor speed
Resumes the move specified at A

4-47
4. Positioning Function [Performance by External Operation Input]

● Point specification move 3

This section describes interruption, which is very useful for forced return operation.

(A) Input a point number at the external point specification input (IN1 to 8), and after data set up,
the start input (RUN) turns OFFON. MOVE (while operation output) turns ON and the
move starts.
(B) If it interrupts during operation and a starting input (IRUN) is turned on, it will become
interruption move mode and a motor will be a slowdown stop.
(C) A motor interrupts from the point data of the specified point after a slowdown stop, reads the
point (IP), and starts movement on an interruption point.
(D) *Beforehand, interruption point (IP) must be set up in point data.
(E) The completion output (PFIN) of positioning is turned on in the place which completed point
movement of an interruption point.
(F) After the completion output (PFIN) of positioning turns on, interruption movement will be
completed if a starting input (RUN) and an interruption starting input (IRUN) are turned off.

(A) (E)

Point specification
Input(IN1 to IN8)
Input

Start Input
（RUN）
(B)

Interruption Input
(IRUN)

While operation Output

(MOVE)
Output

(D)

Positioning complete
Output(PFIN)
(C)

Motor speed

4-48
4. Positioning Function [Performance by External Operation Input]

● Home-position return

1) For incremental encoder

(A) Turning homing input (ZRT) OFFON makes the home-position return operation start.
(B) When home-position return operation starts, while operation output (MOVE) turns ON.
(C) Upon completion of the home-position return, positioning complete output (PFIN) and
homing complete output (ZFIN) turn ON.
(D) When homing input (ZRT) turns OFF, while operation output (MOVE) and positioning
complete output (PFIN) turn OFF.
(E) Homing output (ZFIN) remains ON, however, it is OFF in the following cases:
(In other words, home-position return operation is necessary for the following cases.)
・ When homing is started again.
・ When alarms are issued.
・ When the main power source turns OFF. (The same for turning it ON again.)
・ When control power turns OFF. (The same for turning it ON again.)
Note) Do not apply cancellation, feed hold and servo OFF during homing from low speed
feeding until operation complete (the point (D)).

(A) (D)

Homing start Input

(ZRT) (B)
While operation Output
(MOVE) (C)
Homing
operation
Positioning
Output

complete
Output (PFIN)
Depending on the
Homing complete
previous status
Output (ZFIN)
(E)

4-49
4. Positioning Function [Performance by External Operation Input]

2) For absolute encoder

When an absolute encoder is used, Home-position return operation is not necessary. Therefore
homing related Inputs/Outputs are changed as follows. Therefore homing related outputs are
different form when an incremental encoder is used.

When incremental encoder is used. When absolute encoder is used.

CN1 – pin 28 Homing Input (ZRT) Home-return Input (ZRT)
CN1 – pin 28 Homing complete Output(ZFIN) Low battery warning Output (WARN)

And functions are;

(A) Turning the home-return Input (ZRT) OFFON starts the home-return operation.
Home-return operation makes the move to the position (coordinate) whose origin has been
set.
(B) While operation output (MOVE) turns ON, which is the same as usual point move.
(C) Positioning complete (PFIN) and in-position output (INPS) turn ON when the positioning is
complete to the pre-set coordinate.
(D) Turn OFF the home-return (ZRT), and while operation output (MOVE) and positioning
complete output (PFIN) turn OFF.
(E) In-position output (INPS) remains ON. However, it turns OFF when the position deviation
becomes larger than in-position width in the next move, because conditions for this output
are that current position coordinate should match the one with its origin set and also be
within in-position.

(A) (D)

Home-return Input
(ZRT) (B)

While operation output

(MOVE) (C)

Positioning complete
Output

Output (PFIN)

In-position
Output (INPS)
(E)
* When absolute encoder home-return function is effective, the movement and the method become the
same as the case of incremental encoder combination. Please refer to [1 For incremental encoder], in
that case.

4-50
4. Positioning Function [Performance by External Operation Input]

● JOG feeding (Manual feeding)

1) For incremental encoder

・ While forward manual feeding (+JOG) Input is ON, the move is toward positive direction of the
coordinate at the speed of (L_jog) set by a parameter.
・ While backward manual feeding (-JOG) Input is ON, the move is toward negative direction of the
coordinate.
・ When manual high speed (RAP) is input during +JOG (or -JOG) is being input, the move is at the
speed of parameter (H_jog).

+Manual feeding input

ON OFF
(+JOG)

-Manual feeding Input

Input

(-JOG)
OFF ON

Manual high speed Input

OFF ON
(RAP)

While operation Output OFF

(MOVE)
Output

Positioning complete OFF

(PFIN)
H_jog
L_jog L_jog
0 Forward
Motor speed

Backward

4-51
4. Positioning Function [Performance by External Operation Input]

● 1-step feeding

Turning OFFON the +1step (+1step) or the -1 step (-1step) makes the move by a certain pulse
numbers set by a parameter.

(A) Turning OFFON the +1 step input (+1step) while manual high speed input (RAP) if OFF
makes the move toward positive direction by the “L_stp” set amount at the“L_jog”set speed.
(B) In the same way, turning OFFON the -1 step (-1step) makes the move toward negative
direction.
(C) Turning OFFON the +1 step input (+1step) while manual high speed input(RAP)if ON
makes the move toward positive direction by the “H_stp” set amount at the“H_jog”set speed.
(D) In the same way, turning OFFON the -1 step (-1step) makes the move toward negative
direction.
・ Keep the 1 step input ON during move . If it is OFF during move, the motor decelerates and stops
into feed hold status. And when the input is turned ON again, the move continues.
・ Cancellation input(CACL)is also effective.

+Manual high speed Input

(RAP)
(A) (C)
Input

+1 step
(+1step)
(B) (D)
-1 step
(-1step)

Motor speed

While operation Output

(MOVE)
Output

Positioning complete
Output (PFIN)

4-52
4. Positioning Function [Performance by External Operation Input]

● Home position setting (Origin setting)

Home position setting is the way to set the current position as an origin, and used for both incremental
and absolute encoder. Move to the position where you want to set as an origin by JOG feeding or others,
specify the point at “254” (home position setting), and the current position is set as an origin without any
move.

(A) Move to where you want to set as an origin by JOG feeding or others.
(B) Set “254” at the point specification input, and after the data set up, turn the start
input (RUN) OFFON.
(C) When origin setting is complete, the positioning complete output (PFIN) and homing
complete (ZFIN) turn ON.
(D) Turning OFF the start input makes the during operation output (MOVE) and positioning
complete output (PFIN) OFF, and home position setting is complete.

Home position setting

(A)
Point specification (B) (D)
Input
(IN1 to 8)
Or E_STR [ON] (Point: 254)
according to setting
Input

Start Input
(RUN)

While operation Output

(MOVE) (C)

Positioning complete
Output

Output (PFIN)

Homing
complete Output
(ZFIN)

Motor speed

* Do not apply cancellation or servo OFF during home position setting.

4-53
4. Positioning Function [Performance by External Operation Input]
■ External data setting
Using “Point teaching” function (External data setting), the amplifier allows to set position points by
external data.
・ External data acceptance: To accept external data, set bit “0” of [SW1] to bit “1” and also
bit “3” of [SW2] to bit “0” in the parameter group D.
・ Before “Point teaching”, conditions of speed, positioning operation active and absolute command
need to be set up previously.
Input a specified point number and then turn ON the external input signal E_STR (CN1-22pin), a position
where the motor is currently stopped (Ideal position) can be registered as the coordinate value with that
specified point number.

Position points setting by external data can be registered in External operation input mode except a status
of a motor is in motion or alarms.

+JOG
(A)

-JOG
(B)
Input

T2
IN (1) to (128)

(C)
E_STR
T1

T3

MOVE

PFIN
Output

NCRDY ON T4
T5
EXT ON
(+)
Motor speed
(-)
T1 ≧ 0 msec (data/command set up time)
T2 ≧ 40 msec (data/command holding time)
T3, T5 ≧ 20 msec (data/start-up acceptance delay time)
T4 ≧ 0 msec (data/start-up holding time)

(A) In External operation input mode, using JOG feeding or others,

move to a desired position to register as a coordinate value (Point teaching).
(B) Input a specified point number for that position (Point teaching)
and then, input signal (E_STR) OFF  turns ON.
(C) Turn OFF input signal (E_STR) when output signal (PFIN) turns ON.
Then, output signal (PFIN, MOVE) ON  start turning OFF.
(Complete External teaching data setting.)

4-54
4.Positioning Function [Setting mandatory parameters]

 Read through before performing any of the procedures in Positioning Function.

- Mandatory parameters of Positioning Function are as shown below.-
 Parameters for positioning (NC parameters) are a group of parameters that set up positioning
system. If data input is not matched to the machinery, it makes different actions from intended
ones. So be sure to make a confirmation.

Make the power off once and ON again after altering parameters “0A M_dir”, “3B S_pls”, “3C U_pls”,
“3E D_dpo”, and “3F Unit”. Refer to “Q-Setup-Setup Software Instruction Manual” for details.

 Parameters that are setup at first

0A “M_dir” Operation direction
14 “Z_inp” Home-position in-position width
3B “S_pls” Number of system divisions
3C “U_pls” Number of user divisions
3E “D_dpo” Velocity, Position data decimal point
3F “Unit“ Setting unit
･ “――――” Encoder function
･ “――――” Encoder resolving power Refer to(System parameter).
･ “――――” Motor model number

1) Encoder function, resolving power, and motor model number are determined when they are purchased
(shipped setting values).

2) 3E”D_dpo”: Velocity and decimal point for position data setting are designated.
“0”･･･without decimal points
“1”･･･one place of decimals
“2”･･･two places of decimals
“3”･･･three places of decimals Important
“4”･･･four places of decimals
Cycle the power after setting
parameters 1), 4), 5), and 6).
“5”･･･five places of decimals

3) 3F”Unit”: Setting unit

“0”･･･Pulse
“1”･･･mm

4) 0A”M_dir”: Motor operation direction is adjusted.

“0”: Positive direction coordinate/Rotary motor is CCW turn seen from shaft side.
“1”: Positive direction coordinate/Rotary motor is CW turn seen from shaft side.

5) 3B”S_pls”: Division number per one turn of motor

“S_pls”=”Encoder resolving power” (during use of absolute encoder)
“S_pls”=”Encoder resolving power” × 4 (during use of incremental encoder)
(Detection multiplication)
<Sensor resolving power example>
(1) ABS-E (131072 P/R)･･･”S_pls”=131072
(2) Incremental (2000 P/R)･･･”S_pls”=8000

6) 3C “U_pls”: Travel distance per turn of a motor seen from user.

Input setting unit of position data is determined at the above”D_dpo”,”S_pls”, and
”U_pls”. (* 5 of parameters list in 4.2 Group D)

4-55
4.Positioning Function [Setting mandatory parameters]

e.g.1) System that travels 5mm per turn of a motor at incremental encoder (8000 division).
Position data setting unit 0.001 mm
Unit= 1
D_dpo= 3
Once close a parameter setup of a setup and open it again.
(Setup of Unit and D_dpo is reflected as a parameter by the above-mentioned processing.)
S_pls= 8000
U_pls= 5.000(Internal value：5000)
If you want to set 7.354mm as travel distance, setup “7.354”.
In addition, if you want to set 8mm/s as velocity, setup “8.000mm/s”.
* Internal value is a value when removing a decimal point. 5000 becomes an internal value
when expressed as 5.000.
* Please set up to become S_pls>=U_pls (internal value).

e.g.2) System that travels 10mm per turn of a motor at incremental encoder (131072 division).
Setup of a unit system is as follows.
Unit= 0
D_dpo= 4
Once close a parameter setup of a setup and open it again.
(Setup of Unit and D_dpo is reflected as a parameter by the above-mentioned processing.)
S_pls= 131072
U_pls= 10.0000(Internal value：10000)
If you want to set 1.235plse as travel distance, setup “1.2350”.
In addition, if you want to set 4mm/s as velocity, setup “4.000mm/s”.
* In setup, zero below a decimal point is omissible.
* Since the variation in a positioning position arises on a motor encoder resolution level,
1/20 or less should be the gear ratio of S_pls/U_pls

Important
・ Set up to become S_pls>=U_pls (internal value).
・ 1/20 or less should be the gear ratio of S_pls/U_pls.

Re-input of power supply after setting the above-mentioned parameter.

Then, set up S_ovf and T_ovf. Although it changes with a load condition and gains, set up and
adjust 4 times of U_pls to a standard as a standard.
Moreover, from determined U_pls, set up the following;
S_vmx,T_vmx,Accel,S_rat,S_inp,Z_inp,H_jog,L_jog,H_stp,L_stp,S_+OT,and S_-OT, then
perform the test run check of Chapter 6 operation 14 clause.

4-56
4.Positioning Function [Setting mandatory parameters]
 Zero positioning of absolute encoder

(A) Absolute encoder (PA035)

・Position output signal of PA035 is 33bit and you can use in 32bit range with this servo amplifier.
・Division number:131072 division/one rotation…17bit
・Multi rotation number: 32768 turns…15bit Total 32bit

Number of
rotations
0
(32768)

0 to 224-1 Absolute encoder axis

Absolute positioning range rotation position

In other words, 0 to (232-1) [0 to 4294967295] is effective stroke.

You can determine the position in this range.

4-57
4.Positioning Function [Setting mandatory parameters]

(B) Zero set flow chart of absolute encoder

Control power-on

YES
Battery alarm

NO Encoder clear by PC

Control power off/on

Setting of “M_dir”, ”D_dpo”, “Unit”

Setting of “S_pls”, “U_pls”

Decide each parameter

depending on the
Control power off/on
machine specification

(2)

Setting of “A_ofs”, “Z_add”

Setting of “S_vmx”, “T_vmx”, “Accel”, “S_ovf”, “Z_hsp”, H_jog”, “L_jog”

Main power on

(1)

Feed to the position to be desired as home by JOG

Home position setCompleted

(Page 4-53 Refer to Home position set)

Control and main power off/on

Control / Return of zero (ZRT startCompleted)

Actual work is at NO (1)

home-position

YES

Current position NO (2)

matches Z_add

Home-position
set is completed

4-58
4.Positioning Function [Setting mandatory parameters]

(C) Example of home determination

Ball screw drive: Direct-coupled P=10mm.I=800mm
Travel distance set unit: 0.001mm Velocity unit: 0.0001mm/ sec
(1) M_dir=“0”･･････････Increase direction of encoder and user coordinate is identical
D_dpo=“4”(Four places of decimals)・0.0001mm, 0.0001mm/ sec
Unit =“1”(mm)
Set above parameters.
(2) S_pls=131072･･by number of division
U_pls=10.0000････････Regulate that 10mm each motor rotation travels 10mm
S_ovf=40.0000
After setting the above parameter, turn on the control power once again.
(3) S_vmx=750.0000 (mm/sec)･･･by Nmax=4500min-1
T_vmx=200.0000 (mm/sec)･･･by T_vmx<S_vmx
H_jog=20.0000 (mm/sec)･･･start with slow velocity
L_jog=1.0000 (mm/sec)････start with slow velocity
Z_hsp=20.0000 (mm/sec)･･･start with slow velocity
Accel=250.0000(mm/sec)･･0 at rising edge  Setting 4500min-1by 300m sec.
A_ofs=2000.0000(mm)･･Regulate the amount of a =2000.0000mm (β : clear area>0)
Note : This sets A_ofs for the functional description in the example, but it is possible to use
A_ofs=0 as it is, when effective encoder stroke is sufficiently larger ( 2 times larger) than
mechanical stroke.
It is preset at the center of encoder stroke automatically when parameter is A_ofs=0

Encoder
(After set up zero-position)

0rev 32768rev

α Action stroke β
0

(-) (+)
a
b

4-59
4.Positioning Function [Setting mandatory parameters]

Z_add=0.0000(mm)･････User coordinates is 0 when Zero-position is setup.

(4) Travel to the position you want to make it home-position by JOG

(5) Zero position settingcomplete…Encoder coordinates system turns to a dotted line part.
( Refer to the home-position setting of 4-53 page)
(6) Zero-position setting is completed with above all operation.

(7) Check(α + Action Stroke + β) < 32768rev

It cannot be applied when it exceeds encoder stroke. (It acts in the next area and damages the
mechanism.)

Note
Please make sure to set the Home-position when you change M_dir,
D_dpo,Unit,S_pls,U_pls,A_ofs, Z_add ,and also operate motor
conversion and release the battery alarm.

 Zero Positioning Of Incremental Encoder

For the incremental encoder, it needs to return Zero-point to correspond electrical zero-point with
mechanical zero-point at the time of power-on operation.
When zero-return operation is required, I / O ZFIN output turn off. Therefore please operate zero-return.
When zero-return is completed normally, ZFIN output turn on.

The parameter being required minimum setting for zero-return are as follows.

10 Z_hsp: High speed on zero-return(Uυ)

It is the speed when traveling to the direction being set to (Z_dir) without speed
reduction signal (contact points) by starting zero-return.

11 Z_lsp: Slow speed on zero-return(Uυ)

It is CCW speed when it escapes from speed reduction signal by reversing rotation after
reducing the speed at speed-reduction signal (Z_hsp) during zero-return operation.

0E Z_typ: Zero-return type (-)

It is setting of Zero-return type. There are Type 0 and Type 1.

0F Z_dir: Zero-return direction (-)

Set the rotation direction on zero-return.

12 Z_add: Zero-position coordinates (-)

The coordinates being set at this stage is regulated as user coordinates value when
zero-return is completed.

Please set above parameter and implement zero-return.

Normal Operation
・Point setting and external point replacement are available only after zero-return and
parameters for positioning standard are set.
・Please reset the rest of the setting from the beginning when the change is caused in
parameter of positioning standard and zero-setting.

4-60
4.Positioning Function [Explanation of infinite revolving specification]

 Description Of Motor Rotation Specification

・Outline
Infinite rotation specification is the mode used for rotator like rotating table. As for the physical action, when
the coordinates rotating in CW direction exceeds “+ stroke”, the coordinates changes to “-stroke”. It is
possible to rotate permanently in CW direction by processing such a coordinates system. (Of course, it’s
also possible for CCW direction.)
For example, when coordinate + stroke =1000 and –stroke = -1000, and it’s rotating in CW direction and
exceeds 999 coordinates rate, the coordinates changes to -1000. (Traveling range ; -1000 to 999).
Moreover, it corresponds to the short path, and when +travel distance exceeds 1/2 of the whole
coordinates (round it up after the decimal point), it travels in short path.(When –travel exceeds 1/2 of whole
coordinates (round it down after the decimal point), it travel in short path.)
For the above example, when the coordinates exceed 1000-(-1000)/2=1000, it takes short path.
For example, the current position is -500 and the target coordinates is set to 999, it takes short path.
(It travels in CCW, but not in CW.)
When the current position is same as above and the target coordinates is 500, it travels in normal way, but
when the target coordinates is 501, it takes short path.

The function of zone signal is also enhanced for corresponding to the permanent coordinates system. It is
possible to set the zone signal including particular point like -900 to 900 that cannot be set normally, by
Function SW Setting.
The zone signal turns “ON”, when the current position is locating between the coordinates of-900 to -1000
or 900 to 999 in this case.

・Parameter to be added or changed

15:+STROKE [+Stroke]
Set the maximum coordinates in + direction.
16:A_ofs [Absolute encoder effective stroke length  - stroke]
Set the maximum coordinates in –direction. (Implications change.)
40:Sw1 [Function switch1]
Set the infinite coordinates system and short path setting.

15 14 13 12 11 10 9 8
High order Bit number
0 0 0 0 0 0 0 0

7 6 5 4 3 2 1 0
※ ※ 0/1 0/1 0/1 ※ ※ ※
Low order

Coordinates Selection
0: Normal coordinates
1: Infinite coordinates

Short path Selection

0: Short path off
1: Short path on

Zone signal (zon) function

enhancement
0: Normal function
1: Enhance zone signal function

*Bit 0, 1, 2, 6, 7 have no change in function.

4-61
4.Positioning Function [Explanation of infinite revolving specification]

 Example of operation
Condition ：Motor resolution：8000P/R
Mechanical gear ratio：187:1
3B:S_pls=8000 [P/R]
3C:U_pls=8000 [u_pls]
Since motor rotates 187 times per 1 mechanical rotation, the traveling range is
187*8000=1496000 [u_pls]
0 to 1496000 (When 1496000=0, it is 0 to 1495999 accurately)
15:+stroke =1496000
16:-stroke =0
Speed in mechanism conversion 10min-1:10*187*8000/60=249333
27:H_jog=249333
28:L_jog=249
Travel by 1 step is 360/8=45°1496000/8=187000
29:H_stp=187000
2A:L_stp=1
It’s 4D: Sw1=0018 by short circuit in permanent coordinates system.
The system parameter is above all and the point data is as follows.

P0:0 CW

P7：1309000(315°) P1：187000(45°)

P6：112200(270°) P2：374000(90°)

P5：935000(225°) P3：561000(135°)

P4：748000(180°)

4-62
4.Positioning Function [Explanation of infinite revolving specification]
The operation mode that can be traveled in short circuit is the mode 2:00(complete) and the positioning
control data: 0 (Absolute control),
Operation pattern: 0 (Stop speed), The position setting can be available within the coordinates (0 to 1495999).
Therefore the point data is

Accelerated S curve Current

N Speed Position Mode1 Mode 2 ABS/INC M output IP Dowel
speed acceleration control

0 249333 0 1 0 0 510 0 0 0 0 0

1 249333 187000 1 0 0 510 0 0 0 0 0

2 249333 374000 1 0 0 510 0 0 0 0 0

3 249333 561000 1 0 0 510 0 0 0 0 0

4 249333 748000 1 0 0 510 0 0 0 0 0

5 249333 935000 1 0 0 510 0 0 0 0 0

6 249333 1122000 1 0 0 510 0 0 0 0 0

7 249333 1309000 1 0 0 510 0 0 0 0 0

Decision of short circuit：

It takes a short circuit under the condition of travel distance > whole
coordinates/2 (round-downs below the decimal point) in CCW.
It takes a short circuit under the condition of Travel distance Whole coordination-(1/2of whole coordinates
[round-downs below the decimal point]), in practice, it takes a short circuit under the condition of Travel
distance 1531904- (1531904/2) in CW. To be more precise, the travel from PO to P4 is in CW as well as
from P4 to PO. If it’s positioned at P4 and travel 1 pulse to CCW direction by L_stp, it travels in CCW when
it travels to P0.
When you want to rotate movable part several times not in short circuit by contraries, please apply
incremental command. For example, when you assign a position to 1914880 by incremental command, the
movable part rotates 10 times in CW and stop at the same coordinates.

・Area Signal Additional Function

When set sw1 to bit5=1, Area Signal Additional Function is operated.
Operation condition ：Under the condition of sw1(bit5=1), and the area condition is
zon□L > zon□H (□:1 to 8), and
when it’s zon□L≦current position or current position <zon□H, the area signal is turned ON.

Set the area signal of 0 position ±100 with the example of use.
Set sw1 (bit5=1)
zon1L:1531804
zon1H:100.
(zon1L > zon1H)
When you set above condition, the area signal 1 of 1531804≦current position or current position ＜100 is
turned ON.

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4.Positioning Function [Explanation of JOG with specific position stop]

 Explanation of JOG with specific position stop

･ Outline of operation
The stop position after JOG-feeding operation can be “specific” position designated by point data by
enabling JOG with specific position stop function, instead of “unspecified” decelerating stop position.
(1) Turning on the signal +/-JOG starts JOG-feeding operation.
During the operation, switching high-velocity JOG/ low-velocity JOG is enabled by turning on or off
signal RAP.
(2) Turning on signal RUN during JOG-operation switches the mode from JOG-feeding mode
to point-positioning mode with motor being rotated, and then performs positioning by referring to
target position and acceleration (deceleration) of applicable point data in the information of IN(1) to
IN(128) at the time RUN turned on.

･ Parameters used for this function

(1) Performs setting for infinite motor rotation specifications. ( Refer to “Description of infinite
motor rotation specification.”)
(2) Sets bit9 of Sw2 [Function switch 2] to“1.”

41:Sw2 [Function switch 2]

Performs setting of infinite coordinate system and enable-setting of JOG with specific position
stop.
15 14 13 12 11 10 9 8 Bit number
High order 0 0 0 0/1 0 0 0/1 0
JOG with specific position stop function
0: Disabled
1: Function enabled

Low order 7 6 5 4 3 2 1 0 Bit number

0/1 0 0/1 0/1 0/1 0/1 0/1 0/1

・Restrictions on this function

(1) When the function of JOG with specific position stop is enabled, the S-shaped curve acceleration
and deceleration time (0C:S_rat) of normal JOG-feeding is not applied.
(2) In specific position stop operation, the velocity setting value set to point data and S-shaped curve
acceleration and deceleration time are not used. Set the acceleration value to be set to the point
data at 50[Uv/ms] or over. If you need to set the value at 50[Uv/ms] or less, please contact us.
(3) To smooth velocity change incline, set position command smoothing time constant (parameter
Group1, page00).
(4) Use point data designated by this function in the following moving mode:
Mode 2=00 : Final move
ABS/INC=0 : ABS
With travel to fixed position =0 : No travel to fixed position
Speed change=0 : stop

4-64
4.Positioning Function [Explanation of JOG with specific position stop]

 Operation explanations of by usage examples

Conditions: Motor resolution: 131072P/R
Setting of parameter GroupD without gearing system
1) Setting of base units
3B:S_pls =131072
3C:U_pls =360.00 (Positioning accuracy: 0.01°)
3E:D_pls =2
(After the decimal point of velocity and position data: two places of decimals)
3F:Unit =01
(*The unit indicated in instruction manual and setup software is “mm,” however interpret the
unit as “deg” for rotary system.)
2) Setting of stroke and functions
15:+STROKE =360.00
16:A_ofs =0
40:Sw1 =0008h (Infinite coordinate enabled)
41:Sw2 =0203h (This function enabled, no detection of ±OT)
3) Setting of JOG-velocity and acceleration
27:H_jog =9000.00deg/s (Equivalent to 1500rpm)
28:L_jog =3000.00deg/s (Equivalent to 500rpm)
0B:Accel =300deg/s / ms (Velocity increases in increments of 2s up to 1000rpm.)

Setting example of point data

S-shaped current Dwell
N Velocity Position Mode1 Mode2 ABS/INC Acceleration curve limit M-output IP time
acceleration
appearing
in chart

0 6000.00 0.00 1 0 0 300 0 0 0 0 0

1 6000.00 45.00 1 0 0 300 0 0 0 0 0

2 6000.00 90.00 1 0 0 300 0 0 0 0 0

3 6000.00 135.00 1 0 0 300 0 0 0 0 0

4 6000.00 180.00 1 0 0 300 0 0 0 0 0

5 6000.00 225.00 1 0 0 300 0 0 0 0 0

6 6000.00 270.00 1 0 0 300 0 0 0 0 0

7 6000.00 315.00 1 0 0 300 0 0 0 0 0

4-65
4.Positioning Function [Explanation of JOG with specific position stop]

 Example of operational sequence

[rpm]
H_jog velocity
H_jog速度
1500

Acceleration
この減速には，
(deceleration) set
ポイントデータで
Accel加速度で
Accelerates at the by point data is
acceleration
加速する set by 設定された加速度
used for this
parameter “Accel” （減速度）が使用
deceleration.
L_jog velocity
L_jog速度 される
500

Accelerates at the
Accel加速度で
acceleration set by (5)
⑤
加速する
parameter “Accel” [t]

(1)
①
(3)
→ S-ON OFF ON ③

OFF (2)
② ON ON/OFF
→ +JOG

Select L_jog Select H_jog

L_jogを選択 H_jogを選択
→ RAP

(4)
④
OFF ON
→ RUN
(6)
⑥
OFF (5) OFF
← PFIN
⑤ ON

OFF ON OFF
← MOVE

(The arrows “” in the figure above mean input signal into servo amplifier.)
(The arrows “” in the figure above mean output signal from servo amplifier.)

- Explanation of sequence -
1) Turn servo-on.
2) Turning on signal +/-JOG starts and accelerates the motor up to the set L_jog velocity.
3) Turning on signal RAP switches JOG velocity from L_jog to H_jog.
4) Turning on signal RUN during JOG operation reads out point data set to IN (1) to IN (128) at the time,
and starts deceleration at the acceleration (deceleration) parameters set to point data. Signal MOVE
is turned on at the same time of specific position stop operation start. At this point, no differences
would be made on specific position stop function whether +/-JOG signal turned on in the above (2) is
ON or OFF.
5) PFIN is turned on after positioning to the target point designated by point data is competed.
6) Controller turns off signal RUN and +/-JOG, after confirming that PFIN is ON. Servo amplifier turns off
signal PFIN and MOVE, after detecting that signal RUN and +/-JOG are turned off.

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4. Positioning Function [Explanation of CFZ external data setting function]
■ Explanation of CFZ external data setting function

・Outline
This function is similar to the special function known as "External data setting function" for obsolete CFZ
series.
The function is for convenience of CFZ series user to replace to R series. So, the function doesn't give
more extension from original function of CFZ.
(1) The function is able to rewrite point data from 0 to 252 by external I/O signal and save to non volatile
memory.
(It named "CFZ external point data setting function".)
(2) Point data 253 only has no limitation of rewriting because that data is read from non volatile memory
once at power on to RAM area and rewrite there.
(3) This amplifier has original function of "Point teaching" and CFZ similar function of "CFZ Point teaching",
and support both individually.
(4) This function is able to switch motor rotation polarity by Function switch setting because this amplifier
and CFZ amplifier is opposite of the motor rotation polarity.

This function is only available the 4th part of software version is “0007” or after.
See last page of Chapter 4 about confirmation method of software version.

・Parameter for this function

(1) Set "1" to bit 0 of Sw4: Function switch 4.
(When Motor excitation signal: S-ON logic should match to CFZ, set "1" to bit 1 of Sw4)

43:Sw4 [Function switch 4]

Performs setting of S-ON signal polarity and enable-setting of external data setting function.

15 14 13 12 11 10 9 8 Bit number
High order
0 0 0 0 0 0 0 0

7 6 5 4 3 2 1 0 Bit number
Low order
0 0 0 0 0 0 0/1 0/1

Selection of external data setting

function
0: R series (Current)
1: CFZ compatible

S-ON polarity
0: Motor excited with ON: S-ON
1: Motor excited with OFF: S-ON

(2) Set "1" to bit 0 of Sw1: Function switch 1. (Allowing external data setting function)
(3) In case of replacement from CFZ, D_dpo value should be same as original CFZ.

・Restrictions on this function

(1) To the CFZ user who use [m/min.] velocity units, please convert to [(position units)/sec.] for this
amplifier.
(Example) [mm/sec.] is set when mm of position units is used.

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4. Positioning Function [Explanation of CFZ external data setting function]

<I/O signal for CFZ external data setting function>

● Explanation of external input signal

ON of E_STR: external input signal will change the mode to external data setting function, when
function switch is set correctly.
See below the external input signal function in external data setting mode.

Pin CN1
number 49 pin 48 pin 47 pin 46 pin 45 pin 44 pin 43 pin 42 pin
Mode

Normal IN(128) IN(64) IN(32) IN(16) IN(8) IN(4) IN(2) IN(1)

Point specifying input

External data EX_D7 EX_D6 EX_D5 EX_D4 EX_D3 EX_D2 EX_D1 EX_D0

setting Setting data input

Pin CN1
number 41 pin 40 pin 39 pin 38 pin 37 pin 36 pin 35 pin 34 pin
Mode

Normal MFIN IRUN -1STEP +1STEP S-ON*

External data COM3 COM2 COM1 COM0 SEL3 SEL2 SEL1

SVOFF
setting Setting command input

* Set "1" to Bit 1 of function switch 4 to change S-ON signal to SVOFF signal.

Pin CN1
number 33 pin 32 pin 31 pin 30 pin 29 pin 28 pin 27 pin 23 pin
Mode

Normal CACL RAP/OVRID -JOG +JOG ZRT RUN EXT-E

External data ARST

D_STR T_STR --- --- --- --- ---
setting

Pin CN1
number 22 pin 21 pin 20 pin 19 pin
Mode

Normal SDN

External data E_STR -OT +OT

---
setting

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4. Positioning Function [Explanation of CFZ external data setting function]

● Explanation of input signal of CFZ external data setting mode

See explanation below for each input signal of CFZ external data setting mode when ON of E_STR.

(1) External data setting selection signal (E_STR)

－ In case of set of "1" to bit 0 of function switch 1 and 4, and stop of motor condition, operation is
changed to external data setting mode by ON of E_STR.
－ Operation is changed to normal mode by OFF of E_STR. (Motor controllable.)

(2) Starting external point data setting (D_STR)

－ By making edge from off to on, the data at input: from EX_D7 to EX_D0 is processed by the
setting command from COM3 to COM 0.

(3) Starting external teaching data setting (T_STR)

－ By making edge from off to on, save the current position data to the memory that pointed by
the data from EX_D7 to EX_D0.

(4) External data setting command (COM3, COM2, COM1, COM0)

－ Process for external point data setting is decided by this command.
－ Maximum 16 commands are available from 0000 to 1111 by combination of COM3, 2, 1, 0 and
on/off.

(5) External data setting data (EX_D7, EX_D6, EX_D5, EX_D4, EX_D3, EX_D2, EX_D1, EX_D0)
－ Set save data there to use external data setting function.
－ Data format is binary code.

4-69
4. Positioning Function [Explanation of CFZ external data setting function]

● Explanation of output signal of CFZ external data setting mode

In case of CFZ external data setting mode/ SEL1=OFF/ SEL2=ON/ SEL3=ON, output signals for the
mode above are available to read from general output terminal (from OUT8 to OUT1).

OUT 8 7 6 5 4 3 2 1

EX_STR_MOD STR_BUSY STR_FIN STR_P_BUFF STR_ERR (Reserved)

In case of SEL1=OFF/ SEL2=ON/ SEL3=ON only.

(1) OUT1 to OUT3

No use

(2) OUT4: STR_ERR (External data setting error output)

0: No error
1: Data setting error
－ Something was wrong when ON of D_STR.
－ This value will change to 0 automatically when ON of D_STR with correct condition.

(3) OUT5: STR_P_BUFF (External data condition output)

0: All of data in buffer is 0.
1: The data is preset to buffer.

(4) OUT6: STR_FIN (External data setting processing complete output)

0: External data setting is available, or in progress.
1: It works as hand-shaking signal of T_STR/ D_STR on/ off timing through from data setting
completed to T_STR/ D_STR turned off.

(5) OUT7: STR_BUSY (External data setting BUSY output)

0: External data setting is available.
1: It works as hand-shaking signal of T_STR through from data setting progressing to T_STR/
D_STR turned off.

(6) OUT8: EX_STR_MOD (External data setting mode output)

0: Normal operation mode
1: External data setting mode

4-70
4. Positioning Function [Explanation of CFZ external data setting function]

<CFZ external teaching data setting function>

－ Getting external data input as point number when ON of T_STR, then saving current motor position
data with relation to that point number.
－ See sequence below for CFZ external teaching data setting operation.

E_STR (B) (E)

(E_STR)

+JOG
(A)
(-)

-JOG
(A)
(-)

IN(128)～(1)
(C)
(EX_D7～EX_D0)

RAP (C) (D)

(T_STR)
(E)
OUT8
(EX_STR_MOD) (D)

OUT7
(STR_BUSY)

Data saving
OUT6 データ保存
process
(STR_FIN) 処理

NCRDY ON
(NCRDY)

EXT ON
(EXT)

(+)
Motor
モータ速度 velocity

(-)

4-71
4. Positioning Function [Explanation of CFZ external data setting function]

● Explanation of the sequence above

(A) Operate motor to desired position for teaching by JOG or something.

(B) Change mode to external data setting mode by ON of E_STR.

When mode is changed correctly, EX_STR_MOD output signal turns on.

(C) Set point number that is desired to save position data to EX_D7 - EX_D0, then making edge from
off to on at T_STR.

(D) Turning off T_STR input after ON of STR_FIN output.

(E) When turned off E_STR input, EX_STR_MOD will be turned off also, then operation mode goes
normal.

(Note) Change of position data is not available in case of no setting of point number or in case of
incremental move setting because STR_ERR output turned on when T_STR turned on.

4-72
4. Positioning Function [Explanation of CFZ external data setting function]

<CFZ external point data setting function>

－ Capital point data is able to change using EX_D7 -EX_D0.
Data change is done by the command: COM3 - COM0 when D_STR turning on.

－ See steps below for flow of data rewriting.

(1) Getting target point data, and preset it to buffer memory.

(2) Rewriting data on the preset buffer memory. (Position, Velocity, etc.)
(3) Saving the rewritten data as a point data, then complete rewriting.

－ Explanation of external data setting command

(1) Data preset command

External data setting command: 0, Bit : 0000

・Getting external data setting data(EX_D7 - EX_D0) as point number, and preset the point data
that related to the point number to buffer.
・When preset completed, STR_P_BUFF will turn on.

(2) Control data rewriting command – 1st

External data setting command: 1, Bit : 0001

・Rewriting control data of preset point data.

EX_D 7 6 5 4 3 2 1 0

0 0 Striking Lower bit of Move mode 0 0 0 0

Lower bit of Move mode 1

0: Point data is not set
1: Positioning operation effective

Striking: Without/With
0: Normal move (Without striking)
1: Move by “striking stop“

4-73
4. Positioning Function [Explanation of CFZ external data setting function]

(3) Control data rewriting command – 2nd

External data setting command: 2, Bit : 0010

・Rewriting control data of preset point data.

EX_D 7 6 5 4 3 2 1 0

0 0 0 Operation pattern 0 0 0 ABS/INC

ABS/INC
0: Position data is absolute command.
1: Position data is incremental command.

Operation pattern (Speed change setting)

0: Stop and change speed operation
1: Continuous speed change operation

(4) Position data rewriting command

External data setting command: 3 - 6
Bit : 0011, 0100, 0101, 0110

・Rewriting position data of preset point data.(4 bytes)

MSB LSB
Position data : | - - - - | | - - - - | | - - - - | | - - - - | (4 bytes)
(d) (c) (b) (a)

Command 3 (Bit : 0011) : Rewrite (a) by EX_D7 - D0(total 8 bits)

Command 3 (Bit : 0100) : Rewrite (b) by EX_D7 - D0(total 8 bits)
Command 3 (Bit : 0101) : Rewrite (c) by EX_D7 - D0(total 8 bits)
Command 3 (Bit : 0110) : Rewrite (d) by EX_D7 - D0(total 8 bits)

・Example
In case of "Position data = 1234.56" with Velocity, Position data decimal point [D_dpo] =2, ignore
decimal point at point data, then convert to hexadecimal.

1234.56 (Ignore decimal point)

--> 123456 (Convert to hexadecimal)
--> 0x0001E240

Setting 0x40 to (a),

Setting 0xE2 to (b),
Setting 0x01 to (c),
Setting 0x00 to (d)

4-74
4. Positioning Function [Explanation of CFZ external data setting function]

(5) Velocity data rewriting command

External data setting command: 7 - 9
Bit : 0111, 1000, 1001

・Rewriting velocity data of preset point data.(3 bytes)

MSB LSB
Velocity data : | - - - - | | - - - - | | - - - - | (3 bytes)
(c) (b) (a)

Command 7 (Bit : 0111) : Rewrite (a) by EX_D7 - D0(total 8 bits)

Command 8 (Bit : 1000) : Rewrite (b) by EX_D7 - D0(total 8 bits)
Command 9 (Bit : 1001) : Rewrite (c) by EX_D7 - D0(total 8 bits)

・Example
In case of "Velocity data = 1234.00" with Velocity, Position data decimal point [D_dpo] =2, ignore
or round off after the decimal point at point data, then convert to hexadecimal.

1234.00 (Ignore after the decimal point)

--> 1234 (Convert to hexadecimal)
--> 0x0000007B
Setting 0x7B to (a),
Setting 0x00 to (b),
Setting 0x00 to (c),

(6) Current limit (equal to torque limit) rewriting command

External data setting command: A, Bit : 1010

・Rewriting Current limit data of preset point data.(1 byte)

・Units of data is 2% per LSB.

(7) M output code rewriting command

External data setting command: B, Bit : 1011

・Rewriting M output code data of preset point data.(1 byte)

(8) Data saving command

External data setting command: F, Bit : 1111

・Getting external data input (EX_D7 - D0) as point number, then saving edited data in the buffer
to the point number related memory.
(As notes, point number 253 is not able to save to non volatile memory.)
・After saving, STR_P_BUFF turns off.

4-75
4. Positioning Function [Explanation of CFZ external data setting function]

－ See sequence below for CFZ external point data setting operation.
This example shows in case of changing Velocity data (setting command 7 - 9) and Position data
(setting command 3 - 6).

E_STR
(E_STR)

IN(128)～(1)
(A) (B) (C) (D) (E) (F) (G) (H) (I)
(EX_D7～EX_D0)

MFIN
(COM3)

IRUN
(COM2)

-1STEP
(COM1)

+1STEP
(COM0)

(設定コマンド)
(Setting command) 0 9 8 7 6 5 4 3 F

CACL
(D_STR)

OUT8
(EX_STR_MOD)

OUT7
(STR_BUSY)

OUT6
(STR_FIN)

OUT5
(STR_P_BUFF)

NCRDY ON
(NCRDY)

EXT ON
(EXT)

4-76
4. Positioning Function [Explanation of CFZ external data setting function]

● Explanation of the sequence above

(A) Setting the point number to external data setting data (EX_D7 - D0) that desired rewriting, then
running setting command 0 (Bit: 0000).
--> The point data is preset to the buffer, and STR_P_BUFF turns on.

(B) Setting third byte from low of the Velocity data to (EX_D7 - D0), then running setting command 9
(Bit: 1001).

(C) Setting second byte from low of the Velocity data to (EX_D7 - D0), then running setting command 8
(Bit: 1000).

(D) Setting first byte from low of the Velocity data to (EX_D7 - D0), then running setting command 7
(Bit: 0111).

(E) Setting fourth byte from low of the Position data to (EX_D7 - D0), then running setting command 6
(Bit: 0110).

(F) Setting third byte from low of the Position data to (EX_D7 - D0), then running setting command 5
(Bit: 0101).

(G) Setting second byte from low of the Position data to (EX_D7 - D0), then running setting command 4
(Bit: 0100).

(H) Setting first byte from low of the Position data to (EX_D7 - D0), then running setting command 3
(Bit: 0011).

(I) Setting the point number to (EX_D7 - D0) that desired rewriting, then running setting command F
(Bit: 1111).
--> The data edited on the buffer is saved to non-volatile memory as the point number related data,
and STR_P_BUFF turns off.

(Notice) The data on the buffer is cleared in case of setting another mode or running external teaching
setting while CFZ external point data setting.

4-77
4. Positioning Function [Confirmation method of software version]
■ Confirmation method of software version

－ Use the AC servo system supporting tool R-Setup to confirm software version.
For how to use [the setup software R-Setup], refer to [R-SETUP Instruction Manual].

－ Click as follows at main window, "Monitor” --> “Alarm History Display...", then window below appears.
Software version of the amplifier is shown at bottom of the window.

Software version:
Example) C0.00.1 - B003 - B731 - 0008 - B003
Part 1 2 3 4 5

4-78
No Text on This Page.
5
[Parameters]
‹ Parameter List····························································· 5-1

‹ Parameter setting value【Group0】··························· 5-6

‹ Parameter setting value【Group1】··························· 5-7

‹ Parameter setting value【Group2】··························· 5-9

‹ Parameter setting value【Group3】························· 5-10

‹ Parameter setting value【Group4】························· 5-12

‹ Parameter setting value【Group8】························· 5-13

‹ Parameter setting value【Group9】························· 5-15

‹ Parameter setting value【GroupA】 ························ 5-17

‹ Parameter setting value【GroupB】 ························ 5-21

‹ Parameter setting value【GroupC】························ 5-23

‹ Parameter setting value【GroupD】························ 5-24

‹ Parameter setting value【system parameter】········ 5-25

5.Parameters [Parameter List]
■ General Parameter Group 0 [Auto-tuning setting]
Display Reference
Page Symbol Name Standard Value Unit
Range page
00 TUNMODE Tuning mode 00:_AutoTun --- 00 to 02 5-6
01 ATCHA Automatic Tuning Characteristic 00:_Positioning1 --- 00 to 04 5-6
02 ATRES Automatic Tuning Response 5 --- 1 to 30 5-6
03 ATSAVE Automatic Tuning, Automatic Parameter Saving 00:_Auto_Saving --- 00 to 01 5-6
10 ANFILTC Automatic Notch Filter Tuning, Torque Command 50 % 10 to 100 5-6
Automatic Vibration Suppressor Frequency
20 ASUPTC 25 % 10 to 100 5-6
Tuning, Torque Command
Automatic Vibration Suppressor Frequency
21 ASUPFC 5 % 0 to 50 5-6
Tuning, Friction Compensation Value

■ General Parameter Group 1 [Basic controlling parameter setting]

Standard Reference
Page Symbol Name Unit Display Range
Value page
00 PCSMT Position command smoothing time constant 0 ms 0 to 1000 5-7
01 PCFIL Position command filter 0.0 ms 0.0 to 2000.0 5-7
02 KP1 Position Loop Proportional Gain 1 30 1/s 1 to 3000 5-7
03 TPI1 Position Loop Integral Time Constant 1 1000.0 ms 0.5 to 1000.0 5-7
04 TRCPGN Higher Tracking Control, Position Compensation Gain 0 % 0 to 100 5-7
05 FFGN Feed Forward Gain 0 % 0 to 100 5-7
08 FFFIL Feed Forward Filter 2000 Hz 1 to 2000 5-7
10 VCFIL Velocity Command Filter 2000 Hz 1 to 2000 5-8
12 VDFIL Velocity Feedback Filter 1500 Hz 1 to 2000 5-8
13 KVP1 Velocity Loop Proportional Gain 1 50 Hz 1 to 2000 5-8
14 TVI1 Velocity Loop Integral Time Constant 1 20.0 ms 0.5 to 1000.0 5-8
15 JRAT1 Load Inertia Ratio (Load Mass Ratio) 1 100 % 0 to 15000 5-8
16 TRCVGN Higher Tracking Control, Velocity Compensation Gain 0 % 0 to 100 5-8
17 AFBK Acceleration Feedback Gain 0.0 % -100.0 to 100.0 5-8
18 AFBFIL Acceleration Feedback Filter 500 Hz 1 to 2000 5-8
20 TCFIL1 Torque Command Filter 1 600 Hz 1 to 2000 5-8
21 TCFILOR Torque Command Filter Order 2 Order 1 to 3 5-8
* When manual tuning, set the [Page 16: high tracking control position compensation gain] at 100 % to
bring conditions in line with Q-Series standard characteristics.
■ General Parameter Group 2 [Vibration suppressing control/Notch filter/Disturbance observer setting]
Standard Display Reference
Page Symbol Name Unit
Value Range page
00 SUPFRQ1 Vibration Suppressor Frequency 1 500 Hz 5 to 500 5-9
01 SUPLV Vibration Suppressor Level Selection 00 --- 00 to 03 5-9
10 VCNFIL Velocity Command,Notch Filter 500 Hz 50 to 500 5-9
20 TCNFILA Torque Command,Notch Filter A 2000 Hz 100 to 2000 5-9
21 TCNFPA TCNFILA, Low Frequency Phase Delay Improvement 00 --- 00 to 02 5-9
22 TCNFILB Torque Command,Notch Filter B 2000 Hz 100 to 2000 5-9
23 TCNFDB TCNFILB, Depth Selection 00 --- 00 to 03 5-9
24 TCNFILC Torque Command, Notch Filter C 2000 Hz 100 to 2000 5-9
25 TCNFDC TCNFILC, Depth Selection 00 --- 00 to 03 5-9
26 TCNFILD Torque Command,Notch Filter D 2000 Hz 100 to 2000 5-9
27 TCNFDD TCNFILD, Depth Selection 00 --- 00 to 03 5-10
30 OBCHA Observer characteristic 00:_Low --- 00 to 01 5-10
31 OBG Observer Compensation Gain 0 % 0 to 100 5-10
32 OBLPF Observer Output, Low Pass Filter 50 Hz 1 to 2000 5-10
33 OBNFIL Observer Output, Notch Filter 2000 Hz 100 to 2000 5-10

5-1
5.Parameters [Parameter List]
■ General Parameter Group 3 [Setting for gain switching control / vibration suppressing frequency switching]
Standard Display Reference
Page Symbol Name Unit
Value Range page
00 KP2 Position Loop Proportional Gain 2 30 1/s 1 to 3000 5-10
01 TPI2 Position Loop Integral Time Constant 2 1000.0 ms 0.5 to 1000.0 5-10
02 KVP2 Velocity Loop Proportional Gain 2 50 Hz 1 to 2000 5-10
03 TVI2 Velocity Loop Integral Time Constant 2 20.0 ms 0.5 to 1000.0 5-10
04 JRAT2 Load Inertia Ratio (Load Mass Ratio) 2 100 % 0 to 15000 5-10
05 TCFIL2 Torque Command Filter 2 600 Hz 1 to 2000 5-10
10 KP3 Position Loop Proportional Gain 3 30 1/s 1 to 3000 5-11
11 TPI3 Position Loop Integral Time Constant 3 1000.0 ms 0.5 to 1000.0 5-11
12 KVP3 Velocity Loop Proportional Gain 3 50 Hz 1 to 2000 5-11
13 TVI3 Velocity Loop Integral Time Constant 3 20.0 ms 0.5 to 1000.0 5-11
14 JRAT3 Load Inertia Ratio (Load Mass Ratio) 3 100 % 0 to 15000 5-11
15 TCFIL3 Torque Command Filter 3 600 Hz 1 to 2000 5-11
20 KP4 Position Loop Proportional Gain 4 30 1/s 1 to 3000 5-11
21 TPI4 Position Loop Integral Time Constant 4 1000.0 ms 0.5 to 1000.0 5-11
22 KVP4 Velocity Loop Proportional Gain 4 50 Hz 1 to 2000 5-11
23 TVI4 Velocity Loop Integral Time Constant 4 20.0 ms 0.5 to 1000.0 5-11
24 JRAT4 Load Inertia Ratio (Load Mass Ratio) 4 100 % 0 to 15000 5-11
25 TCFIL4 Torque Command Filter 4 600 Hz 1 to 2000 5-11
30 GCFIL Low Pass Filter of Gain Switching 0 ms 0 to 100 5-11
40 SUPFRQ2 Vibration Suppressor Frequency 2 500 Hz 5 to 500 5-12
41 SUPFRQ3 Vibration Suppressor Frequency 3 500 Hz 5 to 500 5-12
42 SUPFRQ4 Vibration Suppressor Frequency 4 500 Hz 5 to 500 5-12

■ General Parameter Group 4 [To set high setting control]

Standard Reference
Page Symbol Name Unit Display Range
Value page
00 CVFIL Command Velocity, Low Pass Filter 1000 Hz 1 to 2000 5-12
-1
01 CVTH Command Velocity Threshold 20 min 0 to 65535 5-12
02 ACCC0 Acceleration Compensation 0 ×50 Pulse -9999 to +9999 5-12
03 DECC0 Deceleration Compensation 0 ×50 Pulse -9999 to +9999 5-12

■ General Parameter Group 8 [Control system setting]

Reference
Page Symbol Name Standard Value Unit Display Range
page
17 EDGEPOS Positioning method 00:_Pulse_Interval --- 00 to 01 5-13
18 PDEVMON Inposition / Position Deviation Monitor 00:_After_Filter --- 00 to 01 5-13
19 CLR Deviation Clear Selection 00_Type1 --- 00 to 01 5-13
-1
24 VCOMP Preset Velocity Compensation Command 0 min -9999 to +9999 5-13
-1
28 VCLM Velocity Limit 65535 min 1 to 65535 5-13
31 TCOMP1 Preset Torque Compensation Command 1 0 % -500 to 500 5-13
32 TCOMP2 Preset Torque Compensation Command 2 0 % -500 to 500 5-13
37 SQTCLM Torque Limit at Sequence Operation 120 % 10 to 500 5-13
40 NEAR In-Position Near Range 500 Pulse 1 to 65535 5-14
-1
42 ZV Speed Zero Range 50 min 50 to 500 5-14
-1
43 LOWV Low Speed Range 50 min 0 to 65535 5-14
-1
44 VCOMP Speed Matching Width 50 min 0 to 65535 5-14
-1
45 VA High Speed Range 1000 min 0 to 65535 5-14

As for the parameter, setting becomes effective after control power supply re-input.

5-2
5.Parameters [Parameter List]
■ General Parameter Group 9 [Function enabling condition setting]
Display
Page Symbol Name Standard Value Unit
Range
13 GC1 Gain Switching Function, Select Input 1 00:_Always_ Disable 00 to 27 5-15,16
14 GC2 Gain Switching Function, Select Input 2 00:_Always_ Disable 00 to 27 5-15,16
15 SUPFSEL1 Vibration Suppressor Frequency, Select Input 1 00:_Always_ Disable 00 to 27 5-15,16
16 SUPFSEL2 Vibration Suppressor Frequency, Select Input 2 00:_Always_ Disable 00 to 27 5-15,16
17 PLPCON Position Loop Proportional Control, Switching Function 01:_Always_ Enable 00 to 27 5-15,16
26 VLPCON Velocity Loop Proportional Control, Switching Function 04:_CONT2_ON 00 to 27 5-15,16
27 VCOMPS Velocity Compensation Function, Select Input 00:_Always_ Disable 00 to 27 5-15,16
30 TCOMPS1 Torque Compensation Function, Select Input 1 00:_Always_ Disable 00 to 27 5-15,16
31 TCOMPS2 Torque Compensation Function,Select Input 2 00:_Always_ Disable 00 to 27 5-15,16
33 OBS Disturbance Observer 00: Always_ Disable 00 to 27 5-15,16
41 DISCHARG Main Power Discharge Function 01:_Always_ Enable 00 to 27 5-15,16

■ General Parameter Group A [Settings related to monitor output signals/setup software]

Display
Page Symbol Name Standard Value Unit
Range
10 DMON Digital Monitor, Output Signal Selection 00:Always_OFF 00 to 5B 5-17,18,19
-1
11 MON1 Analog Monitor 1, Output Signal Selection 05:VMON_2mV/ min 00 to 15 5-17
12 MON2 Analog Monitor 2, Output Signal Selection 02:TCMON_2V/TR 00 to 15 5-17
13 MONPOL Analog monitor output polarity 00:_MON1+_MON2+ 00 to 08 5-20
20 COMAXIS Setup Software, Communication Axis Number 01:_#1 01 to 0F 5-20
21 COMBAUD Setup Software, Communication Baud Rate 05:_38400bps 00 to 05 5-20

As for the parameter, setting becomes effective after control power supply re-input.

■ General Parameter Group B [Setting related to sequence/alarms]

Reference
Page Symbol Name Standard Value Unit Display Range
page
-1
00 JOGVC JOG Velocity Command 50 min 0 to 32767 5-21
12 ACTEMR Emergency Stop Operation 00:_SERVO-BRAKE --- 00 to 01 5-21
Delay Time of Engaging Holding Brake
13 BONDLY 300 ms 0 to 1000 5-21
(holding brake holding delay time)
Delay Time of Releasing Holding Brake
14 BOFFDLY 300 ms 0 to 1000 5-21
(holding brake release delay time)
15 BONBGN Brake Operation Beginning Time 0 ms 0 to 65535 5-21
16 PFDDLY Power Failure Detection Delay Time 32 ms 20 to 1000 5-21
X1024
20 OFWLV Following Error Warning Level 65535 1 to 65535 5-22
pulse
22 OLWLV Overload Warning Level 90 % 20 to 100 5-22
23 VFBALM Speed Feedback Error (ALM_C3) Detection 01:_Enabled --- 00 to 01 5-22
24 VCALM Speed Control Error (ALM_C2) Detection 00:_Disabled --- 00 to 01 5-22
25 POFDLY POFF detection delay time 32 ms 20 to 1000 5-22

As for the parameter, setting becomes effective after control power supply re-input.

■ General Parameter Group C [Encoder related setting]

Display Reference
Page Symbol Name Standard Value Unit
Range page
00 ABS/INCSYS Position detection system choice 00:_Absolute --- 00 to 01 5-23
01 ENFIL Motor Incremental Encoder, Digital Filter 01:_220nsec --- 00 to 07 5-23
02 EX-ENFIL External Incremental Encoder, Digital Filter 01:_220nsec --- 00 to 07 5-23
03 EX-ENPOL External Encoder Polarity Invert 00:_Type1 --- 00 to 07 5-23
08 ECLRFUNC Abusolute Encoder Clear Function Selection 00:_Status_MultiTurn --- 00 to 01 5-24

As for the parameter, setting becomes effective after control power supply re-input.

5-3
5.Parameters [Parameter List]
To the customers using “Absolute encoder for incremental system” with R motor;
Please set the setting of the parameter of the table below value to the servo amplifier.
Group Page Symbol Name Setting value Contents

C 00 ABS/INCSYS Position detection system choice 00:_Absolute Absolute system

Abusolute Encoder Clear Function

C 08 ECLRFUNC 01:_Status Clear Only Encoder Status
Selection
Origin return function of
Bit4 =1: function absolute encoder---
D 41 Sw2 Function switch 2
enabled Required for establishing
coordinate

As for the parameter, setting becomes effective after control power supply re-input.

To the customers using “Battery backup method absolute encoder” with incremental system with Q motor;
Please set the setting of the parameter of the table below value to the servo amplifier.
Group Page Symbol Name Setting value Contents

C 00 ABS/INCSYS Position detection system choice 01:_Incremental Absolute system

Abusolute Encoder Clear

C 08 ECLRFUNC 01:_Status Clear Only Encoder Status
Function Selection
Origin return function of absolute
Bit4 =1: function
D 41 Sw2 Function switch 2 encoder---
enabled
Required for establishing coordinate

As for the parameter, setting becomes effective after control power supply re-input.

■ Encoder specifications
Type Within 1 rotation Multiple rotation Notes
PA035C 131072(17bit) 65536(16bit) Battery backup method absolute encoder
PA035S 131072(17bit) --- Absolute encoder for incremental system

To the customers using “Battery backup method absolute encoder” with incremental system;
See the parameter set values for your servo amplifier in the table below and make sure to use them.
General parameter
Group Page Symbol Name Setting value Contents
C 00 ABS/INCSYS Position detection system choice 01:_Incremental Absolute system
Abusolute Encoder Clear
C 08 ECLRFUNC 01:_Status Clear Only Encoder Status
Function Selection
Origin return function of absolute
Bit4 =1: function
D 41 Sw2 Function switch 2 encoder---
enabled
Required for establishing coordinate

5-4
5.Parameters [Parameter List]
■ General Parameter [Digital operator basic mode]
Reference
Page Name Group and Page Standard Value Display Range
page
Setup Software, Communication Axis
00 GroupA 20 01:_#1 01 to 0F 5-20
Number
01 Setup Software, Communication Baud Rate GroupA 21 05:_38400bps 00 to 05 5-20
02 Tuning Mode Group0 00 00:_AutoTun 00 to 02 5-6
03 Automatic Tuning Response Gropu0 02 5 1 to 30 5-6
04 Position Command Filter [ms] Group1 01 0.0 0.0 to 2000.0 5-6

■ System parameter [for Setup software - R-Setup]

Reference
Page Name Display Range
page
00 Main Power, Input Type 2 ways(depending on the hardware type) 5-25
01 Motor Encoder Type 2 ways (depending on the hardware type) 5-25
02 Incremental Encoder, Function Setting 2 ways(depending on the hardware type) 5-25
03 Incremental Encoder, Resolution Setting 500P/R to 65535P/R 5-25
04 Absolute Encoder, Function Setting 4 ways (depending on the hardware type) 5-25
05 Absolute Encoder, Resolution Setting 11ways 5-25
06 Motor Type --- 5-26
08 Control Mode 6 ways 5-26
09 Position Loop Control and Position Loop Encoder Selection 2ways (depending on the hardware type) 5-26
0A External Encoder, Resolution Seting 500P/R to 65535P/R 5-26
0B Regenerative Resistor Selection 3ways 5-26

■ System parameter [for digital operator]

Reference
Page Name Display Range
page
00 Main Power, Input Type 2 ways (depending on the hardware type) 5-25
01 Motor Encoder Type 2ways (depending on the hardware type) 5-25
02 Incremental Encoder, Function Setting 2ways (depending on the hardware type) 5-25
03 Incremental Encoder, Resolution Setting 500P/R to 65535P/R 5-25
04 Absolute Encoder, Function Setting 4ways (depending on the hardware type) 5-25
05 Absolute Encoder, Resolution Setting 11ways 5-25
06 Information of Servo Amplifier [for maker maintenance] 5-26
07 Servo Motor Code --- 5-26
08 Control Mode 6ways 5-26
Position Loop Control and Position Loop Encoder
09 2ways (depending on the hardware type) 5-26
Selection
0A External Encoder, Resolution Seting 500P/R to 65535P/R 5-26
0B Regenerative Resistor Selection 3ways 5-26

5-5
5.Parameter [Parameter setting value【Group0】]
■ General parameter Group 0[Auto-tuning settings]
Page Contents
Tuning mode [TUNMODE]

Setting range Unit Standard value Selection Contents

00
00 to 02 --- 00:_AutoTun 00:_AutoTun Automatic Tuning
01:_AutoTun_JRAT-Fix Autiomatic Tuning (JRAT Fixed)
02:_ManualTun Manual Tuning

Automatic Tuning Characteristic [ATCHA]

Setting range Unit Standard value Selection Contents

00 to 04 --- 00:_Positioning1 00:_Positioning1 Positioning Control 1
01 01:_Positioning2 Positioning Control 2
02:_Positioning3 Positioning Control 3
03:_Trajectory1 Trajectory Control
04:_Trajectory2 Trajectory Control (KP Fixed)

Automatic Tuning Response [ATRES]

Sets the auto-tuning response. The larger the set value,
Setting range Unit Standard value
02 the higher the response. Make the setting suitable for
1 to 30 --- 5
rigidity of the device.

Automatic Tuning, Automatic Parameter Saving [ATSAVE]

The parameter (JRAT) obtained from auto-tuning result is
Setting range Unit Standard value automatically saved.
03 00 to 01 --- 00:_Auto_Saving Selection Contents
00:_Auto_Saving Saves Parameter Automatically in JRAT1.
01:_No_Saving Automatic Saving is Invalidity
Automatic Notch Filter Tuning, Torque Command [ANFILTC]
Sets the torque command value applied to the motor at the
Setting range Unit Standard value
10 time of auto-notch filter tuning. Larger value makes the
10 to 100 % 50
tuning more accurate; however, note that it also makes the
move of the machine larger.
Automatic Vibration Suppressor Frequency Tuning, Torque Command [ASUPTC]
Sets the torque command value applied to the motor at the
20 Setting range Unit Standard value
time of auto-vibration suppressing frequency tuning.
10 to 100 % 25
Larger value makes the tuning more accurate, however,
note that it also makes the move of the machine larger.
Automatic Vibration Suppressor Frequency Tuning, Friction Compensation Value [ASUPFC]
Sets the friction torque compensation added to the motor
Setting range Unit Standard value
torque at the time of auto-vibration suppressing frequency
21 0 to 50 % 5
tuning. Set this value close to actual friction torque, and
vibration suppressing frequency tuning will be more
accurate.

5-6
5.Parameter [Parameter setting value【Group1】]
■ General parameter Group 1[Basic control parameter setting]
Page Contents
Position command smoothing time constant [PCSMT]

Setting range Unit Standard setting value This is a moving average filter to smooth position
0 to 1000 ms 0 command pulse.

◆ Set the time constant.

◆ Add s-shaped curve acceleration and deceleration to all the moving such as point moving (including continuous
moving at variable velocity) or JOG-moving.
◆ To smooth point moving command accompanied by continuous moving at variable velocity, use this parameter
instead of s-shaped curve acceleration and deceleration time listed in the point table.
◆ If the setting value is “0,” filter is disabled.
◆ As for “parameter GroupD page: 0C S_rat” and s-shaped curve acceleration and deceleration time of point data,
use s-shaped curve acceleration and deceleration time by setting the time to “0,” otherwise s-shaped effect
doubley works on them.
◆ To use this parameter, set General parameter Group8 page: 18 to “01:_Before_Filter.”
00
 When continuously moving at variable velocity

Position command filter [PCFIL]

Parameter to put primary low pass filter to the position
01 Setting range Unit Standard value command. Time constant of the filter is set. Filter is
0.0 to 2000.0 ms 0.0 disabled with the set value of 0.0ms.

Position Loop Proportional Gain 1 [KP1]

Proportional gain for position controller.
02 Setting range Unit Standard value When auto-tuning result saving is executed, the tuning
1 to 3000 1/s 30 result is automatically saved in this parameter.

Position Loop Integral Time Constant 1 [TPI1]

Integral time constant for position controller. When
Setting range Unit Standard value position loop proportional control switching function is
03
0.5 to 1000.0 ms 1000.0 disabled, this setting becomes enabled.
Integral term is disabled (proportional control) with the set
value of 1000.0ms.
Higher Tracking Control, Position Compensation Gain [TRCPGN]
Parameter to enhance following-up performance. The
Setting range Unit Standard value larger value can make the following-up performance
04
0 to 100 % 0 higher. When the value other than 0% is set, position
command filter and feed forward gain are automatically
set.
Feed Forward Gain [FFGN]
Feed forward compensation gain at the time of position
05 Setting range Unit Standard value control.
0 to 100 % 0

Feed Forward Filter [FFFIL]

Parameter to put primary low pass filter to feed forward
Setting range Unit Standard value command. Sets the cut-off frequency.
08 1 to 2000 Hz 2000 Filter is disabled with the set value of 2000Hz.

5-7
5.Parameter [Parameter setting value【Group1】]

Page Contents
Velocity Command Filter [VCFIL]
Parameter to put primary low pass filter to velocity
10 Setting range Unit Standard value command. Sets the cut-off frequency.
1 to 2000 Hz 2000 Filter is disabled with the set value of 2000Hz.

Velocity Feedback Filter [VDFIL]

Parameter to put primary low pass filter to velocity
12 Setting range Unit Standard value feedback. Sets the cut-off frequency. Filter is disabled
1 to 2000 Hz 1500 with the set value of 2000Hz.

Velocity Loop Proportional Gain 1 [KVP1]

Proportional gain of velocity controller.
13 Setting range Unit Standard value When auto-tuning result saving is executed, the tuning
1 to 2000 Hz 50 result is automatically saved in this parameter.

Velocity Loop Integral Time Constant 1 [TVI1]

Integral time constant of velocity controller. When
Setting range Unit Standard value velocity loop proportional control switching function is
14 0.5 to 1000.0 ms 20.0 disabled, this set value is enabled.
Integral term (proportional control) is disabled with the
set value of 1000.0ms. When auto-tuning result saving is
executed, the tuning result is automatically saved in this
parameter.
Load Inertia Ratio (Load Mass Ratio) 1 [JRAT1]
Sets inertia moment of the loading device to the motor
Setting range Unit Standard value inertia moment. Set value=JL/JM×100%
15 0 to 15000 % 100 JL: Load inertia moment
JM: Motor inertia moment
When auto-tuning result saving is executed, the tuning
result is automatically saved in this parameter.
Higher Tracking Control, Velocity Compensation Gain [TRCVGN]
Parameter to enhance following-up performance. The
16 Setting range Unit Standard value larger value can make the following-up performance
0 to 100 % 0 higher. When velocity loop proportional control switching
function is used, set this to 0%.

Acceleration Feedback Gain [AFBK]

Compensation function to make the velocity loop stable.
17 Setting range Unit Standard value Multiply this gain with the detected acceleration to
-100.0 to 100.0 % 0.0 compensate torque command. Setting unit is 0.1%.

Acceleration Feedback Filter [AFBFIL]

Parameter to put primary low pass filter to acceleration
18 Setting range Unit Standard value feedback compensation. Sets the cut-off frequency. Filter
1 to 2000 Hz 500 is disabled with the set value of 2000Hz.

Torque Command Filter 1 [TCFIL1]

Parameter to put low pass filter to torque command. Sets
20 Setting range Unit Standard value the cut-off frequency.
1 to 2000 Hz 600 When auto-tuning result saving is executed, the tuning
result is automatically saved in this parameter.
Torque Command Filter Order [TCFILOR]
Parameter to set ordinal number of torque command
21 Setting range Unit Standard value filter.
1 to 3 Order 2

5-8
5.Parameter [Parameter setting value【Group2】]
■ General parameter Group 2[vibration suppressing control / notch filter / disturbance observer settings]
Page Contents
Vibration Suppressor Frequency 1 [SUPFRQ1]
Parameter to set the frequency of restricting vibration.
Setting range Unit Standard value Inside the servo amplifier, vibration suppressing frequency
5 to 500 Hz 500 from 5 to 99Hz is treated by 1HzUnit, and that from 100 to
500Hz is by 10HzUnit. Even when set by lower unit than
00 these, operations do not change.
Vibration suppressing control is disabled with the set value
of 500Hz. When auto-frequency tuning is executed, the
tuning result is automatically saved in this parameter.
Change this while the motor stops.

Vibration Suppressor Level Selection [SUPLV]

Parameter to set the size of vibration suppressing control
01 Setting range Unit Standard value effect. The smaller the value is, the greater the effect will
00 to 03 --- 00 be. Change this while the motor stops.

Velocity Command,Notch Filter [VCNFIL]

Parameter to set notch filter to velocity command. Sets the
Setting range Unit Standard value center frequency. Inside the servo amplifier, the center
50 to 500 Hz 500 frequency from 50 to 99Hz is treated by 1HzUnit and that
10 from 100 to 500Hz is by 10HzUnit. Even when set by lower
unit than these, operations do not change.
Filter is disabled with the set value of 500Hz.

Torque Command,Notch Filter A [TCNFILA]

Parameter to set notch filter to torque command. Sets the
Setting range Unit Standard value center frequency.
100 to 2000 Hz 2000 Inside the servo amplifier, the center frequency is treated
20 by 10HzUnit. Even when set by lower unit than 1HzUnit,
operations do not change.
Filter is disabled with the set value of 2000Hz.
When auto-notch filter tuning is executed, the tuning result
is automatically saved in this parameter.
TCNFILA, Low Frequency Phase Delay Improvement [TCNFPA]
Parameter to improve phase delay at lower frequency than
Setting range Unit Standard value center frequency of torque command notch filter A.
21 00 to 02 --- 00 The larger the value is, the greater the effect is.
Same characteristics as the standard notch filter with the
set value of 0.

Torque Command,Notch Filter B [TCNFILB]

Parameter to set notch filter to torque command. Sets the
Setting range Unit Standard value center frequency. Inside the servo amplifier, the center
22 100 to 2000 Hz 2000 frequency is treated by 10HzUnit. Even when set by
1HzUnit, operations do not change. Filter is disabled with
the set value of 2000Hz.

TCNFILB, Depth Selection [TCNFDB]

Parameter to set the depth of torque command notch filter
23 Setting range Unit Standard value B. The larger the value is, the shallower.
00 to 03 --- 00

Torque Command, Notch Filter C [TCNFILC]

Parameter to set notch filter to torque command. Sets the
Setting range Unit Standard value center frequency.
24 100 to 2000 Hz 2000 Inside the servo amplifier, the center frequency is treated
by 10HzUnit. Even when set by 1HzUnit, operations do not
change. Filter is disabled with the set value of 2000Hz.

TCNFILC, Depth Selection [TCNFDC]

Parameter to set the depth of torque command notch filter
25 Setting range Unit Standard value C. The larger the value is, the shallower.
00 to 03 --- 00
Torque Command,Notch Filter D [TCNFILD]
Parameter to set notch filter to torque command. Sets the
Setting range Unit Standard value center frequency. Inside the servo amplifier, the center
26
100 to 2000 Hz 2000 frequency is treated by 10HzUnit. Even when set by
1HzUnit, operations do not change. Filter is disabled with
the set value of 2000Hz.

5-9
5.Parameter [Parameter setting value【Group2】【Group3】]
Page Contents
TCNFILD, Depth Selection [TCNFDD]
Parameter to set the depth of torque command notch filter
27 Setting range Unit Standard value D. The greater the value is, the shallower the depth will be.
00 to 03 --- 00

Observer characteristic [OBCHA]

Selects the observer characteristics.
Setting range Unit Standard value Selection Contents
30
00 to 01 --- 00:_Low 00:_Low For Low Cycle
01:_Middle For Middle Cycle

Observer Compensation Gain [OBG]

Observer compensation gain. The larger the value is, the
31 Setting range Unit Standard value higher the suppression characteristics will be. However, if
0 to 100 % 0 this is too large, oscillation may sometimes occur.

Observer Output, Low Pass Filter [OBLPF]

Sets the cut off frequency of observer output low pass
32 Setting range Unit Standard value filter. Filter is disabled with the set value of 2000Hz.
1 to 2000 Hz 50 When the observer characteristics are “01: Middle (For
Middle Cycle)”, the function is disabled.
Observer Output, Notch Filter [OBNFIL]
Sets the center frequency of observer output notch filter.
Setting range Unit Standard value Inside the servo amplifier, the center frequency is treated
33 100 to 2000 Hz 2000 by 10HzUnit. Even when set by 1HzUnit, operations do not
change. Filter is disabled with the set value of 2000Hz.

■ General parameter Group 3[Gain switching control / vibration suppressing frequency switching settings]
Page Contents
Position Loop Proportional Gain 2 [KP2]
Proportional gain for position controller.
00 Setting range Unit Standard value
1 to 3000 1/s 30

Position Loop Integral Time Constant 2 [TPI2]

Integral time constant for position controller.
Setting range Unit Standard value Integral term is disabled (proportional control) with the set
01 0.5 to 1000.0 ms 1000.0 value of 1000.0ms.
✍ Cannot be used when the position loop proportional
control switching function is enabled.

Velocity Loop Proportional Gain 2 [KVP2]

Proportional gain for velocity controller.
02 Setting range Unit Standard value When load inertia is the one set by load inertia moment
1 to 2000 Hz 50 ratio (load mass ratio) 2, the response is this set value.

Velocity Loop Integral Time Constant 2 [TVI2]

Integral time constant for velocity controller.
Setting range Unit Standard value Enabled when velocity loop proportional control switching
03
0.5 to 1000.0 ms 20.0 function is disabled.
Integral term is disabled (proportional control) with the set
value of 1000.0ms.
Load Inertia Ratio (Load Mass Ratio) 2 [JRAT2]
Sets the inertia moment of load device to the motor inertia
04 Setting range Unit Standard value moment. Set value＝JL/JM×100%
0 to 15000 % 100 JL: Load inertia moment
JM: Motor inertia moment

Torque Command Filter 2 [TCFIL2]

Parameter to set low pass filter to torque command. Sets
05 Setting range Unit Standard value the cut off frequency.
1 to 2000 Hz 600

5-10
5.Parameter [Parameter setting value【Group3】]
Page Contents
Position Loop Proportional Gain 3 [KP3]
Proportional gain for position controller.
10 Setting range Unit Standard value
1 to 3000 1/s 30

Position Loop Integral Time Constant 3 [TPI3]

Integral time constant for position controller.
Setting range Unit Standard value Integral term is disabled (proportional control) with the set
11 0.5 to 1000.0 ms 1000.0 value of 1000.0ms.
✍Cannot be used when position loop proportional
control switching function is enabled.
Velocity Loop Proportional Gain 3 [KVP3]
Proportional gain for velocity controller.
12 Setting range Unit Standard value When load inertia is the one set by load inertia moment
1 to 2000 Hz 50 ratio (load mass ratio) 2, the response is this set value.

Velocity Loop Integral Time Constant 3 [TVI3]

Integral time constant for velocity controller. This setting is
13 Setting range Unit Standard value enabled when velocity loop proportional control switching
0.5 to 1000.0 ms 20.0 function is disabled.
Integral term is disabled (proportional control) with the set
value of 1000.0ms.
Load Inertia Ratio (Load Mass Ratio) 3 [JRAT3]
Sets the inertia moment of load device to the motor inertia
Setting range Unit Standard value moment. Set value＝JL/JM×100%
14
0 to 15000 % 100 JL: Load inertia moment
JM: Motor inertia moment

Torque Command Filter 3 [TCFIL3]

Parameter to set low pass filter to torque command. Sets
15 Setting range Unit Standard value the cut off frequency.
1 to 2000 Hz 600
Position Loop Proportional Gain 4 [KP4]
Proportional gain for position controller.
20 Setting range Unit Standard value
1 to 3000 1/s 30

Position Loop Integral Time Constant 4 [TPI4]

Integral time constant for position controller. Integral term
Setting range Unit Standard value is disabled (proportional control) with the set value of
21 0.5 to 1000.0 ms 1000.0 1000.0ms.
✍ Cannot be used when position loop proportional
control switching function is enabled.
Velocity Loop Proportional Gain 4 [KVP4]
Proportional gain for velocity controller.
22 Setting range Unit Standard value When load inertia is the one set by load inertia moment
1 to 2000 Hz 50 ratio (load mass ratio) 2, the response is this set value.

Velocity Loop Integral Time Constant 4 [TVI4]

Integral time constant for velocity controller. This setting is
Setting range Unit Standard value enabled when velocity loop proportional control switching
23 function is disabled.
0.5 to 1000.0 ms 20.0
Integral term is disabled (proportional control) with the set
value of 1000.0ms.
Load Inertia Ratio (Load Mass Ratio) 4 [JRAT4]
Sets the inertia moment of load device to the motor inertia
24 Setting range Unit Standard value moment. Set value＝JL/JM×100%
0 to 15000 % 100 JL:Load inertia moment
JM:Motor inertia moment

Torque Command Filter 4 [TCFIL4]

Parameter to set low pass filter to torque command. Sets
25 Setting range Unit Standard value the cut off frequency.
1 to 2000 Hz 600

Low Pass Filter of Gain Switching [GCFIL]

Parameter to set time constant for gain switching.
30 The larger the value is, the gentler the switching is.
Setting range Unit Standard value
0 to 100 ms 0

5-11
5.Parameter [Parameter setting value【Group3】【Group4】]
Page Contents
Vibration Suppressor Frequency 2 [SUPFRQ2]
Parameter to set the frequency of vibration suppressing
Setting range Unit Standard value vibration.
5 to 500 Hz 500 In the servo amplifier, the vibration suppressing frequency
from 5 to 99Hz is treated by 1Hz unit, and from 100 to
40 500Hz is by 10Hz unit. Operations do not change if set by
lower unit than these.
Vibration suppressing control is disabled when the set
value is 500Hz.

✍ Change this while the motor stops.

Vibration Suppressor Frequency 3 [SUPFRQ3]
Parameter to set the frequency of vibration suppressing
Setting range Unit Standard value vibration.
5 to 500 Hz 500 In the servo amplifier, the vibration suppressing frequency
from 5 to 99Hz is treated by 1H unit, and from 100 to
500Hz is by 10Hz unit. Operations do not change if set by
41 lower unit than these.
Vibration suppressing control is disabled when the set
value is 500Hz.

✍ Change this while the motor stops.

Vibration Suppressor Frequency 4 [SUPFRQ4]
Parameter to set the frequency of vibration suppressing
Setting range Unit Standard value vibration.
5 to 500 Hz 500 In the servo amplifier, the vibration suppressing frequency
from 5 to 99Hz is treated by 1H unit, and from 100 to
42 500Hz is by 10Hz unit. Operations do not change if set by
lower unit than these.
Vibration suppressing control is disabled when the set
value is 500Hz.

✍ Change this while the motor stops.

■ General parameter Group 4[High setting control settings]

Page Contents
Command Velocity, Low Pass Filter [CVFIL]
Sets the cut off frequency of low pass filter, when
00 Setting range Unit Standard value command velocity is calculated. When the position
1 to 2000 Hz 1000 command resolution is low, lower the cut off frequency.
Filter is disabled when the set value is 2000Hz.
Command Velocity Threshold [CVTH]
When the command velocity calculated from position
01 Setting range Unit Standard value command is larger than this threshold, acceleration or
-1
0 to 65535 min 20 deceleration compensation will be performed.

Acceleration Compensation [ACCCO]

Compensation at acceleration.
Setting range Unit Standard value
02
-9999 to +9999 ×50 Pulse 0

Deceleration Compensation [DECCO]

Compensation at deceleration.
Setting range Unit Standard value
03 -9999 to +9999 ×50 Pulse 0

5-12
5.Parameter [Parameter setting value【Group8】]
■ General parameter Group 8 [Setting for control system]
Page Contents
Positioning method [EDGEPOS]
Select the encoder pulse positioning from the contents below.
Setting range Unit Standard value Selection Contents
00 to 01 --- 00:_Pulse _Interval 00:_Pulse_Inter
17 Specify Pulse Interval
val
01:_Pulse_Edge Specify Pulse Edge
✍ The set value is enabled after control power is turned
ON again.
Inposition / Position Deviation Monitor [PDEVMON]
Select the positioning complete signal (IPN) and position
Setting range Unit Standard value deviation monitor from the contents below.
00 to 01 --- 00:_After_Filter Selection Contents
Compare "Position Command Value
18 00:_After_Filter After Filter Passes by" with
"Feedback Value"
Compare "Position Command Value
01:_Before_Filter Before Filter Passes by" with
"Feedback Value"
Deviation Clear Selection [CLR]
Select the position deviation clearing method from the
Setting range Unit Standard value contents below.
00 to 01 --- 00:_Type1

Selection Contents
19
During servo OFF, deviation clear is always executed.
When SERVO-OFF/ Clear Deviation : While deviation clear input is ON, deviation clear is
00:_Type1
Deviation Clear Input/ Level Detection always executed.
When SERVO-OFF/ Clear Deviation : At the edge of OFFON of deviation clear input,
01:_Type2
Deviation Clear Input/ Edge Detection deviation clear is executed.

Preset Velocity Compensation Command [VCOMP]

Parameter for using velocity addition command in a fixed
24 Setting range Unit Standard value value when velocity addition function is used.
-1
-9999 to +9999 min 0
Velocity Limit [VCLM]
Parameter for restricting the velocity command.
Setting range Unit Standard value
-1 Sets the maximum value of velocity command. Velocity
1 to 65535 min 65535
command is restricted by this value at operations of
position control and velocity control.
28
When the set value is larger than 50000, velocity
command is restricted at (maximum speed×1.1). Set this
parameter when it is to be restricted at lower than (motor
rotation speed ×1.1). (Use the standard value usually.)

Preset Torque Compensation Command 1 [TCOMP1]

Parameter for using torque addition command in a fixed
31 Setting range Unit Standard value value, when torque addition function is used.
-500 to +500 % 0
Preset Torque Compensation Command 2 [TCOMP2]
Parameter for using torque addition command in a fixed
32 Setting range Unit Standard value value, when torque addition function is used.
-500 to +500 % 0
Torque Limit at Sequence Operation [SQTCLM]
Parameter for setting sequence operation torque limit
Setting range Unit Standard value
value (JOG operation, holding brake operation waiting, and
10 to 500 % 120
OT status, etc.) Torque limit value is determined by
37 comparing it with the rated output torque. (100%=rated
torque) During sequence operation, output torque is
restricted by this set value. Output torque is restricted by
TP if a value exceeding the peak output torque TP is
selected.

5-13
5.Parameter [Parameter setting value【Group8】]
Page Contents
In-Position Near Range [NEAR]
Parameter for setting the output range of near range signal
Setting range Unit Standard value
(near in-position complete).
1 to 65535 Pulse 500
40 Near range signal is output when the deviation counter is
lower than this set value.
Encoder pulse is standard irrespective of electronic gear and
command multiplication functions.
Speed Zero Range [ZV]
Set value for detecting zero-speed status (motor stop).
42 Setting range Unit Standard value When the motor speed becomes lower than this value,
-1
50 to 500 min 50 zero-speed status is detected.

Low Speed Range [LOWV]

Parameter for setting low-speed output range.
43 Setting range Unit Standard value
-1 When the speed is lower than this value, low-speed range
0 to 65535 min 50
is output.

Speed Matching Width [VCMP]

Parameter for setting the range of velocity matching
44 Setting range Unit Standard value
-1 output. Velocity matching is output when the speed
0 to 65535 min 50
deviation (difference between speed command and actual
speed) is within the setting range.
High Speed Range [VA]
Parameter for setting the value for speed attainment
Setting range Unit Standard value
-1 output. When the speed exceeds this set value, velocity
0 to 65535 min 1000
attainment is output.
If the motor speed exceeds the selected value during
45
torque control operations, and when the control switching
function is enabled, the torque command is always set to
0. Fixed speed cannot be controlled. Avoid continuous
usage in this manner.

5-14
5.Parameter [Parameter setting value【Group9】]
■ General parameter Group 9 [Condition settings for enabling functions]
Input signals and conditions to enable the functions of each page are set.
✍ Selection contents to be set are on the next page.

Page Contents Page Contents

Velocity Compensation Function, Select Input
Gain Switching Function, Select Input 1 [GC1]
[VCOMPS]
13 27
Setting range Standard value Setting range Standard value
00 to 27 00:_Always_Disable 00 to 27 00:_Always_Disable
Torque Compensation Function, Select Input 1
Gain Switching Function, Select Input 2 [GC2]
[TCOMPS1]
14 30
Setting range Standard value Setting range Standard value
00 to 27 00:_Always_Disable 00 to 27 00:_Always_Disable
Vibration Suppressor Frequency, Select Input 1 Torque Compensation Function,Select Input 2
[SUPFSEL1] [TCOMPS2]
15 31
Setting range Standard value Setting range Standard value
00 to 27 00:_Always_Disable 00 to 27 00:_Always_Disable
Vibration Suppressor Frequency, Select Input 2
[SUPFSEL2] Disturbance Observer [OBS]

16 Setting range Standard value 33 Setting range Standard value

00 to 27 00:_Always_Disable 00 to 27 00:_Always_Disable
Position Loop Proportional Control, Switching Main Power Discharge Function
Function [PLPCON] [DISCHARG]
17 41
Setting range Standard value Setting range Standard value
00 to 27 01:_Always_Enable 00 to 27 01:_Always_Enable
Velocity Loop Proportional Control, Switching
Function [VLPCON]
26
Setting range Standard value
00 to 27 00:_Always_Disable

5-15
5.Parameter [Parameter setting value【Group9】]

■ General parameter Group 9 List of selection contents

When functions are to be always enabled or disabled.

Selection Contents
00:_Always_ Disable Always disable the function.
01:_Always_ Enable Always enable the function.

When functions are to be set with the conditions of servo motor rotation speed.

Selection Contents
12:_LOWV_IN Enable the function during low speed status (speed is less than LOWV).
13:_LOWV_OUT Enable the function while low speed status is not kept.
14:_VA_IN Enable the function during high speed status (speed is more than VA).
15:_VA_OUT Enable the function while high speed status is not kept.
16:_VCMP_IN Enable the function during speed matching status (velocity deviation < VCMP).
17:_VCMP_OUT Enable the function while speed matching status is not kept.
18:_ZV_IN Enable the function during zero speed status (speed is less than ZV).
19:_ZV_OUT Enable the function while zero speed status is not kept.
When functions are to be set with the conditions of positioning signals.

Selection Contents
20:_NEAR_IN Enable the function during NEAR status (position deviation < NEAR).
21:_NEAR_OUT Enable the function while NEAR status is not kept.
1A:_INP_IN Enable the function during In-Position status (position deviation < INP).
1B:_INP_OUT Enable the function while In-Position status is not kept.
26:_INPZ_IN Enable the function during PCMD=0 and In-position Status.
27:_INPZ_OUT Disable the function during PCMD=0 or In-position Status.

When functions are to be set with the conditions of torque / speed limit

Selection Contents
1C:_TLC_IN Enable the function during torque limiting.
1D:_TLC_OUT Enable the function while torque limiting is not performed.
1E:_VLC_IN Enable the function during velocity limiting.
1F:_VLC_OUT Enable the function while velocity limiting is not performed.
When functions are to be set with the servo motor rotation direction and stop status.

Selection Contents
22:_VMON_>_+LV Enable the function when Moving Direction is Positive (VMON > LOWV).
23:_VMON_<=_+LV Enable the function when Moving Direction is not Positive (VMON <= LOWV).
24:_VMON_<_-LV Enable the function when Moving Direction is Negative (VMON < LOWV).
25:_VMON_>=_-LV Enable the function when Moving Direction is not Negative (VMON >= LOWV).

5-16
5.Parameter [Parameter setting value【GroupA】]
■ General parameter
Group A[generic output terminal outputting condition/monitor output selection/setup software settings]
Page Name and Contents
Digital Monitor, Output Signal Selection [DMON]
Output signals for digital monitor output are selected.
10 Setting range
00 to 5B
Standard value
00:_Always_OFF
✍ Selection values to be set are on the next page.

Analog Monitor 1, Output Signal Selection [MON1]

11 Setting range Standard value

-1
00 to 15 05:_VMON_2mV/min Output signals for analog monitor output 1, 2 are selected
Analog Monitor 2, Output Signal Selection [MON2] from the followings.

12 Setting range Standard value

00 to 15 02:_TCMON_2V/TR

00 Reserved
01:_TMON_2V/TR Torque (thrust) monitor 2V/ rated torque (thrust)
Torque (thrust) command monitor 2V/ rated torque
02:_TCMON_2V/TR
(thrust)
-1 -1
03:_VMON_0.2mV/ min Velocity monitor 0.2mV/ min
-1 -1
04:_VMON_1mV/ min Velocity monitor 1mV/ min
-1 -1
05:_VMON_2mV/ min Velocity monitor 2mV/ min
-1 -1
06:_VMON_3mV/ min Velocity monitor 3mV/ min
-1 -1
07:_VCMON_0.2mV/ min Velocity command monitor 0.2mV/ min
-1 -1
08:_VCMON_1mV/ min Velocity command monitor 1mV/ min
-1 -1
09:_VCMON_2mV/ min Velocity command monitor 2mV/ min
-1 -1
0A:_VCMON_3mV/ min Velocity command monitor 3mV/ min
0B:_PMON_0.1mV/P Position deviation counter monitor 0.1mV/ Pulse
0C:_PMON_1mV/P Position deviation counter monitor 1mV/ Pulse
0D:_PMON_10mV/P Position deviation counter monitor 10mV/ Pulse
0E:_PMON_20mV/P Position deviation counter monitor 20mV/ Pulse
0F:_PMON_50mV/P Position deviation counter monitor 50mV/Pulse
Position command pulse monitor
10:_FMON_2mV/kP/s
(position command pulse input frequency )2mV/kPulse/s
Position command pulse monitor
11:_FMON_10mV/kP/s
(position command pulse input frequency )10mV/kPulse/s
Load torque (thrust) monitor (estimated value)2V/ rated
12:_TLMON_EST_2V/TR
torque (thrust)
13:_Sine-U U phase electric angle Sin 8V-peak
14:_VBUS_1V/DC100V Main circuit DC voltage 1V / DC100V
15:_VBUS_1V/DC10V Main circuit DC voltage 1V / DC10V

5-17
5.Parameter [Parameter setting value【GroupA】]
● List of selection contents for digital monitor output

Selection Contents
00H Always_OFF The output is always OFF
01H Always_ON The output is always ON
02H S-RDY_ON The output is ON during Servo Ready complete.
03H S-RDY_OFF The output is OFF during Servo Ready complete.
04H P-ON_ON The output is ON while the main power supply is turned on.
05H P-ON_OFF The output is OFF while the main power supply is turned on.
06H A-RDY_ON The output is ON during the main power supply ON permission.
07H A-RDY_OFF The output is OFF during the main power supply ON permission.
08H S-ON_ON The output is ON during motor excitation.
09H S-ON_OFF The output is OFF during motor excitation.
0AH MBR-ON_ON The output is ON while holding brake excitation signal outputs.
0BH MBR-ON_OFF The output is OFF while holding brake excitation signal outputs.
0CH TLC_ON The output is ON during torque limiting.
0DH TLC_OFF The output is OFF during torque limiting.
0EH VLC_ON The output is ON during velocity limiting.
0FH VLC_OFF The output is OFF during velocity limiting.
10H LOWV_ON The output is ON during low speed status (speed is less than LOWV).
11H LOWV_OFF The output is OFF during low speed status (speed is less than LOWV).
12H VA_ON The output is ON during high speed status (speed is more than VA).
13H VA_OFF The output is OFF during high speed status (speed is more than VA).
14H VCMP_ON The output is ON during speed matching status (velocity deviation < VCMP).
15H VCMP_OFF The output is OFF during speed matching status (velocity deviation < VCMP).
16H ZV_ON The output is ON during zero speed status (speed is less than ZV).
17H ZV_OFF The output is OFF during zero speed status (speed is less than ZV).
18H INP_ON The output is ON during In-Position status (position deviation < INP).
19H INP_OFF The output is OFF during In-Position status (position deviation < INP).
1AH NEAR_ON The output is ON during In-Position Near status (position deviation < NEAR).
1BH NEAR_OFF The output is OFF during In-Position Near status (position deviation < NEAR).
1CH CMD-ACK_ON The output is ON while command can be accepted.
1DH CMD-ACK_OFF The output is OFF while command can be accepted.
1EH GC-ACK_ON The output is ON during gain switching.
1FH GC-ACK_OFF The output is OFF during gain switching.
20H PCON-ACK_ON The output is ON during velocity loop proportional control switching.
21H PCON-ACK_OFF The output is OFF during velocity loop proportional control switching.
26H F-OT_ON The output is ON during positive over-travel status.
27H F-OT_OFF The output is OFF during positive over-travel status.
28H R-OT_ON The output is ON during negative over-travel status
29H R-OT_OFF The output is OFF during negative over-travel status
2AH WNG-OFW_ON The output is ON during following warning status (position deviation > OFWLV).
2BH WNG-OFW_OFF The output is OFF during following warning status (position deviation > OFWLV).
2CH WNG-OLW_ON The output is ON during over-load warning status
2DH WNG-OLW_OFF The output is OFF during over-load warning status
2EH WNG-ROLW_ON The output is ON during regenerative over-load warning status.
2FH WNG-ROLW_OFF The output is OFF during regenerative over-load warning status.
30H WNG-BAT_ON The output is ON during battery warning.
31H WNG-BAT_OFF The output is OFF during battery warning.
38H ALM_ON The output is ON during alarm status.
39H ALM_OFF The output is OFF during alarm status.
4AH CHARGE_ON The output is ON while main power supply (smooth capacitor) is charging.
4BH CHARGE_OFF The output is OFF while main power supply (smooth capacitor) is charging.
4CH DB_OFF The output is OFF during dynamic braking.
4DH DB_ON The output is ON during dynamic braking.

Continues to the following page.

5-18
5.Parameter [Parameter setting value【GroupA】]

Selection Contents
58H S-RDY2_ON The output terminal is ON during Servo Ready complete.
59H S-RDY2_OFF The output terminal is OFF during Servo Ready complete.
60H NCRDY_ON The output is ON while motor can be excited in S-ON input state.
61H HBON_ON The output is ON while holding brake excitation signal outputs.
62H ERR_ON The output is ON during error status.
63H EXT_ON The output is ON while external operation input is effective.
64H MOVE_ON The output is ON while operation signal is inputted.
65H PFIN_ON The output is ON while positioning is completed and operation signal is ON.
66H INPS_ON The output is ON during the inside of allowable deviation (inside of In-position).
67H ZFIN_ON The output is ON after homing is completed, without alarm status.
68H OUT1_ON The output is ON while output OUT (1) is ON.
69H OUT2_ON The output is ON while output OUT (2) is ON.
6AH OUT3_ON The output is ON while output OUT (3) is ON.
6BH OUT4_ON The output is ON while output OUT (4) is ON.
6CH OUT5_ON The output is ON while output OUT (5) is ON.
6DH OUT6_ON The output is ON while output OUT (6) is ON.
6EH OUT7_ON The output is ON while output OUT (7) is ON.
6FH OUT8_ON The output is ON while output OUT (8) is ON.
70H EXT-E_ON The output is ON while EXT-E input is ON.
71H RUN_ON The output is ON while RUN input is ON.
72H ZRT_ON The output is ON whle ZRT input is ON.
73H +JOG_ON The output is ON while +JOG input is ON.
74H -JOG_ON The output is ON while -JOG input is ON.
75H RAP/OVRD_ON The output is ON while RAP/OVRID input is ON.
76H ARST_ON The output is ON while ARST input is ON.
77H CACL_ON The output is ON while CACL input is ON.
78H S-ON_ON The output is ON while S-ON input is ON.
79H SEL1_ON The output is ON while SEL1 input is ON.
7AH SEL2_ON The output is ON while SEL2 input is ON.
7BH SEL3_ON The output is ON while SEL3 input is ON.
7CH +1STEP_ON The output is ON while +1STEP input is ON.
7DH -1STEP_ON The output is ON while -1STEP input is ON.
7EH I_RUN_ON The output is ON while I_RUN input is ON.
7FH MFIN_ON The output is ON while MFIN input is ON.
80H RESERVE1_ON (Reserved)
81H RESERVE2_ON (Reserved)
82H RESERVE3_ON (Reserved)
83H RESERVE4_ON (Reserved)
84H SDN_ON The output is ON while SDN input is ON.
85H +OT_ON The output is ON while +OT input is ON.
86H -OT_ON The output is ON while -OT input is ON.
87H E_STR_ON The output is ON while E_STR input is ON.

*Selections include internal status output.

5-19
5.Parameter [Parameter setting value【GroupA】]
Page Contents
Analog monitor output polarity [MONPOL]
The output polarity of analog monitor output MON1 and
Setting range Standard value MON2 is selected from the contents below.
00 to 08 00:_MON1+_MON2+

Selection Contents
MON1: Output the positive voltage at forward rotation (positive direction). Output
the positive/negative voltage.
00:_MON1+_MON2+
MON2: Output the positive voltage at forward rotation (positive direction). Output
the positive/negative voltage.
MON1: Output the negative voltage at forward rotation (positive direction). Output
the positive/negative voltage.
01:_MON1-_MON2+
MON2: Output the positive voltage at forward rotation (positive direction). Output
the positive/negative voltage.
MON1: Output the positive voltage at forward rotation (positive direction). Output
the positive/negative voltage.
02:_MON1+_MON2-
MON2: Output the negative voltage at forward rotation (positive direction). Output
the positive/negative voltage.
MON1: Output the negative voltage at forward rotation (positive direction). Output
the positive/negative voltage.
03:_MON1-_MON2-
13 MON2: Output the negative voltage at forward rotation (positive direction). Output
the positive/negative voltage.
MON1: Output the positive voltage at both forward rotation (positive direction) and
reverse rotation (reverse direction).
04:_MON1ABS_MON2+
MON2: Output the positive voltage at forward rotation (positive direction). Output
the positive/negative voltage.
MON1: Output the positive voltage at both forward rotation (positive direction) and
reverse rotation (reverse direction).
05:_MON1ABS_MON2-
MON2: Output the negative voltage at forward rotation (positive direction). Output
the positive/negative voltage.
MON1: Output the positive voltage at forward rotation (positive direction). Output
the positive/negative voltage.
06:_MON1+_MON2ABS
MON2: Output the positive voltage at both forward rotation (positive direction) and
reverse rotation (reverse direction).
MON1: Output the negative voltage at forward rotation (positive direction). Output
the positive/negative voltage.
07:_MON1-_MON2ABS
MON2: Output the positive voltage at both forward rotation (positive direction) and
reverser rotation (reverse direction).
MON1: Output the positive voltage at both forward rotation (positive direction) and
reverse rotation (reverse direction).
08:_MON1ABS_MON2ABS
MON2: Output the positive voltage at both forward rotation (positive direction) and
reverse rotation (reverse direction).
Setup Software, Communication Axis Number [COMAXIS]
The axis number for communication with PC is selected
Setting range Standard value from the contents below.
01 to 0F 01:_#1 ✍ The selected value is enabled after turning ON the
control power again.

Selection Selection
20 01:_#1 09:_#9
02:_#2 0A:_#A
03:_#3 0B:_#B
04:_#4 0C:_#C
05:_#5 0D:_#D
06:_#6 0E:_#E
07:_#7 0F:_#F
08:_#8
Setup Software, Communication Baud Rate [COMBAUD]
The baud rate for communication with PC is selected from
Setting range Standard value the contents below.
00 to 05 05:_38400bps ✍ The selected value is enabled after turning ON the
control power again.

21 Selection
00:_1200bps
01:_2400bps
02:_4800bps
03:_9600bps
04:_19200bps
05:_38400bps

5-20
5.Parameter [Parameter setting value【GroupB】]

■ General parameter Group B[sequence/alarm related settings]

Page Contents
Dynamic Brake Action Selection [DBOPE]
Dynamic brake operation when shifted from servo ON  servo OFF,
Setting range Unit Standard value and during servo OFF is selected from the contents below.
00 to 05 ― 04:_SB__Free
✍ When the main circuit power is shut OFF, the dynamic brake will
operate irrespective of this setting.

10 Selection
00:_Free_Free When Servo-OFF, Free-Run is operated. After stops, Motor-Free is operated.
01:_Free_DB When Servo-OFF, Free-Run is operated. After stops, Dynamic-Braking is performed.
02:_DB__Free When S-OFF, Dynamic-Braking is performed. After stops, Motor-Free is operated.
03:_DB__DB When S-OFF, Dynamic-Braking is performed. After stops, Dynamic-Braking.
04:_SB__Free When Servo-OFF, Servo-Braking is performed. After stops, Motor-Free is operated.
05:_SB__DB When Servo-OFF, Servo-Braking is performed. After stops, Dynamic-Braking.

Emergency Stop Operation [ACTEMR]

From the following contents, select operation at the time of emergency
Setting Unit Standard value
range stop (EMR, main power OFF). Besides, in usage by a vertical axis,
00 to 01 ― 00:_SERVO-BRAKE please use it with standard setting (00:_SERVO-BRAKE). When
Emergency stop operation is needed (A main power supply shuts off),
select the way of motion in stop from the table below. Also, when the
12 brake is used in a vertical axis, set (00: _SERVO-BRAKE) standard
value only.

Selection Contents
When EMR is input, motor is stopped by servo brake operations.
00:_SERVO-BRAKE
Servo brake motion stops a motor when a main power supply shut off.
When EMR is input, motor is stopped by dynamic brake operations.
01:_DINAMIC-BRAKE
Dynamic brake motion stops a motor when a main power supply shut off.
Delay Time of Engaging Holding Brake (holding brake holding delay time) [BONDLY]
Holding brake operation delay time when shifted from servo ON to
13 Setting range Unit Standard value servo OFF is set. When shifted from servo ON to servo OFF, motor
0 to 1000 ms 300 excitation is kept during this time. (Velocity command is Zero.)

Delay Time of Releasing Holding Brake (holding brake release delay time) [BOFFDLY]
Holding brake operation release delay time when shifted from servo
14 Setting range Unit Standard value
OFF to servo ON is set. When shifted from servo OFF to servo ON,
0 to 1000 ms 300
motor is excited during this time. (Velocity Command is Zero.)
Brake Operation Beginning Time [BONBGN]
Parameter for setting motor free operation time, dynamic brake
Setting range Unit Standard value
operation time and servo brake operation time.
0 to 65535 ms 0
When shifted from servo ON to Servo OFF, holding brake and dynamic
brake start to operate after this set time.
15
When motor does not stop even after servo OFF at gravity axis or else,
motor is stopped by holding brake and dynamic brake. In the system
where motor speed becomes lower than Speed Zero Range (ZV) within
the set time, this setting does not function.
If set to 0msec, brake operation start time is disabled. (= infinite).
Power Failure Detection Delay Time [PFDDLY]
The delay time from control power OFF to control power error detection
Setting range Unit Standard value is set. The larger value makes the detection of instantaneous stop
20 to 1000 ms 32 slower.
(Larger set value will only result in slower detection of error. In case of
power failure of internal logic circuit, operation is the same as when
16 control power is turned ON again. In case of energy shortage of main
circuit power, other errors, such as main circuit power loss, may be
detected.)
In this setting, actual detection delay time varies by 12ms and +6ms.

✍ The selected value is enabled after control power is turned ON

again.

5-21
5.Parameter [Parameter setting value【GroupB】]

Page Contents
Following Error Warning Level [OFWLV]
Parameter to output warning before excessive position
20 Setting range Unit Standard value
deviation alarm (following error) is output.
1 to 65535 ×1024 Pulse 65535

Overload Warning Level [OLWLV]

Parameter for outputting warnings before overload alarm is
Setting range Unit Standard value
output. The possible level to be set is ranged from 20% to
20 to 100 % 90
99%, assuming that the overload alarm level is 100%.
When set to 100%, overload warning and overload alarm
are output at one time.
22
Overload detection is assumed and set as 75% of a rated
load when control power is turned ON (hot start).
Therefore, if this is set to below 75%, overload warning
may be output when control power is turned ON.
✍ The set value is enabled after control power is
turned ON again.

Speed Feedback Error (ALM_C3) Detection [VFBALM]

Select either one from enabled or disabled of velocity
Setting range Unit Standard value
feedback error alarm detection.
00 to 01 ― 01:_Enabled
23
Selection Contents
00:_Disabled Disabled
01:_Enabled Enabled

Speed Control Error (ALM_C2) Detection [VCALM]

Select either one from enabled or disabled of velocity
Setting range Unit Standard value
control error alarm detection.
00 to 01 ― 00:_Disabled
24 In such an operation pattern as causing a motor overshoot
Selection Contents to the command, velocity control error may be detected by
00:_Disabled Disabled mistake. For this, set this parameter to “disabled”.
01:_Enabled Enabled

POFF detection delay time [POFDLY]

Set the time elapsing before detecting power off (POFF)
from the time main circuit power supply is turned off.
Provided that there are two methods to set the power off
detecting delay time. The setting value selected by function
switch is valid.
When selecting the setting linked with the value of “power
failure detecting delay time” in the existing setting, this
Setting range Unit Standard setting value parameter is disabled.
20 to 1000 ms 32
This parameter is useful when you want to set control
power failure detecting delay time for suppressing braking
25 distance by quickly operating dynamic brake when main
circuit power supply is shutdown due to safeguard circuit,
or to separately set power off detection delay time.

✍ This setting value become enabled after re-turning

on the control power supply.

To enable this parameter, the following setting is required.

Function switch 2 (Genetral parameter GroupD-page 41）
Bit12: Select the timer to detect POFF when main circuit power supply is turned off.
= 0: Link together the setting of power failure detection delay time (GroupB-page 16).
(compatible with the existing settings）
= 1: Apply the setting of POFF detection delay time (this parameter).

5-22
5.Parameter [Parameter setting value【GroupC】]
■ General parameter Group C [ Encoder related settings]
Page Contents
Position detection system choice [ABS/INCSYS]
Position detection system is selected from the contents
Setting range Unit Standard value below.
00 to 01 ― 00:_Absolute
00 Selecting “incremental system” enables the use similar to
Selection Contents incremental encoder without installing backup battery in
00:_Absolute Absolute System absolute encoder.
01:_Incremental Incremental System ✍ Please set it to "00:_Absolute" when you use absolute
encoder for incremental system.
Motor Incremental Encoder, Digital Filter [ENFIL]
Settings for motor incremental encoder digital filter are
Setting range Unit Standard value selected from the contents below.
00 to 07 ― 01_220nsec

Selection Contents
01 00:_110nsec Minimum Pulse Width = 110nsec (Minimum Pulse Phase Difference = 37.5nsec)
01:_220nsec Minimum Pulse Width = 220nsec
02:_440nsec Minimum Pulse Width = 440nsec
03:_880nsec Minimum Pulse Width = 880nsec
04:_75nsec Minimum Pulse Width = 75nsec (Minimum Pulse Phase Difference = 37.5nsec)
05:_150nsec Minimum Pulse Width = 150nsec
06:_300nsec Minimum Pulse Width = 300nsec
07:_600nsec Minimum Pulse Width = 600nsec
External Encoder, Digital Filter [EX-ENFIL]
Settings for external encoder digital filter are selected from
Setting range Unit Standard value the contents below.
00 to 07 ― 01_220nsec

Selection Contents
00:_110nsec Minimum pulse width = 110nsec
(Minimum phase difference = 37.5nsec)
02 01:_220nsec Minimum pulse width = 220nsec
02:_440nsec Minimum pulse width = 440nsec
03:_880nsec Minimum pulse width = 880nsec
04:_75nsec Minimum pulse width = 75nsec
(Minimum phase difference = 37.5nsec)
05:_150nsec Minimum pulse width = 150nsec
06:_300nsec Minimum pulse width = 300nsec
07:_600nsec Minimum pulse width = 600nsec
External Encoder Polarity Invert [EX-ENPOL]
External encoder signal polarity is selected from the
Setting range Unit Standard value contents below.
00 to 07 ― 00:_Type1
✍ The set value is enabled after control power is turned
ON again.
When full close controlled and the motor encoder is
absolute encoder, this setting is invalid. (Set at
Type1.)

03 Selection Contents
00:_Type1 EX-Z (S3)/ Not Reversed EX-B (S2)/ Not Reversed EX-A (S1)/ Not Reversed
01:_Type2 EX-Z (S3)/ Not Reversed EX-B (S2)/ Not Reversed EX-A (S1)/ Reversed
02:_Type3 EX-Z (S3)/ Not Reversed EX-B (S2)/ Reversed EX-A (S1)/ Not Reversed
03:_Type4 EX-Z (S3)/ Not Reversed EX-B (S2)/ Reversed EX-A (S1)/ Reversed
04:_Type5 EX-Z (S3)/ Reversed EX-B (S2)/ Not Reversed EX-A (S1)/ Not Reversed
05:_Type6 EX-Z (S3)/ Reversed EX-B (S2)/ Not Reversed EX-A (S1)/ Reversed
06:_Type7 EX-Z (S3)/ Reversed EX-B (S2)/ Reversed EX-A (S1)/ Not Reversed
07:_Type8 EX-Z (S3)/ Reversed EX-B (S2)/ Reversed EX-A (S1)/ Reversed

5-23
5.Parameter [Parameter setting value【GroupC】/【GroupD】]
Page Contents
Abusolute Encoder Clear Function Selection [ECLRFUNC]
Used for clearing some absolute encoder warnings which
Setting range Unit Standard value are not automatically restored.
00 to 01 ― 00:_Status_MultiTurn ✍ Valid when battery backup method absolute encoder
and absolute encoder without battery is used.

08
✍ Please set it to "01:_Status" when you use absolute
encoder for incremental system.

Selection Contents
00:_Status_MultiTurn Clear Encoder Status (Alarm and Warning) and Multi Turn Data
01:_Status Clear Only Encoder Status

■ General parameter Group D

Please refer to Chapter 4 positioning function for GroupD.

5-24
5.Parameter [Parameter setting value【system parameter】]
■ System parameters
Page Description
Selects the input mode for power supplied to the main
Main Power, Input Type circuit power supply. Setting range varies depending on
the hardware type.

00 Setting value Description

00:_AC_3-phase 3-phase AC power is supplied to the main circuit.
01:_AC_Single-phase Single-phase AC power is supplied to the main circuit.

Motor encoder type in use is selected.

Motor Encoder Type
Setting range varies depending on the hardware type.

01 Setting value Description

00:_Inclemental_ENC Incremental Encoder
01:_Absolute_ENC Absolute Encoder

Incremental encoder type is selected when an incremental

Incremental Encoder, Function Setting encoder is used for the motor encoder.
Setting range varies depending on the hardware type.
02
Setting value Description
00:_Stanndard Wiring-Save Incremental Encoder [Standard (4-Pairs)]
01:_7Pairs_INC-E Incremental Encoder with CS Signal. [7-Pairs]

Pulse number per motor shaft rotation is set when an

Incremental Encoder, Resolution Setting
incremental encoder is used for the motor encoder.
03
Setting range Unit Standard value
500 to 65535 P/R ―

Absolute encoder type is selected when an absolute

encoder is used for the motor encoder.
Absolute Encoder, Function Setting Setting range varies depending on the hardware type.
Can only be selected when 01:_Absolute_ENC is selected
at Page01 (motor encoder type).

Setting Description
04 04:_PA035C-2.5MH_Manu PA035, Asynchronous, 2.5Mbps, Half Duplex (Manual Setting)
05:_PA035C-4MH_Manu PA035, Asynchronous, 4Mbps, Half Duplex (Manual Setting)
06:_RA062C-2.5MH_Manu RA062, Asynchronous, 2.5Mbps, Half Duplex (Manual Setting)
07:_RA062C-4MH_Manu RA062, Asynchronous, 4Mbps, Half Duplex (Manual Setting)
80:_RA062M-1MF RA062, Manchester, 1Mbps, Full Duplex
81:_RA062M-2MF RA062, Manchester, 2Mbps, Full Duplex
84:_ABS-E ABS-E, 1Mbps (Absolute Encoder with Incremental Signal)

Divisions per motor shaft rotation are set when absolute

encoder is used for the motor encoder.
Absolute Encoder, Resolution Setting
Can only be selected when 01:_Absolute_ENC is selected
at Page01 (motor encoder type).

Setting Description
00:_2048_FMT 2048 divisions
01:_4096_FMT 4096 divisions
02:_8192_FMT 8192 divisions
05 03:_16384_FMT 16384 divisions
04:_32768_FMT 32768 divisions
05:_65536_FMT 65536 divisions
06:_131072_FMT 131072 divisions
07:_262144_FMT 262144 divisions
08:_524288_FMT 524288 divisions
09:_1048576_FMT 1048576 divisions
0A:_2097152_FMT 2097152 divisions

5-25
5.Parameter [Parameter setting value【system parameter】]
Page Description
In “set up software”, model numbers of combined motor
and their codes are shown.
When combined motor is to be changed, change the motor
06 Combined motor model number Note 1) parameter setting of “The set up software”.

✍ Page contents are different for digital operator.

Refer to Note 1).
Control Mode
08
02:_Position; fixation at position control type.
Position loop encoder is selected used for position loop
Position Loop Control and Position Loop Encoder Selection control method and position loop control.
Setting range varies depending on the hardware type.

09 Setting Description
00:_Motor_encoder Semi-Closed Control / Motor Encoder

Selects the type of regenerative resistance to be

Regenerative Resistor Selection
connected.

Setting Description
0B 00:_Not_connect Regenerative Resistor is not Connected
01:_Built-in_R Use Built-In Regenerative Resistor
02:_External_R Use External Regenerative Resistor

The set value is enabled after control power is turned ON again.

Note) In case of digital operator

Page Description
06 Servo amplifier information This is for maker maintenance.
In the digital operator, motor codes of the selected servo motor are displayed.
To change the combined motor, change the motor parameter setting at “The
07 Combined motor code set up software”.

✍ Combined motor cannot be changed by the digital operator.

5-26
No Text on This Page.
6
[Operations]
‹ Procedure prior to operation ······································· 6-1

‹ Confirmation of installation and wiring ························ 6-3

‹ Confirmation and change of servo amplifier specifications·· 6-4

‹ Confirmation & Change of servo motor encoder specification ······· 6-5

‹ Confirmation & Change of servo motor model number ······· 6-6

‹ Confirmation of I/O signal and Unit operations··········· 6-7

‹ Operation sequence···················································· 6-8

‹ Error sequence·························································· 6-11

‹ Explanation of state display mode ···························· 6-12

6.Operations [Procedure prior to operation]

■ After wiring, test run will begin. Please do not connect the shaft of the servo motor with the
machine.
● Confirm installation and wiring of the servo amplifier and servo motor.
[Confirmation of installation and wiring]

Procedure Item Contents

Referring to [Chapter 2. Installation], install the servo amplifier and the servo motor.
1 Installation
Do not connect the shaft of the servo motor into the machine to keep the status of no load.
Referring to [Chapter 3. Wiring], perform wirings for the power supply, the servo motor, and the
Wiring and
2 upper device.
connection
However, please do not connect CN1 with the servo amplifier after wiring has been done.
Power supply Turn on the power supply.
3
turning on R-SETUP can be connected; regardless of an alarm that caused by setting conditions.

● Confirm the specifications and the combination of the servo amplifier servo motor encoders.
[Confirmation and Change of specification]

Procedure Item Contents

Use the AC servo system supporting tool R-Setup to confirm and set the specifications of the
servo amplifier.
・Amplifier Capacity
・Control power supply input voltage
Confirmation of servo
4 ・Control power supply input type
amplifier specification
・Main circuit power supply input voltage
・Main Power, Input Type
・Control mode
・Regenerative Resistor Selection
Use the AC servo system supporting tool R-Setup to confirm and set the specifications of the
servo motor encoder.
Confirmation of servo ・Motor Encoder Type
5 motor encoder ・Incremental encoder function selection
specification ・Incremental Encoder, Resolution Setting
・Absolute encoder function selection
・Absolute Encoder, Resolution Setting
Confirmation of At the time of shipment, the smallest servo motor is combined with the servo amplifier of each
6
combined servo motor capacity. Confirm the servo motor model number and change the parameter for the one in use.
Turn off the power once and turn it on again. Parameter will have been changed by turning off
Power supply
7 the power supply. Without turning off the power, even if a parameter is changed here, the
re-turning on
parameter change will not complete.
Please check again the specification changes of servo amplifier and servo encoder, and
8 Reconfirmation combination with servo motor. Many of the troubles at test run, such as servo motor not
operating, are caused by mistakes in parameter setting.

6-1
6.Operations [Procedure prior to operation]

● The movement of the servo amplifier servo motor is confirmed by driving JOG.
[I/O signal confirmation]

Procedure Item Contents

Confirm the I/O signal status using the monitoring function inside the servo amplifier. Please
Confirmation of input
9 confirm that there are protecting functions such as emergency stop, over travel, and alarm
signal
reset.
The servo on signal is Please confirm the digital operator on the servo amplifier front is displaying a shape of “8".
10
input.
Do not connect the shaft of the servo motor into the machine to keep the status of no load, and
11 JOG driving
perform JOG operation. Confirm that the servo motor rotates forwards and backwards.
12 Power supply shut off After the servo on signal is turned off, turn the power supply off.

● Connect the servo motor shaft with the machine and confirm the operation.
[Confirmation of machine’s operation function]

Procedure Item Contents

13 Parameter set The parameter of [Group D] calculated in Chapter 4 is set in R-SETUP.
Please use ± manual operation (JOG) and ±1 step sending, and confirm the move direction
14 Test operation and a travel. Confirm that external abnormalities, ± software limit, and the ± over travel operate
normally.

● Input the command of the operation pattern to be used and operate a machine. [Operation]

Procedure Item Contents

At the time of shipment, real time auto-tuning (automatic adjustment for servo gain and filter)
15 Operation has been set. There is no need for manual tuning unless operations and characteristics are
appropriate.

More detailed procedure is described in the following pages.

6-2
6.Operations [Confirmation of installation and wiring]
■ [Procedure 1 to Procedure 3] Confirmation of installation and wiring

Proce
Item Contents
dure
Installation
Do not connect the Servo motor
Install the servo amplifier and servo motor servo motor shaft flange is fixed.
referring to [Chapter 2, Installation]. to the machine.
1
Do not connect the servo motor shaft to the
machine to keep the status of no load.

Wiring･Connecting
Down load the setup software-R-Setup.
Wire the power supply, servo motor and
upper device referring to [Chapter 3,
Wiring]. Connected to CNA･
terminal board
Connected with
Confirm the correct wiring. PC using
dedicated cable
If the servo motor does not rotate or is in a
state of runaway / overload in test run,
2 Do not
wrong wiring may be the cause of it. connect CN1
CNB regeneration
Do not connect CN1 to servo amplifier after resistance
(External)
wiring.

CNC･terminal board CN2

Connected to servo Conned to servo motor
motor power line encoder signal line NA

Turning on the power supply

Turn on the power supply.
3
R-SETUP can be connected; regardless of
an alarm that caused by setting conditions.

6-3
6.Operations [Confirmation and change of servo amplifier specifications]

■ [Procedure 4 to Procedure 8] Confirming specifications and combination of servo amplifier ・

servo motor ･encoder
Proce Item and Contents
dure
Confirming servo amplifier specifications System parameter settings
Use the AC servo system supporting tool R-Setup to confirm and set the specifications of the servo amplifier.
For how to use [the setup software R-Setup], refer to [R-SETUP Instruction Manual].
Item
Amplifier Capacity
Capacity of the servo amplifier.
Motor Motion
Structure of the motor that can be
combined.
Control power input voltage
Setting cannot be changed.
Voltage to be supplied to the control
power.
Make sure that the contents being displayed are suitable for the machine
Input type of control power
specifications.
supply
Input type of the control power supply.

Main Power, Input Voltage

Power voltage to be supplied to main
4
circuit.
Main Power, Input Type
Selects the input type supplied to main Set value Contents
circuit power. Change the set value to Provide 3-phase AC Power Supply to the Main
01:_AC_Single-phase for single phase 00:_AC_3-phase
Power Supply
use.
Provide Single-Phase AC Power Supply to the
01:_AC_Single-phase
Main Power Supply

Control Mode
Control mode is 02 fixation. Setting Contents
02:_Position Position Control Mode

Regenerative Resistor Selection

Setting Contents
Selects the regeneration resistance to
00:_Not_connect Regenerative Resistor is not Connected
be connected.
01:_Built-in_R Use Built-In Regenerative Resistor
02:_External_R Use External Regenerative Resistor

6-4
6.Operations [Confirmation & Change of servo motor encoder specification]

Proce Item and Contents

dure
Confirming servo motor encoder specifications System parameter setting
Use the AC servo system supporting tool R-Setup to confirm and set the specifications of the encoder.
For how to use [the setup software R-Setup], refer to [R-SETUP Instruction Manual].
Item
Motor Encoder Type
Selects the servo motor encoder type. Setting value Contents
00:_Inclemental_ENC Incremental Encoder
01:_Absolute_ENC Absolute Encoder

Incremental Encoder, Function Setting This is set when motor encoder type is “incremental encoder”.
Selects detailed function of incremental Setting value Contents
encoder.
Wiring-Save Incremental Encoder
00:_Stanndard
[Standard (4-Pairs)]
01:_ 7pairs_INC-E Incremental Encoder with CS Signal. [7-Pairs]
Incremental Encoder, Resolution Setting Sets the pulse number of motor shaft one rotation.
Sets the incremental encoder 500P/R to 65535P/R Setting unit＝Pulse/Rev.
resolution.

Absolute Encoder, Function Setting This is set when the motor encoder type is “absolute encoder”.
Selects detailed function of absolute setting Contents
encoder. PA035, Asynchronous, 2.5Mbps, Half Duplex
04:PA035C-2.5MH_Manu
(Manual Setting)
PA035, Asynchronous, 4Mbps, Half Duplex
05:PA035C-4MH_Manu
(Manual Setting)
RA062, Asynchronous, 2.5Mbps, Half Duplex
5 06:RA062C-2.5MH_Manu
(Manual Setting)
RA062, Asynchronous, 4Mbps, Half Duplex
07:RA062C-4MH_Manu
(Manual Setting)
80:RA062M-1MF RA062, Manchester, 1Mbps, Full Duplex
81:RA062M-2MF RA062, Manchester, 2Mbps, Full Duplex
ABS-E, 1Mbps (Absolute Encoder with
84:ABS-E
Incremental Signal)

Absolute Encoder, Resolution Setting This is set when the motor encoder type is “absolute encoder”.
Sets the absolute encoder resolution. Setting Contents Setting Contents
Sets the pulse number of motor shaft 00:_2048 2048 06:_131072 131072
one rotation. division division division division
01:_4096 4096 07:_262144 262144
division division division division
02:_8192 8192 08:_524288 524288
division division division division
03:_16384 16384 09:_1048576 1048576
division division division division
04:_32768 32768 0A:_2097152 2097152
division division division division
05:_65536 65536
division division

Sets mandatory parameters for Set mandatory parameters for positioning

positioning Refer to Chapter 4 “Positioning Function”, and follow the instruction of
[Setting mandatory parameters (Read through before performing any of the
procedures in Positioning Function)] that describes setting of mandatory
parameters at page 53.

6-5
6.Operations [Confirmation & Change of servo motor model number]

Proce Item and Contents

dure
Confirming the combined servo motor System parameter setting
Use the AC servo system supporting tool R-Setup to confirm and set the model type of combined servo motor.
For how to use [the setup software R-Setup], refer to [R-SETUP Instruction Manual].
Item
6 Model number of combined
motor Ex: Q2AA07030D(0000-0064)
Shows the combined motor model ↑
number. Model number of combined motor is displayed.

Combined motor can be changed at Motor parameter setting.

Proce Item and Contents

dure
Turning ON the power again Power shut off Æ turn ON again
7 Turn OFF the power of servo amplifier and turn it ON again. Turning OFF the power makes the parameter re-written.
Without turning OFF the power, the parameter cannot be changed. Make sure to turn OFFÆturn ON again.

Proce Item and Contents

dure
Reconfirming the specifications Reconfirmation
8 Reconfirm the specifications and combination of the changed servo amplifier, servo motor encoder and servo motor.
Many of the troubles at test run, such as servo motor not operating, etc., are caused by mistakes in parameter setting.

6-6
6.Operations [Confirmation of I/O signal and Unit operations]

■ [Procedure 9 to 12 ] Connection of upper device, CN1and JOG operation.

Procedure Item Contents

Check the status of input signal by the monitor function of R-SETUP. Please check the function
9 Input signal check of external defect, alarm reset, ±manual operation (JOG), manual high velocity (RAP) and
Servo-On signal specifically.

Procedure Item Contents

Input Servo-On signal and apply excitation to the servo motor. Please confirm that the digital
Input Servo-On
10 operation display on the front face of the servo-amplifier shows “8”.
signal

Procedure Item Contents

Input ±manual operation (JOG) and operate JOG with no-load.
11 JOG Operation J Please confirm the servo motor rotates in CW/ CCW.

Procedure Item Contents

Power-Off Please turn off the power supply after turning off servo signal.
12

■ [Procedure 13, 14] Confirm the operation connecting servo motor shaft with the machine
Procedure Item Contents
13 Parameter setting Set the parameter of [GroupD] being calculated in chapter 4 by R-SETUP.

Connect the servo motor

shaft with the machine

14 Trial run

Please confirm the travel direction and travel distance by ±manual operation (JOG) and ±１step
travel. Also please check external defect and ±software limitation and ±over travel are operated
on normal.

■ [Procedure 15 ] Input the orders of operation pattern to use and operate the machine.
Procedure Item Contents
Set the point data and operate in/output signal to move the point. Real-time auto-tuning
15 Operation (auto-tuning of servo-gain and filter) is set on Ex-factory. Manual tuning is unnecessary unless
there is any problem on the operation and the property.

6-7
6.Operations [Operation sequence]
■ Operation sequence from power turn ON to power shut OFF at the standard shipment setting
The frequency of the power ON/OFF of the servo amplifier should be less than 5 times/hour and less than
30 times/ day. Please give 10 minutes or more to the interval of power ON/OFF.

● [Power ON Æ Servo ON]

Notes: What has an abbreviated name in ( ) in the following figures exists as external I/O and an input. The thing
without the notation is an internal signal.
Control source (r,t) “Control source ON”
Max.2sec
Power ON
(A-RDY)
permission signal
Min. 0msec
Main power (R.S.T)
supply “Main power supply ON”
“Rush current prevention time”
Power ON
signal

NC ready signal (NC_RDY)

Servo ON signal “Servo ON”

(SVON)

Dynamic brake signal “Dynamic brake OFF”

DB relay waiting time = 100msec

Motor speed
Zero speed
range signal
Holding brake (HBON)
excitation signal “Holding brake release”

Command
acceptance
permission signal “Command acceptance
permission”

Motor
excitation signal “Motor excitation”

BOFFDLY = 300msec

● [Servo OFF Æ Power OFF]

Control source (r,t) “Control source OFF”

min.= 0msec
Main power “Main power
supply supply OFF”
(R.S.T)

Power ON “Power ON, output OFF”

signal (A-RDY)

NC ready signal “S-RDY” “S-RDY2”

(NC_RDY)

“Servo OFF”
Servo ON signal (SVON)

Dynamic brake signal “Dynamic brake ON”

Motor speed ZV setting value “Motor stop”

Zero speed
“Zero speed”
range signal

Holding brake (HBON)

excitation signal “Holding brake hold”

Command “Command acceptance

prohibition”
acceptance
permission signal
“Motor free”
Motor
excitation signal
BONDLY = 300msec

6-8
6.Operations [Operation sequence]
■ Alarm sequence
When an alarm occurs, the servo motor is stopped by dynamic brake or servo brake. Which brake is used
depends on the alarm. Refer to [Chapter 8, Maintenance] [Alarm list].

● Stop by dynamic brake at alarm

Power ON permission signal (A-RDY) “Power ON permission OFF

Main power
“Main power supply OFF”
supply (R.S.T)

NC ready signal
(NC_RDY)
Servo ON
signal “Servo ON”

Dynamic brake signal “Dynamic brake ON”

Motor speed
ZV setting value
Zero speed
“Zero speed”
range signal

Alarm signal “alarm status”

Holding brake “Holding brake hold”

(HBON)
excitation signal

Command
“Command acceptance
acceptance prohibition”
permission signal
Motor “Motor free”
excitation signal

● Stop by servo brake at alarm

Power ON permission signal (A-RDY) “Power ON permission OFF

Main power
supply “Main power supply OFF”
(R.S.T)

NC ready signal
(NC_RDY)

Servo ON
signal “Servo ON”
(SVON)

Dynamic brake signal

“Dynamic brake ON”

Motor speed

ZV setting value

Zero speed
range signal “Zero speed”

Alarm signal “alarm status”

Holding brake “Holding brake hold”

excitation signal (HBON)

Command
acceptance “Command acceptance
permission signal prohibition”

Motor BONDLY “Motor free”

excitation signal

Install a protective circuit referring to [Chapter 3, Wiring] [Wiring example of high voltage circuit,
protective circuit]. The above sequence is the one when protective circuit is installed.

6-9
6.Operations [Operation sequence]
■ Sequence at alarm reset
Inputting alarm-reset signal from general-purpose input can reset alarms.

Power ON permission signal (A-RDY)

Main power
supply (R.S.T) “Main power supply ON”

“In-rush current preventing

Power ON
signal

NC ready signal
(NC_RDY) “DB relay wait time＝100msec”
Servo ON
signal (SVON) “Servo ON”

Alarm signal (ALM) “alarm status” “alarm released 除”

Alarm reset signal (ARST)

20msec or more
“alarm reset”

✍ Some alarms cannot be reset unless the power is reset (control power is turned OFF and ON again)
or encoder is cleared. Refer to [Chapter 8, Maintenance] [Alarm list].

■ Sequence when power is turned OFF during operation (During servo ON)

Control source
“Control source OFF”

Main power
“Main power
supply (R.S.T) supply OFF”

Power ON
“Power ON, output OFF”
signal (A-RDY)

NC ready signal (NC_RDY)

Servo ON
signal (SVON) “Servo ON”

Dynamic brake signal

“Dynamic brake ON”

Motor speed

ZV setting value “Motor stop”

Zero speed
range signal “Zero speed”

Holding brake (HBON) “Holding brake hold”

excitation signal

Command
acceptance “Command acceptance
permission signal prohibition”

Motor
excitation signal “Motor free”

BONDLY = 300msec

6-10
6.Operations [Error sequence]
■ Error, Sequence

Main power source (R,S,T)

Power-on signal

Error output (ERR)

NC ready signal (NC_RDY)

Servo-on signal (SVON)

“Alarm reset”
Alarm reset signal (ARST) 20msec or more

Motor excitation Traveling order is not

received during an
error.
Motor speed

✍ Although motor excitation state is maintained in an error condition, traveling order is not received
until error is reset.
However, software limit is an exception. (Æ Refer to the following.)

✍ An error code output (OUT 8 to 1) outputs from a general-purpose output simultaneously with an
error output (Err). (See Chapter 4, when based on an output selection setup)
Æ Please cope with it by troubleshooting at the time of Chapter 8 error generating.

■ Software limit, Sequence

Normal

Forward direction
t
Backward direction

(+ Inside of SOT zone)

t

Escape

(+ Inside of SOT zone)

0
Slowdown starting point
(Forward move)

✍
(Backward move: Escape)
The command for forward move in +SOT zone (and backward move in -SOT zone) are not
acceptable. In addition, movement in the escape direction is based on manual movement (JOG).

6-11
6.Operations [Explanation of state display mode]

■ Explanation in status display mode

● In status display mode, the state of servo amplifier is displayed, as shown in the following table.

State of servo amplifier Display

Control-power-source establishment state
Control power source (r, t) is established and an amplifier lady
(RDY) is "ON" state.
State during main power supply establishment
Main power supply (R, S, and T) is established, and operation
preparation-completion signal is "OFF" state.
State during main power supply establishment
Main power supply (R, S, and T) is established, and operation
preparation-completion signal is "ON" state.
Servo-on state
"The character of eight" is drawn and it rotates.

Overload warning state

Alarm may be generated if it continues operating.

Regeneration overload warning state

Alarm may be generated if it continues operating.

Battery warning state

Please exchange batteries.
Alarm display
Please perform a corrective action according to the contents of
"Chapter 8 Maintenance" at the time of alarm generating.

✍ ● Warning function has "over deviation warning" and "inside temperature warning of amplifier" in addition
to the above. This warning can be confirmed in monitor mode.
● Since overload detection processing is made into the hot start (it assumes as 75% of rated load at the
time of control-power-source input), when overload warning level setting [general parameter GroupB
page 22] is set up to 75% or less, overload warning may be detected at the time of control-power-source
input.

6-12
No Text on This Page.
7
[Adjustment･Functions]
‹ Servo gain tuning ··································································· 7-1

‹ [Functions of Group 8][ Deviation clearance]························· 7-7

‹ [Functions of Group 8][ Sequence operation torque restrictions]············· 7-8

‹ [Functions of Group 8][Near range] ······································· 7-9

‹ [Functions of Group 8][Velocity setting] ······························· 7-10

‹ [Functions of Group 9][Gain switch over]····························· 7-12

‹ [Functions of Group B][Holding brake holding delay time]············ 7-14

‹ [Functions of Group B][Following Error Warning･Deviation

counter overflow･Overload warning] ··································· 7-16

‹ [Functions of Group C][Digital filter･External encoder polarity] ············· 7-17

‹ [Functions of Group C][Encoder division･Encoder clear]···· 7-18

‹ [Monitor][Analog monitor]····················································· 7-19

‹ [Monitor][Digital monitor][Displayed monitor list]················ 7-20

‹ Description of operation tracing function······························ 7-22

7.Adjustment･Functions [Servo gain tuning]

■ Structure of tuning <General parameter Group 0>

At “parameter Group 0,” tuning structure of the R series servo amplifier is as follows.

<General parameter Group 0>

Page Name
00 Tuning Mode
Automatic Tuning
01 Characteristic 00:_AutoTun Automatic Tuning
02 Automatic Tuning Response Automatic Tuning
01:_AutoTun_JRAT-Fix
(JRAT Fixed)
Automatic Tuning, Automatic
03 Parameter Saving
02:_ManualTun Manual Tuning

00:_Positioning1 Positioning Control 1

01:_Positioning2 Positioning Control 2
02:_Positioning3 Positioning Control 3
03:_Trajectory1 Trajectory Control 1
04:_Trajectory2 Trajectory Control 2 (KP Fixed)

1 to 30 Automatic Tuning Response

00:_Auto_Saving Saves Parameter Automatically in JRAT1.

01:_No_Saving Automatic Saving is Invalidity

● Tuning Mode [page 00]

00:_AutoTun auto- tuning
The servo amplifier estimates the load inertia moment ratio of the machine and equipment at real time and
automatically tunes the servo gain so that it will become the best one. The parameters for the servo amplifier
to automatically tune vary depending on the selected auto-tuning characteristics.
* The servo amplifier estimates the load inertia moment ratio at the time of acceleration/deceleration.
Therefore, for operations with only excessively low acceleration/deceleration time constant or with
only low torque with low velocity, this mode cannot be used. Also, operations with large disturbance
torque or with large mechanical clearance, this mode cannot be used, either.
01:_AutoTun_JRAT-Fix Usage at Auto-tuning [JRAT manual setting].

01:_AutoTun_JRAT-Fix Automatic Tuning (JRAT Fixed)

Based on the load inertia moment ratio (JRAT1) which was set, the servo amplifier automatically tunes and
makes the servo gain the best one. The parameters for the servo amplifier to automatically tune vary
depending on the selected auto-tuning characteristics.

02:_ManualTun Manual Tuning

This is used in order for adjusting the servo gain to the machine and equipment to ensure the maximum
response, and when characteristics in auto-tuning are insufficient.

● Automatic Tuning Characteristic [page 01]

Characteristics adjusted to machines and equipment are selected when Automatic Tuning and
Automatic Tuning (JRAT Fixed) are used.
When Manual Tuning is used, this does not function.

● Automatic Tuning Response [page 02]

Set this when Automatic Tuning and Automatic Tuning (JRAT Fixed) are used. The larger set value
makes the response higher. Set this suitable for the equipment rigidity.
When Manual Tuning is used, this does not function.

● Automatic Tuning, Automatic Parameter Saving ［load inertia moment ratio］ [page 03]
The “load inertia moment ratio” obtained from auto-tuning is automatically saved in parameter JRAT1 at every
2 hours. The set value is enabled when Automatic Tuning is used.
When Automatic Tuning (JRAT Fixed) and Manual Tuning are used, this does not function.

7-1
7.Adjustment･Functions [Servo gain tuning]
■ Tuning method selecting procedure

Start tuning
*The flow chart in the left shows selecting method of
tuning mode and tuning characteristics.
Perform the following tuning mode. Settings for auto-tuning response are not indicated
00:_AutoTun Auto-tuning here. Auto-tuning response shall be tuned at each
status.
Yes
Is the operation
unstable?

No Change the tuning mode to the following.

01:_AutoTun Auto-tuning
_JRAT-Fix [JRAT manual setting]

Set JRAT1.

No
Are there any problems with
the characteristics?

Yes
Yes
Do you match the
characteristics between
Do you use trajectory
Yes axes?
control?
No

No

Change the auto-tuning characteristic to

Change the auto-tuning characteristic to the following. the following.
Positioning control 2 Trajectory
01:_Positioning2 03:_Trajectory1
(For high-responsiveness) control

No
Are there any problems with
the characteristics? No
Are there any problems with
the characteristics?

Yes
Yes

No
Do you use the motor in the
horizontal axis?

Yes Change the auto-tuning characteristic to the

following.
Trajectory control
04:_Trajectory2
(Kp manual setting)

Change the auto-tuning characteristic to the following.

Positioning control 3
02:_Positioning 3 (For high responsiveness, limited
Set Kp1.
to horizontal axis)

No
Are there any problems with No
Are there any problems with
the characteristics?
the characteristics?

Yes Yes

Change the tuning mode to the following.

02:_ManualTun Manual tuning

Tuning completed Manually tune the servo gain.

7-2
7.Adjustment･Functions [Servo gain tuning]
■ Monitoring servo gain adjustment parameter
The following parameters can be monitored when auto-tuning is used.

● Digital operator ● R-SETUP

Monitor
Name
mode
Page 15 Load Inertia Ratio Monitor
Position Loop Proportional
Page 16
Gain Monitor
Velocity Loop Proprotional
Page 18
Gain Monitor
Velocity Loop Integral
Page 19
Time Constant Monitor
Torque Command Filter
Page 1A
Monitor

For how to operate these,

refer to “Chapter 4, Digital operator”. For how to operate these, refer to “R-SETUP Instruction Manual.”

■ Using auto-tuning result at manual tuning.

At manual tuning, auto-tuning result is saved as a batch or by selection using R-SETUP,
and can be used as controlling parameter.

For how to operate these, refer to “ R-SETUP Instruction Manual”.

Note) In the setting of TUNMODE=02:_ManualTun, parameter setting value is used in the

control loop. When auto-tuning result saving is executed, the gain parameter being used
will change (except during gain switch over). Therefore, the motor operation may
change suddenly. Execute auto-tuning result saving while servo OFF or motor stoppage.

7-3
7.Adjustment･Functions [Servo gain tuning]

■ Servo system structure

Servo system consists of 3 subsystems; the position loop, the velocity loop and the current loop. High
response is required for the internal loops. If this structure is compromised, it could result in instability,
low response, vibration or oscillation.

Position loop Velocity loop

Host device Current loop Servo motor
KP KVP TVI
JRAT
＋ ＋ ＋ ＋
－ ＋ － －
Current loop

Velocity loop
Position loop Encoder

The response of the current loop is ensured internally in the servo amplifier, there is no need for the user to
make additional adjustments.

■ Servo adjustment parameters

Position Command Filter [PCFIL]

When the position command resolution is low, set this parameter to suppress the ripples contained
in the position command. The larger value of this will make the ripple suppressing effect greater,
however, delay will be greater.
* When high tracking control position compensation gain is set to other than 0%, this
parameter is automatically set.

Position Loop Proportional Gain [KP]

Set this equivalent to KP[1/S]＝KVP[Hz]/4・2π.

Higher Tracking Control, Position Compensation Gain [TRCPGN]

When tracking effect needs to be improved under high resolution of position command, increase
this parameter after adjustment of high tracking control velocity compensation gain.

Feed Forward Gain [FFGN]

Tracking effect of position command can be improved by increasing this gain. Under positioning
control, set this to approximately 30 to 40%.
* When high tracking control position compensation gain is set to other than 0%, this
parameter is automatically set.

Feed Forward Filter [FFFIL]

When position command resolution is low, set this parameter to suppress ripples.

Velocity Command Filter [VCFIL]

Under velocity control, when there is a big noise component contained in velocity command, set
this parameter to suppress the noise.

Velocity Loop Proportional Gain [KVP]

Set this as high as possible within such a stable operation range as not to cause vibration or
oscillation of the machine. If JRAT is accurately set, the set value of KVP becomes the velocity
loop response zone.

7-4
7.Adjustment･Functions [Servo gain tuning]
Velocity Loop Integral Time Constant [TVI]
Set this equivalent to TVI[ms]＝1000/(KVP[Hz]).

Load Inertia Ratio [JRAT]

Set the value calculated as shown below.

Motor axis converted load inertia moment 【JL】

JRAT= ×100%
Motor inertia moment 【JM】

Higher Tracking Control, Velocity Compensation Gain [TRCVGN]

Tracking effect can be improved by increasing compensation gain.
Adjust this so as to shorten the positioning setting time.
* Set the value of JRAT properly to use this function.

Torque Command Filter 1 [TCFIL]

When rigidity of the mechanical device is high, set this value high and the velocity loop
proportional gain can be set to high. When rigidity of the mechanical device is low, set this value
low and resonance in high frequency zone and abnormal sound can be suppressed. For normal
usage, set this below 1200Hz.

■ Adjustment method of vibration suppressing control

Set vibration suppressing frequency to suppress the low frequency vibration at the tip or the
body of the machine. Vibration suppressing frequency is obtained by executing auto-tuning
of vibration suppressing frequency or by calculating vibration frequency of vibrating point at
positioning and its reciprocal. When vibration does not stop with the vibration suppressing
control, there is a possibility that the gain for control system may be too high. In this case,
lower the control system gain. Also, when used together with high tracking control velocity
compensation gain, vibration suppressing effect may be greater.
* Vibration suppressing control function can be used together with auto-tuning.

■ Adjustment method of notch filter

Set the torque command notch filter to suppress high frequency resonance resulted from
coupling and rigidity of the device mechanism. Notch filter center frequency can be obtained by
executing auto-notch filter tuning or by system analysis.
* Torque command notch filter function can be used together with auto-tuning.
* When resonance of the device mechanism does not stop even after this parameter is
set, here may be two or more resonance points. In this case, insert notch filters B, C
and D to suppress each of them. If not yet suppressed, there is a possibility that
auto-tuning response or control gain is too high. If so, lower the auto-tuning response or
control gain.

■ Adjustment method of disturbance observer

Set the disturbance observer to suppress the disturbance applied to the motor. At first, use the
low frequency observer characteristics. If not suppressed by that, use that for medium
frequency. Gradually increase the observer compensation gain. The higher the observer
compensation gain becomes, the more the disturbance suppressing characteristics will be
improved. However, if it is excessively high, oscillation may result. Use this within the range not
causing oscillation.
* Disturbance observer cannot be used with auto-tuning.

7-5
7.Adjustment･Functions [Servo gain tuning]
■ Adjustment method of gain switch over
When tracking effect is insufficient even if basic parameters of high tracking control position
compensation gain and high tracking control velocity compensation gain are set, set the gain
switch over so that tracking effect can be improved.

(Example)Gain is increased near positioning compete.

NEAR

Gain 2 Gain 1 Gain 2

The value of gain 2 shall be set to 1.2 times the value of gain 1.

* Gain switch over function cannot be used with auto-tuning.

■ Adjustment method of high setting control

When tracking effect is insufficient even after gain switch over, set the high setting control
parameter and in-position setting characteristics can be improved. When position command
resolution is low, set the value of command velocity calculation low pass filter low. Set the
acceleration compensation so that the position deviation near acceleration conclusion becomes
small. Set the deceleration compensation so that the position deviation near deceleration
conclusion (positioning complete) becomes small.

* This function cannot be used together with auto-tuning.

■ How to make R series control characteristics equal to Q series standard characteristics

Parameter change as follows can make the status equal to Q series standard characteristics.
Group Page Before change After change
0 00 Tuning Mode 00:_AutoTun 02:ManualTun
Higher Tracking Control,
1 16 0% 100%
Velocity Compensation Gain

7-6
7.Adjustment･Functions [Functions of Group 8][ Deviation clearance]
„ Functions of Group 8
[Group 8] 17
Positioning Method [EDGEPOS]
The location of positioning stop is selected; between encoder pulses or at edge.
Selected value Contents
00:_Pulse_Interval Specify Pulse Interval
01:_Pulse_Edge Specify Pulse Edge

Positioning between pulses

A phase

B phase

Positioning at edge

[Group 8] 18
Inposition/ Position Deviation Monitor [PDEVMON]
Positioning complete signal when the position control mode is used, and position command used for outputting position
deviation monitor can be selected from before or after the position command filter passes.
Selected value Contents
00:_After_Filter Compare "Position Command Value After Filter Passes by" with "Feedback Value"
01:_Before_Filter Compare "Position Command Value Before Filter Passes by" with "Feedback Value"

＋ Position deviation
－ monitor

Position
command Filter KP
PMUL GER1
pulse TPI
＋
－

Position loop
encoder

[Group 8] 19
Deviation Clear Selection [CLR]
This function is used for changing the location deviation counter in the servo amplifier from the host unit to zero.
Selection Description
・Deviation is always cleared when servo is off.

Servo ON signal Servo OFF Logic can be changed

Deviation clear
When SERVO-OFF/ Clear
0H Deviation : Deviation Clear
・Deviation is always cleared when deviation clear input is ON.
Input/ Level Detection
CLR signal CLR ON Logic cannot be changed

Deviation clear

・Deviation is always cleared when servo is off.

Servo ON signal Servo OFF Logic can be changed

Deviation clear
When SERVO-OFF/ Clear
1H Deviation : Deviation Clear ・Deviation is cleared in the edge when deviation clear input becomes
Input/ Edge Detection OFF/ON.
CLR signal Logic can be changed

CLR is ON in edge

7-7
7.Adjustment･Functions [Functions of Group 8][ Sequence operation torque restrictions]

[Group 8] 28
Velocity Limit [VCLM]
A host limit value can be locked in with the velocity limit command.
This value cannot be set to exceed the velocity capabilities of the adjoining motor.

-1
Parameter Group8Page28 VCLM：Velocity Limit 1 to 65535 min

Abnormal high velocity value

Input command→
Velocity limit setting value Velocity command

[Group 8] 37
Torque Limit at Sequence Operation [SQTCLM]
During the sequence operation the output torque is limited. Limiting the output torque protects the unit mechanism.

The torque limits during sequence operation support the following sequence operations:
・ Securing brake standby time
・ Servo brake operation

Sequence operation torque limit value setting

Parameter Group 8 Page37 SQTCLM：Torque Limit at Sequence Operation 10 to 500%

If this value is set higher than the maximum output torque (TP) of the servo motor, it will be limited by (TP).

7-8
7.Adjustment･Functions [Functions of Group 8] [Near range]

[Group 8] 40
In-Position Near Range [NEAR]
Outputs signal indicating proximity to position completion.
This is used together with positioning complete signal (INP) and near range of positioning complete is output.

Parameter Group8Page40 NEAR：In-Position Near Range 1 to 65535 pulse

Selection Description
1A NEAR_ON The output is ON during In-Position Near status (position deviation < NEAR).
1B NEAR_OFF The output is OFF during In-Position Near status (position deviation < NEAR).

Determine the logical status of the NEAR signal output, and to which output terminal to assign the positioning
completion signal output. The assignment of the output terminal is the same location as the positioning completion
signals (above).

If set to a value greater than the positioning completion range settings, the host unit receives the NEAR signal before
receiving the positioning completion signal (INP), and transition to the positioning completion operations is enabled.

Velocity command monitor→ ←Velocity monitor

Position deviation monitor→

Amount of deviation 500Pulse

Amount of deviation 100Pulse

Positioning completion range setting value: 100Pulse Positioning signal: (INP_ON)

Near range setting value: 500Pulse Near signal: (NEAR_ON)

7-9
7.Adjustment･Functions [Functions of Group 8] [Velocity setting]

[Gruoup 8] 43 to 45
Low Speed Range [LOWV] Speed Matching Width [VCMP] High Speed Range [VA]
This parameter affects settings for the speed output range. The signal can be output from general output (OUT1 to
OUT8) and used as a valid condition for all functions.
This parameter affects settings for the speed output range, and can be used as a valid condition for all functions.

Selection Description
10 LOWV_ON The output is ON during low speed status (speed is less than LOWV).
11 LOWV_OFF The output is OFF during low speed status (speed is less than LOWV).
12 VA_ON The output is ON during high speed status (speed is more than VA).
13 VA_OFF The output is OFF during high speed status (speed is more than VA).
14 VCMP_ON The output is ON during speed matching status (speed deviation < VCMP).
15 VCMP_OFF The output is OFF during speed matching status (speed deviation < VCMP).

Low speed range: Low speed signal is sent if speed goes below the set value.
-1
Parameter Group8 Page43 LOWV：Low speed range 0 to 65535min

V
Low speed setting value

Output【LOVW】 【Output LOVW】

Speed Matching Width: Speed coincidence range signal is given if speed deviation reaches the set range.
Parameter Group8 Page44 VCMP：Speed Matching Width 0 to 65535min-1

V Output [VCMP] between this set width

Speed command

Speed transport settings: Speed transport signal is given if speed exceeds the set value.
-1
Parameter Group1 Page08 VA：High Speed Range 0 to 65535min
V
Speed transport setting value

Output [VA]

7-10
7.Adjustment･Functions [Functions of Group 8] [Velocity setting]

Various functions can be made valid without output signals taken into the host unit when this is used together with
Group9 function enabling conditions (input signals).
Selection Description
12 LOWV_IN Enable the function during low speed status (speed is less than LOWV).
13 LOWV_OUT Enable the function while low speed status is not kept.
14 VA_IN Enable the function during high speed status (speed is more than VA).
15 VA_OUT Enable the function while high speed status is not kept.
16 VCMP_IN Enable the function during speed matching status (speed deviation < VCMP).
17 VCMP_OUT Enable the function while speed matching status is not kept.

Low speed status [LOWV_IN]: Function is enabled during low speed status (speed below LOWV set value).
Low speed status [LOWV_OUT]: Function is enabled outside of low speed status (speed below LOWV set value).
V
Low speed setting value

[LOWV_IN] valid [LOWV_OUT] valid [LOWV_IN] valid

Speed coincidence status [VCMP_IN]: Function is enabled during speed coincidence status
(speed deviation below VCMP set value).
Speed coincidence status [VCMP_OUT]: Function is enabled outside of speed coincidence status
(speed deviation below VCMP set value).

V [VCMP_IN] valid

Speed command

[VCMP_OUT] valid

Speed transport status [VA_IN]: Function is enabled during speed transport status (speed above VA set value).
Speed transport status [VA_OUT]: Function is enabled outside of speed transport status (speed above VA set value).
V
Speed transport setting value

[VA_OUT] valid [VA_IN] valid [VA_OUT] valid

7-11
7.Adjustment･Functions [Functions of Group 9] [Gain switch over]

„ Functions of Group 9

[Group9] 13,14
Gain Switching Function, Select Input 1 [GC1] Gain Switching Function, Select Input 2 [GC2]
4 types of gains can be switched and used.

Conditions enabling gain switch over are allocated. When the signal of GC1 and GC2 combination is valid, the
set value of corresponding GAIN becomes enabled.
Parameter Group9 Page13 GC1：Gain Switching Function, Select Input 1
Parameter Group9 Page14 GC2：Gain Switching Function, Select Input 2

GC1：Gain Switching Function, Select Input 1 Disabled Enabled Disabled Enabled

GC2：Gain Switching Function, Select Input 2 Disabled Disabled Enabled Enabled
↓ ↓ ↓ ↓
Gain to be enabled GAIN 1 GAIN 2 GAIN 3 GAIN4

[Group 9 ]15,16
Vibration Suppressor Frequency, Select Input 1 [SUPFSEL1]
Vibration Suppressor Frequency, Select Input 2 [SUPFSEL2]
4 types of vibration suppressing frequency can be switched and used.

Conditions for enabling vibration suppressing frequency selection input are allocated. When the signal of
SUPFSEL1 and SUPFSEL2 combination is valid, the set value of corresponding vibration frequency becomes
enabled.

Parameter Group9 Page15 SUPFSEL1：Vibration Suppressor Frequency, Select Input 1

Parameter Group9 Page16 SUPFSEL2：Vibration Suppressor Frequency, Select Input 2

SUPFSEL1：Vibration Suppressor
Disabled Enabled Disabled Enabled
Frequency, Select Input 1
SUPFSEL2：Vibration Suppressor
Disabled Disabled Enabled Enabled
Frequency, Select Input 2
↓ ↓ ↓ ↓
Vibration Vibration Vibration Vibration
Vibration suppressing frequency Suppressor Suppressor Suppressor Suppressor
to be enabled Frequency 1 Frequency 2 Frequency 3 Frequency 4
Group2 Page 00 Group 3 Page 40 Group 3 Page 41 Group 3 Page 42

7-12
7.Adjustment･Functions [Functions of Group 9] [Gain switch over]

[Group 9] 17
Position Loop Proportional Control, Switching Function [PLPCON]
Switching between position loop PI control ÅÆ P control is possible. Switching is possible when position loop
proportional control switchover function (PPCON）is enabled.

Conditions for enabling position loop proportional control switchover function are allocated. Switches to
proportional control when the signal of PPCON is valid.

Parameter Group9 Page17 PLPCON：Position Loop Proportional Control, Switching Function

PI control(proportional･integral control)････Position loop proportional gain (KP)･Integral time constant(TPI)

P control (Proportional control) ････Position loop proportional gain (KP)

* Position loop integral time constant (TPI) is 1000.0ms at standard setting, therefore, integral function is invalid.

[Group 9] 26
Velocity Loop Proportional Control, Switching Function [VLPCON]
Velocity loop PI control / P control can be used alternatively. Activate switching by enabling the velocity loop
comparison control switching function (PCON)

The conditions for enabling the velocity loop comparison control switching function are assigned. Change the
comparison control when the PCON signal is valid.

Parameter Group9 Page26 VLPCON：Velocity Loop Proportional Control, Switching Function

PI control (comparison / integral control): Velocity loop comparison gain (KVP) / Velocity loop reset time constant (TVI)
P control (Comparison control): Velocity loop comparison gain (KVP)

* When set to comparison control, servo gain is reduced and the servo system is made stable.
When the velocity loop reset time constant (TVI) is set to 1000.0ms, it is not necessary to use this function, since
the reset time constant in use is invalid (Comparison control)

[Group 9] 41
Main Power Discharge Function [DISCHARG]
This function forcefully discharges voltage charged in the condenser for the main circuit power supply in the servo
amplifier when power supply to the main circuit is cut. However, discharge is not possible when the main circuit power
supply is ON.

The conditions for enabling forced discharge function are assigned. Forced discharge is possible when the
DISCHARGE signal is valid.
Parameter Group9 Page41 DISCHARGE: Main Power Discharge Function

7-13
7.Adjustment･Functions [Functions of Group B][Holding brake holding delay time]

„ Functions of Group B

[GroupB] 10
Dynamic Brake Action Selection [DBOPE]
Conditions for stop at servo OFF can be selected from Servo brake/dynamic brake/free run.
Conditions after servo motor stop can be selected from dynamic brake/free run.
Parameter GroupB Page10 DBOPE: Dynamic Brake Action Selection

Selected value
00:_Free_Free When Servo-OFF, Free-Run is operated. After stops, Motor-Free is operated.
01:_Free_DB When Servo-OFF, Free-Run is operated. After stops, Dynamic-Braking is performed.
02:_DB__Free When S-OFF, Dynamic-Braking is performed. After stops, Motor-Free is operated.
03:_DB__DB When S-OFF, Dynamic-Braking is performed. After stops, Dynamic-Braking.
04:_SB__Free When Servo-OFF, Servo-Braking is performed. After stops, Motor-Free is operated.
05:_SB__DB When Servo-OFF, Servo-Braking is performed. After stops, Dynamic-Braking.

[GroupB] 12
Forced stop operation [ACTEMR]
When forced stop is executed by power shut off, etc. while servo motor is operating (servo motor is not stopped),
conditions for servo motor stop can be selected from servo brake/dynamic brake.

Parameter GroupB Page12 ACTEMR：Emergency Stop Operation

Selected value Contents

00:_SERVO-BRAKE When EMR is input, motor is stopped by servo brake operation.
01:_DINAMIC-BRAKE When EMR is input, motor is stopped by dynamic brake operation.

[GroupB] 13
Delay Time of Engaging Holding Brake [BONDLY]
This function is enabled during servo brake operation at servo OFF. It is disabled for dynamic brake and free-run.

Servo ON signal Servo ON Servo OFF

Securing brake exc. Signal Holding brake release Holding brake hold

Command rec. perm. Signal Comm.-rec. perm

Motor excitation signal Motor excited Motor free

If the motor excitation is turned off here, any delay until the securing brake engages
can cause a weight-drop.

Set the delay time for the securing brake operation

Parameter GroupB Page13 BONDLY：Delay Time of Engaging Holding Brake 0 to 1000ms

Servo ON signal Servo ON Servo OFF

Securing brake exc. Signal Holding brake release Holding brake hold

Command-rec. perm. Signal Comm.-rec. perm

Motor excitation signal Motor excited BONDLY Motor free

A delay in switching off the motor excitation can prevent weight-drop,

as the motor is excited until the securing brake turns ON.
・ The setting increment is 4 msec.
If the setting is 0 msec, the command is disabled (forced zero) for 4 msec after SON.

7-14
7.Adjustment･Functions [Functions of Group B][Holding brake holding delay time]

[GroupB] 14
Delay Time of Releasing Holding Brake [BOFFDLY]
Servo ON signa Servo OFF Servo ON

Securing brake exc. Signal Holding brake release

Command-rec. perm. Signal Comm.-rec. perm

Motor excitation signal Motor excited

If there is a delay between the motor start and the securing brake release, the motor
operates with the securing brake on, and will damage the brake.

・ Set the delay time for the securing brake release

Parameter GroupB Page14 BOFFDLY：Delay Time of Releasing Holding Brake 0 to 1000ms
Servo ON signal Servo OFF Servo ON

Securing brake exc. Signal Holding brake release

Command-rec. perm. Signal Comm. rec. perm

Motor excitation signal Motor excited

BOFFDLY
Damage to the securing brake due to this delay can be prevented by
lengthening the time of the command-receive permission.
・ The setting increment is 4 msec.
If the setting is 0 msec, the command is disabled (forced zero) for 4 msec after SON.

[GroupB] 15
Brake Operation Beginning Time [BONBGN]
If the motor does not stop within the time frame set for the brake operation start (BONBGN) when the servo is turned
OFF, the securing brake and the dynamic brake force the motor to stop. The function can be disabled by setting the
value to “0”ms. The setting increment is 4msec; therefore, set the value to 4 msec or higher.

Parameter GroupB Page15 BONBGN：Brake Operation Beginning Time 0 to 65535ms

* The term “motor does not stop” (above) means that the motor velocity does not fall below
the zero velocity (ZV) range.
* The stop sequence is different depending on the condition settings of the emergency stop operation.
* When the brake operation start time (BONBGN) passes, the servo motor will be forced to stop by both the dynamic
brake and the securing brake, which can cause damage to the securing brake. Therefore, use this function only
after considering the specifications and the sequence of the unit.

7-15
7.Adjustment･Functions
[Functions of Group B] [Following Error Warning･Deviation counter overflow･Overload warning]

[GroupB] 16
Power Failure Detection Delay Time [PFDDLY]
This function can set a delay period, after power off of the control power supply, for detecting problems in the control
power supply. Detection of unexpected power failure is diminished when this value is increased. However, even if this
value is increased and problem detection is delayed, when the power supply to the internal logic circuit is exhausted,
routine operations at the time of control power supply cut off / restart will continue.

Parameter GroupB Page16 PFDDLY：Power Failure Detection Delay Time 20 to 1000 ms

* When energy to the main circuit power supply is insufficient, problems like a reduction in main circuit power supply,
etc. are also detected.
* The actual anomaly detection delay time compared to the selected value can vary between -12ms and +6ms.

[GroupB] 20
Following Error Warning Level [OFWLV]
This function gives a warning before reaching excessive deviation alarm status.
Set the deviation excessive warning value.
Parameter GroupB Page20 OFWLV: Following Error Warning Level 1 to 65535 x 1024 pulse

[GroupB] 22
Overload Warning Level [OLWLV]
This function will send a warning before reaching overload alarm status. Set the ratio corresponding to the overload
alarm value to 100%. When set to 100%, the overload warning and overload alarm are given simultaneously.

Set the overload warning level.

Parameter GroupB Page22 OLWLV: Overload Warning Level 20 to 100 %

* The overload detection process is assumed to be 75% of the rated load at the time of starting the control power
supply (hot start). Therefore, if the overload warning level is set below 75%, an overload warning is given after
starting the control power supply.

7-16
7.Adjustment･Functions
[Functions of Group C] [Digital filter･External encoder polarity]

„ Functions of Group C
[GroupC] 01 to 02
Motor Incremental Encoder, Digital Filter [ENFIL]
External Incremental Encoder, Digital Filter [EX-ENFIL]
You can set the digital filer value of the incremental pulse for the selected incremental encoder. When noise is
superimposed on the incremental encoder, the pulse below the set value is removed as noise. Set this value by
considering the frequency of pulses from the selected encoder and the maximum number of rotations of the
servo motor. If the input value is greater than the encoder frequency during the peak rotation of the servo motor,
the encoder pulse is removed and the servo motor will stop.

The motor encoder and external encoder can be set separately.

Selection for motor incremental encoder digital filter
Parameter GroupC Page01 ENFIL：Motor Incremental Encoder, Digital Filter
Parameter GroupC Page02 EX-ENFIL：External Incremental Encoder, Digital Filter

Selected value Contents

00:_110nsec Minimum Pulse Width = 110nsec (Minimum Pulse Phase Difference = 37.5nsec)
01:_220nsec Minimum Pulse Width = 220nsec
02:_440nsec Minimum Pulse Width = 440nsec
03:_880nsec Minimum Pulse Width = 880nsec
04:_75nsec Minimum Pulse Width = 75nsec (Minimum Pulse Phase Difference = 37.5nsec)
05:_150nsec Minimum Pulse Width = 150nsec
06:_300nsec Minimum Pulse Width = 300nsec
07:_600nsec Minimum Pulse Width = 600nsec

Minimum pulse width

A phase

B phase

Minimum phase difference

Minimum pulse width

Z phase

[GroupC] 03
External Encoder Polarity Invert [EX-ENPOL]
You can select external encoder pulse polarity.
Parameter GroupC Page03 EX-ENPOL：External Encoder Polarity Invert

Selected value Contents

00:_Type1 EX-Z / Not Reversed EX-B / Not Reversed EX-A/ Not Reversed
01:_Type2 EX-Z / Not Reversed EX-B / Not Reversed EX-A/ Reversed
02:_Type3 EX-Z / Not Reversed EX-B／Reversed EX-A/ Not Reversed
03:_Type4 EX-Z / Not Reversed EX-B／Reversed EX-A/ Reversed
04:_Type5 EX-Z / Reversed EX-B / Not Reversed EX-A/ Not Reversed
05:_Type6 EX-Z / Reversed EX-B / Not Reversed EX-A/ Reversed
06:_Type7 EX-Z / Reversed EX-B/ Reversed EX-A/ Not Reversed
07:_Type8 EX-Z / Reversed EX-B/ Reversed EX-A/ Reversed
This setting is disabled in case of full closed control and when motor encoder is absolute encoder.
(To be set at Type 1.)

7-17
7. Adjustment･Functions
[Functions of Group C] [Encoder division･Encoder clear]

[GroupC] 08
Abusolute Encoder Clear Function Selection [ECLRFUNC]
Select the conditions for enabling absolute encoder clear.
Parameter Group9 Page03 ECLR：Abusolute Encoder Clear Function

When using a battery backup method absolute encoder and absolute encoder without battery, you can select the
contents to be cleared.
Clear “Warning + multiple rotation data”
Clear only “Warning”

Parameter GroupC Page08 ECLRFUNC：Abusolute Encoder Clear Function Selection

Selected value Contents

00:_Status_MultiTurn Clear Encoder Status (Alarm and Warning) and Multi Turn Data
01:_Status Clear Only Encoder Status

* These conditions are applicable only to the battery backup method absolute encoder and absolute encoder
without battery.
* Do not input this while the servo motor is rotating. Confirm that the servo motor stops before inputting this.

7-18
7.Adjustment･Functions [Monitor] [Analog monitor]
„ Description of monitor
All signals and internal status of the servo amplifier can be monitored. There are 3 kinds of monitors.

1. Analog monitor Monitor box and dedicated monitor cable are needed. Refer to “Materials; Option, Monitor box”.
2. Digital monitor Refer to “Chapter 1, Prior to Use, Servo Amplifier Part Names 1-8” for locations for connectors to
be connected.
3. Monitor in display (Setup software-R-SETUP, Digital Operator)

● Analog monitor (2 channels)

[Group A] 11 to 13
Analog Monitor 1, Output Signal Selection [MON1]
Analog Monitor 2, Output Signal Selection [MON2]
Analog Monitor, Output Polarity [MONPOL]
Analog monitor for use is selected.
Parameter GroupA Page11 MON1：Analog Monitor 1, Output Signal Selection
Parameter GroupA Page12 MON2：Analog Monitor 2, Output Signal Selection

Selected value Contents

00 Reserved
01:_TMON_2V/TR Torque Monitor 2V/ rated torque (thrust)
02:_TCMON_2V/TR Torque Command Monitor 2V/ rated torque (thrust)
-1 -1
03:_VMON_0.2mV/ min Velocity Monitor 0.2mV/ min
-1 -1
04:_VMON_1mV/ min Velocity Monitor 1mV/ min
-1 -1
05:_VMON_2mV/ min Velocity Monitor 2mV/ min
-1 -1
06:_VMON_3mV/ min Velocity Monitor 3mV/ min
-1 -1
07:_VCMON_0.2mV/ min Velocity Command Monitor 0.2mV/ min
-1 -1
08:_VCMON_1mV/ min Velocity Command Monitor 1mV/ min
-1 -1
09:_VCMON_2mV/ min Velocity Command Monitor 2mV/ min
-1 -1
0A:_VCMON_3mV/ min Velocity Command Monitor 3mV/ min
0B:_PMON_0.1mV/P Position Deviation Monitor 0.1mV/ Pulse
0C:_PMON_1mV/P Position Deviation Monitor 1mV/ Pulse
0D:_PMON_10mV/P Position Deviation Monitor 10mV/ Pulse
0E:_PMON_20mV/P Position Deviation Monitor 20mV/ Pulse
0F:_PMON_50mV/P Position Deviation Monitor 50mV/Pulse
10:_FMON_2mV/kP/s Position Command Pulse Input Frequency Monitor 2mV/kPulse/ｓ
11:_FMON_10mV/kP/s Position Command Pulse Input Frequency Monitor 10mV/kPulse/ｓ
12:_TLMON_EST_2V/TR Load Torque Monitor (Estimete Value) 2V/ rated torque (thrust)
13:_Sine-U U phase electricity angle Sin 8 Ｖ peak
14:_VBUS_1V/DC100V Main Power Circuit D.C. Voltage 1V/DC100V
15:_VBUS_1V/DC10V Main Power Circuit D.C. Voltage 1V/DC10V

Select this when polarity is to be changed.

Parameter GroupA Page12 MONPOL: Analog Monitor, Output Polarity

Selected value Contents

MON1： Positive voltage output in forward rotation; output pos and neg voltage.
00:_MON1+_MON2+
MON2：Positive voltage output in forward rotation; output pos and neg voltage.
MON1：Negative voltage output in forward rotation; output pos and neg voltage.
01:_MON1-_MON2+
MON2：Positive voltage output in forward rotation; output pos and neg voltage.
MON1：Positive voltage output in forward rotation; output pos and neg voltage.
02:_MON1+_MON2-
MON2：Negative voltage output in forward rotation; output pos and neg voltage.
MON1：Negative voltage output in forward rotation; output pos and neg voltage.
03:_MON1-_MON2-
MON2：Negative voltage output in forward rotation; output pos and neg voltage.
MON1：Positive voltage output together in forward and reverse rotation
04:_MON1ABS_MON2+
MON2：Positive voltage output in forward rotation; output pos and neg voltage.
MON1：Positive voltage output together in forward and reverse rotation
05:_MON1ABS_MON2-
MON2：Negative voltage output in forward rotation; output pos and neg voltage.
MON1：Positive voltage output in forward rotation; output pos and neg voltage.
06:_MON1+_MON2ABS
MON2：Positive voltage output together in forward and reverse rotation
MON1：Negative voltage output in forward rotation; output pos and neg voltage.
07:_MON1-_MON2ABS
MON2：Positive voltage output together in forward and reverse rotation
MON1：Positive voltage output together in forward and reverse rotation
08:_MON1ABS_MON2ABS
MON2：Positive voltage output together in forward and reverse rotation

7-19
7.Adjustment･Functions
[Monitor] [Digital monitor] [Displayed monitor list]
● Digital monitor (1 channel)
[Group A] 10
Digital Monitor 1, Output Signal Selection [DMON]
Digital monitor for use is selected.
Parameter GroupA Page10 DMON:Digital Monitor 1, Output Signal Selection

For selected values, refer to “Chapter 5, Parameter [Parameter setting value【GroupA】] general output OUT1 to
general output OUT8, and setting selection list of digital monitor output.

● List of monitors in display

[Monitor] 00 to 2C
Page Name Contents Unit
Displays the statuses of main circuit power being supplied, operation ready and
00 Servo Amplifier Status servo ON. ---
01 Warning status 1 Displays warning status. ---
02 Warning status 2 Displays warning status. ---
-1
05 Velocity Monitor Displays motor rotation velocity. min
-1
06 Velocity Command Monitor Displays velocity command value. min
07 Torque Monitor Displays motor output torque. %
08 Torque Command Monitor Displays torque command value. %
09 Position Deviation Monitor Displays position deviation values. Pulse
0A Actual Position Monitor Displays current position compared with original position when the control power is
0B External Actual Position Monitor turned ON. This is a free run counter. Therefore, when current position exceeds the Pulse
0C Command Position Monitor displayed range, the display is maximum value of reversed polarity.
Position Command Pulse Input Frequency
0E Monitor Displays command pulse frequency being input. k Pulse/s
Displays electric angle of Ｕ-phase. Except for encoder error, this is always
0F U-Phase Electric Angle Monitor displayed. deg
10 Absolute Encoder PS Data (High) Displays absolute encoder position data PS. x2^32 P
11 Absolute Encoder PS Data (Low) Displays absolute encoder position data PS. Pulse
12 Regenerative Resistor Operation Percentage Displays regeneration resistance operation status. %
Displays exact values, however, it may take several hours for the value to become
13 Motor Operating Rate Monitor stable depending on the operation pattern. %

Predicted Motor Operating Rate Displays estimated value of servo motor usage ratio, which is estimated from a
14 Monitor short period of operation. In an application where the same operation pattern %
repeats in a short period of time, the usage ratio can be confirmed fast.
15 Load Inertia (Mass) Ratio Monitor Values can be confirmed when gain switch over and auto-tuning functions are %
16 Position Loop Proportional Gain Monitor used. 1/s
17 Position Loop Integral Time Constant Monitor Values can be confirmed when gain switch over function is used. ms
18 Velocity Loop Proprotional Gain Monitor Hz
Values can be confirmed when gain switch over and auto-tuning function
19 Velocity Loop Integral Time Constant Monitor are used. ms
1A Torque Command Filter Monitor Hz
1B Incremental Encoder Signal Monitor Incremental signal of CN2 is displayed. -----
Load Torque Monitor
1C (Estimate Value) Load torque is displayed. %
1D Powre Monitor Main circuit DC voltage is displayed. V
Counted while control power supply is ON.
1E Servo Amplifier Operation Time ×2 hour
The time is displayed value×2 hours.
20 Execution Point Number Displays a point number in execution or a point number that is completed execution --
21 Actual Location Displays actual location in the user’s coordinate by values of integer portion. Note 1)
--
(User Coordinate)
22 Command Position Displays command position in the user’s coordinate by values of integer portion. Note 1)
--
(User Coordinate)
23 Position Deviation Displays position deviation in the user’s coordinate by values of integer portion. Note 1)
--
(User Coordinate)
24 Special Output Monitor Bit7: ZFIN Bit6: INPS Bit5: PFIN Bit4: MOVE
Bit3: EXT Bit2: ERR Bit1: HBON Bit0: NCRDY --
25 Generalized Output Monitor Bit7: OUT(8) Bit6: OUT(7) Bit5: OUT(6) Bit4: OUT(5)
Bit3: OUT(4) Bit2: OUT(3) Bit1: OUT(2) Bit0: OUT(1) --
26 Input (Group 1) Monitor Bit7: CACL Bit6: ARST Bit5: RAP/OVRID Bit4: -JOG
Bit3: +JOG Bit2: ZRT Bit1: RUN Bit0: EXT-E --
27 Input (Group 2) Monitor Bit7: MFIN Bit6: I_RUN Bit5: -1STEP Bit4: +1STEP
Bit3: SEL3 Bit2: SEL2 Bit1: SEL1 Bit0: S-ON --
28 Input (Group 3) Monitor Bit7: E_STR Bit6: -OT Bit5: +OT Bit4: SDN
Bit3: Reserved Bit2: Reserved Bit1: Reserved Bit0: Reserved --
29 Input (Point Number) Monitor Bit7: IN(128) Bit6: IN(64) Bit5: IN(32) Bit4: IN(16)
Bit3: IN( 8) Bit2: IN( 4) Bit1: IN( 2) Bit0: IN( 1) --
2A Zone Output Monitor Bit7: ZONE8 Bit6: ZONE7 Bit5: ZONE6 Bit4: ZONE5
Bit3: ZONE4 Bit2: ZONE3 Bit1: ZONE2 Bit0: ZONE1 --
2B M Output Monitor Bit7: Reserved Bit6: Reserved Bit5: Reserved Bit4: Reserved
Bit3: M(8) Bit2: M(4) Bit1: M(2) Bit0: M(1) --
2C Test Monitor （Manufacturer use only） Note 2) --
Note1) Actual monitored values are displayed in user coordinate by values of integer portion, by D_dpo settings.
Note2) A monitor for the manufacturer use only
For displays of monitor by digital operator, refer to “Materials; Digital operator”.
For displays of monitor by Setup Software, refer to “Setup Software R-SETUP”.

7-20
7.Adjustment･Functions
[Monitor] [Digital monitor] [Displayed monitor list]
● Description of [Status of Servo Amplifier] Monitor
Contents of status of Servo Amplifier are shown in the table below.

Status Code Monitor display Contents of status of Servo Amplifier

00 H Reset Reset state
01 H Run Moving point
02 H Feed Moving state
03 H Feed_Hold Motion temporary under suspension
04 H Jog Move by JOG Feeding
05 H 1step Step movement - Move at regular interval -
06 H I_Run Interrupt Move
07 H Home Home position setting
08 H Z-Return Homing
09 H Z-Finish Homing complete
0A H Waiting Servo On:･Waiting command input
0B H Cancel Cancel movement
0C H Normal-End Movement complete･Wait command input, Servo OFF
0D H Servo-OFF Servo OFF state
0E H M_STR Wait MFIN
0F H Dwell Dwell time - time in a cycle at which no motion occurs -
10 H Z-Slow_down Homing SDN in progress
16 H ERR_Soft+OT ERR: + Software position limit
17 H ERR_Soft-OT ERR: - Software position limit
18 H ERR_Point_D ERR: Point data setting error
19 H ERR_Loop ERR: Point Loop frequency setting error
1A H ERR_Nesting ERR: Point Loop nesting error
1B H ERR_Z_Return ERR: Homing motion error
* When a certain status proceeds to the next status in the very short term, it may not be shown
on the monitor display.

● Description of [Warning Status 1･2] Monitor

Contents of Status of Warning Status 1･2 are shown in the table below.

Correspondence table of Bits

Status 7 6 5 4 3 2 1 0
Following Speed limit Torque limit Regenerative Amplifier
Overload
Warning Status 1 Error --- operation operation overload
Warning
--- Overheating
Warning running running Warning Warning
Battery
Main circuit
voltage
Warning Status 2 ---
reduction
--- --- --- --- --- power being
charged
Warning

7-21
7.Adjustment･Functions [Description of operation tracing function]

„ Description of operation tracing function

Various signals and internal status of servo amplifier can be displayed and saved (stored) by analog
signals (up to 4 items from the table below are available) and digital signal (up to 4 items from the table
below are available). Refer to the following table for the signals selectable.

● Contents of analog signal selection

Signal name Data length Data range Unit

VMON: Velocity monitor 2 Bytes -32768 to 32767 min-1
VCMON: Velocity command monitor 2 Bytes -32768 to 32767 min-1
TMON: Torque monitor 2 Bytes -32768 to 32767 %
TCMON: Torque command monitor 2 Bytes -32768 to 32767 %
PMON: Position deviation monitor 4 Bytes -2147483648 to 2147483647 Pulse
APMON: Actual position monitor (motor encoder) 4 Bytes -2147483648 to 2147483647 Pulse
CPMON: Command position monitor 4 Bytes -2147483648 to 2147483647 Pulse
FMON: Position command pulse monitor
2 Bytes -32768 to 32767 Pulse
(position command pulse input frequency)
Sine U 2 Bytes -32768 to 32767 --
PS-H: Absolute encoder PS (high-order) 4 Bytes 0 to 4294967295 x2^32 P
PS-L: Absolute encoder PS (low-order) 4 Bytes 0 to 4294967295 Pulse
RegR: Regenerative resistance operational rate 2 Bytes 0 to 65535 0.01%
OPRT: Motor usage rate monitor 2 Bytes 0 to 65535 %
JRAT_MON: Control loop parameter_load inertia moment
2 Bytes 0 to 65535 %
ratio monitor
TLMON_EST: Load torque (estimate value) 2 Bytes -32768 to 32767 %
PMON_S: Position deviation monitor (2-Byte) 2 Bytes -32768 to 32767 Pulse
AD_REAL: Actual position (user coordinate) 4 Bytes -2147483648 to 2147483647 U
AD_MACH: Command position (user coordinate) 4 Bytes -2147483648 to 2147483647 U
PAERR: Position deviation (user coordinate) 4 Bytes -2147483648 to 2147483647 U
IN_POINT: Input (point number) monitor 2 Bytes 0 to 255 --
EXE_POINT: Execution point number 2 Bytes 0 to 255 --

7-22
7.Adjustment･Functions [Description of operation tracing function]

● Contents of digital signal selection

Signal name Description

RUN: Starting-up "High" while signal RUN is ON.
+JOG: +Manual feeding "High" while signal +JOG is ON.
-JOG: -Manual feeding "High" while signal -JOG is ON.
RAP/OVRD: Manual high-velocity/ override "High" while signal RAP/OVRD is ON.
+1STEP: +1 step-feeding "High" while signal +1STEP is ON.
-1STEP: -1 step-feeding "High" while signal -1STEP is ON.
I_RUN: Interrupt start-up "High" while signal I_RUN is ON.
MFIN: Handshake signal "High" while signal MFIN is ON.
ZRT: Homing signal "High" while signal ZRT is ON.
SDN: Slow-down signal "High" while signal SDN is ON.
OVRD_0: Override-0 signal "High" while signal OVRD_0 is ON.
OVRD_1: Override-1 signal "High" while signal OVRD_1 is ON.
OVRD_2: Override-2 signal "High" while signal OVRD_2 is ON.
OVRD_3: Override-3 signal "High" while signal OVRD_3 is ON.
OUT1: General output1 "High" while signal OUT1 is ON.
OUT2: General output2 "High" while signal OUT2 is ON.
INPS: In-position "High" while signal INPS is ON.
NEAR: Near-range "High" while signal NEAR is ON.
VCMP: Actual velocity corresponds to the commanded value. "High" while signal VCMP is ON.
TLC: Torque (force)-limited operation "High" while signal TLC is ON.
PFIN: Positioning completed "High" while signal PFIN is ON.
S-ON: Motor excited "High" while signal S-ON is ON.
S-RDY: Operation-ready "High" while signal S-RDY is ON.
MOVE: Operating "High" while signal MOVE is ON.
PCON-ACK: Proportionally-controlling velocity loop "High" while signal PCON-ACK is ON.
EGR-ACK: Switching electronic gears "High" while signal EGR-ACK is ON.
WNG-OFW: Excessive deviation warning activated "High" while signal WNG-OFW is ON.
WNG-OLW: Excessive load warning activated "High" while signal WNG-OLW is ON.
ALM: Alarm being activated "High" while signal ALM is ON.
IN1: General input 1 "High" while signal IN1 is ON.
IN2: General input 1 "High" while signal IN2 is ON.
IN3: General input 3 "High" while signal IN3 is ON.
IN4: General input 4 "High" while signal IN4 is ON.

7-23
8
[Maintenance]
‹ Trouble Shooting························································· 8-1

‹ Alarm List ···································································· 8-3

‹ Troubleshooting when alarms occur··························· 8-5

‹ Troubleshooting when errors occur ·························· 8-26

‹ Troubleshooting by history········································ 8-27

‹ About Code of status history····································· 8-28

‹ Inspection/Parts overhaul·········································· 8-29

8.Maintenance [Trouble Shooting]

 Corrective Actions for Problems During Operation

● When troubles occur without any alarm displayed, check and take corrective actions for them referring
to the description below. When alarm occurs, perform corrective measures referring to “Trouble
Shooting When Alarm Occurs”.

When you do the work for correction processing, be sure to intercept power supply.

Assumed causes and corrective

No Problems Investigation
actions
・ If voltage is low, check the power
supply.
Check the voltage at the power input
“≡” does not light up ・ If there is no voltage, check that
terminal.
to 7-segment LED wires and screws are fastened
1 properly.
even if main power is
ON. ・ Internal power circuit of servo
Check if red “CHARGE” LED is lighting
amplifier is defective.
off.
Replace the servo amplifier.
Check of command is input by the digital
operator’s monitor.
page 06: Velocity Command Monitor
・ Input a command.
page 08: Torque Command Monitor
page 0E: Position Command Monitor
7-segment LED The monitor’s value is zero.
displays a rotating
・ Confirm that power line of motor is
2 character “8” (Servo Servo is not locked.
connected.
ON status), but motor
does not rotate.
・ Because torque limit has been input,
Check if torque limit is input. motor cannot rotate more than load
torque.

Enter deviation clear to check if process

・ Stop the input of deviation clear.
is continued.

Operation of the
・ Stop the input of proportional
Check if proportional control is entered.
control.
servomotor is
3 unstable and velocity
is lower than
command. Check if torque limit is input. ・ Stop inputting torque limit.

・ The motor power line is not

Check motor power line.
connected.
Check the setup of encoder resolution.
Servo motor rotates The digital operator’s system parameter
4
only once, and stops. page 05: ・ Change the settings and turn ON the
Absolute Encoder Resolution Setting. power again.
page 03:
Incremental Encoder Resolution Setting

8-1
8.Maintenance [Trouble Shooting]
Assumed causes and corrective
No Problems Investigation actions
・ Phase order of motor power line does
Check the motor power line.
not match.
5 Motor is accelerated.
・ Wiring of A phase and B phase of the
Check the wiring of encoder cable.
encoder is incorrect.

Motor is vibrating ・ Reduce the loop gain speed.

6 with frequency above --- Set the torque command low-pass filter
200 Hz. and torque command notch filter.

・ Adjust the servo tuning “response”.

・ Reduce the loop gain speed.
Excessive over
・ Increase the integral time constant.
shoot/ under shoot
7 --- ・ Simplify the acceleration and
during starting /
declaration command.
stopping.
・ Use position command low-pass filter.

・ Observe by operating one motor.

Check that there is no defect in ・ Pay attention while coupling and
mechanical installation. confirm that there is no core shift or
unbalance.

・ Confirm that the twisted pair and shield

Abnormal sound processing of encoder signal line are
8
occurs Check whether abnormal correct.
sound is random or periodic while ・ Confirm that the wiring for encoder line
operating at low and power line are installed in the
speed. same port.
・ Confirm that the power supply voltage
is sufficient.

8-2
8.Maintenance [Alarm List]
 Alarm List
Operation at detecting: "DB" performs the slowdown stop of the servo motor in dynamic brake operation
when the alarm generating. Operation at detecting: "SB" performs the slowdown stop of the servo motor
with sequence current limiting value. When dynamic brake is selected by forced stop operation selection,
the servo motor is decelerating stopped for the dynamic brake operation regardless of the operation when
detecting it. (However, it stops in free servo brake operation at the time of alarm 53H (DB resistor
overheating) detection.

Alarm Detection Alarm

Alarm title Alarm contents
code Operations Clear

 Over current of drive module

related to drive

21H Power Module Error (Over-current)  Abnormality in drive power source DB V

Abnormality

 Overheating of drive module

22H Current Detection Error 0  Abnormality of electric current detection value DB V
23H Current Detection Error 1  Abnormality of Electric current detection circuit DB V
 Abnormality in communication with Electric current
24H Current Detection Error 2 DB V
detection circuit
31H Positive Over-travel  Positive Over-travel Status DB V

32H Negative Over-travel  Negative Over-travel Status DB V

Abnormality related to load

41H Overload 1  Excessive effective torque SB V

42H Overload 2  Stall over load DB V

43H Regenerative Error  Regeneration load ratio exorbitance DB V
 Overheating detection of amplifier ambient
51H Amplifier Overheat SB V
temperature
 Detection of in-rush prevention resistance
52H RS Overheat SB V
overheating
53H Dynamic Brake Resistor Overheat  Overheating detection of DB resistor SB V
 Overheating detection of Internal regeneration
54H Internal Overheat DB V
resistor
 Overheating detection of External regeneration
55H External Error DB V
resistor, and Abnormal detection of host equipment
61H Over-voltage  DC Excess voltage of main circuit DB V
Abnormality in
power source

62H Main Circuit Under-voltage  DC Main circuit low voltage DB V

 1 phase of the 3 phase main circuit power supply
63H Main Power Supply Fail Phase SB V
disconnected
Control Power Supply V
71H  Control power supply low voltage DB
Under-voltage Note 2)
72H Control Power Error  Under voltage of + 12 V SB V
Encoder Pulse Error 1  Incremental encoder (A, B, Z) signal line break
81H DB “”
(A-phase, B-phase, Z-phase)  Power supply break
Absolute Encoder Signal
82H  Absolute Encoder (PS) signal line break DB V
Disconnect
External Encoder Pulse Error
Abnormality related to encoder wiring

83H (CN-EXT: A-Phase, B-Phase,  Breaking of full close Encoder (A, B) signal line DB V
Z-Phase)
Communication Error Between V
84H  Encoder serial signal time out DB
Encoder and Amplifier Note 4)
 Failed to read CS data of incremental encoder
85H Encoder Initial Process Error  Abnormality in initial process of absolute encoder - “”
 Cable break

87H CS Signal Disconnection  CS signal line break DB “”

 Mismatch of transmission command and reception
91H Encoder Command Error DB V
command
 Start, Stop bit Abnormality
92H Encoder FORM Error DB V
 Insufficient data length
 Data cannot be received during the prescribed
93H Encoder SYNC Error DB V
time after the command is sent.
 CRC generated from the received data and sent
94H Encoder CRC Error DB V
CRC does not match

Note1: Control power error or servo ready OFF is detected during instantaneous break of 1.5 to 2 cycles.
Detection of control power error and servo ready OFF can be delayed by setting larger value of PFDDLY (Group
B Page 16).
Note2: When the main power voltage increases or decreases gradually or is suspended, main circuit low voltage or main
power failed phase may be detected.
Note3: When full-close control/external encoder (CN2 input signal, see System Parameter Page 09) is selected, the
alarm can be reset.
Note4: When the absolute encoder with incremental output is used, alarm resetting is prohibited.
Note5: ”V” means it is possible to reset. “ ”means resetting is not possible.

8-3
8.Maintenance [Alarm List]
Operations
Alarm
Alarm code Alarm name Alarm contents while
clear
detecting

A1H Encoder Error 1  Breakdown of Encoder internal device DB Note 3)

A2H Absolute Encoder Battery Error  Battery low voltage DB Note 3)
A3H Encoder Overheat  Motor built-in Encoder Overheating DB Note 3)
 Error generation of multi-rotation data
A5H Encoder Error 3  Abnormality in operations of DB Note 3)
temperature encoder
Abnormality in encoder main body

 Encoder internal EEPROM data is not

A6H Encoder Error 4 set DB Note 3)
 Overflow of multi-rotation data
 Resolver Abnormality
A7H Encoder Error 5 DB Note 3)
 Light receiving abnormality in encoder
 Resolver disconnection
A8H Encoder Error 6 DB Note 3)
 Light receiving abnormality in encoder
A9H Failure of Encoder  Encoder failure DB Note 3)
B2H Encoder Error 2  Position data incorrect DB Note 3)
Absolute Encoder Multi-Turn  Detection of incorrect multiple rotations
B3H DB Note 3)
Counter Error coefficient
Absolute Encoder Single-Turn  Detection of incorrect 1 rotation
B4H DB Note 3)
Counter Error coefficient
Over-allowable Speed of Absolute  Exceeds the permitted speed of motor
B5H Encoder at Turning ON rotation speed when the power is DB Note 3)
turned ON
 Access error of Encoder internal
B6H Encoder Memory Error DB Note 3)
EEPROM
 Exceeds the permitted speed for motor
B7H Acceleration Error DB Note 3)
rotation
 Motor rotation speed is 120 % more
C1H Overspeed DB V
than the highest speed limit
 Torque command and acceleration
C2H Speed Control Error DB V
Control system

direction are not matching.

abnormality

C3H Speed Feedback Error  Motor power disconnection (Note 2) DB V

Following Error
D1H  Position error exceeds setup value DB V
(Excessive Position Deviation)
Faulty Position Command  Frequency of entered position
D2H SB V
Pulse Frequency 1 command pulse is excessive
Faulty Position Command  Position command frequency after
D3H SB V
Pulse Frequency 2 electronic gear is high.
DFH Test Run Close  Detection in ‘Test mode end’ status DB V
 Abnormality of amplifier with built-in
E1H EEPROM Error DB “”
EEPROM
Control system/Memory system

 Error in check sum of EEPROM (entire

E2H EEPROM Check Sum Error - “”
area)
E3H Internal RAM Error  Access error in CPU built in RAM - “”
abnormality

E4H Process Error between CPU and ASIC  Access abnormality in CPU ~ ASIC - “”
 Detection when non-corresponding or
E5H Parameter Error 1 undefined amplifier, motor, encoder - “”
code are specified.
 Error in combining motor, encoder,
E6H Parameter Error 2 and/or amplifier code set from system - “”
parameter
F1H Task Process Error  Error in interruption process of CPU DB “”
 Detection when initial process does not
F2H Initial Process Time-Out - “”
end within initial process time
Note 1: Alarm that rings in ‘Test mode end’ status is not recorded in the alarm history.
Note 2: When there is a rapid motor slow down simultaneous with servo ON, there is a possibility that a break in the
motor’s power line cannot be detected.
Note 3: Due to abnormality in encoder main body, encoder clear may sometimes be needed.
Note 4: ”V” means resetting is not possible. “ ”means resetting is not possible.

 Warning Lists
Warning Title Warning Contents
Overload Warning  When the effective torque exceeds the set torque
Regenerated Overload Warning  In case of overload of regenerative resistance
Load system
 Ambient temperature of the amplifier is out of range of the set
Amplifier Overheating Warning
temperature
Power supply system Main circuit is charging  Voltage of main circuit is above DC 105 V
Forward over travel  While entering forward over travel
External input system
Reverse over travel  While entering reverse over travel
Encoder system Absolute encoder battery warning  Battery voltage is below 3.0 V
 While restricting the torque command by torque restriction
Restricting torque command
value
Control system Restricting speed command  While restricting the speed command by speed value.
 When position deviation warning setup value is outside the
Excessive position deviation
proscribed limits

8-4
8.Maintenance [Trouble shooting when alarms occur]
Alarm code 21H (Power Module Error/ Overcurrent)

Cause
Status at the time of alarm
1 2 3 4
Issued when control power is turned ON. (V) V (V)
Issued at servo input. V V V
Issued while starting and stopping the motor. (V) (V) (V)
Issued after extended operating time. (V) (V) (V) V

Corrective actions
Cause Investigation and corrective actions
・ U/V/W-phase of amplifier is short circuited due ・ Check the wiring between the amplifier and motor, and
1 to the wiring in amplifier and motor. Also, confirm that there is no error. If some error is detected,
U/V/W-phases are grounded in the earth. modify or change the wiring.
・ Short circuit or fault in U/V/W phases on servo
2 ・ Replace the servo motor.
motor side.
・ Defect in control print panel
3 ・ Replace the servo amplifier.
・ Defect in power device
・ Confirm that the cooling fan motor for the servo amplifier
is working. If it is not working, replace the servo
amplifier.
・ Confirm that the temperature of the control panel
4 ・ Overheat is detected in Power device (IPM). (ambient temperature of the servo amplifier) does not
exceed 55C. If in excess of 55C, check the installation
method of the servo amplifier, and confirm that the
cooling temperature of the control panel is set to below
55C.

Alarm code 22H (Current Detection Error 0)

Cause
Status during alarm
1 2
Issued when the control power is turned ON. V (V)
Issued after the power is turned ON. (V) V

Corrective actions
Cause Investigation and corrective actions
・ Defect in control print panel
1 ・ Replace the servo amp.
・ Defect in power device
・ Confirm that the proper codes (per the specified Motor
・ Servo amplifier and motor are not
2 Codes) have been used for the servo motor; if not,
combined properly
replace the servo motor.

Note) V means the cause number with high possibility. (V) means the cause number with middle possibility.

8-5
8.Maintenance [Trouble shooting when alarms occur]
Alarm code 23H (Abnormal current detection1)
Alarm code 24H (Abnormal current detection2)
Cause
Status during alarm
1 2
Alarm occurs when control power turns on. V
Alarm occurs during operation. (V) V

Corrective actions
Cause Investigation and corrective actions
1 ・ Defect inside the servo-amplifier circuit. ・ Replace the servo-amplifier.
・ Check the amp-earth wire is installed properly.
2 ・ Error by noise ・ Take countermeasure against the noise adding ferrite
cores and so on.

Alarm code 31h (Over traveling in CW)

Alarm code 32h (Over traveling in CCW)

Cause
Status during alarm
1 2
Alarm occurs when control power turns on. V
Alarm occurs during operation. (V) V

Corrective actions
Cause Investigation and corrective actions
・ Turn the power supply for external input signal to
・ Defect of power supply (DC+24V) for external
(DC+24V±10%)
input signal.
・ Check the external circuit and correct it if there is any
1 ・ Error of external wiring.
abnormality.
・ Wrong ethic of over-traveling signal
・ Correct the ethic of over-traveling signal.
・ Defect inside servo-amplifier circuit.
・ Replace servo-amplifier.
・ Travel to the effective operation area.
(Escape from over-traveling condition)
・ Status of Over-traveling.
2 ・ Check the amp-earth wire is properly installed.
・ Error by noise
・ Take countermeasure against the noise adding ferrite
cores, etc.

SW2: It is possible to travel by negating over-travel with functional switch 2, but please operate it after
specifying a cause that it came off from the effective operation area, since over-travel doesn’t work in
such status.

8-6
8.Maintenance [Trouble shooting when alarms occur]

Alarm code 41H (Overload 1)

Cause
Status during alarm
1 2 3 4 5 6 7 8 9
Issued when power supply control is turned ON. V
Issued at input of servo ON. V V V
After command input, issued without rotating the
V V V V V
motor.
After command input, brief motor rotation V V V (V) V

Corrective actions
Cause Investigation and corrective actions
・ Defect in servo amplifier control panel or
1 ・ Replace the servo amplifier.
power element peripheral
2 ・ Defect in encoder circuit of servomotor ・ Replace the servo motor.
・ Monitor the load status using motor usage ratio monitor
(OPRT), and check if effective torque exceeds the rated
value.
・ Effective torque exceeds the rated
3 ・ Or, calculate the motor effective torque from load conditions
torque.
and operation conditions.
 If the effective torque is excessive, check the operating or
loading, or replace the capacity of the large motor.
・ Check if the motor in use matches with the recommended
4 ・ Defect in motor-amplifier combination
type, and replace if it is improper.
・ Check that the wiring and voltage of the holding brake are
・ Holding brake of servo motor does not
5 acceptable; if not, repair.
release.
 If the above are OK, replace the servomotor.
・ Wiring of U/V/W –phase between servo
6 ・ Check the wiring conditions and restore if improper.
amplifier and motor do not match.
・ One or all connections of U/V/W -phase
7 wiring of servo amplifier / motor is ・ Check the wiring conditions and restore if improper.
disconnected
8 ・ Machines collided. ・ Check the operating conditions and limit switch.
・ Encoder pulse number setting does not
9 ・ Match the encoder pulse number with the motor.
match with the motor.

During the alarm caused by conditions in #3 (above), if OFFON of power supply control is repeated,
there is a risk of burning out the servo motor. Wait for longer than 30 min. for cooling purposes after power shut OFF, and
resume operations.

Note) V means the cause number with high possibility. (V) means the cause number with middle possibility.

8-7
8.Maintenance [Trouble shooting when alarms occur]
Alarm code 42H (Overload 2)
Cause
Status during alarm
1 2 3 4 5 6 7 8 9
Issued when power supply control is turned ON. V
Issued at input of servo ON. V V V
After command input, issued without rotating the motor. V V V V V
After command input, brief motor rotation V V V (V) V
Corrective actions
Cause Investigation and corrective actions

1 ・ Defect in servo amplifier control panel or power

・ Replace the servo amplifier.
element peripheral
2 ・ Defect in encoder circuit of servomotor ・ Replace the servo motor.
・ Check if torque command exceeds approx. 2 times of the
rated torque by torque command monitor (TCMON).
・ Rotation is less than 50min-1 and torque
3 command exceeds approx. 2 times of rated ・ Or, calculate the motor effective torque from load
torque. conditions and operation conditions.
If the effective torque is excessive, check the operating or
loading, or replace the capacity of the large motor.
4 ・ Defect in motor-amplifier combination
・ Check the motor type setting and the motor in use are
matching. If not, correct them.
・ Check that wirings and voltage for holding brake are
5 ・ Holding brake of servo motor does not release. correct. If not, repair them.
If they are appropriate, replace the servo motor.
6 ・ Wiring of U/V/W–phase between servo
・ Check the wiring conditions and restore if improper.
amplifier and motor do not match.
7 ・ One or all connections of U/V/W -phase wiring
・ Check the wiring conditions and restore if improper.
of servo amplifier / motor is disconnected
8 ・ Machines collided. ・ Check the operating conditions and limit switch.
9 ・ Encoder pulse number setting does not match
・ Match the encoder pulse number with the motor.
with the motor.

Alarm code 43H (Regenerative Error)

Cause
Status during alarm
1 2 3 4 5 6 7 8
Issued when power supply control is turned ON. V
Issued when power supply of main circuit is turned ON. V V V
Issued during operation. V V V V V (V)
Corrective actions
Cause Investigation and corrective actions
・ Check the load inertia and operating pattern.
・ Exceeded permitted value of regenerating power ・ Use an external regeneration resistor.
1 in built-in regenerative resistance specifications. ・ Set the load inertia within the specified range.
・ Excessive load inertia, or tact time is short. ・ Increase the deceleration time.
・ Increase the tact time.
2 ・ Regenerative resistance wiring conflicts with
・ Check wiring and replace if incorrect.
built-in regenerative resistance specifications.
3 ・ Regenerative resistance wiring conflicts with
・ Check wiring and replace if incorrect.
external regeneration resistor specifications.
・ For built-in regeneration resistor specifications, replace
the servo amplifier.
4 ・ Regeneration resistor is disconnected.
・ For external regeneration resistor specifications, replace
the regeneration resistor.
5 ・ Resistance value of external regeneration ・ Replace the current resistance value with a value
resistor is excessive. matching the specifications.
6 ・ Input power supply voltage exceeds the specified
・ Check the input power supply voltage level.
range.
7 ・ Defect in control circuit of servo amplifier. ・ Replace the servo amplifier.
・ When external regenerative resistance is ・ Install the external regenerative resistance.
8 selected for system parameter Page OB and
external regenerative resistance is not installed. ・ Set to “Do not connect regenerative resistance“.
If the setting of system parameter page 0B regeneration resistance is incorrect, regeneration error is not detected
properly, and the amplifier and surrounding circuit may be damaged or burnt.
Note) V means the cause number with high possibility. (V) means the cause number with middle possibility.

8-8
8.Maintenance [Trouble shooting when alarms occur]
Alarm code 51H (Amplifier Overheat)

Cause
Status during alarm
1 2 3 4 5
Issued when power supply control is turned ON. (V) V (V)
Issued during operation. (V) V V V
Issued after emergency stop. V

Corrective actions
Cause Investigation and corrective actions
1 ・ Defect in internal circuit of servo amplifier. ・ Replace the servo amplifier.
・ Check the operating conditions.
2 ・ Regenerating power exceeded.
・ Use external regeneration resistor.
・ Regenerating power is within the specified
・ Confirm that the cooling method maintains the temperature of
3 range but ambient temperature of servo
control panel between 0 to 55C.
amplifier is out of specified range.
・ Regenerating power is within the specified ・ For an amplifier equipped with a cooling fan motor, check that
4 range but built-in cooling fan of servo the cooling fan motor is running; if not, replace the servo
amplifier is stopped. amplifier.
・ Regeneration energy during emergency stop ・ Change the servo amp.
5
exceeded. ・ Check the loading condition.

Abnormalities are detected in the internal temperature of the amplifier regardless of its ambient temperature.
When an amplifier ambient temperature warning is issued, please be sure to check the cooling method of the
control panel.

Alarm code 52H (RS Overheat)［only for RS1□30］

Cause
Status during alarm
1 2 3
Issued when power supply is turned ON. V
Issued when main circuit power supply is turned
V
ON.
Issued during operation. V

Corrective actions
Cause Investigation and corrective actions
1 ・ Defect in internal circuit of servo amplifier. ・ Replace the servo amplifier
2 ・ Power turning ON is repeated too frequently. ・ Turn ON/OFF the power less frequently.
・ For a servo amplifier equipped with a cooling fan motor, check
that the cooling fan motor is running properly. If not, replace
the servo amplifier.
3 ・ Ambient temperature is high. ・ Check if the temperature inside the control panel (servo
amplifier ambient temperature) exceeds 55C. If it does,
review the servo amplifier installing method and cooling
method of control panel to make it below 55C.

Note) V means the cause number with high possibility. (V) means the cause number with middle possibility.

8-9
8.Maintenance [Trouble shooting when alarms occur]
Alarm code 53H (Dynamic Brake Resistor Overheat)

Cause
Status during alarm
1 2
Issued when power supply is turned ON. V
Issued during operation. (V) V

Corrective actions
Cause Investigation and corrective actions
1 ・ Defect in internal circuit of servo amplifier. ・ Replace the servo amplifier.

2 ・ DB operation frequency exceeded.

・ Use the dynamic brake so as not to exceed the
permissive frequency.

Alarm code 54H (Internal Overheat)

Cause
Status during alarm
1 2 3
Issued when power supply control is turned ON. (V) V
Issued during operation. (V) V V

Corrective actions
Cause Investigation and corrective actions
1 ・ Defect in internal circuit of servo amplifier. ・ Replace the servo amplifier.
・ Check the built-in regenerative resistance absorption power.
2 ・ Regenerating power excessive.
・ Check the operating conditions, so that regenerating power
is within permitted absorption power.
・ Use an external regeneration resistor.

3
・ Improper wiring of built-in regeneration
・ Confirm improper condition and repair if necessary.
resistor.

When using a regeneration resistance built in the servo amplifier, make sure to set “built-in regeneration resistance” at
system parameter Page 0B [Regeneration resistance type]. This setting makes the judgment between enabled/disabled of
the overheating protection detection treatment of the built-in regeneration resistance. When “No connected regenerative
resistance or external regenerative resistance” is selected, overheating of built-in regenerative resistance is
not detected. Therefore, there is a danger that built-in regenerative resistance will burn out or be damaged.

Note) V means the cause number with high possibility. (V) means the cause number with middle possibility.

8-10
8.Maintenance [Trouble shooting when alarms occur]
Alarm code 55H (External Error)

● When external regenerative resistor and output terminal of upper device are not connected
Cause
Status during alarm
1 2
Issued when power supply control is turned ON. V (V)

Corrective actions
Cause Investigation and corrective actions

1
・ Validity condition for external trip function is ・ When you do not use it, please set GroupD Sw2 bit2 as
set to ‘Valid’. "1."
2 ・ Defect in control panel of servo amplifier. ・ Replace the servo amplifier.

● When external regenerative resistor is not connected

Cause
Status during alarm
1 2 3
Issued when power supply control is turned ON. V (V)

Issued after operation. V (V)

Corrective actions
Cause Investigation and corrective actions

1
・ Improper wiring of external regenerative
・ Check wiring and replace if necessary.
resistance.
・ Check the operating conditions.
2 ・ External regeneration resistor is operating. ・ Increase the capacity of the external regeneration
resistor.
3 ・ Defect in control panel of servo amplifier. ・ Replace the servo amplifier.

● When output terminal of host device is connected: Eliminate the alarm trigger of the upper level
device.

Note) V means the cause number with high possibility. (V) means the cause number with middle possibility.

8-11
8.Maintenance [Trouble shooting when alarms occur]

Alarm code 61H (Overvoltage)

Cause
Status during alarm
1 2 3 4
Issued when power supply control is turned ON. V
Issued when power supply of main circuit is
V V
turned ON.
Issued at the time of motor start/stop. (V) V V

Corrective actions
Cause Investigation and corrective actions
1 ・ Defect in control panel of servo amplifier. ・ Replace the servo amplifier.

2
・ The power supply voltage of main circuit ・ Reduce the power supply voltage to within the specified
exceeds the rated value. range.
3 ・ Excessive load inertia. ・ Reduce the load inertia to within the specified range.
・ Wire the regeneration resistance correctly.
・ Incorrect wiring for regeneration resistance ・ While using the external regenerative resistance, check
4
・ Built-in regeneration circuit is not functioning. the wiring and resistance value.
・ Replace the servo amplifier if any abnormality occurs.

Alarm code 62H (Main Circuit Undervoltage)

Cause
Status during alarm
1 2 3 4 5
Issued when power supply control is turned ON. V (V)
Issued after power supply of main circuit is turned
V V
ON.
Issued during operation, alarm resetting is
(V) V
possible.
Issued during operation, alarm resetting is not
V
possible.

Corrective actions
Cause Investigation and corrective actions

1
・ Power supply voltage is below the specified ・ Check the power supply and set it within the specified
range. range.
2 ・ Rectifier of main circuit is broken. ・ Replace the servo amplifier.

3 ・ Input voltage is reduced and/or blinking.

・ Check the power supply and confirm that there is no
blinking or low voltage, etc..

・ Low voltage outside of the specified range is

・ Check the main circuit voltage. Confirm that there is no
4 external power supply to R/S/T when the main circuit is
supplied to the main circuit (R/S/T).
OFF.

5
・ Defect in internal circuit of the servo
・ Replace the servo amplifier.
amplifier.

Note) V means the cause number with high possibility. (V) means the cause number with middle possibility.

8-12
8.Maintenance [Trouble shooting when alarms occur]
Alarm code 63H (Main Power Supply Fail Phase)

Cause
Status during alarm
1 2 3
Issued when power supply control is turned ON. V
Issued when power supply of main circuit is
V V
turned ON.
Issued during motor operations. (V)
Alarm issued during single-phase power input
V
selection.

Corrective actions
Cause Investigation and corrective actions

1
・ One out of 3 phases (R/S/T) is not
・ Check the wiring and repair if necessary.
inserted.
2 ・ Defect in internal circuit of Servo amplifier. ・ Replace the servo amplifier.
・ Check the model number and delivery specifications of
the servo amplifier and replace it with a servo amplifier
3
・ Servo amplifier is not specified for single for single-phase power supply.
phase.
・ Edit the parameters and use a single-phase
specification amplifier.

Alarm code 71H (Control Power Supply Under voltage)

Cause
Status during alarm
1 2 3
Issued at the time of power on. (V) V
Issued during operation. (V) V

Corrective actions
Cause Investigation and corrective actions

1
・ Defect in internal circuit of the servo
・ Replace the servo amplifier.
amplifier.

2
・ Power supply voltage is within the specified ・ Confirm that the power supply is set within the specified
range. range.

3 ・ Input voltage is fluctuating or stopped.

・ Confirm that the power supply is not going to neither
stop nor reduce the power, etc.

Alarm code 72H (Control Power Error)

Cause
Status during alarm
1 2
Issued when power supply control is turned ON. (V) V

Corrective actions
Cause Investigation and corrective actions

1
・ Defect in internal circuit of the servo
・ Replace the servo amplifier.
amplifier.
・ Restart the power supply after removing the connector;
if alarm is not issued, check the external circuit.
2 ・ Defect in external circuit ・ Restart the power supply after replacing the motor; if
alarm is not issued, there is defect in the encoder’s
internal circuit.

Note) V means the cause number with high possibility. (V) means the cause number with middle possibility.

8-13
8.Maintenance [Trouble shooting when alarms occur]

Alarm code 81H (Encoder Pulse Error 1 /A-phase, B-phase, Z-phase)

Alarm code 82H (Absolute Encoder Signal Disconnect)
Alarm code 84H (Communication Error Between Encoder and Amplifier)
Alarm code 87H (CS Signal Disconnection)

Cause
Status during alarm
1 2 3 4 5 6
Issued when power supply control is turned ON. V V V V V V
Issued after servo is turned ON. V V
Issued during operation. (V) V V

Corrective actions
Cause Investigation and corrective actions
For encoder wiring:
・ Improper wiring
・ Connector is removed
・ Check wiring and repair any abnormality.
1 ・ Confirm that the encoder power supply voltage of the
・ Loose connection
motor is above 4.75 V; increase it if below 4.75 V.
・ Encoder cable is too long
・ Encoder cable is too thin
2 ・ Wrong amplifier encoder type is selected. ・ Select the correct encoder type.

3
・ Motor encoder that does not match with
・ Replace with servo motor equipped with proper encoder.
amplifier encoder type is attached.
4 ・ Defect in servo amplifier control circuit ・ Replace the servo amplifier.
5 ・ Defect in servo motor encoder ・ Replace the servo motor.
6 ・ Parameter set to ‘Full-close/Servo system’. ・ Edit the parameter and set to ‘Semi-close/System setup’.

Alarm code 85H (Encoder Initial Process Error)

Cause
Status during alarm
1 2 3 4 5
Issued when power supply control is turned ON. V V V V (V)

Corrective actions
Cause Investigation and corrective actions
For encoder wiring:
・ Improper wiring ・ Check wiring and repair any abnormality.
・ Connector is removed ・ Confirm that the encoder power supply voltage of the
1
・ Loose connection motor is above 4.75 V; increase it if below
・ Encoder cable is too long 4.75 V.
・ Encoder cable is too thin
2 ・ Wrong amplifier encoder type is selected. ・ Select the correct encoder type.
3 ・ Defect in servo amplifier control circuit ・ Replace the servo amplifier.
4 ・ Defect in servo motor encoder ・ Replace the servo motor.
・ Initial position data could not be set, as the
・ Restart the power supply after motor is stopped. (Only
5 number of rotations of the motor is more than
when PA035C and PA035S encoder is used.)
250 min -1 during power supply.

Note) V means the cause number with high possibility. (V) means the cause number with middle possibility.

8-14
8.Maintenance [Trouble shooting when alarms occur]
Alarm code 91H (Encoder Command Error)
Alarm code 92H (Encoder FORM Error)
Alarm code 93H (Encoder SYNC Error)
Alarm code 94H (Encoder CRC Error)
Errors are detected by the receiving part of absolute position detector of start/ stop synchronization system.

Cause
Status during alarm
1 2 3

Issued when control power supply is turned ON. (V) V V

Corrective actions
Cause Investigation and corrective actions
1 ・ Defect in encoder ・ Replace the servo motor.
・ Confirm proper grounding of the amplifier.
2 ・ Malfunction due to noise
・ Check the shielding of the encoder cable.
・ Add ferrite core or similar countermeasures against
noise.
3 ・ Abnormality in encoder wiring. ・ Check wiring between the encoder and amplifier.

Alarm code A1H (Encoder Error 1)

Errors detected inside absolute position detector (RA062M) of Manchester encoding system.
Cause
Status during alarm
1
Issued when power supply is turned ON. V
Issued during operation. V

Corrective actions
Cause Investigation and corrective actions
1
・ Defect in internal circuit of encoder
・ Turn ON the power supply again; if not restored,
replace the motor.

✍ “Encoder clearing and alarm resetting methods” vary depending on the encoder in use. Refer to page 53 “Materials; Encoder
Clear”.

Alarm code A2H (Absolute Encoder Battery Error)

Cause
Status during alarm
1 2
Issued when control power is turned ON. V V
Issued during operation. V

Corrective actions
Cause Investigation and corrective actions

1 ・ Loose connection of battery cable.

・ Confirm the battery connection in the front
ON/OFF switch of the amplifier.
2 ・ Low battery voltage ・ Check the battery voltage.

✍ “Encoder clearing and alarm resetting methods” vary depending on the encoder in use. Refer to page 53 “Materials; Encoder
Clear”.

Note) V means the cause number with high possibility. (V) means the cause number with middle possibility.

8-15
8.Maintenance [Trouble shooting when alarms occur]

Alarm code A3H (Encoder Overheat)

Errors are detected inside absolute position detector of start/ stop synchronization system.
Cause
Status during alarm
1 2 3
Issued when control power supply is turned ON. (V) V
Issued while stopping the motor. (V) V
Issued during motor operations. V V

Corrective actions
Cause Investigation and corrective actions

1 ・ Defect in internal circuit of encoder

・ Turn ON the power supply again; if not restored,
replace the motor.

2
・ Motor is not generating heat, but encoder ・ Confirm that the cooling method keeps the encoder
ambient temperature is high. ambient temperature below 800C.
3 ・ Motor is overheated. ・ Confirm the cooling procedure of the servo motor.

✍ “Encoder clearing and alarm resetting methods” vary depending on the encoder in use. Refer to page 53 “Materials; Encoder
Clear”.

Alarm code A5H (Encoder Error 3)

Errors are detected inside absolute position detector of start/ stop synchronization system.
Cause
Status during alarm
1 2 3
Issued when power supply is turned ON. (V) V V
Issued during motor operations. (V) V

Corrective actions
Cause Investigation and corrective actions

1 ・ Defect in internal circuit of encoder

・ Turn ON the power supply again; if not restored,
replace the motor.
・ Confirm proper grounding of the amplifier.
2 ・ Malfunction due to noise
・ Check the shielding of the encoder cable.
・ Add ferrite core or similar countermeasures
against noise.
3 ・ Number of rotations exceeds the permitted ・ Turn ON the power supply again, when motor is
number of rotations. stopped.

✍ “Encoder clearing and alarm resetting methods” vary depending on the encoder in use. Refer to page 53 “Materials; Encoder
Clear”.

Note) V means the cause number with high possibility. (V) means the cause number with middle possibility.

8-16
8.Maintenance [Trouble shooting when alarms occur]

Alarm code A6H (Encoder Error 4)

Errors are detected inside absolute position detector of start/ stop synchronization system.
Cause
Status when alarm rings.
1 2 3
Issued when power supply is turned ON. V V
Issued during motor operations. V V

Corrective actions
Cause Investigation and corrective actions

1 ・ Defect in internal circuit of encoder

・ Turn ON the power supply again; if not restored,
replace the motor.
・ Confirm proper grounding of the amplifier.
2 ・ Malfunction due to noise
・ Check the shielding of the encoder cable.
・ Add ferrite core or similar countermeasures
against noise.
3
・ Multi-rotation counter overflows.
・ Correct the operation pattern, and avoid the
continuous operation in a fixed direction.
✍ “Encoder clearing and alarm resetting methods” vary depending on the encoder in use. Refer to page 53 “Materials; Encoder
Clear”.

Alarm code A7H (Encoder Error 5)

Alarm code A8H (Encoder Error 6)
Alarm code A9H (Failure of Encoder)

Errors are detected inside absolute position detector of start/ stop synchronization system.
Cause
Status during alarm
1 2
Issued when power supply is turned ON. V V
Issued during motor operations. (V) V

Corrective actions
Cause Investigation and corrective actions

1 ・ Defect in internal circuit of encoder

・ Turn ON the power supply again; if not restored,
replace the motor.
2 ・ Confirm proper grounding of the amplifier.

・ Malfunction due to noise

・ Check the shielding of the encoder cable.
・ Add ferrite core or similar countermeasures
against noise.
“Encoder clearing and alarm resetting methods” vary depending on the encoder in use. Refer to page 53 “Materials; Encoder
✍ Clear”.

Note) V means the cause number with high possibility. (V) means the cause number with middle possibility.

8-17
8.Maintenance [Trouble shooting when alarms occur]
Alarm Code B2H (Encoder Error 2)

Errors detected inside absolute position detector (RA062M) of Manchester encoding system.
Cause
Status during alarm
1 2
Issued during operation. (V) V

Corrective actions
Cause Investigation and corrective actions

1 ・ Defect in internal circuit of encoder

・ Turn ON the power supply again; if not restored,
replace the motor.
2 ・ Confirm proper grounding of the amplifier.

・ Malfunction due to noise

・ Check the shielding of the encoder cable.
・ Add ferrite core or similar countermeasures
against noise.
“Encoder clearing and alarm resetting methods” vary depending on the encoder in use. Refer to page 53 “Materials; Encoder
✍ Clear”.

Alarm code B3H (Absolute Encoder Multi-Turn Counter Error)

Alarm code B4H (Absolute Encoder Single-Turn Counter Error)
Alarm code B6H (Encoder Memory Error)

Errors are detected inside absolute position detector of start/ stop synchronization system.
Cause
Status during alarm
1 2
Issued when control power supply is turned ON. V
Issued while operation. (V) V

Corrective actions
Cause Investigation and corrective actions

1 ・ Defect in internal circuit of encoder

・ Turn ON the power supply again; if not restored,
replace the motor.
2 ・ Confirm proper grounding of the amplifier.

・ Malfunction due to noise

・ Check the shielding of the encoder cable.
・ Add ferrite core or similar countermeasures against
noise.

✍ “Encoder clearing and alarm resetting methods” vary depending on the encoder in use.
Refer to page 53 “Materials; Encoder Clear”.

Note) V means the cause number with high possibility. (V) means the cause number with middle possibility.

8-18
8.Maintenance [Trouble shooting when alarms occur]
Alarm code B5H (Over-allowable Speed of Absolute Encoder at Turning ON)

Errors are detected inside absolute position detector of start/ stop synchronization system.
Cause
Status during alarm
1 2 3
Issued when power supply is turned ON. V (V)
Issued while stopping the motor. V V
Issued while rotating the motor. (V) V V

Corrective actions
Cause Investigation and corrective actions

1 ・ Defect in internal circuit of encoder

・ Turn ON the power supply again; if not restored,
replace the motor.
・ Confirm proper grounding of the amplifier.
2 ・ Malfunction due to noise
・ Check the shielding of the encoder cable.
・ Add ferrite core or similar countermeasures
against noise.
3 ・ Number of motor rotations exceeds the ・ Check the operation pattern and reduce the maximum
permitted speed. number of rotations.

✍ “Encoder clearing and alarm resetting methods” vary depending on the encoder in use.
Refer to page 53 “Materials; Encoder Clear”.

Alarm code B7H (Acceleration Error)

Errors are detected inside absolute position detector of start/ stop synchronization system.
Cause
Status during alarm
1 2 3
Issued while stopping the motor. V V
Issued while rotating the motor. (V) V V

Corrective actions
Cause Investigation and corrective actions

1 ・ Defect in internal circuit of encoder

・ Turn ON the power supply again; if not restored,
replace the motor.
・ Confirm proper grounding of the amplifier.
2 ・ Malfunction due to noise
・ Check the shielding of the encoder cable.
・ Add ferrite core or similar countermeasures
against noise.
3 ・ The acceleration of motor rotation exceeds ・ Check the operation pattern, and extend the
the permitted acceleration acceleration and declaration time.
✍ “Encoder clearing and alarm resetting methods” vary depending on the encoder in use. Refer to page 53 “Materials; Encoder
Clear”.

Note) V means the cause number with high possibility. (V) means the cause number with middle possibility.

8-19
8.Maintenance [Trouble shooting when alarms occur]

Alarm code C1H (Overspeed)

Cause
Status during alarm
1 2 3 4
Issued when control power supply is turned ON. V (V)
Issued if command is entered after Servo ON (V) V
Issued when the motor is started. V V
Issued other than operating and starting the motor V V

Corrective actions
Cause Investigation and corrective actions
1 ・ Defect in control panel of servo amplifier. ・ Replace the servo amplifier.
2 ・ Defect in the encoder of servo motor ・ Replace the servo motor.
・ Monitor speed with the analog monitor.
 Adjust the servo parameters if overshoot is
excessive.
3 ・ Excessive overshoot while starting.
 Simplify the acceleration and declaration command
pattern.
 Reduce the load inertia.

4
・ Wiring of U/V/W -phase between servo
・ Check the wiring and repair any irregularities.
amplifier and motor do not match.

Note) V means the cause number with high possibility. (V) means the cause number with middle possibility.

8-20
8.Maintenance [Trouble shooting when alarms occur]

Alarm code C2H (Speed Control Error)

Cause
Status during alarm
1 2 3 4 5
Issued when control power supply is turned ON. V
Issued while due to input of Servo ON V V
Issued if command is entered. V V V
Issued while starting and stopping the motor. V

Corrective actions
Cause Investigation and corrective actions

1
・ Wiring of U/V/W -phase between servo
・ Check the wiring and repair any irregularities.
amplifier and motor do not match.

2
・ The wiring of A, B phase of INC-E and
・ Check the wiring and repair any irregularities.
ABS-EI encoder connection is incorrect.

3 ・ The motor is vibrating (oscillating).

・ Adjust the servo parameters so that servo motor will
not vibrate (oscillate).
・ Monitor speed with the analog monitor.
・ Adjust the servo parameters to reduce overshoot and
4 ・ Excessive overshoot and undershoot. undershoot.
・ Increase acceleration and declaration command time.
Mask the alarm.
5 ・ Abnormality in servo amplifier control circuit ・ Replace the servo amplifier.

For the speed control error alarm, an alarm may occur while starting and stopping when load inertia is excessive.
For this reason, in the gravitational axis applications, "Do not detect" is selected as the standard setting.
If its detection is needed, consult our representatives.

Alarm code C3H (Speed Feedback Error)

Cause
Status during alarm
1 2 3
Issued when command is entered. V (V) V

Corrective actions
Cause Investigation and corrective actions
・ Confirm that the power line is properly connected.
1 ・ Motor is not rotating.
・ Replace the servo motor.
2 ・ Defect in internal circuit of servo amplifier. ・ Replace the servo amplifier.

3 ・ The motor is vibrating (oscillating).

・ Adjust the servo parameter so that servo motor will not
vibrate (oscillate).

Note) V means the cause number with high possibility. (V) means the cause number with middle possibility.

8-21
8.Maintenance [Trouble shooting when alarms occur]

Alarm code D1H (Following Error / Excessive Position Deviation)

Cause
Status during alarm
1 2 3 4 5 6 7 8 9 10 11 12
Issued when control power supply is turned ON. V
Issued when servo ON is stopped. V V
Issued immediately after entering the command. V (V) V V V V (V) V (V)
Issued during starting or stopping at high speed. V V V V V (V) V
Issued during the operations by lengthy command. V V (V) (V)

Corrective actions
Cause Investigation and corrective actions

1
・ Position command frequency is high or acceleration and
・ Correct the position command of the controller
declaration time is short.

2 ・ Excessive initial load or low motor capacity.

・ Correct the load condition or increase the motor
capacity
・ Check the wiring and repair any abnormalities. If
3 ・ Holding brake is not released. specified voltage is applied, replace the servo
motor.
4 ・ Motor is mechanically locked or machine is colliding. ・ Check the machinery system.

5
・ One or all phases of U/V/W -phase of the servo amplifier
・ Check and repair the wiring connections.
and motor has disconnected.
・ Motor is being rotated by an external force
・ Check the load, and/or increase the motor
6 (Gravity, etc.) during stopping
capacity.
(positioning completion).
・ Valid current limit command is entered by the controller, ・ Increase the current limit value or disable the
7 and the current limit setting is reduced. current limit.
・ Number of encoder pulses does not match with the motor. ・ Match the number of motor encoder pulses.

8
・ Settings of servo parameters (Position loop gain, etc.) are ・ Check the servo parameter settings (Raise the
not appropriate. position loop gain, etc.)
9 ・ Excessive deviation setting value is reduced. ・ Set a greater value for excessive deviation.
10 ・ Defect in control panel of servo amplifier. ・ Replace the servo amplifier.
11 ・ Servo motor encoder is defective. ・ Replace the servo motor.
12 ・ Power supply voltage is low. ・ Check the power supply voltage.

Alarm code D2H (Faulty Position Command Pulse Frequency 1)

Cause
Status during alarm
1
Issued after entering position command pulse. V

Corrective actions
Cause Investigation and corrective actions
・ Command for the digital filter setting of the ・ Decrease the frequency of the command pulse.
1
command pulse input is entered ・ Increase the frequency of the digital filter.

Note) V means the cause number with high possibility. (V) means the cause number with middle possibility.

8-22
8.Maintenance [Trouble shooting when alarms occur]

Alarm code D3H (Faulty Position Command Pulse Frequency 2)

Cause
Status during alarm
1 2
Issued after entering position command pulse. V V

Corrective actions
Cause Investigation and corrective actions

1
・ Frequency of command pulse input is
・ Reduce the frequency of command pulse input.
excessive.
2 ・ Setting value of electronic gear is excessive. ・ Decrease the electronic gear setting value.

Alarm code DFH (Test Run Close)

Cause
Status during alarm
1
Occurred after execution of test mode. V

Corrective actions
Cause Investigation and corrective actions
・ Clear the alarm and restore operation. (After
1 ・ Normal operation. completion of test mode, to confirm any deviation in the
controller).

Alarm code E1H (EEPROM Error)

Cause
Status during alarm
1 2
Issued when control power supply is turned ON. V (V)
Issued during display key operation or set up
V
software operation.

Corrective actions
Cause Investigation and corrective actions

1
・ Correct value not read by CPU by nonvolatile
・ Replace the servo amplifier.
memory of built-in servo amplifier.
2 ・ Defect in the servo amplifier control panel ・ Replace the servo amplifier.

Note) V means the cause number with high possibility. (V) means the cause number with middle possibility.

8-23
8.Maintenance [Trouble shooting when alarms occur]

Alarm code E2H (EEPROM Internal Data Error)

Cause
Status during alarm
1 2
Issued when control power supply is turned ON. (V) V

Corrective actions
Cause Investigation and corrective actions

1
・ Correct value not read by CPU by nonvolatile
・ Replace the servo amplifier.
memory of built-in servo amplifier

・ Failed to write into the nonvolatile memory

・ Change the optional parameters, turn ON the power
2 supply again, and confirm that alarm has cleared.
during last power supply cutoff.
If alarm is not cleared, replace the servo amplifier.

Alarm code E3H (Internal RAM Error)

Alarm code E4H (Process Error between CPU and ASIC)

Cause
Status during alarm
1
Issued when control power supply is turned ON. V

Corrective actions
Cause Investigation and corrective actions

1 ・ Defect in the servo amplifier control panel ・ Replace the servo amplifier.

Alarm code E5H (Parameter Error 1)

Cause
Status during alarm
1 2
Issued when control power supply is turned ON. V V
Issued after changing any of system parameters. V

Corrective actions
Cause Investigation and corrective actions
・ Confirm the model number of the servo amplifier.
・ Selected value is outside the specified range ・ Confirm selected values of system parameters and
1 modify if necessary.
for a system parameter.
Turn ON the power again and confirm that alarm is
cleared.
2 ・ Defect in servo amplifier ・ Replace the servo amplifier.

Note) V means the cause number with high possibility. (V) means the cause number with middle possibility.

8-24
8.Maintenance [Trouble shooting when alarms occur]

Alarm code E6H (Parameter Error 2)

Cause
Status during alarm
1 2
Issued when control power supply is turned ON. V V
Issued after changing any of system parameters. V

Corrective actions
Cause Investigation and corrective actions

・ Selected values of system parameters and

・ Confirm the model number of servo amplifier.
actual hardware do not match ・ Confirm selected values of system parameters and
1 correct if necessary.
・ Improper assembly of system parameter
Turn ON the power again and confirm that alarm is
settings.
cleared.
2 ・ Defect in servo amplifier ・ Replace the servo amplifier.

Alarm code F1H (Task Process Error)

Cause
Status during alarm
1
Issued while operating. V

Corrective actions
Cause Investigation and corrective actions

1
・ Abnormality in control circuit of servo
・ Replace the servo amplifier
amplifier

Alarm code F2H (Initial Process Time-Out)

Cause
Status during alarm
1 2
Issued when control power supply is turned ON. V V

Corrective actions
Cause Investigation and corrective actions
1 ・ Defect in internal circuit of servo amplifier ・ Replace the servo amplifier.
・ Confirm proper grounding of the amplifier.
2 ・ Malfunction due to noise
・ Add ferrite core or similar countermeasures against noise.

Note) V means the cause number with high possibility. (V) means the cause number with middle possibility.

8-25
8.Maintenance [Troubleshooting when errors occur]

 Troubleshooting when error occurs

● Please take countermeasure and process according to the correction measures on each error
display following below procedure.

Error Error code output Alarm name Operation

code OUT OUT OUT OUT OUT OUT OUT OUT Cause Countermeasure/Process
8 7 6 5 4 3 2 1 (Code) status
+Soft limitation Full-time ・ It traveled beyond soft ・ Travel within soft
16H 0 0 0 1 0 1 1 0 (OT_FWD) limitation coordinates limitation by Jog.
in CW. ・ Change the soft
- Soft Full-time ・ It traveled lower than limitation setting of
limitation soft limitation parameter.
17H 0 0 0 1 0 1 1 1 (OT_RVS) coordinates in
direction.

Point data When ・ The point is not ・ Input Alarm-reset for

error operate registered for resetting error.
(POINT_DAT point-travelin point-traveling.
A) g or while
・ Register the point.
18H 0 0 0 1 1 0 0 0
travel.
・ Points on the way are
not registered for
sequence
point-traveling.
ERR: While ・ The number of the ・ Follow the specification
Point Loop processing nest is over 15 in Point of Point Jump/Loop
frequency Point jump/ Loop function function to set a target
19H 0 0 0 1 1 0 0 1 setting movement or point.
error (Loop) in Moving
state
ERR: While ・ The Specified target
Point Loop processing point can’t be a nest in
nesting error Point Condition jump of
1AH 0 0 0 1 1 0 1 0 (Nesting) movement or Point jump/Loop
in moving function
state
Zero-return When ・ Speed reduction time ・ Expand the area of
Operation operate while operating velocity reduction signal
1BH 0 0 0 1 1 0 1 1 error Zero-return. Zero-return is too to secure the enough
(ZRT) short. time for reducing speed
(Traveling amounts).

8-26
8.Maintenance [Troubleshooting by history]

 Troubleshooting by history
There are 2 trace modes of Alarm History and Status History. It is possible to see up to 7 Alarm
Histories and 64 Status Histories. However, please note that Status History is updated only up to
8pcs, when control power is turned OFF. Please see below examples.

Number Status
New Last01 WAIT_ON ･･･Traveling completion
Last02 Move_point:007 ･･･Travel to P007
Last03 Move_point:006 ･･･Travel to P006
Last04 Move_point:005 ･･･Travel to P005
Last05 WAIT_ON ･･･Traveling completion
Last06 STEP_ON ･･･1STEP Travel
Last07 WAIT_ON ･･･Traveling completion
Last08 JOG_ON
･･･JOG Travel(When stop traveling in JOG travel,
Last09 CANCEL_ON the cancellation must be recorded as a history.)
Last10 WAIT_ON ･･･Cancellation completion
Last11 CANCEL_ON ･･･Cancel traveling while travel to P004.
Last12 Move_point:004 ･･･Sequence traveling to P004
Last13 Move_point:003 ･･･Travel to P003
Last14 ALM_None ･･･Reset
Last15 ALM:55 ･･･Heating alarm goes out after completion.
Last16 WAIT_ON ･･･Traveling completion
Last17 Move_point:002 ･･･Travel to P002
Last18 WAIT_ON ･･･Traveling completion
Last19 Move_point:001 ･･･Travel to P001
Last20 WAIT_ON ･･･Servo ON
Old Last21 SV_OFF ･･･Control Power・Main power ON

As mentioned above, the status before and after alarm occurrences are recorded as a history, it is
useful to investigate a cause of alarm.

In addition, Alarm History is as follows for the example.

Code Status
Last01 ALM:55 ･･････EXT Alarm occurs.
･ ･
･ ･
･ ･
Last07 ALM:43 ･･････OL1 Alarm occurs.
However, the status history can be seen only up to 64 histories, therefore, it is recommended to
check the history immediately when alarm occurs.

8-27
8.Maintenance [About Code of status history]

 About Code of Status History

Code Contents
Move_Point: DEC[***] Travel to “***”point code
Status of positioning completion.
WAIT_ON (Waiting for traveling signal on the status of servo-on.)
Cancel_ON CANCEL(Cancellation)has been input, or, the status of stop JOG traveling
ZRT_ON Activate Zero-return (ZRT input signal) has been input.
SDN_ON Short of Home- point speed reduction signal (SDN input signal) has been input.
JOG_ON Manual traveling (±JOG input signal) has been input.
STP_ON 1 step travel (±1step input signal) has been input.
HOME_ON Home-Point-Return operation has been completed.
DWEL Dwell (Intermission) time is in practice.
SV_OFF The status of servo-off: Servo-on signal (S-ON input signal) is turned OFF.
PRG_STR External data setting input (E_STR input signal) has been input.

Err_Non Error has been canceled.

Err_POINT_DATA Error occurrence. Activate with non-registered point code (RUN input signal).
Alm_Non Alarm reset (ARST input signal)has been input.
Alm：** Alarm goes out. Alarm code ”**”.

8-28
8.Maintenance [Inspection/Parts overhaul]

 Inspection
● For maintenance purposes, a daily inspection is typically sufficient. Upon inspection, refer to the
following description.

Testing conditions
Inspection
During While Inspection Items Inspection Methods Solution if abnormal
location Time
operation stopping
Check for excessive
Daily V Vibration
vibration.
Check if there is no
Contact dealer/sales office.
abnormal sound as
Daily V Sound
compared to normal
sound.
Servo Check for dirt and Clean with cloth or air.
Periodic V Cleanliness
motor dust.  1
Measure value of
Yearly V insulation
resistance
Contact the dealer or sales office.
5000
Replacement of oil
hours V
seal
 2
Check for dust Clean with air.
Periodic V Cleaning accumulated in the  1
Servo
accessories.
amplifier
Check for loose
Yearly V Loose screws Fasten the screws properly.
connections
absolute Regularly
Confirm that battery
encoder  3
V Battery voltage voltage is more than Replace the battery.
back up
DC3.6V.
battery
Set the ambient temperature within
On Measure Ambient temperature
Temperature V the limit.
demand temperature Motor frame temperature
Check the load condition pattern.

1. While cleaning with air, confirm that there is no oil content and/or moisture, etc. in the air.
2. This inspection and replacement period is when water- or oil-proof functions are required.
3. The life expectancy of the battery is approximately 2 years, when its power is OFF
throughout the year. For replacement, a lithium battery (ER3V: 3.6V, 1000mAh)
manufactured by TOSHIBA HOME APPLIANCES CORPORATION. is recommended.

 Parts Overhaul
Parts may deteriorate over time. Perform periodic inspection for preventive maintenance.
Number of average
No. Part name Corrective measures / usage conditions
replacement years

Replacement with new part is necessary.

1 Condenser for smoothing main circuit 5 Years Load ratio: 50% of rated output current of amplifier
Usage condition: Average temp. 40C year-round

Replacement with new part is necessary.

2 Cooling Fan motor 5 Years
Usage condition: Average temp. 40C year-round
3 Lithium battery for absolute encoder [ER3V] 3 Years Replacement with new part is necessary.
Replacement with new part is necessary.
Electrolysis condenser (other than condenser
4 5 Years Usage condition: Average temp. 40C year-round
for smoothing main circuit)
Annual usage period is 4800 hours
5 Fuse 10 Years Replacement with new part is necessary.

1. Condenser for smoothing the main circuit

・ If the servo amplifier is in use for more than 3 years, contact the dealer or sales office. The
capacity of the condenser for smoothing the main circuit is reduces due to the frequency of motor
output current and power ON/ OFF during usage, and it may cause damage.
8-29
8.Maintenance [Inspection/Parts overhaul]
・ When the condenser is used with an average 40C through out the year, and exceeds more than
50% of the rated output current of servo amplifier, it is necessary to replace the condenser with a
new part every 5 years.
・ When used in an application where the power turn ON/OFF is repeated more than 30 times a day,
consult our representatives.
2. Cooling Fan motor
・ The R-Series Amplifier is set corresponding to the degree of pollution specified in EN50178 or
IEC 664-1. As it is not dust proof or oil proof, etc., use it in an environment above Pollution
Degree 2 (i.e., Pollution Degree 1, 2).
・ R-Series servo amplifiers models RS1 03, RS1 05 RS1 10 RS1 15 and RS1 30 have a built-in
cooling fan; therefore be sure to maintain a space of 50mm on the upper and lower side of the
amplifier for airflow. Installation in a narrow space may cause damage due to a reduction in the
static pressure of the cooling fan and/or degradation of electronic parts. Replacement is
necessary if abnormal noise occurs, or oil or dust is observed on the parts. Also, at an average
temperature of 40C year-round, the life expectancy is 5 years.
3. Lithium battery
・ The standard replacement period recommended by our company is the life expectancy of lithium
battery based on normal usage conditions. However, if there is high frequency of turning the
power ON/OFF, or the motor is not used for a long period, then the life of lithium battery is
reduced. If the battery power is less than 3.6 V during inspection, replace it with new one.

● How to replace absolute encoder back-up battery

(1) Turn ON the servo amplifier control power supply.

(2) Prepare the replacement lithium battery. [SANYO model number: AL-00494635-01]

(3) Open the servo amplifier front cover.

(4) Remove the battery connector.

(5) Take out the used lithium battery and put in the new replacement one (prepared at (2)).

(6) Attach the connector in the right direction.

(7) Close the servo amplifier front cover.

Battery connector

Lithium battery
MODE WR/

✍ If the battery is replaced while the control power is OFF, multiple rotation counter (position data) of
the absolute encoder may be instable. When the amplifier control power is turned ON in this status,
an alarm (battery error) may be issued. For this, execute encoder clear and alarm reset to release
the alarm status. Also, absolute encoder position data may be instable. Check and adjust the
relations between position data and machine coordinate system.

✍ SANYO DENKI ships overhauled servo amplifiers with the same parameters as the ones before
the overhaul. Please be sure to confirm the parameters before use.

8-30
No Text on This Page.
9
[Specifications]
‹ Servo amplifier ···························································· 9-1

‹ Servo motor general specifications····························· 9-4

‹ Mechanical specifications of servo motor ··················· 9-5

‹ Holding brake specifications ······································· 9-7

9.Specifications [Servo amplifier]
■ General specifications
Specifications
Model number RS1□01□C RS1□03□C RS1□05□C RS1□10□C RS1□15□C RS1□30□C

Control function Position control

Control system IGBT PWM control Sinusoidal drive

Three-phase AC200 to 230V+10, -15%, 50/60Hz±3Hz

2
Main circuit Single phase AC200 to 230V+10, -15%, 50/60Hz±3Hz＊
＊3
Single phase AC100 to 115V+10, -15%, 50/60Hz±3Hz
Basic specifications

＊1
Input power
Controlling Single phase AC200 to 230V+10, -15%, 50/60Hz±3Hz
3
circuit Single phase AC100 to 115V+10, -15%, 50/60Hz ±3Hz＊

For Interface DC+24V±10%

4
Ambient temperature＊ 0 to 55°C
Environment

Storage temperature -20 to +65°C

Operating / storage humidity Below 90%RH (no condensation)
Elevation Below 1000 m
Vibration 0.5G Frequency range 10 to 55HZ Test for 2H in each direction X.Y.Z
Shock 2G
Structure Built-in tray type power supply
Mass kg 0.9 1.0 2.2 5.2 6.5 9.8
Over current, Current detection error, Overload, Regeneration error, Amplifier
overheating, External overheating, Over voltage, Main circuit low voltage, Main circuit
Protection functions open-phase, Control power supply error, Encoder error, Over speed, Speed control error,
Built-in functions

Speed feedback error, Excessive position error, Position command pulse error, CPU
error, Built-in memory error, Battery error, Parameter error
LED display Status display, Monitor display, Alarm display, Parameter settings, Adjustment mode
Dynamic brake Built-in
Regeneration process Built-in
Applied load inertia Within the applied load inertia of combined servo motor
-1
Monitor Speed monitor (VMON) 2.0V±10% (at 1000min )
output Torque monitor (TMON) 2.0V±10% (at 100%)
Number of Control Axis 1 pc
Number of Registration Points It is possible to set it up to 254 points (P000 to P253)
Maximum Command Amounts -2,147,483,648 to +2,147,483,647
Positioning Function

Command Unit Mm or Pulse

Fast-Forwarding Speed 2,147,483.647mm/sec(0.001mm/Pulse selection)
Addition & Reduction Speed Automatic addition & Reduction speed(Straight line/S curve shift)
Point Data Setting Setting by numeric value input with PC or teaching
Traveling Point Number Setting Parallel 8 bit ( Binary code)
Current Limitation 0 to 510%(Rating =100%), however, less than instant maximum stall current
Software Limitation Yes
Traveling Mode Zero-point return, analog (JOG, 1Step), specified point traveling.
Area Signal 8 zones in maximum
Servo-on, Alarm reset, Start-up, Zero-return, Analog, Over-ride/ analog high speed,
Cancellation, Speed reduction short of zero-point, External defect, Over-travel, External
Input/Output

Sequence input signal

data setting, 1 step travel, Interrupt start-up, Output selection, MFIN, Point specification
input.
NC-ready, Holding brake timing, Error, Effective external operation, On operation,
Sequence output signal Positioning completion, In-position output, Zero-return completion, Multiple purpose
output (8 bits)

9-1
9.Specifications [Servo amplifier]
*1 Source Voltage should be within the specified range.
AC200V Power input type Specified power supply range: AC170V to AC253V
AC100V Power input type Specified power supply range: AC85V to AC127V
Install a step-down transformer, etc. if power supply exceeds the specified power supply.
*2 AC200V single-phase input type corresponds only toRS1□01/RS1□03/RS1□05.
*3 AC100V single-phase input type corresponds only toRS1□01/RS1□03.
*4 When stored in the box, be sure that internal temperature does not exceed this range.
*5 Minimum rotational speed is determined as equivalent to the amplifier not stopping for
a load with maximum continuous torque.

● Incoming current

Input Control circuit (Maximum value between Main circuit (Maximum value between 1.2
Amplifier model name
voltage 1ms after input)*3 seconds after input)
RS1□01□
RS1□03□
RS1□05□
AC200V 40A(O-P) 18A(O-P)*1
RS1□10□
RS1□15□
RS1□30□
RS1□01□
AC100V 20A(O-P) 9A(O-P)*2
RS1□03□

*1 Incoming current value is the maximum value when AC230V is supplied.

*2 Incoming current value is the maximum value when AC115V is supplied.
*3 Use thermistor for incoming current prevention circuit of power supply control.
When power is turned ON again after disconnection, power supply on/disconnection is
repeated for short time, ambient temperature and temperature of thermistor is high, the
incoming current exceeding the above mentioned table may pass.

● Current leakage
Since “R series” Servo amplifier drives the motor by PWM control of IPM, electric current leakage of high
frequency flows through the floating capacity of motor winding, power cable or amplifier. Malfunction in
short circuit breaker and protective relay installed in power supply electric circuit may occur. Use the
inverter as electricity leakage breaker, which provides countermeasures for wrong operations.

Motor model number Electric current leakage per motor

RS1□01□ 0.5 mA
RS1□03□ 0.5 mA
RS1□05□ 1.5 mA
RS1□10□ 3.0 mA
RS1□15□ 3.0 mA
RS1□30□ 5.0 mA
・ While using 2 or more motors, electric current leakage each motor is added.
・ Tough-rubber sheath cable of 2mm is used as power line, in case of short system and long system of cable
length, value of above table should be selected as far as possible.
・ The machine is grounded (type D(3rd type)) so that the dangerous voltage on the main part of a machine,
operation panel, etc. does not arise at the time of an emergency leakage.
・ The value of current leaked is the measured value in ordinary leak checkers (Filter 700Hz).

9-2
9.Specifications [Servo amplifier]
● Calorific value

Total calorific Total calorific

Input Amplifier Motor model Input Amplifier Motor model
value of Servo value of Servo
voltage capacity number voltage capacity number
amplifier (W) amplifier (W)
Q1AA04003D 11 Q1AA13400D 146
Q1AA04005D 15 Q1AA13500D 169
Q1AA04010D 18 Q1AA18450M 160
Q1AA06020D 24 Q2AA18350H 138
Q2AA04006D 12 Q2AA18450H 154
RS1□15A
Q2AA04010D 19 Q2AA18550R 201
Q2AA05005D 16 Q2AA22350H 137
AC200V
Q2AA05010D 19 Q2AA22450R 150
RS1□01A Q2AA05020D 26 Q2AA22550B 191
Q2AA07020D 32 Q2AA22700S 222
Q2AA07030D 32 Q1AA18750H 428
R2AA04003F 11 Q2AA18550H 361
RS1□30A
R2AA04005F 13 Q2AA18750L 413
R2AA04010F 15 Q2AA2211KV 496
R2AA06010F 16 Q1EA04003D 16
R2AA06020F 24 Q1EA04005D 22
R2AA08020F 25 Q1EA04010D 27
Q1AA06040D 44 Q2EA04006D 21
Q1AA07075D 66 Q2EA04010D 26
Q2AA07040D 45 RS1□01A Q2EA05005D 22
Q2AA07050D 62 Q2EA05010D 31
AC200V RS1□03A Q2AA08050D 55 AC100V R2EA04003F 16
Q2AA13050H 65 R2EA04005F 19
R2AA06040F 43 R2EA04008F 21
R2AA08040F 40 R2EA06010F 25
R2AA08075F 67 Q1EA06020D 51
Q1AA10100D 47 Q2EA05020D 43
RS1□03A
Q1AA10150D 61 Q2EA07020D 49
Q1AA12100D 47 R2EA06020F 41
Q2AA08075D 43
RS1□05A Q2AA08100D 45
Q2AA10100H 50
Q2AA10150H 62
Q2AA13100H 58
Q2AA13150H 63
Q1AA10200D 111
Q1AA10250D 116
Q1AA12200D 101
Q1AA12300D 123
RS1□10A
Q1AA13300D 125
Q2AA13200H 93
Q2AA18200H 101
Q2AA22250H 137

・ Generation of heat built-in regeneration resistance is not included in the numerical value given in the table, it is
necessary to add it if needed.
・ If external regeneration resistance is used, change the additional items of calorific value of external regeneration
resistance as per the place where it is installed.
・ Follow the installation method of the “clause 2. for installation”.

9-3
9.Specifications [Servo motor general specifications]
■ Servo motor general specifications
Series Name Q1 Q2 R2
Time Rating Continuous
Insulation
Type F
Classification
Dielectric Strength
AC1500V 1 minute
Voltage
Insulation
DC500V, more than 10MΩ
Resistance
Fully closed, Auto cooling
IP67
(Note that Q1□A04,06 and 07 is IP40)
IP67
Protection Method IP67
(Excluding shaft passages and
It conforms to IP67 by using a (Note that Q2□A04 is IP40)
cable ends)
waterproof connector, conduit, shell,
clamp, etc.
Sealing Sealed(except Q1□A04,06,07) Sealing(Except Q2□A04) Not sealed (Optional)
Ambient
0 to +40°C
Temperature
Storage
-20 to +65°C
Temperature
Ambient Humidity 20 to 90%(Without condensation)
Vibration
V15
Classification
Coating Color Munsell N1.5 equivalent
Excitation Method Permanent-magnet type
Installation Method Flange mounting

■ Rotation Direction Specifications

● When a command to increase the position command is entered, the servo motor rotates in
a counterclockwise direction from the load side

● Encoder Signal Phases

Incremental encoder
<Normal rotation> Phase A

90°
Phase B

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

Phase A
<Reverse rotation>
90°
Phase B

Phase Z
Phase B is behind Phase A by 90°. t
When the Z-Phase is high, both A- and B- Phases cross the low level, once every revolution.
Absolute encoder
Normal (forward) rotation: Position data increased output
Reverse rotation: Position data decreased output

9-4
9.Specifications [Mechanical specifications of servo motor]
■ Mechanical specifications
● Vibration Resistance
Install the servo motor in a horizontal direction (as shown in the following figure), so that when
vibration is applied in any 3 directions (up/down, back/forward, left/right) it can withstand the
vibration acceleration up to 24.5m/s2.

Up/
down

Left/right
Backward/
forward

Horizontal
direction

● Shock Resistance
Install the shaft of the servo motor in a horizontal direction (as shown in the following figure). It
should withstand shock acceleration up to 98 m/s2 (when shocks are applied in an Up/down
direction) for 2 times. However, since a precision detector is fixed to the counter-load side of the
motor, any shock applied to the shaft may cause damage the detector; therefore, do not subject the
shaft to shock under any circumstances.

Up/
down

Horizontal
direction

● Working accuracy
The following table shows the accuracy of the servo motor output shaft and precision (Total
Indicator Reading) of the parts surrounding the shaft.

Items * 1 T.I.R. Reference Figure

Vibrations of output shaft

0.02
terminal α β

Eccentricity of the external 0.06 (Below□86) α

diameter of the flange on
output shaft M (β)
0.08 (Above□100)
M
Perpendicularity of the 0.07 (Below□86) γ
flange face to output shaft
M (γ) 0.08 (Above□100)
*1 T.I.R (Total Indicator Reading)

9-5
9.Specifications [Mechanical specifications of servo motor]
● Vibration Classification
The vibration classification of the servo motor is V15 or less, at the maximum rotation speed for a
single servo motor unit, and is measured in the manner pictured below.
Vibration
measurement position

● Mechanical Strength
The output strength of the servo motor can withstand instantaneous maximum torque.

● Oil seal
A Type S oil seal (as described in the following table) is fixed to the output shaft of the servo motor. This oil
seal is produced by NOK Corporation; please contact your dealer or sales representative for replacement of
the oil seal.

Oil Seal type Oil Seal type

Servo Motor Model Servo Motor Model
(Type S) (Type S)
Q1□A04○○○□ Q2AA13○○○□ AC1677E1
Q1□A06○○○□ N/A Q2AA18○○○□ AC2368E0
Q1AA07○○○□ Q2AA18550□
AC2651A8
Q1AA10○○○□ AC1306E0 Q2AA18750□
Q1AA12○○○□ AC1677E1 Q2AA22○○○□ AC2368E0
Q1AA13○○○□ AC1677E1 Q2AA22550□ AC3152E0
Q1AA18450□ AC2368E0 Q2AA22700□
Q1AA18750□ AC2651A8 Q2AA2211K□ AC3152E0
Q2□A04○○○□ N/A Q2AA2215K□
Q2□A05○○○□ AC0382A0 R2□A04○○○□
N/A
Q2□A07○○○□ AC0687A0 R2□A06○○○□
(Optional)
Q2AA08○○○□ AC0875A0 R2AA□8○○○□
Q2AA10○○○□ AC1306E0

● Degree of decrease rating: R2AA Motor fixed oil seal and brake
About oil seal and brake fixed, considering of a rise in heat, continuous zone should apply the following
degree of decrease rating.

Oil
seal non-fixed Decrease Servo Motor Model
fixed oil seal 04010F 06040F
Brake oil seal rating 1 R2AA
No decrease decrease degree of
with no brake 90
rating rating 2 decrease rating %
decrease decrease
with brake
rating 1 rating 2
Decrease Servo Motor Model
04005F 04010F 06040F 08075F
rating 2 R2AA
degree of
90 85 80 90
decrease rating %

9-6
9.Specifications [Holding brake specifications]

■ Holding brake specifications

An optional holding brake is available for each motor. Since this brake is used for holding, it cannot be
used for braking, except for an emergency. Turn brake excitation ON or OFF by using the holding brake
timing signal output. When using this signal, set the command for brake release time to 0min－1 for the
servo amplifier.
To externally control the holding brake, a response time (as shown in the following table) is required.
When using a motor with a brake, determine a time sequence that takes this delay time into account.

Braking delay time

Static friction torque
Model Release time msec msec
N.m
Varistor Diode
Q1AA04003D 0.098
Q1AA04005D 0.157 25 15 100
Q1AA04010D 0.320
Q1AA06020D 0.637
30 20 120
Q1AA06040D 1.274
Q1AA07075D 2.38 40 20 200
Q1AA10100D 3.92 40 30 120
Q1AA10150D 7.84
100 30 140
Q1 Q1AA10200D 7.84
Q1AA10250D 9.80 100 30 140
Q1AA12100D 3.92 100 30 140
Q1AA12200D 7.84 100 30 140
Q1AA12300D 11.8 100 30 140
Q1AA13400D 19.6
120 50 150
Q1AA13500D 19.6
Q1AA18450M 32.0 150 40 250
Q1AA18750H 54.9 300 140 400
Q2AA04006D 0.191
25 15 100
Q2AA04010D 0.319
Q2AA05005D 0.167
Q2AA05010D 0.353 15 10 100
Q2AA05020D 0.353
Q2AA07020D 0.69
Q2AA07030D 0.98 25 15 100
Q2AA07040D 1.372
Q2AA07050D 1.85 30 20 200
Q2AA08050D 1.96
Q2AA08075D 2.94 30 20 200
Q2AA08100D 2.94
Q2AA10100H 3.92 40 30 120
Q2AA10150H 7.84 100 30 140
Q2AA13050H 3.50 40 30 120
Q2 Q2AA13100H 9.0 70 30 130
Q2AA13150H 9.0
100 30 140
Q2AA13200H 12.0
Q2AA18200H 12.0 100 30 140
Q2AA18350H 32.0 120 40 150
Q2AA18450H 32.0 150 40 250
Q2AA18550R
Q2AA18550H 54.9 300 140 400
Q2AA18750L
Q2AA22250H 32.0 300 140 400
Q2AA22350H 32.0 300 140 400
Q2AA22450H 32.0 300 140 400
Q2AA22550B 90.0 300 140 400
Q2AA22700S
Q2AA2211KV 90.0 300 140 400
Q2AA2215KV

9-7
9.Specifications [Holding brake specifications]
Braking delay time
Static friction torque
Model Release time msec msec
N.m
Varistor Diode
Q1EA04003D 0.098
Q1EA04005D 0.157 25 15 100
Q1
Q1EA04010D 0.32
Q1EA06020D 0.637 30 20 120
Q2EA04006D 0.191
25 15 100
Q2EA04010D 0.319
Q2EA05005D 0.167
Q2
Q2EA05010D 0.353 15 10 100
Q2EA05020D 0.353
Q2EA07020D 0.69 25 15 100
R2AA04003F 0.32
R2AA04005F 0.32 25 15 100
R2AA04010F 0.32
R2AA06010F 0.36
30 20 120
R2AA06020F 1.37
R2AA08020F 2.55 40 20 200
R2AA06040F 1.37 30 20 120
R2
R2AA08040F 2.55
40 20 200
R2AA08075F 2.55
R2EA04003F 0.32
R2EA04005F 0.32 25 15 100
R2EA04008F 0.32
R2EA06010F 0.36
30 20 120
R2EA06020F 1.37

Brake operating time is measured in the following circuit.

100VAC
60Hz

E DC

E DC

Id

100% 100%

The brake release time and braking delay time refer to those mentioned in the above tables. The brake
release time is the same for both the varistor and diode.

9-8
No Text on This Page.
Materials
[Selection Details]
‹ Time of Acceleration and Deceleration/Permitted Repetition ··································· 1
‹ Permitted Repetition ··································································································· 2
‹ Loading Precaution····································································································· 3
‹ Dynamic Brake ··········································································································· 4
‹ Regeneration Process································································································ 7
‹ Calculation Method of Regeneration Power by Operations along Horizontal Axis ·························· 8
‹ Calculation Method of Regeneration Power by Operations along Vertical Axis······························ 9
‹ Confirmation Method of Regeneration Power ························································· 10
‹ External regenerative resistor ·················································································· 11
‹ External Regenerative Resistor Dimension····························································· 15

[International Standards]
‹ International standards conformity··········································································· 18
‹ Compliance with EC Directives················································································ 20

[Dimensions]
‹ Servo amplifiers ········································································································ 24
‹ Servo motors············································································································· 32

[Servo motor data sheet]

‹ Characteristics table ································································································· 37
‹ Velocity-Torque characteristics ················································································ 42

[Digital Operator]
‹ Names and Functions ······························································································ 50
‹ Changing Modes······································································································· 52
‹ Monitor mode operations and display······································································ 53
‹ Basic Parameter Mode Operations and Display ····················································· 56
‹ General parameter mode operations and display··················································· 58
‹ Auto-adjustment mode operations and display······················································· 60
‹ Test run mode operations and display····································································· 61
‹ System parameter mode operations and display···················································· 63
‹ Alarm trace/CPU Ver. mode operations and display ·············································· 64
‹ Password Setting······································································································ 65

[Options]
‹ Metal mounting fittings······························································································ 66
‹ Monitor box ··············································································································· 70
‹ Lithium battery･EMC kit···························································································· 71

[Encoder Clear]
‹ Encoder clear/ reset method ···················································································· 72
Materials: Selection Details
[Time of Acceleration and Deceleration/Permitted Repetition]

■ Time of Acceleration and Deceleration

● The motor’s acceleration time (t a) and deceleration time (t b) when under a constant load is calculated by
following method.
Acceleration time：ta = (JM+JL) ･ (2π/60) ･ {(N2-N1)/(TP-TL)} [S]

Deceleration time:tb = (JM+JL) ･ (2π/60) ･ {(N2-N1)/(TP+TL)} [S]

✍ These expressions are for the rated speed values, but exclude the viscous torque and friction
torque of the motor.

ta: Acceleration time(S) TP: Instantaneous maximum stall torque(N･m)

tb: Deceleration time(S) TL: Load torque(N･m)
JM: Motor inertia(kg･m2)
JL: Load inertia(kg･m2)
N1,N2: Rotational speed of motor(min-1)
Ｎ２

Ｎ１ Time
ta tb

✍ When determining t a and t b, it is recommended to do so by calculating the load margin and decreasing
the instantaneous maximum instant stall torque value (TP) to 80%.

■ Permitted repetitions
● There are separate limitations on repetitive operations for both the servo motor
and servo amplifier, and the conditions of both must be fulfilled simultaneously.

Permitted repetitions for the servo amplifier

When START / STOP sequences are repeated frequently, confirm in advance that they are within
the allowed range. Allowed repetitions differ depending on the type, capacity, load inertia,
adjustable-speed current value and motor rotation speed of the motor in use. If the load inertia =
motor inertia × m times, and when the permitted START / STOP repetitions (up until the maximum
２０
rotation speed) exceed ｍ＋１ times/min, contact your dealer or sales office for assistance, as
precise calculation of effective torque and regenerating power is critical.

Permitted repetitions for the motor

Permitted START / STOP repetitions differ according to the motor’s usage conditions, such as the
load condition and time of operation.

Materials-1
Materials: Selection Details [Permitted Repetition]
■ When continuous-speed status and motor stop status is repeated
● In operating conditions such as those shown below, and the motor should be used at a frequency in witch
its effective torque is less than the rated torque (TR).

Ta
TL
Servo Motor Torque → Time
ｔａ
ｔｓ Tb
ｔｂ

Ｎ
Servo Motor Rotating Velocity
→ Time
If the operating cycle is considered as ‘t’, the usable range can be determined as follows:

Ta2 ta + TL2 ts + Tb2 tb Ta: Acceleration torque

t≧ [s] Tb: Deceleration torque
TL: Load torque
TR2 Trms: Efective torque
TR: Rated torque

When cycle time (t) is predetermined, Ta,Tb, t a, t b appropriate in the above formula are required.

✍ When actually determining the system drive mode, it is recommended to calculate the load margin and suppress it to Trms ≦ 0.7TR

■ When the motor repeats acceleration, deceleration, and stop status

● For the operating status shown below, the value of permitted repetitions n (times/min) is displayed by following equation.

ＴＰ
Servo Motor Torque ＴL
サーボモータ電流 → Time
-Ｔ Ｐ

Ｎ
サーボモータ
Servo Motor → Time
回転速度
Rotating Velocity

１ ＴＰ２－ＴＬ２
ｎ＝２．８６×１０２× × ×ＴＲ２ [times/min]
Ｎ(ＪＭ＋ＪＬ) ＴＰ３
ＴＲ：Rated torque

Materials-2
Materials: Selection Details [Permitted Repetition/Loading Precaution]

■When the motor repeats acceleration, constant speed operation, and deceleration status

● For the operating status shown below, the value of permitted repetitions ‘n’ (times/min) is displayed by
following equation.

ＴＰ
Servo Motor Torque ＴL
サーボモータ電流 → Time

-ＴＰ

Ｎ
Servo Motor
サーボモータ
Rotating Velocity → Time
回転速度

１ ＴＲ２－ＴＬ２ [times/min]
ｎ＝２．８６×１０２× ×
Ｎ(ＪＭ＋ＪＬ) ＴＰ

■ Loading Precautions
● Negative load
The servo amplifier cannot perform continuous operations by negative load from the servo motor
for more than several seconds.
When using the amplifier with a negative load, contact your dealer or sales representative.
・ Downward motor drive (when there is no counter weight.)
・ When usinglike a generator, such as the wind-out spindle of a winder.

● Load Inertia (JL)

When the servo amplifier is used with a load inertia exceeding the allowable load intertia calculated in
terms of the motor shaft, a main circuit power overvoltage detection or regenerative error function may
be issued at the time of deceleration.
The following measures must be taken in this case. For more details, please consult with your
dealer or sales representative.

・ Reduce the torque limit

・ Extend the acceleration and deceleration time (Slow down)
・ Reduce the maximum motor speed
・ Install an external regenerative resistor

Materials-3
Materials: Selection Details [Dynamic brake]
■ Slowing down the revolution angle by the dynamic brake
● Slowing down the revolution angle by the dynamic brake is as follows:
ｌ1
N: Motor speed (min -1)
Speed Ｎ I1: Slow-down revolution angle (rad) by amplifier
internal process time t D.
I2: Slow-down revolution angle (rad) by on dynamic
ｌ2
brake operation
tD: Delay time from signal display to operation start (s)
(Depending on amplifier capacity; Refer to following)

ｔＤ Time

Servo Amplifier
Delay Time tD (S)
Model Name
RS1□01 -3
10×10
□= L / A / N / E
RS1□03 -3
10×10
□= L / A / N / E
RS1□05 -3
10×10
□= A / L
RS1□10 -3
24×10
□= A / L
RS1□15 -3
24×10
□= A / L
-3
RS1A30 42×10

[Standard formula] When load torque (TL) is considered as zero.

Ｉ＝Ｉ１＋Ｉ２

２πＮ・ｔＤ
＝ ＋（ＪＭ＋ＪＬ）×（αＮ＋βＮ３）
６０
I: Integrated slow-down rotation angle (rad)
Jm: Motor inertia (kg･m2)
JL: Load inertia (Motor axis conversion) (kg･m2)・
α･β: Refer to the constant table of the dynamic brake

Materials-4
Materials: Selection Details [Dynamic brake]
■ Instantaneous tolerance of dynamic brake
● If the load inertia (JL) substantially exceeds the applicable load inertia, abnormal heat can be generated
due to dynamic brake resistance. Take precautions against situations such as an overheat alarm or the
failure of dynamic break resistance, and consult your dealer or sales representative if such a situation
occurs.
The energy (ERD) consumed by dynamic brake resistance in 1 dynamic brake operation is as follows:
２
２.５ １ ２π
ＥＲＤ＝ × （ＪＭ＋ＪＬ)× Ｎ －Ｉ×ＴＬ
Ｒφ＋２.５ ２ ６０

RΦ: Motor phase winding resistance (Ω)

JM : Motor inertia (kg./m2)
JL : Load inertia (Motor shaft conversion) (kg/m2)
N : Number of motor rotations (min -1) in feed rate V
I : Integrated slow-down rotating angle (rad)
TL : Load torque (N/m)
✍ Dynamic brake resistance may fail if the energy ERD consumed by dynamic brake resistance
during dynamic brake operation exceeds the energy shown in the following table. Consult
with the dealer or sales representative if such a situation is anticipated.

Amplifier Model Name ERD (J)

RS1□01
360
□= L / A / N / E
RS1□03
360
□= L / A / N / E
RS1□05
1800
□= A / L
RS1□10
2450
□= A / L
RS1□15
2450
□= A / L
RS1A30 9384
■Allowable frequency of dynamic brake
●The allowable frequency (main circuit power ON/OFF) of the dynamic brake is less than 10
rotations per hour and 50 rotations per day under the conditions of maximum speed. However
the load inertia is within the applicable one.

In basic terms, operation of the dynamic brake in six-minute intervals between two operations is
✍ permissable at maximum speed, but if the brake is to be operated with greater frequency, the
motor speed must be reduced.
Use the following ratio to determine allowable frequency:
6 min
（Number of rated rotations/ maximum number of rotations for usage）2

Materials-5
Materials: Selection Details [Dynamic brake]
■ Dynamic brake constant table.
Amplifier
Motor model number α β ＪＭ(kg･m２)
capacity
-7 -4
Q1AA04003D 204 92.0×10 0.01×10
Q1AA04005D 130 34.3×10-7 0.0134×10-4
Q1AA04010D 53 35.0×10-7 0.0233×10-4
Q1AA06020D 13 32×10-7 0.141×10-4
Q2AA04006D 87.8 25.6×10-7 0.057×10-4
Q2AA04010D 55.2 8.4×10-7 0.086×10-4
Q2AA05005D 132 10.7×10-7 0.067×10-4
Q2AA05010D 45.2 7.93×10-7 0.13×10-4
RS1A01
RS1L01 Q2AA05020D 19.0 46.9×10-7 0.25×10-4
Q2AA07020D 25.9 11 . 7 × 1 0 - 7 0.38×10-4
Q2AA07030D 11 . 0 13.9×10-7 0.45×10-4
R2AA04003F 227 4.29×10-6 0.0247×10-4
R2AA04005F 11 9 2.96×10-6 0.0376×10-4
R2AA04010F 41.2 1.56×10-6 0.0627×10-4
R2AA06010F 32.6 5.04×10-6 0 . 11 7 × 1 0 - 4
R2AA06020F 14.5 2.46×10-6 0.219×10-4
-6
R2AA08020F 11 . 3 1.13×10 0.52×10-4
Q1AA06040D 9.13 13.1×10-7 0.247×10-4
Q1AA07050D 5.24 7.75×10-7 0.636×10-4
Q2AA07040D 10.2 7.08×10-7 0.75×10-4
Q2AA07050D 10.6 3.84×10-7 0.85×10-4
RS1A03
RA1L03 Q2AA08050D 7.71 4.51×10-7 1.30×10-4
Q2AA13050H 5.34 6.99×10-7 2.80×10-4
R2AA06040F 8.82 1.00×10-6 0.412×10-4
R2AA08040F 6.91 4.25×10-6 1.04×10-4
R2AA08075F 5.84 9.10×10-8 1.82×10-4
Q1AA10100D 6.50 6.89×10-7 1.29×10-4
Q1AA10150D 3.95 3.60×10-7 1.61×10-4
Q2AA08075D 9.23 1.71×10-7 2.07×10-4
RS1A05 Q2AA08100D 5.30 1.62×10-7 2.7×10-4
RS1L05 Q2AA10100H 2.78 1.50×10-7 5.4×10-4
Q2AA10150H 2.03 0.92×10-7 8.0×10-4
Q2AA13100H 2.81 3.35×10-7 5.40×10-4
Q2AA13150H 1.79 2.33×10-7 7.94×10-4
Q1AA10200D 4.19 0.47×10-7 2.15×10-4
Q1AA10250D 2.70 0.46×10-7 2.65×10-4
Q1AA12200D 2.85 0.33×10-7 4.37×10-4
RS1A10 Q1AA12300D 1.53 0.27×10-7 6.40×10-4
RS1L10 Q1AA13300D 1.78 0.53×10-7 4.92×10-4
Q2AA13200H 1.23 0.48×10-7 12×10-4
Q2AA18200H 1.49 0.36×10-7 20×10-4
Q2AA22250H 1.83 0.24×10-7 32.20×10-4
Q1AA13400D 2.13 0.25×10-7 6.43×10-4
Q1AA13500D 1.52 0.20×10-7 8.47×10-4
Q1AA18450M 0.43 0.35×10-7 27.5×10-4
Q2AA18350H 1.14 0.09×10-7 38×10-4
RS1A15 Q2AA18450H 0.74 0.09×10-7 55×10-4
RS1L15 Q2AA18550R 0.52 0.05×10-7 72.65×10-4
Q2AA22350H 1.13 0.17×10-7 47.33×10-4
Q2AA22450R 0.76 0.12×10-7 67.45×10-4
Q2AA22550B 0.46 0 . 11 × 1 0 - 7 95×10-4
Q2AA22700S 0.18 0.10×10-7 185×10-4
Q1AA18750H 0.96 4.77×10-9 52×10-4
Q2AA18550H 1.15 2.29×10-9 73×10-4
RS1A30 Q2AA18750L 0.725 2.30×10-9 95×10-4
Q 2 A A 2 2 11 K V 0.475 2.47×10-9 186×10-4
Q2AA2215KV 0.335 1.96×10-9 255×10-4

Amplifier
Motor model number α β ＪＭ(kg･m２)
capacity
Q1EA04003D 276 68.1×10-7 0.01×10-4
Q1EA04005D 205 39.7×10-7 0.0134×10-4
Q1EA04010D 82.3 26.1×10-7 0.0233×10-4
Q2EA04006D 129 7.40×10-7 0.057×10-4
RS1E01 Q2EA04010D 72.5 4.91×10-7 0.086×10-4
RS1N01 Q2EA05005D 212 3.48×10-7 0.067×10-4
Q2EA05010D 71.6 2.55×10-7 0.13×10-4
R2EA04003F 305 3.19×10-6 0.0247×10-4
R2EA04005F 171 2.06×10-6 0.0376×10-4
R2EA04008F 69.7 1.06×10-6 0.0627×10-4
R2EA06010F 59.1 2.84×10-6 0 . 11 7 × 1 0 - 4
RS1E03 Q1EA06020D 56.3 9.57×10-7 0.141×10-4
RS1N03 Q2EA05020D 46.4 0.99×10-7 0.25×10-4
Q2EA07020D 57.0 5.22×10-7 0.38×10-4
-7
R2EA06020F 38.8 9.10×10 0.219×10-4

✍ IfThethevalues for α and β are based on an assumed resistance value of the power line of 0Ω.
combination with an amplifier is different than those shown above, consult your dealer or sales office.

Materials-6
Materials: Selection Details [Regeneration Process]
■ Regeneration Process
●The regeneration capacity of the servo amplifier depends on the allowable power of the
regenerative resistor. When using the servo amplifier with built-in regeneration resistor, be sure to
calculate regeneration resistance PM and confirm that PM<PRI (the allowable power for the
built-in regeneration resistor) is fulfilled.
When regeneration power PM exceeds the permitted power (PRI) of the built-in regeneration
resistor, you can operate by conducting regeneration restance (PM) caluculation, confirming
that PM<PRO (the maximum allowable power of the exterior regeneration resistor) is fulfilled, and
connecting the opional external regeneration resistor
Regeneration Regeneration
Built-in regeneration External regeneration
resistor resistor
resistor is available resistor is available Contact us in case below
connecting connecting
[PRI] [PRO]
number number
RS1□01 PM= 2W and below Ⅰ PM=220Wand below PM=220W and up
RS1□03 PM= 5W and below Ⅰ PM=220Wand below PM=220W and up
Refer to
RS1□05 PM= 20W and below Ⅰ PM=500Wand below “Materials” PM=500Wand up
RS1□10 PM= 90W and below Ⅱ PM=500Wand below page 11 PM=500Wand up
RS1□15 PM=120W and below Ⅱ PM=500Wand below PM=500Wand up
RS1□30 ――― ――― PM=500Wand below PM=500Wand up

✍ If using the bult-in regeneration resistor, please specify the model

number of the servo amplifier with bult-in regeneration resistor in reference to

“Section 1: Prior to Use – Servo Amplifier Model Number”
If using the exterior regeneration resistor, please specify the model number of
the servo amplifier without bult-in regeneration resistor.

✍ When regeneration power PM exceeds the maximum permitted power (PRO) of the external
regeneration resistor, reconsider the acceleration constant, load inertia, etc.
● Resistance Value of Servo Amplifier Built-in Regeneration Resistor

Model Number of Servo Amplifier Resistance Value of Built-in

with Built-in Regeneration Resistor Regeneration Resistor
RS1□01
100Ω
□= L / M / N / P
RS1□03
50Ω
□= L / M / N / P
RS1□05
17Ω
□= A / B
RS1A10
10Ω
□= A / B
RS1A15
6Ω
□= A / B

Materials-7
Materials: Selection Details
[Calculation Method of Regeneration Power by Operations along Horizontal Axis]
■ Regeneration Power (PM) by Operations along Horizontal Axis
● Regeneration energy is calculated.
２
１ Ｔb Ｔb
ＥＭ＝ＥＨｂ＝ ×Ｎ×３･ＫＥφ × ×ｔb－ ×３･Ｒφ×ｔb
２ ＫＴ ＫＴ
EM : Regeneration energy during operations
along horizontal axis ……[J]
EHB : Regeneration energy during deceleration ……[J]
KEφ : Induced voltage constant ……[Vrms/min -1] (Motor constant)
KT : Torque constant ……[N･m/Arms] (Motor constant)
N : Motor rotation speed ……[min -1]
Rφ : Armature resistance ……[Ω] ( Motor constant)
Tb : Deceleration time ……[s]
Tb : Torque during deceleration ……[N･m] (Tb= Tc - TF)
Tc : Adjustable speed torque ……[N･m]
TF : Friction torque ……[N･m]

Speed

N
0

ＴC+ＴF
ＴF

Ｔb
to ｔb

● Effective regeneration power is calculated.

ＥM
ＰM＝
ｔo
PM : Effective regeneration power [W]
EM : Regeneration energy during deceleration [J]
To : Cycle time [s]

Materials-8
Materials: Selection Details
[Calculation Method of Regeneration Power by Operations along Vertical Axis]

■ Regeneration Power (PM) by Operations along Vertical Axis (With a Gravitational Load)
● Regenerative energy is calculated.

ＥM＝ＥVUb＋ＥVD＋ＥVDb
２
１ ＴUb ＴUb
＝ Ｎ×３･ＫＥφ× ×ｔUb－ ×３･Ｒφ×ｔUb
２ ＫＴ ＫＴ
２
ＴD ＴD
＋ Ｎ×３･ＫＥφ× ×ｔD－ ×３･Ｒφ×ｔD
ＫＴ ＫＴ
２
１ ＴDb ＴDb
＋ Ｎ×３･ＫＥφ× ×ｔDb－ ×３･Ｒφ×ｔDb
２ ＫＴ ＫＴ

EM : Regeneration energy during operations along vertical axis ……[J]

EVUb : Regeneration energy during increased deceleration ……[J]
EVD : Regeneration energy during descending run ……[J]
EVDb : Regeneration energy during decreased deceleration ……[J]
TUb : Torque during increased deceleration ……[N･m]
tUb : Increased deceleration time ……[s]
TD : Torque during descending run ……[N･m] (TD=TM – TF)
tD : Descending run time ……[s]
TDb : Torque during decreased deceleration ……[N･m] (TDb=TC – TF+TM)
tDb : Decreased deceleration time ……[s]
TM : Gravitational load torque ……[N･m]
✍ When the calculation result of either of EVUb, EVD, or EVDb is negative, calculate EM by
considering the value of those variabkes as 0.

Velocity N
上 昇
Increase
0
下 降
Deline
-N

ＴC+ＴF+ＴM
Motor
モータ
output
出力軸
shaft
トルク
torque ＴC+ＴF-ＴM
ＴM+ＴF ＴDb
ＴM ＴM
ＴD
ＴUb

ｔUb
ｔD ｔDb
ｔo

● Effective regeneration power is calculated.

PM : Effective regeneration power [W]
ＥＭ
ＰＭ＝ EM : Regeneration energy during increased deceleration/ descending
ｔｏ
/ decreased deceleration [J]
to : Cycle time [s]

Materials-9
Materials: Selection Details [Confirmation Method of Regeneration Power]

■ Confirmation method of regeneration power PM in actual operation

● Regeneration power PM can be easily confirmed in the digital operator or by Q-SETUP setup software.
Digital operator······· Monitor mode Page 12・ Regeneration circuit operating rate
Setup software ······· Monitor display Page 12･ RegP･Regeneration circuit operating rate

✍ The monitor value of the regeneration circuit operating rate shows the operating rate of
regeneration circuit. The display range is 0.01% to 99.99%.

● The actual regeneration power PM can be calculated from this monitor value by following equation.

Input Supply Voltage：In case of AC200V specification

400(V)×400(V) regeneration circuit operating rate (%)

Regeneration power PM (W)= ×
Regeneration resistance (Ω) 100(%)

Input Supply Voltage：In case of AC100V specification

200(V)×200(V) regeneration circuit operating rate (%)

Regeneration power PM (W)= ×
Regeneration resistance (Ω) 100(%)
● Calculation Example

Servo Amplifier Model Number： RS1L01AA*

[With built-in regeneration resistance/Input Supply Voltage: AC200V Specification]
Regeneration resistance value： 100Ω [Built-in Regeneration Resistance]
Monitor Value： 0.12% [RegP]

400(V)×400(V) 0.12(%)
×
Regeneration power PM (W)= = 1.92(W)
100(Ω) 100(%)

✍ The regeneration power calculated from this monitor value continues to be the target until the
end of operations. Regeneration power varys with the voltage fluctuation of the input power
supply and changes across the ages of the servo amplifier and the loading device.

✍ Select regeneration resistance by calculating regeneration power PM from the operation pattern,
as per the calculation method of regeneration power PM.

✍ Install the external regeneration resistor on equipment, and measure the temperature of the
external regeneration resistor by the operating condition that the regeneration electric power PM
becomes the maximum. Then do sufficient mounting check of alarm not being generated. In
addition, it takes 1 to 2 hours until the temperature of the external regeneration resistor is
saturated.

■ Selection of Optional External Regenerative Resistor

Materials-10
Materials: Selection Details [External Regenerative Resistor]
● You can select the combination of external regenerative resistors based on effective regenerative power
[PM] sought by the regeneration calculation.

Amplifier Model 220W

[PM] Up to 10W Up to 30W Up to 55W Up to 60W Up to 110W Below 220W
Number and over
Resistor Sign A×1 C×1 E×1 D×2 F×2 E×4 Contact
RS1□01
Connection Number Ⅲ Ⅲ Ⅲ Ⅳ Ⅳ Ⅵ
Resistor Sign B×1 D×1 F×1 C×2 E×2 F×4 Contact
RS1□03
Connection Number Ⅲ Ⅲ Ⅲ Ⅴ Ⅴ Ⅵ

Amplifier Model 500W

[PM] Up to 55W Up to 125W Up to 250W Below 500W
Number and over
Resistor Sign G×1 H×1 I×2 H×4 Contact
RS1□05
Connection Number Ⅲ Ⅲ Ⅳ Ⅵ

Amplifier Model 500W

[PM] Up to 125W Up to 250W Below 500W
Number and over
Resistor Sign Ｉ×1 H×2 Ｉ×4 Contact
RS1□10
Connection Number Ⅲ Ⅴ Ⅵ

Amplifier Model 500W

[PM] Up to 125W Up to 250W Below 500W
Number and over
Resistor Sign J×1 K×2 J×4 Contact
RS1□15
Connection Number Ⅲ Ⅴ Ⅵ

Amplifier Model 500W

[PM] Up to 250W Below 500W
Number and over
Resistor Sign L×1 L×2 Contact
RS1□30
Connection Number Ⅲ Ⅴ

The above resistor sign of a combination of an external regenerative resistor correspond to the
✍ following table.
Please select a resistor model name corresponding to a resistor sign.

✍ The above connection number of a combination of an external regenerative resistor is on the next page.
Please connect based on the connection number.

✍ The external regeneration resistors are installed with the condition of that regeneration electric power
utilization rate can reach maximum 25%.

Forced-cooling by using an air-cooling fan raise rate of regeneration electric power utilization up to
✍ around 50%.
Thermostat Permissible
Resistor Model Resistance
Resistor Sign Detection temperature Effective Power Outline Drawing
Number Value
(Contact specification) [ＰＭ]
A REGIST-080W100B 100Ω 10W
B REGIST-080W50B 50Ω 10W
C REGIST-120W100B 100Ω 30W
135℃±7℃
D REGIST-120W50B 50Ω 30W Refer to ‘Materials 15’
(b Contact)
E REGIST-220W100B 100Ω 55W
F REGIST-220W50B 50Ω 55W
G REGIST-220W20B 20Ω 55W
H REGIST-500W20B 20Ω 125W
I REGIST-500W10B 10Ω 100℃±5℃ 125W
Refer to ‘Materials16’
J REGIST-500W7B 7Ω (b Contact) 125W
K REGIST-500W14B 14Ω 125W
140℃±5℃
L REGIST-1000W6R7B 6.7Ω 250W Refer to ‘Materials17’
(b Contact)

Materials-11
Materials: Selection Details [External Regenerative Resistor]
■ Connection of Regenerative Resistance

●RS1□01 ●RS1□10 ●RS1□30

●RS1□03 ●RS1□15
●RS1□05 Terminal Block
CNB

DL1
回生抵抗器
Regenerative DL1
Regenerative
回生抵抗器
resistor
resistor DL2
DL2 Terminal Block
Ｐ Regenerative
Ｐ 回生抵抗器
resistor RB1 RB2 r t
RB4
RB1
RB1
RB2
RB2

✍ Please make sure to install the external regenerative resistor with

twisted wires and use as a short wire which is up to 5 meters long as possible.

✍ Use nonflammable electric wire or perform non-combustible processing (silicon tube, etc.) for connecting cable and wired,

and install wiring so as to not come in contact with the built-in unit .

✍ Please make sure to change the set-up of “System Parameter” and “Regenerative Resistance Selection” in line with the
kind of regenerative resistor you connect.

■ Connection of the Thermostat of a Regenerative Resistor

● Please use any of these general-purpose input [CONT1～CONT6].

Controller Servo Amplifier

DC
DC+5V～+24V
+24V Input Pin Number
CN1-入力ピン番号
26
50

23
32～37

Regenerative
Resistor Thermostat

✍ Please allocate the connected general-purpose input ( any of [CONT1 to CONT6]) to [Group9 40
External Trip Input Function of General Parameter].

Parameter Set-up Example：When connecting the thermostat to CONT6

The external trip function will be valid when ”0DH:CONT6_OFF” CONT6 is turned off in [Grop6 40 External Trip
Input Function].

Alarm (ALM-55) will be output from the servo amplifier when the thermostat of a generative resistor trips (the
contact point comes off) because of heating.

Materials-12
Materials: Selection Details [External Regenerative Resistor]

■ Connection Number of External Regenerative Resistor combination

ConnectionⅠ ConnectionⅡ

Built-in Regenerative
RB4－RB1Terminal Short Bar
CNB Terminal Block

RB1 RB4

RB2 RB1

RB2

ConnectionⅢ ConnectionⅣ [×2] Series Connection

Terminal Block Terminal Block

RB4 RB4

RB1 RB1

RB2 RB2

CN1 CN1

Twisted Wire Twisted Wire

ConnectionⅤ [×2] Parallel Connection ConnectionⅥ [×4] Series/Parallel Connection

Terminal Block
Terminal Block

RB4
RB4
RB1
RB1
RB2
RB2

CN1
CN1

Twisted Wire
Twisted Wire

Materials-13
Materials: Selection Details [External Regenerative Resistor]
■ Protection Function of Regenerative Resistance
With the R series servo amplifier, the regenerative resistance protection function is specified by parameter selections. Appropriate
protection for regenerative resistance is applied by setting parameters according to the type of regenerative resistance to be
connected. Set the appropriate parameters by following the instructions given below.

● The protection functions are divided into three main types:

① Protection for a short-time, high load factor (using built-in or external regenerative resistance): An error is detected when
the power absorption of regenerative resistance is extremely high over a short time period (100msec to 10 seconds). A
‘Regenerative Error’ alarm (“ALM_43”) is issued when this error is detected.

② Protection when allowable power absorption is exceeded for long time (using built-in regenerative resistance): An error is
detected when the power absorption of the built-in regenerative resistance exceeds the allowable power absorption over a
long time period (from a few seconds to a few minutes). An ’Internal Overheat’ alarm (“ALM_54”) is issued when this error is
detected.

③ Protection during thermostat operation of the external regenerative resistor: An error is detected when the external trip
function is started. An ‘External error / external trip’ alarm (“ALM_55”) is issued when this error is detected.

● The two parameters requiring settings are given below.

① Regenerative resistance selection Regenerative resistance built-in type [0B]

② External trip input function General parameter [Group9 40]

● Relationship between parameter settings and protection functions

Regenerative resistance
Parameter setting Protection function operation
in use
Regenerative Internal External Alarm
Regenerative resistance External trip
Resistor Thermostat error overheat External Trip
selection input function
[ALM_43] [ALM_54] [ALM_55]
－ －
Not Connecting － 00:_Not_Connect Invalid Invalid

Built-in － －
Regenerative － 01:_Built-in_R Valid Valid
Resistance
External － －
Regenerative － 02:_External_R Valid Invalid
Resistance
External Connect to
Regenerative 02:_External_R Setting Valid Invalid Valid
servo amplifier
Resistance

✍ Make appropriate settings to regenerative resistance [System parameter/Page0B]

when using built-in regenerative resistance.
If these parameter settings are incorrect, normally detected errors related to built-in regenerative
resistance may not be detected, possible causing the burning/fuming of regenerative resistance.

✍ The built-in/ external regenerative resistance may generate heat even if the overheat alarm etc. has
not been generated.
Do not touch the servo amplifier for 30 minutes after power is disconnected in the case of a power
failure, as there is a risk of burn, etc.

✍ Incorrect parameter settings may cause irregular operation of the protection functions. Upon an
alarm, confirm its cause and adjust the settings appropriately.

✍ The place where corrosive gas has occurred, and when there is much dust, insulated degradation,
corrosion, etc.may arise. There fore be careful of an attachment place.

✍ Arrangement of the external regeneration resistor should open an interval so that it is not influenced
by generation of heat from other parts.

Materials-14
Materials: Selection Details [External Regenerative Resistor Dimension]

■ External Dimension of Regenerative Resistor

Unit: mm
+20
132 300 0
+15
122±0.4 270 0
100 6±1 Thermostat
φ4.3 6±1 Model number Detection temperature
(Contact specification)
135℃±7℃
1 REGIST-080W100B
44±0.4

(Normal close contact)

26

135℃±7℃
2 REGIST-080W50B
２
Silicon rubber glass braided wire 0.5mm White (Normal close contact)
+0.3
0

(Thermo start)
Mass: 0.19kg
4.3

２
Silicon rubber glass braided wire 0.75mm Black
20
1

+20
182 300 0

172±0.4 270 +15

0

150 6±1 Thermostat

φ4.3 6±1 Model number Detection temperature
(Contact specification)
135℃±7℃
1 REGIST-120W100B
42±0.4

(Normal close contact)

23.5

135℃±7℃
2 REGIST-120W50B
２
(Normal close contact)
4.3 +0.3

Silicon rubber glass braided wire 0.5mm White

0

(Thermo start)
Mass: 0.24kg
２
Silicon rubber glass braided wire 0.75mm Black
20
1.2

+20
230 300 0
+15
220±0.4 270 0
200 6±1
φ4.3 6±1 Thermostat
Model number Detection temperature
(Contact specification)
135℃±7℃
60±0.4
42.7

1 REGIST-220W50B
(Normal close contact)
135℃±7℃
２
Silicon rubber glass braided wire 0.5mm White 2 REGIST-220W20B
+0.3

(Normal close contact)

0

(Thermo start)
4.3

２
Silicon rubber glass braided wire 0.75mm Black
135℃±7℃
3 REGIST-220W100B
(Normal close contact)
20

Mass:0.44kg
1.2

Materials-15
Materials: Selection Details [External Regenerative Resistor Dimension]

250±0.8
+0.4
234 -1.2 8±0.3 Earth mark Thermostat
4.5

Model number Detection temperature

(Contact specification)
3
100℃±5℃
80±0.5

60±0.3
M3 M3 1 REGIST-500W20B
(Normal close contact)

2 REGIST-500W20 None
Thermo stat 0.2mm2 White
2-φ4.5 Crimping terminal M5 100℃±5℃
3 REGIST-500W10B
(Normal close contact)
218 700±15
4 REGIST-500W10 None
100℃±5℃
5 REGIST-500W7B
40

(Normal close contact)

6 REGIST-500W7 None
350±15
100℃±5℃
7 REGIST-500W14B
(Normal close contact)
8 REGIST-500W14 None
Mass: 1.4kg

Materials-16
Materials: Selection Details [External Regenerative Resistor Dimension]

aa

bb

Thermostat
Model number Detection temperature
(Contact specification)
● 140℃±5℃
1 REGIST-1000W6R7B
(Normal close contact)
Mass:3.0kg

Connection Diagram

Materials-17
Materials: International Standards
[International standards conformity]

 Outline of Compliance with International Standards

● RS1 servo amplifier conforms to the international standards below.

International
Mark Standard number Certification Organization
standards

UL standard
UL508C UL
(File No.E179775) (Underwriters Laboratories inc.)
CSA standard

EN50178
TÜV
EN standard EN61000-6-2
(TÜV Product Service Japan, Ltd.)
EN61800-3

● Q and R servomotor conforms to the international standards below.

International
Display Standard number Certification Organization
standards
UL1004
UL
UL standard UL1446
(Underwriters Laboratories inc.)
(File No.E179832)

IEC-34-1 TÜV
EN standards
IEC34-5 (TÜV Product Service Japan, Ltd.)

✍ For products conforming to international standards, some specifications may differ from the
standard product due to prerequisites necessary for obtaining approval. Contact the manufacturer
for more details.

✍ The file number of UL is available at the UL homepage: http://www.ul.com/database/.

✍ Please contact your dealer or sales representative if you need the above certiification.

● Precautions for conformity standards

(1) Make sure to use servo amplifier and servo motor in a proper combination. Check “Section 1: Prior to
use --- Servo amplifier type number.
(2) Make sure to install the servo amplifier in your control panel in an environment where the pollution level
specified in EN50178 and IEC664 is no less than 2 ( polution level 1, 2). The control panel installation
configuration (under IP54) must exclude exposure to water, oil, carbon, dust, etc.
(3) The servo amplifiers must be used under the conditions specified in overvoltage categoryⅢ, EN50178.
For the interface, use a DC power supply with reinforced and insulated input and outputs.

Materials-18
Materials: International Standards
[International standards conformity]
(4) Always ground the protective earth terminals of the servo amplifier to the power supply earth. ( )
(5) When connecting grounding wire to the protective earth terminal, always connect one wire in one
terminal; never connect jointly with multiple wires or terminals.
(6) When connecting the leakage stopper, make sure to connect the protective earth terminal to the power
supply earth. ( )
(7) Connect earthing wire by using a crimping terminal with insulated tube, so that the connected wire will
not touch the neighboring terminals.

Crimping terminal

Broken tube

electric wire
(8) For wire relays, use a fixed terminal block to connect wires; never connect wires directly.

Good No
(9) Connect an EMC filter to the input power supply of the unit.
(10) Use an EN/ IEC-standard compatible no-fuse circuit breaker and electromagnetic contactor.

Materials-19
Materials: International Standards [Compliance with EC Directives]

 Compliance with EC Directives

Our company has performed the requisite low voltage and EMC testing in accordance with EC Directives
related to CE marking through a separate, third-party certifying authority.

Directive
Classification Test Test standard
classification
Low voltage
Directive --- --- EN50178: 1997
(Servo amplifier)
Conducted emission
EN55011: A1/1999
Emission
Radiated emission
EN55011: A1/1999

Electrostatic discharge immunity

EN61000-4-2: A2/2001

Radiated electromagnetic field immunity

EN61000-4-3: A2/2001
EMC Directive
Electrical first transient/ burst immunity
(Servo amplifier EN61000-4-4: A2/2001
/ servo motor)
Immunity test Conducted disturbance immunity
EN61000-4-6: A1/2001

Surge immunity
EN61000-4-5: A1/2001

Voltage Dips & Interruptions immunity

EN61000-4-11: A1/2001

Adjustable speed electrical power drive system EN61800-3/1996

:A11/2000
Rotating electrical machines-
Part1: Rating and performance IEC-34-1

Low voltage Rotating electrical machines-Part5:Classification of degrees of

Directive --- protection provided by enclosures of rotating electrical machines
IEC34-5
(Servo motor) (IP code)

Rotating electrical machines-Prat9: Noise limits

IEC34-9

✍ For the EMC Directives, tests are performed by general installation and countermeasure methods, in
our company asmachines and configurations differ depending on customers’ needs.

✍ This servo amplifier has been authorized to display CE marking based on the recognition certificate
issued by a separate, third-party certifying authority. Accordingly, customers are instructed to
perform the final conformity tests for all instruments
and devices in use.

Materials-20
Materials: International Standards [Compliance with EC Directives]

● Precautions for EMC Directives

Use the following guidelines below for the RS1 servo system in order to conform the customer’s
equipment and devices to the EMC Directives.

(1) A metallic material must be used for the door and main body of control panel.
(2) The joints of the top and side panels must be masked and welded.
(3) Parts joined with screws must be welded to prevent noise from leaking out from joints.
(4) When joining parts with screws or spot welding, the welding space must be within 10cm.
(5) Use an EMI gasket so that there is zero clearance between the door and control panel.
(6) Install EMI gasket uniformly to the contact points between door and main body of control panel.
(7) Perform conductivity processing on the EMI gasket, door and main body of control panel to confirm
their conductivty.
(8) Ground the noise filter frame to the control panel.
(9) Ground the servo amplifier chassis provided by the customer.
(10) Use shield cables for the motor power line and encoder cable.
(11) Ground the shield of motor power wire and encoder cable to the control panel with the clamp.
(12) Ground and clamp the shield of motor power line and encoder cable to the frame of the servo
amplifier.
(13) Use a conducting metal P clip or U clip to ground and clamp the shield wire, and fix it directly
with metal screws. Do not ground by soldering electric wire to the shield wire.

Good No

Grounding by U clip or P clip Grounding by soldering

(14) Wrap the zero-phase reactor four times around the primary side of the noise filter.

L1 L1
L2 L2
L3 L3

(15) Wire the servo amplifier at a short distance from the secondary side of noise filter.
(16) Wire the primary side and secondary side of the noise filter separately.

Materials-21
Materials: International Standards [Compliance with EC Directives]

 Installation of noise filter and servo amplifier

● Three-phase power supply
Servo amplifier
r
Noise filter
t

MC
L1 L1 R
L1 L2 L2 S
L2
L3 L3 L3 T
PE

Connected to protective earth

terminal
Toroidal core

Ground without fail

● Single-phase power supply

Servo amplifier
r
Noise filter
t

MC
L1 L1 R
L1 L2 L2 T
L2

PE

Connected to protective earth

terminal
Toroidal core

Ground without fail

✍ Always ground the frame of the noise filter.

✍ Install wiring by separating the primary and secondary wiring of the noise filter as much as possible.

✍ Keep wiring from the noise filter to servo amplifier as short as possible.

✍ Connect the servo amplifier to the secondary side of noise filter.

Materials-22
Materials: International Standards [Compliance with EC Directives]
 Recommended prevention components
● Noise filter
Model Number Specifications Manufacturer
Rated voltage：Line-Line 500 V Okaya Electric Industries Co. Ltd.
3SUP-HL30-ER-6B
Rated current：30 A
Rated voltage：Line-Line 500 V Okaya Electric Industries Co. Ltd.
3SUP-HL50-ER-6B
Rated current：50 A
Rated voltage：Line-Line 440 to 550 V RASMI ELECTRONICS LTD.
RF3020-DLC
Rated current：20 A
Rated voltage：Line-Line 440 to 550 V RASMI ELECTRONICS LTD.
RF3030-DLC
Rated current：30 A
Rated voltage：Line-Line 440 to 550 V RASMI ELECTRONICS LTD.
RF3070-DLC
Rated current：70 A
Rated voltage：Line-Neutral 250 V RASMI ELECTRONICS LTD.
RF1010-DLC
Rated current：10 A
Rated voltage：Line-Line 480 V SCHAFFNER
FS5559-35-33
Rated current：35 A

● Toroidal core
Model Number External diameter Internal diameter Manufacturer
251-211 65 mm 36 mm SCHAFFNER

Okaya Electric Industries Co. Ltd.: http://www.okayaelec.co.jp/

RASMI ELECTRONICS LTD. : http://www.rasmi.com/
SCHAFFNER : http://www.schaffner.com/

✍ Please inquire the order for the RASMI product of our company.

 Implementation of check test

EMC testing of equipment and devices which the RS1 servo system is built–in should meet the
emission and immunity (electromagnetic compatibility) standards for the usage environment/
and operating conditions. It is necessary to follow the instructions mentioned above and conduct
a final conformity check test after review.

Materials-23
Materials: Dimensions [RS1□01]

M TION

▲ ▼
▲

TYPE

C
CHARGE POWER

P
T
S
C
M TION
C
R N
A
t
r

C
○
－ N
1
DL1
DL2 C
N
P B
RB1
RB2

W C
C N
V N 2
C
U

Materials-24
Materials: Dimensions [RS1□03]

M TION

▼
▲

▲
TYPE

C
CHARGE POWER

P
T
S
C
M TION
C
R N
A
t
r

C
○
－ N
1
DL1
DL2 C
N
P B
RB1
RB2

W C
C N
V N 2
C
U

Materials-25
Materials: Dimensions [RS1□05]

M TION

▼
▲

▲
TYPE

C
CHARGE POWER

P
M TION
T C
S
C
R N
A
t
r

C
○
－ N
1
DL1
DL2 C
N
P B
RB1
RB2

W C
C N
V N 2
C
U

Materials-26
Materials: Dimensions [RS1L/M01]

M TION

RS1*01AC

▲ ▼
▲

TYPE

C
CHARGE POWER

P
T
S
C
M TION
C
R N
A
t
r

C
○
－ N
1
DL1
DL2 C
N
P B
RB1
RB2

W C
C N
V N 2
C
U

Materials-27
Materials: Dimensions [RS1L/M03]

M TION
RS1*03AC

▼
▲

▲
TYPE

C
CHARGE POWER

P
T

S
C
M TION
C
R N
A
t
r

C
○
－ N
1
DL1
DL2 C
N
P B
RB1
RB2

W C
C N
V N 2
C
U

Materials-28
Materials: Dimensions [RS1□10]

M TION

▲
▲
TYPE

M TION

Materials-29
Materials: Dimensions [RS1□15]

M TION

▲ ▼

▲
TYPE

M TION

Materials-30
Materials: Dimensions [RS1□30]

M TION

▲
▲
TYPE

M TION

Materials-31
Materials: Dimensions [Q1 □40 to □76]

0.07 M
□ＬＣ
0.02
LR LLMAX.

4- LZ 0.06 M LE LG
Q
LH
LA

LB
S
M

KL
QE Tap D1 D2

（５０）

（５０）
Depth LT

1100±100

1100±100
Teflon cable(for fixing) Shield cable(for fixing)
(For motor,ground,brake) (For sensor)

Wire-saving Battery backup

incremental method absolute
encoder [PP031] encoder [PA035C]
Without With Without With [PP [PA
Brake Brake Brake Brake 031] 035C]
MODEL LL LL LL LL LG KL LA LB LE LH LC LZ LR S Q QE LT D1 D2 D2 Oil seal
0
Q1□A04003△□◇ 75±2 121.5±2 80.3±2 125.3±2 - -
6-0.008
0
Q1□A04005△□◇ 81±2 127.5±2 87.3±2 131.3±2 5 30 46 2.5 54 40 4.5 25 7
30-0.021 0
- -
8-0.009
Q1□A04010△□◇ 100±2 146.5±2 106.3±2 150.3±2 -
4.7 5 Option
Q1□A06020△□◇ 111±2 140±2 116±2 145±2
0 0
6 41 70 3 81 60 5.5 30 M5 12 7.5
50-0.025 14-0.011
Q1AA06040△□◇ 140±2 169±2 145±2 174±2

0 0
Q1AA07075△□◇ 154±2 177.5±2 163.6±2 187±2 8 50 90 3 100 76 5.5 40 35 M5 12 7.5
70-0.030 16-0.011

Materials-32
Materials: Dimensions [Q1 □100 to □180]

Oil seal QE Tapping

S shape Depth LT

Eyebolt
(Sensor)

Section H-H JL04V-2E10SL-3PE-B

(Motor, Ground, Brake) (Brake)

Wire-saving incremental Battery backup method absolute encoder

Connector Note 1
encoder [PP031] [PA035C]
Brake(only [PP [PA
Withou Without Withou Motor, when brake is 031] 035C]
Without Brake
Brake Brake Brake Earth instalied)
Note2
MODEL LL KB2 LL KB2 KB3 LL KB2 LL KB2 KB3 MS3102A JL04V-2E LG KL1 KL2 KL3 KL3 LA LB
Q1AA10100△□◇ 184 219 193 229
Q1AA10150△□◇ 209 244 218 254 0
80 116 51 90 125 51 20-15P 10SL-3PEB 10 78 19 63 63 115
Q1AA10200△□◇ 234 269 243 279 95-0.035

Q1AA10250△□◇ 259 294 268 304

Q1AA12100△□◇ 168 204 183 219
135/ 0
Q1AA12200△□◇ 205 72 241 108 45 220 87 256 123 45 24-11P 10SL-3PE-B 12 93 21 67 63
145 110-0.035
Q1AA12300△□◇ 242 278 257 293
Q1AA13300△□◇ 205 254 220 270
0
Q1AA13400△□◇ 232 67 281 117 - 247 84 297 134 - 24-11P 12 98 21 80 63 145
110-0.035
Q1AA13500△□◇ 269 318 284 334
Q1AA18450△□◇ 288 67 338 117 - 304 84 354 134 - 24-11P 16 123 21 0
80 63 200 114.3-0.03
Q1AA18750△□◇ 384 72 434 122 54 400 89 450 139 54 32-17P 10SL-3PE-B 19 144 22 5

MODEL LE LH LC LZ1 LZ2 LR S Q QA QK W T U KB1 α β γ QE LT IE IF IL1 IL2

Q1AA10100△□◇ 84
Q1AA10150△□◇ 0 0 109
3 130 100 9 - 45 40 3 32 6 2.5 0.02 0.08 0.08 M6 20 - - - -
Q1AA10200△□◇ 22-0.013 6-0.030 134
Q1AA10250△□◇ 159
Q1AA12100△□◇ 0 0 76
45 40 3 32 6 2.5 M6 20
Q1AA12200△□◇ 22-0.013 6-0.030 113 0.02 0.08 0.08
3 162 120 9 - - - - -
0 0
Q1AA12300△□◇ 55 50 3 42 7 3 150 M8 25
28-0.013 8-0.036
Q1AA13300△□◇ 117
0 0
Q1AA13400△□◇ 4 165 130 9 M6 55 50 3 42 7 3 144 0.02 0.08 0.08 M8 25 - - - -
28-0.013 8-0.036
Q1AA13500△□◇ 181
0 0
Q1AA18450△□◇ 65 60 3 50 8 3 200 M8 25 124 50 93 50
35-0.016 10-0.036
3 230 180 13.5 M8 0.02 0.08 0.08
0 0
Q1AA18750△□◇ 79 75 3 67 8 3 291 M10 25 124 50 85 145
42-0.016 12-0.043

Note 1) Connector becomes a waterproof specification when intuition is combined, and use the connector of
the waterproof specification forthe receiving side plug for IP67, please.

Note 2) All the brake connectors become JL04V-2E70SL-3PE-B for CE of the A DC24V brake.

Materials-33
Materials: Dimensions [Q2 □42 to □86]

0.07 M
□ＬＣ
0.02
LR LL

4- LZ 0.06 M LE LG
Q
LH
LA
QA QK

LB
S
M

KL
Oil seal QE Tapping D1 D2
（S type） Depth LT

（５０）

（５０）
1100±100

1100±100
W

QK
W U Teflon cable (for fixing) Shield cable (for fixing)
T (For motor, ground, brake) (For sensor)
W

Q2AA04006
～Q2AA05010 Q2AA05020
～Q2AA08100

Wire-saving Battery backup

incremental encoder method absolute
[PP031] encoder [PA035C]
Without With Without With
Brake Brake Brake Brake
MODEL LL LL LL LL LG KL LA LB LE LH LC LZ LR
Q2□A04006△□◇ 80±2 112±2 88±2 120±2 0
5 31 48 2 57 42 3.5 24
Q2□A04010△□◇ 94±2 126±2 102±2 134±2 34-0.025

Q2□A05005△□◇ 79±2 108±2 88±2 110.5±2

0 24
Q2□A05010△□◇ 87±2 115±2 96±2 118.5±2 5 38 60 2.5 71.5 54 4.5
50-0.025
Q2□A05020△□◇ 103±2 131±2 112±2 134.5±2 30
Q2□A07020△□◇ 96±2 121±2 105±2 131±2
Q2AA07030△□◇ 103±2 128±2 113±2 138±2 0
8 50 90 3 100 76 5.5 30
Q2AA07040△□◇ 110±2 135±2 120±2 145±2 70-0.030

Q2AA07050△□◇ 118±2 143±2 128±2 153±2

Q2AA08050△□◇ 128±2 164±2 136.5±2 172.5±2
0
Q2AA08075△□◇ 145±2 181±2 153.5±2 189.5±2 8 55 100 3 115 86 6.6 35
80-0.030
Q2AA08100△□◇ 164±2 198±2 170.5±2 206.5±2

[PP031] [PA035C]
MODEL S Q QA QK W T U QE LT D1 Oil seal D2 Oil seal
Q2AA04006△□◇ 0 Without
20 - 15 6.5±0.2 - - - - 7
Q2AA04010△□◇ 7-0.009 Note 1

Q2AA05005△□◇ 0
20 - 15 7.5±0.2 - - M3 8
Q2AA05010△□◇ 8-0.009

0
Q2AA05020△□◇ 25 2 20 4 4 1.5 M4 10
11-0.011
Q2AA07020△□◇
4.7 5
With
Q2AA07030△□◇ 0
25 2 20 5 5 2 M5 12 7.5
Q2AA07040△□◇ 14-0.011

Q2AA07050△□◇
Q2AA08050△□◇
0
Q2AA08075△□◇ 30 2 25 5 5 2 M5 21
16-0.011
Q2AA08100△□◇
(Unit:mm)

Note 1) If oil seal is needed for Q2AA04*, the overall motor length is different.

Materials-34
Materials: Dimensions [Q2 □100 to □220]

Wire-saving incremental encoder Battery backup method absolute

Connector Note 1
[PP031] encoder [PA035C]
[PP [PA
Brake(only when
Without With Brake Without With Brake Motor 031] 035C]
brake is
Brake Brake grounding instalied) Note2
MODEL LL KB2 LL KB2 KB3 LL KB2 LL KB2 KB3 MS3102A JL04V-2E LG KL1 KL2 KL3 KL3 LA LB
Q2AA10100△□◇ 196 231 207 243 0
77 113 51 90 125 51 20-15P 10SL-3PE-EB 10 78 19 67 63 115
Q2AA10150△□◇ 226 261 237 273 95-0.035

Q2AA13050△□◇ 135 171 150 186

Q2AA13100△□◇ 152 188 103 - 167 203 120 - 0
67 84 24-11P 12 98 21 80 63 145
Q2AA13150△□◇ 169 205 184 220 110-0.035

Q2AA13200△□◇ 186 226 107 - 201 241 124 -

Q2AA18200△□◇ 171 221 186 236
0
Q2AA18350△□◇ 203 67 253 117 - 218 84 268 134 - 24-11P 16 123 21 80 63 200 114.3-0.03
5
Q2AA18450△□◇ 218 268 234 284
Q2AA18550△□◇ 282 332 298 348 0
72 122 54 89 139 54 32-17P 10SL-3PE-EB 19 144 22 80 63 200 114.3-0.03
Q2AA18750△□◇ 332 382 348 398 5
Q2AA22250△□◇ 158 196 171 210
Q2AA22350△□◇ 171 65 209 104 44 184 80 223 119 44 16
0
Q2AA22450△□◇ 189 227 202 241 24-11P 10SL-3PE-EB 141 21 80 63 235
200-0.046
Q2AA22550△□◇ 252 309 265 323
82 140 82 97 155 82 19
Q2AA22700△□◇ 310 368 323 381
Q2AA2211K△□◇ 335 393 355 406 0
73 131 61 94 145 61 32-17P 10SL-3PE-EB 19 162 22 80 63 235
Q2AA2215K△□◇ 394 452 414 465 200-0.046

MODEL LE LH LC LZ1 LZ2 LR S Q QA QK W T U KB1 α β γ QE LT IE IF IL1 IL2

Q2AA10100△□◇ 0 0 98
3 130 100 9 - 45 40 3 32 6 2.5 0.02 0.08 0.08 M6 20 - - - -
Q2AA10150△□◇ 22-0.013 6-0.030 128
Q2AA13050△□◇ 47
0 0
Q2AA13100△□◇ 6 2.5 64 M6 20
22-0.013 6-0.030
4 165 130 9 M6 55 50 3 42 0.02 0.08 0.08 - - - -
Q2AA13150△□◇ 81
0 0
Q2AA13200△□◇ 7 3 98 M8 25
28-0.013 8-0.036
Q2AA18200△□◇ 83 - - - -
0 0
Q2AA18350△□◇ 3 230 180 13.5 M8 65 60 3 50 8 3 115 0.02 0.08 0.08 M8 25 20
35-0.016 10-0.036 124 50 61
Q2AA18450△□◇ 130 35
Q2AA18550△□◇ 0 0 189 50
3 230 180 13.5 M8 79 75 3 67 8 3 0.02 0.08 0.08 M10 25 124 50 85
Q2AA18750△□◇ 42-0.016 12-0.043 239 100
Q2AA22250△□◇ 71 10
0 0
Q2AA22350△□◇ 65 60 50 8 3 84 0.02 0.08 0.08 M8 50 20
35-0.016 10-0.036
Q2AA22450△□◇ 4 270 220 13.5 M10 3 102 25 142 60 40
Q2AA22550△□◇ 0 0 149 50
79 75 67 10 4 0.03 0.08 0.10 M10 55
Q2AA22700△□◇ 55-0.019 16-0.043 207 110
Q2AA2211K△□◇ 0 0 241 120
4 270 220 13.5 M10 79 75 3 67 10 4 0.03 0.08 0.10 M10 25 142 60 69
Q2AA2215K△□◇ 55-0.019 16-0.043 300 180

Note 1) Connector becomes a waterproof specification when intuition is combined, and use the connector of
the waterproof specification for the receiving side plug for IP67, please.
Note 2) All the brake connectors become JL04V-2E70SL-3PE-B for CE of the A DC24V brake.

Materials-35
Materials: Dimensions [R2 □40 to □80]

Without Oil Seal

Without Oil Seal
Note1
Battery buckup method Battery buckup method
absolute encoder absolute encoder
Without With Without With
Brake Brake Brake Brake
MODEL LL LL LL LL LG KL LA LB LE LH LC LZ LR
R2□A04003△□◇ 51.5 87.5 56.5 92.5

R2□A04005△□◇ 56.5 92.5 61.5 97.5 0 2-φ

5 35.3 46 2.5 56 40 25
R2EA04008△□◇ 30-0.021 4.5
72 108 77 113
R2AA04010△□◇

R2□A06010△□◇ 58.5 82.5 65.5 89.5 0 4-φ 25

6 44.6 70 82 60
50-0.025 5.5
R2□A06020△□◇ 69.5 97.5 76.5 104.5
0 3 4-φ
R2AA08020△□◇ 66.3 102 73.3 109 8 54.4 90 108 80
70-0.030 6.6
30
0 4-φ
R2AA06040△□◇ 95.5 123.5 102.5 130.5 6 44.6 70 82 60
50-0.025 5.5
R2AA08040△□◇ 78.3 114 85.3 121 0 4-φ
8 54.4 90 3 108 80
70-0.030 6.6
R2AA08075△□◇ 107.3 143 114.3 150 40

Absolute
MODEL S Q QE LT D1 D2 D3
0
R2AA04003△□◇
6 -0.008
R2AA04005△□◇
0
20 － －
R2EA04008△□◇
8 –0.009
R2AA04010△□◇
0
R2□A06010△□◇
8 –0.009
20 － －
6 5 5
R2□A06020△□◇

R2AA08020△□◇ 0 M5 12
25
14 –0.011
R2AA06040△□◇

R2AA08040△□◇
M5 12
0
R2AA08075△□◇ 35
16 –0.011

Note 1) If oil seal is needed, the motor whole length differs.

Note 2) For the models with no brake, no brake connector (or cable) is attached.

Materials-36
Materials: Servo motor data sheet [Characteristics table]
Three-phase AC200V Input specification
Servo Motor model Q1AA 04003D 04005D 04010D 06020D 06040D 07075D 10100D
Servo Amplifier model RS1□ 01* 01* 01* 01* 03* 03* 05*
*Rated output PR kW 0.03 0.05 0.1 0.2 0.4 0.75 1
-1
*Rated speed NR min 3000 3000 3000 3000 3000 3000 3000
-1
*Maximum speed Nmax min 5000 5000 5000 5000 5000 5000 5000
*Rated torque TR N･m 0.098 0.159 0.318 0.637 1.27 2.38 3.19
*Continuous stall
TS N･m 0.108 0.159 0.318 0.637 1.27 2.38 3.92
torque
*Peak torque TP N･m 0.322 0.477 0.955 1.91 3.82 7.16 10.5
*Rated current IR Arms 0.49 0.80 1 1.5 2.9 4.5 6.5
*Continuous stall
IS Arms 0.53 0.80 1 1.5 2.9 4.5 7.8
current
*Peak current IP Arms 2.2 2.9 3.6 5.8 10.5 15 24.5
Torque constant KT N･m/Arms 0.220 0.23 0.360 0.49 0.510 0.61 0.55
Voltage constant -1
KEφ mV/min 7.68 8.0 12.6 17.2 17.8 21.4 19.3
for each phase
Phase resistance Rφ Ω 15 8.1 7.6 2.5 1.3 0.63 0.34
*Rated power
ＱＲ kW/s 9.60 18.8 43.4 28.7 65.3 89.6 78.9
rate
2 2
Inertia kg･m (GD /4)
JM 0.01 0.0134 0.0233 0.141 0.247 0.636 1.29
(Including Wiring INC) ×10-4
Aluminium plate mm t6×250 t6×250 t6×250 t12×250 t12×250 t12×250 t20×400

Servo Motor model Q1AA 10150D 10200D 10250D 12100D 12200D 12300D 13300D
Servo Amplifier model RS1□ 05* 10* 10* 05* 10* 10* 10*
*Rated output PR kW 1.5 2 2.5 1 2 3 3
-1
*Rated speed NR min 3000 3000 3000 3000 3000 3000 3000
-1
*Maximum speed Nmax min 4500 5000 5000 5000 5000 5000 4500
*Rated torque TR N･m 4.79 6.37 7.97 3.19 6.37 9.55 9.5
*Continuous stall
TS N･m 4.9 7.36 8.82 3.92 7.36 11 10.8
torque
*Peak torque TP N･m 14.7 19.6 24.4 11 21 31 28.4
*Rated current IR Arms 8.2 15.9 16.6 6.2 14.3 16.2 16.7
*Continuous stall
IS Arms 8.2 18 17.2 7.5 16.2 17.3 17.6
current
*Peak current IP Arms 26.5 55 55 24.5 53 55 55
Torque constant KT N･m/Arms 0.705 0.470 0.587 0.578 0.534 0.73 0.693
Voltage constant -1
KEφ mV/min 24.6 16.4 20.5 20.2 18.6 25.4 24.2
for each phase
Phase resistance Rφ Ω 0.272 0.0860 0.104 0.190 0.07 0.082 0.087
*Rated power
ＱＲ kW/s 143 189 240 45.2 93 143 184
rate
2 2
Inertia kg･m (GD /4)
JM 1.61 2.15 2.65 2.25 4.37 6.4 4.92
(Including Wiring INC) ×10-4
Aluminium plate mm t20×400 t20×470 t20×470 t20×400 t20×470 t20×470 t20×470

Servo Motor model Q1AA 13400D 13500D 18450M 18750H

Servo Amplifier model RS1□ 15* 15* 15* 30*
*Rated output PR kW 4 5 4.5 7.5
-1
*Rated speed NR min 3000 3000 1500 1500
-1
*Maximum speed Nmax min 4500 4500 1500 3000
*Rated torque TR N･m 12.7 15.7 28.5 48
*Continuous stall
TS N･m 14.7 18.1 31.6 55
torque
*Peak torque TP N･m 39.2 47.6 105 125
*Rated current IR Arms 23.4 25.8 20 55
*Continuous stall
IS Arms 26.4 27.5 22.2 60
current
*Peak current IP Arms 83 83 83 155
Torque constant KT N･m/Arms 0.612 0.724 1.71 0.91
Voltage constant -1
KEφ mV/min 21.4 25.3 59.6 31.7
for each phase
Phase resistance Rφ Ω 0.048 0.0461 0.129 0.021
*Rated power
ＱＲ kW/s 251 291 295 443
rate
2 2
Inertia kg･m (GD /4)
JM 6.43 8.47 27.5 52
(Including Wiring INC) ×10-4
Aluminium plate mm t20×470 t20×540 t20×540 t20×540
・ Constants are values at the time of installing on the aluminum board in the table. They indicate ‘thickness’ x ’side of
square’.
・ Items with * and velocity – torque characteristics indicate values after temperature rise saturation. The others indicate
values at 20°C. Each value indicates TYP.

Materials-37
Materials: Servo motor data sheet [Characteristics table]
AC100V Input specification
Servo Motor model Q1EA 04003D 04005D 04010D 06020D
Servo Amplifier model RS1□ 01* 01* 01* 03*
*Rated output PR kW 0.03 0.05 0.1 0.2
-1
*Rated speed NR min 3000 3000 3000 3000
-1
*Maximum speed Nmax min 5000 5000 5000 5000
*Rated torque TR N･m 0.098 0.159 0.318 0.637
*Continuous stall
TS N･m 0.108 0.159 0.318 0.637
torque
*Peak torque TP N･m 0.322 0.477 0.955 1.91
*Rated current IR Arms 0.9 1.9 2.2 4.5
*Continuous stall
IS Arms 0.95 1.9 2.2 4.5
current
*Peak current IP Arms 4 7 7.9 15.5
Torque constant KT N･m/Arms 0.115 0.096 0.176 0.161
Voltage constant -1
KEφ mV/min 4.03 3.3 6.13 5.63
for each phase
Phase resistance Rφ Ω 4.28 1.4 2.2 0.33
*Rated power
ＱＲ kW/s 9.6 18.8 43.5 28.7
rate
2 2
Inertia kg･m (GD /4)
JM 0.01 0.0134 0.0233 0.141
(Including Wiring INC) ×10-4
Aluminium plate mm t6×305 t6×305 t6×305 t6×305
・ Constants are values at the time of installing on the aluminum board in the table. They indicate ‘thickness’×’side of
square.’
・ Items with * and velocity – torque characteristics indicate values after temperature rise saturation.The others indicate
values at 20°C. Each value indicates TYP.

Materials-38
Materials: Servo motor data sheet [Characteristics table]
Servo Motor model R2AA 04003F 04005F 04010F 06010F 06020F 08020F
Servo Amplifier model RS1□ 01* 01* 01* 01* 01* 01*
*Rated output PR kW 0.03 0.05 0.1 0.1 0.2 0.2
-1
*Rated speed NR min 3000 3000 3000 3000 3000 3000
-1
*Maximum speed Nmax min 6000 6000 6000 6000 6000 6000
*Rated torque TR N･m 0.098 0.159 0.318 0.318 0.637 0.637
*Continuous stall
TS N･m 0.108 0.167 0.318 0.353 0.686 0.686
torque
*Peak torque TP N･m 0.37 0.59 1.18 1.13 2.2 2.2
*Rated current IR Arms 0.51 0.67 0.81 0.86 1.5 1.5
*Continuous stall
IS Arms 0.56 0.69 0.81 0.86 1.6 1.5
current
*Peak current IP Arms 2.15 2.8 3.3 3.5 5.6 4.8
Torque constant KT N･m/Arms 0.201 0.246 0.424 0.375 0.476 0.516
Voltage constant -1
KEφ mV/min 7 8.6 14.8 13.1 16.6 18.0
for each phase
Phase resistance Rφ Ω 12 9 9.3 4.8 2.7 2.3
*Rated power rate ＱＲ kW/s 3.9 6.7 16 8.6 19 8
Inertia
(Including Battery 2 2 -4
JM kg･m (GD /4) ×10 0.028 0.0409 0.066 0.120 0.222 0.523
backup method
absolute encoder)
Aluminium plate mm t6×250 t6×250 t6×250 t6×250 t6×250 t6×250

Servo Motor model R2AA 06040F 08040F 08075F

Servo Amplifier model RS1□ 03* 03* 03*
*Rated output PR kW 0.4 0.4 0.75
-1
*Rated speed NR min 3000 3000 3000
-1
*Maximum speed Nmax min 6000 6000 6000
*Rated torque TR N･m 1.27 1.27 2.39
*Continuous stall
TS N･m 1.37 1.37 2.55
torque
*Peak torque TP N･m 4.8 4.4 8.5
*Rated current IR Arms 2.8 2.6 4.6
*Continuous stall
IS Arms 2.8 2.6 4.6
current
*Peak current IP Arms 10.8 8.9 15.5
Torque constant KT N･m/Arms 0.524 0.559 0.559
Voltage constant -1
KEφ mV/min 18.3 19.5 19.5
for each phase
Phase resistance Rφ Ω 1.36 0.93 0.4
*Rated power rate ＱＲ kW/s 39 16 31
Inertia
(Including Battery 2 2 -4
JM kg･m (GD /4) ×10 0.415 1.043 1.823
backup method
absolute encoder)
Aluminium plate mm t6×250 t6×250 t6×250
AC100V Input specification
Servo Motor model R2EA 04003F 04005F 04008F 06010F 06020F
Servo Amplifier model RS1□ 01* 01* 01* 01* 03*
*Rated output PR kW 0.03 0.05 0.08 0.1 0.2
-1
*Rated speed NR min 3000 3000 3000 3000 3000
-1
*Maximum speed Nmax min 6000 6000 6000 6000 6000
*Rated torque TR N･m 0.098 0.159 0.255 0.318 0.637
*Continuous stall
TS N･m 0.108 0.167 0.255 0.318 0.686
torque
*Peak torque TP N･m 0.37 0.59 0.86 1.0 2.2
*Rated current IR Arms 0.94 1.2 1.3 1.7 3.1
*Continuous stall
IS Arms 1.0 1.3 1.3 1.7 3.2
current
*Peak current IP Arms 3.7 4.9 4.5 5.6 11.9
Torque constant KT N･m/Arms 0.116 0.142 0.22 0.206 0.224
Voltage constant -1
KEφ mV/min 4.04 4.97 7.7 7.2 7.82
for each phase
Phase resistance Rφ Ω 4.0 3.0 2.9 1.5 0.6
*Rated power rate ＱＲ kW/s 3.9 6.7 10 8.6 19
Inertia
(Including Battery 2 2 -4
JM kg･m (GD /4) ×10 0.028 0.0409 0.066 0.120 0.222
backup method
absolute encoder)
Aluminium plate mm t6×250 t6×250 t6×250 t6×250 t6×250
・ Constants are values at the time of installing on the aluminum board in the table. They indicate ‘thickness’×’side of square’.
・ Items with *(of the previous page; 39) and velocity – torque characteristics indicate values after temperature rise saturation. The others
indicate values at 20°C. Each value indicates TYP.

Materials-39
Materials: Servo motor data sheet [Characteristics table]
Servo Motor model Q2AA 18550R 22250H 22350H 22450R 22550B 22700S
Servo Amplifier model RS1□ 15* 10* 15* 15* 15* 15*
*Rated output PR kW 5.5 2.5 3.5 4.5 5.5 7
-1
*Rated speed NR min 1500 2000 2000 2000 1500 1000
-1
*Maximum speed Nmax min 2500 3500 3000 2500 2000 1000
*Rated torque TR N･m 35 12 17 21.5 35 67
*Continuous stall
TS N･m 37.3 13.5 22 32 42 70
torque
*Peak torque TP N･m 88 30 50 70 90 150
*Rated current IR Arms 32.2 19.6 23.3 23 30 34
*Continuous stall
IS Arms 33.7 21.8 29.8 33 35.1 34
current
*Peak current IP Arms 83 55 78 83 79.7 83
Torque constant KT N･m/Arms 1.24 0.685 0.814 1.06 1.32 2.13
Voltage constant -1
KEφ mV/min 43.2 23.9 28.4 37.1 46.0 74.5
for each phase
Phase resistance Rφ Ω 0.039 0.0735 0.0559 0.0497 0.0464 0.057
*Rated power
ＱＲ kW/s 180 44.7 61.1 68.5 129 243
rate
2 2
Inertia kg･m (GD /4)
JM -4 69 32.2 47.33 67.45 95 185
(Including Wiring INC) ×10
Aluminium plate mm t20×540 t20×470 t20×470 t20×470 t20×540 t20×540

Servo Motor model Q2AA 18550H 18750L 2211KV 2215KV

Servo Amplifier model RS1□ 30* 30* 30* 30*
*Rated output PR kW 5.5 7.5 11 15
-1
*Rated speed NR min 1500 1500 1500 1500
-1
*Maximum speed Nmax min 3000 3000 2000 2000
*Rated torque TR N･m 35 48 70 95.5
*Continuous stall
TS N･m 37.3 54.9 80 95.5
torque
*Peak torque TP N･m 107 137 176 223
*Rated current IR Arms 47 52 60 66
*Continuous stall
IS Arms 47 57 66 66
current
*Peak current IP Arms 155 160 155 157
Torque constant KT N･m/Arms 0.830 1.03 1.29 1.54
Voltage constant -1
KEφ mV/min 29.0 36.0 45.1 53.6
for each phase
Phase resistance Rφ Ω 0.018 0.017 0.015 0.016
*Rated powerrate ＱＲ kW/s 168 240 260 360
2 2
Inertia kg･m (GD /4)
JM -4 73 95 186 255
(Including Wiring INC) ×10
Aluminium plate mm t20×540 t20×540 t20×540 t20×540
AC100V Input specification
Servo Motor model Q2EA 04006D 04010D 05005D 05010D 05020D 07020D
Servo Amplifier model RS1□ 01* 01* 01* 01* 03* 03*
*Rated output PR kW 0.06 0.1 0.05 0.1 0.2 0.2
-1
*Rated speed NR min 3000 3000 3000 3000 3000 3000
-1
*Maximum speed Nmax min 5000 5000 5000 5000 5000 5000
*Rated torque TR N･m 0.191 0.318 0.159 0.318 0.637 0.637
*Continuous stall
TS N･m 0.216 0.353 0.167 0.353 0.686 0.686
torque
*Peak torque TP N･m 0.65 1 0.518 1.03 2.1 2.1
*Rated current IR Arms 1.9 2.0 1.5 2.1 3.9 4.4
*Continuous stall
IS Arms 1.9 2.2 1.5 2.3 4.1 4.6
current
*Peak current IP Arms 7.9 7 5.6 7.9 15.5 15.5
Torque constant KT N･m/Arms 0.117 0.188 0.12 0.169 0.184 0.162
Voltage constant -1
KEφ mV/min 4.09 6.55 4.2 5.9 6.41 5.67
for each phase
Phase resistance Rφ Ω 1.5 1.9 1.8 1.22 0.64 0.5
*Rated powerrate ＱＲ kW/s 6.46 11.8 3.78 7.8 16.2 10.6
2 2
Inertia kg･m (GD /4)
JM -4 0.057 0.086 0.067 0.13 0.25 0.38
(Including Wiring INC) ×10
Aluminium plate mm t6×305 t6×305 t6×305 t6×305 t6×305 t6×305
・ Constants are values at the time of installing on the aluminum board in the table. They indicate ‘thickness’×’side of
square’.
・ Items with * and velocity – torque characteristics indicate values after temperature rise saturation. The others indicate
values at 20°C. Each value indicates TYP.

Materials-40
Materials: Servo motor data sheet [Characteristics table]

Servo Motor model R2AA 04003F 04005F 04010F 06010F 06020F 08020F
Servo Amplifier model RS1□ 01* 01* 01* 01* 01* 01*
*Rated output PR kW 0.03 0.05 0.1 0.1 0.2 0.2
-1
*Rated speed NR min 3000 3000 3000 3000 3000 3000
-1
*Maximum speed Nmax min 6000 6000 6000 6000 6000 6000
*Rated torque TR N･m 0.098 0.159 0.318 0.318 0.637 0.637
*Continuous stall torque TS N･m 0.108 0.167 0.318 0.353 0.686 0.686
*Peak torque TP N･m 0.37 0.59 1.18 1.13 2.2 2.2
*Rated current IR Arms 0.51 0.67 0.81 0.86 1.5 1.5
*Continuous stall current IS Arms 0.56 0.69 0.81 0.86 1.6 1.5
*Peak current IP Arms 2.15 2.8 3.3 3.5 5.6 4.8
Torque constant KT N･m/Arms 0.201 0.246 0.424 0.375 0.476 0.516
-1
Voltage constant for each phase KEφ mV/min 7 8.6 14.8 13.1 16.6 18.0
Phase resistance Rφ Ω 12 9 9.3 4.8 2.7 2.3
*Rated powerrate ＱＲ kW/s 3.9 6.7 16 8.6 19 8
Inertia 2 2
kg･m (GD /4)
(Including Battery backup method JM -4 0.028 0.0409 0.066 0.120 0.222 0.523
absolute encoder) ×10
Aluminium plate mm t6×250 t6×250 t6×250 t6×250 t6×250 t6×250

Servo Motor model R2AA 06040F 08040F 08075F

Servo Amplifier model RS1□ 03* 03* 03*
*Rated output PR kW 0.4 0.4 0.75
-1
*Rated speed NR min 3000 3000 3000
-1
*Maximum speed Nmax min 6000 6000 6000
*Rated torque TR N･m 1.27 1.27 2.39
*Continuous stall torque TS N･m 1.37 1.37 2.55
*Peak torque TP N･m 4.8 4.4 8.5
*Rated current IR Arms 2.8 2.6 4.6
*Continuous stall current IS Arms 2.8 2.6 4.6
*Peak current IP Arms 10.8 8.9 15.5
Torque constant KT N･m/Arms 0.524 0.559 0.559
-1
Voltage constant for each phase KEφ mV/min 18.3 19.5 19.5
Phase resistance Rφ Ω 1.36 0.93 0.4
*Rated powerrate ＱＲ kW/s 39 16 31
Inertia 2 2
kg･m (GD /4)
(Including Battery backup method JM -4 0.415 1.043 1.823
absolute encoder) ×10
Aluminium plate mm t6×250 t6×250 t6×250
AC100V Input specification
Servo Motor model R2EA 04003F 04005F 04008F 06010F 06020F
Servo Amplifier model RS1□ 01* 01* 01* 01* 03*
*Rated output PR kW 0.03 0.05 0.08 0.1 0.2
-1
*Rated speed NR min 3000 3000 3000 3000 3000
-1
*Maximum speed Nmax min 6000 6000 6000 6000 6000
*Rated torque TR N･m 0.098 0.159 0.255 0.318 0.637
*Continuous stall torque TS N･m 0.108 0.167 0.255 0.318 0.686
*Peak torque TP N･m 0.37 0.59 0.86 1.0 2.2
*Rated current IR Arms 0.94 1.2 1.3 1.7 3.1
*Continuous stall current IS Arms 1.0 1.3 1.3 1.7 3.2
*Peak current IP Arms 3.7 4.9 4.5 5.6 11.9
Torque constant KT N･m/Arms 0.116 0.142 0.22 0.206 0.224
-1
Voltage constant for each phase KEφ mV/min 4.04 4.97 7.7 7.2 7.82
Phase resistance Rφ Ω 4.0 3.0 2.9 1.5 0.6
*Rated powerrate ＱＲ kW/s 3.9 6.7 10 8.6 19
Inertia 2 2
kg･m (GD /4)
(Including Battery backup method JM -4 0.028 0.0409 0.066 0.120 0.222
absolute encoder) ×10
Aluminium plate mm t6×250 t6×250 t6×250 t6×250 t6×250
・ Constants are values at the time of installing on the aluminum board in the table. They indicate ‘thickness’×’side of
square’.
・ Items with * and velocity – torque characteristics indicate values after temperature rise saturation.
The others indicate values at 20°C. Each value indicates TYP.

Materials-41
Materials: Servo motor data sheet [Velocity – Torque characteristics]

Q1AA Motor velocity-torque characteristics indicate the values in combination with an amplifier 3 phase when
amplifier power supply is AC200V. Instant domain decreases when amplifier power supply is below 200V.
Please contact our company separately when the amplifier power supply is AC200V single phase.

Velocity速度－トルク特性
– torque characteristics Velocity速度－トルク特性
– torque characteristics Velocity速度－トルク特性
– torque characteristics
Q1AA04003D（30W） Q1AA04005D（50W） Q1AA04010D（100W）

0.4 0.6 1

0.5
0.8
0.3
トルク（ N・m）

トルク（ N・m）

トルク（ N・m）
Instantaneous zone Instantaneous zone Instantaneous zone
Torque(N･m)

Torque(N･m)

Torque(N･m)
0.4
0.6
0.2 0.3
0.4
0.2
0.1
0.1 0.2
Continuous zone Continuous zone Continuous zone

0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
-1
1 -1
Velocity min )）
速度（(min min1 ）
速度（(min )
Velocity Velocity
速度（(minmin 1)）
-1

Velocity – torque characteristics Velocity – torque characteristics Velocity – torque characteristics

速度－トルク特性 速度－トルク特性 速度－トルク特性
Q1AA06020D（200W） Q1AA06040D（400W） Q1AA07075D（750W）

2 4 8

1.5 3 6

トルク（ N・m）
トルク（ N・m）
N・m）

Instantaneous zone Instantaneous zone Instantaneous zone

Torque(N･m)

Torque(N･m)
Torque(N･m)

2 4
1
トルク（

1 2
0.5
Continuous zone Continuous zone Continuous zone

0 0
0 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
0 1000 2000 3000 4000 5000 6000 -1
min 1)） 1
-1
-1 Velocity
速度（(min 速度（ min
Velocity (min） )
速度（
Velocity (min ) min1 ）

Velocity – torque characteristics Velocity – torque characteristics Velocity – torque characteristics

速度－トルク特性 速度－トルク特性 速度－トルク特性
Q1AA10100D（1kW） Q1AA10150D（1.5kW） Q1AA10200D（2kW）

12 20 20

9 15 15
トルク（ N・m）

トルク（ N・m）

トルク（ N・m）

Instantaneous zone Instantaneous zone

Torque(N･m)

Torque(N･m)

Torque(N･m)

Instantaneous zone
6 10 10

3 5 5
Continuous zone Continuous zone Continuous zone

0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000 6000
-1
1 -1
1 -1
Velocity
速度（(minmin )） Velocity
速度（(min
min )） Velocity min 1）
速度（ (min )

Materials-42
Materials: Servo motor data sheet [Velocity – Torque characteristics]
Velocity – torque characteristics Velocity – torque characteristics Velocity – torque characteristics
速度－トルク特性 速度－トルク特性 速度－トルク特性
Q1AA10250D（2.5kW） Q1AA12100D（1kW） Q1AA12200D（2kW）

40 20 40

30 15 30
トルク（ N・m）

トルク（ N・m）

トルク（ N・m）
Instantaneous zone Instantaneous zone
Torque(N･m)

Torque(N･m)

Torque(N･m)
20 10 20
Instantaneous zone

10 5 10
Continuous zone Continuous zone
Continuous zone

0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
-1 1 -1 1
(min）1)
-1
Velocity
速度（ min (min）) Velocity
速度（ min (min）) Velocity
速度（ min

Velocity – torque characteristics Velocity – torque characteristics Velocity – torque characteristics

速度－トルク特性 速度－トルク特性 速度－トルク特性
Q1AA12300D（3kW） Q1AA13300D（3kW） Q1AA13400D（4kW）

40 40 40

30 30 30 Instantaneous zone
トルク（ N・m）

トルク（ N・m）

トルク（ N・m）
Torque(N･m)

Torque(N･m)

Torque(N･m)
Instantaneous zone
Instantaneous zone
20 20 20

10 10 10
Continuous zone Continuous zone
Continuous zone

0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 0 1000 2000 3000 4000 5000
-1 -1 -1
min 1）
速度（ (min 速度（ min 速度（ min ）
Velocity ) Velocity (min1）
) Velocity (min1)

Velocity – torque characteristics

Q1AA18750H (7.5Kw)
Velocity – torque characteristics Velocity – torque characteristics
速度－トルク特性 速度－トルク特性 速度トルク特性
Q1AA13500D（5kW） Q1AA18450M（4.5kW） Ｑ１ＡＡ１８７５０Ｈ（7.5kW ）
150
80 120

100
60
トルク（ N・m）

トルク（ N・m）
Torque(N･m)

Instantaneous zone
80 Instantaneous zone
Torque(N･m)

Torque(N･m)

100
（Ｎ・ｍ）

40 60
Instantaneous zone
トルク

40
20 50
20
Continuous zone
Continuous zone
Continuous zone
0 0
0 1000 2000 3000 4000 5000 0 500 1000 1500 2000
-1 -1
速度（ min ） 速度（ min ） 0
Velocity (min1) Velocity (min1)
0 1000 2000 3000
-1
Velocity
速度 （min (min1)）

Materials-43

Speed(min1) Speed(min1) Speed(min1)

Materials: Servo motor data sheet [Velocity – Torque characteristics]
Q1EA Motor velocity-torque characteristics indicate the values in combination with operation amplifier for single
phase when amplifier power supply is AC100V. Instant domain decreases when amplifier power supply is below
100V.

Velocity速度－トルク特性
– torque characteristics Velocity速度－トルク特性
– torque characteristics
Velocity – torque characteristics
速度－トルク特性
Q1EA04003D（30W） Q1EA04005D（50W）
Q1EA04010D（100W）
0.4 0.8
1

Instantaneous zone
0.3 0.6 0.8
トルク（N・m）

トルク（N・m）
Instantaneous zone

トルク（N・m）
Torque(N･m)
Torque(N･m)

Torque(N･m)
0.6
0.2 0.4 Instantaneous zone

0.4
0.1 0.2
Continuous zone Continuous zone
0.2
Continuous zone

0 0
0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
0 1000 2000 3000 4000 5000 6000
-11
Velocity min ）
速度（ (min ) 速度（(min )
Velocity min1-1） -1
速度（ min
Velocity (min1）
)
Velocity – torque characteristics
速度－トルク特性
Q1EA06020D（200W）

Instantaneous zone

1.5
トルク（N・m）
Torque(N･m)

0.5 Continuous zone

0
0 1000 2000 3000 4000 5000 6000
-1
速度（ min
Velocity (min1）)

Q2AA Motor velocity-torque characteristics indicate the values in combination with operation amplifier for 3 phase when
amplifier power supply is AC 200V. Instant domain decreases when amplifier power supply is below 200V. Please contact our
company separately when the amplifier power supply is AC200V single phase.

Velocity – torque characteristics Velocity – torque characteristics Velocity – torque characteristics

速度－トルク特性 速度－トルク特性 速度－トルク特性
Q2AA04006D（60W） Q2AA04010D（100W） Q2AA05005D（50W）

0.8 2 0.8

0.6 Instantaneous zone 1.5 0.6

トルク（ N・m）

トルク（ N・m）

トルク（ N・m）
Torque(N･m)

Torque(N･m)

Torque(N･m)

Instantaneous zone
0.4 1 0.4
Instantaneous zone

0.2 0.5 0.2

Continuous zone
Continuous zone Continuous zone

0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
-1 -1 -1
Velocity
速度（(minmin1)） 速度（(min
Velocity min 1)） 速度（ min
Velocity (min1）
)

Velocity – torque characteristics Velocity – torque characteristics Velocity – torque characteristics

速度－トルク特性 速度－トルク特性 速度－トルク特性
Q2AA05010D（100W ） Q2AA05020D（200W ） Q2AA07020D （200W ）

2 4 4

1.5 3 3
トルク（ N・m）

トルク（ N・m）

トルク（ N・m）
Torque(N･m)

Torque(N･m)

Torque(N･m)

1 2 2
Instantaneous zone Instantaneous zone
Instantaneous zone

0.5 1 1

Continuous zone Continuous zone Continuous zone

0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
-1 -11 -1 1
速度（(min
Velocity min 1)） Velocity
速度（ (minmin ） ) Velocity
速度（ min(min） )

Materials-44
Materials: Servo motor data sheet [Velocity – Torque characteristics]

Velocity – torque characteristics Velocity – torque characteristics Velocity – torque characteristics

速度－トルク特性 速度－トルク特性 速度－トルク特性
Q2AA07030D（300W ） Q2AA07040D（400W ） Q2AA07050D（500W ）

4 8 8

3 6 6
トルク（ N・m）

トルク（ N・m）

トルク（ N・m）
Torque(N･m)

Torque(N･m)

Torque(N･m)
Instantaneous zone

2 4 4 Instantaneous zone

Instantaneous zone

1 2 2
Continuous zone
Continuous zone Continuous zone
0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
-1 -1 -1
速度（ min
Velocity ）1)
(min 速度（ min
Velocity ） 1)
(min 速度（
Velocity ） 1)
min (min

Velocity – torque characteristics Velocity – torque characteristics Velocity – torque characteristics

速度－トルク特性 速度－トルク特性 速度－トルク特性
Q2AA08050D （500W ） Q2AA08075D （750W ） Q2AA08100D （1kW ）

8 10 20

8
6 Instantaneous zone 15
トルク（ N・m）

トルク（ N・m）

トルク（ N・m）
Torque(N･m)

Torque(N･m)

Torque(N･m)
Instantaneous zone
6
4 10 Instantaneous zone

2 5
2
Continuous zone Continuous zone
Continuous zone
0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
-1 1-1 -1
Velocity
速度（ min ） 1)
(min Velocity
速度（ min (min
）) Velocity
速度（ ） 1)
min (min

Velocity – torque characteristics Velocity – torque characteristics Velocity – torque characteristics

速度－トルク特性 速度－トルク特性 速度－トルク特性
Q2AA10100H （1kW ） Q2AA10150H （1.5kW ） Q2AA13050H （500W ）

20 40 8

15 30 6
Instantaneous zone
トルク（ N・m）

トルク（ N・m）

トルク（ N・m）
Torque(N･m)

Torque(N･m)

Torque(N･m)

Instantaneous zone

10 20 4
Instantaneous zone

5 10 2

Continuous zone
Continuous zone Continuous zone
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
-1 1 1
-1 -1
Velocity
速度（ (min
min ）) Velocity
速度（ min (min
）) Velocity
速度（ ） 1)
min (min

Velocity – torque characteristics Velocity – torque characteristics Velocity – torque characteristics

速度－トルク特性 速度－トルク特性 速度－トルク特性
Q2AA13100H（1kW ） Q2AA13150H（1.5kW ） Q2AA13200H（2kW ）

20 40 40

15 30 30
Torque(N･m)

Torque(N･m)

Torque(N･m)
トルク（ N・m）

トルク（ N・m）

トルク（ N・m）

Instantaneous zone Instantaneous zone

10 20 20
Instantaneous zone

5 10 10
Continuous zone
Continuous zone
Continuous zone
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
-1 -1 -1
速度（ min
Velocity ）1)
(min 速度（ min
Velocity (min）1) ） 1)
min(min
Velocity
速度（

Materials-45
Materials: Servo motor data sheet [Velocity – Torque characteristics]
Velocity – torque characteristics Velocity – torque characteristics Velocity – torque characteristics
速度－トルク特性 速度－トルク特性 速度－トルク特性
Q2AA18200H（2kW ） Q2AA18350H（3.5kW ） Q2AA18450H（4.5kW ）

40 80 80

30 60 60

Torque(N･m)
トルク（ N・m）

トルク（ N・m）

トルク（ N・m）
Instantaneous zone
Torque(N･m)

Torque(N･m)
Instantaneous zone
Instantaneous zone
20 40 40

10 20 20
Continuous zone
Continuous zone
Continuous zone
0 0 0
0 1000 2000 3000 4000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
-1 -1 -1
速度（ min
Velocity ）1)
(min 速度（ min
Velocity ）1)
(min Velocity
速度（ ） 1)
min (min
Velocity – torque characteristics Velocity – torque characteristics Velocity – torque characteristics
速度－トルク特性 速度－トルク特性 速度－トルク特性
Q2AA18550R（5.5kW） Q2AA22250H（2.5kW） Q2AA22350H（3.5kW）

120 40 80

90 30 60

Torque(N･m)
トルク（ N・m）
N・m）

トルク（ N・m）
Torque(N･m)

Torque(N･m)

Instantaneous zone Instantaneous zone

60 20 40 Instantaneous zone
トルク（

30 10 20
Continuous zone Continuous zone
Continuous zone

0 0 0
0 1000 2000 3000 0 1000 2000 3000 4000 0 1000 2000 3000 4000
-1 -1 1 -1
速度（ min
Velocity ） 1)
(min 速度（ min(min
Velocity ） 1) 速度（ min
Velocity (min） )

Velocity – torque characteristics

速度－トルク特性 Velocity – torque characteristics
速度－トルク特性 Velocity 速度－トルク特性
– torque characteristics
Q2AA22450R（4.5kW） Q2AA22550B（5.5kW） Q2AA22700S（7kW）

80 120 200

60 90 150
トルク（ N・m）

トルク（ N・m）

トルク（ N・m）
Torque(N･m)
Torque(N･m)

Torque(N･m)

Instantaneous zone Instantaneous zone

40 60 100
Instantaneous zone

20
30 50
Continuous zone Continuous zone
Continuous zone
0
0 0
0 1000 2000 3000 4000
0 1000 2000 3000 0 500 1000 1500
-1
速度（ min
Velocity ）1)
(min -1 -1
min
Velocity
速度（ ） 1)
(min Velocity min 1）
速度（ (min )

Velocity – torque characteristics Velocity – torque characteristics

速度-トルク特性 Velocity – torque characteristics
速度-トルク特性
速度-トルク特性
Q2AA18550H(5.5kW) Q2AA18750L(7.5kW) Q2AA2211KV(11kW)

150 150 200

Instantaneous zone
150
Instantaneous zone
100 100
トルク （Ｎ・ｍ）

トルク （Ｎ・ｍ）

（Ｎ・ｍ）

Instantaneous zone
Torque(N･m)

Torque(N･m)
Torque(N･m)

100
トルク

50 50

Continuous zone 50 Continuous zone

Continuous zone

0 0 0
0 1000 2000 3000 0 1000 2000 3000 0 500 1000 1500 2000 2500 3000
-1 1 -1
Velocity
速度 (min）)
（min Velocity
速度 (min ）)
（min
-11 速度
Velocity（min
(min1) ）

Materials-46
Materials: Servo motor data sheet [Velocity – Torque characteristics]
Q2EA Motor velocity-torque characteristics indicate the values in combination with operation amplifier for single
phase when amplifier power supply is AC100V. Instant domain decreases when amplifier power supply is below
100V.

Velocity -torque characteristics Velocity速度－トルク特性

-torque characteristics Velocity -torque characteristics
速度－トルク特性 速度－トルク特性
Q2EA04006D（60W） Q2EA04010D（100W） Q2EA05005D（50W）

0.8 1.2 0.8

Instantaneous zone
0.6 Instantaneous zone 0.9 0.6
Torque（N・m）

Torque（N・m）

Torque（N・m）
Instantaneous zone
0.4 0.6 0.4

0.2 0.3 0.2

Continuous zone
Continuous zone
Continuous zone

0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
-1 -1 -1
速度（ min
Velocity ）1)
(min 速度（ (min
Velocity min 1）
) 速度（ min
Velocity (min1）
)

Velocity速度－トルク特性
-torque characteristics Velocity -torque characteristics Velocity -torque characteristics
速度－トルク特性
Q2EA05010D（100W） Q2EA05020D (200W) Q2EA07020D（200W）

1.2 4 4

Instantaneous zone
0.9 3 3
Torque（N・m）

Torque（N・m）
Instantaneous zone
0.6 2 2
Instantaneous zone

0.3 1 1
Continuous zone Continuous zone

Continuous zone

0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000

速度（ min
-1
）1 Velocity (min-1) 速度（ min
-1
Velocity (min ) Velocity (min）
1
)

Materials-47
Materials: Servo motor data sheet [Velocity – Torque characteristics]

R2AA Motor velocity-torque characteristics indicate the values in combination with operation amplifier for 3
phase when amplifier power supply is AC 200V. Instant domain decreases when amplifier power supply is below
200V. Please contact our company separately when the amplifier power supply is AC200V single phase.
Velocity-torque characteristics
Velocity-torque characteristics Velocity-torque characteristics
R2AA04010F (100W)
R2AA04003F (30W) R2AA04005F (50W)

0.8 2
0.4
Instantaneous zone
Instantaneous zone
Instantaneous zone
0.6 Instantaneous zone 1.5
0.3

Torque (N・m)

Torque (N・m)
Instantaneous zone
Instantaneous zone
Torque (N・m)

1
0.4
0.2

0.5 Continuous zone

Continuous zone
Continuous zone 0.2 Continuous zone
Continuous zone
0.1 Continuous zone

0
0
0 0 1000 2000 3000 4000 5000 6000
0 1000 2000 3000 4000 5000 6000
0 1000 2000 3000 4000 5000 6000 Velocity (min-1) Velocity (min-1)
Velocity (min-1)

Velocity -torque characteristics Velocity -torque characteristics Velocity-torque characteristics

R2AA06010F (100W) R2AA06020F (200W) R2AA08020F (200W)

4
2 4

3
Torque (N・m)
Torque (N・m)

Torque (N・m)
1.5 3

Instantaneous zone
Instantaneous zone Instantaneous
Instantaneouszone
zone 2
Instantaneous zonezone
Instantaneous
1 2

0.5 Continuous zone 1

Continuous zone 1
Continuous
Continuouszone
zone Continuous zone
Continuous zone

0
0 0
0 1000 2000 3000 4000 5000 6000
0 1000 2000 3000 4000 5000 6000
Velocity (min-1) 0 1000 2000 3000 4000 5000 6000
Velocity (min-1) Velocity (min-1)

Velocity-torque characteristics Velocity -torque characteristics

Velocity-torque characteristics R2AA08075F (750W)
R2AA06040F (400W) R2AA08040F (400W)

8 10
8
Instantaneous zone
8 Instantaneous zone
6
Torque (N・m)

Torque (N・m)

6
Torque (N・m)

6
Instantaneous zone Instantaneous zone
Instantaneous zone Instantaneous zone
4
4
4

2 Continuous zone
2 Continuous zone
Continuouszone
Continuous zone Continuous
Continuous zone
zone 2

0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
Velocity (min ) -1 Velocity (min-1) Velocity (min-1)

● Degree of decrease rating: R2AA Motor fixed oil seal and brake
About oil seal and brake fixed, considering of a rise in heat, continuous zone should apply the following
degree of decrease rating.

Oil
seal non-fixed Decrease Servo Motor Model
fixed oil seal 04010F 06040F
Brake oil seal rating 1 R2AA
No decrease decrease degree of
with no brake 90
rating rating 2 decrease rating %
decrease decrease
with brake
rating 1 rating 2
Decrease Servo Motor Model
04005F 04010F 06040F 08075F
rating 2 R2AA
degree of
90 85 80 90
decrease rating %

Materials-48
Materials: Servo motor data sheet [Velocity – Torque characteristics]

R2EA Motor velocity-torque characteristics indicate the values in combination with operation amplifier for 3
phase when amplifier power supply is AC 200V. Instant domain decreases when amplifier power supply is below
200V. Please contact our company separately when the amplifier power supply is AC200V single phase.

Velocity-Torque characteristics
R2EA04003F (30W) Velocity-Torque characteristics Velocity-Torque characteristics
R2EA04005F (50W) R2EA04008F (80W)
0.6
0.8 1
0.5
Instantaneous zone

Torque (N・m)
Torque (N・m)

Instantaneous zone 0.8

0.4 0.6

Torque (N・m)
Instantaneous zone Instantaneous zone Instantaneous zone
Instantaneous zone

0.6
0.3
0.4

0.2 0.4

Continuous zonezone 0.2 Continuous zone Continuous zone

Continuous zone
0.1 Continuous Continuous zone 0.2

0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
Velocity (min-1) Velocity (min-1) Velocity (min-1)

Velocity-Torque characteristics
Velocity-Torque characteristics
R2EA06010F (100W)
R2EA06020F （200W ）

1.2
2.5
Instantaneous zone
1 Instantaneous
Instantaneous zone Instantaneouszone
zone
2
0.8
Torque (N・m)

1.5
Torque (N・m)

0.6

1
0.4 Continuous zone Continuous
Continuous zone Continuouszone
zone

0.2 0.5

0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000

-1
Velocity (min ) Velocity (min-1)

Materials-49
Materials: Digital Operator [Names and Functions]

■ Digital Operator
● It is possible to change or set the parameters and to confirm the status display, monitor display, test
operation and alarm history with the built-in digital operator.

■ Digital operator name and functions

【▲】Up Key
Displays 5 digit, 7 segment LED 【▼】Down Key
【MODE】 【WR】/【 】
MODE Switch Key MODE WR
Cursor movement, decision, and
writing Key

MODE WR/

Display Function Input time

Digital display Displays monitor value or parameter setting value in five digits. ---
More than
WR To input selections and write edited data. 1second
Less than
MODE Changes the Mode. 1 second
Less than
Cursor Key. Changes the cursor position when editing. 1 second
Less than
Up/Down key. Changes the numeric value. 1 second

■ Displays by Cursor key and Up/Down key

● Up and Down from “1 to 9”
Press the Up key, and the blinking numeric value of LED display will increase. Press the Down key, and
the numeric value decreases.

● Up from “9”
Press the Up key, and the numeric value at cursor position increases and shifts to the left digit.

● Down from “0”

Press the Down key, and the numeric value at cursor position decreases and the numeric values in the
left of cursor position shift to the right. If there is no numeric value in the left of cursor position, all the left
digits from cursor position show 9 with a right shift.

● Up/Down of “Symbol”
When the display is “0”, “+ data” will be displayed by pressing the Up key and “- data” by the Down key,
regardless of the cursor position. When the display is other than “0”, there will be a left shift or right shift
as usual. (Display of “0”=”0000”,”000”,”00”)
The [+ data] has no light on the furthest left digit, and the [ - data] has a symbol of [ - ] on the furthest left
digit.

Materials-50
Materials: Digital Operator [Names and Functions]
■ Various modes
● It is possible to display the status, to change or set the parameters, to automatically set the notch filter,
and to confirm test operation, alarm history and monitor display with the built-in digital operator.

Mode Contents
Displays the establishment of control or main power supply, Servo ON,
Status Display over-travel, warning and alarm status.

[ bA ] Parameters necessary for auto-tuning. Can be set at general parameter

Basic parameter mode.

Settings can be made suitable for machines and equipment. Parameters

for adjusting servo gain can be changed. Classified into 10 groups
according to the functions.
Group Description of Group

Group0 Settings of tuning mode.

Group1 Settings of basic control parameters.

Group2 Settings of damping control/notch filter/disturbance observer

[ Gr ]
Group3 Settings of gain switching control/damping frequency switching
General parameter
Group4 To set high setting control.

Group8 Settings related to system control

Group9 Settings related to functional condition settings.

GroupA Settings related to monitor output signals/setup software

GroupB Settings related to system sequence/warnings or alarms.

GroupC Settings related to servo motor encoder.

Enables Automatic Adjustment for Torque Command; Notch Filter A and

[ Au ]
Vibration Suppressor frequency. Velocity/Torque/Torque Addition
Automatic adjustment Command.

[ Ad ] Enables JOG operation, Alarm Reset, Automatic Tuning Result writing,

Test operation Encoder Clear and Alarm History Clear.

[ Sy ] Sets the parameters related to servo amplifier - servo motor combination

System Parameter and specifications.

[ AL ]
Displays the latest 7 alarm events, as well as the servo amplifier CPU
Alarm history, software
software version.
version

Displays the servo amplifier status such as Velocity, Velocity Command,

[ ob ]
Torque, Torque command, Position Deviation and Servo Adjustment Gain
Monitor when using auto-tuning.

Materials-51
Materials: Digital Operator [Changing Modes]
■ How to change the modes
● Change the modes in the order as shown below by pressing the MODE key for changing the settings
or for test operation.

Power ON

Status display Monitor Alarm history / CPU_Ver

MODE MODE

☜ ☜
MODE MODE
☞ ☞
Basic parameter System parameter

MODE
MODE
☞
☞
General parameter Auto-adjustment Test run
MODE MODE

☞ ☞

■ Status Display mode

● In the Status Display mode, various conditions are displayed according to the status of servo amplifier
as shown in the following table.

Servo amplifier status Marking

Control power supply established
Control power supply (r,t) is established and amplifier (RDY) is ON.
Main power supply being established
Main power supply (R,S,T) is ON or is established, but Operation
Preparation Completion signal is OFF.
Main power supply established
Main power supply (R,S,T) is established and Operation Preparation
Completion signal is ON.
Servo is ON.
Rotates after drawing the character “8”

Materials-52
Materials: Digital Operator [Monitor mode operations and display]

Overload warning status

If operation is kept on, alarm may be issued.
Regenerative overload warning status
If operation is kept on, alarm may be issued.
Battery voltage reduction warning status
Replace the battery.
Alarm display
When an alarm rings, take corrective actions as instructed in “Chapter 8,
Maintenance”.

✍ ● In addition to the above, warning functions include “Following Error Warning” and “amplifier
Overheating warning”, which can be confirmed at monitor mode.
● There is a possibility that an overload warning will be detected when the control power is supplied, if the
overload warning level is set below 75% (generic parameter GroupB Page22), because a rated load of 75%
(hot start) has been assumed for the overload detection process when control power is supplied.

■ Description of monitor mode

● Various contents can be monitored as shown below at each page of monitor mode.

Page Name Contents Unit Display form

Main circuit power supply status. Operation preparation
status. Servo ON status: Servo ON
00 Servo Amplifier Status --- Code
Displays the status of servo amplifier, as mentioned
above.
01 Warning Status 1 Displays warning status. ---
02 Warning Status 2 Displays warning status. ---
General purpose input CONT8 to
03 Displays the status of the general input terminal. --- Bit
1 monitor
General purpose output OUT8 to
04 Displays status of general output terminal. ---
1 monitor
-1
05 Velocity Monitor Displays number of motor rotations. min
-1
06 Velocity Command Monitor Displays velocity command value. min
Decimal
07 Torque Monitor Displays output torque of motor. %
08 Torque Command Monitor Displays torque command value. %
09 Position Deviation Monitor Displays position deviation value. Pulse
Actual Position Monitor Displays the current position assumed that the position
0A
(Motor Encoder) at the time of control power turn-ON is origin. This is a 32 bit data
External Actual Position Monitor free run counter, therefore, if the current position Pulse Hexadecimal
0B
(External Encoder) exceeds the displayed range, the maximum value of
0C Command Position Monitor reverse polarity will be displayed.
Analog Velocity Command /
0D Analog Torque Command Input Displays entered command voltage. mV
Voltage
Position Command Pulse Input k Pulse Decimal
0E Displays entered command pulse frequency.
Frequency Monitor /s
Always displays U-phase electric angle, excluding
0F U-Phase Electric Angle Monitor deg
encoder errors.
Absolute Encoder PS Data
10 Displays position data PS of absolute encoder. x2^32 P 32 bit data
(High)
Hexadecimal
11 Absolute Encoder PS Data (Low) Displays position data PS of absolute encoder. Pulse
Regenerative Resistor Operation
12 Displays run rate of regenerative resistance. %
Percentage
Displays the accurate value, however, it may sometimes
13 Motor Operating Rate Monitor take several hours for the value to become stable %
depending on the operation pattern.. Decimal
Displays estimated value of the servo motor usage ratio.
Predicted Motor Operating Rate Estimated from brief operation. In an application where
14 %
Monitor the same operation pattern repeats in a short time, the
usage ratio can be confirmed soon.

Materials-53
Materials: Digital Operator [Monitor mode operations and display]

15 Load Inertia Ratio Monitor %

Values can be confirmed when gain switching and
Position Loop Proportional auto-tuning functions are used.
16 1/s
Gain Monitor
Position Loop Integral Time Values can be confirmed when gain switching function is
17 ms
Constant Monitor used. Decimal
Velocity Loop Proprotional
18 Hz
Gain Monitor
Values can be confirmed when gain switching and
Velocity Loop Integral Time
19 auto-tuning functions are used. ms
Constant Monitor
1A Torque command filter monitor Hz
Incremental Encoder Signal
1B Displays CN2 incremental signals. ----- Bit
Monitor
Load Torque Monitor (Estimate
1C Displays load torque. %
Value)
1D Power Monitor Displays the main circuit DC voltage. V Decimal
Servo Amplifier Operation Counted during control power is being turned ON. The time
1E ×2 hour
Time is displayed value×2 (hours).

■ How to operate the monitor mode

● See the followings for how to operate the monitor mode and how to interpret the displayed data.
Step Key Description Display status
1 MODE Press the MODE key to display monitor mode. ob
Displays the page automatically. After the power supply is turned
2 ―― ON, “Page 00” is displayed. Then, the previously displayed page ob 00
is displayed.
Pressing the cursor key makes the blinking LED move. Move the
3 blinking LED to the desired page to be changed. ob 00

Pressing the UP key increases the blinking numeric value and the
4 Down key decreases. ob 01
On the page to be monitored, press the WR key to display the
5 WR data.
Refer to display form.

6 MODE Pressing the MODE key returns to step 2. ob 00

7 MODE Pressing the MODE key again returns to status display.

✍ When the pages not allocated are set, the display is as shown in the right. no.dAt
Page Name Display form: Code
Display Display
Control power Main power
established ００ 0 ００ ００ 0 ０４
00 Servo Amplifier Status established
Main power being
００ 0 ０２ Servo ON status ００ 0 ０８
established
Page Name Display form: Bit
01 Warning Status 1

02 Warning Status 2 Display

LED 1 b egin ni ng fr om ri gh t
03 General Purpose Input CONT8 to CONT1 Monitor
Warning status １ 4 3 2 1 ← [ LED ] ↑With warning
General Purpose Output CONT8 to CONT1 ╹ ╻ ╹ ╻ ╹ ╻ ╹ ╻
04 Monitor Warning status 2
7 6 5 4 3 2 1 0 Bit ↓Without warning
LED 1 b eginn ing fro m righ t
Input photo coupler ON
4 3 2 1 ← [LE D]↑Output transistor ON
╹ ╻ ╹ ╻ ╹ ╻ ╹ ╻ Signal level H
1B Incremental Encoder Signal Monitor Incremental signal
7 6 5 4 3 2 1 0 Bit ↓
Input photo coupler OFF
Output transistor OFF
Signal level L

Materials-54
Materials: Digital Operator [Monitor mode operations and display]
Correspondence table of Bits
Status 7 6 5 4 3 2 1 0
Speed limit Torque limit Regeneration Amplifier
Following Overload
Warning Status １ --- operation operation overload --- Overheating
Error Warning warning
running running warning Warning
Battery voltage Main circuit
Warning Status 2 --- reduction --- --- --- --- --- power being
Warning charged
External External External Servo motor Servo motor Servo motor
Incremental signal --- encoder Z encoder B encoder A --- encoder Z encoder B encoder A
phase signal phase signal phase signal phase signal phase signal phase signal

Page Name Displayed form: Decimal

05 Velocity Monitor

06
07
Velocity Command Monitor
Torque Monitor
Display of “－”data
-5000
Display of “＋”data
5000 ✍ The “＋” data is displayed without the mark “＋”
on LED .
08 Torque Command Monitor -100 100
Position Command Pulse Input
0E Frequency Monitor Name Display range Unit
0F U-Phase Electric Angle Monitor Velocity Monitor / Velocity Command Monitor -9999 to 9999 min-1
Motor Operating Rate Monitor Torque Monitor / Torque Command Monitor -499 to 499 %
13 Position Command Pulse Input Frequency
Predicted Motor Operating Rate -6000 to 6000 k Pulse/s
Monitor
14 Monitor U-Phase Electric Angle Monitor 0 to 359 deg
15 Load Inertia Ratio Monitor Motor Operating Rate Monitor / Predicted
0 to 499 %
Position Loop Proportional Gain Motor Operating Rate Monitor
16 Monitor Load Inertia Ratio Monitor 0 to 15000 %
Velocity Loop Proportional Gain Position Loop Proportional Gain Monitor 1 to 3000 1/s
18 Monitor Velocity Loop Proportional Gain Monitor 1 to 2000 Hz
Torque Command Filter Monitor Torque Command Filter Monitor 1 to 2000 Hz
1A
Load Torque Monitor (Estimate Value) -499 to 499 %
Load Torque Monitor
1C Power Monitor 0 to 1000 V
(Estimate Value)
Servo Amplifier Operation Time --- ×2 hour
1D Power Monitor

1E Servo Amplifier Operation Time

Page Name Display form: 32 bit data displayed in hexadecimal

09 Position Deviation Monitor
Actual Position Monitor Bit data display“31” - “16” Bit data display“15” - “0”
0A (Motor Encoder) H.0000 L.0000
External Actual Position Monitor
0B (External Encoder)
0C Command Position Monitor
Absolute Encoder PS Data
Name
Position Deviation Monitor /
Display range Unit
✍
Actual Position Monitor / 8000-0000 to 7FFF-FFFF Pulse Pressing the ▲key displays
10 (High) Command Position Monitor
“H” data, and
Absolute Encoder
0000-0000 to FFFF-FFFF Pulse ▼ key displays “L” data.
Absolute Encoder PS Data ＰＳ Data High/Low
11 (Low)

Page Name Display form : Decimal point

Regenerative Resistor
12 Operation Percentage Data display of “1 decimal place”
Position Loop Integral Time 0.1
17 Constant Monitor

Name Display range Unit

Regenerative Resistor
0.00 to 99.99 %
Operation Percentage
Velocity Loop Integral Time
19 Position Loop Integral Time
Constant Monitor 0.5 to 1000.0 msec
Constant Monitor
Velocity Loop Integral Time
0.5 to 1000.0 msec
Constant Monitor

Materials-55
Materials: Digital Operator [Basic parameter mode operations and display]
■ Description of basic parameter mode
● The following parameters can be set and changed at each page of the basic parameter mode.
These parameters are necessary when test run by JOG operation and real time auto-tuning are used.
MODE Page Name Contents Group and Page
00 Setup Software, Communication Axis Number Selects the axis number when communicating with PC. GroupA 20
01 Setup Software, Communication Baud Rate Selection of Baud rate when communicating with PC. GroupA 21
bA 02 Tuning Mode Tuning mode selection Group0 00
03 Automatic Tuning Response Response when auto-tuning is used. Group0 02
04 Position Command Filter Sets the low pass filter of position command pulse Group1 01

✍ See “Chapter 5, Parameter” for details of parameters.

■ How to set the basic parameter mode

● See the followings for how to operate and set the basic parameter mode.
Step Key Description Display status
1 MODE Press the MODE key to display basic mode. bA
Displays the page automatically. After the power supply is turned ON,
2 ―― “Page 00” is displayed. Then, the previously displayed page is displayed. BA 00
Pressing the cursor key makes the blinking LED move. Move the blinking
3 LED to the page to be changed. bA 00
Pressing the UP key increases the blinking value and the Down key
4 decreases. bA 03
Refer to display
5 WR On the page to be changed, press the WR key to display the data.
form
Pressing the cursor key makes the blinking LED move. Move the blinking
6 LED to the desired value to be changed. Od

Pressing the UP key increases the blinking value and the Down key
7 decreases. OO
Press the WR key, and the display will blink 3 times to write. If writing is
8 WR impossible, the numeric value is out of setting range. Check the setting OO
value again.

9 MODE Pressing the MODE key returns to step 2. bA 00

10 MODE Pressing the MODE key again returns to status display.

✍ When the pages not allocated are set, the display is as shown in the right. no.dAt

Materials-56
Materials: Digital Operator [Basic parameter mode operations and display]

Page Name Display form: decimal

Setup Software, Communication Data display
00 Axis Number
Setup Software, Communication 05000
01 Baud Rate
Tuning Mode Name Standard Unit Setting
02 setting range
Automatic Tuning Response Communication axis number of Setup software 01 --- 01 to 0F
communication baud rate of Setup software 05 --- 00 to 05
03 Tuning mode 00 --- 00 to 02
Auto-tuning response 5 --- 1 to 30

Materials-57
Materials: Digital Operator [General parameter mode operations and display]

■ Description of general parameter mode

● The following parameters can be set and changed at each page of general parameter mode. Settings
can be made suitable for machines and equipment. Parameters for adjusting servo gain can be
changed. Classified into 10 groups according to their functions.
Group Description Group
Group0 Tuning mode setting
Group1 Settings of basic control parameters
Group2 Settings of damping control/notch filter/disturbance observer
Group3 Settings of gain switching control/damping frequency switching
Group4 To set high setting control
Group8 Settings related to system control
Group9 Settings related to functional condition settings.
GroupA Settings related to monitor output signals/setup software
GroupB Settings related to system sequence/warning and alarms
GroupC Settings related to servo motor encoder

✍ Refer to “Chapter5, Parameter” for details of parameters.

■ How to set the general parameter mode

● See the followings for operations and setting method of general parameters.

Step Input key Description Display status

1 MODE Press the MODE key to display general parameter mode. Gr
Page is automatically displayed. Once power is turned
ON,”group 0” “Page 00” is displayed and then the previously Gr0.00
2 --- displayed group and page are displayed. Group No.
Parameter Page No.

Pressing the cursor key makes the blinking LED move. Move the
3 blinking LED to the group or page to be changed. Gr0.00
4
Pressing the UP key increases the blinking numeric value and the
Down key decreases.
Gr0.00
On the desired group or page, press the WR key to display the Refer to
5 WR data. Display form
Pressing the cursor key makes the blinking LED move. Move the
6 blinking LED to the numeric value to be changed. Od
Pressing the UP key increases the blinking numeric value and the
7 Down key decreases. Od
Press the WR key, and the display will blink 3 times to write the
8 WR data. If writing is impossible, the numeric value is out of setting OO
range. Check the setting value again.
9 MODE Pressing the MODE key returns to step 2. Gr0.00
10 MODE Pressing the MODE key again, returns to status display.

✍ When the pages not allocated are set, the display is as shown in the right. no.dAt

Materials-58
Materials: Digital Operator [General parameter mode operations and display]

Display form: integer

Display of “ - “data Display of “ + ”data

- 1000 1000 ✍ ”The + ”data is displayed without the mark“ + ”on LED.
The setting ranges of the table below are displayed as shown in the left.
15000

Name Setting range Unit

Position Loop Proportional Gain 1 to 3000 1/s
Load Inertia Ratio (Load Mass Ratio) 0 to 15000 %
Acceleration Feedback Gain -1000 to +1000 0.1%
Torque Command Filter 1 to 2000 Hz
Torque Command Filter Order 1 to 3 order
Acceleration Compensation -9999 to +9999 Pulse

✍ The above parameters are examples. Refer to “Chapter 5, Parameter” for parameter list.
Display form: decimal point

Display of “decimal point ”data

The setting ranges of the table below are displayed as
12.00
shown in the left.

Setting
Name Unit
range
0.0 to
Position Command Filter ms
2000.0
0.5 to
Velocity Loop Integral Time Constant ms
1000.0

✍ The above parameters are examples. Refer to “Chapter 5, Parameter” for the parameter list.

Materials-59
Materials: Digital Operator [Auto-adjustment mode operations and display]

■ Description of auto-adjustment mode

● Automatic Notch Frequency Tuning and Automatic Vibration Suppressor Frequency Tuning can be
executed.

MODE Page Name

00 Execution of Automatic Notch Frequency Tuning. Note 2)
Au
01 Execution of Automatic Vibration Suppressor Frequency Tuning Note 2)

■ How to set the auto-adjustment mode

● See the followings for how to operate and set the auto-adjustment mode.
Step Input key Description Display status
1 MODE Press the MODE key to display test run mode. Au
Page is displayed automatically. Once the power is turned
2 ―― ON, ”Page 00” is displayed then the previously displayed page Au 00
is displayed.
Pressing the cursor key makes the blinking LED move. Move
3 the blinking LED to the page to be changed. Au 00
Pressing the UP key increases the blinking numeric value and
4 the Down key decreases. Au 01
On the page to be changed, press the WR key to display
5 WR execution confirmation. -y__n-
Press the ▲ key for execution. Proceed to step 7
6
Press the ▼ key for cancellation and to return to step 3. Au 01
“rdy” is displayed when execution is possible. Move to step 8.
--- Note1) rdy
7
“ no.rdy ” is displayed when execution is impossible. Press the
--- MODE key to return to step 3. no.rdy
Press the MODE key for cancellation, and move to step 11 for
MODE Auto-Notch and auto-Vibration Suppressor.
8 Press the WR key for execution.
WR Display is as shown in the right while Auto-Notch and Auto-
Vibration Suppressor are being executed.
r.u.n. .8
When completed normally, “ -END- ” is displayed.
9 “ -Err- ” is displayed in case of an error. -End-
Pressing the MODE key returns to step 7 for Auto-Notch and
10 MODE Auto- Vibration Suppressor.

11 Completes with the display of “ AL_dF ”. AL dF

✍ For Auto- Vibration Suppressor, pressing the MODE key during execution of step 8
cancels the execution and moves to step 11.
Note1) At the time of Automatic Notch Frequency and Automatic Vibration Suppressor Frequency Tuning,
if the main circuit power is shut off in this status, make sure to turn On the main power source
again or turn OFF and ON the control power.
Note2) If the control mode switching type is in use, it may not be possible to use this. Switch the control
mode at the base side [03: _Velo－Torq] to Velo (Velocity control) to use this.

Materials-60
Materials: Digital Operator [Test run mode operations and display]

■ Description of test run mode

● Alarm reset, encoder clear, Encoder Clear, Alarm history clear, and Save Result of Automatic Tuning
can be executed

MODE Page Name

01 Execution of Alarm Reset
02 Save Result of Automatic Tuning
Ad
03 Execution of Encoder Clear
04 Execution of Alarm History Clear

■ How to set the test run mode

● See the followings for how to operate and set the test run mode.

Step Input key Description Display status

1 MODE Press the MODE key to display test run mode. Ad
Page is automatically displayed. Once the power source is turned
2 -- ON, “Page 00” is displayed then the previously displayed page is Ad 00
displayed.
Pressing the cursor key makes the blinking LED move. Move the
3 blinking LED to the page to be changed. Ad 00
Pressing the UP key increases the blinking numeric value and the
4 Down key decreases. Ad 00
On the page to be changed, press the WR key to display
5 WR confirmation. -y__n-
Press the ▲ key for execution. Proceed to step 7

6
Press the ▼ key for cancellation and to return to step 3. Ad 00
“rdy” is displayed when execution is possible. Move to step 8.
--- Note 1) rdy00
7
“no.rdy” is displayed when execution is impossible. Press the
--- MODE key to return to step 3. no.rdy
✍ On and after step 8, the display and operations differ depending on the function in use.
See the following pages for display and operations described separately for each function.

Note1) At the time of JOG operation, if the main circuit power is shut off in this status, press the MODE
key or turn ON the main power source again or turn OFF and ON the control power.

Materials-61
Materials: Digital Operator [Test run mode operations and display]

● See the followings for how to operate Alarm Reset.

Step Input key Description Display status
MODE Press the MODE key for cancellation and to return to step 3. Ad 01
Press the WR key to reset the alarm and “-End-“ will be
8
displayed. While “-Err-“ is displayed, alarm cause is not yet -End-
WR eliminated. Take the corrective actions as instructed in
“Chapter 8, Maintenance”.
-Err-
9 MODE Press the MODE key to return to step 3. Ad 01

● See the followings for how to operate Automatic Tuning Result writing / Encoder Clear / Alarm History
Clear.
Step Input key Description Display status
MODE Press the MODE key for cancellation and to return to step 3. Ad 02
8
Press the WR key, and “run”(while execution) will be displayed
WR in case of encoder clear, and dot moves to right and left. r.u.n. .

When completed normally, “-End-“ is displayed. -End-

9 If not“-Err-“ is displayed.
-Err-
10 MODE Pressing the MODE key returns to step 7. Ad 02
✍ When ”Automatic Tuning Result writing” is used at digital operator, it is impossible to write after
monitoring the tuning result.

Materials-62
Materials: Digital Operator [System parameter mode operations and display]

■ Description of system parameter mode

● On each page of the system parameter mode, parameters are set related to combinations and
specifications of servo amplifier and servo motor as shown below.

MODE Page Name Setting range

Sy 00 Main Power, Input Type 2 ways (depending on the kind of hardware)
01 Motor Encoder Type 2 ways (depending on the kind of hardware)
02 Incremental Encoder, Function Setting 2 ways (depending on the kind of hardware)
03 Incremental Encoder, Resolution Setting 500P/R to 65535P/R
04 Absolute Encoder, Function Setting 4ways (depending on the kind of hardware)
05 Absolute Encoder, Resolution Setting 11ways
06 Servo amplifier information
[for a maker maintenance]
[editing disabled]
07 Servo motor Type [editing disabled] ---
08 Control Mode 6ways
09 Position Loop Control and Position Loop Encoder
2ways (depending on the kind of hardware)
Selection
0A External Encoder, Resolution Setting 500P/R to 65535P/R
0B Regenerative Resistor Selection 3ways
✍ As for the parameter, setting becomes effective after control power supply re-input.

■ How to set the system parameter mode

● See the followings for how to operate and set the system parameter mode.

Step Input key Description Display status

1 MODE Press the MODE key to display system parameter mode. Sy

Page is automatically displayed. Once the power source is
2 ―― turned ON, “Page 00” is displayed then the previously Sy 00
displayed page is displayed.
Pressing the cursor key makes the blinking LED move. Move
3 the blinking LED to the page to be changed. Sy 00
Pressing the UP key increases the blinking numeric value and
4 the Down key decreases. Sy 0b
On the page to be changed, press the WR key to display the
5 WR data. 01
Pressing the cursor key makes the blinking LED move. Move
6 the blinking LED to the numeric value to be changed. 01
Pressing the UP key increases the blinking numeric value and
7 the Down key decreases. 02
Press the WR key, and the display will blink 3 times to write the
8 WR data. If writing is impossible, the numeric value is out of setting 02
range. Check the setting value again.
9 MODE Pressing the MODE key returns to step 2. Sy 0b
10 MODE Pressing the MODE key again returns to status display.

✍ When the pages not allocated are set, the display is as shown in the right. no.dAt

Materials-63
Materials: Digital Operator [Alarm trace/CPU Ver. mode operations and display]

■ Description of Alarm trace / CPU_Ver mode

● It is possible to confirm the latest 7 alarms and the software version of servo amplifier CPU.

MODE Page Name

1 1 st latest alarm
2 2 nd latest alarm
3 3 rd latest alarm
4 4 th latest alarm
AL
5 5 th latest alarm
6 6 th latest alarm
7 7 th latest alarm
CPU software version

✍ Refer to “Chapter 8, Maintenance” for details of alarms.

■ How to display the alarm trace mode

● See the followings for how to operate and display the alarm trace mode.

Step Input key Description Display status

1 MODE Press the MODE key to display the alarm trace mode. AL
Page is automatically displayed. Once the power source is
2 ―― turned ON, [1st latest alarm] is displayed then the previously ＡＬ１.８５
displayed page is displayed.
Pressing the UP key increases the blinking numeric value and
3 the Down key decreases. The blinking number shows the
alarm history.

■ How to display CPU software version

● See the followings for how to display the CPU software version.

Step Input key Description Display status

1 MODE Press the MODE key to display system parameter mode. AL
Page is automatically displayed. Once the power source is
2 ―― turned ON, “1st latest alarm” is displayed then the previously ＡＬ１.８５
displayed page is displayed.
Press the Up/Down key, and the display as shown in the right
3 appear. ＣＰｕ.ｎｏ
4 WR Press the WR key to display the version. ＊＊.＊＊.＊
5 MODE Press the MODE key to return to step 3. ＣＰｕ.ｎｏ

Materials-64
Materials: Digital Operator [Password setting]

■ Description of password function

● The password function allows selection of a password and protection against unauthorized parameter
changes. Once a password has been set, “status mode” and “monitor mode” can only be used. Utilize
this function to avoid operational mistakes.

Status display MODE Monitor

■ How to set and release password

● It explains how to set and release password

Step Input key Description Status display

Turn ON the power source or press the MODE key to display
1 MODE the status display mode.

Press the Up key, and the display shown in the right appears. －ＰＡＳ－
Display starts blinking: password not yet set Æ password
2 setting －ＰＡＳ－
Display turns ON: Password has been set. Æ Password
release －ＰＡＳ－
4 WR Press the WR key to display “0000.” ００００
Pressing the UP key increases the blinking numeric value and
the Down key decreases.
For password setting, use a combination of 4 digit numeric
5
values and alphabets in hexadecimal.
１０００
To release the password, input the previously set 4 digit
password.
Press the WR key, and the display blinks 3 times to write or
release the password. １０００
When writing is disabled, “-Err-“ shows that this is out of setting
6 WR range.
“ 0000 ” and “ FFFF ” are invalid. －Ｅｒｒ－
When release is disabled, “-Err-“ shows that this is a wrong
password.
7 MODE Press the MODE key to return to step 1.

✍ ・ For password setting, it is important to make a note of the password and remember it for future
reference. Without the password, it is impossible to release the lock function.
・ The password function is enabled or disabled by turning OFF the control power and then once again
switching it ON. The possible values for a password is a combination of 4 digits from 0 to 9 and A to F.
“0000” and “FFFF” are invalid. Setting and release of a password cannot be performed by “Setup
software -R- Setup.” Once a password has been set, parameters cannot be changed via “Setup
software -R- Setup.” If parameters are changed via “Setup software -R- Setup”, “communication
establishment” will be disconnected.

Materials-65
Materials Options [Metal mounting fittings]

■ Input-output connector
Connector table for AC 200V input type
Manufacturer’s
Application Model number Contents Manufacturer
model number
CN1 10150-3000PE
AL-00385594 Sumitomo 3M Ltd.
Plug and housing 10350-52A0-008
CN2 10120-3000PE
AL-00385596 Sumitomo 3M Ltd.
Plug and housing 10320-52A0-008
Single connector
MSTB2.5/5-STF-5.
AL-00329461-01 CNA plug Phoenix Contact Co. Ltd.
08
AL-Y0000988-01 CNB plug Phoenix Contact Co. Ltd. IC2.5/6-STF-5.08
AL-00329458-01 CNC plug Phoenix Contact Co. Ltd. IC2.5/3-STF-5.08
10150-3000PE
Low voltage circuit 10350-52A0-008
AL-00292309 CN1,CN2 plug and housing Sumitomo 3M Ltd.
Connector set 10120-3000PE
10320-52A0-008
MSTB2.5/5-STF-5.
High voltage circuit
AL-00416792 CNA,CNB,CNC plug Phoenix Contact Co. Ltd. 08
Connector set
IC2.5/3-STF-5.08
10150-3000PE
10350-52A0-008
Amplifier capacity 10120-3000PE
CN1,CN2 plug and housing Sumitomo 3M Ltd.
RS1□01～RS1□05 AL-00393603 10320-52A0-008
CNA,CNC plug Phoenix Contact Co. Ltd.
Standard set MSTB2.5/5-STF-5.
08
IC2.5/3-STF-5.08
Amplifier capacity 10150-3000PE
RS1□10,RS1□15 10350-52A0-008
AL-00292309 CN1,CN2 plug and housing Sumitomo 3M Ltd.
RS1□30 10120-3000PE
Standard set 10320-52A0-008
*CNB is installed in the servo amplifier. It is not included in the high-voltage circuit connector set.

AC100V input type

Manufacturer’s
Application Model number Contents Manufacturer
model number
MSTB2.5/4-STF-5.
Single connector AL-00329461-02 CNA plug Phoenix Contact Co. Ltd.
08
10150-3000PE
10350-52A0-008
Amplifier capacity 10120-3000PE
CN1,CN2 plug and housing Sumitomo 3M Ltd.
RS1□01～RS1□03 AL-00492384 10320-52A0-008
CNA,CNC plug Phoenix Contact Co. Ltd.
Standard set
MSTB2.5/4-STF-5.
08
IC2.5/3-STF-5.08

Setup softwear computer connecting cable

Model number Remarks
AL-00490833-01 Dedicated cable

Materials-66
Materials Options [Metal mounting fittings]
■ Metal mounting fittings
The servo amplifiers of RS□01,RS□03,RS□05 have metal mounting fittings of old compatible (PY2 series )
available.

● Metal mounting fittings table for RS□01~05

Servo amplifier
Mounting Position Model Contents
model number
Fitting metals:１
RS1□01 Front AL-00582788-01
Tightning screw: 6
Fitting metals:１
RS1□03 Front AL-00582789-01
Tightning screw: 2
Fitting metals:１
RS1□01, RS1□03 Back AL-00582791-01
Tightning screw: 2
Fitting metals:１
Front AL-00582790-01
Tightning screw: 6
RS1□05
Fitting metals:１
Back AL-00582792-01
Tightning screw: 2
Metal mounting fittings of this option employ three-number chromate plating treatment.
(Surface color:It is different from blue-silver/body color.)

● AL-00582788-01

Materials-67
Materials Options [Metal mounting fittings]
● AL-00582789-01

● AL-00582791-01

Materials-68
Materials Options [Metal mounting fittings]

● AL-00582790-01

● AL-00582792-01

Materials-69
Materials Options [Monitor Box]

■ Monitor box

● Monitor box and dedicated cable

Model number Remarks

Q-MON-1 Monitor box + Dedicated cables (2 cables)

Two dedicated cables blow come with this monitor box.

20

CN-L CN-R
29

LEFT RIGHT
44

M1 M2 DM GND GND DM M2 M1

65

● Dedicated cables

Model number Remarks

AL-00496726-01 Dedicated cables (2 cables)

2000±50
ケーブル長
Cable length
CN1 CN2

1B 1A
2B 2A

Terminal
Function
name
1A Analog monitor 1
1B Analog monitor 2
2A GND
2B Degital monitor

Manufacturer mdel
Manufacturer
number
Japan Aviation Electronics
Connector LY10-DC4
Industry, Ltd.
Japan Aviation Electronics
Contact LY10-C1-1-10000
Industry, Ltd.

Materials-70
Materials Options [Lithium battery･EMCkit]

■ Lithium battery

Model number Remarks

AL-00494635-01 ER3VLY

＋ 赤
Red

φ14.5

17MAX.
－ 黒
Black

50±3 (24.5)

Mass:0.02kg
Manufacturer mdel
Manufacturer
number
Connector IL-2S-S3L-(N) Japan Aviation Electronics Industry, Ltd.
Contact IL-C2-1-10000 Japan Aviation Electronics Industry, Ltd.
Battery ER3VLY TOSHIBA HOME APPLIANCES CORPORATION.

■ EMC countermeasure kit

Model number Remarks

Noise filter: 3SUP-HK30-ER-6B
QS-EMC-KIT1
Toroidal core: 251-211
Model number: 3SUP-HK30-ER-6B
unit
general allowance:±1.5mm

Mass:2.5kg

Model number: 251-11

Mass:0.3kg

Materials-71
Materials: Encoder clear [Encoder clear/ reset method]

■ Encoder clear/ Alarm reset method

‘Encoder clear / alarm reset method’ vary according to the encoder you use. Any alarms will not be reset
under the proceure of the list below unless any alarm factors are removed by correction.

● Asynchronous encoder

Alarm
Name Encoder type Encoder clear and alarm reset method
code
Battery PA035C After‘Encoder clear input’ Æ ‘Alarm reset input’
A2 Æ
abnormal RA062C ---
Encoder PA035C
A3 Æ ‘Alarm reset input’
overheat RA062C
Abnormal PA035C ---
A5 Æ
encoder3 RA062C Power restoration
Abnormal PA035C ---
A6 Æ
encoder4 RA062C Power restoration
Abnormal PA035C ---
A7 Æ
encoder5 RA062C Power restoration
Abnormal PA035C ---
A8 Æ
encoder6 RA062C Power restoration
PA035C
A9 Encoder failure Æ Power restoration
RA062C
Numerous PA035C
B3 rotation Æ Power restoration
RA062C
abnormal
One rotation PA035C Power restoration
B4 Æ
abnormal RA062C ---
Over speed/ PA035C
Numerous After‘Encoder clear input’ Æ ‘Power restoration’ or ‘Alarm
B5 Æ
rotation RA062C reset input’
abnormal
Memory PA035C After‘Encoder clear input’ Æ ‘Power restoration’ or ‘Alarm
B6 Æ
abnormal RA062C reset input’
Acceleration PA035C ---
B7 Æ
abnormal RA062C After‘Encoder clear input’ Æ ‘Power restoration’

● Manchester encoder

Alarm
Name Encoder type Encoder clear and alarm reset method
code
A1 Encoder abnormal 1 Æ RA062M Power restoration
A2 Battery abnormal Æ ABS-E After‘Encoder clear input’ Æ ‘Alarm reset input’
B2 Encoder abnormal 2 Æ RA062M Power restoration

Materials-72
Memo

Materials-73
Release
Revision A Aug. 2008
Revision B Sep. 2008
Revision C Jul. 2009
Revision D Dec. 2011
Revision E Nov. 2013
 ■ECO PRODUCTS
Sanyo Denki's ECO PRODUCTS are designed with the concept of lessening impact on the environment in the process from product
development to waste. The product units and packaging materials are designed for reduced environmental impact.
We have established our own assessment criteria on the environmental impacts applicable to all processes, ranging from design to
manufacture.

Cautions
■Precautions For Adoption
 Read the accompanying Instruction Manual carefully prior to using the product.
Failure to follow the precautions on the right may  If applying to medical devices and other equipment affecting people’s lives please contact us beforehand
cause moderate injury and property damage, or in and take appropriate safety measures.
some circumstances, could lead to a serious  If applying to equipment that can have significant effects on society and the general public, please contact
accident. us beforehand.
Always follow all listed precautions.  Do not use this product in an environment where vibration is present, such as in a moving vehicle or
shipping vessel.
 Do not perform any retrofitting, re-engineering, or modification to this equipment.
 The Products presented in this Instruction Manual are meant to be used for general industrial
applications. If using for special applications related to aviation and space, nuclear power, electric power,
submarine repeaters, etc., please contact us beforehand.

* For any question or inquiry regarding the above, contact our Sales Department.

SANYO DENKI CO., LTD. http://www.sanyodenki.co.jp

3-33-1, Minami-Otsuka, Toshima-ku, Tokyo, 170-8451, Japan TEL: +81 3 5927 1020 FAX: +81 3 5952 1600
SANYO DENKI AMERICA, INC. http://www.sanyo-denki.com
468 Amapola Avenue Torrance, CA 90501, U.S.A. TEL: +1 310 783 5400
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P.A. Paris Nord II, 48 Allée des Erables-VILLEPINTE, BP.57286, F-95958 ROISSY CDG Cedex, France TEL: +33 1 48 63 26 61
SANYO DENKI GERMANY GmbH http://www.sanyodenki.de
Frankfurter Strasse 92, 65760 Eschborn, Germany TEL: +49 6196 76113 0
SANYO DENKI KOREA CO., LTD. http://www.sanyodenki.co.kr
9F 5-2, Sunwha-dong Jung-gu Seoul, 100-130, Korea TEL: +82 2 773 5623
SANYO DENKI SHANGHAI CO., LTD. http://www.sanyodenki.biz
Room 2107-2109, Bldg A, Far East International Plaza, No.319, Xianxia Rd., Shanghai, 200051, China TEL: +86 21 6235 1107
SANYO DENKI TAIWAN CO., LTD. http://www.sanyodenki.com.tw
Room 1208, 12F, No. 96, Chung Shan N, Rd., Sec.2, Taipei 104, Taiwan, R.O.C. TEL: +886 2 2511 3938
SANYO DENKI (H.K.) CO., LIMITED http://www.sanyodenki.com.hk
Room 2305, 23/F, South Tower, Concordia Plaza, 1 Science Museum Rd., TST East, Kowloon, Hong Kong TEL: +852 2312 6250
SANYO DENKI SINGAPORE PTE.LTD. http://www.sanyodenki.com.sg
10 Hoe Chiang Road, #14-03A/04, Keppel Towers Singapore 089315 TEL: +65 6223 1071

The names of companies and/or their products specified in this manual are the trade names, and/or trademarks and/or registered trademarks of such respective companies.
*Remarks : Specifications are subject to change without notice.