Panasonic MINAS A5 Bedienungsanleitung

* This product image is 200W type of A5-series. Operating Instructions (Overall) AC Servo Motor & Driver MINAS A5-series  Thank you for purchasing this Panasonic product.  Before operating this product, please read the instructions carefully , and save this manual for future use.[...]

2 Thank you for purchasing Digital AC Servo Motor & Driver , MINAS A5-series. This instruction manual contains information necessary to correctly and safely use the MINAS A5-series motor and driver . By reading this instruction manual, you will learn how to identify the model of the motor and driver that will be best suitable your application, [...]

3 1 . Before Using the Products Check of the Driver Model ... Installation Describes how to identify and select the desired product and components, how to UHDGWKHVSHFLÀFDWLRQVDQGKRZWRLQVWDOOWKHHTXLSPHQW 2 . Preparation Operating requirements and procedure Shows the timing chart and the list of parameters, and describe[...]

4 Contents Organization of this manual ............................................................................................ 3 Safety Precautions ............................................................................................................. 6 Conformance to international standards ..............................................[...]

5 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 4. Setup ........................................................................................................................ 4-1 1. Describes parameters ..................................................................................[...]

6 The following explanations are for things that must be observed in order to prevent harm to people and damage to property .  0LVXVHV WKDWFRXOG UHVXOWLQ KDUPRU GDPDJH DUHVKRZQ DVIROORZV FODVVLÀHGDFFRUGLQJ WRWKH degree of potential harm or damage. Danger Indicates great possibility of death [...]

7 In the case of the motor with shaft end keyway , do not touch the keyway with bare hands. Failure to observe this instruc- tion could result in personal injury . Do not touch the rotating portion of the motor while it is running. Failure to observe this instruction could result in damages and breakdowns. Do not touch the motor , servo driver , he[...]

8 Caution Do not hold the motor cable or motor shaft during the transportation. Failure to observe this instruc- tion could result in injuries. Don't drop or cause topple over of something dur- ing transportation or installation. Failure to observe this instruc- tion could result in injuries and breakdowns. Do not step on the Product nor place[...]

9 Make an appropriate mounting of the Product matching to its wight and output rating. )DLOXUHWRKHHGWKHVHUHTXLUH - ments will result in personal injury or malfunction. 2EVHUYHWKHVSHFLÀHGPRXQWLQJPHWKRGDQGGL - rection. Use the eye bolt of the motor for transportation of the motor only , and never use this for transporta[...]

10 Conformed Standards Driver Motor EC Direc- tives EMC Directives EN5501 1 EN61000-6-2 EN61800-3 – Low-V oltage Directives EN61800-5-1 EN60034-1 EN60034-5 Machinery Directives Functional safety (*1) EN954-1 (Cat. 3) ISO13849-1 (PL c,d *2 ) (Cat. 3) EN61508 (SIL 2) EN62061 (SIL 2) EN61800-5-2 (STO) IEC61326-3-1 – UL Standards UL508C (E164620) U[...]

11 Routine maintenance and inspection of the driver and motor are essential for the proper and safe operation. Notes on Maintenance and Inspection 1) T urn on and turn off should be done by operators or inspectors themselves. When es- tablishing a system using safety functions, completely understand the applicable safety standards and the operating[...]

12 Related page 3 ´:DUUDQWµ Guideline for Parts Replacement Use the table below for a reference. Parts replacement cycle varies depending on the ac- tual operating conditions. Defective parts should be replaced or repaired when any error have occurred. Prohibited Disassembling for inspection and repair should be carrie[...]

1-1 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 1 . Before Using the Products 1. Introduction Outline .........................................................................................................1-2 On Opening the Product Package ............................................[...]

1-2 The AC Servo Motor & Driver , MINAS A5-series is the latest servo system that meets all GHPDQGV IURP D YDULHW RI PDFKLQHV ZKLFK UHTXLUH KLJK VSHHG KL JK SUHFLVLRQ DQG KLJK SHUIRUPDQFHRUZKLFKUHTXLUHVLPSOLÀHGVHWWLQJV Compared with the preceding A4-series, product of A5-series of[...]

1-3 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 1 Before Using the Products 2. Driver Check of the Model Contents of Name Plate Model number Input/output voltage Rated output of applicable motor Rated input/output current Input/output frequency Number of phase Serial Number e . g . ) :[...]

1-4 A to D-frame E-frame LED cover Safety by-pass prug Charge lamp L1C L2C L1 L2 L3 B1 B3 B2 V U W Connector XA: for main power connection 05JF A T -SAXGF (JST) Connector XB: for motor connection 06JF A T -SAXGF (JST) T erminals for external regenerative resistor (Normally short-circuit B3 to B2) Connector X6: for encoder connection Connector X4: P[...]

1-5 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 2. Driver Parts Description F-frame T erminal cover LED cover Safety by-pass prug Control power input terminals L1 L2 L3 L1C L2C B1 B3 B2 NC* U V W Main power input terminals T erminals for motor connection Screws for earth (x2) T erminal[...]

1-6 2. Driver Parts Description G-frame T erminal cover LED cover Safety by-pass prug ワヤ ワヤ ワヤ ロビヤ ロヒヤ ワヤ ワヤ ワヤ ュャピ ュャビ ュャヒ ュャフ L1 L2 L3 B1 B2 NC U V W ヹヒ ヹビ ヹピ ヹフ ヹブ ヹプ ヤラモンヨユ Control power input terminals NC* L1C L2C NC* NC* DB1 DB2 NC* NC* DB3 DB4 NC*[...]

1-7 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 2. Driver Parts Description H-frame ヹヒ ヹビ ヹピ ヹフ ヹブ ヹプ ヤラモンヨユ L1 L2 L3 B1 B2 NC L1C L2C DB1 DB2 UV W L1 L1C L2C DB1 DB2 L2 L3 B1 B2 NC* UV W Control power input terminals Screws for earth (x2) Charge lam[...]

1-8 2. Driver Parts Description D, E-frame (400 V) F-frame (400 V) LED cover Safety by-pass prug Screws for earth (x2) Charge lamp 24V 0V L1 L2 L3 B1 B3 B2 U V W Connector XA: for main power connection 03JFAT-SAYGSA-L (JST) Connector XB: for motor connection 03JFAT-SAXGSA-L (JST) Connector XD: Control power input terminals 02MJFAT-SAGF (JST) Connec[...]

1-9 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 2. Driver Parts Description G-frame (400 V) T erminal cover LED cover Safety by-pass prug NC* NC* NC* NC* NC* NC* Control terminal for dynamic brake resister Control terminal for dynamic brake resister (Normally short-circuit DB3 to DB4.)[...]

1-10 2. Driver Parts Description H-frame (400 V) H-frame (400 V) Control terminal for dynamic brake resister Details of terminal block NC* * NC is no connect. L1 24V 0V DB1 DB2 L2 L3 B1 B2 U V W ヹヒ ヹビ ヹピ ヹフ ヹブ ヹプ ヤラモンヨユ L1 L2 L3 B1 B2 NC DB2 24V 0V DB1 UV W Control power input terminals Screws for earth (x2) Char[...]

1-1 1 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 1 Before Using the Products 2. Driver Specifications (Velocity, position, torque, full-closed control type) %DVLF6SHFLÀFDWLRQV Input power 100V Main circuit Single phase, 100 to 120V +10% 50/60Hz –15% Control circuit Single phase,[...]

1-12 Function Control input (1) Servo-ON input (2) Alarm clear input (3) Gain switching input (4) Positive direction over-travel inhibition input (5) Negative direction over-travel inhibition input (6) Forced alarm input (7) Inertia ratio switching input Control output (1) Servo-Alarm output (2) Servo-Ready output (3) External brake release signal [...]

1-13 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 1 Before Using the Products 2. Driver Specifications (Only for position control type) %DVLF6SHFLÀFDWLRQV Input power 100V Main circuit Single phase, 100 to 120V +10% 50/60Hz –15% Control circuit Single phase, 100 to 120V +10% 50/60[...]

1-14 2. Driver Specifications (Only for position control type) Function Position control Control input (1) Deviation counter clear (2) Command pulse inhibition (3) Command dividing gradual increase switching (4) Damping control switching etc. Control output Positioning complete (In-position) etc. Pulse input Max. command SXOVHIUHTXHQF Exclusive[...]

1-15 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement A, B-frame (100/200 V) B1 B3 N P + Fuse Error detection Voltage detection Sequence control B2 L1C L2C X5 Feedback scale signal processing limit Feedback scale unit DC/DC X1 X2 X6 U V W M RE X4 + ( 12V +5V PS for gate drive Gate drive PS [...]

1-16 E-frame (200 V) B1 B3 N P + Error detection Voltage detection Sequence control B2 L1C L2C Division processing DC/DC X6 U V W M RE + ( 12V +5V PS for gate drive PS for RE Fuse Parameter control EEPROM Fan Front panel Display operation control Protective curcuit Alarm signal Pulse train command Pusle output Analog velocity command Control input [...]

1-17 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement G-frame (200 V) H-frame (200 V) 2. Driver Block Diagram B1 B3 Error detection Sequence control B2 Division processing X6 Parameter control EEPROM Front panel Display operation control Protective curcuit Alarm signal Pulse train command P[...]

1-18 D-frame (400 V) E-frame (400 V) 2. Driver Block Diagram L 2 L 3 L 1 B1 B3 N P + Fuse Resistor Fuse DC/DC 24V 0V U V W M RE + ±12V +5V PS for gate drive PS for RE Fuse Fan Error detection Sequence control B2 Division processing X6 Parameter control EEPROM Front panel Display operation control Protective curcuit Alarm signal Pulse train command[...]

1-19 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement F-frame (400 V) G-frame (400 V) 2. Driver Block Diagram L 2 L 3 L 1 B1 B3 N P + Fuse Resistor Fuse DC/DC 24V 0V U V W M RE + ±12V +5V PS for gate drive PS for RE Fuse Fan Error detection Sequence control B2 Division processing X6 Parame[...]

1-20 H-frame (400 V) 2. Driver Block Diagram B1 B3 Error detection Sequence control B2 Division processing X6 Parameter control EEPROM Front panel Display operation control Protective curcuit Alarm signal Pulse train command Pusle output Analog velocity command Control input Control output Division/ mulitiplication + + – – A/D A/D 16-bit Positi[...]

1-21 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 1 Before Using the Products 3. Motor Check of the Model Contents of Name Plate Serial Number e . g . ) : 09 04 0001N Lot number Month of production Y ear of production (Lower 2 digits of AD year) Manufacture date e . g . ) : 2009 04 01 M[...]

1-22 1 Before Using the Products 3. Motor Parts Description Motor frame Flange Connector for motor Connector for encoder Connector for motor Connector for brake Connector for encoder [with Brake] Motor frame Flange Mounting holes (X4) Mounting holes (X4) Connector for motor Connector for encoder Oil seal Motor frame Flange Mounting holes (X4) Note [...]

1-23 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 1 Before Using the Products 4. Check of the Combination of the Driver and the Motor Incremental Specifications, 20-bit 7KLVGULYHU LVGHVLJQHGWR EHXVHG LQD FRPELQDWLRQZLWKWKH PRWRUZKLFK DUHVSHFL[...]

1-24 Motor Driver Power supply Ty p e Rated rotational speed Model Rated output Model of velocity , position, torque and full-closed control type Model of Only for position control type Frame Single/ 3-phase, 200V MFME Middle inertia 2000r/min MFME152G1 * 1.5kW MDDHT5540 MDDHT5540E D-frame 3-phase, 200V MFME252G1 * 2.5kW MEDHT7364 MEDHT7364E E-fram[...]

1-25 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 1 Before Using the Products 4. Check of the Combination of the Driver and the Motor Absolute Specifications, 17-bit 7KLVGULYHU LVGHVLJQHGWR EHXVHG LQD FRPELQDWLRQZLWKWKH PRWRUZKLFK DUHVSHFLÀH[...]

1-26 Motor Driver Power supply Ty p e Rated rotational speed Model Rated output Model of velocity , position, torque and full-closed control type Frame Single/3-phase, 200V MFME Middle inertia 2000r/min MFME152S1 * 1.5kW MDDHT5540 D-frame 3-phase, 200V MFME252S1 * 2.5kW MEDHT7364 E-frame MFME452S1 * 4.5kW MFDHTB3A2 F-frame 3-phase, 400V MFME154S1 *[...]

1-27 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Encoder cable Motor series ,QFUHPHQWDO6SHFLÀFDWLRQVELW Note)1 Absolute Specifications, 17-bit Note)1 Detail page MSMD 50W to 750W MFECA0 ** 0EAM — 7-98 MSME 50W to 750W (200V) MFECA0 ** 0MJD (Highly bendable type, Di[...]

1-28 1 Before Using the Products 5. Installation Driver Install the driver properly to avoid a breakdown or an accident. Installation Place 1) Install the driver in a control panel enclosed in noncombustible material and placed in- door where the product is not subjected to rain or direct sunlight. The products are not waterproof. 2) Where the prod[...]

1-29 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Related page 3  ´6SHFLÀFDWLRQVµ3 ´,QVWDOODWLRQRIPRWRUµ 3 ´'LPHQVLRQVµ3  ´0RXQWLQJEUDFNHWµ Mountin[...]

1-30  Be sure to conduct wiring properly and securely . Insecure or improper wiring may cause the mo- tor running out of control or being damaged from overheating. In addition, pay attention not to al- low conductive materials, such as wire chips, entering the driver during the installation and wiring. 6HFXUHWKH VFUHZVDQG[...]

1-31 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Relationship between Wire Diameter and Permissible Current Caution Caution   :KHQ VHOHFWLQJ D FDEOH UHIHU WR WKH IROORZLQJ VHOHFWLRQ JXL GH VKRZLQJ UHODWLRQVKLS EH - WZHHQFDEOHVSHFLÀ[...]

1-32 Install the motor properly to avoid a breakdown or an accident. Installation Place Since the conditions of location affect a lot to the motor life, select a place which meets the conditions below . 1) Indoors, where the products are not subjected to rain or direct sun beam. The products are not waterproof. 2) Where the products are not subject[...]

1-33 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Oil/W ater Protection 1) Don't submerge the motor cable to water or oil. 2) Install the motor with the cable outlet facing downward. 3) Avoid a place where the motor is always subject- ed to oil or water . 4) Use the motor with an o[...]

1-34 Wiring Precautions on Movable Section When wiring cable bear , take the following precautions:  &DEOHEHDUZLULQJ 7KHEHQGUDGLXVRIWKHFDEOHPXVWEHWLPHVRUPRUHLWVÀQLVK RXWVLGHGLDPHWHU  )RU ÀQLVK RXWVLGH GLDPHWHU  UHIHU WR 3  +RZ WR?[...]

1-35 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 1 Before Using the Products 6. Permissible Load at Output Shaft Motor L L/2 P A M B Radial load (P) direction Thrust load (A and B) direction Unit : N (1kgf=9.8N) Motor series Motor output At assembly During running Radial thrust Thrust [...]

1-36 L P Motor series Motor output Formula of Load and load point relation MSMD 50W P ＝ 3533 L+39 100W P ＝ 4905 L+59 200W P ＝ 14945 L+46 400W P ＝ 19723 L+65.5 750W P ＝ 37044 L+77 MSME 50W P ＝ 3533 L+39 100W P ＝ 4905 L+59 200W P ＝ 14945 L+46 400W P ＝ 19723 L+65.5 750W (200V) P ＝ 37044 L+77 750W (400V) 1.0kW to 3.0kW P ＝ 20090 L[...]

2-1 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 2 . Preparation 1. Conformance to international standards EC Directives ............................................................................................. 2-2 Composition of Peripheral Equipments ...............................[...]

2-2 2 Preparation 1. Conformance to international standards EC Directives EC Directives 7KH(&'LUHFWLYHVDSSOWR DOOVXFKHOHFWURQLFSURGXFWVDVWKRVH KDYLQJVSHFLÀFIXQFWLRQV and have been exported to EU and directly sold to general consumers. Those products DUHUHTXLUHGWRFRQIRUP WRWKH(8?[...]

2-3 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement SEMI F47 Caution  ,QFOXGHV DIXQFWLRQ LQ FRPSOLDQFHZLWK WKH 6(0,) VWDQGDUGIRU YROWDJH VDJLPPXQLW under no load or light load.  ,GHDOIRUWKHVHPLFRQGXFWRUDQG/&&ap[...]

2-4 Installation Environment Use the servo driver in the environment of Pollution Degree 1 or 2 prescribed in IEC-60664-1 (e.g. Install the driver in control panel with IP54 protection structure.) *3 Metallic control box 100V/200V Controller Insulated power supply for interface Power supply Circuit breaker Residual current device (RCD) ① ② ⑤ [...]

2-5 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Caution Use options correctly after reading Operating Instructions of the options to better understand the precautions. T ake care not to apply excessive stress to each optional part. 'HWDLOVRIFDEOHOHIWKDQGILJ[...]

2-6 Power Supply Remarks 100V type : Single phase, 100V +10% to 120V +10% 50/60Hz (A to C-frame) –15% –15% 200V type : Single/3-phase, 200V +10% to 240V +10% 50/60Hz (A to D-frame) –15% –15% 200V type : 3-phase, 200V +10% to 230V +10% 50/60Hz (E to H-frame) –15% –15% 400V type : Main power supply 3-phase, 380V +10% to 480V +10% 50/60Hz [...]

2-7 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Noise Filter Option part No. 9 ROWDJHVSHFLÀFDWLRQV for driver Manufacturer’s part No. Applicable driver (frame) Manufacturer DV0P4170 Single phase 100V/200V SUP-EK5-ER-6 A, B-frame Okaya Electric Ind. DV0PM20042 3-phase 200V 3SUP[...]

2-8 1. Conformance to international standards &RPSRVLWLRQRI3HULSKHUDO(TXLSPHQWV Noise Filter for Signal Lines Signal line, Encoder line, Control power line, Power line (A to D-frame: 100V/ 200V and D to F-frame: 400V) and Motor line (A to F-frame). Option part No. Manufacturer’s part No. Manufacturer DV0P1460 ZCA T3035-1330 TDK Corp.[...]

2-9 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 1. Conformance to international standards &RPSRVLWLRQRI3HULSKHUDO(TXLSPHQWV Note Caution For driver and applicable peripheral equipments, refer to P .2-10 “Driver and List of Applicable Peripheral Equipments”. Use options[...]

2-10 2 Preparation 2. 6VWHP&RQÀJXUDWLRQDQG:LULQJ 'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWV Driver Applicable motor V oltage *1 Rated output 5HTXLUHG Power at the ( rated load ) Circuit breaker rated ( current ) Noise ÀOWHU ( Single phase ／ 3-phase ) Surge absorber ( Single phase ／ 3-phase ) Noise ÀOWH[...]

2-1 1 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 2. 6VWHP&RQÀJXUDWLRQDQG:LULQJ 'ULYHUDQG/LVWRI$SSOLFDEOH3HULSKHUDO(TXLSPHQWV Driver Applicable motor V oltage *1 Rated output 5HTXLUHG Power at the ( rated load ) Circuit breaker rated ( current ) No[...]

2-12 &RQQHFWLRQWRLQSXWSRZHU Wiring to Connector , XA P. 2 - 1 4 &RQQHFWLRQWRH[WHUQDOFRPSRQHQWV Regenerative resistor (optional)  :KHQRXXVHDQH[WHUQDOUHJHQHUDWLYHUHVLVWRU  install an external protective apparatus, such as thermal fuse without fail.  7KHUPDOIXVHDQGWKHU[...]

2-13 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement : High voltage *URXQG WHUPLQDO -XQFWLRQFDEOH IRUEUDNH '&3RZHUVXSSO IRUEUDNH'&9 WREHVXSSOLHGEFXVWRPHU 8SKDVHUHG 9 SKDVHZKLWH :SKDVHEODFN [...]

2-14 A to D-frame, 100 V / 200 V type  :LULQJVKRXOGEHSHUIRUPHGEDVSHFLDOLVWRUDQDXWKRUL]HGS HUVRQQHO  'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG  1HYHUWRXFKWKHSRZHUFRQQHFWRU;$ DQG;%WRZKLFKKLJKYRO WDJHLVDSSOLHG[...]

2-15 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Compose the circuit so that the main circuit power will be shut off when an error occurs. In Case of Single Phase, A to D-frame, 100 V / 200 V type Noise filter Noise filter Motor 37 ALM+ L2 L3 L1C L2C B1 MC MCCB B3 B2 U V W L1 $/0ï Ext[...]

2-16 B1 (Pin-6) B2 (Pin-4) Regenerative resistor (optional)  :KHQRXXVHDQH[WHUQDOUHJHQHUDWLYHUHVLVWRU  install an external protective apparatus, such as thermal fuse without fail.  7KHUPDOIXVHDQGWKHUPRVWDWDUHEXLOWLQWRWKH UHJHQHUDWLYHUHVLVWRU2SWLRQ If the thermal fuse i[...]

2-17 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Brake cable DC Power supply for brake DC24V (to be supplied by customer) +LJKYROWDJH Ground terminal 8SKDVHUHG 9 SKDVHZKLWH :SKDVHEODFN  7KHVHFRORUVDUHXVHG  IRURSWLRQDOFDEOH?[...]

2-18 E-frame, 200 V type  :LULQJVKRXOGEHSHUIRUPHGEDVSHFLDOLVWRUDQDXWKRUL]HGS HUVRQQHO  'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG  1HYHUWRXFKWKHSRZHUFRQQHFWRU;$;%DQG;&WRZKLFKKLJK YROWDJHLVDSSOLHG T[...]

2-19 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement XC XB Motor 37 ALM+ L2 L3 L1C L2C MC MCCB L1 $/0ï XA X4 36 L ON ALM B1 B3 B2 NC U V W ALM OFF Built-in thermostat of an external regenerative resistor (light yellow) MC External regenerative resistor Remove the short wire when you conne[...]

2-20 :LULQJRI0DLQ&LUFXLW &LUFXLW%UHDNHU0&&% T o protect power supply line from overload- ing, install a wiring circuit breaker rated to the capacity of the power supply . 1RLVH)LOWHU1) Removes external noise from the power lines. And reduces an ef fect of the noise generated by the servo driver[...]

2-21 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement P .2-22 Short circuit wire (B2-B3) Ground (earth) Ground terminal Charge lamp (Red LED) *1 Junction cable for brake DC Power supply for brake DC24V (to be supplied by customer) Junction cable for motor Junction cable for encoder : High v[...]

2-22 F-frame, 200 V type  :LULQJVKRXOGEHSHUIRUPHGEDVSHFLDOLVWRUDQDXWKRUL]HGS HUVRQQHO 'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG  Never touch the terminal to which high voltage is applied. There is a risk of electric shock.  Tips on W iring  7 DN[...]

2-23 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Motor 37 ALM+ L2 L3 L1C L2C MC MCCB L1 $/0ï X4 T erminal block 36 L ON ALM B1 B3 B2 NC U V W ALM OFF Built-in thermostat of an external regenerative resistor (light yellow) MC Noise filter External regenerative resistor (Remove the shor[...]

2-24 :LULQJRI0DLQ&LUFXLW &LUFXLW%UHDNHU0&&% T o protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply . 1RLVH)LOWHU1) Removes external noise from the power lines. And reduces an effect of the noise generated by the servo driver . [...]

2-25 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement : High voltage Ground (earth) Ground terminal Short bar (DB3-DB4) 0RWRUFDEOH6KLHOGZLUH  ;WR;DUHXVHGIRUWKHVHFRQGDU circuit. T o connect these terminals to the primary power supply (parti[...]

2-26 G-frame, 200 V type  :LULQJVKRXOGEHSHUIRUPHGEDVSHFLDOLVWRUDQDXWKRUL]HGS HUVRQQHO 'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG  Never touch the terminal to which high voltage is applied. There is a risk of electric shock.  Tips on W iring  7 DN[...]

2-27 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Power supply 3-phase, 200V to 230V –15% +10% Noise filter Main power supply Control power supply Motor 37 ALM ＋ L2 L3 L1C L2C MC1 L1 ALM − MCCB Motor connection 36 L ON ALM B1 B2 NC DB1 DB2 DB3 DB4 U V W ALM OFF Coil surge suppress[...]

2-28 :LULQJRI0DLQ&LUFXLW &LUFXLW%UHDNHU0&&% T o protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply . 1RLVH)LOWHU1) Removes external noise from the power lines. And reduces an effect of the noise generated by the servo driver . [...]

2-29 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement : High voltage PC  (to be supplied by customer) Setup support software “PANATERM” Please download from our web site. 0RQLWRURXWSXW :LULQJWR&RQQHFWRU ; P .2-60 Motor cable (Shield wire) P .2-30 &R[...]

2-30 H-frame, 200 V type  :LULQJVKRXOGEHSHUIRUPHGEDVSHFLDOLVWRUDQDXWKRUL]HGS HUVRQQHO 'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG  Never touch the terminal to which high voltage is applied. There is a risk of electric shock.  Tips on W iring  7 DN[...]

2-31 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Power supply 3-phase, 200V to 230V –15% +10% Note 1) Magnetic contactor MC2 must be the same rating as the contactor MC1 in the main circuit. Note 2) Servo may be turned on in the external sequence if the contact deposits: to protect t[...]

2-32 :LULQJRI0DLQ&RQQHFWRU;$ &LUFXLW%UHDNHU0&&% T o protect power supply line from overload- ing, install a wiring circuit breaker rated to the capacity of the power supply . 1RLVH)LOWHU1) Removes external noise from the power lines. And reduces an ef fect of the noise generated by the[...]

2-33 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement PC (to be supplied by customer) Setup support software ´3$1$7(50µ Please download from our web site. &RQQHFWLRQWR encoder &RQQHFWLRQWRKRVWFRQWUROOHU :LULQJWR&RQQHFWRU ; P. 2 - 5 [...]

2-34 D, E-frame, 400 V type  :LULQJVKRXOGEHSHUIRUPHGEDVSHFLDOLVWRUDQDXWKRUL]HGS HUVRQQHO  'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG  1HYHU WRXFK WKH SRZHU FRQQHFWRU ;$ ;% ;& DQG ;' WR ZKLFK KLJK YR[...]

2-35 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Power supply 3-phase, 380V to 480V –15% +10% Motor 37 ALM+ L2 L3 0V MCCB L1 $/0ï 24V XC XB XA XD X4 36 L ON ALM B1 B3 B2 N U V W ALM OFF Built-in thermostat of an external regenerative resistor (light yellow) MC External regenerative [...]

2-36 :LULQJRI0DLQ&LUFXLW &LUFXLW%UHDNHU0&&% T o protect power supply line from overload- ing, install a wiring circuit breaker rated to the capacity of the power supply . 1RLVH)LOWHU1) Removes external noise from the power lines. And reduces an ef fect of the noise generated by the servo driver[...]

2-37 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement : High voltage 0RQLWRURXWSXW :LULQJWR&RQQHFWRU ; P .2-60 PC (to be supplied by customer) 6HWXSVXSSRUWVRIWZDUH´3$1$7(50µ Please download from our web site. 3  Junction cable for bra[...]

2-38 F-frame, 400 V type  :LULQJVKRXOGEHSHUIRUPHGEDVSHFLDOLVWRUDQDXWKRUL]HGS HUVRQQHO 'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG  Never touch the terminal to which high voltage is applied. There is a risk of electric shock.  Tips on W iring  7 DN[...]

2-39 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Power supply 3-phase, 380V to 480V –15% +10% Motor 37 ALM+ L2 L3 MC MCCB L1 $/0ï Noise filter X4 36 L ON ALM B1 B3 B2 NC U V W ALM OFF Built-in thermostat of an external regenerative resistor (light yellow) MC External regenerative re[...]

2-40 :LULQJRI0DLQ&LUFXLW &LUFXLW%UHDNHU0&&% T o protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply . 1RLVH)LOWHU1) Removes external noise from the power lines. And reduces an effect of the noise generated by the servo driver . [...]

2-41 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement ワヤ ワヤ ワヤ パヷ ビフヷ ワヤ ワヤ ワヤ ュャピ ュャビ ュャヒ ュャフ L1 L2 L3 B1 B2 NC U V W ヹヒ ヹビ ヹピ ヹフ ヹブ ヹプ ヤラモンヨユ フパパヷ : High voltage  ;WR;?[...]

2-42 G-frame, 400 V type  :LULQJVKRXOGEHSHUIRUPHGEDVSHFLDOLVWRUDQDXWKRUL]HGS HUVRQQHO 'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG  Never touch the terminal to which high voltage is applied. There is a risk of electric shock.  Tips on W iring  7 DN[...]

2-43 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Power supply 3-phase, 380V to 480V –15% +10% Note 1) Shielding the circuit is recommended for the purpose of noise reduction. Note 2) Normally , do not disconnect the shorting bar . Noise filter Main power supply Control power supply M[...]

2-44 :LULQJRI0DLQ&LUFXLW &LUFXLW%UHDNHU0&&% T o protect power supply line from overloading, install a wiring circuit breaker rated to the capacity of the power supply . 1RLVH)LOWHU1) Removes external noise from the power lines. And reduces an effect of the noise generated by the servo driver . [...]

2-45 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement : High voltage PC  (to be supplied by customer) Setup support software “PANATERM” Please download from our web site. 0RQLWRURXWSXW :LULQJWR&RQQHFWRU ; P .2-60 U -phase V -phase : -phase Brake cable D[...]

2-46 H-frame, 400 V type  :LULQJVKRXOGEHSHUIRUPHGEDVSHFLDOLVWRUDQDXWKRUL]HGS HUVRQQHO 'RQRWWXUQRQWKHSRZHUXQWLOWKHZLULQJLVFRPSOHWHG  Never touch the terminal to which high voltage is applied. There is a risk of electric shock.  Tips on W iring  7 DN[...]

2-47 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Power supply 3-phase, 380V to 480V –15% +10% Note 1) Shielding the circuit is recommended for the purpose of noise reduction. Note 2) Magnetic contactor MC2 must be the same rating as the contactor MC1 in the main circuit. Note 3) Serv[...]

2-48 Do not connect anything to NC. Remarks JN6CR07PM2 20-bit Incremental 17-bit Absolute  :KHQWKHPRWRUVRI060(:WR:!DUHXVHGWKHDUH FRQQHFWHGDVVKRZQEHORZ Connector: Made by Japan Aviation Electronics Industry, Ltd. (The figures below show connectors for the moto[...]

2-49 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Remarks Remarks Connector for brake A B D C A B D C JL04V -2E32-17PE-B-R N/MS3102A 14S-2P <Motor> <Brake> Connector for motor  :KHQWKHPRWRUVRI060(:9N:[...]

2-50  )ROORZWKHSURFHGXUHVEHORZIRUWKHZLULQJFRQQHFWLRQWRWKH&RQQHFWRU XA , XB and XC . How to connect 1. Peel off the insulation cover of the cable.  )RUVLQJOHZLUH3OHDVHREHWKHOHQJWKLQÀJXUH  )RUVWUDQGHGZLUHVIHUUXOHVPXVWEHXVHGDV?[...]

2-51 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 2 Preparation 3. Wiring to the connector , X1 Connecting host computer Caution This is used for USB connection to a personal computer . It is possible to change the pa- rameter setting and perform monitoring. Application Symbol Connector[...]

2-52  7KLV VHUYR GULYHUIHDWXUHV  NLQGVRI FRPPXQLFDWLRQ IXQFWLRQ56 DQG 56DQG RXFDQ XVH LQ 3 connecting methods. T o communicate with a single driver through RS232 Connect the host (PC or controller) to an driver through RS232. [How to connect] T o communicate wit[...]

2-53 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement A safety by-pass plug is supplied as standard equipment. Do not disconnect it in normal times. When controlling the safety function from the connected host controller , accessory con- QHFWRUFDQQRWEHXVHG3UHSDUHDQGZLUH[...]

2-54 Tips on wiring Controller 3m or shorter 30cm or longer Power supply Motor COM+ GND 1 Connector X4 COM– FG V DC 2 Peripheral apparatus such as host controller should be located within3m. Separate the main circuit at least 30cm away . Don't pass them in the same duct, nor bind them together . Power supply for control signals (V CC ) betwe[...]

2-55 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Provide a power supply for the external scale on your part or use the following power out- put (250mA or less). Application Symbol Connector Pin No. Contents Power supply output EX5V 1 Supply the power of external scale or A, B, Z phase [...]

2-56 Wiring Diagram of X5 External scale side External scale unit Detection head Junction cable Servo driver EX5V EX0V EXPS EXPS EXA EXA EXB EXB EXZ EXZ EX5V EX0V EXPS EXPS EXA EXA EXB EXB EXZ EXZ FG Connector X5 1 2 +5V 0V 3 4 5 6 7 8 9 10 Regulator Shell of X5 (FG) MUF-PK10-X (J.S.T . Mfg. Co., Ltd.) T wisted pair 7. Wiring to the connector , X5 [...]

2-57 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Tips on W iring Motor Encoder 30cm or more 20m max. Maximum cable length between the driver and the motor to be 20m. Consult with a dealer or distributor if you want to use the longer cable than 20m. (Refer to the back cover .) Keep this[...]

2-58 Wiring Diagram ,QFDVHRIELWLQFUHPHQWDOHQFRGHU Shell (FG) +5V 0V 1 2 3 4 5 6 4 1 3 7 T wisted pair Encoder cable Cable connector: JN2DS10SL1-R (by Japan Aviation Electronics Ind.) Motor Driver E5V E0V PS PS 9 PS PS FG E5V E0V X6 Regulator Regulator Regulator Shell (FG) +5V 0V 1 2 3 4 5 6 6 3 7 4 T wisted pair Encode[...]

2-59 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement  In case of 17-bit absolute encoder Shell (FG) +5V 0V 1 2 3 4 5 6 4 1 3 7 T wisted pair Encoder cable Cable connector: JN2DS10SL1-R (by Japan Aviation Electronics Ind.) Motor Driver E5V E0V PS PS 9 PS 5 BA T ï 6 BA T+ PS FG E5V E0[...]

2-60 The connector X7 of the front panel is for monitor output. Analogue output : 2 systems Digital output : 1 systems In both cases, it is possible to switch the output signal by setting parameters. Connector X7 Manufacturer’s part No.: 530140610 Manufacturer: Japan Molex Inc. 61 X7 Measuring instrument Output circuit 1 Nї Nї AM1 D[...]

2-61 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Servo-on signal accept timing on power-up Caution  7KHDERYHFKDUWVKRZVWKHWLPLQJIURP $&SRZHU21WRFRPPDQG LQSXW  $FWLYDWHWKHH[WHUQDOFRPPDQGLQSXWDFFRUGLQJWRWKH?[...]

2-62 When an Error (Alarm) Has Occurred (at Servo-ON Command) When an Alarm Has Been Cleared (at Servo-ON Command) Caution *1. t1 will be a shorter time of either the setup value of Pr4.38[Mechanical brake action at running setup] or elapsing time for the motor speed to fall below Pr4.39[Brake release speed setup]. t1 will be 0 when the motor is in[...]

2-63 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Servo-ON/OFF Action While the Motor Is at Stall (Servo-Lock) Remarks T o turn on/off the servo during normal operation, first stop the motor . Caution *1 t1 depends on the setup value of Pr4.37 Setup of mechanical brake action at stallin[...]

2-64 input coupler OFF input coupler OFF input coupler ON engaged *3 released not-energized engaged *3 *4 not-energized *5 energized Output T r OFF Output Tr .ON engaged (OFF) released (ON) No servo-ON until the motor speed falls below approx. 30r/min. 1 to 5ms approx.60ms Setup value of Pr4.38 Setup value of Pr4.38 when setup value of Pr4.38 is sh[...]

2-65 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 2 Preparation 1 1. Built-in Holding Brake Outline In the applications where the motor drives the vertical axis, this brake would be used to hold and prevent the work (moving load) from falling by gravity while the power to the servo is s[...]

2-66 Motor series Motor output Static friction WRUTXH N·m Rotor inertia x 10 –4 kg·m 2 Engaging time ms Releasing time ms Exciting current DC A (at cool-off) Releasing voltage Permissible work (J) per one braking Permissible total work x 10 3 J Permissible angular acceleration rad/s 2 MSMD 50W , 100W 0.29 or less 0.002 35 or less 20 or less 0.3[...]

2-67 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Caution This driver (A to G-frame) is equipped with a dynamic brake for emergency stop. Pay a special attention to the followings. The H-frame driver does not incorporate the dynamic brake. 1. Dynamic brake is only for emergency stop. Do[...]

2-68 2 Preparation 12. Dynamic Brake Connections of external dynamic brake resistor (Example) G-frame, 200 V Remarks Magnetic Contactor (MC) T urns on/off the dynamic brake resistor . Use coil surge suppression units together with this.  6KRXOGEHWKHVDPHUDWLQJDVWKDWRIWKH magnetic contactor for main circuit.  3U[...]

2-69 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement G-frame, 400 V 12. Dynamic Brake Connections of external dynamic brake resistor (Example) ワヤ ワヤ ワヤ パヷ ビフヷ ワヤ ワヤ ワヤ ュャピ ュャビ ュャヒ ュャフ L1 L2 L3 B1 B2 NC U V W ヹヒ ヹビ ヹピ ヹ[...]

2-70 T orque limit value at emergency stop will be that of Pr5.1 1 (Setup of torque at emergency stop) when the setup value is 8 or 9. T orque limit value at emergency stop will be that of Pr5.1 1 (Setup of torque at emergency stop) when the setup value is 8 or 9. D B D B Free-run Free-run D B D B Free-run Free-run D B Free-run Free-run D B D B Cle[...]

2-71 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement When setup value is within the range 4 and 7, the protection function that supports immediate stop acts according to operation A and the function that does not support acts according to operation B. During deceleration to stop, the main [...]

2-72 Outline of Parameter This driver is equipped with various parameters to set up its characteristics and functions. This section describes the function and purpose of each parameter . Read and compre- hend very well so that you can adjust this driver in optimum condition for your running requirements. Setup of Parameter Note < RXFDQ?[...]

2-73 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement  7KHSDUDPHWHU1RLVGLVSODHGLQWKHIRUPRI3U;<<;&ODVVL ÀFDWLRQ << 1R   )RUWKHGHWDLOVRQWKHSDUDPHWHUVUHIHUWR3 [...]

2-74 [Class 0] Basic setting Parametr No. Title Range Default Unit T urning on of power supply Related Control Mode Detail page Class No. A,B -frame C -frame D,E,F -frame G,H -frame PS T F 0 00 Rotational direction setup 0 to 1 1 ï ○ ○○○○ 4-4 0 01 Control mode setup 0 to 6 0 ï ○ ○○○○ 0 02 Real-time auto-gain tuning setup 0 to [...]

2-75 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement [Class 1] Gain adjustment Parametr No. Title Range Default Unit T urning on of power supply Related Control Mode Detail page Class No. A,B -frame C -frame D,E,F -frame G,H -frame PS T F 1 00 1st gain of position loop 0 to 30000 480 320 0[...]

2-76 [Class 2] Damping control Parametr No. Title Range Default Unit T urning on of power supply Related Control Mode Detail page Class No. A,B -frame C -frame D,E,F -frame G,H -frame PS T F 20 0 $GDSWLYHÀOWHUPRGHVHWXS 0 to 4 0 ï ○○ ○ 4-20 2 01 1st notch frequency 50 to 5000 5000 Hz ○○○○ 2 02 1st notch width selection 0 to [...]

2-77 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement >&ODVV@9 HURFLW7 RUTXH)XOOFORVHGFRQWURO Parametr No. Title Range Default Unit T urning on of power supply Related Control Mode Detail page Class No. A,B -frame C -frame D,E,F -frame G,H -frame PS T F[...]

2-78 [Class 4] I/F monitor setting Parametr No. Title Range Default Unit T urning on of power supply Related Control Mode Detail page Class No. A,B -frame C -frame D,E,F -frame G,H -frame PS T F 4 00 SI1 input selection (Pin No.8) 0 to 00FFFFFFh 8553090 ï ○ ○○○○ 4-33 4 01 SI2 input selection (Pin No.9) 0 to 00FFFFFFh 8487297 ï ○ ○?[...]

2-79 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Parametr No. Title Range Default Unit T urning on of power supply Related Control Mode Detail page Class No. A,B -frame C -frame D,E,F -frame G,H -frame PS T F 43 0 Analog input 3 (AI3) overvoltage setup 0 to 100 0 0.1V * ○○○○ 4-[...]

2-80 Parametr No. Title Range Default Unit T urning on of power supply Related Control Mode Detail page Class No. A,B -frame C -frame D,E,F -frame G,H -frame PS T F 5 10 Sequence at alarm 0 to 7 0 ï ○○○○ 4-45 5 1 1 T orque setup for emergency stop 0 to 500 0 % ○○○○ 4-46 5 12 Over-load level setup 0 to 500 0 % ○○○○ 5 13 Over[...]

2-81 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement [Class 6] Special setting Parametr No. Title Range Default Unit T urning on of power supply Related Control Mode Detail page Class No. A,B -frame C -frame D,E,F -frame G,H -frame PS T F 60 0 Analog torque feed forward conversion gain 0 t[...]

2-82 Caution T orque limit setup range is 0 to 300 and default is 300 except the combinations of the motor and the driver listed in the table below .  The above limit applies to Pr0.13 (1st torque limit), Pr5.22 (2nd torque limit), Pr5.1 1 (T orque setup for emergency stop), Pr5.25 (External input positive direction torque limit) and Pr5.26(Exte[...]

2-83 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Cautions on Replacing the Motor As stated previously , torque limit setup range might change when you replace the combi- nation of the motor and the driver . Pay attention to the followings.  :KHQWKHPRWRUWRUTXHLVO[...]

2-84 Note Here we take a ball screw drive as an example of machine. A travel distance of a ball screw M [mm] corresponding to travel command P1 [P], can be described by the following formula (1) by making the lead of ball screw as L [mm] M = P1 x (D/E) x (1/R) x L .................. (1) WKHUHIRUH SRVLWLRQ UHVROXWLRQ WU DYHO GLVWDQ[...]

2-85 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Electronic gear ratio = 10 0.0005×2 17 ×1 10×10 4 5×2 17 = 100000 655360 = 0.32768 20 0.00005×2 17 ×1 20 0.00005×2 20 ×1 = = 20×10 5 5×2 20 2000000 5242880 D < 1, hence use 120-bit. D = L у M×E×R Electronic gear ratio T r[...]

2-86 Setup with the Front Panel Press these to change display and data, select parameters and execute actions. (Change/Selection/Execution is valid to the digit which decimal point flashes.) Numerical value increases by pressing, , decreases by pressing . Shifting of the digit for data changing to higher digit. X7 Output connector for monitor Displ[...]

2-87 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement approx. 2 sec approx. 0.6 sec approx. 0.6 sec Initial display of LED (Determined by the setup of Parameter , Pr5.28 "Initial status of LED".) approx. 0.8 sec Repeatedly(during continuous alarm) 0.3 sec Initial Status of the Fro[...]

2-88 Use each button on the touch panel to select the structure and switch the mode. ,QLWLDOVWDWXVRI WKH&RQVROH/(' 0RQLWRU PRGH 0RGHVZLWFKLQJEXWWRQ 3DUDPHWHU VHWXSPRGH ((3520 ZULWLQJPRGH $X[LOLDU IXQFWLRQPRGH 0RGHVZLWFKLQJEXWWRQ 0RGHVZLWFKLQJEXWWRQ 0RGHVZLWFKLQJEXW[...]

2-89 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement ......P.2-106 )RUGHWDLOVRISDUDPHWHUVUHIHUWR 3 'HWDLOVRISDUDPHWHU 3 WR 105 ......P .2-107 ..[...]

2-90 Outline T o prevent operational error e.g. unintentional parameter modification, the front panel may be locked. Once locked, operations on the panel are limited as follows: Mode Locked panel conditions Monitor Mode No limitation: all monitored data can be checked. Parameter Set up Mode No parameter can be changed but setting can be checked. EE[...]

2-91 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Display shifts toward the arrowed direction by pressing and reversed direction by pressing . <Return to “Positional command deviation”.> (SET button) (Mode switch button) Display example Description Pages to refer Display examp[...]

2-92 (1) Display of positional command deviation [command unit] Displays positional deviation of the command unit in High order or Low order . ......Low order ......High order Positional command deviation  T o switch between Low order (L) and High order (H), press . (2) Display of motor speed, positional command speed, YHORF[...]

2-93 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement (3) Display of Feedback Pulse Sum, Command Pulse Sum and External Scale Feedback Pulse Sum ......Low order ......High order Feedback Pulse Sum )HHGEDFN3XOVH6XP>(QFRGHUIHHGEDFNSXOVH ] ......Low order ......High ord[...]

2-94 (5) Display of I/O Signal Status Displays the control input and output signal to be connected to connector X4. Use this function to check if the wiring is correct or not. .....Input signal .....Output signal Pin No. .....Active *1 .....Inactive *1 *1 When input signal Active : Input signal photocoupler is ON. Inactive : Input signal photocoupl[...]

2-95 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement (6) Display of Analog Input V alue 15. How to Use the Front Panel Monitor Mode (EXECUTION display) (Analog input 1 value, unit [V]) (Analog input 2 value, unit [V]) (Analog input 3 value, unit [V]) Input signal Input voltage value [V] ?[...]

2-96 15. How to Use the Front Panel Monitor Mode (EXECUTION display) (7) Display of Error Factor and Reference of History <List of error code No.> Error code Protective function Attribute Main Sub History Can be cleared Immediate stop 1 1 0 Control power supply under- voltage protection 12 0 Over-voltage protection 13 0 Main power supply unde[...]

2-97 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Note Caution History ...The error will be stored in the error history . Can be cleared ...T o cancel the error , use the alarm clear input (A-CLR). If the alarm clear input is not effective, turn of f power , remove the cause of the erro[...]

2-98 (8) Alarm Display alarm No. Alarm Content Latched time *1 A0 Overload protection Load factor is 85% or more the protection level. WRVRU A1 Over-regeneration alarm Regenerative load factor is 85% or more the protection level. VRU A2 Battery alarm Battery voltage is 3.2 V or lower . )L[HGDW A3 Fan [...]

2-99 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement (9) Display of Regenerative Load Factor , Over-load Factor and Inertia Ratio 5HJHQHUDWLYH/RDG)DFWRU 2YHUORDG)DFWRU ,QHUWLD5DWLR Display the ratio (%) against the alarm trigger level of regenerative protec[...]

2-100 15. How to Use the Front Panel Monitor Mode (EXECUTION display) 10) Display of the Factor of No-Motor Running Displays the factor of no-motor running in number . ([SODQDWLRQRIIDFWRU1R Factor No. Factor Related Control Mode Content PS T F ÁDVKLQJ Occurrence of error/alarm ○○○○ An error is occurring, and an alarm is t[...]

2-101 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 15. How to Use the Front Panel Monitor Mode (EXECUTION display) (1 1) Display of No. of changes in I/O signals .....Input signal .....Output signal Pin No. No. of changes in I/O signals (the signal is invalid) 6HOHFWWKH1R[...]

2-102 15. How to Use the Front Panel Monitor Mode (EXECUTION display) (13) Display of absolute external scale position  'LVSODVWKHDEVROXWHSRVLWLRQRIVHULDODEVROXWHVFDOH  ,IDVHULDO LQFUHPHQWDOVFDOHGLVSODV WKHVFDOH SRVLWLRQUHODWLYH WRWKHSRZHU RQSRVLWLRQ ZKLFK[...]

2-103 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 15. How to Use the Front Panel Monitor Mode (EXECUTION display) (17) Display of External Scale Deviation [External Scale Unit] External Scale Deviation [External scale unit] ......Low order ......High order  T o switch between Low[...]

2-104 15. How to Use the Front Panel Monitor Mode (EXECUTION display) (22) Display of motor serial number Motor serial number ......Motor serial number- Low order ......Motor serial number- High order  T o switch between Low order (L) and High order (H), press or . (Example of display: Serial number 09040001) (23) Display of accumulated opera[...]

2-105 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 15. How to Use the Front Panel Monitor Mode (EXECUTION display) (26) Display of safety condition monitor : Servo-off condition : Servo-on condition : Alarm condition Servo ready condition OFF: Dot unlit ON: Dot lit Flashing Normal chang[...]

2-106 For parameters which place is displayed with “ ”, the content changed and written to EEPROM becomes valid after turning off the power once.  'LVSODWKH1RRISDUDPHWHUWREH changed and press to change to (;(&87,21GLVSOD   3UHVVDQGWKHIODVKLQJGHFLPDO separator [...]

2-107 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement (SET button) “ ” increases while keep pressing (for approx. 5sec) as the right fig. shows. When you change the parameters which contents become valid after resetting, will be displayed after finishing wiring. T urn off the control p[...]

2-108  7 RVHOHFWWKHGHVLUHGDX[LOLDUIXQFWLRQ SUHVVRU  7'LVSODWKHDX[LOLDUIXQFWLRQWREH FKDQJHGDQGSUHVVWRFKDQJHWR (;(&87,21GLVSOD  6(7EXWWRQ 0RGHVZLWFKEXWWRQ 0RGHVZLWFKEXWWRQ[...]

2-109 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 1) Alarm Clear Screen This function releases the current alarm status. Certain alarms will persist. If this is the case, refer to P .6-2 “When in T rouble - Protective Function”. Note  After alarm cleaning, return to SELECTION di[...]

2-1 10 (2) Analog inputs 1 to 3 automatic offset adjustment This function automatically adjusts offset setting of analog input. Analog input 1 (AI1)......Pr4.22 (Analog input 1 (AI1) offset setup) Analog input 2 (AI2)......Pr4.25 (Analog input 2 (AI2) offset setup) Analog input 3 (AI3)......Pr4.28 (Analog input 1 (AI3) offset setup) Remarks Note ?[...]

2 - 111 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement (3) Motor trial run Remarks < RX FDQ PDNH D W ULDO UXQ -2* UXQ ZLWKRXW FRQQHFWLQJ WKH &RQQHFWRU  &RQQHFWRU ; WR the host controller such as PLC.  6HSDUDWH[...]

2-1 12 3URFHGXUHIRU7 ULDO5XQ Caution Note  Before starting the trial run, set the gain-related parameters to appropriate values to avoid problems such as oscillation. If the load is removed, be sure to set Pr0.04 “Inertia Ratio” to 0.  During the trial run, use the velocity cont rol mode. V arious settings including paramet[...]

2-1 13 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 4) Clearing of Absolute Encoder < RXFDQFOHDUWKHPXOWLWXUQGDWDRIWKHDEVROXWHHQFRGHU  Clearing of absolute encoder completes Error occurs ( When non-applicable ) encoder is connected Clearing of absolute[...]

2-1 14 (5) Initialization of parameter Initialize the parameter . Initialization of parameter completes Error occurs (Minor error occurs) Initialization of parameter Initialization finishes 3UHVVWRFDOOIRU EXECUTION display . (SET button) SELECTION display EXECUTION display “ ” increases while keep pressing[...]

2-1 15 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement (6) Release of front panel lock Release the front panel lock setting. Release of front panel lock completes Error occurs Release of front panel lock Release finishes 3UHVVWRFDOOIRU EXECUTION displ[...]

2-1 16 MEMO[...]

3-1 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 3 . Connection 1. Outline of mode Position Control Mode ................................................................................ 3-2 V elocity Control Mode ..........................................................................[...]

3-2 3 1. Outline of mode Connection Position Control Mode Outline < RXFDQ SHUIRUP SRVLWLRQ FRQWURO EDVHGRQ WKH SRVLWLRQDO FRPPDQG SXOVH WUDLQ IURPWKH KRVWFRQWUROOHU  7KLVVHFWLRQGHVFULEHVWKHIXQGDPHQWDOVHWXSWREHXVHGIRUWKH SRVLWLRQFRQWURO Function Caution N[...]

3-3 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 1. Outline of mode Position Control Mode Note (2) Electronic gear function 7KLV IXQFWLRQ PXOWLSOLHV WKH LQSXW SXOVH FRPPDQG IURP WKH KRVW FRQWUROOHU E WKH SUH - GHWHUPLQHG GLYLGLQJ RU PXOWL[...]

3-4 1. Outline of mode Position Control Mode Note (4) Pulse regeneration function 7KH LQIRUPDWLRQ RQ WKH DPRXQW RI PRYHPHQW FDQ EH VHQW WR WKH KRVW FRQWUROOHU LQ WKH IRUP RI $ DQG %SKDVH SXOVHV IURP WKH VHUYR GULYHU  :KHQ WKH RXWSXW VRXUFH LV WKH?[...]

3-5 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 1. Outline of mode Position Control Mode Note (6) Positioning complete output (INP) function 7KH FRPSOHWLRQRI SRVLWLRQLQJ FDQ EH YHULÀHG EWKH SRVLWLRQLQJ  FRPSOHWH RXWSXW ,13 :KHQ WKH?[...]

3-6 3 1. Outline of mode Connection Velocity Control Mode Outline < RX FDQ FRQWURO WKH VSHHG DFFRUGLQJ WR WKH DQDORJ VSHHG FRPPDQG  IURP WKH KRVW FRQ - WUROOHURUWKHVSHHGFRPPDQGVHWLQWKHVHUYRGULYHU  Note 2QOIRUSRVLWLRQFRQWUROWSHLVQRWSURYLGHGZLWKDQD[...]

3-7 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 1. Outline of mode Velocity Control Mode Note (2) V elocity control by internal speed command < RX FDQ FRQWURO WKH VSHHG E XVLQJ WKH LQWHUQDO VSHHG FRPPDQG VHW WR WKH SDUDPHWHU  % XV[...]

3-8 1. Outline of mode Velocity Control Mode Note (5) Speed coincidence output (V -COIN) 7KLV VLJQDO LV RXWSXW ZKHQ WKH PRWRU VSHHG LV HTXDO WR WKH VSHHG VSHFLILHG E WKH VSHHG FRPPDQG7KH PRWRU VSHHG LV MXGJHG WR EH FRLQFLGHQW ZLWK WKH VSHFLÀHG VSHHG ZKHQ?[...]

3-9 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 3 1. Outline of mode Connection Torque Control Mode Outline Note 7KHWRUTXHFRQWUROLVSHUIRUPHGDFFRUGLQJWRWKHWRUTXHFRPPDQGVSHFLÀHGLQWKHIRUPRI DQDORJ YROWDJH )RU FRQWUROOLQJ WKH [...]

3-10 1. Outline of mode Torque Control Mode Function Note (1) Process of analog torque command input 7KLV SURFHVV FRQYHUWV WKH DQDORJ WRUTXH FRPPDQG LQSXW YROWDJH  WR WKH HTXLYDOHQW GLJLWDO WRUTXH FRPPDQG KDYLQJ WKH VDPH HIIHFW< RX FDQ VHW WKH ÀOWHU RU DGMXVW[...]

3-1 1 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 1. Outline of mode Torque Control Mode Caution Note (2) Speed limit function 7KHVSHHGOLPLWLVRQHRISURWHFWLYHIXQFWLRQVXVHGGXULQJWRUT XHFRQWURO 7KLVIXQFWLRQUHJXODWHVWKHPRWRUVSHHGVRWK[...]

3-12 Cautions on Full-Closed Control  (QWHUWKHFRPPDQGSXOVHVPDNLQJWKHH[WHUQDOVFDOHDVDUHI HUHQFH  ,I WKH FRPPDQG SXOVHV GR QRW PDWFK WR WKH H[WHUQDO VFDOH SXOVH V XVH WKH FRPPDQG GLYLVLRQ PXOWLSOLFDWLRQ IXQFWLRQ 3U WR 3U[...]

3-13 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 1. Outline of mode Full-closed Control Mode  6HW XS DSSURSULDWH YDOXH RI KEULG GHYLDWLRQ H[FHVV 3U LQ FRPPDQG XQLW LQ RUGHU WR DYRLG WKHGDPDJHWRWKH?[...]

3-14 3 2. Control Block Diagram Connection Position Control Mode Pulse train PULS SIGN Input setup Sum of command pulses [Command unit] 0.05 Input selection 0.06 Direction setup 0.07 Mode Notch filter 2.01 1st Frequency Depth 2.04 2.02 2.05 2nd 2.10 2.11 2.00 Width 2.03 2.06 2.07 2.08 3rd 2.09 2.12 4th Adaptive mode setup V elocity control 1.01 1st[...]

3-15 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 3 2. Control Block Diagram Connection Velocity Control Mode Analog input Analog input 1 16bit A/D AI1 Al1 input voltage [ Ｖ ] V elocity control command [r/min] 4.22 Offset 4.23 Filter Scaling 3.02 Gain 3.03 Reversal Gain switching 1.14[...]

3-16 3 2. Control Block Diagram Connection Torque Control Mode Gain switching 2nd setup Mode Delay time Level Hysteresis Analog input Analog input 2 12bit A/D AI2 Analog input 1 16bit A/D AI1 Al2 input voltage [ Ｖ ] 4.25 4.26 Analog input 4.22 Offset 4.23 Filter Scaling 3.19 3.20 1.14 1.24 1.25 1.26 1.27 Motor Load Encoder Scaling （ T orque com[...]

3-17 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 3 2. Control Block Diagram Connection Full-closed Control Mode External scale Pulse regeneration 0.11 Numera- tor 5.03 Denomi- nator 0.12 Reversal 6.20 Z-phase Width 6.21 Z-phase setup 6.22 output method External scale dividing 3.24 3.25[...]

3-18 3 3. Wiring Diagram to the connector , X4 Connection Example of control mode specific wiring 2.2k ї 2.2k ї 2.2k ї 2.2k ї 14 15 16 17 43 18 42 In case of open collector I/F 7 COM+ PULS2 SIGN1 SIGN2 GND OA+ OA - OB+ OB - OZ+ OZ - GND CZ SPR/TRQR/SPL GND P-A TL/TRQR GND N-A TL SP IM 4 3 1 2 5 6 13 21 22 48 24 25 19 49 23 1k ї 1k ї PULS1 OPC[...]

3-19 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Wiring Example of T orque Control Mode Wiring Example of Full-closed Control Mode 2.2k ї 2.2k ї 2.2k ї 2.2k ї 14 15 16 17 43 18 42 In case of open collector I/F 7 COM+ PULS2 SIGN1 SIGN2 GND OA+ OA - OB+ OB - OZ+ OZ - GND CZ SPR/TRQR/[...]

3-20 3 3. Wiring Diagram to the connector , X4 Connection Connecting Example to Host Controller Connection between MINAS A5 and FP2-PP22 AFP2434 (Panasonic Electric W orks) Note 5HODWHGSDJH UHSUHVHQWVWZLVWHGSDLUZLUH 3 ´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ A5-series 50 3 4 5 6 23 24 13,25 7 30 29 2[...]

3-21 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 3. Wiring Diagram to the connector , X4 Connecting Example to Host Controller Note 5HODWHGSDJH UHSUHVHQWVWZLVWHGSDLUZLUH 3 ´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ Connection between MINAS[...]

3-22 3. Wiring Diagram to the connector , X4 Connecting Example to Host Controller Connection between MINAS A5 and FP2-PP22 AFP2434 (Panasonic Electric W orks) Note 5HODWHGSDJH UHSUHVHQWVWZLVWHGSDLUZLUH 3 ´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ Command pulse input 2 Counter clear input Servo-ON inpu[...]

3-23 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 3. Wiring Diagram to the connector , X4 Connecting Example to Host Controller Note 5HODWHGSDJH UHSUHVHQWVWZLVWHGSDLUZLUH 3 ´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ Connection between MINAS[...]

3-24 3. Wiring Diagram to the connector , X4 Connecting Example to Host Controller Connection between MINAS A5 and F3YP14-ON/F3YP18-ON (Y okogawa Electric Corp.) Note 5HODWHGSDJH UHSUHVHQWVWZLVWHGSDLUZLUH 3 ´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ Command pulse input 2 Counter clear input Servo-ON in[...]

3-25 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 3. Wiring Diagram to the connector , X4 Connecting Example to Host Controller Note 5HODWHGSDJH UHSUHVHQWVWZLVWHGSDLUZLUH 3 ´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ Connection between MINAS[...]

3-26 3. Wiring Diagram to the connector , X4 Connecting Example to Host Controller Connection between MINAS A5 and CJ1W -NC1 13 (Omron Corp.) Note 5HODWHGSDJH UHSUHVHQWVWZLVWHGSDLUZLUH 3 ´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ A5-series CJ1W-NC1 13 (Omron Corp.) from PLC I/O output to PLC I/O input [...]

3-27 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 3. Wiring Diagram to the connector , X4 Connecting Example to Host Controller Note 5HODWHGSDJH UHSUHVHQWVWZLVWHGSDLUZLUH 3 ´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ Connection between MINAS[...]

3-28 Connection between MINAS A5 and QD75D1 (Mitsubishi Electric Corp.) Note 5HODWHGSDJH UHSUHVHQWVWZLVWHGSDLUZLUH 3 ´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ * Process of shield wire varies with equipment. A5-series QD75D1 (Mitsubishi Electric Corp.) from PLC I/O output to PLC I/O input GND + 24V DC2[...]

3-29 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Note 5HODWHGSDJH UHSUHVHQWVWZLVWHGSDLUZLUH 3 ´,QSXWVDQGRXWSXWVRQFRQQHFWRU;µ Connection between MINAS A5 and KV -5000/3000 (keyence Corp.) Origin sensor input X axis limit switch [...]

3-30 3 4. Inputs and outputs on connector X4 Connection Interface Circuit (Input) Input Circuit SI Connection to sequence input signals Related control mode PS T F Note  &RQQHFWWRFRQWDFWVRIVZLWFKHVDQGUHODVRURSHQFROOHFWRURXWSXWWUDQVLVWRUV  :KHQRXXVHFRQWDFWLQSXWVXVHWKHVZ[...]

3-31 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement PI2 Connection to sequence input signals 3XOVHWUDLQLQWHUIDFHH[FOXVLYHWROLQHGULYHU Related control mode P ST F /LQHGULYHU,) 3HUPLVVLEOHPD[LQSXWIUHTXHQFRIFRPPDQGSXOVHLQSXWV[...]

3-32 3 4. Inputs and outputs on connector X4 Connection Interface Circuit (Output) Output Circuit SO Sequence output circuit Related control mode PS T F Note  7KHRXWSXWFLUFXLWLVFRPSRVHGRIRSHQFROOHFWRUWUDQVLVWRUR XWSXWVLQWKH'DUOLQJWRQ FRQQHFWLRQDQGFRQQHFWWRUHODVRUSKRWRFRXSOHU[...]

3-33 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement PO2 Open collector output Related control mode PS T F  )HHGVRXWWKH=SKDVHVLJQDODPRQJWKHHQFRGHUVLJQDOVLQRSHQFROOHFWRU 7KLVRXWSXWLV not insulated.  5HFHLYHWKLVRXWSXW[...]

3-34 3 4. Inputs and outputs on connector X4 Connection Input Signal and Pin No. Input Signals (common) and Their Functions Pin 1R 7 T itle of VLJQDO Power supply for control signal (+) Related control mode PS T F Symbol COM+ ,)FLUFXLW —  &RQQHFWRIWKHH[WHUQDO'&SRZHUVXSSOWR?[...]

3-35 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 4. Inputs and outputs on connector X4 Input Signal and Pin No. Input Signals (Pulse T rain) and Their Functions < RXFDQVHOHFWDSSURSULDWHLQWHUIDFHRXWRIWZRNLQGVGHSHQGLQJRQWKHFRPPDQGSXOVHVSHFL[...]

3-36 %SKDVHDGYDQFHVWR $ EÝ %SKDVHGHODVIURP $ EÝ t1 A-phase B-phase t1 t1 t1 t1 t1 t1 t1 t2 t2 t2 t3 t2 t4 “H” “L” t5 t4 t6 t6 t6 t6 t5 %SKDVHDGYDQFHVWR $ EÝ %SKDVHGHODVIURP $ EÝ t1 A-phase B-phase t1 t1 t1 t1 t1 t1 t1 t2 t2 [...]

3-37 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 4. Inputs and outputs on connector X4 Input Signal and Pin No. Control Input &RQWUROVLJQDOKDYLQJWKHGHVLUHGIXQFWLRQFDQEHDSSOLHGWRDQ LQSXWSLQRI,)FRQQHFWRU  7KHORJLFFDQEH?[...]

3-38 4. Inputs and outputs on connector X4 Input Signal and Pin No. Function allocatable to control input T itle of VLJQDO 6HUYR21LQSXW Related control mode PS T F Symbol 659 21 'HIDXOWDVVLJQPHQW 29 (SI6) ,)FLUFXLW SI 3-30 SDJH  7KLVVLJQDOWXUQVRQRI IWKHVHUYRPRWRU T itle of VLJQDO 3RVLWLY[...]

3-39 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement T itle of VLJQDO Alarm clear input Related control mode PS T F Symbol $&/5 'HIDXOWDVVLJQPHQW 31 (SI8) ,)FLUFXLW SI 3-30 SDJH  &OHDUVWKHDODUPFRQGLWLRQ  7KLVLQSXWFDQQRWFOHDU?[...]

3-40 4. Inputs and outputs on connector X4 Input Signal and Pin No. T itle of VLJQDO Gain switching input Related control mode PS T F Symbol GAIN 'HIDXOWDVVLJQPHQW 27 (SI4) ,)FLUFXLW SI 3-30 SDJH  6HOHFWVWRUQGJDLQ T itle of VLJQDO T orque limit switching input Related control mode PS T F Symbol TL-SEL &ap[...]

3-41 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 4. Inputs and outputs on connector X4 Input Signal and Pin No. T itle of VLJQDO Selection 1 input of internal command speed Related control mode P S TF Symbol INTSPD1 'HIDXOWDVVLJQPHQW 33 (SI10) ,)FLUFXLW SI 3-30 SDJH T itl[...]

3-42 T itle of VLJQDO T orque command sign input Related control mode PS T F Symbol TC-SIGN 'HIDXOWDVVLJQPHQW — ,)FLUFXLW SI 3-30 SDJH  6SHFLIWKHVLJQRIWRUTXHFRPPDQGLQSXWDWWRUTXHFRQWURO 21 1HJDWLYHGLUHFWLRQ OFF 3RVLWLYHGLUHFWLRQ  5HIHUWR3 ´3U7[...]

3-43 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Input Signals (Analog Command) Pin 1R 14 T itle of VLJQDO AI1 input Correspondence function Symbol AI1 635754563/ Pin 1R 16 T itle of VLJQDO AI2 input Correspondence function Symbol AI2 75453$ 7/ Pin 1R 18 T[...]

3-44 4. Inputs and outputs on connector X4 Input Signal and Pin No. T itle of VLJQDO Speed command input Related control mode P S TF Symbol 635 ,)FLUFXLW $, 3-31 SDJH  ,QSXWWKHVSHHGFRPPDQGLQWKHIRUPRIDQDORJYROWDJH  7KHWDEOHEHORZVKRZVUHODWLRQVKLSEHWZHHQWKHFRPELQDWLRQRI3U[...]

3-45 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Output Signals (Common) and Their Functions &RQWURORXWSXW VLJQDORI GHVLUHGIXQFWLRQ FDQEH DVVLJQHGWR, )FRQQHFWRU /RJLF RIWKH RXWSXW SLQFDQQRWEHFKDQJHG $SSOLFDEOH par[...]

3-46 4. Inputs and outputs on connector X4 Output Signal and Pin No. T itle of VLJQDO External brake release signal Related control mode PS T F Symbol %5.2)) 'HIDXOWDVVLJQPHQW 10, 1 1 (SO1) ,)FLUFXLW SO 3-32 SDJH )HHGVRXWWKHWLPLQJVLJQDOZKLFKDFWLYDWHVWKHKROGLQJEUDN HRIWKHPRWRU  ?[...]

3-47 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 4. Inputs and outputs on connector X4 Output Signal and Pin No. T itle of VLJQDO Alarm output 2 Related control mode PS T F Symbol : $51 'HIDXOWDVVLJQPHQW — ,)FLUFXLW SO 3-32 SDJH  2XWSXWVWKHZDUQLQJRXWSX[...]

3-48 4. Inputs and outputs on connector X4 Output Signal and Pin No. T itle of VLJQDO Speed command ON/OFF output Related control mode P S TF Symbol V- C M D 'HIDXOWDVVLJQPHQW — ,)FLUFXLW SO 3-32 SDJH  7 XUQVRQRXWSXWWUDQVLVWRUZKHQWKHVSHHGFRPPDQGLVDSSOLHGZKLOHWKHVSHHGLVFRQWUROOHG [...]

3-49 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Output Signals (Analog) and Their Functions Pin 1R 42 T itle of VLJQDO T orque monitor output Related control mode PS T F Symbol IM ,)FLUFXLW $2 3-33 SDJH 'HÀQLWLRQRIWKHRXWSXWVLJQDOYDULHVZLWKW[...]

3-50 3 5. IF Monitor Settings Connection How to Assign Various I/O Functions to the I/F Control Input Settings Title of signal Connector X4 Pin No. Parameter No. SI1 input selection 8 Pr4.00 SI2 input selection 9 Pr4.01 SI3 input selection 26 Pr4.02 SI4 input selection 27 Pr4.03 SI5 input selection 28 Pr4.04 SI6 input selection 29 Pr4.05 SI7 input [...]

3-51 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 5. IF Monitor Settings How to Assign Various I/O Functions to the I/F Caution Note  'RQRWVHWXSWRDYDOXHRWKHUWKDQWKDWVSHFLÀHGLQWKHWDEOH  'R QRW DVVLJQ VSHFLILF IXQFW[...]

3-52 Control Output Settings 5. IF Monitor Settings How to Assign Various I/O Functions to the I/F Title of signal Connector X4 Pin No. Parameter No. SO1 input   Pr4.10 SO2 input  Pr4.1 1 SO3 input  Pr4.12 SO4 input  Pr4.13 SO5 input 12 Pr4.14 SO6 input 40 Pr4.15 (e.g. 1) Param[...]

4-1 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 4 . Setup 5. Details of parameter List of Parameters .......................................................................................4-2 [Class 0] Basic setting ......................................................................[...]

4-2 4 1. Details of parameter Setup List of Parameters  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  'HÀQLWLRQRIVPEROVXQGHU´5HODWHGPRGHµ  3SRVLWLRQFRQWURO6YHORFLWFRQWURO  7 WRUTXHFRQWURO)IXOOFORVHGFRQWURO [C[...]

4-3 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 1. Details of parameter List of Parameters [Class 4] I/F monitor setting 00 Input selection 6,3LQ1R 6,3LQ1R 6,3LQ1R 6,3LQ1R [...]

4-4 'HIDXOW>@ 4 1. Details of parameter Setup [Class 0] Basic setting Pr0.00 * Rotational direction setup Range Unit Default Related control mode 0 to 1 — 1 P S T F 6HWXSWKHUHODWLRQVKLSEHWZHHQWKHGLUHFWLRQRIFRPPDQGDQGGLU HFWLRQRIPRWRUURWDWLRQ 0RWRUWXUQV&:LQUHVSRQVH[...]

4-5 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ?[...]

4-6 'HIDXOW>@ Pr0.04 Inertia ratio Range Unit Default Related control mode 0 to 10000 % 250 * PS T F Caution Set 1st inertia ratio. < RXFDQVHWXSWKHUDWLRRIWKHORDGLQHUWLDDJDLQVWWKHURWRURIWKHPRWRULQHUWLD 3U ORDGLQHUWLDURWRULQHUWLDð?[...]

4-7 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ?[...]

4-8 'HIDXOW>@ Pr0.08 * Command pulse counts per one motor revolution Range Unit Default Related control mode 0 to 1048576 pulse 10000 P Set the command pulses that causes single turn of the motor shaft. :KHQ WKLV VHWWLQJ LV  3U VW QXPHUDWRU RI HOHFWURQLF JHDU DQG 3U?[...]

4-9 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 'HIDXOW>@ Pr0.08 Pr0.09 Pr0.10 Command division/multiplication operation ,QYDOLG 0 1 to 1073741824 1 1 Command pulse input Positional command   ,I 3U LV  GXULQJ IXOO FORVHG?[...]

4-10 'HIDXOW>@ Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ RXWXUQRQWKHFRQWUROSRZHU  3 ?[...]

4-1 1 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 'HIDXOW>@ Pr0.12 * Reversal of pulse output logic Range Unit Default Related control mode 0 to 3 — 0 P S T F Caution < RX FDQ VHW XS WKH %SKDVH ORJLF DQG WKH RXWSXW VRXUFH RI?[...]

4-12 'HIDXOW>@ Pr0.16 * ([WHUQDOUHJHQHUDWLYHUHVLVWRUVHWXS Range Unit Default Related control mode 0 to 3 — $ %*+ I UD P H  3 &'()IUDPH 0 PS T F Remarks Caution :LWK WKLV SDUDPHWHU  RX FDQ VHOHFW HLWKHU WR XVH WKH EXLOWLQ UHJHQHUDWLYH?[...]

4-13 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Pr1.00 1st gain of position loop Range Unit Default Related control mode 0 to 30000 0.1/s $%  C - IUDPH 480 D to H- IUDPH 320 PF Y ou can determine the response of the positional control system. +LJKHUWKHJDLQRI[...]

4-14 Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ RXWXUQRQWKHFRQWUROSRZHU  3 ´,QSXWVDQGRXWSXWV?[...]

4-15 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 'HIDXOW>@ 1. Details of parameter [Class 1] Gain adjustment Pr1.12 7 RUTXHIHHGIRUZDUGJDLQ Range Unit Default Related control mode 0 to 1000 0.1% 0 P S F  0XOWLSO WKH WRUTXH FRPPDQG FDOFXODW[...]

4-16 Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ RXWXUQRQWKHFRQWUROSRZHU  3 ´,QSXWVDQGRXWSXWV?[...]

4-17 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ[...]

4-18 Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ RXWXUQRQWKHFRQWUROSRZHU  3 ´,QSXWVDQGRXWSXWV?[...]

4-19 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ[...]

4-20 Pr2.00 Adaptive filter mode setup Range Unit Default Related control mode 0 to 4 — 0 P S F 6HW XS WKH UHVRQDQFH IUHTXHQF WR EH HVWLPDWHG E WKH DGDSWLYH ILOWHU DQG VSHFLI WKH operation after estimation. Setup value Content [0] $GDSWLYHÀOWHU LQYDOLG 3DUDPHWHUVUHODWHGWRWKH[...]

4-21 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ[...]

4-22 Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ RXWXUQRQWKHFRQWUROSRZHU  3 ´,QSXWVDQGRXWSXWV?[...]

4-23 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ[...]

4-24 Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ RXWXUQRQWKHFRQWUROSRZHU  3 ´,QSXWVDQGRXWSXWV?[...]

4-25 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 'HIDXOW>@ 4 1. Details of parameter Setup [Class 3] V erocity/ T orque/ Full-closed control Pr3.00 6SHHGVHWXS,QWHUQDO([WHUQDOVZLWFKLQJ Range Unit Default Related control mode 0 to 3 — 0 S 7KLV GULY[...]

4-26 Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ RXWXUQRQWKHFRQWUROSRZHU  3 ´,QSXWVDQGRXWSXWV?[...]

4-27 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ[...]

4-28 Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ RXWXUQRQWKHFRQWUROSRZHU  3 ´,QSXWVDQGRXWSXWV?[...]

4-29 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 'HIDXOW>@ 1. Details of parameter [Class 3] V erocity/ T orque/ Full-closed control Pr3.17 Selection of torque command Range Unit Default Related control mode 0 to 2 — 0 T Y ou can select the input of the torque com[...]

4-30 'HIDXOW>@ Pr3.21 Speed limit value 1 Range Unit Default Related control mode 0 to 20000 r/min 0 T Set up the speed limit used for torque controlling. 'XULQJWKHWRUTXHFRQWUROOLQJWKHVSHHGVHWEWKHVSHHGOLPLWYDOXHFDQQRWEHH[FHHGHG :KHQ3U WKHVSHHG[...]

4-31 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ[...]

4-32 Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ RXWXUQRQWKHFRQWUROSRZHU  3 ´,QSXWVDQGRXWSXWV?[...]

4-33 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 4 1. Details of parameter Setup [Class 4] I/F monitor setting Pr4.00 * SI1 input selection Range Unit Default Related control mode 0 to 00FFFFFFh — 00828282h  PS T F $VVLJQIXQFWLRQVWR6,LQSXWV?[...]

4-34 Pr4.01 * SI2 input selection Range Unit Default Related control mode 0 to 00FFFFFFh — 00818181h  PS T F Pr4.02 * SI3 input selection Range Unit Default Related control mode 0 to 00FFFFFFh — $K  PS T F Pr4.03 * SI4 input selection Range Unit Default Related control m[...]

4-35 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 'HIDXOW>@ Pr4.10 * SO1 output selection Range Unit Default Related control mode 0 to 00FFFFFFh — 00030303h  PS T F Caution $VVLJQIXQFWLRQVWR62RXWSXWV 7KHVHSDUDPHWHUVDU[...]

4-36 'HIDXOW>@ Pr4.16 T ype of analog monitor 1 Range Unit Default Related control mode 0 to 21 — 0 P S T F Select the type of monitor for analog monitor 1. * 6HHWKHWDEOHVKRZQRQWKHQH[WSDJH Pr4.17 Analog monitor 1 output gain Range Unit Default Related control mode 0 to 214748364 [Monitor unit in Pr4.16][...]

4-37 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 1. Details of parameter [Class 4] I/F monitor setting Pr4.16/Pr4.18 T ype of monitor Unit Output gain for setting Pr4.17/Pr4.19 = 0 0 Motor speed r/min 500 1 Positional command speed * 3 r/min 500 2 Internal positional command speed * 3 [...]

4-38 Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ RXWXUQRQWKHFRQWUROSRZHU  3 ´,QSXWVDQGRXWSXWV?[...]

4-39 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ[...]

4-40 Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ RXWXUQRQWKHFRQWUROSRZHU  3 ´,QSXWVDQGRXWSXWV?[...]

4-41 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 'HIDXOW>@ 1. Details of parameter [Class 4] I/F monitor setting Pr4.36 At-speed (Speed arrival) Range Unit Default Related control mode 10 to 20000 r/min 1000 S T 6HWWKHGHWHFWLRQWLPLQJRIWKHVSHHGDU[...]

4-42 Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ RXWXUQRQWKHFRQWUROSRZHU  3 ´,QSXWVDQGRXWSXWV?[...]

4-43 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 'HIDXOW>@ Pr5.00 2nd numerator of electronic gear Range Unit Default Related control mode 0 to 2 30 —0 P F Pr5.01 3rd numerator of electronic gear Range Unit Default Related control mode 0 to 2 30 —0 P F Pr5.02 4t[...]

4-44 Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ RXWXUQRQWKHFRQWUROSRZHU  3 ´,QSXWVDQGRXWSXWV?[...]

4-45 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 'HIDXOW>@ 1. Details of parameter [Class 5] Enhancing setting Pr5.08 / 9WULSVHOHFWLRQDWPDLQSRZHU2)) Range Unit Default Related control mode 0 to 1 — 1 P S T F Caution < RX FDQ VHOHFW ZK[...]

4-46 'HIDXOW>@ Pr5.1 1 T orque setup for emergency stop Range Unit Default Related control mode 0 to 500 % 0 P S T F Note Set up the torque limit at emergency stop. :KHQVHWXSYDOXHLVWKHWRUTXHOLPLWIRUQRUPDORSHUDWLRQLV DSSOLHG Pr5.12 Over-load level setup Range Unit Default Related contr[...]

4-47 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 'HIDXOW>@ 1. Details of parameter [Class 5] Enhancing setting Pr5.16 * Alarm clear input setup Range Unit Default Related control mode 0 to 1 — 0 P S T F 6HOHFWDODUPFOHDULQSXW$&/5UHFRJQLW[...]

4-48 Pr5.20 * Position setup unit select Range Unit Default Related control mode 0 to 1 — 0 P F Note 6SHFLI WKH XQLW WR GHWHUPLQH WKH UDQJH RI SRVLWLRQLQJ FRPSOHWH DQG H[FHVVLYH SRVLWLRQDO GHYLDWLRQ Setup value Unit [0] Command unit 1 Encoder unit 7KHFRPPDQGXQLWGHÀQHVFRPPDQGSXOVH[...]

4-49 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 'HIDXOW>@ 1. Details of parameter [Class 5] Enhancing setting Pr5.23 7 RUTXHOLPLWVZLWFKLQJVHWXS Range Unit Default Related control mode 0 to 4000 ms/100% 0 P S F 6SHFLIWKHUDWHRIFKDQJH[...]

4-50 'HIDXOW>@ Pr5.28 * LED initial status Range Unit Default Related control mode 0 to 35 — 1 P S T F Power -ON Setup value of Pr5.28 Flashes (for approx. 2 sec) during initialization Setup value Content Setup value Content Setup value Content 0 3RVLWLRQDOFRPPDQGGHYLDWLRQ 12 Error factor and reference of history 24 (QFR[...]

4-51 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ[...]

4-52 'HIDXOW>@ Pr6.00 $QDORJWRUTXHIHHGIRUZDUGFRQYHUVLRQ gain Range Unit Default Related control mode 0 to 100 0.1V/100% 0P S F  6HWWKHLQSXWJDLQRIDQDORJWRUTXHIHHGIRUZDUG  WRDUHLQYDOLG 8VDJHH[DPSOHRI $QDORJWRUTXHIHHGIRUZDUG!  6HWWLQJ[...]

4-53 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ[...]

4-54 'HIDXOW>@ Pr6.13 2nd Inertia ratio Range Unit Default Related control mode 0 to 10000 % 250 P S T F Caution Set 2nd inertia ratio. < RXFDQVHWXSWKHUDWLRRIWKHORDGLQHUWLDDJDLQVWWKHURWRURIWKHPRWRULQHUWLD 3U ORDGLQHUWLDURWRULQHUWLD[...]

4-55 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ[...]

4-56 'HIDXOW>@ Pr6.24 Disturbance observer filter Range Unit Default Related control mode 0 to 2500 0.01ms 53 P S  6HWXSWKHÀOWHUWLPHFRQVWDQWDFFRUGLQJWRWKHGLVWXUEDQFHW RUTXHFRPSHQVDWLRQ  )LUVW VHW XS 3U WR D ODUJHU YDOXH DQG FKHFN WKH[...]

4-57 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 1. Details of parameter [Class 6] Special setting Pr6.32 Real time auto tuning custom setup Range Unit Default Related control mode ïWR —0 P S T F :KHQ WKH RSHUDWLRQ PRGH RI UHDO W[...]

4-58 Note Related page  $ SDUDPHWHULVGHVLJQDWHGDVIROORZV Pr0.00 Parameter No. Class  )RUSDUDPHWHUVZKLFK1RKDYHDVXIIL[RI´ * ” FKDQJHGFRQWHQWVZLOOEHYDOLGDWHGZKHQ RXWXUQRQWKHFRQWUROSRZHU  3 ´,QSXWVDQGRXWSXWV?[...]

4-59 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 4 2.T rial Run (JOG run) Setup Inspection Before Trial Run  s la    Co  e tor   r o  Po er s l  o t o r a    e (1) Inspection on wiring  0LVZLULQJ?[...]

4-60 4 2.T rial Run (JOG run) Setup Trial Run by Connecting the Connector X4 T rial Run (JOG run) at Position Control Mode  &RQQHFWWKH&RQQHFWRU;  (QWHUWKHSRZHU'&WR9WRFRQWUROVLJQDO&20&20²  (QWHUWKHSRZHUWR?[...]

4-61 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement T rial Run (JOG run) at V elocity Control Mode  &RQQHFWWKH&RQQHFWRU;  (QWHUWKHSRZHU'&WR9WRFRQWUROVLJQDO&20&20² ?[...]

4-62 T rial Run (JOG run) at T orque Control Mode  &RQQHFWWKH&RQQHFWRU;  (QWHUWKHSRZHU'&9WRFRQWUROVLJQDO&20&20²  (QWHUWKHSRZHUWRWKHGULYHU   &RQÀUPWKHGHIDXOWYDOXHVRISDUDPHWHUV [...]

4-63 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Input pulse frequency (pps) Motor rotational speed (r/min) Pr0.08 17-bit 20-bit 2M 3000 2 17 40000 2 20 40000 500K 3000 2 17 10000 2 20 10000 250K 3000 2 17 5000 2 20 5000 100K 3000 2 17 2000 2 20 2000 500K 1500 2 17 20000 2 20 20000 Not[...]

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5-1 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 5 . Adjustment 1. Gain Adjustment Outline ........................................................................................................ 5-2 2. Real-Time Auto-Gain T uning Basic ..................................................[...]

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5-5 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement How to Operate Caution  %ULQJWKHPRWRUWRVWDOO6HUYR2))      6HWXS3U6HWXSRIUHDOWLPHDXWRJDLQWXQLQJPRGHWR   '[...]

5-6 Parameters set/changed by real-time auto-gain tuning 3DUDPHWHUVZKLFKDUHXSGDWHG 7KH UHDOWLPH  DXWRWXQLQJ IXQFWLRQ XSGDWHV WKH  IROORZLQJ SDUDPHWHUV DFFRUGLQJ WR 3U 5HDOWLPH DXWRWXQLQJ VHWXS DQG  3U 5HDOWLPH DXWRWXQLQJ FXVWRP VHWXS[...]

5-7 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 3DUDPHWHUVZKLFKDUHVHWLQUHVSRQVHWRJDLQVZLWFKLQJVHWXS 7KH  UHDOWLPH  DXWRWXQLQJ  IXQFWLRQ  VHWV  WKH  IROORZLQJ SDUDPHWHUV DV  WKH  JDLQ  LV  switched. Class No. Tit[...]

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5-9 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Note  )RUGHWDLOVRISDUDPHWHUVUHIHUWR3 ´'HWDLOVRISDUDPHWHUµ 'RZQORDGWKH $VHULHVPDQXDOIURPWKHZHEVLWHVKRZQEHORZ  KWWS?[...]

5-10 5   $GDSWLYHÀOWHU Adjustment Adaptive filter Outline (VWLPDWHV WKH UHVRQDQFH IUHTXHQF RXW RI YLEUDWLRQ FRPSRQHQW SUHVHQWHG LQ WKH PRWRU VSHHG LQ PRWLRQ WKHQ UHPRYHV WKH UHVRQDQFH FRPSRQHQW IURP WKH WRUTXH FRPPDQG E VHWWLQJ XS WKH QRWFK ÀOW[...]

5-1 1 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement How to Operate (QWHUWKHDFWLRQFRPPDQGZLWK3U $GDSWLYHÀOWHUPRGHVHWWRDYDOXHRWKHUWKDQ ,I WKH UHVRQDQFH SRLQW DIIHFWV WKH PRWRU VSHHG SDUDPHWHUV RI?[...]

5-12  $GDSWLYHÀOWHU Adaptive filter Caution  ,PPHGLDWHODIWHUWKHÀUVWVHUYRRQDWVWDUWXSRUDIWHUL QFUHDVLQJVWLI IQHVVVHWWLQJZLWK WKH UHDOWLPH DXWRWXQLQJ HQDEOHG DEQRUPDO VRXQG RU RVFLOODWLRQ PD EH JHQHUDWHG XQWLOWKHDGDSWLYH ÀOWH[...]

5-13 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement $V H[SODLQHG SUHYLRXVO  0,1$6$ VHULHV IHDWXUHV WKH DXWRPDWLF JDLQ WXQLQJ IXQFWLRQ KRZHYHU  WKHUH PLJKW EH VRPH FDVHV ZKHUH WKLV DXWRPDWLF JDLQ WX QLQJ FDQQ[...]

5-14 3RVLWLRQFRQWURORI0,1$6$VHULHVLVGHVFULEHGLQ%ORFNGLDJU DPRI3  0DNHDGMXVWPHQWLQSRVLWLRQFRQWUROSHUWKHIROORZLQJSURFHGXUH V 6HWXSWKHIROORZLQJSDUDPHWHUVWRWKHYDOXHVRIWKHWDEOH EHORZ  Parameter No. (Pr ) Parameter No. (Pr )[...]

5-15 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 5 4. Manual Gain T uning (Basic) Adjustment Adjustment in Velocity Control Mode 9 HORFLW FRQWURO RI 0,1$6$ VHULHV LV GHVFULEHG LQ %ORFN 'LDJU DP RI 3  RI 9 HORFLW &[...]

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5-17 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 5 4. Manual Gain T uning (Basic) Adjustment Gain Switching Function % VHOHFWLQJ DSSURSULDWH JDLQ EDVHG RQ LQWHUQDO GDWD RU H[WHUQD O VLJQDO WKH IROORZLQJ HI - IHFWVFDQEHREWDLQHG ?[...]

5-18 Setup of Gain Switching Condition 3RVLWLQJFRQWUROPRGH)XOOFORVHGFRQWUROPRGH : Corresponding parameter is valid, – : invalid) Setup of gain switching condition Setup parameters at position control, full-closed control Delay time * 1 Level Hysteresis * 2 Pr1.15 Switching condition to 2nd gain Fig. Pr1.16 Pr1.17 [...]

5-19 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Fig.A Fig. B Fig. C Fig. D Fig. E Fig. G Fig. F motor speed or commanded speed S level delay 2nd gain 1st 1st speed N delay 2nd gain 1st COIN 1st у S command speed S level delay 1st gain 2nd 1st 2nd 1st speed N deviation pulse level del[...]

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5-21 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement torque command Adaptive filter daptive filter enabled Adaptive filter and notch filter enabled Depth adjustment enabled frequency automatic following frequency frequency Depth width 1st notch filter 2nd to 4th notch filter torque command[...]

5-22 4. Manual Gain T uning (Basic) Suppression of Machine Resonance Notch width and depth 7KH ZLGWK RI WKH QRWFK ÀOWHU LV WKH UDWLR RI W KH ZLGWK RI ²G% DWWHQXDWLRQ IUHTXHQF EDQG ZLWK UHVSHFW WR WKH QRWFK IUHTXHQF DW LWV FHQWHU ZKHQ GHSWK LV  DQG[...]

5-23 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Note Related page 3OHDVH GRZQORDG WKH 6HWXS VXSSRUW VRIWZDUH ´3 $1$ 7(50µIURP RXU ZHE VLWH DQGXVH DIWHU install to the PC. http://industrial.panasonic.com/jp/i/fa_motor .html 3 ?[...]

5-24 5 5. Manual Gain T uning (Application) Adjustment Damping Control Outline 7KLV IXQFWLRQ UHGXFHV WKH YLEUDWLRQ DW WKH WRS RU RQ ZKROH RI WKH HTXLSPHQW E UHPRYLQJ WKHYLEUDWLRQIUHTXHQFFRPSRQHQWVVSHFLÀHG EWKHSRVLWLRQDOFRPPDQG8SWR DPRQJ IUHTXHQF?[...]

5-25 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement How to Use Caution (1) Setup of damping frequency (1st: Pr2.14, 2nd: Pr2.16, 3rd: Pr2.18, 4th: Pr2.20)) 0HDVXUH  WKH  YLEUDWLRQ  IUHTXHQF  RI  WKH  IURQW HGJH  RI  WKH  PDFKLQH  :KHQ  RX  XVH ?[...]

5-26 5 5. Manual Gain T uning (Application) Adjustment Feed forward function Outline :KHQ SRVLWLRQ FRQWURO RU IXOO FORVHG FRQWURO LV XVHG SRVLWLRQDO GHYLDWLRQ FDQ EH IXUWKHU UHGXFHG ZKHQ FRPSDUHG ZLWK GHYLDWLRQ ZKHUH FRQWURO LV PDGH RQO E IHHGEDFN DQG UHVSRQVH?[...]

5-27 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 5. Manual Gain T uning (Application) Feed forward function :LWK WKH JDLQ VHW DW  FDOFXODWRU SRVLWLRQDO GHYLDWLRQ LV  EXW VLJQLÀFDQW RYHUVKRRW RFFXUVGXULQJDFFHOHUDWLRQ[...]

5-28 5 5. Manual Gain T uning (Application) Adjustment Instantaneous Speed Observer Outline 7KLVIXQFWLRQHQDEOHV ERWKUHDOL]DWLRQRIKLJK UHVSRQVHDQGUHGXFWLRQ RIYLEUDWLRQDWVWRS - SLQJ E HVWLPDWLQJ WKH PRWRU VSHHG XVLQJ D ORDG PRGHO KHQFH L PSURYLQJ WKH DFFXUDF RI?[...]

5-29 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Related Parameter Class No. Title Function 61 0 )XQFWLRQH[SDQVLRQ setup 6SHHGREVHUYHUHQDEOHELWELWYDOLGLQYDOLGWKH IXQFWLRQ ELW,QYDOLG9 DOLG[...]

5-30 5 5. Manual Gain T uning (Application) Adjustment Disturbance observer Outline 7KLV IXQFWLRQ XVHV WKH GLVWXUEDQFH WRUTXH GHWHUPLQHG E WKH GLVWXUEDQFH REVHUYHU WR UH - GXFHHIIHFWRIGLVWXUEDQFHWRUTXHDQGYLEUDWLRQ Applicable Range 7KLVIXQFWLRQFDQEHDSSOLFDEOHRQOZKHQWKH?[...]

5-31 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Related Parameter Class No. Title Function 61 0 Function H[SDQVLRQVHWXS 6HWVELWVUHODWHGWRGLVWXUEDQFHREVHUYHU  ELW ,QYDOLG 9 DOLG ELW  $OZDVYDOLG?[...]

5-32 5 5. Manual Gain T uning (Application) Adjustment 3rd gain switching function Outline ,Q DGGLWLRQ WR WKH QRUPDO JDLQ VZLWFKLQJ IXQFWLRQ GHVFULEHG RQ 3  UG JDLQ VZLWFKLQJ IXQFWLRQ FDQ EH VHW WR LQFUHDVH WKH JDLQ MXVW EHIRUH VWRSSLQJ 7KH KLJKHU?[...]

5-33 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Position speed command [r/min] Pr6.05×0.1ms 2nd gain 3rd gain 1st gain Pr1.05 to 1.09 Pr1.00 to 1.04 [3rd gain period] Position loop gain = Pr1.00 × Pr6.06/100 Speed proportional gain = Pr1.01 × Pr6.06/100 T ime constant of velocity i[...]

5-34 5 5. Manual Gain T uning (Application) Adjustment Friction torque compensation Outline 7 R UHGXFH HIIHFW RI IULFWLRQ UHSUHVHQWHG E PHFKDQLFDO VVWHP  WSHV RI IULFWLRQ WRUTXH FRPSHQVDWLRQ FDQ EH DSSOLHG RIIVHW ORDG FRPSHQVDWLRQ WKDW FDQFHOV FRQVWDQW RIIVHW  WR[...]

5-35 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Command speed Ti m e [Positive direction] [Negative direction] Pr6.08 Positive direction torque [ compensation value ] Pr6.09 Negative direction torque [ compensation value ] Pr6.07 T orque command [ additional value ] Motor de-energized[...]

5-36 5 5. Manual Gain T uning (Application) Adjustment Inertia ratio switching function Outline ,QHUWLDUDWLR FDQEH VZLWFKHGEHWZHHQ 1RDQG 1RE WKHVZLW FKLQJLQSXW -6(/7KLV IHDWXUHLVXVHIXOLQDSSOLFDWLRQZKHUHWKHORDGLQHUWLDFKDQJHV LQWZRVWHSV Applic[...]

5-37 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 5. Manual Gain T uning (Application) Inertia ratio switching function Related Parameter &RPELQHWKHIROORZLQJSDUDPHWHUVWRVHWXSDSSURSULDWHLQHUWLD UDWLRVZLWFKLQJIXQFWLRQ Class No. Title Function 61 [...]

5-38 5 5. Manual Gain T uning (Application) Adjustment Hybrid vibration damping function Outline 7KLV IXQFWLRQ VXSSUHVVHV YLEUDWLRQ GXH WR DPRXQW RI WZLVW EHWZHHQ WKH PRWRU DQG ORDG LQ WKHIXOOFORVHGFRQWUROPRGH7KLVIXQFWLRQHQDEOHVKLJKJDLQVHWWLQJ Applicable range 7KLVI[...]

5-39 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 5 6. About Homing Operation Adjustment Caution on Homing Operation  ,Q KRPLQJ DFWLRQ E XVLQJ WKH KRVW FRQWUROOHU  VWRS SRVLWLRQ PLJKW QRW EH VWDELOL]HG LI WKH RULJLQ LQSXW?[...]

5-40 5 6. About Homing Operation Adjustment Homing with Hit & Stop < RXFDQ VHW XSWKH KRPLQJ SRVLWLRQ ZLWK+LW  6WRS ZKHUH LWLV QRW HDV WRLQVWDOO D VHQ - VRUGXHWRHQYLURQPHQW Remarks Assign TL-SEL to the input signal. 8SRQ FRPSOHWLRQ RI WKH KRPLQJ ZLWK[...]

5-41 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 5 6. About Homing Operation Adjustment Press & Hold Control Remarks Assign TL-SEL to the input signal. (1) (2) (3) (4) (5) Holds the non-traveled portion with deviation counter C=A+B Search speed (low speed) B A Setup value of 2nd to[...]

5-42 MEMO[...]

6-1 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 6 . When in T rouble 1. When in T rouble What to Check ? .........................................................................................6-2 Protective Function (What is Error Code ?) .............................................[...]

6-2 6 1. When in T rouble When in T rouble What to Check ?  V arious protective functions are equipped in the driver . When these are triggered, the motor will stall due to error , the driver will turn the Servo-Alarm output (ALM) to off (open).  (UURUVWDWXVDQGWKHLUPHDVXUHV  'XULQJ WKH HUURU?[...]

6-3 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Note +LVWRU 7KHHUURUZLOOEHVWRUHGLQWKHHUURUKLVWRU  Can be cleared...T o cancel the error, use the alarm clear input (A-CLR). If the alarm clear input is not effective, turn of f power , remove the caus[...]

Protective function Error code No. Causes Measures Main Sub 6-4 Control power supply under- voltage protection 11 0 V oltage between P and N of the converter portion of the control power supply has IDOOHQEHORZWKHVSHFLÀHGYDOXH 9YHUVLRQ approx. 9'& approx. 9 $& ?[...]

Protective function Error code No. Causes Measures Main Sub 6-5 1. When in T rouble Protective function (Detail of error code) 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement * Over-current protection 14 0 Current through the converter portion has H[FHHGHGWKHVSHFLÀHGYDOXH 1) F[...]

Protective function Error code No. Causes Measures Main Sub 6-6 1. When in T rouble Protective function (Detail of error code) Over-load protection 16 0 T orque command value has exceeded the over-load level set with Pr5.12 (Setup of over-load level) and resulted in overload protection according to the time characteristics (described later) 1) Load[...]

Protective function Error code No. Causes Measures Main Sub 6-7 1. When in T rouble Protective function (Detail of error code) 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement * Regenerative transistor error protection 18 1 Regenerative driver transistor on the servo driver is defective. Re[...]

Protective function Error code No. Causes Measures Main Sub 6-8 1. When in T rouble Protective function (Detail of error code) * Hybrid deviation excess error protection 25 0 3RVLWLRQRIORDGEWKHH[WHUQDOVFDOH and position of the motor by the encoder slips larger than the setup pulses with Pr3.28 (Setup of hybrid deviation [...]

Protective function Error code No. Causes Measures Main Sub  1. When in T rouble Protective function (Detail of error code) 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Deviation counter RYHUÁRZ protection 29 0 Positional deviation of encoder pulse reference has exceeded 2 [...]

Protective function Error code No. Causes Measures Main Sub  1. When in T rouble Protective function (Detail of error code) * CL assignment error 33 6 Counter clear function is assigned to a signal number other than SI7. Allocate correct function to each connector pin. * INH assignment error 7 Command pulse inhibit input function is ass[...]

Protective function Error code No. Causes Measures Main Sub 6-1 1 1. When in T rouble Protective function (Detail of error code) 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Absolute system down error protection 40 0 V oltage of the built-in capacitor has fallen EHORZWKHVSHFLÀHG?[...]

Protective function Error code No. Causes Measures Main Sub 6-12 1. When in T rouble Protective function (Detail of error code) * Encoder CS signal error protection*1 49 0 CS signal logic error of serial incremental encoder has been detected. The encoder might be a failure. Replace the motor . * Feedback scale wiring error protection 50 0 Communica[...]

Protective function Error code No. Causes Measures Main Sub 6-13 1. When in T rouble Protective function (Detail of error code) 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement * A-phase wiring error protection 55 0 A-phase wiring in the external scale is defective, e.g. discontinued. Check[...]

6-14 1. When in T rouble Protective function (Detail of error code) Time characteristics of Err16.0 (Overload protection) Overload protection time characteristics T ime [s] MSME 50W MSME 100W （ 100V ） MSME 100W （ 200V ） MSME 200W MSME 400W MSME 750W （ 200V ） MSME 750W(400V), 1.0kW to 5.0kW MDME 400W(400V), 600W(400V), 1.0kW to 15.0kW MF[...]

6-15 1. When in T rouble Protective function (Detail of error code) 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Software Limit Function (Err34.0) 1) Outline  < RXFDQPDNHDQDODUPVWRSRIWKH PRWRUZLWKVRIWZDUHOLPLWSURWHFWLRQ(UU?[...]

6-16 1. When in T rouble Protective function (Detail of error code) 4) Example of movement (1) When no position command is entered (Servo-ON status), The motor movable range will be the travel range which is set at both sides of the motor with Pr5.14 since no position command is entered. When the load enters to WKH(UU RFFXUUHQFH?[...]

6-17 1. When in T rouble Protective function (Detail of error code) 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement W arning Function When an error condition e.g. overloading occurs, the alarm code is issued to indicate that the corresponding protective function will be triggered if suitab[...]

6-18 6 2. Setup of gain pre-adjustment protection When in T rouble Related page Related page Related page Before starting gain adjustment, set the following parameters based on the conditions of use, to assure safe operation. 1) Setup of over-travel inhibit input By inputting the limit sensor signal to the driver , the bumping against mechanical en[...]

 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Related page 4) Setup of the excess positional deviation protection During the position control or full-closed control, this function detects potential exces- VLYHGLIIHUHQFHEHWZHHQWKHSRVLWLRQDOFRPPDQGDQGPRWRU[...]

 Related page 6) Setup of hybrid deviation excess error protection At the initial operation with full-closed control, operation failure may occur due to re- verse connection of external scale or wrong external scale division ratio. 7 R LQGLFDWH WKLV WSH RI GHIHFW (UU +EULG GHYLDWLRQ H[FHVV [...]

6-21 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 6 3. T roubleshooting When in T rouble Motor Does Not Run :KHQ WKHPRWRU GRHV QRW UXQUHIHU WR 3  'LVSOD RI )DFWRURI 1R0RWRU 5XQQLQJ RI3UHSDUDWLRQ as[...]

6-22 :KHQ WKHPRWRU GRHV QRW UXQUHIHU WR 3  'LVSOD RI)DFW RU RI 1R0RWRU 5XQQLQJRI 3UHSDUDWLRQ as well. &ODVVLÀFDWLRQ Causes Measures Wiring Speed command is invalid (V elocity) Check that the velocity command input method (external analog command/internal [...]

6-23 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement &ODVVLÀFDWLRQ Causes Measures Parameter Setup of the control mode is not correct. ,IRXVHWXS3UWR9 HORFLWFRQWUROPRGHEPLVWDNHDW position control mode, the motor runs slowly at[...]

6-24 6 3. T roubleshooting When in T rouble Positioning Accuracy Is Poor &ODVVLÀFDWLRQ Causes Measures System Position command is not correct. (Amount of command pulse) Count the feedback pulses with a monitor function of the P ANA TERM or feedback pulse monitor mode of the console while repeating the movement of the same distance. If the valu[...]

6-25 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 6 3. T roubleshooting When in T rouble Origin Point Slips &ODVVLÀFDWLRQ Causes Measures System Z-phase is not detected. Check that the Z-phase matches to the center of proximity dog. Execute the homing matching to the controller cor[...]

6-26 6 3. T roubleshooting When in T rouble Overshoot/Undershoot, Overheating of the Motor (Motor Burn-Out) &ODVVLÀFDWLRQ Causes Measures Adjustment Gain adjustment is not proper . Check with graphic function of P ANA TERM or monitor (connector ;0DNHDFRUUHFWJDLQDGMXVWPHQW5HIHUWR´$GMXVWPHQWµ Installation[...]

6-27 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 6 3. T roubleshooting When in T rouble Parameter Returns to Previous Setup &ODVVLÀFDWLRQ Causes Measures Parameter No writing to EEPROM has been carried out before turning off the power . 5HIHUWR3 ´[...]

6-28 MEMO[...]

7-1 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 7 . Supplement 1. Safety function Outline ........................................................................................................ 7-2 Input & output signals ............................................................[...]

7-2 7 1. Safety function Supplement Outline Outline description of safe torque off (STO) The safe torque off (ST O) function is a safety function that shuts the motor current and turns off motor output torque by forcibly turning of f the driving signal of the servo driver internal power transistor . For this purpose, the STO uses safety input signa[...]

7-3 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Safety input signal Caution For list of connector pin numbers, refer to P .2-53, Signal Symbol Pin No. Contents Control mode Safety input 1 SF1+ 4  Input 1 that triggers STO function. This input turns off the upper arm drive signal of [...]

7-4 External device monitor (EDM) output signal The monitor output signal is used by the external device to monitor the state of the safety input signal. Connect the monitor output to the external device monitor terminal of the safety devices such as safety controller and safety sensor . Signal Symbol Pin No. Contents Control mode EDM output EDM+ 8[...]

7-5 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 7 1. Safety function Supplement Safety Circuit Block Diagram Power LPF （ 3ms ） Control Circuit Motor M ASIC PC PC I_SF1 IL_EMG I_SF2 O_EDM ('0ï EDM+ 6)ï SF2+ SF1+ 6)ï X3 Power section interface 4 3 6 5 8 7 +5V +5V +5V +5[...]

7-6 7 1. Safety function Supplement Timing Chart Operating timing for safety status * 1 t1 is the value set to Pr4.38 Setup of mechanical brake action at running or the time at which the motor revolution speed drops below the time set to Pr4.39 Brake release speed setup, whichever comes first. * 2 Dynamic brake operates to the setting of Pr5.10 Seq[...]

7-7 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 1. Safety function Timing Chart Return timing from safety state * 1 Photocouplers for safety input 1 and 2 should be turned on again with servo-on input turned off. Otherwise, alarm occurs, and should be cleared. Alarm clear should be per[...]

7-8 Example of connection to safety switch 7 1. Safety function Supplement Example of connection Example of connection to safety controller Example of connection to safety sensor Servo driver M Servo driver M M 0V Safety input EDM output Safety input Safety switch 24V Sefety output (source) Sefety output (source) Safety sensor Safety controller Con[...]

7-9 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 1. Safety function Example of connection Example of connection when using multiple axes M M M Sefety output (source) EDM output EDM output Servo driver SF1+ Control output 1 Control output 2 0V 24V EDM input 6)ï SF2+ 6)ï EDM+ EDM [...]

7-10 7 2. Absolute system Supplement Outline Outline of Absolute System When you compose an absolute system using an absolute encoder , you are not required to carry out homing operation at the power-on, and this function suits very well to such an application as a robot. &RQQHFW WKH KRVW FRQWUROOHU ZLWK WKH 0,1$6$ ZL[...]

7-1 1 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 7 2. Absolute system Supplement Configuration * No connection to X5 when no external scale is used. Host controller RS232 interface SN751701 or equivalent Motor Relay connector Positioning controller TXD RXD GND 4 3 1 Servo driver RXD T[...]

7-12 7 2. Absolute system Supplement Battery (for Backup) Installation First Installation of the Battery After installing and connecting the back-up battery to the motor , execute an absolute en- coder setup. Refer to P .7-16, "Setup (initialization) of Absolute Encoder ". It is recommended to perform ON/OFF action once a day after instal[...]

7-13 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Caution Caution  %H DEVROXWHO VXUH WR IROORZ WKH SUHFDXWLRQV EHORZ VLQFH LPS URSHU XVH RI WKH EDWWHU FDQ cause electrolyte to leak from the battery , giving rise to trouble where th[...]

7-14 /LIHRIWKHEDWWHU Caution Following example shows the life calculation of the back-up battery used in assumed ro- bot operation. 2000[mAh] of battery capacity is used for calculation. Note that the following value is not a guaranteed value, but only represents a calculated value. The values below were calculated with only the current c[...]

7-15 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 6 Junction connector for encoder cable (Optional connector kit) Pin number when a connector (small motor) is used Pin number when a connector (large motor) is used Connector X6 (Optional connector kit) 3 5 2 1 2 5 6 1 Connector , ZHR-2 ([...]

7-16 7 2. Absolute system Supplement Setup (Initialization) of Absolute Encoder Absolute multi-turn data will be maintained by the absolute encoder battery . :KHQ RSHUDWLQJWKH PDFKLQH IRUWKH ÀUVW WLPHDIWHU LQVWDOOLQJ WKH EDWWHUWR WKH DEVROXWHHQ - coder , clear the encoder data (multi-turn data) to 0 at[...]

7-17 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement RS232 Communication Protocol Refer to the instruction manual of the host for the transmission/reception method of com- mand. T ransmission starts N N N N Y Y Y Y transmission finishes 05h transmission Host requests for absolute data to d[...]

7-18 56&RPPXQLFDWLRQ3URWRFRO Refer to the instruction manual of the host for the transmission/reception method of com- PDQG)ROORZLQJVKRZVWKHFRPPXQLFDWLRQ H[DPSOHRIWKHGULYHUWR 3U´$[LVDGGUHVV µ Reception of absolute data (15 characters) N N N N Y Y Y Y Host requests f[...]

7-19 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Composition of Absolute Data Absolute data consists of singe-turn data which shows the absolute position per one revolution and multi-turn data which counts the number of revolution of the motor after clearing the encoder . Single-turn d[...]

7-20 Remarks )RUGHWDLORIWKH(QFRGHUVWDWXVUHIHUWRWKH(QFRGHUVSHFLÀFD WLRQ Remarks  7 UDQVPLWWKHDEVROXWHGDWDZKLOHIL[LQJWKHPRWRUZLWKEUDNHEWXUQ - ing to Servo-Off. (1) Over-speed Err42.0 (Absolute over-speed error protection) (5) Multi-turn error (6) Battery error (7) Battery[...]

7-21 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement External scale RS232 communication procedure Refer to the instruction manual of the host for the transmission/reception method of com- PDQG)ROORZLQJVKRZVWKHFRPPXQLFDWLRQ H[DPSOHRIWKHGULYHUWR 3U?[...]

7-22 ([WHUQDOVFDOH56FRPPXQLFDWLRQSURFHGXUH Refer to the instruction manual of the host for the transmission/reception method of com- PDQG)ROORZLQJVKRZVWKHFRPPXQLFDWLRQ H[DPSOHRIWKHGULYHUWR 3U´$[LVDGGUHVV µ Reception of absolute data (15 characters) N N N N Y Y Y Y[...]

7-23 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Composition of external scale absolute data 8VLQJ FKDUDFWHU GDWD UHFHLYHG WKURXJK 5656 RUJDQL]H WXUQ GDWD DQG PXOWL turn data. 2. Absolute system Transferring extern[...]

7-24 2. Absolute system Transferring external scale absolute data (1) Alarm No. A8 “External scale error alarm” (5) Err51.3 “External scale status 3 error protection” (6) Err51.2 “External scale status 2 error protection” (7) Err51.1 “External scale status 1 error protection” (8) Err51.0 “External scale status 0 error protection?[...]

7-25 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Following alarm will be displayed when making the front panel to alarm execution mode of monitor mode. 7 2. Absolute system Supplement Display of Battery Alarm How to Clear the Battery Alarm Replace the battery for absolute encoder when [...]

7-26 7 3. Outline of Setup Support Software, “P ANA TERM” Supplement Setup on the PC &RQQHFWRU;RI 0,1$6 $FDQEH FRQQHFWHGWRRXU 3&WKURXJK86% FDEOHIRUFRPSXWHU  Once you download the setup support software P ANA TERM from our web site and install it to your PC, the following tasks ca[...]

7-27 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Y ou can connect up to 32 MINAS-A5 series with your computer or NC via serial commu- nication based on RS232 and RS484, and can execute the following functions. (1) Change over of the parameters (2) Referring and clearing of alarm data s[...]

7-28 &RQQHFWLRQRI&RPPXQLFDWLRQ/LQH MINAS-A5 series provide 2 types of communications ports of RS232 and RS485, and support the following 3 types of connection with the host. 56FRPPXQLFDWLRQ Connect the host and the driver in one to one with RS232, and communicate accord- ing to RS232 transmission protocol.  [...]

7-29 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 4. Communication Specifications 56FRPPXQLFDWLRQ Connect the host to multiple MINAS-A5s with RS485 communication, set up the Pr5.31 of each front panel of MINAS-A5 to 1 to 31. $OORZPV RUORQJHU LQWHUYDO?[...]

7-30 Interface of Communication Connector &RQQHFWLRQWRWKHKRVWZLWK56 &RQQHFWLRQWRWKHKRVWZLWK56 4. Communication Specifications * No connection to X5 when no external scale is used. Host controller RS232 interface SN751701 or equivalent Motor Relay connector Positioning controller TX[...]

7-31 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 4. Communication Specifications /LVWRI8VHU3DUDPHWHUVIRU&RPPXQLFDWLRQ Class No. Title Setup value Function 5 31 Axis address 0 to 127 Set the axis number for serial communication to 0 to 31. This parameter setup value h[...]

7-32 T ransmission Sequence 7 UDQVPLVVLRQSURWRFRO ,QFDVHRI56 Host MINAS-A5 Receiving data T ransmitting data 1) ENQ(05h) 2) EOT(04h) 3) Data block 4) ACK(06h) (or NAK (15h)) 5) ENQ(05h) 6) EOT(04h) 7) Data block 8) ACK(06h) (or NAK (15h)) ,QFDVHRI56 Receiving data T ransmitting data Host Modu[...]

7-33 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 'DWD%ORFN&RPSRVLWLRQ Below shows the composition of data block which is transmitted in physical phase. N : Command byte counts (0 to 240) Shows the number of parameters which are required by command. axis : Sets up t[...]

7-34 Example of Data Communication HJ5HIHUHQFHRI $EVROXWH'DWD When you connect the host to one driver with RS232 communication, and connect PXOWLSOH 0,1$6$V ZLWK 56 FRPPXQLFDWLRQ )ROORZLQJ ÁRZ FKDUW GHVFULEHV WKH DFWXDO ÁRZ RI WKH FRPPXQLFDWLRQ GDWD ZKH[...]

7-35 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement ([DPSOHRI3DUDPHWHU&KDQJH Following shows the communication data in time series when you change parameters. Communication in general will be carried out in sequence of (1) Request for captur- ing of execution right, (2)[...]

7-36 Status T ransition Chart 56&RPPXQLFDWLRQ Receiver T ransmitter Ready for EOT Block transmission Ready for ACK/NAK Reception of remained block Ready for finish of receiving data Ready for command byte counts Idling = It waits for the reception of ENQ, and or it is dealing with reception. Reception of EOT Size ← Command b[...]

7-37 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 56&RPPXQLFDWLRQ Idling = It waits for the reception of Module ID, and or it is dealing with reception. Receiver T ransmitter Block transmission Ready for ACK/NAK Module identification byte of transmitter is the modu[...]

7-38 Timing of Data Communication ,QFDVHRI5656WRIROORZ Caution Above time represents a period from the rising edge of the stop bit. T3 0 to 2ms 0 to 2ms 0 to 2ms 0 to 2ms 0 to 2ms 0 to 2ms 0 to 2ms 0 to 2ms T3 T4 Enquiry for transmission Permission for transmission ACK/ NAK Data block Enquiry for tran[...]

7-39 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 7 4. Communication Supplement /LVWRI&RPPXQLFDWLRQ&RPPDQG  8VHWKHDERYH FRPPDQGVRQO ,I RXXVHRWKHU FRPPDQGVDFWLRQRI WKHGULYHUFDQQRW be guaranteed.  :KHQ[...]

7-40 7 4. Communication Supplement Details of Communication Command 0Dh axis Model of ,motor (upper) Model of motor (lower) Error code checksum command 0 mode 1 5HDGRXWRI&38YHUVLRQ 5HFHSWLRQGDWD 0 axis checksum 0 1 (UURUFRGH 7 UDQVPLVVLRQGDWD 9 HUVLRQLQIRUPDWLRQZLOOEHUHWXUQHGLQXSSHUGDWDDQ[...]

7-41 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement command 1 mode 8 6HWXSRI56SURWRFROSDUDPHWHU 5HFHSWLRQGDWD 4 axis T1 T2 T6 checksum 1 8 RTY 0 (UURUFRGH 7 UDQVPLVVLRQGDWD 8QWLOWKLVFRPPDQGFRPSOHWHVSUHYLRXVVHWXSSURWRFRO?[...]

7-42 5HDGRXWRIFRPPDQGSXOVHFRXQWHU &RQWUROPRGHVDUHGHILQHGDVIROORZV 3RVLWLRQFRQWUROPRGH 9 HORFLWFRQWUROPRGH 7 RUTXHFRQWUROPRGH )XOOFORVHGFRQWUROPRGH?[...]

7-43 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement command 2 mode 4  5HDGRXWRISUHVHQWVSHHG 5HFHSWLRQGDWD 0 axis checksum 2 4 (UURUFRGH 7 UDQVPLVVLRQGDWD 5HDGVRXWWKHSUHVHQWVSHHG8QLW>UPLQ@ 2XWSXWYDOXH[...]

7-44 5HDGRXWRILQSXWVLJQDO 5HDGRXWRISUHVHQWSRVLWLRQDOFRPPDQGGHYLDWLRQ Internal speed command selection 1 Gain switching Command pulse input inhibition Damping control switching 1 command 2 mode 7 5HFHSWLRQGDWD 0 axis checksum 2 7 (UURUFRGH 7 UDQVPLVVLRQGDWD  Logic of input signal is based o[...]

7-45 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 5HDGRXWRIRXWSXWVLJQDO In-speed T orque in-limit Mechanical brake released Positioning complete (In-position) Servo-Alarm Servo-Ready Full-closed positioning complete Speed command ON/OFF 2nd positioning complete (In-[...]

7-46 command 2 mode A 5HDGRXWRIVWDWXVLQSXWVLJQDODQGRXWSXWVLJQDO 5HFHSWLRQGDWD 0 axis checksum 2 A (UURUFRG 7 UDQVPLVVLRQGDWD 0HDQLQJRIHDFKELWRIFRQWUROPRGHVWDWXVLQSXWVLJQDORXWSXWVLJQDODQGDODUPGDWDLVDVVDPHDVWKDWRIFRPPDQG 1R[...]

7-47 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement command 2 mode C 5HDGRXWRIIHHGEDFNVFDOH 5HFHSWLRQGDWD 0 axis checksum 2 C 6WDWXV/  $ 7VHULHV 6WDWXV+ *3 bit5 : Logical sum of bit0 to bit 5 of status (L) *4 bit4 : logical su[...]

7-48 command 2 mode D 5HDGRXWRIDEVROXWHHQFRGHU 5HFHSWLRQGDWD 0 axis checksum 2 D 6WDWXV/ 6WDWXV+ 7 UDQVPLVVLRQGDWD ELW6VWHPGRZQ ELW%DWWHUDODUPPXOWLWXUQHUURU FRXQWHURYHUIORZ FRXQWHUURU IXOODEVROXWHVWDWXVDQGORJLFDO?[...]

7-49 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement ,QGLYLGXDOZULWLQJRISDUDPHWHU :ULWLQJRISDUDPHWHUWR((3520 Control L V ,QGLYLGXDOUHDGRXWRISDUDPHWHU command 7 mode 1 5HFHSWLRQGDWD (UURUFRGH 7 UDQVPLVVLRQGDWD ,IW[...]

7-50 4. Communication Details of Communication Command command 7 mode 6 ,QGLYLGXDOUHDGRXWRIXVHUSDUDPHWHU 5HFHSWLRQGDWD 3URSHUW 7 UDQVPLVVLRQGDWD bit7 Parameter not in use 6 Display inhibited 54 Change at initialization 3210 bit15 14 13 12 1 1 10 9 8 Read only (UURUFRGH bit7 0 : Normal 1 : Error 6543210 Command error N[...]

7-51 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 4. Communication Details of Communication Command command 7 mode 7 5HDGRXWRIWZRRUPRUHXVHUSDUDPHWHU 5HFHSWLRQGDWD 7 UDQVPLVVLRQGDWD ,IWKHSDUDPHWHUWSHRUWKHSDUDPHWHU1RLVR[...]

7-52 4. Communication Details of Communication Command command 7 mode 8 :ULWLQJRIWZRRUPRUHXVHUSDUDPHWHU 5HFHSWLRQGDWD 7 UDQVPLVVLRQGDWD 17(11h) axis (1) parameter type (1) parameter No. (2) parameter type (2) parameter No. (8) parameter type (8) parameter No. Error code checksum 7 8 30h(48) axis (1) parameter type (1) [...]

7-53 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 4. Communication Details of Communication Command command 9 mode 4  $ODUPFOHDU 5HFHSWLRQGDWD 0 axis checksum 9 4 (UURUFRGH 7 UDQVPLVVLRQGDWD &OHDUVWKHSUHVHQWDODUPRQOWKRVHRXFD[...]

7-54 4. Communication Details of Communication Command command 9 mode B  $EVROXWHFOHDU 5HFHSWLRQGDWD 0 axis checksum 9 B (UURUFRGH 7 UDQVPLVVLRQGDWD &OHDUVDEVROXWHHQFRGHUHUURUDQGPXOWLWXUQGDWD &RPPDQGHUURUZLOOEHUHWXUQHGZKHQRXXVHRWKHUHQFRGHUWKDQELW?[...]

7-55 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 7 5. Motor Characteristics ( S-T Characteristics ) Supplement MSMD series :WR: MSMD series ( 50W to 100W ) * These are subject to change. Contact us when you use these values for your machine design. * 5DWLR[...]

7-56 7 5. Motor Characteristics ( S-T Characteristics ) Supplement MSMD series : * These are subject to change. Contact us when you use these values for your machine design. 50 100 10 02 0 3 0 4 0 1.0 0 1000 2000 3000 4000 5000 2.0 (0.5) (0.9) Peak running range Continuous running range (3600) 50 100 80 70 10 0 2 03 04 0 with brake w[...]

7-57 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 7 5. Motor Characteristics ( S-T Characteristics ) Supplement MSMD series :WR: MSMD series ( 400W to 750W ) Without oil seal With oil seal * These are subject to change. Contact us when you use these values [...]

7-58 7 5. Motor Characteristics ( S-T Characteristics ) Supplement MSME series :WR: * These are subject to change. Contact us when you use these values for your machine design. * 5DWLRWRWKHUDWHGWRUTXHDWDPELHQWWHPSHUDWXUHRIÝ&LVLQFDVHRIZLWKRXWRLOVHDO?[...]

7-59 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 7 5. Motor Characteristics ( S-T Characteristics ) Supplement MSME series : without brake without brake * Continuous torque vs. ambient temp. * Continuous torque vs. ambient temp. * Continuous torque vs. ambient temp. * Co[...]

7-60 7 5. Motor Characteristics ( S-T Characteristics ) Supplement MSME series :WR: 50 100 10 02 0 3 0 4 0 Peak running range Continuous running range 8.0 (2.6) (1.6) (3500) (3800) 4.0 0 1000 2000 3000 4000 5000 6000 * Continuous torque vs. ambient temp. * Continuous torque vs. ambient temp. * Continuous torque vs. amb[...]

7-61 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 7 5. Motor Characteristics ( S-T Characteristics ) Supplement MSME series N:WRN: With oil seal * These are subject to change. Contact us when you use these values for your machine design. MSME series ( 1.0kW[...]

7-62 7 5. Motor Characteristics ( S-T Characteristics ) Supplement MSME series N:WRN: With oil seal * These are subject to change. Contact us when you use these values for your machine design. MSME series ( 3.0kW to 5.0kW ) 060( * 1 * Input voltage to driver: AC200V (Dotted line represents torque at 1[...]

7-63 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 7 5. Motor Characteristics ( S-T Characteristics ) Supplement MDME series :WRN: * These are subject to change. Contact us when you use these values for your machine design. MDME series ( 400W to 2.0kW ) With[...]

7-64 7 5. Motor Characteristics ( S-T Characteristics ) Supplement MDME series N:WRN: * These are subject to change. Contact us when you use these values for your machine design. MDME series ( 3.0kW to 5.0kW ) With oil seal without brake Peak running range Peak running range Continuous running range Peak running range [...]

7-65 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 7 5. Motor Characteristics ( S-T Characteristics ) Supplement MDME series N:WRN: * These are subject to change. Contact us when you use these values for your machine design. 0'0( * [...]

7-66 7 5. Motor Characteristics ( S-T Characteristics ) Supplement MFME series (1.5kW to 4.5kW) 50 100 10 02 0 3 0 4 0 0 1000 2000 3000 10 20 Peak running range Continuous running range （ 21.5 ） （ 7.16 ） （ 4.8 ） （ 14 ） 50 100 10 0 2 03 04 0 0 1000 2000 3000 15 30 Peak running range Continuous running range （ 30.4 ） （ 11 . 9 ?[...]

7-67 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 7 5. Motor Characteristics ( S-T Characteristics ) Supplement MGME series N:WRN: * These are subject to change. Contact us when you use these values for your machine design. 0*0$ *  *[...]

7-68 7 5. Motor Characteristics ( S-T Characteristics ) Supplement MGME series N:WRN: * These are subject to change. Contact us when you use these values for your machine design. With oil seal 0*0( * 1 * Input voltage to driver: AC400V (Dotted line represents torque at 10% less voltage.) 0*0([...]

7-69 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 7 5. Motor Characteristics ( S-T Characteristics ) Supplement MHMD series : MHMD series ( 200W ) 0+0' *  * Input voltage to driver: AC100V (Dotted line represents torque at 10% less voltage.) ?[...]

7-70 7 5. Motor Characteristics ( S-T Characteristics ) Supplement MHMD series :WR: MHME series ( 400W to 750W ) Without oil seal With oil seal * These are subject to change. Contact us when you use these values for your machine design. 0+0' *  * Input voltage to driver: AC100V (Dotted line[...]

7-71 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 7 5. Motor Characteristics ( S-T Characteristics ) Supplement MHME series N:WRN: 50 100 10 0 2 03 04 0 Peak running range Continuous running range 0 1000 2000 3000 15 10 5 (2200) (3.2) (4.0) (6.0) With oil s[...]

7-72 7 5. Motor Characteristics ( S-T Characteristics ) Supplement MHME series N:WRN: With oil seal 0+0( * 1 * Input voltage to driver: AC400V (Dotted line represents torque at 10% less voltage.) 0+0( * 1 * Input voltage to driver: AC400V (Dotted line represents torque at 10% less vo[...]

7-73 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement A-frame 7 6. Dimensions Supplement Driver 40 5.2 28 6 5 7 7 5.2 5 180 170 150 ø5.2 ø5.2 40 150 140 Rack mount type Option : ( Front-end mounting ) Base mount type Standard: ( Back-end mounting ) (18) (22.4) 24 20.4 (20) (27) 125  2.[...]

7-74 85 (86) 60 5.2 70 8.5 5 40 10 40 60 10 5.2 5.2 180 170 150 ø5.2 R2.6 (86) 150 140 Rack mount type Option : ( Front-end mounting ) Direction of air flowing from the internal cooling fan Base mount type Standard: ( Back-end mounting ) 2-ø5.2 Name plate (15) (22.4) 24 20.4 (22) (27) 120  2.5 4 2.5 4.5 170 (70) (18) Mounting bracket (Option) [...]

7-75 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 85 (92) 60 5.2 70 7.5 5 40 10 40 10 5.2 5.2 180 170 150 ø5.2 (92) 150 140 2-ø5.2 Direction of air flowing from the internal cooling fan Rack mount type Option : ( Front-end mounting ) Base mount type Standard: ( Back-end mounting ) 4 N[...]

7-76 85 50 17.5 42.5 5.2 5.2 94 198 188 168 94 168 ø5.2 ø5.2 5.2 5.2 42.5 50 17.5 Direction of air flowing from the internal cooling fan 2.5 (3.5) Mounting bracket (to shipping specification) Mounting bracket (deviation from shipping specification) Mounting bracket (to shipping specification) Mounting bracket (deviation from shipping specificatio[...]

7-77 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement ワヤ ワヤ ワヤ ロビヤ ロヒヤ ワヤ ワヤ ワヤ ュャピ ュャビ ュャヒ ュャフ L1 L2 L3 B1 B2 NC U V W ヹヒ ヹビ ヹピ ヹフ ヹブ ヹプ ヤラモンヨユ ワヤ ワヤ ワヤ ロビヤ ロヒヤ ワヤ ?[...]

7-78 6. Dimensions Driver +IUDPH9 Mount Mount (32) 125  450 261 4 435 200 30.5 30.5 200 7 7.5 7 270 Base mount type (Back-end mounting) Direction of air flowing from the internal cooling fan 21 ø7 ø7 266 4 Name plate Name plate Mass: 21.0kg Related page 3 ´'ULYHUµ?[...]

7-79 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. 060'VHULHV/RZLQHUWLD Motor output 50W 100W Motor model MSMD 5A * * 1 □ * 01 * * 1 * LL Without brake 72 92 With b[...]

7-80 Shaft end spec. (D-cut shaft) Motor connector Encoder connector Brake connector 220 200 LE LF LL LR Ѯ Sh6 Ѯ LBh7 (7) (7) LH □ LC Ѯ LA 4- Ѯ LZ (Key way with center tap shaft) LW LK LW R H 90°±1° RH KW TP KH RH LK * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. 060'VHULHV?[...]

7-81 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 060(:WR: * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. 060(VHULHV/RZLQHUWLD Motor output 50W 100W 200W 400W 750W Motor model MSME 5A * *[...]

7-82 6. Dimensions Motor 060(:9N:WRN:'HVLJQ2UGHU * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. 060(VHULHV/RZLQHUWLD Motor output 750W 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW Motor model MSME 084 * [...]

7-83 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 6. Dimensions Motor 060(N:WRN:'HVLJQ2UGHU& * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. 060(VHULHV/RZLQHUWLD[...]

7-84 0'0(:WRN:'HVLJQ2UGHU 6. Dimensions Motor * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MDME series (Middle inertia) Motor output 400W 600W 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW Motor model MDME 044 * 1 * 064 * 1 * 10 * * 1 * 15 * [...]

7-85 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 0'0(:WRN:'HVLJQ2UGHU& 6. Dimensions Motor * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MDME series (Middle inertia) Mo[...]

7-86 0'0(N:WRN: * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MDME series (Middle inertia) Motor output 7.5kW 1 1.0kW 15.0kW Motor model MDME 75 * * 1 * C1 * * 1 * C5 * * 1 * LL Without brake 312 316 348 With brake 337 364 432 LR 1 13 1 16 S4 2 5 5 LA 2[...]

7-87 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement MFME 1.5kW to 4.5kW * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MFME series (Middle inertia) Motor output 1.5kW 2.5kW 4.5kW Motor model MFME 15 * * 1 * 25 * * 1 * 45 * * 1 * LL Wi[...]

7-88 0*0(:WRN:'HVLJQ2UGHU * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MGME series (Middle inertia) Motor output 900W 2.0kW 3.0kW Motor model MGME 09 * * 1 * 20 * * 1 * 30 * * 1 * LL Without brake 155.5 163.5 209.5 With brake 180.5 188.5[...]

7-89 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 0*0(:WRN:'HVLJQ2UGHU& * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MGME series (Middle inertia) Motor output 900W 2.0kW 3.0[...]

7-90 6. Dimensions Motor 0*0(N: N: * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MGME series (Middle inertia) Motor output 4.5kW 6.0kW Motor model MGME 45 * * 1 * 60 * * 1 * LL Without brake 266 312 With brake 291 337 LR 1 13 S4 2 LA 200 LB 1 14.3 LC 176 LD 233[...]

7-91 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 6. Dimensions Motor 0+0':WR: * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MHMD series (High inertia) Motor output 200W 400W 750W Motor model M[...]

7-92 0+0(N:WRN:'HVLJQ2UGHU 6. Dimensions Motor * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MHME series (High inertia) Motor output 1.0kW 1.5kW 2.0kW 3.0kW 4.0kW 5.0kW 7.5kW Motor model MHME 10 * * 1 * 15 * * 1 * 20 * * 1 * 30 * * 1 * 40[...]

7-93 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 6. Dimensions Motor 0+0(N:WRN:'HVLJQ2UGHU& * Dimensions are subject to change without notice. Contact us or a dealer for the latest information. MHME series (High inertia) Motor ou[...]

7-94 7 7. Options Supplement Noise Filter :KHQRXLQVWDOO RQHQRLVHÀOWHUDW WKHSRZHUVXSSOIRU PXOWLD[HVDSSOLFDWLRQFRQWDFWWR D PDQXIDFWXUH RI WKH QRLVH ÀOWHU  ,I QRLVH PDUJLQ LV UHTXLUHG FRQQHFW  ÀOWHUV LQ VHULHV WR emphasize effectiveness.[...]

7-95 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Caution Use options correctly after reading operation manuals of the options to better un- derstand the precautions. T ake care not to apply excessive stress to each optional part. [Unit: mm] Circuit diagram IN OUT 286±3.0 150 2-ø5.5 x[...]

7-96 [Unit: mm] [Unit: mm] [Unit: mm] [Size] PE LINE L1 L3 L2 L1' L3' L2' LOAD C 50 50 140 6.5 D A 95 25 1.5 M8 25 B Circuit diagram Circuit diagram Circuit diagram ABCD 410 FS5559-60-34 170 370 388 460 FS5559-80-34 180 420 438 [FS5559-60-34, FS5559-80-34] [FN258L-16-07] [FN258L-30-07] Litze AWG14 M5 275 55 290 305 142 150 30 6.5 6.5[...]

7-97 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement LINE LOAD Circuit diagram [FN258-42-07] [FN258-42-33] E E L3 L2 L1 L3' L2' L1' 314 300 329 1.5 70 500±10 45 6.5 12 185 350 70 314 329 45 6.5 300 185 1.5 [Unit: mm] [Unit: mm] 7. Options Noise Filter Caution Use options co[...]

7-98 Circuit diagram Circuit diagram 1 Ѯ 4.2±0.2 41 ±1 UL-1015 A WG16 28 ±1 5.5±1 11 ±1 28.5±1 4.5±0.5 200 +30 - 0 2 3 Ѯ 4.2±0.2 41 ±1 UL-1015 A WG16 28 ±1 5.5±1 11 ±1 28.5±1 4.5±0.5 200 +30 -0 1 2 (1) (1) (3) (1) (2) [Unit: mm] [Unit: mm] 7 7. Options Supplement Surge Absorber 3URYLGHDVXUJHDEVRUEHUIRUWKHSULPDU[...]

7-99 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 7 7. Options Supplement 1RLVH)LOWHUIRU6LJQDO/LQHV I QVWDOO QRLVH ÀOWHUV IRU VLJQDO OLQHV WR DOO FDEOHV SRZHU FDEOH PRWRU FDEOH HQFRGHU FDEOH and interface cable) 2S[...]

7-100 7 7. Options Supplement Junction Cable for Encoder Part No. 0)(&$ ** ($0 Compatible motor output MSMD 50W to 750W , MHMD 200W to 750W Specifications For 20-bit incremental encoder (Without battery box)       L (ø 6.5) (14) (1 1.8) (4) (4)   Title Part No. Manufacturer /P Part No. Connector (Driver side) 3E206-[...]

7-101 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Caution Related page Option cable does not conform to IP65 and IP67. 3 ´-XQFWLRQFDEOHIRUPRWRUµ3 ´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ 7. Options Junction Cable fo[...]

7-102 Part No. 0)(&$ ** (6' Compatible motor output 0.9kW to 5.0kW (IP65 Motor) Specifications For 20-bit incremental encoder (Without battery box), Design order: C     L (ø 6.5) ø37.3 Title Part No. Manufacturer /P Part No. Connector (Driver side) 3E206-0100 KV Sumitomo 3M *1 3 MFECA0030ESD Shell kit 3E306-3200-0[...]

7-103 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Caution Related page Option cable does not conform to IP65 and IP67. 3 ´-XQFWLRQFDEOHIRUPRWRUµ3 ´6SHFLÀFDWLRQVRI0RWRUFRQQHFWRUµ 7 7. Options Supplement Junc[...]

7-104 Part No. 0)0&' ** 2ECD Applicable model MSME 750W (400V), 1.0kW to 2.0kW , MDME 1.0kW to 2.0kW , MHME 1.0kW to 1.5kW , MGME 0.9kW (50) L ø37.3 ( Ѯ 12.5) Title Part No. Manufacturer /P Part No. Connector JL04V -6A20-4SE-EB-R Japan Aviation Electronics Ind. 3 MFMCD0032ECD Cable clamp JL04-2022CK(14)-R 5 MFMCD0052ECD Rod t[...]

7-105 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Part No. 0)0&$ ** 2ECD Applicable model MFME 1.5kW (200V) (50) L ø37.3 ( Ѯ 12.5) Title Part No. Manufacturer /P Part No. Connector JL04V -6A20-18SE-EB-R Japan Aviation Electronics Ind. 3 MFMCA0032ECD Cable clamp JL04-2[...]

7-106 7 7. Options Supplement Junction Cable for Motor (With brake) Part No. 0)0&$ ** 2FCD Applicable model MSME 1.0kW to 2.0kW (200V) MDME 1.0kW to 2.0kW (200V) MFME 1.5kW (200V) MHME 1.0kW to 1.5kW (200V) MGME 0.9kW (200V) L (50) L (50) (ø12.5) (ø 9.8 ) ø37.3 Title Part No. Manufacturer /P Part No. Connector JL04V -6A20-18SE-EB[...]

7-107 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 7. Options Junction Cable for Motor (With brake) Part No. 0)0&$ ** 3FCT Applicable model MSME 3.0kW to 5.0kW , MDME 3.0kW to 5.0kW MFME 4.5kW , MHME 3.0kW to 5.0kW MGME 2.0kW to 4.5kW L (50) L (50) ø43.7 (ø14) (ø 9.8 ) Title P[...]

7-108 7 7. Options Supplement Junction Cable for Brake Part No. 0)0&% ** *(7 Applicable model MSMD 50W to 750W , MHMD 200W to 750W       Ѯ   L    Title Part No. Manufacturer /P Part No. Connector 172157-1 Tyco Electronics 3 MFM[...]

7-109 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 7 7. Options Supplement &RQQHFWRU.LW &RQQHFWRU.LWIRU,QWHUIDFH Part No. '93 &RPSRQHQWV Title Part No. Number Manufacturer Note Connector 10150-3000PE equivalent 1 Sumitomo 3M *1 )RU&am[...]

7-1 10 &RQQHFWRU.LWIRU&RPPXQLFDWLRQ&DEOHIRU5656 Part No. '930 &RPSRQHQWV Title Part No. Manufacturer Note Connector 2040008-1 Tyco Electronics )RU&RQQHFWRU;SLQV 3LQGLVSRVLWLRQRIFRQQHFWRU FRQQHFWRU; ?[...]

7 - 111 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 7. Options &RQQHFWRU.LW &RQQHFWRU.LWIRU(QFRGHU Part No. '930 &RPSRQHQWV Title Part No. Manufacturer Note Connector (Driver side) 3E206-0100 KV Sumitomo 3M *1 )RU&RQQHFWRU;[...]

7-1 12 7. Options &RQQHFWRU.LW Part No. '930 (For A to D-frame: double row type) &RPSRQHQWV Title Part No. Number Manufacturer Note Connector -) $ 7 6$;*6$& 1 J.S.T Mfg. Co., Ltd. )RU&RQQHFWRU;$ Handle lever J-FA T -OT 2 'LPHQVLRQV 39.3 27.6 26 1 2 3 54 A B 5 4 2 1 5 4 2 1[...]

7-1 13 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 7. Options &RQQHFWRU.LW &RQQHFWRU.LWIRU5HJHQHUDWLYH5HVLVWRU&RQQHFWLRQ (E-frame) Part No. '930 (For E-frame) &RPSRQHQWV Title Part No. Number Manufacturer Note Connector [...]

7-1 14 7. Options &RQQHFWRU.LW &RQQHFWRU.LWIRU0RWRU(QFRGHU&RQQHFWLRQ Part No. '93 Applicable model MSMD 50W to 750W , MHMD 200W to 750W (incremental encoder type) &RPSRQHQWV Title Part No. Number Manufacturer Note Connector (Driver side) 3E206-0100 KV 1 Sumitomo 3M *1 )RU&RQQHFWR[...]

7-1 15 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Part No. '930 Applicable model MSME 750W (400V), 1.0kW to 2.0kW , MDME 400W (400V), 600W (400V), 1.0kW to 2.0kW MHME 1.0kW to 1.5kW , MGME 0.9kW Without brake Specifications Design order: 1 &RPSRQHQWV T[...]

7-1 16 7. Options &RQQHFWRU.LW Part No. '930 Applicable model MSME 1.0kW to 2.0kW (200V), MDME 1.0kW to 2.0kW (200V), MFME 1.5kW (Common to with/without brake) (200V), MHME 1.0kW to 1.5kW (200V), MGME 0.9kW (200V) With brake Specifications Design order: 1 &RPSRQHQWV Title Part No. Number Manufacturer Note Con[...]

7-1 17 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 7. Options &RQQHFWRU.LW Part No. '930 Applicable model MDME 7.5kW to 15.0kW MGME 6.0kW , MHME 7.5kW Without brake Specifications Design order: 1 &RPSRQHQWV Title Part No. Number Manufacturer Note[...]

7-1 18 7 7. Options Supplement Battery For Absolute Encoder Battery For Absolute Encoder Part No. '93 /LWKLXPEDWWHU9P$K DV0P2990 00090001 84 18 Paper insulator Lead wire length 50mm ZHR-2 (J.S.T Mfg. Co., Ltd.) 1 BA T+ 14.5 2 BA T– Caution This battery is categorized as hazardous subs[...]

7-1 19 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 7 7. Options Supplement Mounting Bracket Caution Related page For E, F and G-frame, you con make a front end and back end mounting by changing the mounting direction of L-shape bracket (attachment). 3 ?[...]

7-120 7 7. Options Supplement Reactor C B A (Mounting pitch) A A D 6-I RST NP XYZ B C D 2-I G 4-H H E H G 4-H E Fig.1 Fig.2 F (Mounting pitch) F F: Center-to-center distanc e on outer circular arc F: Center-to-center distance on slotted hole F (Mounting pitch) F A (Mounting pitch) Part No. A B C D E (Max) FG H I Inductance (mH) Rated current (A) Fi[...]

7-121 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Harmonic restraint Harmonic restraint measures are not common to all countries. Therefore, prepare the measures that meet the requirements of the destination country . :LWK SURGXFWV IRU -DSDQ RQ 6HSWHPEHU   ?[...]

7-122 7 7. Options Supplement External Regenerative Resistor DV0P4280, DV0P4281 DV0P4282, DV0P4283 Ѯ  60 30 17 21 8 13 13 13 7  10MAX   300  Drawing process thermostat (light yellow ×2) (2mm MAX)   10MAX  7 10 23 170±1 160    28  [...]

7-123 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement Remarks Thermal fuse is installed for safety . Compose the circuit so that the power will be turned off when the thermostat is activated. The thermal fuse may blow due to heat dissipating condition, working temperature, supply voltage o[...]

7-124 7 7. Options Supplement Recommended components Surge absorber for motor brake Motor Part No. Manufacturer MSME 50W to 750W (200V) Z15D271 Ishizuka Electronics Co. 750W (400V) 1.0kW to 5.0kW Z15D151 MDME 400W (400V) 600W (400V) 1.0kW to 3.0kW NVD07SCD082 KOA CORPORA TION 4.0kW to 7.5kW Z15D151 Ishizuka Electronics Co. 1 1kW , 15kW NVD07SCD082 [...]

7-125 1 Before Using the Products 2 Preparation 3 Connection 4 Setup 5 Adjustment 6 When in T rouble 7 Supplement 7 7. Options Supplement /LVWRI3HULSKHUDO(TXLSPHQWV Note Contact information shown abov e is as of Februaly 201 1. This list is f or reference only an d subject to change without notice. Manufacturer T el No. / Home Page Periphe[...]

7-126 W arranty period  7KH ZDUUDQW SHULRG LV RQH  HDU IURP WKH GDWH  RI SXUFKDVH RU    PRQWKV IURP WKH month of manufacture in our plant. For a motor with brake, the axis accelerated and decelerated more times than the VSHFLÀHGOLPLWLVQRWFRYHUHGEZDUUDQW  W arra[...]

7-127  3UDFWLFDOFRQVLGHUDWLRQVIRUH[SRUWLQJWKHSURGXFWRUDVVHPEO FRQWDLQLQJWKHSURGXFW When the end user of the product or end use of the product is associated with military affair or weapon, its export may be controlled by the Foreign Exchange and Foreign T rade Control Law . Complete review of the product to be ex[...]

Repair Consult to a dealer from whom you have purchased the product for details of repair . When the product is incorporated to the machine or equipment you have purchased, consult to the manufacturer or the dealer of the machine or equipment. T echnical information T echnical information of this product (Operating Instructions, CAD data) can be do[...]