B3 Manual

Instruction Manual
Integrated Drive Brushless Motor

Be sure to give this manual to an end user.
B3-Series, G-type
with Positioning Function
Before using this motor,
please read this manual.
Then keep this manual for
your future use.
Safety precautions ....................................... 2
1. Introduction .......................................... ......5
Overview ...........................................................5
After unpacking ...................................................5
Nameplate classification.......................................5
Model list ............................................................6
Name of components ...........................................7
2. Installation.............................................. .....8
Motor ................................................................8
Gear head .........................................................10
Checking the load and use condition ....................12
3. Maintenance and inspection................. 15
4. System configuration and wiring .............16
General wiring diagram ........................................16
Selecting the wiring equipment ............................17
Wiring ..............................................................18
5. How to use the digital keypad ...............20
Function of the digital keypad ..............................20
Using the digital keypad ......................................20
Description of various modes ..............................22
Operation of the digital keypad ............................23
Parameter copy function ....................................26
6. Test run.......................................................28
7. Example setting of motion pattern....................... 30
1. Indexing (feeding by fixed length) ....................30
2. Reciprocating ................................................32
3. Automatic reciprocating ...................................34
4. Door opening/closing ......................................36
8. Parameter .................................................38
Overview of parameter .......................................38
List of parameters...............................................38
LED display.......................................................44
9. Protective function ...................................45
What is protective function? ................................45
How to clear trip .................................................45
List of protective functions ..................................46
Troubleshooting .................................................48
10. Conformance to EC directives and UL standards ............... 50
Configuration of peripheral equipment................. 51
Wiring of peripheral equipment............................51
List of compatible peripheral equipment .............52
11. Appendix Detail of parameters.....................53
11. Appendix RS485 Communication.................65
12. Specifications.........................................86
13. Options (sold separately).....................90
Limited Warranty...........................................91
After-sale service (repair)...........................Back cover
Page Page
Contents
- 2 -
The following symbols indicate operation status.
Indicates a potentially hazardous situation, which if
not avoided, will result in minor injury or physical
damage.
Indicates a potentially hazardous situation, which if
not avoided will result in death or serious injury.
Indicates that the operation is prohibited.
Indicates that the operation must be followed.
Failure to comply could result in electric
shocks, damages, or malfunction.
Do not expose the cables to sharp ob-
jects, excessive pressing or pinching
forces, and heavy loads.
Failure to comply could result in fire.
Do not subject the product to
corrosive or flammable gas-
es, and combustibles.
Failure to comply could result in
injuries.
Do not touch the rotating part of
the motor while operating.
Failure to comply could result in electric shock,
injury, damage, or malfunction.
Do not step on, nor place a
heavy object on the motor.
See the following precautions in order to avoid damage and injury for
operators and other personnel during operation.
The following symbols are used to indicate the level of danger when
occurred when you fail to observe the safety precautions.
DANGER
CAUTION
DANGER
Safety precaution
- 3 -
Do not hold the cables or motor shaft
when transporting the motor.
Failure to comply could result in injury.
electric shocks and injuries.
Conduct the transportation, wiring
and inspection after the power off.
Install the product properly to
avoid personal accidents or fire
in case of an earthquake.
injury, fire, damage or malfunction.
CAUTION
electric shock, injury, or fire.
An over current error, earth leak-
age breaker, over temperature
protector and emergency stop de-
vice must be installed.
electric shock.
Be sure to ground the
earth line of the motor.
burns.
Do not touch the motor
body during operation.
Do not modify, dismantle or
repair the product.
Failure to comply could result in fire.
Attach the motor to incombusti-
ble matter such as metal.
Make sure to secure the safe-
ty after the earthquake.
injury, fire, malfunction, and damage.
Wiring must always be
configured by competent
personnel.
injury, fire, damage or malfunction.
Install an external emergency stop
circuitry to shut down the main power
source in any emergency.
- 4 -
This product should be treat-
ed as an industrial waste
when it is disposed.
injury and electric shock.
Maintenance and check must be per-
formed by competent personnel.
burns and fire.
Do not place any obstacle which may dis-
turb ventilation to the motor.
Failure to comply could result in injuries.
If motor tripping occurs,
remove the cause and ensure the ma-
chine is safe prior to restarting.
Failure to comply could result in injury,
malfunction and contamination.
Install a safety device for
idling or locking of gear head
or leakage of grease.
CAUTION
Use the specified voltage on the product.
injuries.
Execute test run with the motor fixed and a
load unconnected. Connect a load to the mo-
tor after the successful test run.
Ensure product is isolated correctly in
event of a power failure to avoid automat-
ic restart upon power recovery.
Avoid frequent power on/off
switching on main power.
Failure to comply could result in damages.
Never start and stop the motor by
magnet contactor, etc. which is
provide on the main line.
Failure to comply could result in fire,
electric shocks, or damage.
Do not drive the motor shaft from outside.
injuries.
Turn off main power when the
motor is not required for long
periods.
injury and damage.
Do not apply excessive
pressure to the motor and shaft.
Safety precautions
- 5 -
Overview
The B3-Series is a circuit-Integrated Brushless Motor Equipped with Positioning Func-
tion.
It integrates a motor and control circuit, motors powers available are from 30W to 130W
and gear head ratios from 1/5 to 1/50. It employs a unique CS sensor and has a variable
speed range from 30 to 3000r/min along with a positioning function.
Integrating the control circuit with the motor enables space saving and makes wiring easy
This also contributes to a reduced panel size and energy savings.
Positioning allows individual setting of (1) Travel distance (2) Maximum rotating speed
during travel (preset speed) (3) Accelerating time and (4) Decelerating time during travel
allows a positioning selection of up to 4 points. Servo lock during stop is also available.
A programmable digital keypad (sold separately) allows the of display of rotation speed,
parameter setting, teaching (setting of target position), copying of parameters and
communication software PANATERM

for BL (sold separately) which enables adjustment
of parameters, monitoring of motor condition, and displaying a waveform graphic to allow
fine tuning.
Read this manual carefully in order to make full use of the functions available on the B3
series G-Type.
<Note>
(1) Copying the whole or part of this manual without notice is strictly forbidden.
(2) Description of this manual is subject to change without notice.
After unpacking
Make sure that the model is what you have ordered.
Check whether the product has been damaged or not during transportation.
If any deficiency should be found, contact the Panasonic partner who sold you this product.
Nameplate Classification
Nameplate
Brushless Motor
Model No.
Input 1Ph.200V-240V
Input Current 0.6A
Ins. Class A(UL), E(TUV)
Rated Output 30W
Rated Speed 3000r/min
Rating S1
IP65
Ser. No. 03010001
Matsushita Electric Industrial Co., Ltd.
MBMP3A2EBC
Model name
Rated input voltage
Rated output
S1: Continuous rating, S2: Short-time rating
Serial Number
Made in Japan C26701
1. Introduction
- 6 -
Check the Model Name
MBMP 3A 2 E B C
Series name
Custom specification
Function C: Standard
Shaft specification B: For MB type gear head
S: Round shaft
Input power supply 1: Single-phase AC100 - 120V
2: Single-phase AC200 - 240V
Output
3A: 30W
5A: 50W
9A: 90W
1E: 130W
Check the Serial Number
03 01 0001 e.g.) Ser. No.
Manufacturing year
(Lower 2 digits of Christian Era)
Serial Number
Manufacturing month
Model name
Rated
output
MBMP3A1EBC
MBMP3A2EBC
MBMP5A1EBC
MBMP5A2EBC
MBMP9A1EBC
MBMP9A2EBC
MBMP1E2EBC
MBMP3A1ESC
MBMP3A2ESC
MBMP5A1ESC
MBMP5A2ESC
MBMP9A1ESC
MBMP9A2ESC
MBMP1E2ESC
A figure representing reduction ration in
30W
50W
90W
130W
30W
50W
90W
130W
Mounting angle
dimension
80
90
80
90
Input voltage
AC100 - 120V
AC200 - 240V
AC100 - 120V
AC200 - 240V
AC100 - 120V
AC200 - 240V
AC200 -

240V

AC100 - 120V
AC200 - 240V
AC100 - 120V
AC200 - 240V
AC100 - 120V
AC200 - 240V
AC200 -

240V
Time rating
Continuous
30 minutes: 100% of rated output
Continuous: 80% of rated output
Continuous

30 minutes: 100% of rated output
Continuous: 80% of rated output
Model name of appli-
cable gear head
MB8G BV
Reduction ratio: 5, 10,

15, 20, 30, 50
MB9G BV
Reduction ratio: 5, 10,

15, 20, 30, 50
Round shaft
e.g.) Part number of MB type gear head with reduction ratio 10 and mounting angle size 80 is MB8G10BV.
Model list
1. Introduction
- 7 -
Name of components
Control signal connector
O-ring
(Not used on straight shafted model)
Oil seal
Motor
Nameplate
Digital Drive
Power input wire
- 8 -
Motor
Location
Location gives great influence upon the life of the motor, therefore please select in
conformance with the conditions below:
Indoors where the motor is not subjected to rain water and direct sun light.
Do not use the motor in corrosive atmosphere such as hydrogen sulfide, sulfurous
acid, chlorine, ammonia, sulfur, gas chloride, gas sulfide, acid, alkali, and salt, in the
atmosphere of combustible gas, or in the vicinity of flammables.
Place not exposed to grinding liquid, oil mist, iron powder, and cutting particle.
Well-ventilated place without moisture, oil, or water, and place far from heat source
such as a furnace.
Place easy to check and clean
Place free from vibration
Do not use the motor in an enclosed environment. The motor, when enclosed, will run
at a higher temperature and reduce the product lifetime.
Environmental condition
1 Ambient temperature is measured at a distance of 5cm from the motor.
2 Temperature which is acceptable for a short time, such as during transportation is -20C to
60C (free from freezing)
Ambient
temperature
Ambient humidity
Storage temperature and Storage humidity
Protection
structure
Vibration
Altitude
Brushless motor
Digital Keypad (sold separately)
Brushless motor
Digital Keypad (sold separately)
Condition Item
This motor conforms to test condition specified in EN standard

(EN60529 and EN60034-5). This motor is not applicable to the
use which requires long-term waterproof performance, such as
the case where the motor is always washed with water.
10 - 40 C (free from freezing)
1
10 - 50 C (free from freezing)
85% RH or below (free from condensation)
Normal temperature and humidity
2
IP65 (excluding output shaft rotating area, and connectors)
Equivalent to IP20
Not greater than 4.9m/s
2
(10 - 60Hz)
Not greater than 1000m
How to Install
The motor can be installed both horizontally and vertically.
See Outer dimension drawing on page 88 - 89 for installation dimensions.
2. Installation
- 9 -
Oil and Water Protections
Do not use the motor with the cable immersed in
oil or water.
Make sure that the outlet of cable faces down
when installing the motor.
Avoid use in such environment where the motor
is always exposed to oil and water.
Stress upon Cable
Make sure that the cables are not subjected to stress due to bending forces or self-
weight at the cable outlets or connections.
In application where the motor moves, secure the cable attached to the motor to a
stationary part, and it should be extended with an additional cable which should be housed
in a cable carrier so that bending stress can be minimized. Especially ensure that the
bend radius operating part is greater than 30mm.
Make the bending radius of cables as large as possible. (Minimum bend radius: 20mm
or above)
Permissible Shaft Load
Make sure that both radial and thrust load to be applied to the motor shaft during instal
lation and running are within the specified value of each model.
Pay extra attention to installing a rigid coupling (especially if excess bending load is
applied as this may damage the shaft or reduce the life of bearing)
A flexible coupling is recommended which has stiffness as high as possible in order to
keep radial load caused by minute misalignment as small as possible.
Installation Notes
Do not hit the shaft with a hammer directly while attaching or
detaching the coupling to the motor shaft end.
Ensure sufficient alignment. (Insufficient alignment may cause
vibration and damage the bearing.)
The motor is integrated with the control circuit, therefore pay
attention to temperature, vibration, and shock.
This motor is controlled by switching of power device at a high
speed. Therefore when the motor is operated, the leakage current increases, which may
activate the leakage breaker. In this case, use a leakage breaker which is provided with
high frequency measure for an inverter.
Oil or water
Cable
Motor
Motor
- 10 -
Gear head
Assembling of Gear Head
Preparation before assembling
Gear head applicable to the motor described in this instruction manual is MB8GBV
(for 30W and 50W) and MB9GBV (for 90W and 130W). Never use a combination of
gear heads other than applicable ones.
Make sure that O-ring is attached to the bottom of spigot joint.
When the gear head is assembled with O-ring floating, it may result in grease
leakage.
When grease adheres to the end surface of gear head, wipe off clean.
If the gear head us assembled with grease adhered, it may cause grease to exude.
Assembling
Direct the motor pinion upward, and make sure that the relation between direction of
motor lead wire and output shaft matches with the equipment.
Turn the motor pinion finely clockwise and counterclockwise for assembling, ensur-
ing that the tip of motor pinion does not hit the tooth of gear head.
<Information>
MB type gear head is provided with temporary assembling screw. Before installing
the equipment, assemble the motor and gear head temporarily, which will ensure
stable installation of the equipment. In installing to the equipment, be sure to use four
mounting screws attached to the gear head for secure installation.
80
90
Mounting
dimension
MB8G
MB9G
Type of
gear head
M2.6
M3
Screw
size
0.5Nm
0.8Nm
Tightening
torque
Temporary assembling screw
[Recommended tightening torque for temporary assembling]
2. Installation
- 11 -
When installing the motor and gear head to the mating equipment, use mounting
screws attached to the gear head, tighten them sufficiently to eliminate clearance
between the motor flange surface and gear head spigot joint while paying attention to
bite of O-ring.
Recommended tightening torque is shown below:
Caution in Installing Gear Head
Idling by damaged tooth, locking by bite, grease leakage, and the like are possible on
the life end of gear head. Install a safety protection in order to ensure safety even if such
trouble happens.
Install a device for preventing drop by damaged teeth on a lifter or the like.
As for application such as automatic door, install a torque limiting device to prevent against
gearlock.
As for food or textile equipment, install an oil pan for measure against grease leakage.
Do not install an encoder, sensor, contact, etc in the proximity of gear head. If you should
install such devices, take measures against their grease leakage.
Be sure to perform daily check in order to prevent unexpected accident.
Caution in Storing Gear Head
In storing the gear head separately, make sure that output shaft is faced down.
(Incompliance may lead to grease leakage.)
Note) Excessive force to assemble the mo-
tor and gear, or damage to the tip of
motor pinion or tooth of gear head
may generate abnormal noise or re-
duce the life.
80
90
MB8G
MB9G
M6
M8
2.9Nm
7.8Nm
94mm
104mm
Installing
pitch
diameter
Output shaft
Gear head
Flange
Motor
pinion
O-ring
Assemble with motor pinion faced up.
Mounting
dimension
Type of
gear head
Screw
size
Tightening
torque
- 12 -
Checking the load and use condition
Some environment conditions may possibly lead to heating or damage to the shaft.
Check conditions, and use the motor within its permissible range.
Standard life
Standard life is 10,000 hours for the motor equipped with gear head (MB8G and MB9G).
Standard life is the same 10,000 hours for motor alone (round shaft). (Standard life of
sealing performance of oil seal is 5,000 hours.)
Standard life refers to design life for operation 8 hours per day (service factor: Sf = 1.0)
at a normal temperature and humidity, under uniform load (permissible shaft torque of
gear head and rated torque of motor).
<Information>
Repeated forward/reverse operation with motor shaft rotation angle below 45 degrees
causes fretting of bearing (partial wear due to bearing out of grease), and is not
advisable. It does not apply if operation is available to rotate the motor shaft above 45
degrees at an appropriate interval more than once a day.)
Oscillation due to inappropriate setting of gain, also causes fretting.
Note that gear head shaft is also subject to this restriction.
Service factor (Sf)
Service factor (Sf) depends on the magnitude of shock of load or operating time. Service
factor is shown below for different load conditions:
Expected life =
Standard life
Service factor (Sf)
Type of load
Uniform load
Light shock
Middle shock
Heavy shock
Example of load
One direction continuous operation
Start, stop, or cam shock
Instantaneous rotation/reverse rotation and instantaneous stop
Middle shock at a high frequency
Service factor
5 hours/day
0.8
1.2
1.5
2.5
8 hours/day
1.0
1.5
2.0
3.0
24 hours/day
1.5
2.0
2.5
3.5
2. Installation
- 13 -
Permissible shaft load
Use the permissible shaft load within the load shown below:
Model name
MBMP3A ESC
MBMP5A ESC
MBMP9A ESC
MBMP1E2ESC
MB8G5BV
MB8G10BV - 20BV
MB8G30BV - 50BV
MB9G5BV
MB9G10BV - 20BV
MB9G30BV - 50BV
Motor
(Round
shaft)
Permissible
overhang
load (W)
100N
100N
150N
150N
245N
343N
539N
294N
490N
637N
Permissible
thrust load
(F)
10N
10N
20N
20N
98N
147N
L
Mounting surface
Thrust load (F)
Overhang load (W)
Motor and
gear head
X=
Motor : L/2
Gear head : 20mm
Gear
head
Permissible shaft torque
Required shaft torque TA of gear head can be obtained from service factor and actual
load torque T1.
TA = T1 Sf
Select a gear head and motor to ensure that required torque (continuous) is within per-
missible shaft torque in the table below. Here, the torque T1 must not exceed permis-
sible shaft torque TA irrespective of Sf.
Model name (motor/gear head)
MBMP3A EBC / MB8G BV
MBMP1E2EBC / MB9G BV
Rotation direction is the same as that of motor in shaded portion, and reverse for others.
Unit : N m
5
0.43
0.71
1.2
1.9
10
0.86
1.4
2.5
3.7
15
1.3
2.2
3.6
5.6
20
1.8
2.8
4.9
7.4
30
2.5
4.0
7.0
10.7
50
4.1
6.8
11.6
17.7
Reduction ratio
<Information>
in the part name of motor represents either 1 or 2 which indicates supply voltage.
in the part name of gear head represents a figure which indicates reduction ratio.
- 14 -
2. Installation
Permissible load inertia moment
Apply permissible load inertia moment within the value shown below:
Speed reduction time from 3000r/min to 0 shall be 1 second.
Model name
MBMP3A EBC
MBMP5A EBC
MB8G BV
MBMP9A EBC
MBMP1E2EBC
MB9G BV
5
3.42
16.4
13.8
67.6
30.6
142
55.8
257
127
589
342
1684
10 15 20 30 50 Reduction ratio
Unit : 10
-4
kgm
2
Equipped with gear head
Model name
MBMP3A ESC
MBMP5A ESC
MBMP9A ESC
MBMP1E2ESC
5
0.87
1.54
Reduction ratio
Unit : 10
-4
kgm
2
Round shaft
<Information>
in the part name of motor represents either 1 or 2 which indicates supply voltage.
in the part name of gear head represents a figure which indicates reduction ratio.
- 15 -
3. Maintenance and inspection
Routine maintenance and inspection are essential for proper and satisfactory
operation of the motor.
Notes to Maintenance/Inspection Personnel
Power-on/off operations should be done by the operators themselves for ensuring safety
in checking.
Do not touch the motor while power on. (Motor body maintains a high temperature.)
In performing the measuring insulation resistance, remove all connections. Measuring
insulation resistance with connection can cause brushless motor failure.
Maintenance/Inspection item
Inspection item
Input voltage
Input current
Insulation
resistance
Noise
Vibration
Grease
leakage
Installation bolt
Condition
Must be within 10% of rating.
Must be within rated input current described on nameplate.
Insulation resistance of motor, when measured with 500V, must be 1 Mohm or
above. Measuring position: Between power input (L1, L2) and earth
Noise level must not be different from the usual level. In addition,
abnormal noise such as rumbling noise must not be heard.
Free from abnormal vibration.
Check that periphery of motor or gear head is not wet by
grease or oil. Protect them with a cover etc. in application
which is deteriorated by grease leakage.
Check for loosening of bolt, and tighten additionally as necessary.
Inspection procedure
Voltmeter
Ammeter
Insulation
resistance tester
Hearing
By hand
By sight
Torque wrench
- 16 -
4. System configuration and wiring
General wiring diagram
Wiring of Main Circuit
Non-Fuse Breaker (NFB)
Used to protect the power lines.
Overcurrent will shut off the circuit.
Noise Filter (NF)
Prevents the external noise from the
power line, and reduces the effect of the
noise generated by the motor.
Magnetic Contactor (MC)
Turns on/off the main power to the
motor.
Used together with a surge absorber.
<Note>
This motor is controlled by switching of
power device at a high speed.
Therefore when the motor is
operated, leakage current increases,
which may activate the leakage breaker.
In this case, use a leakage
breaker which is provided with high
frequency measure for inverter.
AC power supply Ground
Lead wire is
0.5m long.
B3 series, G type
Gear head
(sold separately)
Be sure to ground
the unit.
Use wire above diameter
1.6mm (2.0mm
2
) for both
of main circuit and
grounding for the wiring
on power supply side of
non-fuse breaker
(outside the equipment).
Apply grounding to be
100 ohms or less.
Do not tighten the
ground wires together
but connect individually.
Never start or stop the motor with
the magnetic contactor.
- 17 -
Digital keypad (sold separately)
Digital display keypad. Allows setting of
parameter. (See "How to use the digital
keypad" on page 20 for details.)
[In connecting with digital keypad or PC]
Or
Or
[In extending the cable]
[When connecting the digital keypad with external input equipment, etc.]
Pin 14
Pin 14
Pin 14
Pin 14
Pin 10
Pin 14
Pin 14
Pin 14
Pin 10
Personal
Computer
(supplied by
customer)
Personal
Computer
(supplied by
customer)
PC connection cable
: DV0P4140
(sold separately)
Communication software
"PANATERM for BL"
: DV0P4270
(sold separately)
PC connection cable
: DV0P4140 (sold separately)
Communication software
"PANATERM for BL"
: DV0P4270 (sold separately)
Control signal extension cable
(Pin 14) (Sold separately)
Control signal branch cable
(Pin 14 Pin 14 and 10) (sold separately)
Digital keypad
(sold separately)
See "13. Option (sold separately)" on page 90 for details of separately sold cable.
Control signal conversion
cable (Pin 14 Pin 10)
(sold separately)
Host control equipment
such as switch, relay,
and PLC.
Host control equipment
such as switch, relay,
and PLC, etc.
Selecting the wiring equipment
Noise filter
Recommended noise filter
part number
Non-fuse breaker, magnetic contactor, and electric wire
(See 10. Conformance to EC directives and UL standards on page 50.)
<Information>
Connection with control signal connectorSee Wiring on page 18 for details.
Our option part number
DV0P3611-5
Manufacturers part number
SUP-EQ5-ER-6
Manufacturers name
Okaya Electric Industries Co., Ltd
Voltage
Single phase
100V
Single phase
200V
Capacity
(W)
30 - 90
30 - 130
NFB

(rated current)
BBC25N (5A)
BBC25N (5A)
Magnetic contactor

(contact structure)
Electric wire (mm
2
)
BMFT61041N (3P+1a)
BMFT61042N (3P+1a)
0.5 (AWG20)
0.5 (AWG20)
0.13 (AWG26)
0.13 (AWG26)
Main circuit/Grounding wire Control circuit
Made by Matsushita Electric Works Co., ltd
- 18 -
4. System configuration and wiring
Wiring
Wiring work must always be performed by a professional.
Do not turn on power before finishing wiring for avoiding electric shock.
Standard Wiring Diagram
L1
NFB
Power supply
White
Black
Green/Yellow
1
2
11
4
3
5
6
12
Grounding wire
Signal input 1
Signal input 2
Signal input 3
Signal input 4
Signal output 1
Signal output 2
Vce max=DC30V
Ic max=50mA
Control ground
Be sure to ground the unit.
L2
E
I1
I2
I3
I4
GND
+5V
01
02
Use wire above diameter
1.6mm (2.0mm
2
) for both of
main circuit and grounding
for the wiring on power sup-
ply side of non-fuse breaker
(outside the equipment). Ap-
ply grounding type D (100
ohms or below).
Do not tighten the ground
wires together but connect
individually.
Color of wire
White, Black (L1, L2)
Green/Yellow (E)
Name Description of function
Power input wire
Grounding wire
Connect with commercial power supply conforming to voltage specification.
Wire for grounding the motor
Relay
Use a relay for small signal (minimum guaranteed current 1mA or below) for connecting to
control circuit such as control input terminal (I1 I4) in order to prevent poor contact.
<Example> Matsushita Electric Works: DS, NK, or HC type, Omron: G2A type
Control Circuit Switch
When using a switch instead of relay, use one for minute current in order to prevent poor
contact.
<Example> Nihon Kaiheiki: M-2012J-G
Function of terminal
Power input
- 19 -
Control signal connector
Part number of connector: 39-01-2145 (5557-14R-210) (Molex Incorporated)
Terminal
symbol
I1
I2
GND
I4
+5V
O1
SCK
SIN
SOT
(N/A)
I3
O2
RS485
RS485+
1
2
3
4
5
6
7
8
9
10
11
12
13
14
Terminal name
Signal input 1
Signal input 2
Control ground
Signal input 4
Power supply
for digital keypad
Signal output 1
Digital keypad I/F
Signal input 3
Signal output 2
Run start
Point
designation 1
Forced trip
Trip output
Home sensor
In-motion signal
RS485 I/F
Cable
color
Brown
Red
Orange
Yellow
Green
Blue
Purple(pink)
Gray
White
Black
White/
black
White/
red
White/green
White/blue
Description of function
Terminal
number
Select a function with Pr50.
In turning on signal, short between "I1" and
"GND". (Input logic can be changed by Pr54.)
Common ground terminal for control signal
Power supply for digital keypad. When using power
for other than digital keypad, set 50mA or below.
Open collector output. Choose a function with
Pr5C. (Output logic can be changed by Pr5E.)
Interface for digital keypad
Do not connect anything.
Open collector output. Choose a function with
Pr5d. (Output logic can be changed by Pr5F.)
Connect RS485 ()
Connect RS485 (+)
Default
<Note>
Do not connect anything to pin 10.
Do not touch the terminal of energized control circuit.

Static electricity or the like may lead to malfunction.
Circuit of input terminal is as shown on the right.

It can be controlled by contact or open collector output.
When extending the control signal, a maximum of

5m cable length can be used.
<Specification of connector>
Applicable plug:
Applicable terminal:
+5V
I1, I2,
I3, I4
1.5k
GND
39-01-2146 (5559-14P-210) (Molex Incorporated)
39-00-0040 (5558T) Chain type for AWG18 - 24
39-00-0041 (5558TL) Bulk type for AWG18 - 24
39-00-0048 (5558T2) Chain type for AWG22 - 28
39-00-0049 (5558T2L) Bulk type for AWG22 - 28 (Molex Incorporated)
- 20 -
In monitor mode
Displays rotation speed (actual
speed), commanded speed, present
position, trip history, and the like.
In parameter editing
Displays a parameter setting value.
In teaching
Displays present position of motor.

is displayed for indicating
a negative value.
5-digit
LED
In monitor mode
The left value (position of 10) indicates an operation command signal
status. ( : Stand still, : Commanding)
The right value (position of 1) indicates a rotation direction and operation
status. ( : Operating in direction +
, : Operating in direction -
, :
Stand still, : Motor is free)
Displays the number of parameter.
In teaching
Displays the point number of parameter.
Rotation direction is changed by Pr23.
Direction + ( ): CCW rotation when viewed from motor output shaft
(default).
2-digit
LED
Function of the digital keypad
Monitoring of rotation speed (actual speed) and load factor
Display detail of trip, and trip history. Trip reset by pressing and
Parameter setting and copying function at the same time.
Teaching function (Target point (positioning point) can be set by actually starting the mo-
tor.)
Control signal conversion cable (DV0P38605 sold separately) is required for
connecting the digital keypad. In using the digital keypad and control signal input
at the same time, buy an optional control signal branch cable (DV0P38805 sold
separately).
Using the digital keypad
When power is turned on, rotation speed (actual
speed) r/min is displayed in monitor mode (change-
able by Pr7A).
Displayed value is an index. Do not use the digital
keypad for a measuring instrument.
5. How to use the digital keypad
- 21 -
When STOP switch is pressed, the setting change warning
(CAU) is displayed, and the motor is stopped and tripped.
Switch
Switch
Switch
Switch
Switch
In monitor mode
When this switch is pressed for about 4 seconds, system shifts to
teaching mode.
In teaching
When homing is not completed, homing operation is executed by
pressing this switch for about 4 seconds in teaching mode.
In monitor mode
Switch for changing monitor mode. Whenever this switch is
pressed, the mode changes in this sequence:
Rotation speed (actual speed) Internal DC voltage (voltage of
smoothing capacitor in power supply) Load factor Torque
Commanded speed Present position (lower 5 digits)
Present position (shaft rotation number) Rotation speed (actual
speed) ....
In parameter editing, and in teaching
System shifts to monitor mode. (Setting is not saved in EEPROM.)
In monitor mode
Trip reset can be executed by pressing and at the same
time.
This switch allows selection of parameter, and setting and
changing of details.
Parameter changes continuously while this switch is held down.
In teaching
When homing is completed, teaching operation (motor drive) is
enabled by the switch and .
In monitor mode
System shifts to parameter number mode.
This switch is for changing parameter number mode and parameter
setting mode, and for saving parameter setting in EEPROM.
In teaching
This switch is for changing point number mode and teaching mode,
and for saving setting in EEPROM (nonvolatile memory built in the
motor).
- 22 -
Displays rotation speed (actual speed), commanded speed, internal DC voltage,
load factor, torque, and present position on 5-digit LED. This mode is set when
power is turned on.
Control changes to this mode when MODE switch is pressed in parameter number
mode, parameter setting mode, point number mode, and point setting mode.
Displays a parameter number ( - ) in flashing.
Control changes to this mode when switch is pressed in parameter number
mode.
Parameter number can be changed and selected by and switch.
Displays the detail of parameter (setting) in flashing.
Control changes to this mode when switch is pressed in monitor mode.
Change setting by and switch.
When switch is pressed after change of setting, it is saved in EEPROM.
Displays a parameter number ( - ) in flashing.
Control shifts to this mode when RUN switch is pressed for 4 seconds in monitor
mode.
Point number can be changed and selected by and switch.
Displays the present position of motor (distance from home) in flashing.
(If homing is not completed, is displayed.
When present position is greater than 99999, is displayed.
When present position is smaller than -99999, is displayed.
Ex. 1) When present position is 123456, only lower 4 digits are
displayed.
Ex. 2) When present position is -20, is displayed.
Control shifts to this mode when switch is pressed in point number mode.
When or switch is pressed after completion of homing, the motor can be
operated.
If homing is not completed yet, homing operation is started when RUN switch is
pressed for 4 seconds.
When switch is pressed, the present position is set in parameter as a point
setting, and saved in EEPROM
Monitor mode
Parameter
number mode
Point number
mode
Parameter
setting mode
Teaching
mode
DATA
SET
DATA
SET
DATA
SET
DATA
SET
DATA
SET
Description of various modes
<Information>
Present position is the distance from the home, indicated in pulses (288 pulses/rotation).
- 23 -
Operation of the digital keypad
Basic operations
Trip can be reset by pressing and
switch at the same time.
Display shifts to monitor screen after
resetting.
Shifts to parameter number made when
mod switch is pressed.
Monitor mode
Parameter number mode
Trip detail display mode Parameter setting mode
Displays monitored details set by Pr7A
(see page 43).
Changes display on 5-digit
LED with MODE switch.
Displays the contents of
displayed parameter (setting).
Displays parameter number.
Number is changed by
and switch.
Exit this mode with
MODE switch (returns to
monitor).
DATA
SET
DATA
SET
DATA
SET
DATA
SET
MODE
MODE Trip
reset
Power-on
F
l
a
s
h
i
n
g
F
l
a
s
h
i
n
g
MODE
DATA
SET
When trip
occurs, trip
display mode is
set by MODE
switch.
Value is changed by and switch.
(Such value is effective on the spot.)
Value is written in EEPROM by
switch.
Exit this mode with MODE switch without
writing in EEPROM.
DATA
SET
- 24 -
Monitor mode
Monitor display item can be changed after power is turned on and when monitor mode
display is on. (See page 43 for setting of Pr7A.)
Rotation speed
(actual speed) display
Display of present position
When homing is not completed, is displayed.
When present position is greater than 99999, is displayed.
When present position is smaller than -99999, is displayed.
Ex. 1) When present position is 123456, only lower 4 digits are displayed.
Ex. 2) When present position is -20, is displayed.
Lights
up.
Lights
up.
Internal DC voltage display
(Voltage of smoothing
capacitor in power supply)
Lights
up.
Present position
(Lower 5 digits)
All light
up.
All
flashing
Present position
(shaft rotation
number)
Load factor
(average torque)
display
Flashing
Flashing
Torque display Commanded speed display
Left (position of 10)
...
Displays command status.
: Stand still
: In Motion (BUSY)
Right (position of 1)
...
Displays rotation direction.
: Running in direction.
: Running in + direction.
: Stand still
: Motor is free.
MODE
MODE
MODE
MODE
MODE
MODE
MODE
- 25 -
Teaching function
This motor allows two target position setting methods, one of which is setting by parameter
value, and the other is setting target position by actually operating the motor by use of
teaching function.
In order to use teaching function, press RUN switch for 4 seconds or longer on the monitor
mode display screen, then control shifts to point number mode of teaching function.
Monitor mode
Hold down for 4 seconds.
MODE
[Caution]
In teaching mode, displayed present position is set as target position.
Set the point coordinate setting to absolute travel. (Pr02, 0A, 12, and 1A).
When the point coordinate setting is set to relative travel, stop position is different between
teaching setting and actual operation.
In point number mode and teaching mode, operation instruction by I/O or RS485 is not accepted.
Point number mode
All units light up.
Displays present position (lower 5 dig-
its). When homing is not completed,
is displayed.
Point number (to be set)
Number is changed by and
switch.
Exits this mode with MODE switch
(returns to monitor).
Teaching mode
When homing is completed,
execute teaching operation with
and switch (motor operation).
Set the present position on the point
with switch.
(Also writes in EEPROM.)
Display returns to monitor screen
without setting when MODE switch
is pressed.
When homing is not completed,
homing operation is started if RUN
switch is held down for about 4 seconds.
DATA
SET
DATA
SET
RUN
MODE
F
l
a
s
h
i
n
g
F
l
a
s
h
i
n
g
DATA
SET
- 26 -
<Information>
Error in copying parameters
: Data trouble was found during copying
Press STOP switch for clearing, and then copy the parameter again. If data trouble
is still found, initialize the digital keypad and try again.
: Copy error
This error occurs in the attempt to copy data between products with different
function. Press STOP switch to cancel the error.
Although parameters can be copied between the same models with different output,
parameters should be copied between the same outputs in principle.
<Note>
Do not turn off power or disconnect the connection cable of digital keypad during
operation such as "Initializing data of digital keypad", "Reading parameter into digital
keypad", "Writing parameter to brushless motor", etc.
Parameter copy function
Parameter copy function (Digital keypad
Motor) can be used by Pr77.

All flashing
on display
Initializing the data of the digital keypad
EEPROM installed onboard the digital key-
pad is initialized (data cleared). When read-
ing is disabled, or when data transfer fails
during copying, execute Data initialization
of the digital keypad. Normally, it is not re-
quired.
Reading parameters
Parameter of motor is read and saved in
EEPROM of the digital keypad. Read pa-
rameter is retained even when the digital
keypad is separated from the motor.
Writing parameters
Parameter information saved in the digital keypad is written to the motor. (Saved in
EEPROM of motor)
- 27 -
Data initialization
of digital keypad
Normal condition
Parameter reading
(Motor Digital keypad)
Parameter writing
(Digital keypad Motor)
+
STOP
+
DATA SET
Hold down
(for about
1 second).
Press both at
the same time.
For about 30 seconds For about 30 seconds
For about 10
seconds
All
flashing
on display
All
flashing
on display
All
flashing
on display
+
STOP
+
DATA SET
Hold down
(for about
1 second).
+
STOP
+
DATA SET
Hold down
(for about
1 second).
Process
completed
Process
completed
Process
completed
Trip reset
<Information>
Parameters that are
effective after power
resetting become
effective when power
is cut off once and
turned on again.
- 28 -
Description of
operation
1.Turn on power
2.Set the action
Pr4E
Setting of
teaching speed
3.Return to
monitor mode.
Operation panel
Switch LED display
Press
Press and choose parameter 4E
(teaching speed).
(Initial setting: 50)
Press
Press and change the teaching speed
to 300.
Press
Press
Flashing
Flashing
Flashing
Flashing
Flashing
( )
6. Test run
Inspection before Test Run
1) Make sure that all wiring is correct.
2) Make sure that input power supply conforms to rating.
Test Run
Procedure for test run using the digital keypad is as follows:
Shown here is the case of running at 300r/min in direction CW or CCW by use of teaching
function.
First execute the following work for safe operation.
Ensure that the motor alone can be operated.
Turn on power and follow the steps below for test run.
- 29 -
Description of
operation
4.Teaching
operation
5.Exit
Operation panel
Switch LED display
Press
Press for 4 seconds
When is pressed in this condition, the
motor rotates in + direction

and 5-digit
LED indicates position coordinates.
When is pressed after the motor has
stopped, the motor rotates in one direction.
When is released, the motor stops.
(LED display "5000" is an example, which
shows the present position of the motor.)
When exiting the mode without setting
data, press MODE switch to return to
monitor mode.
When is released, the motor stops.
(LED display ". . 3.5.5." indicates that
the present position is -355.)
Flashing
Flashing
Flashing
Flashing
Flashing
Flashing
A
l
l

l
i
g
h
t

u
p
.
A
l
l

l
i
g
h
t

u
p
.
A
l
l

l
i
g
h
t

u
p
.
A
l
l

l
i
g
h
t

u
p
.
A
l
l

l
i
g
h
t

u
p
.
A
l
l

l
i
g
h
t

u
p
.
Checkpoint in Test run
Check whether the motor rotates smoothly. Check for abnormal noise and vibration.
Check whether the motor is accelerated and decelerated smoothly.
Make sure that the direction of motor rotation is correct.
Rotation direction + represents CCW on the motor shaft in default setting. (Can be
changed by Pr23 coordinate system setting.)
Rotation direction of gear head output shaft may sometimes be reversed due to reduc-
tion gear ratio when gear head is installed.
(See the table of permissible shaft torque on page 13. Rotation direction is described.)
- 30 -
Terminal
symbol
Terminal
number
I1
I2
I3
I4
O1
O2
1
2
11
4
6
12
Terminal
name
Signal input 1
Signal input 2
Signal input 3
Signal input 4
Signal output 1
Signal output 2
Operates when "I1" and "GND" are shorted (Homing operation for the first time after power-on)
CW operation when "I2" and "GND" are shorted, CCW operation when they are
opened (including homing operation mode)
Motor trips when "I3" and "GND" are open.
Home detected when "I4" and "GND" are shorted.
Trip output (Normally on, and off in tripping)
In motion signal (including homing operation)
Indexing
[Signal function setting]
Conveyor
<Example of setting>
Every time I1 is turned on, the motor runs for fixed travel distance.
Homing operation is executed and the home is set when I1 is turned on just once after
power-on. (It is also possible to set power-on position to the home.)
Run start
Home detected
Turns off normally in short-circuiting
(forced trip in opening).
20ms or longer
Execute
homing
Execute
indexing
Execute
indexing
Execute indexing
(Reverse direction)
Power-ON
Normally ON.
Run start Run start Run start
I1 (Run start)
I2 (Direction switching)
I3 (Forced trip)
I4 (Home sensor)
O1 (Trip output)
O2 (In motion)
Motor commanded
speed
In changing direction, first
change I2, and then turn on
I1 after 20ms or longer
have passed.
When homing is set to unnecessary,
homing operation is not executed but
indexing operation is started.
Turn on power, and then turn on
I1 after one second or longer have
passed.
[Operation timing chart]
20ms or
longer
7. Example setting of motion pattern
1. Indexing (feeding by fixed length)
When feeding by fixed length of travel
- 31 -
Function
8
14
0
11
1
0
2
0, 1, 5
0, 1
200
200
2
1
1
10
0
0
2000
200
0
Name of parameter Remarks
Parameter No.
(Pr )
I1 function selection
I3 input logic selection
01 function selection
Homing mode
Homing direction
Homing speed
Homing acceleration/deceleration time
Homing function
Selecting homing when

motor
is free
Present position overflow permission
The 1st target position (rotation number)
The 1st target position (pulse)
The 1st coordinate setting
The 1st setting speed
The 1st acceleration time/The 1st deceleration time
The 1st block setting
Run start (used only for the 1st point)
Direction switching input
Forced trip input
Home sensor input
Changes the polarity of 3 to effective when
open (forced trip in this case).
Trip output
In-motion signal
Set homing in which to use home sensor.
Set any desired homing direction.
Set any desired operation speed.
Set any desired acceleration/deceleration time.
Set to 1 when setting power-on position to the home.
Set to 1 (homing is required again when tripping
occurs.)
Set to 1 (permits overflow).
Set the travel distance by rotation number
and pulse (one rotation per 288 pulses).
When the setting does not represent proper
mechanical reduction gear ratio, accumulated
error occurs, which results in dislocation.
Set relative travel.
Set any desired acceleration time and deceleration time.
Set normal operation.
[Parameter setting]
Indicates only the point changed from default setting.
(Parameter marked with is effective after power resetting.)
S
e
l
e
c
t
i
o
n

o
f

s
i
g
n
a
l

f
u
n
c
t
i
o
n
H
o
m
i
n
g

f
u
n
c
t
i
o
n
T
h
e

1
s
t

p
o
i
n
t

(
i
n
d
e
x
i
n
g

l
e
n
g
t
h
)
Setting
50
51
52
53
56
5C
5d
40
41
42
44
48
49
4A
00
01
02
03
04, 05
06
<Information>
In this setting, I3 is set to forced trip when open. Connect an emergency stop switch or
the like which is shorted but open at error to I3 terminal.
Please note that the motor will not run due to forced trip without such connection.
- 32 -
2. Reciprocating
When executing reciprocating run between fixed positions
Terminal
symbol
Terminal
number
I1
I2
I3
I4
O1
O2
1
2
11
4
6
12
Terminal
name
Signal input 1
Signal input 2
Signal input 3
Signal input 4
Signal output 1
Signal output 2
Operation stops when "I3" and "GND" are shorted.
Slider
Every time I1 is turned on, feed action return action

feed action is repeated in turn.
When power is on, homing operation is executed and

home is set by I1.
Coordinate system + direc-
tion depends on configura-
tion of gear head and ma-
chine. When setting the ro-
tation direction CCW of mo-
tor shaft to +, set Pr23 at
"0", and when setting CW
to +, set Pr23 at "1".
Run start Run start Run start Run start
Run
start
Run start
Home detection
Normally OFF.
(forced trip in opening).
Execute
homing
Execute
feeding
Execute
returning
Execute
feeding
Execute
feeding
Execute
returning
Normally ON.
I1 (Sequential run
start)
I2 (Home sensor)
I3 (Instantaneous
stop)
I4(Forced trip)
01(Trip output)
02(In motion)
Motor commanded
speed
Power-ON
Turn on power, and then turn on
I1 after one second or longer
have passed.
Runs to the
1st point.
Runs to the
2nd point.
Runs to the
1st point.
Runs to
the 1st
point.
Runs to
the 2nd
point.
After the motor has stopped instantaneously during return operation, when I1 is turned on again, feed operation is executed from stop position.
Similarly, after the motor has stopped instantaneously during feed operation, when I1 is turned on again, return operation is executed.
Workpiece
20ms or longer
20ms or longer
Pull and push
Home 0
Homing direction (-)
The 2nd point
(return)
The 1st point
(feed)
Coordinate
system (+)
- 33 -
50
51
52
53
57
5C
5d
40
41
42
44
48
49
4A
23
00
01
02
03
04, 05
06
08
09
0A
0b
0C, 0d
0E
22
9
11
1
0
1
0
2
0
1
200
200
2
0
0
0, 1
10
0
1
2000
200
0
2
0
1
2000
200
0
2
Homing mode
Homing direction
Homing speed
Homing function
Selecting homing when motor is free
Present position overflow
permission
Coordinate system setting
The 2nd target position (rotation number)
The 2nd target position (pulse)
The 2nd coordinate setting
The 2nd setting speed
The 2nd acceleration time/The 2nd deceleration time
The 2nd block setting
Sequential run
Maximum point number
Sequential run start
Home sensor input
Instantaneous stop input
Forced trip input
Changes the polarity of I4 to effective when
Trip output
In-motion signal
Set the homing direction normally to minus
direction (return direction).
Homing operation by initial I1 input when power is turned on.
Homing is not required when tripping occurs.
Overflow is not permitted because absolute
travel is set.
Set so that homing is in minus direction.
Set the feed position coordinates.
Set absolute travel.
Set any desired travel.
Set the return position coordinate.
(Set 0 when the position is the same as home.)
Set any desired travel.
Restricts the maximum point number in
sequential operation.
When this parameter is set to 2, whenever I1
is turned on, system operates in turn from the
1st point the 2nd point the 1st point ....
O
t
h
e
r
s
T
h
e

1
s
t

p
o
i
n
t

(
f
e
e
d

p
o
s
i
t
i
o
n
)
T
h
e

2
n
d

p
o
i
n
t

(
r
e
t
u
r
n

p
o
s
i
t
i
o
n
)
[Parameter setting]
S
e
l
e
c
t
i
o
n

o
f

s
i
g
n
a
l

f
u
n
c
t
i
o
n
H
o
m
i
n
g

f
u
n
c
t
i
o
n
Function Name of parameter Remarks Setting
Parameter No.
(Pr )
- 34 -
3. Automatic reciprocating
When executing fixed reciprocating sequence operation with single run start signal
Run start Run start Run start
Home detection
Normally OFF.
Turns off normally in short-circuiting (forced trip in opening).
Execute
homing
Execute
feeding
Execute
returning
Normally ON.
I1 (Run start)
I2 (Home sensor)
I3 (Instantaneous stop)
I4(Forced trip)
01(Trip output)
02(In motion)
Motor commanded
speed
Power-ON
Turn on power, and then turn
on I1 after one second or
longer have passed.
After the motor has stopped instantaneously during operation, when I1 is turned
on again, feed operation is always executed in the first (running to the 1st point).
Waiting
time
Pr07
Execute
feeding
Execute
returning
Waiting
time
Pr07
Runs to the 1st point,
and then runs to the
2nd point.
Runs to the 1st point,
and then runs to the
2nd point.
S
t
r
o
k
e
Workpiece
20ms or longer
When I1 is turned on,

the unit moves to target
position (feed position),
waits for a specified
time, and returns to
original position (return
position).
When power is on,

homing operation is
executed and home is
set by I1.
Coordinate system
+ direction
depends on
configuration of
gear head and
machine. When
setting the rotation
direction CCW of
motor shaft to +,
set Pr23 at "0",
and when setting
CW to +, set Pr23
at "1".
Home 0
Homing
direction
(-)
The 2nd
point
(return)
The 1st
point
(feed)
Coordinate
system (+)
Lifter
Terminal
symbol
Terminal
number
I1
I2
I3
I4
O1
O2
1
2
11
4
6
12
Terminal
name
Signal input 1
Signal input 2
Signal input 3
Signal input 4
Signal output 1
Signal output 2
Operation stops when "I3" and "GND" are shorted. (Motor does not operate during short-circuit.)
- 35 -
50
51
52
53
57
5C
5d
40
41
42
44
48
49
4A
23
00
01
02
03
04, 05
06
07
08
09
0A
0b
0C, 0d
0E
0F
8
11
1
0
1
0
2
0
1
200
200
2
0
0
0, 1
10
0
1
2000
200
1
500
2
0
1
2000
200
0
0
Homing mode
Homing direction
Homing speed
Homing function
Selecting homing when motor is free
Present position overflow
permission
The 1st block timer setting
The 2nd block timer setting
Run start
Home sensor input
Forced trip input
Trip output
In-motion signal
Set the homing direction normally to minus
direction (return direction).
Homing operation by initial I1 input when power is turned on.
Overflow is not permitted because absolute
travel is set.
Set the feed position coordinates.
Execute running to the 2nd point, after executing
running to the 1st point.
The 2nd point operation is started in 500ms.
Set the return position coordinate.
(Set 0 when the position is the same as home.)
Ineffective because 0E is 0.
S
e
l
e
c
t
i
o
n

o
f

s
i
g
n
a
l

f
u
n
c
t
i
o
n
H
o
m
i
n
g

f
u
n
c
t
i
o
n
T
h
e

1
s
t

p
o
i
n
t

(
f
e
e
d

p
o
s
i
t
i
o
n
)
T
h
e

2
n
d

p
o
i
n
t

(
r
e
t
u
r
n

p
o
s
i
t
i
o
n
)
[Parameter setting]
Parameter No.
(Pr )
- 36 -
Terminal
symbol
Terminal
number
I1
I2
I3
I4
O1
O2
1
2
11
4
6
12
Terminal
name
Signal input 1
Signal input 2
Signal input 3
Signal input 4
Signal output 1
Signal output 2
Opening (point 2) operation when "I2" and "GND" are shorted, and closing (point 1) operation when they are open.
Motor is free when "I3" and "GND" are open. (Servo lock released)
Operation is stopped when "I4" and "GND" are open. (Motor is not activated while they are open.)
(Motor is free when circuit is opened.)
(Motor stops instantaneously when circuit is opened.)
Normally ON
I1 (Run start)
I2 (Choose open/close.)
(Choose point.)
I3 (Motor free)
I4 (Instantaneous stop)
01 (Trip output)
02 (In motion)
Motor commanded
speed
Output torque
Power-on
Turn on power, and then turn
on I1 after one second or
longer have passed.
Home is detected when workpiece
bumps to the mechanical end.
When the motor is stopped by stop signal on
the way of operation, positioning is allowed
at any desired position (open or close).
Switch between open and close, and
then turn on I1 in 20ms or longer.
Pr45 Pr2E Pr2E Pr35 Pr2E
Run start Run start Run start Run start Run start
20ms or longer
Pr35 Pr2E Pr35 Pr2E Pr35 Pr2E
Homing direction (-)

Home 0 (-144)
The 1st point
(closed)
The 2nd point
(opened)
Coordinate
system (+)
Mechanical end
144
Automatic door
Execute
homing
Execute
opening
Execute
closing
Execute
opening
Execute
closing
Coordinate system + direction depends on configuration of
gear head and machine. When setting the rotation direction
CCW of motor shaft to +, set Pr23 at "0", and when setting
CW to +, set Pr23 at "1".
When setting the Mechanical end offset value to -144, the Home is
the point which has moved 144 pulses to the + direction seen from
the Mechanical end.
When open/close is chosen and I1 is input, open/close operation is executed.

When the door is stopped in any position on the way of action, opening or closing operation is
enabled from such position. (It is the same when the door is moved by hand with motor disabled.)
Use of bumping homing enables elimination of home sensor.
Holding torque when motor is stopped can be changed.
4. Door opening/closing
When executing reciprocating
operation between 2 points
- 37 -
50
51
52
53

56

57
5C
5d
40
41
42
44
45
46
47

48
49
4A
23
00
01
02
03
04, 05
06
08
09
0A
0b
0C, 0d
0E
2E
35
36
37
8
6
15
1
1
1
0
2
3
1
200
200
50
100
-144
2
0
0
0, 1
0
0
1
2000
200
0
40
0
1
2000
200
0
100
150
2
100
Homing mode
Homing direction
Homing speed
Bumping torque detection value
Bumping torque detection time
Home offset
Homing function
Homing selection when motor is free
Present position overflow permission
Run start
Point designation 1 input (choosing the 1st/2nd point)
Motor-free input
open (motor-free in this case).
open (instantaneous stop in this case).
Trip output
In-motion signal
Bumping homing
Set the homing direction normally to minus direction (closing direction).
Torque limit during bumping homing
Home is detected when torque restriction continues for one second.
Set the distance from the home desired to
be set to the mechanical end.
When power is turned on, homing operation is executed by initial I1 input.
Overflow is not permitted because absolute travel is set.
Set the door closing position coordinate.
(Coordinate is 0 when closing position is the same as home position.)
Set the door opening position coordinate.
[Parameter setting]
For automatically changing the retention torque (retention force) when door is stopped
S
e
l
e
c
t
i
o
n

o
f

s
i
g
n
a
l

f
u
n
c
t
i
o
n
H
o
m
i
n
g

f
u
n
c
t
i
o
n
T
h
e

1
s
t

p
o
i
n
t

(
d
o
o
r

c
l
o
s
i
n
g

p
o
s
i
t
i
o
n
)
T
h
e

2
n
d

p
o
i
n
t

(
d
o
o
r

o
p
e
n
i
n
g

p
o
s
i
t
i
o
n
)
G
a
i
n

s
w
i
t
c
h
i
n
g

f
u
n
c
t
i
o
n
Torque limit setting
The 2nd torque limit setting
Gain switching mode selection
Gain switching time
Sets the retention torque when door is stopped.
The smaller the value is, the weaker the retention force becomes.
Maximum output torque when door is operating.
Set to 0 when executing no switching.
Torque is changed in 100ms after completion of operation instruction.
Parameter No.
(Pr )
- 38 -
Overview of parameter
Motor of this series has various parameters that are used for adjusting or setting the features
or functions of the motor. This section describes the purpose and function of these parameters.
Ensure a full understanding of the parameters to achieve optimum operating performance.
List of parameters
8. Parameter
00
01
02
03
04
05
06
07
08
09
0A
0b
0C
0d
0E
0F
0
0
1
2000
200
200
0
0
0
0
1
2000
200
200
0
0
The 1st target position
(rotation number)
The 1st target position (Pulse)
The 1st coordinate
setting
The 1st setting
speed
The 1st
acceleration time
The 1st
deceleration time
The 1st block
setting
The 1st block timer
setting
The 2nd target position
(rotation number)
The 2nd target position (Pulse)
The 2nd coordinate
setting
The 2nd setting
speed
The 2nd
acceleration time
The 2nd
deceleration time
The 2nd block
setting
The 2nd block timer
setting
Setting unit
[rotation number]
Setting unit [pulse]
You can select positioning system to the 1st point.
0: Relative travel, 1: Absolute travel
You can set the speed moving to the 1st point.
Setting unit [r/min]
You can set time taken for reaching the 1st setting speed.
Setting unit [ms]
You can set time taken from the 1st setting speed to stop.
Setting unit [ms]
0: Normal operation
1: Continuous block operation (1st point 2nd point )
2: Combined block operation (1st point + 2nd point )
Enabled when you set Pr06 to "1". Start commanding of 2nd point
after this setting time elapses and command of 1st point is
completed. Enabled in unit of 2ms. (If you set to 1, this is rounded
down and recognized as 0.) Setting unit [ms]
Setting unit
[rotation number]
You can select positioning system to the 2nd point.
You can set the speed moving to the 2nd point.
You can set time taken for reaching the 2nd setting speed.
Setting unit [ms]
You can set time taken from the 2nd setting speed to stop.
Setting unit [ms]
0: Normal operation
1: Continuous block operation (2nd point 3rd point)
Enabled when you set Pr0E to "1".
Start commanding of 3rd point after this setting time
elapses and command of 2nd point is completed.
Enabled in unit of 2ms. Setting unit [ms]
-16384 -
16383
-288 - 288
0,1
0 - 3000
1 - 30000
1 - 30000
0 - 2
0 - 30000
-16384 -
16383
-288 - 288
0,1
0 - 3000
1 - 30000
1 - 30000
0,1
0 - 30000
T
h
e

1
s
t

p
o
i
n
t
T
h
e

2
n
d

p
o
i
n
t
You can set travel distance in
rotation numbers and pulses.
(288 pulses per rotation)
Name of parameter Description Default
Parameter
No.
(Pr )
Setting
range
Effective
after power
resetting
- 39 -
10
11
12
13
14
15
16
17
18
19
1A
1b
1C
1d
1E
1F
20
21
22
23
0
0
1
2000
200
200
0
0
0
0
1
2000
200
200
0
0
0
0
4
0
The 3rd target position
(rotation number)
The 3rd target position (Pulse)
The 3rd coordinate
setting
The 3rd setting
speed
The 3rd
acceleration time
The 3rd
deceleration time
The 3rd block
setting
The 3rd block timer
setting
The 4th target position
(rotation number)
The 4th target position (Pulse)
The 4th coordinate
setting
The 4th setting
speed
The 4th
acceleration time
The 4th
deceleration time
The 4th block
setting
The 4th block timer
setting
Acceleration mode
Deceleration mode
Sequential run
maximum point number
Setting unit
[rotation number]
You can select positioning system to the 3rd point.
You can set the speed moving to the 3rd point.
You can set time taken for reaching the 3rd setting speed.
Setting unit [ms]
You can set time taken from the 3rd setting speed to stop.
Setting unit [ms]
0: Normal operation
1: Continuous block operation (3rd point 4th point)
2: Combined block operation (3rd point + 4th point)
Enabled when you set Pr16 to "1".
Start commanding of 4th point after this setting time
elapses and command of 3rd point is completed.
Setting unit
[rotation number]
You can select positioning system to the 4th point.
You can set the speed moving to the 4th point.
You can set time taken for reaching the 4th setting speed.
Setting unit [ms]
You can set time taken from the 4th setting speed to stop.
Setting unit [ms]
0: Normal operation
1: Continuous block operation (4th point 1st point )
Enabled when you set Pr1E to "1".
Start commanding of 1st point after this setting time
elapses and command of 4th point is completed.
You can select running pattern in acceleration.
0: Linear, 1: S-Pattern (Setting common to all points)
You can select running pattern in deceleration.
0: Linear, 1: S-Pattern (Setting common to all points)
You can set the maximum point number for positioning
by use of sequential run signal.
0: CCW rotation in + direction, 1: CW rotation in + direction
-16384 -
16383
-288 - 288
0,1
0 - 3000
1 - 30000
1 - 30000
0 - 2
0 - 30000
-16384 -
16383
-288 - 288
0,1
0 - 3000
1 - 30000
1 - 30000
0,1
0 - 30000
0,1
0,1
1 - 4
0,1
T
h
e

3
r
d

p
o
i
n
t
T
h
e

4
t
h

p
o
i
n
t
Name of parameter Description Default
Parameter
No.
(Pr )
Setting
range
Effective
after power
resetting
- 40 -
8. List of parameters
Name of parameter Description
28
29
2A
2b
2C
2d
2E
2F
30
31
32
33
34
5
1000
500
0
13
0
150
0
5
1000
500
0
13
Position loop gain
(the 1st gain)
Velocity loop gain
(the 1st gain)
Velocity loop
integration gain
(the 1st gain)
Velocity feed
forward gain
(the 1st gain)
Speed detection filter
(the 1st gain)
Velocity feed
forward time constant
(Common to the
1st/2nd gain)
Torque limit setting
(the 1st gain)
Torque filter time
constant
(Common to the
1st/2nd gain)
The 2nd position loop
gain
(the 2nd gain)
The 2nd velocity loop gain
(the 2nd gain)
The 2nd velocity loop
integration gain (the 2nd gain)
The 2nd velocity feed
forward gain
(the 2nd gain)
The 2nd speed
detection filter
(the 2nd gain)
You can determine the response of position control.
You need not change it normally. When it is increased,
the response is improved, which is likely to cause
oscillation.
(The 1st gain: When gain switching is used, the 1st
gain is the gain at stop.)
You can determine the response of velocity loop. You
need not change it normally. When it is increased, the
response is improved, which is likely to cause
oscillation.
You can determine the rigidity of velocity loop. You
need not change it normally. When it is increased, the
rigidity is improved, which is likely to cause oscillation.
Set it to 0 in normal use. This is the function to forward
(add) position command to speed command.
When the setting is increased, the position error is
decreased and response improved, which makes
overshoot large.
Setting unit [%]
Use the default setting normally.
You can set the time constant of low-pass filter of
speed feedback. When the setting is made smaller, the
gain can be made larger and response improved, which
increases operation noise.
Set it at 0 in normal use. This is a filter in velocity feed
forward section. When the setting is made larger, the
time constant is made larger.
Setting unit [ms]
Output torque of motor is limited. Set it in [%] with
reference to rated torque. (Torque value has no precision
because torque is not controlled. Use it as an index.)
You can set the time constant of primary delay filter of
torque instruction. You need not change it normally. You
can suppress oscillation due to insufficient rigidity of load.
Setting unit [ms]
You can determine the response of position control.
(The 2nd gain: When using gain switching, the 2nd gain
is the gain in running.)
You can determine the response of velocity loop.
You can determine the rigidity of velocity loop.
Set it at 0 in normal use.
Setting unit [%]
Use the default setting normally.
You can set the time constant of low-pass filter in
speed feedback.
0 - 100
0 - 10000
0 - 10000
0 - 100
5 - 20
0 - 500
50 - 150
0 - 500
0 - 100
0 - 10000
0 - 10000
0 - 100
5 - 20
Setting
range
Effective
after power
resetting
Default
Parameter
No.
(Pr )
- 41 -
35
36
37
38
39
3A
3E
40
41
42
43
44
45
46
47
150
0
50
20
144
0
0
0
0
200
0
200
50
100
0
The 2nd torque limit
setting (The 2nd gain)
Gain switching mode
selection
Gain switching time
In-position range
Position error set-up
Position error
invalidation
Run-command
selection
Homing mode
Homing direction
Homing speed
Homing limit
Homing acceleration/
deceleration time
Bumping torque detec-
tion value
Bumping detection
time
Home offset
Output torque of the motor is limited. Set it in [%] with
reference to rated torque. (Torque value has no precision
because torque is not controlled. Use it as an index.)
0: Fixed at the 1st gain, 1: Fixed at the 2nd gain
2: Automatic switching (In running = the 2nd gain, In
standstill = the 1st gain)
When the gain switching mode is set to automatic
switching, after the output of instruction, the 2nd gain
(in running) changes to the 1st gain (in standstill) when
time setting has elapsed.
Setting unit [ms]
In-position signal is turned on when position error
(difference between command position and actual
position) is below setting.
Position error occurs when the value of position error
(difference between command position and actual
position) is larger than this parameter 8 as well as
parameter 3A is effective.
0: Effective, 1: Ineffective (Motor does not trip but
keeps on operating.)
You can select the run-command method with this parameter.
0: Command through I/O, 1: Command through RS485
(Command through I/O will be disabled except trip and
sensor input)
Select homing method.
0: Home sensor homing 1, 1:Home sensor homing 2
2: Limit sensor homing, 3: Bumping homing
4: Home resetting, 5: Home sensor homing 3
You can set the detection direction of home.
0: Detecting in + direction
1: Detecting in direction
You can set the speed in homing action.
When the home cannot be detected although the motor
travel distance has exceeded setting, homing error is
found. (Ineffective at 0)
Setting unit [rotation number]
You can set time taken for reaching the homing speed.
Setting unit [ms]
You can limit the output torque of motor when returning
to bumping home. You can set it in [%] with reference
to the rated torque.
You can set the detection time of bumping toque in
returning to bumping home.
Setting unit [ms]
You can set the offset from home detection position.
When the home has been detected, set a value of plus
and minus opposite to the desired travel direction as an
offset. (When you set -100, the position traveling 100
pulses in +direction on the coordinate system is set as
an home.)
50 - 150
0 - 2
0 - 10000
0 - 16383
0 - 16383
0, 1
0, 1
0 - 5
0, 1
0 - 3000
0 - 16383
1 - 30000
50 - 150
0 - 15000
-16384 -
16383
Setting
range
Effective
after power
resetting
Default
Parameter
No.
(Pr )
- 42 -
48
49
4A
4b
4C
4d
4E
50
51
52
53
54
55
56
57
58
59
5C
5d
1
0
0
100
200
200
50
8
6
11
0
0
0
0
0
1
0
0
2
Homing function
Homing selection when
motor is free
Present position
overflow permission
Jog speed
Jog acceleration time
Jog deceleration time
Teaching speed
I1 Input logic selection
Trip reset function
enable
Deceleration time in
instantaneous stop
0: Required, 1: Not required (Position when power is
turned on is the home.)
2: When homing is not completed yet, homing
operation is executed by positioning start signal.
0: When homing is unavailable after motor-free state is
reset (when trip occurs, after trip is reset),
positioning operation is enabled.
1: When motor is free (trip occurs), homing is required
again.
Note) When Pr48 is 1, setting of this parameter is
ineffective.
You can set operation when the present position
counter of motor has overflowed (exceeded 32767
rotations).
0: Prohibited (motor trip), 1: Permitted (no motor trip)
Set it to 1 for operation to allow the motor to rotate in
one direction without change.
You can set the operation speed in jog operation.
You can set time taken for reaching jog speed.
Setting unit [ms]
You can set time taken from jog speed until stopping.
Setting unit [ms]
You can set speed used in applying teaching function
of digital keypad. Acceleration and deceleration time is
the same as jog operation. Setting unit [r/min]
You can assign functions to I1 through I4.
0: Forced trip, 1: Instantaneous stop
2: Deceleration stop, 3: Homing start
4: Forward jog
, 5: Reverse jog
6. Point designation 1
, 7: Point designation 2
8: Run start
, 9: Sequential run start
10: Trip reset, 11: Home sensor,

12: Limit in + direction, 13: Limit in direction
14: Direction switching
, 15: Motor-free
) When Pr3E is 1, this function is effective for I/O input
for giving priority to RS485.
0: Normal logic (Input is effective (ON) when connected
to GND.)
1: Reverse rotation logic (Input is effective (ON) when
OPEN (open))
Set the reverse rotation logic to the input desired to be
operated on wiring break side such as forced trip
(emergency stop input).
0: Disable, 1: Enable (Operation start signal longer
than 1 second enables execution of trip reset.)
Set the deceleration time in executing instantaneous
stop.
Setting unit [ms]
You can assign functions to 01 and 02.
0: Trip output, 1: In-position,
2: In-motion signal (BUSY), 3: Homing completion,
4: Overload detection, 5: Torque under restriction
0 - 2
0, 1
0, 1
0 - 3000
1 - 30000
1 - 30000
0 - 3000
0 - 15
0 - 15
0 - 15
0 - 15
0, 1
0, 1
0, 1
0, 1
0, 1
0 - 30000
0 - 5
0 - 5
Setting
range
Default
Effective
after power
resetting
Parameter
No.
(Pr )
- 43 -
5E
5F
60
61
62
63
64
65
6A
6b
6C
6d
6E
6F
77
7A
7b
7C
7F
0
0
129
2
4
10
9
2
nO
(0)
nO
0
1
1
01 output polarity
selection
02 output polarity
selection
RS485 device number
RS485 communication
speed
RS485 communication
standard
RS485 communication
response time
RS485 retry times of
communication
RS485 protocol
Timeout
Trip history clear
Trip history 1
Trip history 2
Trip history 3
Trip history 4
Trip history 5
Parameter copy
function
Monitor mode
switching
Numerator of
command pulse ratio
Denominator of
command pulse ratio
For manufacturer use
0, 1
0, 1
128 - 159
0 - 2
0 - 11
10 - 1000
0 - 9
1 - 255
(0)
(1)
0 - 6
1 - 20000
1 - 20000

Setting
range
Effective
after power
resetting
Default
Parameter
No.
(Pr )
0: Normal logic (Output transistor ON at enabled, OFF
at disabled)
1: Reversed logic (Output transistor OFF at enabled,
ON at disabled)
When only trip output is normal logic, output transistor is
off in tripping, and output transistor is on in no tripping.
See page 67.
When " (1)" is set, trip history (Pr6b - 6F) is
cleared. Trip history is also cleared when 1 is set on
"PANATERM for BL" (sold separately).
Display the latest trip.
Display the 2nd latest trip.
Display the 3rd latest trip.
Display the 4th latest trip.
Display the 5th latest trip.
This function is only available with use of the digital
keypad. See page 26.
You can choose monitor screen to be displayed first
when the digital keypad is connected.
0: Rotation speed (actual speed),
1: Torque, 2: Load factor,
3: Command speed, 4: Internal DC voltage,
5: Present position (lower 5 digits),
6: Present position (rotation number)
You can set the division multiplier ratio of travel
distance. Change of this parameter
does not affect operation speed of motor.
You can set numerator : denominator = 100:1 - 1:100.
It cannot be changed.
<Information>
Pr6b, 6C, 6d, 6E, 6F, and 7F are read-only parameters. They cannot be changed.
Parameters marked with in the column of effective after power resetting become
effective when power is turned off once and turned on again after about 10 seconds. They
are not made effective just by changing.
- 44 -
LED display
Figures displayed on the 7 segment display of the digital keypad are shown below .
A
B
C
D
E
F
G
H
I
K
L
N
O
P
Q
R
Alphanumeric LED display
S
T
U
V
Y
0
1
2
3
4
5
6
7
8
9
nO
Example of LED display
P.PrOG
Alphanumeric LED display
- 45 -
9. Protective function
What is protective function?
B3 Series, G type brushless motors have various protective functions. When they are
activated, the motor stops under a tripping state, which turns off (opens) trip output.
(Factory default)
Trip detail is displayed only when the digital keypad (sold separately) is connected.
State of trip and corrective actions
In tripped state, display of trip details appears on the 7-segment LED of the digital
keypad
and the motor does not work. Check the detail of trip, remove the cause, and
clear the trip.
How to clear trip
When the motor is tripped, remove the cause, and clear by any of the setting procedures
below:
Turn off power, and turn on power after 10 seconds. (Power resetting)
Press both and switch of digital keypad simultaneously in trip detail display
mode.
Input the trip reset signal about 100ms or longer (when 10: Trip reset is set in Pr50
- 53).
When Pr58 is 1, input the operation start signal (run start signal, sequential run
start signal, jog signal, and homing start signal) about 1 second or longer.
Operation of communication software PANATERM
for BL (sold separately) also

enables clearing of trip.
<Information>
When protective functions marked with operate in the list of protective functions de-
scribed on the next page and after, trip reset by the procedure shown above. (Trip
cannot be cleared by the procedure , , , and .)
Setting change warning (CAU) and digital keypad communication error
(E_Cn)
are not saved in trip history.
Undervoltage error (E-LV) is not saved in trip history when power is turned off
normally. It is saved only in instantaneous stop. (It is saved in trip history only when
undervoltage state is established once and then voltage is recovered to normal state.)
- 46 -
List of protective functions
Protective
function
Trip number
(RS485)
LED flashes
Causes Countermeasure
Display on
the digital keypad
Undervoltage
error
(E-LV)
Overvoltage
error
(E-OV)
Overload
warning
(Electronic
thermal)
Overload error
(Electronic
thermal relay)
(THr)
Overspeed
error
(E-OS)
Position error
(E-POS)
Position error
counter
overflow (E-PO)
Overcurrent
error
(E-OC)
2
3
4
5
6
7
8
The motor trips when internal
DC voltage (voltage of
smoothing capacitor of power
supply) is below specified
value.
Product of 100V: Approx DC100V
The motor trips when internal
DC voltage (voltage of
smoothing function of power
supply) rises and
exceeds specified value.
When load factor exceeds
specified value, the electronic
thermal relay operates and
monitor display
flashes. It is an alarm for
electronic thermal trip.
30 - 90W : 100%
130W : 180%
The motor trips when motor
torque is output continuously
above specified value.
30 - 90W : 115%
130W : 105%
The motor trips when rotation
speed (actual speed) exceeds
specified value.
Approx 4500r/min
The motor trips when position
error (difference between
command position and actual
position) is greater than Pr39
8 [pulses].
The motor trips when the
position error exceeds
8388607 [pulse].
motor current exceeds
specified current.
Investigate the condition of
wiring and power supply.
It is possible that deceleration
time is too short. Set longer
deceleration time.
Not compatible with
continuous lowering
operation.
Reduce the load.
Check the load factor in
monitor mode.
Investigate the cause of
overload, and reduce the load,
change the operating pattern
by making acceleration and
deceleration time longer, or
apply design to increase the
capacity of motor.
Ensure that the actual speed does
not exceed rated rotation speed,
such as overshooting by
unmatching between load and gain.
Check the parameter again
and adjust gain.
Check the parameter again
and adjust gain.
1 Excessive acceleration/
deceleration setting is possible.
Set longer acceleration/
deceleration time.
2 Failure of internal circuit is
possible.
- 47 -
Overheat error
(E-OH)
External forced
trip (E-OL)
Setting change
warning (CAU)
RS485
communication
error
(E-485)
Command
execution error
(E-rU)
Homing error
(E-HO)
Present
position
overflow error
(E-OF)
Hardware limit
error (E-LT)
Digital keypad
communication
error (E_Cn)
9
10
11
12
20
21
22
23
Check the ambient

temperature and cooling
condition of motor. Check the
load factor. If the ambient
temperature is low enough,
and the protection occurs
soon after power-on, failure is
possible.
Turn off external forced trip
input, and reset tripping.
It is not abnormal. Execute trip
reset.
Check for noise problem in the
vicinity. (See "Information
Communication" on page 65
for detail.)
Check the setting of
parameter.
Investigate the setting of
parameter, home sensor, and
wiring of home sensor.
Check the setting of
parameter. (It can be made
ineffective by Pr4A.)
Check the installation of
sensor, and setting of
parameter.
It can be cleared by
reconnecting the digital
keypad. Make sure that digital
keypad and motor are
connected normally.
Protective
function
Trip number
(RS485)
Display on
the digital keypad
When any of protective functions marked with operates, trip reset by the procedure of 1 on page 45.
temperature in control section
rises above specified value.
Approx 105 C
The motor trips when external
forced trip input turns on.
It occurs when parameter
copying function on digital
keypad is completed normally.
Also,when STOP key on digital
keypad is pressed, the motor
trips and stops.
The motor trips when
communication error of RS485
communication function
occurs.
The motor trips when data is
abnormal in executing an
operation instruction (setting
speed is 0, and travel distance
is 32767 rotations or more).
The motor trips when homing
speed is 0, or when home
cannot be detected although
the motor shaft rotates more
than parameter (Pr43) in
homing operation, or when
setting of sensor is abnormal
The motor trips after homing is
completed, if present position
exceeds 32767 rotations.
The motor trips after homing is
completed, if hardware limit
sensor is detected.
It occurs when the digital
keypad and motor cannot
communicate normally. (This
is a trouble on digital keypad
side. It does not affect motor
operation.)
- 48 -
Phenomenon Detail of checking Countermeasure
Motor does not
rotate
Is any error in wiring.
Check whether protective function is
activated.
(Only when the motor is connected to
the digital keypad)
Check whether 7-segment LED of on
the digital keypad is lighted up.
Check whether the voltage of power
input line is normal.
Check whether run start signal is
input.
Homing is not executed yet.
Check whether target position of each
point of parameter is set.
Apply proper wiring.
Check for tripping with digital keypad.
Turn off power once, and turn on again.
Reset tripping.
If the LED is off when power is input to
the motor, failure is possible. Contact
us for repair.
Check the supply voltage and voltage
described on motor nameplate.
Check wiring.
First set the parameter for homing
operation and execute homing
operation.
Set the target position.
Troubleshooting
If any trouble should be found, follow the steps below to determine the fault.
If you cannot find out the cause, we recommend that you use the digital keypad (sold
separately) or communication software PANATERM
for BL (sold separately) to check the

detail of trip. If the motor is in failure, or any part is damaged, or in another case of malfunc-
tion, contact the Panasonic partner where you bought the product.
User
parameter
error
(E-UPr)
System
parameter
error
(E-SPr)
Sensor error
(E-CS)
System error
(Err)
Normal condition
90
91
1
Other
numbers
0
Parameter data saved in
EEPROM is abnormal.
Internal parameter data saved
in EEPROM is abnormal.
The motor trips when trouble
of CS sensor signal is
detected.
The motor trips when trouble
of control microcomputer is
detected.
Check all parameters again
and set them again. If this
protection works frequently,
failure is possible.
Failure is possible.
1 Malfunction due to external
noise is possible.
Investigate for noise source
in the vicinity and eliminate
such source.
2 Internal circuit may be in
failure.
Protective
function
Trip number
(RS485)
Display on
the digital keypad
When any of protective functions marked with operates, trip reset by the procedure of 1 on page 45.
- 49 -
Motor stops during
the run.
Motor stops during
deceleration.
Large vibration or
noise.
Motor rotates
reversely.
Rotation speed is
unstable during
operation (actual
speed).
Positioning
accuracy is not
precise.
Home position
shifts.
Motor is too hot.
Parameter does
not change.
Rotation speed
(actual speed) and
target position are
not as expected.
Check whether protective function is
activated.
Check whether the inertia of load is
too large.
Output shaft of motor (gear head) and
shaft of load are not aligned.
Motor and gear head are not
assembled correctly.
Damage to gear head or bearing.
Gain is not adjusted properly.
Check whether the setting of rotation
direction (parameter) is wrong.
Rotation direction of motor and that of
gear head output shaft are reverse
with some gear reduction ratio
of gear head.
Check whether the load fluctuates
greatly.
Check whether the setting of
parameter is wrong.
Chattering of home sensor
Homing speed is too fast.
Start and stop are repeated frequently.
Check whether parameters are
changed which are effective after
resetting.
Check whether the setting of
parameter is wrong.
Overload on the motor is possible.
Reduce the load, increase the
capacity of motor, or increase the gear
reduction ratio.
Regenerative overload error was
activated.
Make the inertia smaller.
Once turn off power and turn on again
for clearing trip.
Increase the deceleration time with
digital keypad.
Check the connection between the output
shaft of motor (gear head) and the load.
Check the assembling condition
between motor and gear head, and
their combination, and assemble them
properly.
Contact us for repair.
Gain must be adjusted. Lower the
setting.
Check the setting of parameter.
Check the gear reduction ratio. Check
the rotation direction.
See the list of permissible shaft torque
on page 13.
Reduce the fluctuation of load.
Increase the capacity of motor.
Increase the gear reduction ratio.
Adjust the parameter of target position
of each point.
Check the parameter of coordinate
setting (relative and absolute).
Check wiring.
Reduce the setting speed with
parameter.
Check by display of load factor. Use
within 80% is recommended.
Turn off power once, and turn on
again for resetting.
See the list of parameters.
Check the detail of parameter setting.
See the list of parameters.
Phenomenon Detail of checking Countermeasure
- 50 -
10. Conformance to EC directives and UL standards
EC Directives
The EC directives apply to all such electronic products as those having specific functions
and directly sold to general consumers in EC countries. These products are
required to meet the EC unified standards and to be furnished with CE marking.
Our brushless motor meet the EC Directives for Low Voltage Equipment so that the
machine or equipment comprising our AC servo can meet relevant EC Directives.
EMC Directives
Our brushless motor can meet EMC Directives and related standards. However, to
meet these requirements, the systems must be limited with respect to configuration and
other aspects, e.g. the installation and some special wiring conditions must be met.
This means that in some cases machines and equipment comprising our servo systems
may not satisfy the requirements for wiring and grounding conditions specified by the
EMC Directives. Therefore, conformance to the EMC Directives (especially the require-
ments for emission noise and noise terminal voltage) should be examined based on the
final products that include our system.
Applicable standard
UL1004
UL508C
EN50178
EN60034-1
EN55011
EN61000-6-2
Electric motor
Power conversion equipment
Electronic equipment for use in power
installation (low voltage directive)
Rotating electrical machines (low voltage
directive)
Industrial, scientific and medical (ISM) radio-frequency
equipment - radio disturbance characteristics - Limits
and methods of measurement
Electromagnetic compatibility (EMC)
Overvoltage category II
Class I equipment
Pollution degree 2
(circuit assembly)
UL
CE
Applicable standard Installation condition
IEC61000-4-2
IEC61000-4-3
IEC61000-4-4
IEC61000-4-5
IEC61000-4-6
IEC61000-4-11
Electrostatics Discharge Immunity Test
Radio Frequency Electromagnetic Field
Immunity Test
Electric high-speed transition phenomenon/burst
immunity test
Lightening Surge Immunity Test
High Frequency Conduction Immunity Test
Instantaneous Outage-Immunity Test
IEC: International Electrotechnical Commission
EN: Europaischen Normen
EMC: Electromagnetic Compatibility
- 51 -
Wiring of peripheral equipment
Configuration of peripheral equipment

Be sure to connect a specified no-fuse breaker certified by IEC standard and UL, or a
fuse certified by UL between power supply and noise filter. Observance of this condition
allows conformance with UL508C (file No. 164620) and UL1004 (file No.166557).
When installing one noise filter at the power supply for more than one brushless motor
used, contact the manufacturer of noise filter.
Install a surge absorber on the primary side of noise filter. However, in performing the
voltage resistance test of machine and equipment, be sure to remove the surge
absorber; otherwise, the surge absorber may be ruptured.
Be sure to connect the protective grounding wire of brushless motor (green/yellow) and
protective earth of the equipment (PE) for preventing electric shock. Do not tighten
protective earths together but connect them individually.
Fuse
breaker
Noise filter
Surge
absorber
Grounding
Power
supply
100V system: Single-phase 100V120V 10%, 50/60Hz

200V system: Single-phase/3-phase 200V240V 10%, 50/60Hz
Use the equipment under the environment of overvoltage category II specified by IEC60664-1.
In order to obtain overvoltage category III, insert a transformer conforming to EN
standard or IEC standard to the input of brushless motor.
Use an electric wire size suitable to EN60204-1.
M
No-fuse breaker
Surge absorber
Noise filter
Protective earth (PE)
Black
White
Green/Yellow
Power supply Brushless
motor
- 52 -
10. Conformance to EC directives and UL standards
List of compatible peripheral equipment
Noise filter
Surge absorber
Recommended circuit breaker
Made by Sanken Airpax Co., ltd. : Type IELH-1-11-63-5A-M
(Rated current 5A, Cutoff characteristics DELAY63)
Recommended cutoff characteristics: DELAY61-63
Contact: Sanken Airpax Co., ltd. http://www.sanken-airpax.co.jp/epage.html
Part name
Noise filter
Surge absorber
Optional part number Manufacturers part No.
DV0P3611-5
DV0P1450
SUP-EQ5-ER-6
R.A.V-781BXZ-4
OKAYA ELECTRIC IND. CO., LTD.
OKAYA ELECTRIC IND. CO., LTD.
Manufacturer
Contact: OKAYA ELECTRIC IND. CO., LTD. Japan +81-3-3424-8120
7 5 75
88
100
53.1
5
0
6
0
6-M4
Nameplate
2- 4.5x6.75 2- 4.5
2
0
0
+
3
0

0
1
1 2
41
3
4
.
5
5
.
5
1
1
2
8
.
5
2
8
2 3
4.2
Open the unused terminal.
- 53 -
11. Appendix - Detail of parameters
Detail of parameter
Operation setting
Positioning operation
This motor can save positioning information for a maximum of 4 points (the 1st to the 4th
point), and allows operation by use of I/O interface. Travel distance, speed setting, accelera-
tion time, deceleration time, and coordinate (relative travel/absolute travel) can be set for
each point. Further, setting block operations allows operation to change speed setting and
position allowing continuous movements of position to position with a single operation
command.
Homing must be completed for executing positioning operation. (It is possible to make
homing unnecessary by Pr48.) If operation command run such as operation start is input
without homing completed, the run command is ignored. If limit sensor is detected after
completion of homing, hardware limit error (E-LT) is found. Travel distance is the
addition of rotation number and pulse of motor shaft. One rotation of motor shaft corresponds
to 288 [pulses], therefore the travel distance is the rotation number x 288 + pulse [pulses].
e.g.) When 1 [rotations] and 144 [pulses] are set at the target position, the travel distance is
432 pulses, this represents a travel distance of 1.5 rotations. Negative values can also
be set on the pulse/value. When 2 [rotations] 144 [pulses] is set, it also represents the
same travel distance of 1.5 rotations.
Single positioning command allows up to 32767 rotations at the maximum on the motor shaft.
When operation command is above 32767 rotations + 1 pulse, command execution error
(E-rU) is found.
This motor is provided with two types of positioning instruction function, i.e. point designation
run and sequential run. Operation to a designated point is executed by point designation run. In
sequential run, point number is automatically updated (such as 1 2 3 1 ) whenever an
run signal is input.
Point designation run (using run start signal and point designation signal)
Set Pr50 - 53 as follows and assign the function of signal input. Of signal inputs 1 - 4 (I1 - I4),
set the parameter used for run start at 8, the input used for point designation 1 at 6, and
the input parameter used for point designation 2 at 7. When point designation is not
assigned to signal input, such signal is always considered to be off. (For example, when the
3rd and 4th point are not designated, it is not required to assign point designation 2.)
When run start is input after designation of point, the motor moves to any desired point.
Point designation 2
Point designation 1
OFF
ON
OFF
Runs to the 2nd point.
Runs to the 4th point.
Runs to the 1st point.
Runs to the 3rd point.
ON
- 54 -
11. Appendix - Detail of parameter
Sequential run (using sequential run start signal)
Set Pr50 - 53 as follows, and assign the function of signal input.
Of signal inputs 1 - 4 (I1 - I4), set the input parameter used for run start at 9 (sequential
run start).
Positioning point number is incremented by one whenever the sequential run start signal
is turned on. (When homing is completed, the initial run start point is always the 1st point.)
The maximum of run point can be set by Pr22.
e.g.) When Pr22 is 3, the motor runs in the order: the 1st point the 2nd point the
3rd point the 1st point whenever run command is input.
(1) Choose a point number for point designation run. Point designation is not required
(made ineffective) in sequential operation.
(2) Set the run start signal at (ON (Default setting: ON when shorted to GND)). It acti-
vates operation.
(3) Make sure that in-motion signal (BUSY) is on, and then return the run start signal to
off. (Assign the function of in-motion signal to signal output 01 or 02 by Pr5E and 5F.)
Alternatively, turn on the run start signal, and turn it off in 20msec. Changing the next
point designation number for positioning operation at this point causes no problem.
(4) When positioning operation is completed, in-motion signal (BUSY) returns to off. (If
the run start signal is not off, positioning when operation is completed, in-motion
signal still remains on.) In-position signal, after completion of command output, turns
on when position error (difference between command position and actually reached
position) is below setting of Pr38.
Operation instruction can be given to the motor only when in-motion signal is off.
[Command timing chart]
Commanded
Point selection (input)
MIN 10ms
MAX 10ms
Speed
Run start signal (input)
or sequential run
start signal (input)
In-motion signal (output) OFF OFF
ON
ON
ON OFF
OFF OFF ON
In-position signal (output)
Actual speed
- 55 -
Block operation
This motor allows continuous positioning to more than one point by single operation in-
struction (continuous block operation) or changing the speed setting on the way of opera-
tion (combined block operation) when block operation is set.
Continuous block operation
Continuous block run is executed by setting the block setting parameter (Pr06, 0E, 16,
and 1E) at 1, and giving run start command by any procedure.
When command output of point is completed, command output of the following points is
started when set waiting time (Pr07, 0F, 17, and 1F) has elapsed.
When block setting parameters (Pr06, 0E, 16, and 1E) are all set to 1, single run
start command allows the motor to keep moving in the order: the 1st point the 2nd
point the 3rd point the 4th point the 1st point until stop signal is input.
Changing the value of Pr22 Sequential run maximum point number allows the
motor to keep moving in the order: the 1st point the 2nd point the 3rd point the
1st point even when block setting parameters are all 1 (when Pr22 = 3).
Combined block operation
When block setting parameter (Pr06 and 16) is set to 2, and run start command is given
to the 1st or 3rd point in any procedure, combined block operation of the 1st point + 2nd
point (or the 3rd point + the 4th point) is executed.
Positioning operation completion position in combined block operation is determined by
the 2nd point (or the 4th point). Position for changing speed setting is determined by the
1st point (or the 3rd point).
Coordinate setting of each point can be either by relative travel or absolute travel.
e.g.) When run command is given to the 1st point by setting Pr06=1, Pr0E=1,
and Pr16=0
Commanded speed
The 1st point
Pr 07.
Waiting time
ON
OFF
ON ON
ON ON
OFF OFF OFF
OFF
ON
OFF OFF
Pr 0F.
Waiting time
The 2nd point
The 3rd point
Run start signal
(input)
In-motion signal
(output)
In-position signal
(output)
- 56 -
11. Appendix- Detail of parameter
When the 1st point position > the 2nd point position (when the target position is closer
than the position to change speed setting (P1)), the motor runs to the 2nd point posi-
tion at the 1st speed setting and positioning operation is completed.
When the motor run start position has already passed the position of the 1st point
such as when the motor is stopped halfway (or when the operation direction to the 1st
point is different from that to the 2nd point), the motor runs to the position of the 2nd
point at the 2nd speed setting, and positioning operation is completed.
During combined block operation, data of the 1st point is applied to the setting of
acceleration and deceleration time. Setting at the 2nd point is made ineffective, and
the motor operates with acceleration and deceleration time set at the 1st point.
In combined block operation, acceleration and deceleration pattern is fixed to linearity. (It
is the same when the motor runs to the target position at a constant speed.)
In combined block operation (status where the 1st block setting is 2), when the 2nd
point positioning command is executed, command execution error (E-rU) is
When the 2nd point (or the 4th point) which is the positioning operation completion
position is set by relative travel, coordinate is calculated by target position of the 1st point
(or the 3rd point), and by run start position in the case of absolute travel.
When the 1st point (or the 3rd point) is set by absolute travel, if the motor passes the
position designated by parameter, the motor speed changes to the speed set by the 2nd
point (or the 4th point), and the motor runs to the target position. In relative travel, the
motor runs by the speed designated at the 1st point (or the 3rd point) for the distance set
by the 1st point (or the 3rd point) from run start, and then the motor speed changes to the
speed designated at the 2nd point (or the 4th point) and the motor runs to the target
position.
e.g.) When the 1st point and the 2nd point are set to combined block operation (Pr06 = 2)
Commanded speed
<
the 2nd speed
setting
S1
S1
S2
S2
P1 P1 P2 P2
Run start
signal (input)
In-motion signal
(output)
S1: The 1st speed setting set by the 1st point
P1: The 1st position
S2: The 2nd speed setting set by the 2nd point
P2: The 2nd position
ON
OFF
ON
OFF
OFF
ON
OFF
ON
OFF OFF OFF
OFF
When the 1st
speed setting
When the 1st
speed setting
>
the 2nd speed
setting
2 1
- 57 -
found.
When using block setting 2 and 1 together, it is enabled by setting the block setting
parameter at 1 and setting the block timer at the 2nd point. (Operation at the 3rd
point is started after completion of combined block operation at the 1st point + the 2nd
point.)
Jog operation
The motor runs in one direction at a specified speed as long as the signal is on.
Jog operation is allowed even when homing is not completed.
Set Pr50 - 53 as follows, and assign the function of signal input.
Of signal inputs 1 - 4 (I1 - I4), set the input used for forward jog operation instruction at 4,
and the input used for reverse jog operation instruction at 5.
The motor runs in specified direction as long as specified input signal is on.
When the input signal is turned off, the motor reduces its speed and stops.
See Pr4b - 4d for parameters relating to jog operation.
(1) Change the jog start signal from contact-off to the status of connection to GND (on).
It activates operation.
(2) When the jog start signal is returned to off, the motor starts speed reduction.
(3) When operation is completed, the transistor of in-motion signal (BUSY) returns to
off.
Operation instruction can be given to the motor only when in-motion signal is off.
In jog operation, setting of Pr20 is applied to acceleration and deceleration pattern
(linear and S-letter) as for acceleration. In deceleration, the pattern is linear irrespec-
tive of setting of Pr21.
[Timing chart of jog operation]
MAX 10ms
Jog signal (input)
Commanded speed
In-motion signal
(output)
OFF OFF ON
OFF OFF ON
- 58 -
11. Appendix - Detail of parameter
In order to execute homing operation, set Pr50 - 53 as follows to assign the function of
signal input.
Assign one of signal inputs 1 - 4 (I1 - I4) to the input used for homing start signal. (Set Pr52
at 3 for I3.) Be sure to assign the function required for respective homing to the signal
input. Unnecessary sensors (functions) need not be assigned if not required.
When Pr48 is set to 2, it is enabled to execute homing operation with run start signal (run
start and sequential run start) when homing is not completed.
See Pr 40 - 49 for parameters relating to homing operation. Set the homing speed as low
as possible in order to improve accuracy in homing.
Homing operation
In order to establish the reference position of motor, homing operation is always required
for positioning operation.
In applications where homing operation is not required, set Pr48 at 1, then the position
where power is turned on is assumed to be the home (0), by which positioning operation is
enabled. After completion of homing, when the limit sensor in motor operation direction is
detected, hardware limit error (E-LT) is found.
When you use the relative travel command in positioning, positioning might shift after the
motor trip reset, or at positioning after turning the motor-free signal from OFF to ON. If you
find any problem in such a use, set Pr49 at 1 to apply homing operation required again
when motor is free.
This motor support the following homing operation.
0
1
5
2
3
4
Edge of home sensor is detected to be set to the home.
When the home sensor is on at the homing command,
corresponding position is set to the home.
In any other case, operation the same as home sensor homing 1 is executed.
When reversing is not desired in homing (only for rotation system)
Edge of limit sensor is detected and set to the home.
Mechanical end is detected and set to the home.
Present position is reset to be the home.
Home sensor homing 1
Limit sensor homing
Bumping homing
Home resetting
Parameter 40 Description Homing name
[Timing chart of homing operation]
Homing start
signal (input)
Homing completion
signal (output)
In-motion signal
(output)
MAX 10ms
(20ms or longer)
Speed
OFF
Undefined
OFF ON
ON OFF
OFF OFF
Home detection
ON
- 59 -
In the case of home sensor homing 2, when homing operation is executed upon the
home sensor of 2, the motor is not activated but the position is set to the home, and
homing operation is completed.
Home sensor homing 1 (Pr40 = 0), Home sensor homing 2 (Pr40 = 1)
(1) Change the homing start signal (or run start signal (when Pr48 is 2)) from contact-
off to the status of connection to GND (on). It activates operation. Even when hom-
ing has been completed, if homing is started, the homing completion signal turns
off.
(2) Make sure that in-motion signal (BUSY) is on and return the homing start signal to
open status. Alternatively, enable the homing operation return start signal for a mini-
mum of 20msec.
(3) When operation is completed, in-motion signal (BUSY) returns to off. (If the homing
start signal is not off, even when operation is completed, the in-motion signal is still
on.) Also, when homing is completed normally, the homing completion signal turns
on.
Run signal can be given to the motor only when in-motion signal is off.
In homing operation, setting of Pr20 is applied to acceleration and deceleration
pattern (linear and S-shape) as for acceleration. In deceleration, the pattern is lin-
ear irrespective of setting of Pr21.
When the starting point is between
the home sensor and limit sensor
in + direction
(Including when starting point is
upon the limit sensor in + direction)
When the starting point is
upon the home sensor
.
e.g. 1: When "Pr41 Detects the homing direction in direction" is set.
Home sensor
+ direction
limit sensor
direction
limit sensor
Starting
point
Starting
point
Starting point
Starting
point
Coordinate system(+)
Homing direction()
Home
Home
Home
Home
1
2
between the limit sensor in
direction and home sensor.
3
upon the limit sensor in
direction.
4
- 60 -
11. Appendix Detail of parameter
Set this option when the machine belongs to rotational system and reversing is not
desired.
In this mode, the motor always runs in the set homing direction, and the edge of home
sensor is detected and set to the home. (In this case, runs in + direction only with no
reversing.)
If a limit sensor in running direction is detected during homing, homing error
(E-HO) is found.
e.g. : When "Pr41 Detects the homing direction in + direction" is set
Machine 1 rotation
Home sensor Home sensor
Starting
point
Starting
point
Homing direction(+)
Home
Home
When the starting point
is upon the home sensor.
2
When the starting
point is out of the
home sensor
1
other than home sensor.
upon the home sensor.
e.g. 2: When homing consists of home sensor only.
Home sensor
Mechanical end
Homing direction()
Starting
point
Starting
point
Home
Home
1
2
Be sure to set the homing direction so that homing operation is executed in the direction
where home sensor is located. In this example, set Pr41 Detects the homing direction in
- direction.
Home sensor homing 3 (Pr40 = 5) (Only for rotation system)
- 61 -
In using this mode, the motor at the home position is within the limit sensor, therefore be
sure to set the home offset (Pr47). When the offset is set to -100, the point which is
moved 100 pulses in + direction as viewed from the edge of limit sensor in - direction is
set to the home. (Set a value of plus and minus opposite to the desired travel direction
as an offset.)
Bumping homing (Pr40 = 3)
During operation of this mode, the value of torque limit is restricted by bumping torque detection value (Pr45).
In bumping homing operation, when limit sensor in operation direction is detected, homing
error (E-H0) is found.
In using this mode, the motor at the home position is in contact with the mechanical
end, therefore be sure to set the home offset (Pr47). (Set a value of plus and minus
opposite to the desired travel direction as an offset.)
<Caution>
In setting the bumping homing, too high homing speed or too large torque limit causes
excessive shock, which may give damage to the machine or motor. Restrict the homing
speed to approx 100 r/min on motor shaft, and bumping torque limit below rated motor
torque.
Home resetting (Pr40 = 4)
In this mode, the position where homing start signal is input is set to the home (0 posi-
tion), and the motor does not run but homing operation is completed.
Homing direction()
- direction
limit sensor
+ direction
limit sensor
Starting
point
Starting
point
Home
Offset
Offset
Home
When the starting
point is upon the limit
sensor in direction.
When the starting
point is not upon the
limit sensor in direction.
2
1
e.g. : When "Pr41 Detects the homing
direction in direction" is set.
When the torque value has exceeded the setting (Pr45) for preset time (Pr46), homing is completed.
e.g. : When "Pr41 Detects the homing direction in direction" is set.
Homing direction()
Mechanical end
Offset
Starting point
Home
Limit sensor homing (Pr40 = 2)
- 62 -
Signal Input and Signal Output Choosing Function
Signal input choosing function
Function can be assigned to signal input I1 - I4 by Pr50 - 53.
Function
number
0
1
2
3
4
5
6
7
8
9
Assignment
function
Forced trip
Instantaneous
stop
Deceleration
stop
Homing start
Forward jog
Reverse jog
Point designation 1
Point designation 2
Run start
Sequential run start
When preset signal input is turned on, the motor executes
external forced trip (E-0L).
When external forced trip is executed, in order to activate the
motor again, reset trip and then input the run command.
When preset signal input is turned on, the motor reduces speed
and stops in deceleration time set by Pr59 "Deceleration time in
instantaneous stop". (Linear deceleration) When the setting is
"0", the command is an instantaneous stop. (However, the motor
may operate for accumulated pulses of command.)
Run command cannot be given to the motor with stop signal
turned on. Be sure to turn off stop signal in operation.
When preset signal input is turned on, the motor reduces speed
and stops in deceleration time set at the start of motor operation
(deceleration time set on each point in positioning operation, jog
deceleration time in jog operation, and homing acceleration and
deceleration time in homing). (Linear deceleration)
Run command cannot be given to the motor with deceleration stop signal
turned on. Be sure to turn off deceleration stop signal in operation.
When this signal is turned on, homing operation is started.
The motor runs at jog speed in + direction as long as this signal is on.
The motor runs at jog speed in - direction as long as this signal is on.
Point designation 1
Point designation 2
Motor is positioned at any point designated by point designation 1 and 2.
Motor is positioned at the following point every time the signal is input.
- 63 -
When more than one signal input is assigned to the same function, the signal is
made effective when any one signal is input.
Logic of signal input can be changed by setting the polarity change parameter (Pr54 -
Pr57) (Set an input desired to be operated on disconnected side of wiring such as 0:
Normal logic (Input is effective in connecting with GND), 1: Inverted logic (Input is
effective by OPEN), Inverted logic is forced trip (emergency stop input ).
Parameters above (Pr50 - 57) are made effective after power is turned on again.
10
11
12
13
14
15
Trip reset
Home sensor
Limit in + direction
Limit in - direction
Direction switching
Motor-free
The trip is reset (trip cleared) when set signal input is turned on
approx 100ms or longer.
When Pr58 is set at "1", trip can be reset by turning on
operation start signal (run start, sequential run start, forward jog,
reverse jog, and homing start) for approx 1 second or longer. Be
sure to remove the cause before trip reset.
Make wiring so that the signal is turned on when home sensor is detected.
Make wiring so that the signal turn on any time. If the input is
turned off, the motor does not run in + direction.
Limit function is disabled when this signal is not used.
Make wiring so that the signal turn on any time. If the input is
turned off, the motor does not run in - direction.
Limit function is disabled when this signal is not used.
Direction of homing, jog, and positioning command is all
reversed while this signal is turned on.
When preset signal is turned on, the motor is free to rotate. If the
motor-free signal is turned on during motor operation, the load may
keep moving through inertia and hit mechanical stops. In addition, it
is impossible to give run command to the motor with motor-free
signal turned on. Be sure to turn off the signal in running. In
switching the motor-free signal from on to off, input the run start
signal after 100ms or longer the motor-free signal is turned off.
In the case where relative travel command is used for positioning
operation, if positioning operation is executed after turning on and
then off the motor-free signal, positioning might shift. If this is
inconvenient to your application, set Pr49 to "1. homing operation is
required again when motor is free". Then, homing operation is
required again for executing positioning operation when motor-free
condition (or trip) is cleared.
Function
number
Assignment
function
- 64 -
Operation is as follows when Pr36 is 2.
Note) It is not allowed to set
swi tchi ng ti me i n
changing from the
1st gain to the 2nd
gain in the start of
operation.
Signal output selection function
Function can be assigned to signal output 01 and 02 by Pr5C and 5d
Logic of signal output can be inverted by polarity choosing parameter (Pr5E and 5F).
Gain switching function
You can switch the gain parameter automatically while the motor is in run-command and is at standstill.
During the automatic gain switching (Pr36 = 2), the 2nd gain is applied while the motor is in run-
command, and the 1st gain is applied while the motor is at standstill.
With this gain switching function, you can change the holding torque at the motor standstill by setting
different values of torque limit between 1st and 2nd gain.
Function
number
0
1
2
3
4
5
Assigned function Description of function (standard logic)
Trip output
In-position
In-motion (BUSY)
Homing completion
Overload detection
Torque under restriction
This signal is normally on, and turns off when tripping occurs.
This signal turns on when motion command is completed as well as position error is within Pr38.
This signal turns on during run command.
(Run start signal is not accepted as long as this signal is on.)
This signal turns on when homing operation is completed.
This signal turns on when torque above 100% is output.
This signal turns on as long as torque is restricted.
Commanded
Pr37
Actual speed
Gain
The 1st gain The 2nd gain The 1st gain
Speed
Parameter name
The 1st gain
(when stopped)
Supplement
Parameter number
Position loop gain
Velocity loop gain
Velocity loop integration gain
Velocity feed forward
Speed detection filter
Velocity feed forward time constant
Torque limit
Gain switching mode selection
Gain switching time
28
29
2A
2b
2C
2E
The 2nd gain
(during instruction)
30
31
32
33
34
35
2d
36
37
Determines the response of position control.
Determines the response of velocity loop.
Determines the rigidity of velocity loop.
Function to forward (add) position instruction to commanded speed
Sets the time constant of low-pass filter of speed feedback.
Filter in velocity feed forward
Limits the output torque of motor.
0: The 1st gain fixed, 1: The 2nd gain fixed, 2: Automatic switching
Changes to the 1st gain in the time set by parameter
after command output is completed. Unit [ms].
- 65 -
11. Appendix RS485 Communication
Communication
Overview of Communication
With the upper host controller, which can be connected with 31 brushless motors at the
maximum via serial communication conforming to RS485, enables the following:
Rewriting parameters
Browsing and clearing status and history of trip condition
Monitoring control status including present position, status, I/O, etc.
Start and stop of motor
[Advantage]
It is allowed to write parameters by one operation from host controller in startup of the machine.
Operating condition of the machine can be displayed, which improves serviceability.
Connection of Communications Line
Connect one host controller with more than one brushless motor via RS485 communica-
tion, and set the device number of each brushless motor (Pr60) at 81h (129) - 9Fh (159).
Set the device number for the host as 01h (1) - 1Fh (31).
<Note>
Device number is set at 81h (129) in default setting. When connecting more than one
brushless motor via RS485, be sure to change the device number beforehand with the
digital keypad or communication software PANATERM
for BL (sold separately).

[Example of connection]
RS485
Host controller
Device
number = 01h (1)
Brushless motor
Device number
= 81h (129)
Brushless motor
Device number
= 82h (130)
Brushless motor
Device number
= 83h (131)
Brushless motor
Device number
= 84h (132)
Max 31 units
- 66 -
11. Appendix Communication
Interface of communication Connector Unit
Communication system
Equivalent to SN75176
14
13
3
RS485+
RS485
GND
Equivalent to SN75176
14
13
3
RS485+
RS485
GND
Twisted pair wire
Shielded wire
Use the shield of shielded wire for GND.
Set the maximum total extension of cable within 10m in use.
Terminal resistor is not required.

RS485+
RS485
GND
FG
Host(01h) Motor1(81h)
Motor2(82h)
RS485
Communication baud rate
Data
Parity
Start bit
Stop bit
Host address
Motor address
Half duplex, asynchronous communication method
2400, 4800, 9600bps
7 bits, 8 bits
None, even number, or odd number
1 bit
1 bit, 2 bits
01h - 1Fh
80h - 9Fh (80h for simultaneous transmission)
Set by Pr61.
Set by Pr62.
Set by Pr62.
Set by Pr62.
Set by Pr60.

Modification of transmission parameters (Pr60 - 65) becomes effective when resetting the power supply of the motor.
The transmission parameters can be changed by the digital keypad (sold separately) or RS485 communication.
- 67 -
List of data number related to communications
Change of parameters above is made effective when power is turned on.

Time required for data transmission per byte is calculated by the following formula for example in the case of 9600 [bps], 8 bits, parity present
(even number or odd number), and stop bit 1:
(1000/9600) (1 + 8 + 1 + 1) = 1.14 [ms/byte]
Time is 4.58 [ms/byte] for 2400 [bps], and 2.29 [ms/byte] for 4800 [bps].
Note, however, actual communication time will be added time necessary for processing received command, and necessary for
switching between a line and transmission/reception control.
(2) Extension parameter (special command): 8103h - 81B0h
These are parameters to get motor status or to give commands to the motor. Refer to P.76 Communication
command for detail.
PrNo.
Range of
setting
Function/Description Default
Parameter
name
80h(128)
-
9Fh(159)
0 - 2
0 - 11
10 - 1000
0 - 9
1 - 255
81h(129)
2
4
10
9
2
60
61
62
63
64
65
Set the device number of motor in communication (Motor ID).
This value is the shaft number in communication.
80h (128) is the device number for setting control data (such as control start)
by one operation to all connected motors. (No response is made by motors.)
When the device number is set to 80h (128), change of parameter and
request for status are ignored, therefore set to 81h (129) - 9Fh (159) normally.
Set the communication speed of RS485 communication.
0: 2400bps, 1: 4800bps, 2: 9600bps
Set the communication standard of RS485 communication.
0: 8 bits, no parity, stop bit 1
2: 8 bits, odd number parity, stop bit 1
4: 8 bits, even number parity, stop bit 1
Communication response time is the shortest time for setting transmission mode in RS485
bus for response after the motor has received communication data. Actual data response
time depends on the type and data of order.
Unit [ms]
Set the retry times of RS485 communication.
0 - 8: Number of retrials, 9: No retrial
Protocol timeout is the time allowed from reception of a character code to
reception of the next one in communication. If normal character code is not
received within this time, communication is timed out, and received data is
discarded. If timeout should continue to occur, and the number of detections
exceed the retry times, the motor trips due to RS485 communication error.
Unit [seconds]
Device
number
Communication
speed
Communication
standard
Communication
response
time
Retry
times of
communication
Protocol
timeout
8060h
8061h
8062h
8063h
8064h
8065h
Data No.
(address)
(1) Communication parameter
- 68 -
Transmission Sequence
Handshake code
For line control, following codes are used:
Protocols are based on JISX5002.
Composition of sent and received data
Shows composition of data transferred on physical phase.
There are two transmission patterns available depending on the contents of command.
Sending address: Set the mating device number for sending data in ASCII2 byte.
Host ID 01h (01) - 1Fh (31)
Motor ID 80h (128) - 9Fh (159)
When the sending address is set to 80h (128), all connected motors
executes the command (only for some commands). However, re-
sponse is not made from the motor.
Name
SOH
STX
ETX
EOT
ENQ
ACK
NAK
Heading start
Text start
Text end
Transmission end
Request for sending
Positive response
Negative response
Code Functions Description
01h
02h
03h
04h
05h
06h
15h
Start code of communication data, which is followed by address.
Start code for sending command data.
Termination code for command data.
Sent from the motor when transmission message is finished.
Inquiry code from host controller to motor. The motor sends data
transmission command when sending data is available, and
transmission end command when sending data is not available.
Sent when received message is judged to be normal.
Sent when received message is judged to be abnormal.
Request for sending/ Positive response/
Negative response/ Transmission end command
(Host Motor, Motor Host)
SOH
Sending address 1
Sending address 2
Senders address 1
Senders address 2
ENQ/ACK/NAK/EOT
Data transmission command
(Host Motor, Motor Host)
SOH
Sending address 1
Sending address 2
Senders address 1
Senders address 2
STX
Command 1
Command 2
Data number 1
Data number 2
Data number 3
Data number 4
Data 1
Data 2
Data 3
Data 4
ETX
BCC
Note) Each box shown 1 byte data.
- 69 -
Senders address : Set the address of communication sending source (self) in ASCII 2 bytes.
Host ID 01h (01) - 1Fh (31)
Motor ID 81h (129) - 9Fh (159)
Command : Control command (2 bytes)
Data number : Set the data number to be controlled in ASCII 4 bytes.
Data : Set the writing data in ASCII 4 bytes.
When data is minus, it is converted by signed 16 bits.
(e.g. In the case of -10, data is ASCII code of hexadecimal FFF6.)
BCC : In the case of data transmission command, set XOR (logi-
cally inverted) value of each byte from STX - ETX.
List of commands
Command Code
Transmission
direction
Description
24h 50h
24h 53h
24h 52h
23h 52h
23h 43h
23h 49h
Data writing command. Change of parameter and motor control data.
(In changing parameter, parameter is not written to EEPROM.)
Data writing command. Change of parameter and motor control data.
(In changing parameter, parameter is written to EEPROM.)
*Writing to EEPROM should be requisite minimum.
(EEPROM endurance: approx. 100,000 write cycle.)
Data reading request command. Command which requests the parameter,
status, and control detail of motor.
Response to data reading request. Returns the parameter, status, and
control detail of motor to $R.
Data update request response. Returns the status of motor (8103h) to host in
response to request for sending command when data of motor status (8103h) has
changed from previous request for sending.
Initial request response. When the motor is powered on, 9999 is sent following #I in
response to initial inquiry from host controller (Request for sending).
$P
$S
$R
#R
#C
#I
Host
Motor
Host
Motor
Host
Motor
Motor
Host
Motor
Host
Motor
Host
Transmission procedure
$P/$S: Data writing/Parameter writing command
2Motor Host (result response)
1Host Motor (Data writing)
Host ID Motor ID
SOH ACK
Motor ID Host ID Command Data number
(parameter address)
Data
(parameter value)
SOH STX $ P

ETX BCC
Answers NAK when requested data number (parameter address) or data value (parameter
value) is abnormal. Shows that parameter was properly set only when ACK is answered from
the motor.
No result is answered from the motor when motor ID is 80h (128).

- 70 -
$R: Data reading/Parameter reading command
ENQ: Request for sending
When request for sending is sent to the motor, response data changes depending on the status of
motor. Response data is returned in the priority order below:
Initial request response is answered to the initial data request for sending after the motor is
powered on.
When the motor ID is 80h (128), request for sending to the motor is ignored.
2Motor Host (Result response)
Host ID Motor ID
SOH ACK
3Host Motor (Request for sending)
Motor ID Host ID
SOH ENQ
5Host Motor (Result response)
Motor ID Host ID
SOH ACK
6Motor Host (Communication completion response)
Host ID Motor ID
SOH EOT
Command Data number (parameter address) Reading data (parameter value) Host ID
4Motor Host (Response of data)
Motor ID
SOH STX # R

ETX BCC
Response data when motor is powered on is initial request response.

When requested data number (parameter address) is abnormal, 0000 as reading data
(parameter address) is answered.
Check whether the data No. (parameter address) is correct, then use the reading data.
Host ID Command Data number (parameter address) Data (parameter value)
1Host Motor (Data reading request)
Motor ID
SOH STX $ R

0 0 0 0 ETX BCC
Set data 0000 when executing data reading command.

When motor ID is 80h (128), data reading/parameter reading command is ignored.
1
2
3
4
When motor is powered on
When receiving data reading/parameter reading
When the status of motor changes
Other cases than the above
Initial request response is answered.
See the data reading command processing.
Data update request is answered.
Communication completion response is answered.
- 71 -
1.When the motor is powered on
2.When receiving data reading/parameter reading
See "$R: Data reading/Parameter reading command" on page 70.
3.When the status of motor changes
4.Cases other than the above
Host ID Motor ID Command Data number Reading data
Motor ID Command Data number Reading data
SOH STX
Motor ID Host ID
SOH ENQ
# I 9 9 9 9 0 0 0 0 ETX BCC
3Host Motor (Response of result)
Motor ID Host ID
SOH ACK
Host ID Motor ID
SOH EOT
Host ID
Motor ID Host ID
SOH ENQ
# C 8 1 0 3

ETX BCC
Host ID
SOH STX
3Host Motor (Response of result)
Motor ID Host ID
SOH ACK
Motor ID
SOH EOT
Motor ID Host ID
SOH ENQ
Host ID Motor ID
SOH EOT
The motor saves the status when executing request for sending, and emits the above response
when the status in receiving the next request for sending has changed. Read data is the same
as in reading data number 8103h.
When the motor is powered on, in the case where request for sending is sent continuously, data
update request response is answered after initial request response is made.
When initial response is confirmed, write parameters as necessary.
The motor makes communication completion response because data is not requested from the
host, and the status of motor has not changed.
- 72 -
Example of Data Communication
When power is turned on
Communication data is shown below in chronological order when request for sending is
executed in power-on for the motor.
Initial request response at the first, and then data update request response is answered
from the motor.
Then, if the status of motor has not changed, only transmission completion response is answered.
Shown below is the status where the motor is connected with host ID = 01h (1), motor ID = 81h
(129).
It is represented by ASCII characters. (Data in the parenthesis is hexadecimal ASCII code.)
Host
1Request for sending
2Initial request response
Motor
SOH
(01h)
8
(38h)
1
(31h)
0
(30h)
1
(31h)
ENQ
(05h)
Host
Motor
Host
Motor
Host
4Data update request response
Motor
Host
Motor
Host
Motor
1
(31h)
0
(30h)
1
(31h)
ACK
(06h)
Host
6Transmission completion response
Motor
SOH
(01h)
0
(30h)
1
(31h)
8
(38h)
1
(31h)
STX
(02h)
#
(23h)
SOH
(01)
8
(38)
I
(49h)
9
(39h)
9
(39h)
9
(39h)
9
(39h)
0
(30h)
0
(30h)
0
(30h)
0
(30h)
ETX
(03h)
BCC
(6Bh)
1
(31h)
0
(30h)
1
(31h)
ACK
(06h)
SOH
(01h)
0
(30h)
1
(31h)
8
(38h)
1
(31h)
EOT
(04h)
SOH
(01h)
8
(38h)
1
(31h)
0
(30h)
1
(31h)
ENQ
(05h)
SOH
(01h)
0
(30h)
1
(31h)
8
(38h)
1
(31h)
STX
(02h)
#
(23h)
SOH
(01)
8
(38)
C
(43h)
8
(38h)
1
(31h)
0
(30h)
3
(33h)
0
(30h)
0
(30h)
0
(30h)
2
(32h)
ETX
(03h)
BCC
(69h)
SOH
(01h)
0
(30h)
1
(31h)
8
(38h)
1
(31h)
EOT
(04h)
SOH
(01h)
8
(38h)
1
(31h)
0
(30h)
1
(31h)
ENQ
(05h)
SOH
(01h)
0
(30h)
1
(31h)
8
(38h)
1
(31h)
EOT
(04h)
- 73 -
Example of trip reset
Shown below is communication data in chronological order when executing trip reset.
This is an example where trip reset of all motors connected by host ID = 01h (1). Data is
represented by ASCII character. (Data in parenthesis is hexadecimal ASCII code.)
Example of changing parameter (writing data)
Shown below is communication data in chronological order when changing parameter (not
written to EEPROM).
This is an example of changing Pr00 (8000h) The 1st target position (rotation number) to
10 (0000Ah) with motor connected by host ID = 01h (1) and motor ID = 81h (129). Data is
represented by ASCII character. (Data in parenthesis is hexadecimal ASCII code.)
Host
Motor
Host
Motor
SOH
(01h)
8
(38h)
0
(30h)
0
(30h)
1
(31h)
STX
(02h)
$
(24h)
P
(50h)
8
(38h)
1
(31h)
9
(39h)
0
(30h)
0
(30h)
0
(30h)
0
(30h)
1
(31h)
ETX
(03h)
BCC
(74h)
There is no response from the motor because motor ID is set at 80h (128).
Host
Motor
Host
Motor
SOH
(01h)
8
(38h)
1
(31h)
0
(30h)
1
(31h)
STX
(02h)
$
(24h)
P
(50h)
8
(38h)
0
(30h)
0
(30h)
0
(30h)
0
(30h)
0
(30h)
0
(30h)
SOH
(01h)
0
(30h)
1
(31h)
8
(38h)
1
(31h)
ACK
(06h)
A
(41h)
ETX
(03h)
BCC
(0Ch)
- 74 -
Example of reading parameter (reading data)
In reading data, reading request is emitted to the motor, and then request for sending
command is issued.
This is an example of reading Pr40 (8040h) Homing mode with the motor connected by
host ID = 01h (1) and motor ID = 81h (129). (Data in parenthesis is hexadecimal ASCII
code.)
Host
1Parameter reading request
Motor
Host
Motor
Host
Motor
Host
Motor
Host
Motor
1
(31h)
SOH
(01h)
8
(38h)
1
(31h)
0
(30h)
1
(31h)
STX
(02h)
#
(23h)
0
(30h)
0
(30h)
0
(30h)
ETX
(03h)
BCC
(7Bh)
SOH
(01h)
0
(30h)
1
(31h)
8
(38h)
1
(31h)
ACK
(06h)
SOH
(01h)
8
(38h)
1
(31h)
0
(30h)
SOH
(01h)
0
(30h)
1
(31h)
8
(38h)
1
(31h)
STX
(02h)
1
(31h)
ENQ
(05h)
0
(30h)
$
(24h)
R
(52h)
8
(38h)
0
(30h)
4
(34h)
0
(30h)
0
(30h)
ETX
(03h)
BCC
(7Dh)
SOH
(01)
8
(38)
R
(52h)
8
(38h)
0
(30h)
4
(34h)
0
(30h)
0
(30h)
0
(30h)
1
(31h)
0
(30h)
1
(31h)
ACK
(06h)
SOH
(01h)
0
(30h)
1
(31h)
8
(38h)
1
(31h)
EOT
(04h)
- 75 -
Communication Timing
<Information>
1) Time is counted from the rising edge of stop bit.
2) Time allowed from receiving one character code until receiving the next character
code can be set by Pr65 Protocol timeout.
If the next normal character code cannot be received within the time set by this
parameter, the motor detects communication timeout and received data is canceled.
If communication timeout is detected continuously, and the number of detections
exceeds the number of retrials (Pr64), the motor trips because of RS485 communi-
cation error.
3) When the host sends data and still does not receive any response from the motor,
communication error may be present through effect of noise, etc. In this case, the
host should send data again after time set by Pr65 Protocol timeout.
<Communication establishing time when power is turned on>
Establishment communication takes about 800ms when the motor is powered on.
The motor does not make response in the meantime, therefore allow waiting time longer
than a second.
[Timing in power-on]
Symbol
T1
T2
T3
Communication response time (Motor)
Communication response time (Host)
Data emitting time from motor to host after bus is occupied
Set by Pr63.
Take interval 10ms or longer.
0 - 2ms
Name Value
T3
0 - 2ms
T1 or above T1 or above T2
T3
0 - 2ms
T3
0 - 2ms
Data transfer EOT
ACK/NAK
(Result response)
Request
for sending
T3
0 - 2ms
HostMotor
MotorHost
Motor bus occupied
Communication
established 800ms
Waiting time longer
than 1 second
Request for sending
Power ON
Response
Motor power supply
HostMotor
MotorHost
- 76 -
Communication Command
Communication Command in Detail
8000h - 807Fh: Parameter
$P: Parameter writing command (Without EEPROM writing function)
When the device number set on the motor (value of Pr60) matches with the motor ID of received
data, parameter change is executed.
When parameter address and parameter value are abnormal, NAK is answered.
Set the parameter address at 80 . (8062 for Pr62)
Set the parameter value in 4 digits of ASCII code (P1, P2, P3, and P4) which is obtained by
conversion from the data to hexadecimal.
(e.g. 100 = 0064, -100 = FF9C)
NAK is answered while the motor detects undervoltage error, and the parameter is not changed.
Changed parameter is not written to EEPROM by this command. In order to make changed parameter
still effective after power resetting, execute EEPROM writing command by data number 81B0h.
When run command is executed by I/O while parameter is being written by communication at the
same time, enter the run command after receiving ACK response from the motor. The motor runs
per the written parameter.
Data number
8000h - 807Fh
8103h
8104h
8105h
8110h
8111h
8112h
8113h
8114h
8115h
8116h
8117h
8118h
8120h
8130h
8131h
8180h
8190h
8191h
81B0h
Parameter
Motor status
Model code 1
Model code 2
Rotation speed (actual speed)
Commanded speed
Internal DC voltage
Torque
Load factor
Present position (rotation number)
Present position (pulse)
Target position (rotation number)
Target position (pulse)
Detail of trip
Input terminal status
Output terminal status
Run command
Trip reset
Forced trip
Parameter EEPROM writing
Applicable command on host side
$P/$S/$R
$R
$R
$R
$R
$R
$R
$R
$R
$R
$R
$R
$R
$R
$R
$R
$P/$S
$P/$S
$P/$S
$P/$S
Description
Received data (Host Motor)
Motor ID Host ID Command Parameter address Parameter value
SOH STX $ P 8 0 P1 P2 P3 P4 ETX BCC
- 77 -
$S: Parameter writing command (with EEPROM writing function)
When the device number set on the motor (value of Pr60) matches with the motor ID of received
data, parameter change is executed.
When parameter address and parameter value are abnormal, NAK is answered.
Set the parameter address at 80 . (8062 for Pr62)
Set the parameter value in 4 digits of ASCII code (P1, P2, P3, and P4) which is obtained by
conversion from the data to hexadecimal.
(e.g. 100 = 0064, -100 = FF9C)
NAK is answered while the motor detects undervoltage error, and the parameter is not changed.
Changed parameter is written to EEPROM by this command. Response may take some time since
EEPROM writing process is required.
When run command is executed by I/O while parameter is being written by communication at the
same time, enter the run command after receiving ACK response from the motor. The motor runs
per the written parameter.
Writing to EEPROM should be requisite minimum.
$R: Parameter reading request command
Set the parameter address at 80 . (8062 for Pr62). Set the parameter value at 0000.
Enter request for sending after execution of this command, parameter value is responded.
#R: Parameter response command
When requested parameter address is abnormal, 0000 as parameter value is answered. You
should check parameter address as you requested.
When the parameter reading request command is normally completed, the motor answers a param-
eter value when it receives request for sending.
Parameter address which is read out is sent by 80 .
Parameter value is sent in 4 digits of ASCII code (P1, P2, P3, and P4) which is obtained by conver-
sion from the data to hexadecimal.
e.g. 100 = 0064, -100 = FF9C
SOH STX $ S 8 0 P1 P2 P3 P4 ETX BCC
SOH STX $ R 8 0 0 0 0 0 ETX BCC
Transmission data (Motor Host)
Host ID Motor ID Command Parameter address Parameter value
SOH STX # R 8 0 P1 P2 P3 P4 ETX BCC
- 78 -
8103h: Motor status
$R: Status reading request command
Enter request for sending after execution of this command, the motor status is answered.
Set 0000 in data value.
#R: Status response command
When the motor receives request for sending after normal completion of status reading request
command, the motor answers status value.
#C: Data updating request command
The motor saves the status in executing request for sending, and makes the response above when
the status in receiving the next request for sending has changed. Read data is the same as in
execution of data number 8103.
[Detail of status]
Detail above is converted into hexadecimal and represented in ASCII code.
e.g.) Data value = 30h 30h 30h 41h = 000A = indicates in-position status with homing completed.
Motor ID Host ID Command Data number Data value
SOH STX $ R 8 1 0 3 0 0 0 0 ETX BCC
Host ID Motor ID Command Data number Data value
SOH STX # R 8 1 0 3 D1 D2 D3 D4 ETX BCC
SOH STX # C 8 1 0 3 D1 D2 D3 D4 ETX BCC
D1
D2
D3
D4
Bit 3
0
0
Torque under restriction
Homing completion
Bit 2
0
0
Overload detection
In-motion
Bit 1
0
0
0
In-position
Bit 0
0
0
0
Trip output
- 79 -
8104h: Model code 1, 8105h: Model code 2
$R: Model code reading request command
Enter request for sending after execution of this command, model code of motor is answered.
#R: Model code response command
When the motor receives request for sending after completion of model code reading request
command, the model code value is answered.
Model name of the motor is sent in ASCII code of total 8 characters, consisting of 4 characters
respectively.
e.g.) Model code 1 (8104) = 4Dh42h4Dh50h = MBMP
Model code 2 (8105) = 33h41h31h45h = 3A1E
8110h: Rotation speed (actual speed), 8111h: Commanded speed
$R: Speed reading request command
Rotation speed of motor (actual speed) (8110) and commanded speed (8111) are answered by
request for sending after execution of this command.
#R: Speed response command
When the motor receives request for sending after normal completion of speed reading request
command, rotation speed value (actual speed value) (8110) and commanded speed value (8111)
are answered.
Data value is answered in rotation speed (actual speed) and commanded speed in [r/min].
e.g.) Data value = 30h 42h 42h 38h = 0BBB = 3000 [r/min]
Data value = 30h 35h 44h 43h = 05DC = 1500 [r/min]
The value shall be positive at CCW rotation and negative at CW rotation.
SOH STX $ R 8 1 0 0 0 0 0 ETX BCC
SOH STX # R 8 1 0 D1 D2 D3 D4 ETX BCC
SOH STX $ R 8 1 1 0 0 0 0 ETX BCC
- 80 -
8112h: Internal DC voltage
$R: Internal DC voltage reading request command
Enter request for sending after execution of this command, the internal DC voltage (voltage in
smoothing capacitor of power supply) of the motor is answered.
#R: Internal DC voltage response command
When the motor receives request for sending after normal completion of internal DC voltage reading command,
internal DC voltage (voltage in smoothing capacitor of power supply) is answered.
Voltage of motor is answered in [V] for data value.
e.g.) Data value = 30h 31h 31h 38h = 0118 = 280[V]
8113h: Torque 8114h: Load factor
$R: Torque reading request command
Enter request for sending after execution of this command, torque of motor (8113) and load factor
(8114) are answered.
#R: Torque response command
When the motor receives request for sending after normal completion of torque reading request
command, torque (8113) and load factor (8114) are answered.
Torque of motor/Load factor multiplied by 10 is answered in [%] for data value.
e.g.) Data value = 30h 31h 32h 43h = 012C = 30.0[%]
SOH STX $ R 8 1 1 2 0 0 0 0 ETX BCC
SOH STX $ R 8 1 1 0 0 0 0 ETX BCC
- 81 -
8115h: Present position (rotation number), 8116h: Present position (pulse)
$R: Present position reading request command
Enter request for sending after execution of this command, present position (rotation number)
(8115) and present position (pulse) (8116) of the motor are answered.
This command updates the data of 8116h (pulse) when the present position informa-
tion 8115h (rotation number) reading command is received.
Therefore, if data of 8116h (pulse) should be read first, it is possible that wrong present
position information before updating may be read out; so be sure to follow the reading
order: 8115h (rotation number) 8116h (pulse). Use for only monitoring function.
#R: Present position response command
When the motor receives request for sending after normal completion of present position reading
request command, present position (rotation number) (8115) and present position (pulse) (8116)
of the motor are answered.
Present position of the motor in command pulse unit (288 pulses per rotation) is described by
rotation number x 288 + pulse.
8117h: Target position (rotation number), 8118h: Target position (pulse)
$R: Target position reading request command
Enter request for sending after execution of this command, travel target position (rotation number)
(8117) and target position (pulse) (8118) in the absolute coordinates of motor in positioning
operation are answered.
This command updates data of 8118h (pulse) when reading 8117h (rotation number) of
target position information.
Therefore, if data of 8118h (pulse) should be read first, it is possible that wrong target posi-
tion information before updating may be read out; so be sure to follow the reading order:
8117h (rotation number) 8118h (pulse). Use for only monitoring function.
SOH STX $ R 8 1 1 0 0 0 0 ETX BCC
SOH STX $ R 8 1 1 0 0 0 0 ETX BCC
- 82 -
#R: Target position response command
When the motor receives request for sending after normal completion of target position reading
request command, travel target position (rotation number) (8117) and target position (pulse)
(8118) of the motor are answered.
Target position of the motor in command pulse unit (288 pulses per rotation) is described by
rotation number 288 + pulse.
Target position in power-on is 0. Target position when the motor trips is updated to the present
position. When the motor is stopped halfway by stop command, the target position is updated to
the stop position.
8120h: Detail of trip
$R: Trip detail reading request command
Enter request for sending after execution of this command, the detail of trip is answered.
#R: Trip detail response command
When the motor receives request for sending after normal completion of trip detail reading request
command, detail of motor trip is answered.
Detail of trip is answered by trip number. (See the list of protective functions on page 46.)
When the trip number is 0, it indicates that no tripping has occurred.
e.g.) Data value = 30h 30h 31h 35h = 0015 = 21 = homing error
Trip history can be read out with parameter (Pr 6b - 6F).
8130h: Input terminal status
$R: Input terminal status reading request command
Enter request for sending after execution of this command, the status of motor input terminal is answered.
SOH STX $ R 8 1 2 0 0 0 0 0 ETX BCC
SOH STX $ R 8 1 3 0 0 0 0 0 ETX BCC
- 83 -
#R: Input terminal status response command
When the motor receives request for sending after normal completion of input terminal status
reading request command, the input terminal status of the motor is answered.
[Status of input terminal]
e.g.) Data value = 30h 30h 30h 35h = 0005 = Indicates that I1 and I3 are on.
8131h: Output terminal status
$R: Output terminal status reading request command
Enter request for sending after execution of this command, the status of motor output terminal is answered.
#R: Output terminal status response command
When the motor receives request for sending after normal completion of output terminal status
reading request command, the output terminal status of the motor is answered.
[Status of output terminal]
e.g.) Data value = 30h 30h 30h 31h = 0001 = Indicates that O1 is on.
D1
D2
D3
D4
Bit 3
0
0
0
I4
Bit 2
0
0
0
I3
Bit 1
0
0
0
I2
Bit 0
0
0
0
I1
SOH STX $ R 8 1 3 1 0 0 0 0 ETX BCC
D1
D2
D3
D4
Bit 3
0
0
0
0
Bit 2
0
0
0
0
Bit 1
0
0
0
O2
Bit 0
0
0
0
O1
- 84 -
When a signal of the same function is assigned to the input signal (1 - 4), function is made
effective by activation of any signal.
e.g.) Data value = 30h 30h 31h 30h = 0010 = Indicates homing start.
8180h: Run command
$P/$S: Run command
When the motor is powered on with Pr3E set at 1 (Command through RS485), this command
enables sending run command to the motor. At this time, point selection or run command cannot be
given through I/O. (See 1 function selection on page 42.)
When Pr3E is 0 (command through I/O), run command by this command is ignored.
When run command is given to the motor with this command, first send 0000 as a data value.
Operation is the same both for $P command and $S command.
When the motor ID is 80h (128), all connected motors execute the command.
However, no response is emitted from the motor.
[Run command]
D1
D2
D3
D4
Bit 3
REV
0
POINT2
JOG_REV
Bit 2
0
M_FREE
POINT1
JOG_FWD
Bit 1
0
S_STOP
0
POINT
Bit 0
0
H_STOP
HOMING
STEP
Name
H_STOP
S_STOP
M_FREE
STEP
POINT
JOG_FWD
JOG_REV
HOMING
POINT1
POINT2
REV
Function
Instantaneous stop
Deceleration stop
Motor-free
Sequential
run start
Run start
Forward jog start
Reverse jog start
Homing start
Point designation 1
Point designation 2
Direction switching
Detail
When the motor is in motion, stop the motor based on setting of
Pr59 "Deceleration time in instantaneous stop".
Operation directive is not accepted as long as this signal is on.
The motor reduces speed and stops when it is in motion.
Operation directive is not accepted when the motor is stopped or when this signal is on.
Sets the motor free.
Operation directive is not accepted as long as this signal is on.
Whenever this signal is turned on, positioning point number is
automatically incremented by 1 to executed positioning.
Maximum point number of positioning is determined by Pr0E.
Executes positioning operation to the point chosen by POINT 1 and 2.
The motor operates in + direction as long as this signal is on.
The motor operates in direction as long as this signal is on.
Homing operation is started when this signal is turned on.
Choose a point number.
Choose a point number.
Motor operation signal is inverted when this signal is on.
SOH STX $ P 8 1 8 0 D1 D2 D3 D4 ETX BCC
- 85 -
8190h: Trip reset
$P/$S: Trip reset command
When data value is set at 0001 and this command is executed during trip, trip reset is executed.
When data value is other than 0000 and 0001, NAK is answered.
Operation is the same for both $P command and $S command.
This command is incapable of resetting some trips depending on their factor.
As for tripped condition after executing trip reset command, check it by status reading or trip detail
reading command.
When motor ID is set to 80h (128), all connected motors execute the command.
However, no response is answered from the motor.
8191h: Forced trip
$P/$S: Forced trip command
When data value is set to 0001 and this command executed, the motor trips (forced trip).
81B0h: Parameter EEPROM writing
$P/$S: Parameter EEPROM writing command
When data value is set to 0001 and this command executed, parameter is written to EEPROM contained in the
motor. Response may take some time because EEPROM writing process is executed.
Use this command when you want to change the parameter by $P command and make change still
effective after power resetting.
NAK is answered and EEPROM writing process is not executed as long as the motor detects
undervoltage error.
Writing to EEPROM should be requisite minimum.
SOH STX $ P 8 1 9 1 0 0 0 1 ETX BCC
SOH STX $ P 8 1 9 0 0 0 0 1 ETX BCC
SOH STX $ P 8 1 B 0 0 0 0 1 ETX BCC
- 86 -
General specification
12. Specifications
10%
50/60Hz
Position control by CS signal, PWM sine wave driving system, 8kHz
Ball bearing
See "2. Installation" on page 8.
288 pulses/rotation (Accuracy: Within 5 degrees at 20 C at no load)
4 inputs
2 outputs (Open collector)
4 points (Travel distance, speed, acceleration time, deceleration time,
and relative/absolute can be set per point.)
150%, 1 minute
150%
Self cooling
E (Applies for A to UL.)
B
a
s
i
c

s
p
e
c
i
f
i
c
a
t
i
o
n
F
u
n
c
t
i
o
n
P
e
r
f
o
r
m
a
n
c
e
Allowed range of supply
voltage fluctuation
Power supply frequency
Control method
Bearing
Ambient conditions
Number of positioning
points
Positioning resolution
Input signal
Output signal
Protective function
Communication function
via RS232C
Communication function
via RS485
Digital keypad
(sold separately)
Overload rating
Starting torque
Overload, Overcurrent, Overvoltage, Undervoltage, System error,
Setting change warning, Over-speed, Sensor error, Overheat, Position
error, External forced trip, Position error counter overflow, RS485
communication error, Operation execution error, Homing error, present
position overflow, Hardware limit error, Digital keypad communication
trouble, user parameter error, and system parameter error
Setting of parameter and monitoring of control condition are enabled
with commercial PC. (Connection cable (sold separately) is required
when commercial PC is connected.)
Setting of parameter, monitoring of control condition, and the like are
enabled with RS485 interface.
Available
See "2. Installation" on page 8.
Cooling system
Heat resistance class
Protective structure
- 87 -
Typical characteristics
MBMP3A1EBC
MBMP3A1ESC
MBMP3A2EBC
MBMP3A2ESC
MBMP5A1EBC
MBMP5A1ESC
MBMP5A2EBC
MBMP5A2ESC
MBMP9A1EBC
MBMP9A1ESC
MBMP9A2EBC
MBMP9A2ESC
MBMP1E2EBC
MBMP1E2ESC
30
50
90
130
Model name
Rated
output
[W]
100 -
120
200 -
240
100 -
120
200 -
240
100 -
120
200 -
240
200 -
240
Input
voltage
[V]
8
8
8
8
Number of
polarities
[P]
Mass
[kg]
Rotor
inertia
[x10
-4
kg
.
m
2
]
100%
continuous
100%
continuous
100%
continuous
Time rating
Rated
input
current
[Arms]
Starting
torque
1
[N.m]
Rated
torque
[N.m]
3000
3000
3000
3000
Rated
rotation
speed
[r/min]
100%: 30 minutes
80%: continuous
1: Starting torque is a typical value.

MBMP3A1EBC/MBMP3A1ESC
Torque
0.14Nm
0.095Nm
150%
100%
Rotation speed 3000r/min
Short-time operation region
Continuous operation region
Torque
0.43Nm
0.29Nm
150%
100%
Torque
0.24Nm
0.16Nm
150%
100%
MBMP1E2EBC/MBMP1E2ESC
Torque
0.41Nm
0.62Nm
0.33Nm
150%
100%
80%
Short-time rating region (rating 30 min)
Speed Torque characteristics
0.14
0.24
0.43
0.62
0.65
0.87
1.54
1.54
1.1
1.3
2.3
2.3
0.095
0.16
0.29
0.41
1.0
0.6
1.5
0.7
2.0
1.1
1.5
- 88 -
12. Specifications
Dimensional Outline Drawing (in mm)
Motor
30W
90W 130W
30/50W 90/130W
Round shaft type
Mounting hole diameter of motor is different from that for MB type gear head. Use caution.
50W
7
5

9
4

0
.
2
(
5
4
)

0
-
0
.
0
4
0
80
+2
-0.5
O-ring
4- 6.5
95
36
5
0
0
2
7
7
5
7

0
-
0
.
0
4
0

8
h
7

0
-
0
.
0
1
5 32
25
7 2
8
5
1
1

0
-
0
.
0
4
0
1
2
h
7

0
-
0
.
0
1
8
37
30
7 2

9
4

0
.
2
(
5
4
)
80
+2
-0.5
4- 5.5
36

1
0
4

0
.
2
(
5
8
)
90
+2
-0.5
4- 6.5
36

1
0
4

0
.
2
(
5
8
)
90
+2
-0.5
4- 8.5

8
5

0
-
0
.
0
4
0
O-ring
155
5
0
0
2
7
36
36

7
5

9
4

0
.
2
(
5
4
)

0
-
0
.
0
4
0
80
+2
-0.5
O-ring
4- 6.5
101
5
0
0
2
7
- 89 -
Gear head
MB8G BV
MB9G BV
<Information>
Dimension in ( ) marked with
indicates dimension
with reduction gear ratio 30 or above.
<Information>
Dimension in ( ) marked with
indicates dimension
with reduction gear ratio 30 or above.
Reduction gear ratio in
Reduction gear ratio is available in

6 types: 5, 10, 15, 20, 30, and 50.
Key dimension
Key dimension
5
25
0
-0.030
5

0
-
0
.
0
3
0
6
25
0
-0.030
6

0
-
0
.
0
3
0
(For 90W/130W motor, sold separately)
(For 30W/50W motor, sold separately)
80

3
4
1
5
h
7
1
3
1
2

0
-
0
.
1
5

0
-
0
.
0
1
8
5
0
-0.030
41(46) 35
7
25
26.5
4- 6.5

9
4

0
.
5
90

4
0
1
8
h
7
1
8
45(58) 42
5
25
35
4- 8.5

1
0
4

0
.
5

0
-
0
.
0
1
8
1
4
.
5

0
-
0
.
1
5
6
0
-0.030
Parts name
[Attachments of MB8G]
Gear head
mounting screw
Nut
Flat washer
Key
Dimension Application Quantity
M6 length 65
M6 length 70
M6
For M6
M2.6 length 12
(See key dimension.)
4
4
4
4
2
1
Remarks
Hexagon socket head bolt
MB8G5BV - MB8G20BV
MB8G30BV, MB8G50BV
Parts name
[Attachments of MB9G]
Gear head
mounting screw
Nut
Flat washer
Key
Dimension Application Quantity
M8 length 75
M8 length 90
M8
For M8
M3 length 12
(See key dimension.)
4
4
4
4
2
1
Remarks
MB9G5BV - MB9G20BV
MB9G30BV, MB9G50BV
Nameplate
Nameplate
Reduction gear ratio in
Reduction gear ratio is available in
6 types: 5, 10, 15, 20, 30, and 50.
- 90 -
13. Options (sold separately)
39-01-2145
(Molex Incorporated.)
Digital keypad (sold separately)
Control signal extension cable (14-pin) (sold separately)
[Dimensional outline drawing]
Connector kit (sold separately)
[Mounting hole]
Part number: DV0P3510
Part number
DV0P38510
DV0P38530
DV0P38550
Length (L)
1m
3m
5m
Part number
DV0P3890
DV0P3900
DV0P3610
Description
Engaged on motor side
Connector side
Engaged on the digital keypad
39-01-2146(5559-14P 210) 1 piece, Pin 39-00-0049 (5558T2L) 14 pieces (Molex Incorporated)
39-01-2145(5557-14R 210) 1 piece, Pin 39-00-0047 (5556T2L) 14 pieces (Molex Incorporated)
39-01-2105(5557-10R 210) 1 piece, Pin 39-00-0047 (5556T2L) 10 pieces (Molex Incorporated)
L
(14-pin) (14-pin)
Control signal conversion cable (14-pin 10-pin) (sold separately)
[Dimensional outline drawing] Part number
DV0P38605
Length (L)
0.5m
L
(14-pin) (10-pin)
Control signal branch cable (14-pin 14, 10-pin) (sold separately)
[Dimensional outline drawing] Part number
DV0P38805
Length (L)
0.5m
L
(14-pin) (14-pin)
(10-pin)
Applicable wire size: AWG22 ~ 26
Applicable manual press-fit tool: 57064-5000 or 57038-5300 (Molex Incorporated)
20
65
55
65
55
6
0
7
0
14
2- 3.5
30 hole
2-M3 or
diameter
3.7 hole
7
0
6
0
2
8
On motor side
On motor side
On motor side
39-01-2146
39-01-2145
Connector side
Digital keypad or
PC connection cable
Digital keypad or
PC connection cable
Connector side
39-01-2146
39-01-2105
39-01-2146
39-01-2105
Communication software "PANATERM for BL" (sold separately): DV0P4270
PC cable (10-pin, 14-pin- D sub connector pin, 1.5m) (sold separately): DV0P4140
- 91 -
Warranty period
Warranty period of this product is 1 year from purchasing, or 1.5 years from our
manufacturing month.
However, respective life shall not be exceeded as for standard life describing items.
(See Installation/Checking the load and use condition on page 12.)
Detail of warranty
If any trouble should be found within warranty period under normal use condition in
conformance with this instruction manual, it will be repaired free of charge.
Repair will be chargeable in the following cases even if within warranty period:
When trouble is caused by wrong use, and inappropriate repair or modification.
When trouble is caused by dropping after purchase, or damage in transportation.
When trouble is caused by use out of specification range of the product.
When trouble is caused by fire, earthquake, lightning stroke, damage by wind and
flood, damage by salt, abnormal voltage and any other natural disaster.
When trouble is caused by entry of water, oil, metal strip, and any other foreign
substance.
Warranty covers only the body of delivered product, and damage induced by trouble of
delivered products will be excluded from compensation.
Caution in use
If you are planning to use this product under special environment, such as atomic power
control, aerospace equipment, traffic organization, medical equipment, various safety
systems, and equipment which requires cleanliness, please contact us.
When this product is operated without the shaft electrically grounded, such as in driving
the fan, bearing noise may become higher due to the occurrence of electrocorrosion
depending on the motor used or setting environment, so confirm and verify the condition
on the customer side in such a case.
Although we make as much efforts as possible for assuring the quality of this product, it
is possible that the product operates out of setting due to external noise more than
expected, application of static electricity, or unlikely malfunction of input power supply,
wiring, and components; therefore we would ask you customers to apply failsafe design
and ensure safety in the operable range in operating area.
Limited warranty
IMC66
S1104-0
Repair
Ask the sales agent where the product was purchased for details of repair work.
When the product is installed in a machine or device, consult first the manufacturer of the machine
or device.
Web site
Web site of Motor Company, Matsushita Electric Industrial Co., Ltd.
http://panasonic.co.jp/motor/eng/
After-sale service (repair)
Memorandum (Fill in the blanks for convenience in case of inquiry or repair)
Motor Company, Matsushita Electric Industrial Co., Ltd.
7-1-1, Morofuku, Daito, Osaka 574-0044, Japan
Date:
Telephone No.
Model No. MBMP E Date of purchase
Place of
purchase

B3 Manual

Uploaded by

Copyright:

Available Formats

B3 Manual

Uploaded by

Document Information

Copyright

Available Formats

Share this document

Share or Embed Document

Sharing Options

Did you find this document useful?

Is this content inappropriate?

Copyright:

Available Formats

B3 Manual

Uploaded by

Copyright:

Available Formats

Instruction Manual

Integrated Drive Brushless Motor

Reduction ratio: 5, 10,

Reduction ratio: 5, 10,

This motor conforms to test condition specified in EN standard

Do not connect anything to pin 10.

Do not touch the terminal of energized control circuit.

Circuit of input terminal is as shown on the right.

When extending the control signal, a maximum of

Motor) can be used by Pr77.

Every time I1 is turned on, feed action return action

When power is on, homing operation is executed and

When I1 is turned on,

When power is on,

Homing direction (-)

When open/close is chosen and I1 is input, open/close operation is executed.

, 9: Sequential run start

10: Trip reset, 11: Home sensor,

Name of parameter Description

for BL (sold separately) also

Check the ambient

for BL (sold separately) to check the

100V system: Single-phase 100V120V 10%, 50/60Hz

for BL (sold separately).

Use the shield of shielded wire for GND.

Set the maximum total extension of cable within 10m in use.

Terminal resistor is not required.

No result is answered from the motor when motor ID is 80h (128).

Response data when motor is powered on is initial request response.

Set data 0000 when executing data reading command.

When initial response is confirmed, write parameters as necessary.

1: Starting torque is a typical value.

Reduction gear ratio in

Reduction gear ratio is available in

You might also like