Meht 300 B

FUJI SERVO SYSTEM
USER'S MANUAL
RYT-VV type
MEHT300
This manual is "User's Manual for Fuji AC Servo System ALPHA5 Series".
The user's manual is in one volume and covers all handling methods of the product.
The following documents are included in the package of each device.
Device Document name Doc. No.

Operation Manual
Servomotor ING-SI47-0863-JE
Fuji AC servomotor (GY Series)
Operation manual
Servo amplifier Fuji AC servo ALPHA5 Series INR-SI47-1126-JE
servo amplifier (RYTD (C/B)-)
The target model of this manual is shown below.
Device Model
Servomotor GYSD5-*** or GYCD5-*** or GYGC (B) 5-***
Servo amplifier RYTD (C/B)-VV
* "" in the model indicates a decimal point or number.

* "*" in the model indicates an alphabet or blank.
For uncertainties in the product or description given in this manual, contact the dealer or our sales
office shown at the end of this volume.
Manual
Description given in this manual may be inconsistent to the product due to improvements added to
the product. Description given in this manual is subject to change without notice.
Illustrations included in this manual show the servo amplifier or servomotor of a specific capacity
and they may be different from the appearance of the product you purchased.
This product is not designed or manufactured for use in devices or systems related to human lives.
To use this product for aeronautic devices, traffic controllers, space industry devices, nuclear reactor
controllers, medical devices or systems including those devices, contact our sales window.
To use the product for equipment in which failure of the product will be engaged with human lives or
serious material losses, install safety devices matching the equipment.
Icon
The following icons are used in the description of the manual when necessary.
Negligence of description shown with this sign will undermine the true performance of the
product.
Reference items helpful for operation and data entry of the servomotor or servo amplifier
are described.
ii
CHAPTER 0 INTRODUCTION 0
CHAPTER 1 INSTALLATION 1
CHAPTER 2 WIRING 2
CHAPTER 3 OPERATION 3
CHAPTER 4 PARAMETER 4
CHAPTER 5 SERVO ADJUSTMENT 5
CHAPTER 6 KEYPAD 6
CHAPTER 7 MAINTENANCE AND INSPECTION 7
CHAPTER 8 SPECIFICATIONS 8
CHAPTER 9 CHARACTERISTICS 9
CHAPTER 10 PERIPHERAL EQUIPMENT 10
CHAPTER 11 ABSOLUTE POSITION SYSTEM 11
CHAPTER 12 POSITIONING DATA 12
CHAPTER 13 RS-485 COMMUNICATIONS 13
CHAPTER 14 PC LOADER 14
CHAPTER 15 APPENDIXES 15
iii
Contents
CHAPTER 0 INTRODUCTION 0-1
0.1 Safety Precautions 0-2
Precautions on use 0-3
Precautions on storage 0-4
Precautions on transportation 0-4
Precautions on installation 0-5
Precautions on wiring 0-6
Precautions on operation 0-7
General precautions 0-8
Harmonics suppression measures (for Japan) 0-8
Compliance with EU directives 0-9
Compliance with RoHS directive 0-9
Service life of EEPROM 0-9
0.2 Outline of System 0-10
0.2.1 Servomotor 0-10
0.2.2 Servo Amplifier 0-11
0.3 Model Nomenclature 0-12
0.3.1 Servomotor 0-12
0.3.2 Servo Amplifier 0-13
0.4 Combination between Servomotor and Servo Amplifier 0-14
0.4.1 VV Type 0-14
CHAPTER 1 INSTALLATION 1-1

1.1 Servomotor 1-2
1.1.1 Storage Environment 1-2
1.1.2 Operating Environment 1-2
1.1.3 Installing the Servomotor 1-3
1.1.4 Water Proof and Oil Proof Properties 1-3
1.1.5 Servomotor Handling Precautions 1-4
1.1.6 Notes on Stress Given to Cable 1-4
1.1.7 Assembling Accuracy 1-5
1.1.8 Allowable Load 1-6
1.1.9 Cautionary Items on Servomotor Equipped with a Brake 1-7
1.2 Servo Amplifier 1-8
1.2.1 Storage Environment 1-8
iv
1.2.3 Installing the Servo Amplifier 1-9
1.2.4 Depth of Control Panel 1-10
CHAPTER 2 WIRING 2-1

2.1 Configuration 2-2
2.1.1 Part Name 2-2
2.1.2 Configuration 2-5
2.1.3 Sequence I/O 2-12
2.1.3.1 Pulse Input (PPI, CA, *CA, CB, *CA) 2-14
2.1.3.2 Pulse Output (FFA, *FFA, FFB, *FFB, FFZ, *FFZ) 2-15
2.1.3.3 Z-Phase Output (FZ, M5) 2-15
2.1.3.4 Analog Monitor Output (MON1, MON2, M5) 2-15
2.1.3.5 Sequence Input (CONT1, CONT2, CONT3, ... COMIN) 2-16
2.1.3.6 Sequence Output (OUT1, OUT2, ... COMOUT) 2-16
2.1.4 RS-485 Communications (CN3) 2-16
2.1.5 USB (CN4) 2-17
2.2 P-N Junction 2-18
2.3 Servomotor 2-19
2.3.1 Brake Connector 2-19
2.4 Encoder 2-20
2.4.1 Encoder Wiring Cable 2-20
2.4.2 Encoder Cable 2-21
2.5 Description of I/O Signals 2-22
List of input signals 2-22
List of output signals 2-24
Input signal 2-25
Servo-on [S-ON]: Sequence input signal (Reference value 1) 2-25
Forward command [FWD]: Sequence input signal (Reference value 2) 2-25
Reverse command [REV]: Sequence input signal (Reference value 3) 2-25
Start positioning [START]: Sequence input signal (Reference value 4) 2-27
Homing [ORG]: Sequence input signal (Reference value 5) 2-28
Homing position LS [LS]: Sequence input signal (Reference value 6) 2-28
Interrupt input: Sequence input signal (Reference value 49) 2-28
Over-travel in positive direction [+OT]: Sequence input signal
(Reference value 7) 2-30
Over-travel in negative direction [-OT]: Sequence input signal
Forced stop [EMG]: Sequence input signal (Reference value 10) 2-32
v
Alarm reset [RST]: Sequence input signal (Reference value 11) 2-33
ACC0: Sequence input signal (Reference value 14) 2-33
Position preset: Sequence input signal (Reference value 16) 2-34
Gain swtich: Sequence input signal (Reference value 17) 2-35
Torque limit 0: Sequence input signal (Reference value 19) 2-35
Torque limit 1: Sequence input signal (Reference value 20) 2-35
Immediate value continuation: Sequence input signal (Reference value 22) 2-37
Immediate value change: Sequence input signal (Reference value 23) 2-39
Electronic gear numerator selection 0: Sequence input signal
Electronic gear numerator selection 1: Sequence input signal
Command Pulse inhibit: Sequence input signal (Reference value 26) 2-40
Command pulse ratio 1: Sequence input signal (Reference value 27) 2-41
Command pulse ratio 2: Sequence input signal (Reference value 28) 2-41
Proportional control: Sequence input signal (Reference value 29) 2-42
Pause: Sequence input signal (Reference value 31) 2-42
Positioning cancel: Sequence input signal (Reference value 32) 2-43
External braking resistor overheat: Sequence input signal (Reference value 34) 2-43
Teaching: Sequence input signal (Reference value 35) 2-44
Control mode selection: Sequence input signal (Reference value 36) 2-44
Position control: Sequence input signal (Reference value 37) 2-45
Torque control: Sequence input signal (Reference value 38) 2-48
Override enable: Sequence input signal (Reference value 43) 2-49
Override 1: Sequence input signal (Reference value 44) 2-49
Interrupt input enable: Sequence input signal (Reference value 48) 2-51
Interrupt input: Sequence input signal (Reference value 49) 2-51
Deviation clear: Sequence input signal (Reference value 50) 2-52
Multi-step speed selection [X1]: Sequence input signal (Reference value 51) 2-53
Free-run [BX]: Sequence input signal (Reference value 54) 2-54
Edit permission: Sequence input signal (Reference value 55) 2-54
Anti resonance frequency selection 0: Sequence input signal
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Anti resonance frequency selection 1: Sequence input signal
AD0: Sequence input signal (Reference value 60) 2-57
Positioning data selection: Sequence input signal (Reference value 77) 2-58
Output signal 2-59
Ready for servo-on [RDY]: Sequence output signal (Reference value 1) 2-59
In-position [INP]: Sequence output signal (Reference value 2) 2-60
Speed limit detection: Sequence output signal (Reference value 11) 2-62
Over write completion: Sequence output signal (Reference value 13) 2-62
Brake timing: Sequence output signal (Reference value 14) 2-62
Alarm detection (normally open contact): Sequence output signal
Alarm detection (normally closed contact): Sequence output signal
Point detection, area 1: Sequence output signal (Reference value 17) 2-66
Point detection, area 2: Sequence output signal (Reference value 18) 2-66
Limiter detection: Sequence output signal (Reference value 19) 2-67
OT detection: Sequence output signal (Reference value 20) 2-68
Cycle end detection: Sequence output signal (Reference value 21) 2-69
Homing completion: Sequence output signal (Reference value 22) 2-70
Zero deviation: Sequence output signal (Reference value 23) 2-70
Zero speed [NZERO]: Sequence output signal (Reference value 24) 2-71
Speed coincidence [NARV]: Sequence output signal (Reference value 25) 2-71
Torque limit detection: Sequence output signal (Reference value 26) 2-72
Overload warning detection: Sequence output signal (Reference value 27) 2-72
Servo control ready [S-RDY]: Sequence output signal (Reference value 28) 2-74
Edit permission response: Sequence output signal (Reference value 29) 2-74
Data error: Sequence output signal (Reference value 30) 2-75
Address error: Sequence output signal (Reference value 31) 2-75
Alarm code 0: Sequence output signal (Reference value 32) 2-75
+OT detection: Sequence output signal (Reference value 38) 2-77
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-OT detection: Sequence output signal (Reference value 39) 2-77
Home position LS detection: Sequence output signal (Reference value 40) 2-78
Forced stop detection: Sequence output signal (Reference value 41) 2-78
Battery warning: Sequence output signal (Reference value 45) 2-78
Life warning: Sequence output signal (Reference value 46) 2-79
MD0: Sequence output signal (Reference value 60) 2-79
Position preset completion: Sequence output signal (Reference value 75) 2-81
Alarm detection (normally closed contact): Sequence output signal
Immediate value continuation permission: Sequence output signal
Immediate value continuation completion: Sequence output signal
Immediate value change completion: Sequence output signal
Command positioning completion: Sequence output signal
Range 1 of position: Sequence output signal (Reference value 83) 2-84
Range 2 of position: Sequence output signal (Reference value 84) 2-84
2.6 Connection Example to Host Controller 2-86
2.6.1 Connection Example (Positioning terminal: NP1SF-HP4DT) 2-87
2.6.2 Connection Example (Positioning module: NP1F-MP2) 2-88
2.6.3 Connection Example (Positioning module: F3YP14-0N/
F3YP18-0N) 2-89
2.6.4 Connection Example (Positioning unit: QD75 type) 2-90
CHAPTER 3 OPERATION 3-1

3.1 Signal Description (Priority among Input Signals) 3-2
3.2 Selection of Operation Procedure 3-3
3.3 Operation Check 3-4
3.3.1 Power-On 3-4
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3.3.2 Power-On/Servo Control-Ready [S-RDY] 3-5
3.3.3 Servo-On [S-ON]/Ready for Servo-On [RDY] 3-5
3.3.4 If the Servomotor Fails to Start 3-6
3.3.5 Shutdown 3-6
3.4 Operation 3-7
3.4.1 Test Operation at Keypad 3-7
3.4.2 Position Control (Pulse) 3-8
3.4.3 Speed Control 3-10
3.4.4 Torque Control 3-11
3.4.5 Mode Selection 3-12
3.4.6 Extension Mode 3-13
3.4.7 Homing 3-15
3.4.8 Interrupt Positioning 3-16
3.4.9 Torque Limit 3-17
3.4.10 Positioning Data Operation 3-18
3.4.11 Immediate Value Data Operation 3-19
3.4.12 Interrupting/Stopping Operation 3-20
CHAPTER 4 PARAMETER 4-1

4.1 Parameter Division 4-2
4.2 Basic Parameters 4-2
4.2.1 List (PA1_) 4-2
4.2.2 Description of Each Parameter 4-4
PA1_01 Control mode selection 4-4
PA1_02 INC/ABS system selection 4-7
PA1_03 Command pulse form selection 4-7
PA1_04 Rotation direction selection 4-9
PA1_05 Number of command input pulses per revolution 4-10
PA1_06 Numerator 0 of electronic gear,
PA1_07 Denominator of electronic gear 4-10
PA1_08 Number of output pulses per revolution 4-12
PA1_09 Numerator of electric gear for output pulses 4-12
PA1_10 Denominator of electric gear for output pulses 4-12
PA1_11 Output pulse phase selection at CCW rotation 4-12
PA1_12 Z-phase position offset 4-13
PA1_13 Tuning mode selection 4-13
PA1_14 Load inertia ratio 4-15
PA1_15 Auto tuning gain 1 4-15
ix
PA1_16 Auto tuning gain 2 4-16
PA1_20 to 23 Easy tuning settings 4-17
PA1_25 and 26 Max. rotation speed 4-17
PA1_27 Forward rotation torque limit, PA1_28 Reverse rotation torque limit 4-18
PA1_29 Speed coincidence range 4-18
PA1_30 Zero speed range 4-19
PA1_31 Deviation unit selection 4-19
PA1_32 Zero deviation range/In-position range 4-19
PA1_33 to 35 In-position output signals 4-19
PA1_36 to 40 Acceleration time and deceleration time settings 4-21
PA1_41 to 47 Manual feed speed/speed limit for torque control 4-22
4.3 Control Gain and Filter Setting Parameter 4-24
4.3.1 List (PA1_) 4-24
PA1_51 to 53 Command filter settings 4-25
PA1_54 Position command response time constant 4-26
PA1_55 to 57 Response to disturbance settings 4-26
PA1_58 Feed forward gain 1 4-26
PA1_59 Torque filter time constant for position and speed control
PA1_60 Torque filter time constant for torque control 4-27
PA1_61 to 67 Second gain settings 4-27
PA1_68 Acceleration compensation gain for position control 4-28
PA1_70 to 76 Notch filter settings 4-28
PA1_77 to 86 Vibration suppressing control settings 4-30
PA1_87 Model torque filter time constant 4-31
PA1_88 and 89 Position loop integration time constant,
position loop integration limiter 4-31
PA1_90 Load torque observer 4-31
PA1_91 P/PI automatic change selection 4-32
PA1_92 and 93 Friction compensation settings 4-32
PA1_94 Torque filter setting mode 4-32
PA1_95 Model torque calculation and speed observer selection 4-33
PA1_96 Speed limit gain for torque control 4-33
4.4 Automatic Operation Setting Parameter 4-34
4.4.1 List (PA2_) 4-34
PA2_01 Decimal point position of positioning data 4-35
PA2_06 to 18 and 24 Homing settings 4-35
x
PA2_06 Homing speed 4-38
PA2_07 Creep speed for homing 4-38
PA2_08 Starting direction for homing 4-38
PA2_09 Reverse traveling unit amount for homing 4-39
PA2_10 Homing direction after reference signal detection 4-39
PA2_11 Reference signal for shift operation 4-40
PA2_12 Reference signal for homing 4-41
PA2_13 Home position LS signal edge selection 4-41
PA2_14 Home position shift unit amount 4-41
PA2_15 Deceleration operation for creep speed 4-42
PA2_16 Home position after homing completion 4-42
PA2_17 Home position detection range 4-43
PA2_18 Deceleration time at OT during homing 4-43
PA2_22 to 23 Detection time for contact-stopper,
Torque limit for contact-stopper 4-44
PA2_24 Selection of operation at OT during homing 4-44
PA2_19 Preset position 4-66
PA2_20 Interrupt traveling unit amount 4-66
PA2_25 to 27 Software OT selectionPosition command format,
software OT detection position 4-66
PA2_28 to 29 Limiter detection position 4-67
PA2_31 to 34 Point detection, area settings 4-68
PA2_36 to 39 Override settings 4-70
PA2_40 Internal positioning data selection 4-70
PA2_41 Sequential start selection 4-71
PA2_42 Decimal point position of stand still timer 4-71
PA2_43 Output selection at M code OFF 4-71
4.5 Extended Function Setting Parameter 4-72
4.5.1 List (PA2_) 4-72
PA2_51 to 53 Electronic gear ratio numerator 1, 2, 3 4-73
PA2_54 and 55 Command pulse ratio 1, 2 4-73
PA2_56 Speed limit selection at torque control 4-74
PA2_57 to 60 Torque limit settings 4-74
PA2_61 to 63 Action sequence settings 4-77
PA2_64 Torque keeping time to holding brake 4-78
PA2_65 Braking resistor selection 4-78
PA2_66 Flying start at speed control 4-78
xi
PA2_67 Alarm detection at undervoltage 4-79
PA2_68 Main power shutoff detection time 4-79
PA2_69 Deviation detection overflow value 4-79
PA2_70 Overload warning value 4-79
PA2_72 Station number 4-80
PA2_73 Communication baud rate (RS-485) 4-80
PA2_74 Parameter write protection 4-80
PA2_75 Positioning data write protection 4-80
PA2_77 Initial display of the keypad (Keypad) 4-81
PA2_78 Display transition at warning detection 4-81
PA2_80 to 85 Parameter in RAM 1 to 6 4-82
PA2_86 to 88 Positioning data in RAM 1 to 3 4-82
PA2_89 and 90 Sequence test mode: Mode selection and encoder selection 4-83
PA2_93 Parity/stop bit selection (for Modbus) 4-83
PA2_94 Response time (for Modbus) 4-84
PA2_95 Communication time over time (for Modbus) 4-84
PA2_97 Communication protocol selection 4-84
4.6 Input Terminal Function Setting Parameter 4-85
4.6.1 List (PA3_) 4-85
PA3_01 to 08 CONT 1 to 8 signal assignment
(turned on/off by hardware CONT signal) 4-86
PA3_26 to 30 CONT always effective 1 to 5 4-88
PA3_31 to 34 Speed and torque command scale and offset settings 4-89
PA3_35 Zero clamp level 4-89
PA3_36 Deviation clear input form 4-89
PA3_39 Speed command fine adjustment gain 4-90
PA3_40 Torque command fine adjustment gain 4-90
4.7 Output Terminal Function Setting Parameter 4-91
4.7.1 List (PA3_) 4-91
PA3_51 to 55 OUT 1 to 5 signal assignment
(turned on/off by hardware OUT signal) 4-92
PA3_81 to 87 Monitor output scale and offset settings 4-94
PA3_88 Command pulse frequency sampling time for monitor 4-96
PA3_89 Feedback speed sampling time for monitor 4-97
PA3_92 Range1 of position: Setting1 4-97
xii
CHAPTER 5 SERVO ADJUSTMENT 5-1

5.1 Adjustment Procedure 5-2
5.2 Easy Tuning 5-3
5.2.1 What is Easy Tuning? 5-3
5.2.2 Easy Tuning Operation Profile 5-3
5.2.3 Description of Operation 5-5
5.3 Auto Tuning 5-9
5.3.1 Conditions for Auto Tuning 5-9
5.3.2 Parameters Used for Auto Tuning 5-9
5.3.3 Approximate Reference Value of Auto Tuning Gain 1 5-10
5.3.4 Auto Tuning Adjustment Procedure 5-11
5.4 Auto Tuning Application 5-12
5.4.1 Parameters Used for Auto Tuning Application 5-12
5.4.2 Notch Filter Setting Method 5-13
5.4.3 Adjustment Procedure with Auto Tuning Application 5-15
5.5 Manual Tuning 5-16
5.5.1 Conditions for Manual Tuning 5-16
5.5.2 Parameters Used for Manual Tuning 5-16
5.5.3 Approximate Gain Reference Value 5-16
5.5.4 Manual Tuning Adjustment Procedure 5-17
5.5.5 Individual Adjustment 5-18
5.6 Interpolation Control Mode 5-19
5.6.1 Conditions for Interpolation Control Mode 5-19
5.6.2 Parameters Used for Interpolation Control Mode 5-19
5.6.3 Adjustment Procedure in Interpolation Control Mode 5-20
5.7 Profile Operation 5-21
5.7.1 What is Profile Operation? 5-21
5.7.2 Description of Operation 5-22
5.8 Special Adjustment (Vibration Suppression) 5-24
5.8.1 What is Vibration Suppression ? 5-24
5.8.2 Automatic Vibration Suppression 5-26
5.8.3 Manual Adjustment of Vibration Suppression 5-27
CHAPTER 6 KEYPAD 6-1

6.1 Display 6-2
6.1.1 Mode 6-2
xiii
6.1.2 Key 6-3
6.1.3 Mode Selection 6-3
6.2 Function List 6-4
6.3 Sequence Mode 6-8
6.4 Monitor Mode 6-12
6.5 Station No Mode 6-20
6.6 Maintenance Mode 6-21
6.7 Parameter Edit Mode 6-25
6.8 Positioning Data Edit Mode 6-29
6.9 Test Operation Mode 6-33
CHAPTER 7 MAINTENANCE AND INSPECTION 7-1

7.1 Inspection 7-2
7.2 Status Display 7-3
7.2.1 Initial State 7-3
7.2.2 State at Alarm 7-3
7.2.3 Alarm Display List 7-4
7.3 Troubleshooting Method 7-6
7.4 Items to be Inquired upon Trouble 7-15
7.5 Maintenance and Discarding 7-16
7.5.2 Life 7-17
7.5.3 Discarding 7-17
7.6 Approximate Replacement Timing 7-18
CHAPTER 8 SPECIFICATIONS 8-1

8.1 Specifications of Servomotor 8-2
8.1.1 GYS Motor 8-2
8.1.2 GYC Motor 8-8
8.1.3 GYG Motor [2000 r/min] 8-11
8.1.4 GYG Motor [1500 r/min] 8-13
8.2 Specifications of Servo Amplifier 8-15
8.2.1 Common Specifications 8-15
8.2.2 Specifications of VV Type 8-16
8.3 Dimensions of Servomotor 8-17
8.3.1 GYS Motor 8-17
8.3.2 GYS Motor (With a Brake) 8-18
8.3.3 GYC Motor 8-19
8.3.4 GYC Motor (With a brake) 8-20
xiv
8.3.5 GYG Motor (2000[r/min]) 8-21
8.3.6 GYG Motor (2000[r/min]) (With a brake) 8-21
8.3.7 GYG Motor (1500[r/min]) 8-22
8.3.8 GYG Motor (1500[r/min]) (With a brake) 8-22
8.4 Dimensions of Servo Amplifier 8-23
8.5 Optional Specification of Shaft Extension
[With a Key, Tapped] 8-25
CHAPTER 9 CHARACTERISTICS 9-1

9.1 Timing Chart 9-2
9.1.1 Power-On Timing 9-2
9.1.2 Each Signal Timing 9-3
9.1.3 Control Mode Selection Timing 9-4
9.1.4 Alarm Reset Timing 9-4
9.2 Overload Characteristic 9-5
9.2.1 GYS/GYC Motor 9-5
9.2.2 GYG Motor 9-7
9.3 Power Supply Capacity and Generated Loss 9-8
9.4 Inrush Current 9-9
9.5 Bending Strength of Cable 9-10
CHAPTER 10 PERIPHERAL EQUIPMENT 10-1

10.1 Overall Configuration of Peripheral Equipment 10-2
10.2 Cable Size 10-3
10.2.1 Main Circuit Section Cable Size 10-4
10.2.2 Encode Wiring Cable 10-6
10.2.3 How to Calculate the Servo Amplifier Input Current 10-7
10.2.4 Conditions for Selecting Peripheral Equipment of
Servo Amplifier 10-8
10.3 MCCB/ELCB
(Molded Case Circuit Breaker/Earth Leakage Breaker) 10-9
10.4 Electromagnetic Contactor 10-11
10.5 Surge Absorber 10-12
10.6 Power Filter 10-13
10.7 AC/DC Reactor 10-15
10.8 External Braking Resistor 10-18
10.9 Optional Equipment 10-21
Optional sequence I/O cable 10-21
Optional encoder wiring cable (1) 10-22
xv
Option cable for encoder wiring (2) 10-23
Option cable for encoder wiring (3) 10-24
Optional servomotor power cable 10-25
Optional servomotor brake cable 10-26
Sequence I/O connector kit 10-27
Encoder wiring connector kit (amplifier side) 10-27
Encoder wiring connector kit (motor side) 10-28
Connector kit for encoder wiring (motor side) 10-28
Power cable connector kit (amplifier side) 10-29
Intermediate circuit wiring connector kit (amplifier side)
* Provided with amplifier. 10-29
Motor power cable connector kit (amplifier side) 10-30
Motor power cable connector kit (motor side) 10-30
Connector kit for motor power wiring (motor side) 10-31
Connector kit for motor power wiring (motor side : with brake) 10-31
Connector kit for motor power wiring (motor side) 10-32
Connector kit for motor power wiring (motor side : with brake) 10-32
Brake wiring connector kit (motor side) 10-33
Battery (CN5) 10-33
Battery + Battery case 10-33
Monitor (CN6) 10-34
External braking resistor (1) 10-34
CHAPTER 11 ABSOLUTE POSITION SYSTEM 11-1

11.1 Specifications 11-2
11.1.1 Specification List 11-2
11.1.2 Precautions 11-2
11.2 Battery Installation and Replacement Procedures 11-3
11.2.1 Battery Installation Procedure
(for Amplifier of 1.5kW/3000r/min [Frame 4] or Less) 11-3
11.2.2 Battery Installation Procedure
(for Amplifier of 2kW/3000r/min [Frame 5] or More) 11-4
11.2.3 Battery Replacement Procedure 11-5
11.3 Connection Diagram 11-6
xvi
11.3.1 VV Type 11-6
11.4 Starting Up Procedure 11-7
11.5 Battery Warning 11-8
11.6 Calculation of Battery Life 11-9
CHAPTER 12 POSITIONING DATA 12-1

12.1 Operation Modes 12-2
12.1.1 Operation Method 12-2
12.1.2 Operation Mode Selection 12-4
12.2 Settings 12-6
12.2.1 Positioning Data Specifications 12-6
12.2.1.1 Position data (stop position) 12-7
PA1_06 Numerator 0 of electronic gear,
PA1_07 Denominator of electronic gear 12-7
PA2_01 Decimal point position of positioning data 12-7
12.2.1.2 Speed data (motor axis rotation speed) 12-7
12.2.1.3 Stand still timer (stop time) 12-8
12.2.1.4 Acceleration time and deceleration time 12-8
12.2.1.5 Status (command system, step mode) 12-9
12.2.2 Immediate Value Data Specifications 12-12
12.3 Startup 12-13
12.4 Setting Change 12-15
12.5 Response Time 12-15
CHAPTER 13 RS-485 COMMUNICATIONS 13-1

13.1 Modbus RTU Communications 13-2
13.1.1 Settings for Servo Amplifier 13-2
13.1.2 Communication Specifications 13-4
13.1.3 Transmission Protocol 13-5
13.1.4 Sample Wiring with Host Controller 13-16
13.1.5 Communications Procedures 13-17
13.2 PC Loader Communications 13-23
13.2.1 Station Number 13-23
13.2.2 Communication Specifications 13-23
13.2.3 Transmission Protocol 13-24
13.2.4 Description of Transmission Data 13-25
13.2.5 Status Data 13-25
13.2.6 Command List 13-26
13.2.7 Command Transmission Specifications 13-26
xvii
13.2.8 Communications Starting Procedure 13-27
13.2.9 Regular Communications Procedure 13-27
13.2.10 Protocol Level Error 13-28
13.2.11 Wiring (CN3) 13-29
13.2.12 Communication 13-31
CHAPTER 14 PC LOADER 14-1

14.1 Operating Environment 14-2
14.2 Installation Method 14-2
14.3 Function List 14-9
14.4 Use Method at Setting Up 14-10
14.5 Detail Description of Function 14-11
14.5.1 Real-Time Trace 14-11
14.5.2 Historical Trace 14-13
14.5.3 Monitor 14-16
14.5.4 Parameter Editing 14-17
14.5.5 Positioning Data Edit 14-19
14.5.6 Test Operation 14-20
14.5.7 Servo Analyze 14-27
14.5.8 Diagnosis to be Made if the Servomotor Fails to Start 14-28
14.5.9 Language Selection 14-29
CHAPTER 15 APPENDIXES 15-1

15.1 Status Indication Block Diagram 15-2
15.2 Main Circuit Block Diagram 15-3
15.3 Control Circuit Block Diagram 15-5
15.4 Parameter List 15-6
15.5 Capacity Selection Calculation 15-14
15.5.1 Type of Mechanical System 15-14
15.5.2 Capacity Selection Calculation 15-16
15.5.3 Capacity Selection Calculation Example 15-23
15.6 Revision History 15-31
15.7 Product Warranty 15-32
15.8 Service Network 15-34
xviii
CHAPTER 0 INTRODUCTION 0
0-1
CHAPTER 0 INTRODUCTION
0 0.1 Safety Precautions
(1) Types and meanings of warning signs

Before starting installation, wiring work, maintenance or inspection, read through this manual and
other attached documents.
Be familiar with the device, safety information and precautions before using.
In this manual, safety precautions are described in two categories: "WARNING" and "CAUTION."
Warning sign Meaning
Negligence of description will cause danger in which deaths or

WARNING
serious injuries may be caused.
Negligence of description will cause danger in which minor or

CAUTION
medium injuries or material losses may be caused.
Description given in the "CAUTION" category may cause serious results under some
circumstances.
All descriptions are critical and should be strictly observed.
After reading, keep the manual in a place where users can refer to it at any time.
(2) Graphic symbols

Graphic symbols are used when necessary.
Graphic Graphic
Meaning Meaning
symbol symbol
Do not touch Make sure to make grounding
Do not disassemble
Notice of general
prohibition
0-2 Safety Precautions

Precautions on use
0
WARNING
Do not touch the inside of the servo amplifier.
There is a risk of electric shock.
Make sure to ground the grounding terminal of the servo amplifier and servomotor.
Before performing wiring or inspection, turn the power off and wait for at least five minutes, and
check that the charge LED is unlit.
Do not give damage or unreasonable stress to cables. Do not place a heavy matter on them or do
not pinch them.
It might cause failure, breakage and electric shock.
Do not touch the rotating part of the servomotor during operation.
It might cause injuries.
CAUTION
Use the servomotor and servo amplifier in a designated set.
It might cause fire and failure.
Never use at places susceptible to water splashes, in corrosive atmosphere, in flammable gas
atmosphere or near flammable matters.
As the servo amplifier, servomotor and peripheral devices temperature will become high and
requires careful considerations.
There is a risk of burns.
Do not touch the heat sink of the servo amplifier, braking resistor, servomotor and so on while they
are turned on and for a while after they are turned off due to high temperature.
There is a risk of burns.
If the surface temperature of the servomotor exceeds 70 [C] during operation of the servomotor of
the final assembly, affix a "hot" caution label.
If a braking resistor is used, take measures to turn the power off upon a fault signal output from the
servo amplifier.
Otherwise the braking resistor may be overheated and cause fire in the event of failure of the
braking transistor.
Safety Precautions 0-3

Precautions on storage
0
CAUTION
Do not store at places susceptible to rain or water splashes or toxic gases or liquid.
It might cause failure.
Store at places without direct sunshine within the predetermined temperature and humidity range
(between -20 [C] and 60 [C], between 10 [%] and 90 [%] RH, without condensation).
To store in the installed state.
Cover the entire servomotor with a sheet to protect against vapor, oil and water. Apply an
anticorrosive agent on machined surfaces such as the shaft and flange face.
To avoid rust on bearings, turn manually or operate for five minutes without a load about once a
month.
Precautions on transportation
CAUTION
Do not hold cables or motor shaft when transporting.
It might cause failure and injuries.
Overloaded products will cause collapse of cargo, hence observe the requirements.
The eye bolt of the servomotor shall be applied exclusively for transportation of the servomotor. Do
not use it to transport machineries.

Precautions on installation
0
CAUTION
Do not ride on the servomotor or place a heavy matter on it.
It might cause failure, breakage, electric shock and injuries.
Do not block the exhaust port or do not allow foreign substance to enter.
It might cause fire and electric shock.
Observe the installation orientation of the servo amplifier.
Otherwise, it might cause fire and failure.
Do not apply strong impact.
The shaft-through hole of the servomotor is not water proof or oil proof. Take measures on the
machine side to block entry of water, coolant or similar from entering inside the servomotor.
If case of application when massive water or oil is splashed on the main body of the servomotor,
install a water or oil splash guard or take similar measures on the machine side.
In a humid and high oil mist environment, install the lead wires and connectors in a face down
orientation.
It might cause poor insulation, short circuit and resultant failure.
Do not disassemble
Never remodel the servomotor and servo amplifier.
It might cause fire and failure. It will not be covered by the warranty.
Do not hammer
Do not apply strong impact on the output shaft of the servomotor.
It might cause damage to the encoder inside the motor.

Precautions on wiring
0
CAUTION
Never apply the commercial power supply to the U, V and W terminals of the servomotor.
Do not connect the grounding (E) cable to the U, V and W terminals of the servomotor. Do not
connect the U, V and W terminals in inappropriate order.
It might cause fire or failure.
Never perform a dielectric, Megger or buzzer test to the encoder terminals.
Otherwise the encoder will be damaged.
To perform a dielectric, Megger or buzzer test to the U, V and W terminals of the servomotor,
disconnect the servo amplifier.
Do not connect encoder terminals in inappropriate order.
Otherwise the encoder and servo amplifier will be damaged.
In an adverse power supply environment, insert a protective device such as the AC reactor so that
the voltage fluctuation is contained within the rating.
Otherwise the servo amplifier will be damaged.
Install a circuit breaker or similar safety devices for short circuits in external wiring.
There is a risk of fire or failure.
Do not remove the cover or disconnect the cable, connector or optional device with the servo
amplifier turned on.
There is a risk of electric shock to human body, product operation stop, and burnout.
Use the servo system under the specified voltage range.
Do not tie signal cables or route them in the same duct with main power cable or servo amplifier
motor output cable.
Use the designated wiring material. In particular, use the option cable or equivalent for the encoder
cable.
Do not insert a phase advance capacitor, various filter, reactor or similar on the output side of the
servo amplifier.
The servo amplifier cannot be fully protected from ground fault.
Ground
Be sure to connect the grounding terminal of the servo amplifier to a grounding electrode.

Precautions on operation
0
CAUTION
In order to avoid unstable motions, never change adjustment radically.
To perform test operation, fix the servomotor and leave it disconnected from the mechanical
system. After checking the motion, connect to the machine.
Otherwise, it might cause injuries.
The retention brake incorporated in the servo motor is not a stopping unit for assuring safety of the
machine. Install a stopping unit on the machine side to assure safety.
When an alarm occurs, resolve the cause and assure safety before performing alarm reset and
restarting operation.
Stay away from the machine after power failure and power restoration because sudden restart may
be triggered. (Design the machine so that personal safety is secured even if the machine restarts
suddenly.)
The brake incorporated in the servomotor is for retention. Do not use it for regular braking
operation.
It might cause failures and injuries.
Install an external emergency stop circuit so that operation can be stopped immediately and the
power can be turned off.
Otherwise, it might cause fire, failure, burns and injuries.
Before installing to the machine and starting operation, enter parameters matching the machine. If
the machine is operated without entering parameters, the machine may unexpectedly malfunction
and cause failure.
To use the servomotor in a vertical travel, install a safety device (Such as external brake) to prevent
the mechanical movable part from dropping in case of alarm or similar.
If auto tuning is not used, be sure to enter the "inertia ratio."

General precautions
0
CAUTION
Drawings in this manual may show the state without covers or shields for safety to explain in
details. Restore the covers and shields in the original state when operating the product.
In case of disposal of the product, comply with the following two laws and act in accordance with
each regulation. These laws are effected in Japan. Outside Japan, local laws have priority. When
necessary, give notification or indication on the final assembly to be compliant with legal
requirements.
(1) Law Concerning Promotion of Effective Use of Resources (Law for Promotion of Effective
Utilization of Resources)
Recycle and collect resources from the product to be discarded, as far as possible.
It is recommended to disassemble the product into iron dust, electric parts and so on and sell
them to appropriate subcontractors to recycle and collect resources.
(2) Waste Disposal and Public Cleaning Law (Waste disposal & law public cleansing law)
It is recommended to recycle and collect resources from the product, which is to be discarded,
according to the aforementioned law (Law for Promotion of Effective Utilization of Resources, and
to reduce waste.
In case unnecessary product cannot be sold and will be discarded, the product falls in the
category of industrial waste described in the law. The industrial waste must be handled in due
course including to request an authenticated subcontractor to dispose of the product and control
manifesto.
The battery used in the product falls in the category of called "primary battery" and must be
discarded in the due course as required by the corresponding local government.
Harmonics suppression measures (for Japan)

(1) All models of the servo amplifier used by the special customer are applicable to "guideline of
harmonics suppression measures for high voltage or special high voltage customers." The
guideline requires the customer to calculate the equivalent capacity and harmonics outflow current
according to the guideline and, if the harmonics current exceeds the limit stipulated for the
contract wattage, corresponding countermeasures must be taken.
For details, refer to JEM-TR225.
(2) The servo amplifier was excluded from the scope of "guideline of harmonics suppression measure
for electric appliances and general purpose products" from January 2004. JEMA is preparing a
new technical document in the position to educate total harmonics suppression measures.
Harmonics suppression measures of the discrete device should be taken as far as possible.
Source: The Japan Electrical Manufacturers' Association (JEMA)

Compliance with EU directives

EU directives aim at integration of regulations among the EU member countries to promote
0
distribution of safety assured products. It is required to satisfy basic safety requirements including
machine directive (enacted in January 1995), EMC directive (enacted in January 1996), and low
voltage directive (enacted in January 1997) and affix a CE mark (CE marking) on the product sold in
EU member countries. Machines and devices housing the servo system are subjected to CE
marking.
The servo system does not function independently but is a component to be used in combination
with machines and equipments. For this reason, the servo system is not applicable to the EMC
directive but the machine or equipment including the servo system is applicable.
In order to facilitate CE marking declaration on the assembly machine or equipment of the servo
system, optional devices that are compliant with the low voltage directive and that support compliant
with the EMC directive as well as a relevant guideline are prepared.
Compliance with RoHS directive

RoHS directive concerns with toxic materials and it was made into effective on July 1, 2006 in the EU
member countries. The directive prohibits inclusion of toxic materials in electric and electronic
devices. Regulated materials include Pb (lead), Cd (cadmium), Cr6+ (hexavalent chromium), Hg
(mercury), PBB (polybromobiphenyl), PBDE (polybromobiphenyl ether).
This servo system is compliant with the RoHS directive.
The color (screw color, etc.), gloss and material may be different from those of conventional products
in order to comply with the RoHS directive, but will not cause an effect in the performance and
specifications.
Service life of EEPROM

This product is equipped with EEPROM for retaining parameter data in the event of power failure.
The write enable frequency of EEPROM is about 100,000 cycles. After the following operation is
repeated 100,000 times or more, the risk of the servo amplifier failure becomes higher.
Parameter editing
Position preset of absolute position system
Batch transfer of parameters

0 0.2 Outline of System
ALPHA 5 Series is an AC servo system that supports various host interfaces and realizes the best
motion control for the target machine.
0.2.1 Servomotor
The variation of the servomotor includes three types: slim type (GYS), cubic type (GYC) and medium
inertia type (GYG). Each type is provided with the INC-only 20-bit encoder model and the common ABS
/ INC 18-bit encoder model.
*1: Except for shaft-through part (and connectors for GYS and GYC motors of 0.75 kW or less).
*2: Models with a brake has "-B" at the end.
0-10 Outline of System

0.2.2 Servo Amplifier

0
Three types of servo amplifiers are provided: general-purpose interface type (VV), high-speed serial
bus type (VS) and positioning type (LS). (The positioning type and high-speed serial bus type are
compatible with our SX bus.)
Outline of System 0-11

0 0.3 Model Nomenclature
When unpacking
Check the following items.
Check if the delivered item is what you have ordered.
Check if the product is damaged during transportation.
Check if the instruction manual is included.
If you have any uncertainties, contact the seller.
0.3.1 Servomotor
AC SERVO MOTOR
TYPE GYS201D5-HB2
200 W 0.64 Nm 200 Hz 3000 min-1
92 V 1.8 A S1 Ins. B(FD01MB)
SER.NO 6427751022
Fuji Electric FA
YM539189-1 JAPAN
0-12 Model Nomenclature

0.3.2 Servo Amplifier

0
The model and serial number are also marked on the front panel of the main body of the servo
amplifier.
TYPE RYT401D5-VS2
SOURCE 1PH/3PH 200-230V 50or60Hz
OUTPUT 3PH 400W
SER. 693081A0021
Fuji Electric FA JAPAN
Model Nomenclature 0-13

0 0.4 Combination between Servomotor and Servo

Amplifier
Use the servomotor and servo amplifier in one of the following sets.
Do not use in other sets.
0.4.1 VV Type
Rated rotation
Motor Capacity
speed Motor model Servo amplifier model Frame
model [r/min] [kW]
GYS500D5-2(6)-(B) 0.05 RYT500D5-VV2VV6 1

GYS101D5-2(6)-(B) 0.1 RYT101D5-VV2VV6 1
GYS201D5-2(6)-(B) 0.2 RYT201D5-VV2VV6 1
GYS401D5-6-(B) 0.375 RYT401D5-VV6 2
GYS401D5-2-(B) 0.4 RYT401D5-VV2 2
GYS751D5-2-(B) 0.75 RYT751D5-VV2 3
GYS 3000
GYS102D5-2-(B) 1.0 RYT102D5-VV2 4
GYS152D5-2-(B) 1.5 RYT152D5-VV2 4
GYS202D5-2-(B) 2.0 RYT202D5-VV2 5
GYS302D5-2-(B) 3.0 RYT302D5-VV2 5
GYS402D5-2-(B) 4.0 RYT402D5-VV2 6
GYS502D5-2-(B) 5.0 RYT502D5-VV2 6
GYC101D5-2-(B) 0.1 RYT101D5-VV2 1
GYC201D5-2-(B) 0.2 RYT201D5-VV2 1
GYC401D5-2-(B) 0.4 RYT401D5-VV2 2
GYC 3000 GYC751D5-2-(B) 0.75 RYT751D5-VV2 3
GYC102D5-2-(B) 1.0 RYT102D5-VV2 4
GYC152D5-2-(B) 1.5 RYT152D5-VV2 4
GYC202D5-2-(B) 2.0 RYT202D5-VV2 5
GYG501C5-2-(B) 0.5 RYT501C5-VV2 3
GYG751C5-2-(B) 0.75 RYT751C5-VV2 3
2000 GYG102C5-2-(B) 1.0 RYT102C5-VV2 4
GYG152C5-2-(B) 1.5 RYT152C5-VV2 5
GYG
GYG202C5-2-(B) 2.0 RYT202C5-VV2 5
GYG501B5-2-(B) 0.5 RYT501B5-VV2 3
1500 GYG851B5-2-(B) 0.85 RYT851B5-VV2 4
GYG132B5-2-(B) 1.3 RYT132B5-VV2 5
Motor=2, amplifier=VV2: power supply voltage 200V

Motor=6, amplifier=VV6: power supply voltage 100V
0-14 Combination between Servomotor and Servo Amplifier

CHAPTER 1 INSTALLATION 1
1-1
CHAPTER 1 INSTALLATION
1.1 Servomotor
1 1.1.1 Storage Environment
Select the following environment when storing the servomotor, or when resting the machine under the
state without power distribution.
Item Environmental condition
Ambient temperature -20 [C] to +60 [C] (no freezing allowed)
Ambient humidity 10 [%] to 90 [%] RH (no condensation allowed)
1.1.2 Operating Environment
Operate the servomotor in the following environment.

49 [m/s2] or less (3000 [r/min], 0.75 [kw] or less)
Vibration 24.5 [m/s2] or less (3000 [r/min], 1 [kw] or more)
24.5 [m/s2] or less (1500 [r/min], 2000 [r/min])
Atmospheric pressure 70 [kPa] to 106 [kPa]
Observe the following when operating.

Install indoors at a place free from rainwater and direct sunshine.
Do not operate in corrosive atmosphere including hydrogen sulfides, sulfurous acid, chlorine,
ammonia, sulfur, chlorine-based gases, acids, alkalis or salts or near flammable gases or matters.
Install at a place free from splashes of coolant, oil mist, iron powder and chips.
Install in a well ventilated environment with less vapor, oil and water content.
Install at a place advantageous for inspection and cleaning.
Install at a place with less vibration.
Do not install in an airtight environment.
1-2 Servomotor
1.1.3 Installing the Servomotor
The servomotor can be installed horizontally or vertically with the shaft facing up or down. The same
rule applies to the brake-incorporated servomotor and gear head.
The symbol in the figure is the installation method symbol specified by JEM. Description in parentheses
1
( ) indicates the earlier JEM symbol.
Flange type
IM B5 (L51) IM V1 (L52) IM V3 (L53)
1.1.4 Water Proof and Oil Proof Properties
The servomotor itself has resistance against splashes in relatively

small amount. However, the shaft-through part is not water proof Cover
or oil proof. Take mechanical protective measures to block entry
Servomotor
of water and oil.
Install a cover in environments susceptible to much water, oil or
oil mist.
Do not operate with cables immersed in oil.
Some coolant types can provide on sealant, cable, case or
similar.
To install the servomotor horizontally, install so that the
servomotor cables face down.
To install the servomotor vertically or at an oblique direction, route Oil
the cables to secure a cable trap (see the figure on the right).
In case of a servomotor equipped with an oil seal, although noise
might be created from the oil seal, it will not effect any functional
operation.
To install the servomotor equipped with an oil seal in an orientation
with the shaft facing up, take measures to avoid accumulation of oil
YM539189-1
AC SERVO MOTOR
Fuji Electric FA
at the oil seal lip.

JAPAN
Cable trap
Servomotor 1-3
1.1.5 Servomotor Handling Precautions
1 Do not hammer
Do not give a strong impact on the output shaft of the servomotor.
Otherwise the encoder inside the motor will be broken.
Align the center when connecting with the machine system. Use a flexible coupling.
Use rigid one designed exclusively for servomotors whenever possible.
Do not use a rigid coupling which does not allow errors between shafts.
Otherwise mechanical vibration will be caused, resulting in damaged bearings and/or shorter
service life.
Do not supply commercial power directly to the servomotor. It will cause burnout.
Test run with commercial power also shall not be performed.
1.1.6 Notes on Stress Given to Cable
In applications where the servomotor and machine movable part move, take measures to avoid
stress given on the cable.
Route the encoder cable and motor power cable in CABLEVEYOR.
Fix the encoder cable and motor power cable attached to the servomotor (routed from the motor)
with cable clamps or similar.
Design the radius of bend as large as possible.
Do not allow bending stress or stress caused by the self weight, at joints of the cable.
1-4 Servomotor
1.1.7 Assembling Accuracy
The assembling accuracy of the servomotor is shown below.
Runout at shaft Misalignment

Unit: [mm]
Perpendicularity of
1
Servomotor model
end (flange) flange face
GYS D5
GYC D5 Within 0.02 Within 0.06 Within 0.08
GYG 5
Perpendicularity of
Runout at shaft end Misalignment flange face
Servomotor 1-5
1.1.8 Allowable Load
The allowable radial load (Fr) and allowable thrust load (Fs) of the servomotor at the shaft end (LR) are
1 shown below.
Servomotor at Radial load (Fr)

Radial load Thrust load
Motor model the shaft end
Fr[N] Fs[N] LR[mm]
127 19 25
AC SERVO MOTOR
GYS500D5-B2(6) Thrust
load
Fuji Electric FA
YM539189-1 JAPAN
GYS101D5-B2(6) 127 19 25
(Fs)
GYS201D5-B2(6) 264 58 30
Servomotor at the
GYS401D5-B2(6) 264 58 30 shaft end (LR)
GYS751D5-B2 676 147 40
GYS102D5-B2 637 107 45
GYS152D5-B2 637 107 45
GYS202D5-B2 637 107 45
GYS302D5-B2 921 166 63
GYS402D5-B2 921 166 63
GYS502D5-B2 921 166 63
GYC101D5-B2 107 19 25
GYC201D5-B2 235 39 30
GYC401D5-B2 235 39 30
GYC751D5-B2 460 88 40
GYC102D5-B2 646 127 58
GYC152D5-B2 803 137 58
GYC202D5-B2 803 137 58
GYG501C5-B2 400 253 55
GYG751C5-B2 400 253 55
GYG102C5-B2 510 253 55
GYG152C5-B2 510 253 55
GYG202C5-B2 510 253 55
GYG501B5-B2 449 253 58
GYG851B5-B2 449 253 58
GYG132B5-B2 575 253 58
Radial load: the load applied vertically to the motor shaft

Thrust load: the load applied horizontally to the motor shaft
1-6 Servomotor
1.1.9 Cautionary Items on Servomotor Equipped with a Brake
Brake noise
The brake lining may issue chattering noise during operation of the motor equipped with a brake. As
it is caused by brake structure and is not abnormal, the noise will not effect functional operation.
1
Others (shaft end magnetization)
The shaft end of the servomotor equipped with a brake is subject to leaking magnetic flux during
energization of the brake coil (when the brake is released). At the instance, chips, screws and other
magnetic bodies will be attracted. Cautions are required.
Servomotor 1-7
1.2 Servo Amplifier
1 1.2.1 Storage Environment
Select the following environment when storing the servo amplifier, or when resting the machine under
the state without power distribution.

Indoors at altitude 1000 [m] free from powder dust, corrosive gases
Location
and direct sunshine
Atmospheric pressure 70 [kPa] to 106 [kPa]
Vibration / impact 4.9 [m/s2]/19.6 [m/s2]
Operate the servo amplifier in the following environment. The servo amplifier is neither dust proof nor
water proof.

Indoors at altitude 1000 [m] free from powder dust,
Location
corrosive gases and direct sunshine
Vibration 4.9 [m/s2]
Observe the following when operating.

Install indoors at a place free from rainwater and direct sunshine.
Do not operate in corrosive atmosphere including hydrogen sulfides, sulfurous acid, chlorine,
ammonia, sulfur, chlorine-based gases, acids, alkalis or salts or near flammable gases or matters.
Install in a well ventilated environment with less vapor, oil and water content.
Install at a place with less vibration.
Do not operate in vacuum.
1-8 Servo Amplifier

1.2.3 Installing the Servo Amplifier
(1) Install the servo amplifier vertically to the ground so that the "ALPHA5"
characters (see the arrow in the figure on the right) on the front panel of
the servo amplifier is horizontal.
1
(2) Some parts of the servo amplifier generate heat during operation.
Cool the surroundings if the servo amplifier is installed inside the control panel.
Natural convection, air
tight structure Air purge Forced ventilation Heat exchanger
(totally enclosed type)
Servo
amplifier
Exhaust
air Exhaust
air
Servo Servo Servo

amplifier amplifier amplifier
Intake
air
Intake
Intake
air air
(3) To install two or more servo amplifiers in the same control panel, the following shall be taken into
consideration.
Arrange transverse alignment in principle. The RYT type servo amplifier can be installed side by
side closely. If servo amplifiers are installed completely side by side closely, operate them at the 80
[%ED] rating.
If the ambient temperature is 45 [C] or lower in the close installation state, 100 [%ED] can be
achieved.
If there is a clearance of 5 [mm] or over between adjacent servo amplifiers, there is no limitation in
the operation frequency.
Servo Amplifier 1-9

(4) To improve air convection, reserve a clearance indicated in the diagram below between servo
amplifiers or a distance to the peripheral equipment.
1 50[mm] or more
10[mm] or
more
10[mm] or more
5[mm] or more
40[mm] or more
1.2.4 Depth of Control Panel
Reserve 80 [mm] or a wider space in front of the servo amplifier which is connected with sequence I/O
cables and encoder cable.
Main power
connector
Sequence
cable
Encoder
cable
Amplifier depth
80
Unit : [mm]
1-10 Servo Amplifier

CHAPTER 2 WIRING 2
2-1
CHAPTER 2 WIRING
2.1 Configuration
2.1.1 Part Name
2
All wiring of the servo amplifier of 0.75 [kW] or less is connected via connectors.
Servomotor
GYS/GYC type 0.75kW or AC SERVO MOTOR
less Fuji Electric FA

YM539189-1 JAPAN
Encoder cable Motor power cable

(Lead 300 [mm]) (Lead 300 [mm])
Servo amplifier (frame 1, 2, and 3)

0.75kW or less Keypad
6-digit 7-segment LED, 4 buttons, monitor
terminals and one LED are installed.
Analog monitor (CN6)

The analog waveform is monitored.
L1C USB (CN4)

Power supply (TB1) L2C USB_B connector
x Control power L1
x Main power L2
L3
RS-485 (CN3A (IN), CN3B (OUT))
Upper side: CN3A. Lower side: CN3B
Charge LED
P1
P(+)
Main circuit (TB2) N(-)
x P-N junction RB1
x Braking resistor RB2 Sequence I/O (CN1)
RB3
Motor (TB3) U
Encoder wiring (CN2)
V
Battery wiring (CN5)
W
Battery box (Option)
Grounding terminal (2 pcs.)

2-2 Configuration
CHAPTER 2 WIRING
Servomotor
GYS/GYC type 1kW or more and
GYG type
Encoder connector Motor power connector
Servo amplifier (frame 4) Keypad


Power supply (TB1)
- Control power
L1C USB (CN4)
L2C USB_B connector
- Main power L1
L2
L3
Charge LED Upper side: CN3A. Lower side: CN3B
P1
Main circuit (TB2) P(+)
N(-)
- P-N junction
RB1
- Braking resistor RB2 Sequence I/O (CN1)
RB3
Motor (TB3) Encoder wiring (CN2)

U
V Battery wiring (CN5)
W
Battery box (option)
Configuration 2-3
CHAPTER 2 WIRING
Servo amplifier (frame 5, 6)

Keypad

2 USB (CN4)
USB_B connector

Upper side: CN3A. Lower side: CN3B
Charge LED
Sequence I/O (CN1)
Encoder wiring (CN2)
Battery wiring (CN5)
Battery installing part
<Terminal details>
Control power supply

Main circuit Braking
terminal resistor
Power supply Motor
2-4 Configuration
CHAPTER 2 WIRING
2.1.2 Configuration
The figure on page 2-7 shows the general configuration of devices. There is no need to connect
all devices.
The size on each device in the figure is not drawn at the uniform scale. (same as other chapters)
To supply single-phase power to the servo amplifier, use the L1 and L2 terminals.
2
Supply power control power terminals L1C and L2C is required.
The servo amplifier wiring connector is attached only to TB2. It is not provided for other devices.
Use a connector kit or optional cable with a connector.
Adopt a configuration for turning the main power off upon alarm detection (activation of protective
function of servo amplifier).
Otherwise overheat of the braking resistor, such as braking resistor transistor failure may cause
fire.
The maximum wiring length between the servo amplifier and servomotor is 50 [m].
You may not turn the power wiring of the servo amplifier or servomotor on or off with a contactor
or you may not drive multiple servomotors selectively with a single servo amplifier.
Do not connect any of the following devices to the power wiring of the servo amplifier or
servomotor.
Phase advancing capacitor Various reactors Noise filter Surge absorber
Be sure to ground the protective grounding terminal of the servo amplifier (terminal provided with
a grounding mark) to the protective ground of the control panel to avoid electric shock.
Use the accessory tool in the following procedure to connect the terminal to TB1, TB2 and TB3.
Wiring method
[1] Peel off the sheath about 10 [mm].
10[mm]
[2] Insert the tip of the accessory tool into the top of the connector.
[3] Push the tool toward the connector to insert the cable.
[4] Release the tool. The cable is fixed.
Do not solder the cable. In case of the strand wire, do not twist cable forcibly.
Configuration 2-5
CHAPTER 2 WIRING
1) For servo amplifier frames 1, 2 and 3 (except for RYT***B5, C5)

For lead wire type motors, connect cables as shown below.
MCCB/ELCB
2
AC reactor
PC (marketed item)
The loader software
can be downloaded
Power filter free of charge.
(L1C, L2C) (USB)
Electromagnetic Servo amplifier

contactor
(L1, L2, L3)

1 2 3 4 5
DC reactor CN3A
(Disconnect the RS-485 communications
TB1
short wire and
connect across CN3B
pins 1 and 2.)
CN1 Sequence I/O cable
1 2 3 4 5 6
Connect pushbuttons,
External braking resistor TB2 (Provided various sensors, pulse
(Disconnect the short wire and inputs and pulse output
with body)
connect across pins 4 and 5.)
CN2 signals.
1 2 3
Motor cable TB3
Encoder cable
Servomotor Grounding terminal (M4)
2-6 Configuration
CHAPTER 2 WIRING
Connection Diagram (Servo amplifier frame 1, 2)
Connect the external

In case of commercial power 1 2 3 4 5 6 regenerative resistor across RB1
supply (single-phase 100V or P1 P(+) N(-) RB1 RB2 RB3 and RB2. (Remove the short wire
single-phase 200V input), TB2 from RS2-RB3.)
connect across L1 and L2
2
TB1
TB3
terminals.
1 L1C
U 1 1(A) U
2 L2C
V 2 2(B) V
3 L1
W 3 3(C) W
4 L2
4(D)
5 L3
DC24V 1(E) Br
(2) 2(F) Br
CN4 CN2
USB-B
P5 1 7(H) P5
M5 2 8(G) M5
CN3A(IN) 5(C) SIG+
SIG+ 5
SIG- 6 4(D) SIG-
RS-485 BAT+ 3 1(T) BAT+
BAT- 4 2(S) BAT-
3 FG
CN3B(OUT) *
CN6
Servomotor
Connector CN3B RS-485 MON1 1 Terminal indication
Even at the end of the M5 3 enclosed in
network, no terminator is MON2 2 parentheses ()
necessary. M5 4 GYS and GYC: 1kW or
CN1
more
11 P10
FFA 31 GYG: All models
17 VREF
*FFA 32
FFB 29
15 TREF
*FFB 30
13 M5
FFZ 27
*FFZ 28
12 PPI
FZ 10
35 CA
M5 9
36 *CA
MON1 16
33 CB
MON2 14
34 *CB
M5 18
OUT1 5
* 20 COMIN
OUT2 6
21 CONT1
OUT3 26
22 CONT2
OUT4 7
1 CONT3
OUT5 8
2 CONT4
COMOUT 19
3 CONT5
4 CONT6 CN5
23 CONT7
BAT+ 2
24 CONT8
BAT- 1
* Connect the shielding wire to the connector shell on the servo amplifier side.
Configuration 2-7
CHAPTER 2 WIRING
2) In case of 3 or 4 (except for 751D5 in frame 3)

For Cannon connector type motors, connect cables as shown below.
MCCB/ELCB
2
AC reactor
PC (marketed item)
The loader software
can be downloaded free
Power filter of charge.
Electromagnetic L1C, L2C

USB
contactor
Servo amplifier
L1, L2, L3
TB1
1 2 3 4 5
DC reactor
(Disconnect the
CN3A
short wire and
connect across RS-485 communications
pins 1 and 2.) TB2 (Provided with body)
CN3B
1 2 3 4 5 6
CN1 Sequence I/O cable
External braking resistor

(Disconnect the short wire
and connect across pins 4 Motor cable Connect pushbuttons,
and 5.) (Fabricated by user) various sensors, pulse inputs
and pulse output signals.
1 2 3
CN2
TB3
Encoder cable
molex
Grounding terminal (M4)

Servomotor
2-8 Configuration
CHAPTER 2 WIRING
Connect the external regenerative

In case of commercial power 1 2 3 4 5 6 resistor across RB1 and RB2.
supply (single-phase 200V P1 P(+) N(-) RB1 RB2 RB3 (Remove the short wire from
input), connect across L1 and TB2 RS2-RB3.)
L2 terminals.
2
TB1
TB3
1 L1C
U 1 1(A) U
2 L2C
V 2 2(B) V
3 L1
W 3 3(C) W
4 L2
4(D)
5 L3
DC24V 1(E) Br
(2) 2(F) Br
CN4 CN2
USB-B
P5 1 7(H) P5
M5 2 8(G) M5
CN3A(IN) 5(C) SIG+
SIG+ 5
SIG- 6 4(D) SIG-
RS-485 BAT+ 3 1(T) BAT+
BAT- 4 2(S) BAT-
3 FG
CN3B(OUT)
CN6
*
Connector CN3B
RS-485 MON1 1 Servomotor
Even at the end of the
M5 3 Terminal indication enclosed
network, no terminator is
MON2 2 in parentheses ()
necessary.
CN1 M5 4 GYS and GYC: 1kW or more
GYG: All models
11 P10
FFA 31
17 VREF
*FFA 32
FFB 29
15 TREF
*FFB 30
13 M5
FFZ 27
*FFZ 28
12 PPI
FZ 10
35 CA
M5 9
36 *CA
MON1 16
33 CB
MON2 14
34 *CB
M5 18
* OUT1 5
20 COMIN
OUT2 6
21 CONT1
OUT3 26
22 CONT2
OUT4 7
1 CONT3
OUT5 8
2 CONT4
COMOUT 19
3 CONT5
4 CONT6 CN5 Servo amplifier
23 CONT7 RYT-VV type
BAT+ 2
24 CONT8
BAT- 1
Configuration 2-9
CHAPTER 2 WIRING
3) In case of servo amplifier frames 5 or 6

For Cannon connector type motors, connect cables as shown below.
MCCB/ELCB
2 AC reactor PC (marketed item)

The loader software
Servo amplifier can be downloaded free
of charge.
Power filter
(USB
RS-485 Connect pushbuttons,

communications various sensors, pulse
CN3A, CN3B inputs and pulse output
signals.
Electromagnetic
contactor
CN1: Sequence I/O cable
molex
L1, L2, L3
CN2: Encoder cable
DC reactor
External braking resistor Grounding

terminal (M4)
Main circuit
Control power supply terminal Braking resistor
Screw size:
L1C, L2C: M3
Others : M4
Power supply Motor
2-10 Configuration
CHAPTER 2 WIRING

Connect the external regenerative
In case of commercial power resistor across RB1 and RB2.
P1 P(+) N(-) RB1 RB2 RB3
supply (single-phase 100V or (Remove the short wire from
single-phase 200V input), TB2 RS2-RB3.)
connect across L1 and L2 TB1
terminals. TB3
L1C
L2C
L1
U
V
1(A)
2(B)
U
V
2
W 3(C) W
L2
4(D)
L3
DC24V 1(E) Br
(2) 2(F) Br
CN4 CN2
USB-B
P5 1 7(H) P5
M5 2 8(G) M5
CN3A(IN) 5(C) SIG+
SIG+ 5
SIG- 6 4(D) SIG-
RS-485 BAT+ 3 1(T) BAT+
BAT- 4 2(S) BAT-
3 BAT-
FG
CN3B(OUT)
Connector CN3B CN6 *
Even at the end of the
RS-485 MON1 1 Servomotor
network, no terminator is
M5 3 Terminal indication
necessary.
MON2 2 enclosed in parentheses ()
CN1 M5 4 GYS and GYC: 1kW or
more
11 P10 GYG: All models
FFA 31
17 VREF
*FFA 32
FFB 29
15 TREF
*FFB 30
13 M5
FFZ 27
*FFZ 28
12 PPI
FZ 10
35 CA
M5 9
36 *CA
MON1 16
33 CB
MON2 14
34 *CB
M5 18
OUT1 5
* 20 COMIN
OUT2 6
21 CONT1
OUT3 26
22 CONT2
OUT4 7
1 CONT3
OUT5 8
2 CONT4
COMOUT 19
3 CONT5
4 CONT6 CN5 Servo amplifier
23 CONT7 RYT-VV type
BAT+ 2
24 CONT8
BAT- 1
Configuration 2-11
CHAPTER 2 WIRING
2.1.3 Sequence I/O
CN1 of RYT5-VV type. The wiring connector is not included in the servo amplifier.
Connector kit type: WSK-D36P
2 35
33
CA
CB
36
34
*CA
*CB
17
15
VREF
TREF
18
16
M5
MON1
31 FFA 32 *FFA 13 M5 14 MON2
29 FFB 30 *FFB 11 P10 12 PPI
27 FFZ 28 *FFZ 9 M5 10 FZ
25 M5 26 OUT3 7 OUT4 8 OUT5
23 CONT7 24 CONT8 5 OUT1 6 OUT2
21 CONT1 22 CONT2 3 CONT5 4 CONT6
19 COMOUT 20 COMIN 1 CONT3 2 CONT4
Terminal
No Function
symbol
12 PPI Pull-up power input for pulse input 12 to 24 [V] DC
35 CA Pulse input
36 *CA Max. input frequency 1 [MHz] (differential) or 200 [kHz] (open collector)
33 CB Command pulse/direction, forward/reverse pulse, A/B phase pulse (A/B
34 *CB phase pulse are the frequency after multiplication by four.)
31 FFA
Pulse output (Differential output)
32 *FFA The number of output pulses per motor revolution (16 to 262144) can be
29 FFB designated. Or the output pulse division ratio can be designated. The
30 *FFB output is issued in A/B phase pulse.
27 FFZ The FFZ and *FFZ terminals are for single revolution single pulse
signal.
28 *FFZ
10 FZ Z-phase output (Open collector)
The FZ terminal is for single revolution single pulse signal. The M5
9 M5 terminal serves as a reference potential.
16 MON1
Analog monitor voltage output (10 [V]/0.5 [mA] max.)
14 MON2
Analog voltage output terminal for meters. Two outputs are provided.
13 M5 The M5 terminal serves as a reference potential. Resolution: 14 bits
25 M5
2-12 Configuration
CHAPTER 2 WIRING
Terminal
No. Function
symbol
21 CONT1
22 CONT2
1 CONT3 Sequence input (For sink/source)
2
2 CONT4 Supply command signals to the servo amplifier through these terminals.
3 CONT5 12 [V] to 24 [V] DC/20 [mA] (per point).
4 CONT6 Photo coupler isolated. The reference potential is the COMIN terminal.
(Soft filter 0.5 [ms], agreement of two scans, except for interrupt input)
23 CONT7
24 CONT8
20 COMIN
5 OUT1
6 OUT2
Sequence output (For sink/source)
26 OUT3
Signal output terminals of servo amplifier. Max. 30 [V] DC/50 [mA].
7 OUT4 Photo coupler isolated. The reference potential is the COMOUT terminal.
8 OUT5
19 COMOUT
11 P10 Power supply for speed/torque command voltage. +10 [V]/30 [mA] (Max.)
17 VREF Speed command voltage input 10 [V]. Resolution: 15 bits
15 TREF Torque command voltage input 10 [V]. Resolution: 14 bits
18 M5 The reference potential is the M5 terminal.
The output format of the FFZ, *FFZ and FZ outputs varies according to the pulse output setting.
If the number of pulses per revolution is designated (PA1_08: 16 to 262144), synchronization is

kept with the FFA and *FFA signals. Single pulse of FFA or *FFA is applicable.
FFA
FFB
FFZ
The output pulse division ratio designated with PA1_08 ("0"), PA1_09 and PA1_10 is
asymmetrical to the FFA and *FFA signals. The pulse width is always 125s or over.
FFA
FFB
FFZ
125s or over
Configuration 2-13
CHAPTER 2 WIRING
2.1.3.1 Pulse Input (PPI, CA, *CA, CB, *CA)
Pulse input terminal

Format: Command pulse/direction, forward/reverse pulse, A/B phase pulse (parameter switch)
Max. input frequency: 1MHz (differential output), 200kHz (open collector output)
2
A/B phase pulse indicates the frequency after multiplication by four. It is always a multiple of four.
(1) Differential output

Do not use the PPI terminal.
5V PPI
L in e d riv e r 1 .5 k
C A (C B ) 62
62
* C A (* C B )
S e rv o a m p lifie r
0V
(2) Open collector (24 [V] DC)

Use the PPI terminal.
PPI
D C 24V
1 .5 k
C A (C B ) 62
* C A (*C B ) 62
S e rv o a m p lifie r
(3) Open collector output (12 [V] DC)

The CA(CB) terminal and an external resistor are necessary.
560 C A (C B ) 62
DC 12V 62
*C A (*C B )
S e r v o a m p lifie r
2-14 Configuration
CHAPTER 2 WIRING
2.1.3.2 Pulse Output (FFA, *FFA, FFB, *FFB, FFZ, *FFZ)
The FFA, *FFA, FFB, and *FFB signals are output in a pulse proportionate to motor revolutions as two
signals having a 90-degree phase difference (A/B phase pulse).
The number of output pulses per motor revolution can be specified in a parameter. The output
frequency is in proportion to the rotation speed of the shaft. The relationship between the phase and
the Z-phase can be specified in a parameter.
2
The FFZ and *FFZ signals are output in a single pulse during a motor revolution. The servo amplifier
sets no limitation in the output frequency. 500 [kHz] is the upper limit.
5V
AM26LS31 FFA,(FFB),(FFZ)
*FFA,(*FFB),(*FFZ)
0V
Servo amplifier M5
2.1.3.3 Z-Phase Output (FZ, M5)
The Z-phase output is an open collector output of the FFZ or *FFZ signal.
The current can flow up to 30 [V] DC/50 [mA].
2SC2712 or
FZ
equivalent
M5
Servo amplifier
2.1.3.4 Analog Monitor Output (MON1, MON2, M5)
The analog monitor output is the analog voltage output terminal of the servo amplifier. The output is
specified with a parameter.
Max. 10 [V]/0.5 [mA]
Resolution: 14 bits
MON1
MON2
Servo amplifier
M5
0V
Configuration 2-15
CHAPTER 2 WIRING
2.1.3.5 Sequence Input (CONT1, CONT2, CONT3, ... COMIN)
The sequence input supports sink input and source input. A current of 24 [V] DC/20 [mA] is consumed
at each point.
The ON/OFF effect of the terminal can be changed with a parameter. Therefore only necessary signals
2 can be assigned. For signals that can be assigned, refer to page 2-22.
COMIN
1.3k
12 to 24VDC
DC1224V
680
CONTn
Servo amplifier

2.1.3.6 Sequence Output (OUT1, OUT2, ... COMOUT)
The sequence output supports sink output and source output. The sink/source of maximum 30 [V]
DC/50 [mA] can be output.
The output signal of this terminal can be specified with a parameter.
For signals that can be assigned, refer to page 2-24.
Servo amplifier

OUTn
DC24V
COMOUT
2.1.4 RS-485 Communications (CN3)
Use a marketed LAN cable to connect to the host controller or PC.

Use a marketed straight cable (RJ45) with all wires connected.
There is no need to connect the terminator.
Max. 31 servo amplifiers can be connected.
RS-485 communications includes two variations: Modbus-RTU protocol communications and PC
Loader protocol communications.
Use PA2_97 (communication protocol selection) to select the protocol.
However, select the Modbus-RTU protocol to perform immediate value operation.
For details, refer to CHAPTER 13 RS-485 COMMUNICATIONS.
2-16 Configuration
CHAPTER 2 WIRING
2.1.5 USB (CN4)
USB-B type 4-pin connector. Use a marketed cable.
Configuration 2-17
CHAPTER 2 WIRING
2.2 P-N Junction
Directly connect the DC link voltage of two servo amplifiers to exchange power.
In a system having a powering (driving) shaft and regenerating shaft such as the winder/unwinder unit,
2
the power consumption of the entire system can be reduced. Do not supply main power to the servo
amplifier on the other side of the P-N junction.
In addition, specify PA2-68 (the main power shutoff detection time) to 1000 [ms].
P1 P(+) N(-) RB1 RB2 RB3 P1 P(+) N(-) RB1 RB2 RB3
TB2
TB TB
TB2
TB1
TB TB1
TB
L1C L1C
L2C L2C
L1 L1
L2 L2
L3 L3
When performing PN junction as shown in the figure above, it is recommended to use a marketed
connecter: CL-1814T (made by JST) by preparing it separately. It is because two wires cannot be
connected to the connector (WSK-S05P-E, WSKR06P-E) of the servo amplifier of frame 4 or less.
(The following figure is a connection example of control power supply part.)
CL-1814T
1 2 3 4 5
1 2 3 4 5
2-18 P-N Junction

CHAPTER 2 WIRING
2.3 Servomotor
There are wiring of the main body of the servomotor and that of the brake (servomotor equipped with a brake).
CAUTION

Keep consistency in the phase order between the servomotor and servo amplifier.
Do not connect commercial power to the servomotor. Otherwise it may cause failure.
2
2.3.1 Brake Connector
Connector kit type: WSK-M02P-E (servomotor side of GYC and GYS type 0.75 [kW] or less)
1 Br
2 Br
The brake of the servomotor equipped with a brake is a non-exciting brake. To turn the servomotor,
+24 [V] must be supplied. There is no polarity in the brake input circuit.
If the brake is left released, although the periphery of the brake becomes hot it is not a fault.
The brake terminal of GYS type 1.0 to 2.0 [kW] and GYG type is located inside the motor power
connector (WSK-M06P-CA).
The brake terminal of GYS type 3.0 to 5.0 [kW] and GYC type 1.0 to 2.0 [kW] is located inside the motor
power connector (WSK-M06P-CB).
Connected to
encoder cable. Connected to motor power cable.
Connected to power
supply (+24V).
Servomotor 2-19
CHAPTER 2 WIRING
2.4 Encoder
2.4.1 Encoder Wiring Cable
2
Use the designated shielded cable for encoder wiring of the servomotor.
The optional cable for the servomotor is a UL-rated cable having bend resistance.
Use a regular twisted pair batch shield cable if the servomotor and cable do not move.
Cross linked polyethylene vinyl sheath cable for robot travel (Daiden Co., Ltd.)
RMCV-SB-A (UL2464) AWG#25/2P + AWG#23/2C (Twisted type)
(For 10 [m] or smaller wiring length)
RMCV-SB-A (UL2464) AWG#25/2P + AWG#17/2C
(For wiring lengths < 10 [m] and 50 [m])
The relationship between AWG and mm is shown below.
Gauge SI unit Inch unit

Cross section Cross section
A.W.G In [mm2] Diameter [mm]
[mm2]
Diameter [mil]
[CM]
16 1.25 1.291 1.309 50.82 2583

17 - 1.150 1.037 45.26 2048
18 - 1.024 0.8226 40.30 1624
19 - 0.9116 0.6529 35.89 1288
20 - 0.8118 0.5174 31.96 1021
21 - 0.7299 0.4105 28.46 810.0
22 - 0.6438 0.3256 25.35 642.6
23 - 0.5733 0.2518 22.57 509.4
24 - 0.5106 0.2024 20.10 404.0
25 - 0.4547 0.1623 17.90 320.4
2-20 Encoder
CHAPTER 2 WIRING
2.4.2 Encoder Cable
To fabricate the encoder cable by yourself, take care of the following.

Do not install a relaying terminal block between the servo amplifier and motor.
Use a shielded cable.
Connect the shielded cable with the designated connector pin, connector shell or cable clamp on
both sides.
The servo amplifier communicates with the encoder built in the servomotor through high speed
serial communications.
2
The shield treatment is important for the assurance of reliability of serial communications.
The maximum encoder wiring length is 50m.
Perform shield treatment at the encoder according to the procedure specified below.
Despite motor capacity, wiring treatment at the servo amplifier is the same.
Encoder cable preparation method
Connect the end of the shielding wire to pin 3. Servo amplifier side Motor side
[1] Peel off the end of the shield about 15 [mm].

Fold back the shield.
Wind copper foil tape two or three turns around the shield.
[2] Solder the wiring to the connector.

The shrink tube wrapping each element cable
assures safety.
[3] Fix the connector to the shell cover.
[4] Bend the shield to fix.
[5] While aligning the catches on both sides, fit the

shell cover.
[6] Align the position of the catch to the mold cover to

fix.
Catch
Encoder 2-21
CHAPTER 2 WIRING
2.5 Description of I/O Signals
List of input signals

The signal assigned to the sequence input terminal can be specified with a parameter.
2 No. Name Setting range

Default
value
Change
PA03_01 CONT1 signal assignment 1

1 to 77 Power
2-22 Description of I/O Signals

CHAPTER 2 WIRING
Sequence input signal

No. Function No. Function
1 Servo-on [S-ON] 34 External braking resistor overheat
2 Forward command [FWD] 35 Teaching
3 Reverse command [REV] 36 Control mode selection
4
5
Start positioning [START]
Homing [ORG]
37
38
Position control
Torque control
2
6 Home position LS [LS] 43 Override enable
7 +OT 44 Override 1
8 -OT 45 Override 2
10 Forced stop [EMG] 46 Override 4
11 Alarm reset [RST] 47 Override 8
14 ACC0 48 Interrupt input enable
16 Position preset 49 Interrupt input
17 Gain switch 50 Deviation clear
19 Torque limit 0 51 Multi-step speed selection 1 [X1]
20 Torque limit 1 52 Multi-step speed selection 2 [X2]
22 Immediate value continuation 53 Multi-step speed selection 3 [X3]
23 Immediate value change 54 Free-run
24 Electronic gear numerator selection 0 55 Edit permission
25 Electronic gear numerator selection 1 57 Anti resonance frequency selection 0
26 Command pulse inhibit 58 Anti resonance frequency selection 1
27 Command pulse ratio 1 60 AD0
28 Command pulse ratio 2 61 AD1
29 Proportional control 62 AD2
31 Pause 63 AD3
32 Positioning cancel 77 Positioning data selection
Description of I/O Signals 2-23

CHAPTER 2 WIRING
List of output signals

Specify the signals assigned to sequence output terminals, using parameters.
No. Name Setting range Default value Change
PA03_51 OUT1 signal assignment 1
2
Select among OUT
PA03_53 OUT3 signal assignment signal assignment 2 Power
functions.
Sequence output signal

No. Function No. Function
1 Ready for servo-on [RDY] 35 Alarm code 3
2 In-position [INP] 36 Alarm code 4
11 Speed limit detection 38 +OT detection
13 Over write completion 39 -OT detection
14 Brake timing 40 Home position LS detection
16 Alarm detection (Normally open contact) 41 Forced stop detection
17 Point detection, area 1 45 Battery warning
18 Point detection, area 2 46 Life warning
19 Limiter detection 60 MD0
20 OT detection 61 MD1
21 Cycle end detection 62 MD2
22 Homing completion 63 MD3
23 Zero deviation 64 MD4
24 Zero speed 65 MD5
25 Speed coincidence 66 MD6
26 Torque limit detection 67 MD7
27 Overload warning 75 Position preset completion
28 Servo control ready [S-RDY] 76 Alarm detection (Normally closed contact)
29 Edit permission response 79 Immediate value continuation permission
30 Data error 80 Immediate value continuation completion
31 Address error 81 Immediate value change completion
32 Alarm code 0 82 Command positioning completion
33 Alarm code 1 83 Range1 of position
34 Alarm code 2 84 Range2 of position

CHAPTER 2 WIRING
Input signal
Servo-on [S-ON]: Sequence input signal (Reference value 1)
The signal makes the servomotor ready to rotate.
Function
The servomotor is ready to rotate while the servo-on [S-ON] signal remains turned on.
When the servo-on signal is turned off, the gate for IGBT is turned off and the servomotor does 2
not rotate. At this time, the servomotor in free-run and all rotation commands are ignored.
If the signal is turned off during rotation, controlled stop is caused according to the setting of
PA2_61 (action sequence at servo-on OFF). The stopping profile follows the setting of PA2_61
(action sequence at servo-on OFF), too.
If there is no alarm, activation of servo-on [S-ON] and forced stop [EMG] arranges the state ready
to rotate.
Parameter setting
To assign the servo-on [S-ON] signal to a sequence input terminal, specify the corresponding
value ("1") to the input terminal function setting parameter.
If this signal is not assigned to CONT input terminals, the signal is handled to be always turned
on.
Forward command [FWD]: Sequence input signal (Reference value 2)

Reverse command [REV]: Sequence input signal (Reference value 3)
The signal makes the servomotor keep running while it remains turned on.
Function
The servomotor keeps rotating in the positive (negative-) direction while the forward command
[FWD] (reverse command [REV]) signal remains turned on. Acceleration begins at the rising edge,
while the trailing edge triggers deceleration.
(1) Speed control

The motor rotates at a speed selected through combination of multi-step speed settings [X1] (=
No. 51), [X2] (= No. 52) and [X3] (= No. 53) (see the table on the next page).
If both the forward command [FWD] and reverse command [REV] are turned on, the motor is
controlled to stop.

CHAPTER 2 WIRING
X3 X2 X1 Rotation speed
OFF OFF OFF Speed command (VREF terminal) voltage

OFF OFF ON PA1_41: Manual feed speed 1
2
OFF ON OFF PA1_42: Manual feed speed 2
ON ON ON PA1_43: Manual feed speed 3
ON OFF OFF PA1_44: Manual feed speed 4
ON OFF ON PA1_45: Manual feed speed 5
ON ON OFF PA1_46: Manual feed speed 6
ON ON ON PA1_47: Manual feed speed 7
(2) Position control

In the position control mode, only pulse inputs are accepted.
To perform manual operation under position control, specify "6" to PA1_01 (control mode
selection) and, while leaving the position control (37) signal turned on, turn the forward command
[FWD] (or reverse command [REF]) signal on.
The speed setting is the same as that of speed control. The rising edge of the forward command
[FWD] (or reverse command [REV]) signal starts to rotate at the ON level. Even if both signals are
turned on simultaneously, no stoppage is caused.
To issue a reverse command after turning off a forward command [FWD], turn on the reverse
command [REV] after controlled stop.
(3) Torque control

A torque is output at the servomotor shaft.
The torque is output according to the torque command [TREF terminal] voltage.
Parameter setting
To assign the forward command [FWD] signal to a sequence input terminal, specify the
corresponding value ("2"; "3" for reverse command) to the input terminal function setting
parameter.
The signal is handled to be always turned off if it is not assigned to the sequence input terminal.

CHAPTER 2 WIRING
Start positioning [START]: Sequence input signal (Reference value 4)

Positioning motion is executed according to positioning data or immediate value data sent via RS-485
communications.
This function is enabled only if parameter PA1_01 is 7 (positioning operation).
Function 2
The positioning motion starts at the activating edge of the start positioning signal.
If PA2_40 (internal positioning data selection) is 1 (enable), the internal positioning data is
enabled. Positioning is made according to positioning addresses AD0 through AD3.
If PA2_40 (internal positioning data selection) is 0 (disable), positioning is made according to the
position data and speed data sent via RS-485 communications.
Speed
Timer
[RDY] ON (positioning data)
Start
positioning OFF
[START]
Address 10 15
Zero speed ON OFF
Zero deviation ON OFF
In-position
(level) ON OFF
In-position
(single shot) OFF ON
In-position minimum OFF time/Single shot ON time

(PA1_34)
Check for the active state of the in-position signal (level) to turn the start positioning signal on. The
motor starts to rotate. After rotation begins, the in-position signal is turned off.
Parameter setting
To assign the start positioning signal to a sequence input terminal, specify the corresponding
value (4) to the input terminal function setting parameter.
The signal is handled to be always turned off if it is not assigned to the input terminal.

CHAPTER 2 WIRING
Homing [ORG]: Sequence input signal (Reference value 5)

Homing position LS [LS]: Sequence input signal (Reference value 6)
Interrupt input: Sequence input signal (Reference value 49)
A homing motion is executed and the home position is determined.
2 This function is enabled only if the extension mode (parameter PA1_01= 6) and the positioning
operation (parameter PA1_01=7) are selected.
Function
The rising edge of the homing signal starts a homing motion. The homing motion follows the
settings of PA2_06 through PA2_18. If parameters are factory shipment settings, the following
motion is executed.
Speed
[RDY] ON
ON OFF
Zero speed
Homing [ORG] OFF ON
Home position OFF ON

LS [LS]
Motor Z-phase
detection
In-position ON OFF ON
[PSET]
Homing ON/OFF OFF ON

completion
(1) After checking that the in-position signal is turned on, turn on the homing command.
(2) Once the in-position signal is turned off, you can turn off the homing command.
The motor rotates in the direction of PA2_10 at a speed of PA2_06.
(3) When the home position LS signal is turned on, the speed changes to creep speed for homing
(PA2_07).
(4) The motor moves the home position shift unit amount (PA2_14) from the first Z-phase after the
rising (or trailing) edge of the home position LS, and then it is stopped.
(5) The in-position signal is turned on with the stopping position being home position after homing
completion PA2_16. In addition, the homing completion signal is turned on.

CHAPTER 2 WIRING
To perform homing, use up positive over-travel [+OT] and negative over-travel [-OT] signals to assure
safety.
A B
-OT LS Homing direction +OT

2
Detection of over-travel signal
If homing is started from position A in the figure above, the home position LS is detected and
stoppage is caused.
If homing is started from position B in the figure above, the +OT signal is detected. In this case,
the following motions follow.
(6) Upon detection of +OT, controlled stop is caused according to deceleration time at OT
during homing PA2_18.
(7) A reverse travel begins at the homing speed.
(8) Upon detection of the home position LS, controlled stop is caused. Then the procedure (1)
to (5) described above is executed.
Starting direction for homing (PA2_08)

If homing is executed from B in the figure above, the distance to +OT must be traveled in a round
trip and therefore much time is taken.
If homing is set to negative starting direction, the home position LS will be detected first.
Reverse traveling unit amount for homing (PA2_09)

If homing is executed from B in the figure above, the distance to +OT must be traveled in a round
trip and therefore much time is taken.
If the reverse traveling unit amount for homing is specified, the next action is performed at the
start of homing.
(9) A travel occurs first at the homing speed by the reverse traveling unit amount for homing.
Thereafter the motion (1) to (5) described above is executed.
Reference signal for shift operation (PA2_11)

In regular cases, a travel occurs by the home position shift unit amount in reference to the
encoder Z-phase signal. Stoppage is caused at an accuracy of a single encoder pulse. If the
Z-phase is not used positively due to a reduction ratio of 2 or similar, the home position LS can
be made the standard.
If the moving range is extremely narrow to install a home position LS signal, the +OT and -OT
signals can be referred as the standard.
If a quick response sensor is used instead of the Z-phase of the encoder, the interrupt input
signal can be applied.

CHAPTER 2 WIRING
Home position LS signal edge selection (PA2_13)

After the trailing edge of the LS is detected, the Z-phase signal after the home position LS is
detected.
Deceleration operation for creep speed (PA2_15)
2
Controlled stop is caused during homing upon detection of the home position LS (or reference
signal for shift operation), followed by reverse rotation until the point before the home position LS
is reached, and then homing is performed again at the creep speed.
The home position LS creep speed becomes the same despite the homing speed setting.
Interruption of homing motion

Forced stop (sequence input signal) can interrupt the homing motion.
Positioning cancel (sequence input signal) can interrupt the homing motion.
Interruption of homing motion

While a travel in the opposite direction automatically occurs upon detection of positive over-travel
[+OT] or negative over-travel [-OT], stoppage is caused in the following cases. In every case, the
homing completion signal will not be turned on.
x Reverse rotation after a +OT signal, followed by a -OT signal without detecting a home position
LS (reference signal)
x Detection of an over-travel signal in the opposite direction to the traveling direction
x Detection of an over-travel signal during travel of the home position shift traveling amount
Over-travel in positive direction [+OT]: Sequence input signal (Reference value 7)

Over-travel in negative direction [-OT]: Sequence input signal (Reference value 8)
A signal from a limit switch or similar can forcibly stop the machine travel.
Function
The signal is an input from a limit switch for avoiding over-travel (OT) beyond the limit of machine
travel.
Each signal is always enabled except under torque control.
If the over-travel signal is turned off during operation, controlled stop is caused within the limit
specified in PA2_60 (third torque limit).
Merely a pulse input in the direction opposite to the detection direction or manual feed
(forward/reverse command) can be executed (normally closed contact).
If an OT signal is detected during positioning operation, the servomotor is forcibly stopped and
therefore difference may be caused between the command position and feedback position.
Take care of the reference value and sensor position so that the OT signal will not be detected
during regular operation.

CHAPTER 2 WIRING
Parameter setting
To assign the +OT signal to a sequence input terminal, specify the corresponding value ("7") to
the input terminal function setting parameter. For the -OT signal, specify ("8").
This signal is handled to be always turned on if it is not assigned to the sequence input terminal.
2
Relevant description
(1) Direction of detection
The +OT signal is detected during a travel of the servomotor in the positive direction. The positive
direction indicates the direction of forward rotation if PA1_4 (rotation direction selection) is set at
"0" (positive direction). The servomotor is stopped, too, if a +OT signal is detected during rotation
in the negative direction, but it will not rotate in either direction.
(2) Output signal: +OT detection (38), -OT detection (39), OT detection (20)
The +OT detection and -OT detection signals indicate that the servo amplifier detects the limit of
travel in the mechanical system. A sequence output signal to the host controller can be notified
the fact of detecting the +OT or -OT signal.
The OT detection signal is turned on upon detection of either +OT (7) or -OT (8) or software OT
specified in PA2_27/28 (software OT detection position).
If the host controller is equipped with an OT input, connect to the host controller in general cases.
To specify this function, specify "38" (+OT detection), "39" (-OT detection) or "20" (OT detection)
in the output terminal function setting parameter.
(3) Software OT
Specify "1" (enable) to PA2_25 (software OT selection) to operate in the position range between
(PA2_26: + software OT detection position) and (PA2_27: - software OT detection position).
If this range is exceeded, forced stop will be caused with the OT detection sequence output.
Supply a pulse input in the direction opposite to the detected direction or perform manual feed
(forward / reverse command) to reset and travel in both directions.
The +OT (-OT) sequence input is for mechanical position detection, while software OT is for
position detection of the servo amplifier.
Traveling range
Feedback position
-software OT +software OT
detection position detection position
(PA2_27) (PA2_26)

CHAPTER 2 WIRING
Forced stop [EMG]: Sequence input signal (Reference value 10)

Used to forcibly stop the servomotor.
Function
(1) Forced stop
The servomotor is forcibly stopped while the forced stop [EMG] signal remains turned off.
2 This signal is enabled in all control modes and it is given the highest priority. Because the safety
and detection speed are significant, the forced stop signal is generally connected to the servo
amplifier directly.
A self-locked pushbutton switch (command switch) (normally closed contact) provided on the
operation panel or similar is connected in regular cases.
If forced stop is turned off during operation, controlled stop is caused within the limit specified in
PA2_60 (third torque limit).
Parameter setting
To assign forced stop to a sequence input terminal, specify the corresponding value ("10") to the
input terminal function setting parameter.
(1) Ready for servo-on [RDY]
If the forced stop signal is assigned to a sequence input terminal, the ready for servo-on [RDY]
signal is turned on with the servo-on [S-ON] signal and forced stop signal turned on, so that the
output shaft of the servomotor becomes ready to rotate. To assign the ready for servo-on signal to
a sequence output terminal, specify the corresponding value ("1") to the output terminal function
setting parameter.
(2) Forced stop detection
When the forced stop signal is turned off, the forced stop detection signal is turned on so that
external equipment recognizes.
To assign forced stop detection to a sequence output terminal, specify the corresponding value
("41") to the output terminal function setting parameter.
(3) State of forced stop
If the forced stop signal is turned off under position or speed control, the servomotor is stopped in
the zero speed state with the zero rotation speed command. At this time, all rotation commands
are ignored.
The present position is not retained in the zero speed state. Because the present position is
controlled, there is no need to perform a homing motion again even if the forced stop signal is
turned off. Turn the forced stop signal on to arrange the state ready to operate.
If the forced stop signal is turned off under torque control, the torque command becomes zero and
the servomotor free-run.
After removing the forced stop signal, there is no need to issue an alarm reset signal.

CHAPTER 2 WIRING
Alarm reset [RST]: Sequence input signal (Reference value 11)

The alarm reset signal resets alarm detection of the servo amplifier.
Function
The sequence input signal resets alarm detection of the servo amplifier.
2
The rising edge of the alarm reset [RST] signal resets alarm detection.
By starting the test operation mode at the keypad, operating the PC Loader or turning the power
on again, the alarm can be reset.
Parameter setting
To assign the alarm reset [RST] signal to a sequence input terminal, specify the corresponding
value ("11") to the input terminal function setting parameter.
This signal is handled to be always turned off if it is not assigned to the sequence input terminal.
There are the following methods for resetting alarm detection.
Rising edge of alarm reset [RST] of sequence input signal
Press and hold the [SET/SHIFT] key for at least one second in the test operation mode
[ ].
Press and hold the [] ad [] keys simultaneously for at least one second upon alarm detection
[ ].
Alarm reset from PC Loader
Shutdown and power-on again
ACC0: Sequence input signal (Reference value 14)

ACC0 switches the acceleration/deceleration time.
Function
(1) Acceleration/deceleration time switch
The acceleration time and deceleration time of the servomotor follow the setting of PA1_37 to 40
(acceleration time, deceleration time). The acceleration time and deceleration time can be set
separately.
The setting through ON/OFF of the ACC0 signal despite the direction of rotation, as shown in the
table below can be switched.
ACC0 Acceleration time Deceleration time
OFF PA1_37 PA1_38

ON PA1_39 PA1_40

CHAPTER 2 WIRING
Parameter setting
To assign the ACC0 (acceleration/deceleration time selection) signal to a sequence input terminal,
specify the corresponding value ("14") to the input terminal function setting parameter. This signal
is handled to be always turned off if it is not assigned.
2 Position preset: Sequence input signal (Reference value 16)

The present command position and feedback position are preset (overwritten).
Function
The present command position and the present feedback position are made the reference value
of PA2_19 (preset position) at the rising edge. However, the deviation is subtracted from the
feedback position.
The rising edge is the change point at which the sequence input signal having been switched off
to on.
As zero speed signal [NZERO] can be performed during ON, it is recommended to conduct
position preset while the servomotor is sustained. After position preset, homing is finished.
The following alarm detection can be reset.
Absolute data lost (dL1, dL2, dL3)
Multi-revolution overflow
Position preset
OFF ON
Position preset
response OFF ON
The position preset response is turned off when position preset is turned off.
Parameter setting
To assign position preset to a sequence input terminal, specify the corresponding value ("16") to
the input terminal function setting parameter.

CHAPTER 2 WIRING
Gain swtich: Sequence input signal (Reference value 17)

To switch the gain (response capability) of the servo system.
Function
When PA1_61 (gain changing factor) is set at "3" (external switch: CONT signal), the CONT signal
2
assigned to this function switches the gain of the servo system.
The control gain parameters that are enabled with the gain switch are listed in the table below.
Use the function to change the gain of the servo system between the going path and returning
path in a reciprocal motion or similar.
Gain switch Control gain

PA1_55: Position loop gain 1
PA1_56: Speed loop gain 1
OFF
PA1_57: Speed loop integration time constant 1
PA1_58: Feed forward gain 1
PA1_64: Position loop gain 2
PA1_65: Speed loop gain 2
ON
PA1_66: Speed loop integration time constant 2
PA1_67: Feed forward gain 2
Parameter setting
To assign gain switch to a sequence input terminal, specify the corresponding value ("17") to the
Torque limit 0: Sequence input signal (Reference value 19)

Torque limit 1: Sequence input signal (Reference value 20)
Limitations are set on the output torque of the servomotor.
Function
Limitation on the output torque of the servomotor by turning on the torque limit signal can be set.
Specify the torque limit in increments of 1 [%] in the range from "0" to the maximum output torque.
The maximum output torque is 300 [%] if the rated torque is 100 [%].
The torque limit function is always enabled in all control modes.
Note that the setting of PA1_37 to 40 (acceleration and deceleration time) may be ineffective if the
output torque is limited during acceleration or deceleration. The enabled torque limit is as follows.

CHAPTER 2 WIRING
Torque limit under speed control and position control

The following settings can be specified as a limitation set on the torque.
[1] TREF terminal voltage (10 [V]/300 [%])
[2] Forward rotation torque limit (PA1_27), reverse rotation torque limit (PA1_28)
[3] Second torque limit (PA2_58)
2
[4] Third torque limit (PA2_60)
If "0" is specified as torque limit selection (PA2_57), the settings of torque limit 0 and torque limit 1
are enabled.
Torque limit 1 Torque limit 0 Torque limit
OFF OFF Value of [2]
OFF ON [2] or [1], whichever is smaller
ON OFF [3] or [2], whichever is smaller
ON ON [3] or [1], whichever is smaller
If forced stop or servo-on is turned off, or if an over-travel or minor failure alarm is detected,
limitation is set at [4] third torque limit (PA2_62: 4 or 5) the setting can be changed.

OFF OFF [4] or [2], whichever is smaller
OFF ON [3], [2] or [1], whichever is the smallest
ON OFF [4], [3] or [2], whichever is the smallest
ON ON [4], [3] or [1], whichever is the smallest
Torque limit under torque control

The limit [2] is always enabled.
Deviation hold selection at torque limit
Use deviation hold selection at torque limit (PA2_59) under position control to select the torque
limit for retaining the deviation amount.
OFF OFF No torque limit
OFF ON Value of [1]
ON OFF Value of [3]
ON ON PA2_59: 1, value of [3]. PA2_59: 2, value of [1]

CHAPTER 2 WIRING
Parameter setting
If the torque limit signal is assigned to a sequence input terminal, specify the corresponding value
("19" or "20") to the input terminal function setting parameter.
If the torque limit signal is not assigned to the sequence input terminal, the settings of PA1_27
(forward rotation torque limit) and PA1_28 (reverse rotation torque limit) are always enabled.
Relevant description 2
(1) Torque limit detection signal
This signal is turned on while the output torque of the servomotor is equal to or larger than the
torque limit.
The torque limit detection output is enabled in all control modes.
To assign the torque limit detection to a sequence output terminal, specify the corresponding
value ("26") to the output terminal function setting parameter.
Immediate value continuation: Sequence input signal (Reference value 22)

Positioning motion can be continued according to the next data from the target position (speed) started
in the immediate value mode.
This function is enabled only if 7 (positioning operation) is selected for parameter PA1 01.
Function
After immediate value operation starts with the first data, supply desired data in an immediate
value continuation command. Operation continues with the next data, following execution of the
first data.
Rotaion speed
(Initial startup position) (Position to be continued)

Time
Start positioning OFF
Immediate value
continuation OFF
Immediate value
continuation OFF
completion
Immediate value
continuation OFF ON 50ms
permission (Permitted again after data continuation)
In-position (level) ON OFF
Command position (Initial startup position) (Position to be continued)
Command speed (Initial startup speed) (Speed to be continued)
ABS/INC (ABS/INC) (ABS/INC)

CHAPTER 2 WIRING
Parameter setting
To allocate the immediate value continuation command to a sequence input terminal, enter the
corresponding value (22) in the input terminal function setting parameter. Relevant signal
reference values include following.
2 Allocated signal
Immediate value continuation: sequence input
No.
22
signal
Immediate value continuation completion:
80
sequence output signal
Immediate value continuation permission:
79
(1) Immediate value continuation permission signal
The signal is turned on when the immediate value continuation command is ready to be issued to
the servo amplifier. The immediate value continuation permission signal remains enabled for 50
[ms] after positioning is completed.
(2) Immediate value continuation completion signal
The signal is turned on after the immediate value continuation process is executed according to
an immediate value continuation command, and it is turned off after the immediate value
continuation command is turned off.
(3) Command position / command speed / ABS/INC
Each piece of data can be changed arbitrarily. The immediate value data at the activating edge of
the immediate value continuation command is enabled.
(4) Immediate value change command
When the immediate value continuation command and the immediate value change command
are turned on simultaneously, priority is given to the immediate value change command.
(5) Positioning cancel / pause
These signals are enabled at an arbitrary timing.

CHAPTER 2 WIRING
Immediate value change: Sequence input signal (Reference value 23)

The target position and target speed of immediate value start can be changed at an arbitrary timing.
This function is enabled only if 7 (positioning operation) is selected for parameter PA1_01.
Function
2
After immediate value operation is started and the in-position signal is turned off, the target
position and target speed can be changed at an arbitrary timing.
Even if the positioning motion of the first data is not finished, the next data is executed
immediately when the change command is accepted.
Rotaion speed
(Initial setting position(Position to be changed) Time
Immediate value
change OFF
Immediate value
change completion OFF
Command
position (Initial startup position) (Position to be changed)
Command speed (Initial startup speed) (Speed to be changed)
ABS/INC (ABS/INC) (ABS/INC)
The command position and command speed change at the activating edge of the immediate
value change command. They can be changed at an arbitrary timing while the in-position signal
remains inactive.
Parameter setting
To allocate the immediate value change command to a sequence input terminal, enter the
corresponding value (23) to the input terminal function setting parameter. Enter value (81) for
the immediate value change completion signal.
(1) Change setting completion
The signal is turned on after the changing process is executed according to the immediate value
change signal, and it is turned off after the immediate value change command is turned off.

CHAPTER 2 WIRING
(2) Command position / command speed / ABS/INC

Each piece of data can be changed arbitrarily. The data in the IQ area at the timing of activating
edge of the immediate value continuation command is enabled. However, the ABS/INC signal
retains the state enabled at the activating edge of the start positioning signal.
(3) Immediate value continuation command
2 When the immediate value continuation command and the immediate value change command
are turned on simultaneously, priority is given to the immediate value change command.
(4) Positioning cancel / pause
The signal is enabled at an arbitrary timing.
Electronic gear numerator selection 0: Sequence input signal (Reference value 24)
Electronic gear numerator selection 1: Sequence input signal (Reference value 25)
To change the multiplication of the traveling amount of the mechanical system.
Function
Switch electronic gear numerator 0 or electronic gear numerator 1 to select one of four command
pulse offsets.
The numerator of the electronic gear can be changed through these functions assigned to the
CONT input signal, as shown in the table below.
Electronic gear numerator Electronic gear numerator

Enabled electronic gear numerator selection
selection 1 selection 0
OFF OFF PA1_6: Numerator 0 of electronic gear

OFF ON PA2_51: Numerator 1 of electronic gear
ON OFF PA2_52: Numerator 2 of electronic gear
ON ON PA2_53: Numerator 3 of electronic gear
Parameter setting
To assign numerator 0 of electronic gear or numerator 1 of electronic gear to a sequence input
terminal, specify the corresponding value ("24" or "25") to the input terminal function setting
parameter.
Command Pulse inhibit: Sequence input signal (Reference value 26)

The pulse input in the position control mode is enabled or disabled.
Function
The command pulse is not accepted while the command pulse inhibit signal remains turned on.

CHAPTER 2 WIRING
Parameter setting
To assign pulse command inhibit to a sequence input terminal, specify the corresponding value
("26") to the input terminal function setting parameter.
Accordingly, pulse input is always enabled while servo-on [S-ON] is turned on.
Command pulse ratio 1: Sequence input signal (Reference value 27)

2
Command pulse ratio 2: Sequence input signal (Reference value 28)
Use the parameters to change the multiplication of the command input pulse under position
control in the extension mode.
These parameters are enabled only with PA1_01 (extension mode) set at "6" and PA1_01
(positioning operation) set at "7".
Function
To perform pulse operation in the extension mode (mode compatible with conventional Series),
be sure to assign command pulse ratio 1 or command pulse ratio 2 to a CONT input signal.
Turn servo-on, position control and command pulse ratio 1 (2) on to enable pulse operation.
If command pulse ratio 1 is turned on, the ratio set at PA2_54 (command pulse ratio 1) is enabled.
If command pulse ratio 2 is turned on, the ratio set at PA2_55 (command pulse ratio 2) is enabled.
The result of the following equation becomes the encoder-equivalent pulse.
(Number of input pulses) x ((Numerator 0 to 3 of electronic gear ratio)/(Denominator of electronic

gear ratio)) x Command pulse ratio
Parameter setting
To assign command pulse ratio 1/2 to a sequence input terminal, specify the corresponding
number ("27" or "28") to the input terminal function setting parameter.

CHAPTER 2 WIRING
Proportional control: Sequence input signal (Reference value 29)

Proportional band control is adopted as a servo amplifier control method.
Function
With [S-ON] signal turned on, the signal will be turned on while the servomotor shaft is
2
mechanically locked.
If the proportional control is turned on during servomotor rotation, position control becomes
unstable.
Do not turn on while the servomotor rotates.
If the brake is applied under position control with the servo locked, an overload (oL) alarm is
detected. This is because the servo performs PI control, and generates a torque in an attempt to
restore the original position even if fine deviation is produced. Be sure to turn off P motion before
applying the brake from an external unit.
Parameter setting
To assign the proportional control to a sequence input terminal, specify the corresponding value
This signal is handled to be always turned off if it is allocated to none of sequence input terminals.
Pause: Sequence input signal (Reference value 31)

This signal temporarily stops the start positioning, homing motion and interrupt positioning motion.
Function
Deceleration starts at the activating edge of the pause signal (31). While the signal is turned on,
the start positioning, homing and interrupt positioning motions are interrupted and stopped. After
the signal is turned off, the remaining motion continues.
The signal is ineffective to pulse ratio 1, pulse ratio 2, and manual forward and reverse rotation.
Deceleration follows the designated acceleration/deceleration time, different from forced stop
(10).
The pause is enabled to the current positioning motion.
Parameter setting
To allocate positioning cancel to a sequence input terminal, enter the corresponding value (31)
to the input terminal function setting parameter.
(1) Positioning cancel
If positioning cancel (32) is executed while the pause (31) signal remains turned on, the
positioning motion is canceled.

CHAPTER 2 WIRING
(2) ABS/INC (positioning data)

After the pause (31) signal is turned off, the remaining motion continues without relations to
the absolute (ABS) or incremental (INC) mode of positioning data.
This signal is irrelevant to the setting of the INC/ABS selection parameter (PA1_02).
(3) Brake timing
The brake is not applied in a pause.
2
Positioning cancel: Sequence input signal (Reference value 32)
To cancel the homing motion and interrupt positioning motion on the way.
Function
To resume homing motion, turn on the positioning cancel signal and then turn on the homing
signal again.
The interrupt positioning motion cancels the interrupt positioning motion after interrupt input is
turned on.
This function is disabled for the pulse operation.
Unlike forced stop, controlled stop will be conducted within the selected deceleration time.
Parameter setting
To assign positioning cancel to a sequence input terminal, specify the corresponding value ("32")
External braking resistor overheat: Sequence input signal (Reference value 34)
The thermistor signal of the external braking resistor forcibly stops the servomotor.
Function
In a system where the regenerative power is relatively large, install an external braking resistor and
connect the resistor thermistor signal to the CONT signal assigned as an external braking resistor
overheat signal.
If the external braking resistor overheat input signal is turned off (normally closed contact), an
external braking resistor overheat (AL-rH2) alarm is issued.
Parameter setting
To assign external braking resistor overheat to a sequence input terminal, specify the
corresponding value ("35") to the input terminal function setting parameter.

CHAPTER 2 WIRING
Teaching: Sequence input signal (Reference value 35)

The current position of the servomotor is written as position data in the positioning data.
This function is enabled only if 7 (positioning operation) is selected for parameter PA1_01.
Function
2
The current command position of the servomotor is written as position data in the positioning data
at the activating edge of the teaching signal. Enter the current position in an absolute (ABS)
position.
The signal can be always executed without relations to the status of the forced stop and servo-on
signals.
You can check the over write completion signal, one of sequence output signals, to check if
overwriting of the current position is completed.
Teaching is executed generally according to the following procedure.
(1) Designate the address of positioning data, to which the current position is to be written,
among AD0 to AD3.
(2) Using the manual forward rotation command, pulse operation or the like, feed the mechanical
system to the target position.
(3) The current command position is written as position data in the positioning data at the
activating edge of the teaching signal. When the teaching signal is turned off, the over write
completion signal is turned off, too.
Parameter setting
To allocate the teaching signal to a sequence input terminal, enter the corresponding value (35)
Teaching OFF
Over write
completion OFF
Control mode selection: Sequence input signal (Reference value 36)

To switch the control mode.
Function
This function is to be used to switch to the control mode (control state) during servomotor operation
or similar.
Turn the control mode selection signal, which is assigned to a CONT input signal, on or off to
switch the control mode.
Control mode selection is enabled only if PA1_1 (control mode selection) is set at 3, 4 or 5.

CHAPTER 2 WIRING
Control mode
The enabled control mode includes the following.
PA1_1: Control mode Control mode selection

selection OFF ON
3
4
Position control
Position control
Speed control
Torque control
2
5 Speed control Torque control
For details, refer to "CHAPTER 4 PARAMETER."
Parameter setting
To assign control mode selection to a sequence input terminal, specify the corresponding value
Position control: Sequence input signal (Reference value 37)

To be used to conduct position control (positioning by pulse) in the extension mode.
This function is enabled only if "6" (extension mode) is selected for parameter PA1_01.
Function
Turn on to perform position control in the extension mode (mode compatible with that of
conventional Series).
The position control state continues while the position control signal assigned to a CONT input
signal remains turned on. Positioning, interrupt positioning and other functions can be executed
with a pulse input.

CHAPTER 2 WIRING
Parameter setting
To assign position control to a sequence input terminal, specify the corresponding value ("37") to
the input terminal function setting parameter. For command pulse ratio 1, specify ("27"), while
specify ("28") for command pulse ratio 2.
This signal is handled to be always turned off if it is not assigned to the sequence input signal.
2
[Example] To conduct operation with a command pulse input
Operation with a command pulse input is enabled while command pulse ratio 1 or
command pulse ratio 2 remains turned on after the position control signal is turned
on.
SCPU3 SCPU3 ONL 0 1 2 3 4 5 6 7 ONL ONL 0 1 2 3 4 5 6 7 ONL CH1

APS30
2 2
Pulse
ONL ONL EMG +OT -OT

RUN ERR RUN ERR ERR 8 9 101112131415 ERR ERR 8 9 101112131415 ERR CH2
TERM TERM
SLV RUN SLV RUN
PWR ALM ALM
STOP BAT STOP BAT CH
ALM No.
CPU CPU
No. No.
PH
20
PL
LOADER LOADER DA
1
B/A
PE1 HP2
Position control (37)
Command pulse ratio 1 (27)
(1) PA1_6: numerator 0 of electronic gear /PA1_7: denominator of electronic gear
In the factory shipment state, each pulse of a pulse input turns the servomotor by 16 encoder
pulses.
With an incremental encoder, each revolution of the motor shaft corresponds to 1048576 pulses
(20 bits).
Use the electronic gear to change the rotation amount of the servomotor corresponding to each
pulse of the pulse input.
(2) PA2_54: command pulse ratio 1/PA2_55: command pulse ratio 2
Numerator 0 of electronic gear and denominator of electronic gear convert the traveling amount of
the mechanical system per each pulse of the pulse input into a unit amount.
Or the multiplication of the traveling amount of the mechanical system can be changed with
command pulse ratio 1 or command pulse ratio 2.

CHAPTER 2 WIRING
The conditions for enabling position control with the command pulse input are shown below.
Servo-on [S-ON] = ON
Forced stop [EMG] = ON
(Control output ready for servo-on [RDY] = ON)
Position control (37) = ON 2

The command pulse is enabled while command pulse ratio 1
(27) or command pulse ratio 2 (28) remains turned on.
Function block diagram
Command pulse ratio 1

PA2_54
Command pulse ratio 2

PA2_55
Command pulse ratio 1(27)

Command pulse ratio 2(28)
Numerator 0 of electronic gear/ Denominator of electronic gear

(PA1_06) (PA1_07)

(PA2_51) (PA1_07)

(PA2_52) (PA1_07)

(PA2_53) (PA1_07)
Electronic gear ratio numerator selection 024

Electronic gear ratio numerator selection 125

CHAPTER 2 WIRING
Torque control: Sequence input signal (Reference value 38)

Use to conduct torque control in the extension mode.
This function is enabled only if "6" (extension mode) is selected for parameter PA1_01.
Function
2
Turn on to conduct torque control in the extension mode (mode compatible with that of
conventional Series).
The servo amplifier is in the torque control mode while the torque control signal assigned to a
CONT input signal remains turned on.
The torque of the output shaft of the servomotor can be controlled.
The torque is actually output while the forward command [FWD] or reverse command [REV] signal
remains turned on.
The torque command value depends on the input voltage applied to the TREF terminal. (Refer to
the table below.)
The direction of rotation varies between the forward command [FWD] and reverse command [REV]
signals.
Voltage applied to TREF terminal Output torque (rated torque 100 [%])
3[V] 100[%] *
* PA3_33: If the torque command scale value is the default value.
Parameter setting
To assign torque control to a sequence input terminal, specify the corresponding value ("38") to the
(1) Maximum rotation speed
If there is no load connected to the servomotor, the rotation speed is subject to a limitation on
PA1_26 (maximum rotation speed (for torque control)) with a variation of about 100 [r/min] (due to
lack of speed control).
The speed limit can be selected with the setting of PA2_56 (speed limit selection at torque control).
VV type: input voltage of speed command [VREF] terminal, multi-step speed setting
(2) Torque setting filter
A filter can be set to the input voltage applied to the torque command [TREF] terminal with the
setting of PA1_60 (torque setting filter).
(3) Torque command scale/offset
The scale and offset of the input voltage applied to the torque command [TREF] terminal can be
adjusted, using PA3_33 (torque command scale) and PA3_34 (torque command offset).

CHAPTER 2 WIRING
(4) Output torque

The output torque of the servomotor has individual differences (variation) of about 0 to +5 [%]
under torque control. Continuous operation can be made if the output torque is within the rated
torque.
(5) Torque limit
For details, refer to "Torque limit 0,1" on page 2-35.
2
Override enable: Sequence input signal (Reference value 43)
Override 1: Sequence input signal (Reference value 44)
The rotation speed of the servomotor can be changed during operation.
Function
The rotation speed can be changed with the multiplication designated with override 1/2/4/8 while
the override enable signal remains turned on. The speed can be increased up to 150 [%] of the
current rotation speed (within the maximum rotation speed).
The weight of the multiplication corresponding to override 1/2/4/8 can be changed with the
standard parameter.
This parameter is enabled for all rotation commands except for torque control and command
pulse input (command pulse ratio 1/2). The function and corresponding number are shown on the
next page.
Parameter setting
To assign override enable to a sequence input terminal, specify the corresponding value ("43") to
Similarly, specify the corresponding value ("44" to "47") for override 1/2/4/8.

CHAPTER 2 WIRING
Relevant description Override ratio

Traveling
Override Override Override Override speed
(1) Override multiplication 8 4 2 1 %
OFF OFF OFF OFF 0
The multiplication applicable while the OFF OFF OFF ON 10
override enable signal remains turned on is OFF OFF ON OFF 20
OFF OFF ON ON 30
shown in the table on the right. If override
2
OFF ON OFF OFF 40
OFF ON OFF ON 50
enable is turned off, the original speed (100
OFF ON ON OFF 60
[%] traveling speed) becomes effective. OFF ON ON ON 70
ON OFF OFF OFF 80
Signals not assigned to sequence input ON OFF OFF ON 90
terminals are assumed to be turned off. ON OFF ON OFF 100
ON OFF ON ON 110
ON ON OFF OFF 120
ON ON OFF ON 130
ON ON ON OFF 140
ON ON ON ON 150
* If the weight of the override is the default value
(2) Weight of override

The weight can be changed, using PA2_36 to 39 (override 1/2/4/8).
Default
No. Name Setting range Change
value
PA2_36 Override 1 10
PA2_37 Override 2 0[%] to 150[%] 20
Always
(In increments of 1)
If all the override 1/2/4/8 settings are turned on, the weight is 150 (10 + 20 + 40 + 80). If the sum
exceeds 150, the value immediately before is retained.
(3) Maximum rotation speed
Use the setting of PA1_25 (max. rotation speed (for position and speed control)) to specify the
maximum rotation speed of the output shaft. However, the setting is disabled for command pulse
inputs.

CHAPTER 2 WIRING
Interrupt input enable: Sequence input signal (Reference value 48)

Interrupt input: Sequence input signal (Reference value 49)
Use to realize the interrupt positioning function.
This function is enabled only if "6" (extension mode) and "7" (positioning operation) are selected for
2
parameter PA1_01.
Function
If the interrupt input enable signal assigned to a CONT input signal is turned on, stoppage is
caused after a travel of a certain amount since the interrupt input signal is turned on.
Specify the traveling amount after the interrupt input in PA2_20 (interrupt traveling unit amount).
The rotation speed follows the X1, X2 and X3 signals and input voltage applied to the speed
command [VREF] terminal.
The rotation speed after an interrupt input keeps the speed at the rising edge effective.
The override is enabled even after the rising edge.
To change the rotation speed in the interrupt positioning mode, use the override.
Parameter setting
To assign interrupt input enable to a sequence input terminal, specify the corresponding value
("48") to the input terminal function setting parameter. For the interrupt input, specify ("49").
These signals are handled to be always turned off if they are not assigned to sequence input
terminals.
(1) Interrupt traveling unit amount
The traveling unit amount after the interrupt input signal is turned on is specified in PA2_20
(interrupt traveling unit amount).
The timing chart is shown in the figure below.
Rotation speed
Time
Position control ON
Interrupt input enable ON
Forward command
(FWD) OFF ON
Interrupt input OFF
In-position (level)
ON OFF

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(2) Positioning accuracy

The traveling amount for interrupt positioning is the value corresponding to the present feedback
position.
The interrupt input signal is subject to the variation of the hardware filter (0.1 [ms]).
The positioning accuracy at a mechanical system traveling speed of 1000 [mm/s] (60m/min) is:
1000 x 0.0001 = 0.1 [mm].
2 Consideration must be taken for the response capability and other particulars of the sensor used
for the interrupt input.
Deviation clear: Sequence input signal (Reference value 50)

The difference (deviation) between the command position and feedback position is zeroed.
Function
The difference (deviation) between the command position and the feedback position is zeroed
while the deviation clear signal remains turned on.
The present command position changes to the present feedback position.
Use PA3_36 (deviation clear input form) to select either the edge or level signal.
If the edge is selected, deviation is reset at the rising edge.
The activation time must be 2 [ms] or over.
Parameter setting
To assign deviation clear to a sequence input terminal, specify the corresponding value ("50") to
The signal is handled to be always turned off if it is not assigned to the sequence input terminal.
All rotation commands are ignored while the deviation clear signal is turned on.
If the deviation clear signal is turned on during servomotor rotation, the manual forward rotation
[FWD] signal and so on are ignored. The feedback position does not change even if deviation clear
is executed.
You can zero the accumulated deviation due to the mechanical stop or similar, thereby avoiding
the travel by the deviation amount that may appear when the load is released.
After deviation clear is executed, the zero deviation sequence output signal is turned on.

CHAPTER 2 WIRING
Multi-step speed selection [X1]: Sequence input signal (Reference value 51)
The manual feed speed is specified for the position or speed control mode.
2
These values are used to select the speed limit in the torque control mode.
Function
The rotation speed while the forward command [FWD] (reverse command [REV]) signal is turned
on is selected.
(1) Under speed and position control
The motor turns at the speed selected with multi-step speed [X1], [X2] and [X3].
The setting speed is shown in the table below.
Parameter
X3 X2 X1 Rotation speed for enabling
No.
OFF OFF OFF - Speed command voltage (VREF)

OFF OFF ON PA1_41 Manual feed speed 1
OFF ON OFF PA1_42 Manual feed speed 2
OFF ON ON PA1_43 Manual feed speed 3
ON OFF OFF PA1_44 Manual feed speed 4
ON OFF ON PA1_45 Manual feed speed 5
ON ON OFF PA1_46 Manual feed speed 6
ON ON ON PA1_47 Manual feed speed 7
(2) Under torque control

The rotation speed of the servomotor is limited with the speed selected with multi-step speed [X1],
[X2] and [X3].
The speed limit under torque control is shown in the table below.
X3 X2 X1 Parameter No. Speed limit for enabling
OFF OFF OFF - Speed command voltage (VREF)

OFF OFF ON PA1_41 Speed limit 1
OFF ON OFF PA1_42 Speed limit 2
OFF ON ON PA1_43 Speed limit 3
ON OFF OFF PA1_44 Speed limit 4
ON OFF ON PA1_45 Speed limit 5
ON ON OFF PA1_46 Speed limit 6
ON ON ON PA1_47 Speed limit 7

CHAPTER 2 WIRING
Parameter setting
To assign multi-step speed selection to a sequence input terminal, specify the corresponding value
("51," "52" or "53") to the input terminal function setting parameter.
terminals.
2 Free-run [BX]: Sequence input signal (Reference value 54)

To put the servomotor forcibly into free-run (coast-to-stop).
Priority is given to this signal in all control modes.
Function
While the free-run [BX] signal assigned to a CONT input signal remains turned on, the output of the
servo amplifier is shut off and the servomotor free-run.
The output shaft of the servomotor decelerates (accelerates) according to the torque of the load.
The free-run signal is enabled in all control modes (position control, speed control and torque
control modes).
Under position control, the number of output pulses sent from the host controller deviates from the
revolution amount of the servomotor because the servomotor free-run while the signal remains
turned on.
Under speed control and torque control, as the servomotor automatically become free-run, in case
it is used for vertical transportation purpose, note that there is a risk of falling.
Parameter setting
To assign free-run to a sequence input terminal, specify the corresponding value ("54") to the input
terminal function setting parameter.
Edit permission: Sequence input signal (Reference value 55)

Editing operation for parameters and so on is limited with an external sequence input signal.
Function
The edit permission assigned to a CONT input signal controls editing operation and test operation
made at the keypad or PC Loader.
The following operation can be executed only while the edit permission remains turned on.
Parameter edit mode
Test operation mode
When the edit permission assigned to a CONT input signal is turned off, only the monitor mode
can be executed. This function can be used to avoid inadvertent operation of the keypad or PC
Loader, thereby avoiding movement of the servomotor, drop of the machine, etc.

CHAPTER 2 WIRING
Parameter setting
To assign the edit permission to a sequence input terminal, specify the corresponding value ("55")
(1) Parameter write protection
Specify "1" (write protection) to PA2_74 (parameter write protection) to disable key operation at the
keypad and parameter editing at the PC Loader.
2
The relationship between the edit permission and PA2_74 (parameter write protection) is shown in
the table below.
Edit permission
Edit permission PA2_74 Parameter change operation
response
Not assigned 0 : Write enable ON ON (Possible)

OFF 0 : Write enable OFF OFF (Impossible)
ON 0 : Write enable ON ON (Possible)
Not assigned 1: Write protect OFF OFF (Impossible)
OFF 1: Write protect OFF OFF (Impossible)
ON 1: Write protect OFF OFF (Impossible)
(2) Edit permission response

The edit permission response is an output signal.
The signal is output if it is assigned to an output signal and the edit permission is turned on.
To assign the edit permission response to a sequence output terminal, specify the corresponding

CHAPTER 2 WIRING
Anti resonance frequency selection 0: Sequence input signal (Reference value 57)
Anti resonance frequency selection 1: Sequence input signal (Reference value 58)
Select the anti resonance frequency, which is a vibration suppressing control function.
Function
2 In a spring characteristic structure such as the robot arm and transfer machine, vibration is caused
at the end of the workpiece upon sudden acceleration or deceleration of the motor. Vibration
suppressing control aims at suppression of vibration of the workpiece in such a system, thereby
realizing positioning at a shorter cycle time.
Four points through combination of anti resonance frequency selection 0 and anti resonance
frequency selection 1 can be specified.
The anti resonance point may vary according to the length of the arm and the weight of the load.
(a) (b) (c)
Selection of the anti resonance frequency is shown in the table below.
Anti resonance Anti resonance Vibration suppressing Vibration suppressing

frequency selection 1 frequency selection 0 resonance frequency workpiece inertia ratio
OFF OFF PA1_78 PA1_79

OFF ON PA1_80 PA1_81
ON OFF PA1_82 PA1_83
ON ON PA1_84 PA1_85
Parameter setting
To assign anti resonance frequency selection 0 or anti resonance frequency selection 1 to a
sequence input terminal, specify the corresponding value ("57" or "58") to the input terminal
function setting parameter.
signals.
In this case, PA1_78 (vibration suppressing resonance frequency 0) is always enabled.
To disable the anti resonance frequency, set the anti resonance frequency at 300.0Hz.
Because in-cycle switching of the anti resonance frequency causes a shock, switch during
stoppage without fail.
In addition, it is recommended to use PA1_52 (low-pass filter (for S-curve) time constant) in
parallel.

CHAPTER 2 WIRING
AD0: Sequence input signal (Reference value 60)

Enter the address of positioning data to be followed, among AD0 to AD3.
Refer to the table below when entering. 2
<Address No. selection table>
Sequential Operation mode In case of internal
Address
AD3 AD2 AD1 AD0 start selection positioning data selection: PA2_40=1
No.
PA2_41 (enable)
0: Disable Address error
0 OFF OFF OFF OFF 1: Enable Sequential start
2: Homing Homing operation
1 OFF OFF OFF ON Operation with positioning data 1
2 OFF OFF ON OFF Operation with positioning data 2
3 OFF OFF ON ON Operation with positioning data 3
4 OFF ON OFF OFF Operation with positioning data 4
5 OFF ON OFF ON Operation with positioning data 5
6 OFF ON ON OFF Operation with positioning data 6
7 OFF ON ON ON Operation with positioning data 7
8 ON OFF OFF OFF Operation with positioning data 8
9 ON OFF OFF ON Operation with positioning data 9
10 ON OFF ON OFF Operation with positioning data 10
11 ON OFF ON ON Operation with positioning data 11
12 ON ON OFF OFF Operation with positioning data 12
13 ON ON OFF ON Operation with positioning data 13
14 ON ON ON OFF Operation with positioning data 14
15 ON ON ON ON Operation with positioning data 15

CHAPTER 2 WIRING
Positioning data selection: Sequence input signal (Reference value 77)

Positioning data operation and immediate value operation are switched over.
Function
2
The positioning method can be switched at an arbitrary timing between the following: positioning
within 15 points with internal positioning data and positioning with immediate value data for
frequent positioning data change.
If the CONT signal is turned on, the positioning data is enabled.
if the CONT signal is turned off, the immediate value data is enabled.
The switching timing is always enabled.
The data is recognized at the activating edge of the START signal.
If the timing is simultaneous, the data after signal change is enabled.
Parameter setting
To allocate positioning data selection to a sequence input terminal, enter the corresponding value
(77) to the input terminal function setting parameter.

CHAPTER 2 WIRING
Output signal
Ready for servo-on [RDY]: Sequence output signal (Reference value 1)
This signal is turned on if the servomotor is ready to operate.
Function
The ready for servo-on signal is turned on if the conditions shown in the table below are satisfied.
Signal
division
Signal name
Function
No.
Signal status
2
Servo-on [S-ON] 1 ON
CONT input Forced stop [EMG] 10 ON
Free-run [BX] 54 OFF
Alarm detection 16 OFF
OUT output
Servo control ready
28 ON
[S-RDY]
The host sequence unit checks the ready for servo-on [RDY] signal to check if the servomotor is
ready to rotate.
Parameter setting
To assign ready for servo-on [RDY] to a sequence output terminal, specify the corresponding value
The servo control ready [S-RDY] (reference value 28) signal can be output.
The servo control ready signal is turned on if the conditions shown in the table below are satisfied.
Signal Function
Signal name Signal status
division No.
Forced stop [EMG] 10 ON

CONT input
OUT output Alarm detection 16 OFF
The internal CPU operates correctly. -
The L1, L2 and L3 terminals are turned on. -

CHAPTER 2 WIRING
In-position [INP]: Sequence output signal (Reference value 2)

This signal is turned on after a positioning motion is finished.
Function
(1) Status of in-position signal
2
The state under position control is shown in the table below.
Factor Sequence status Status of in-position signal
If servo-on [S-ON] is turned off Free-run ON

If servo-on [S-ON] is turned on Servo lock ON
Upon OT detection Servo lock ON
At deviation clear Servo lock ON
If forced stop [EMG] is turned off Zero speed ON
Upon alarm Free-run OFF
This signal is always turned on under speed control and torque control.
(2) In-position signal output format
PA1_33 (in-position output format) at either "0" (level) or "1" (single shot) can be set.
Parameter setting
To assign in-position [INP] to a sequence output terminal, specify the corresponding value ("2") to
the output terminal function setting parameter.
Signal activation condition
(1) At power-on
Level: ON
Single shot: OFF
(2) During command pulse input operation
Level: The signal is turned on if conditions (A) and (B) below are satisfied.
(A) The rpm of the servomotor is within the setting of PA1_30 (zero speed range).
(B) The difference (deviation amount) between the command position (command pulse
input) and feedback position is within the setting of PA1_32 (zero deviation
range/in-position range).
Single shot: If conditions (A) and (B) above are satisfied, the signal is turned on for the time
specified at PA1_34 (In-position min. OFF time/single shot ON time) and then it is
turned off.
However, if the zero deviation signal is turned off while the signal remains turned on,
the signal is forcibly turned off.

CHAPTER 2 WIRING
rpm PA1_32: Zero deviation

range/In-position range
Time
Zero speed ON OFF ON

2
Zero deviation ON OFF ON
In-position (level)
ON OFF ON
In-position PA1_35: In-position judgment time

(single shot)

PA1_34: In-position minimum

OFF time / Single shot ON time
(3) Interrupt positioning

specified at PA1_34 (in-position minimum OFF time / single shot ON time) and then
it is turned off.
(4) Homing/start positioning
specified at PA1_34 (in-position minimum OFF time / single shot ON time) and then
it is turned off.

CHAPTER 2 WIRING
Speed limit detection: Sequence output signal (Reference value 11)

The signal is turned on if the rotation speed of the servomotor reaches the preset speed limit.
Function
The signal is output to an external device if the rpm of the servomotor reaches the preset speed
2
limit.
Under speed control and position control (except for command pulse operation), the speed limit
depends on the setting of PA1_25 (maximum rotation speed).
Under torque control, the speed limit depends on the setting of PA1_26 (maximum rotation
speed (for torque control)).
However, if PA2_56 (speed limit selection at torque control) is "1," the speed limit can be
selected with multi-step speed settings X1 to X3.
Parameter setting
To assign speed limit detection to a sequence output terminal, specify the corresponding value
Over write completion: Sequence output signal (Reference value 13)

This signal is turned on after teaching is made and data is overwritten.
Function
(1) Data setting (overwriting)
The signal remains turned on while the teaching function enters data.
Teaching OFF ON
Over write OFF ON

completion
Parameter setting
To allocate the overwriting completion signal to a sequence output terminal, enter the
corresponding value (13) to the output terminal function setting parameter.
Brake timing: Sequence output signal (Reference value 14)

The timing signal for applying or releasing the brake of the servomotor.
The signal is turned on during operation, while it is turned off after operation is stopped.
Function
The brake timing output is turned off if the servo-on [S-ON] signal is turned off. The ready signal is
turned off after the torque keeping time to holding brake (PA2_64).

CHAPTER 2 WIRING
Parameter setting
To assign the brake timing output to a sequence output terminal, specify the corresponding value
The brake timing is issued at the specified OUT terminal.
This signal is handled to be always turned off if it is not assigned to the sequence output terminal.
The brake attached to the brake-attached servomotor is "for retention."

Do not use it for braking.
2
Do not use the 24 [V] power supply for sequence I/O signals in parallel.
Be sure to prepare a separate power supply for the brake.
To apply or release the brake with the brake timing output, turn the servo-on
[S-ON] signal off first before turning the power off.
Timing chart
(1) ON/OFF of servo-on [S-ON] signal
Servo on [S-ON] OFF ON OFF
Base signal OFF ON OFF

PA2_64
Torque keeping time to holding brake
Ready for servo-on [RDY] OFF ON OFF
Brake timing output OFF ON OFF
(2) Upon alarm
Alarm detection OFF ON
Base signal ON OFF
Ready for servo-on [RDY] ON OFF
Brake timing output ON OFF

CHAPTER 2 WIRING
(3) Upon main power supply OFF
Main power suppy ON OFF
2
Base signal ON OFF
PA2_64
Torque keeping time to holding brake
Ready for servo-on [RDY] ON OFF
Brake timing output ON OFF

CHAPTER 2 WIRING
Alarm detection (normally open contact): Sequence output signal (Reference value 16)
Alarm detection (normally closed contact): Sequence output signal (Reference value 76)
Signals are turned on (off in case of normally closed contact) if the servo amplifier detects an alarm
(activation of a protective function).
2
Function
The signal is turned on if the servo amplifier detects an alarm, and the state is retained on the
servo amplifier side. After the cause of the alarm is removed, the signal is turned off (to be ready to
operation) upon a rising edge of the alarm reset [RST] signal.
Alarm can be checked by having the host controller recognizes the alarm detection.
It can be also checked when the servo-on [S-ON] is ON and ready for servo-on [RDY] is OFF.
Precautions for using a normally closed contact for alarm detection
Power
OFF ON
Reset [ RS T]
OFF ON OFF
Alarm detection: NC
contact OFF 1.5 sec. ON OFF ON
Alarm detection
The contact remains turned off for about 1.5 seconds after the power is turned on.
Parameter setting
To assign alarm detection (normally open contact) to a sequence output terminal, specify the
corresponding value ("16") to the output terminal function setting system parameter.
For alarm detection (normally closed contact), specify ("76").
The nature of the detected alarm can be output to the sequence output terminal in a code.
Alarm code 4 [ALM4] (36)

CHAPTER 2 WIRING
Point detection, area 1: Sequence output signal (Reference value 17)

Point detection, area 2: Sequence output signal (Reference value 18)
The current position of the servomotor is detected and output in these signals.
Function
2 Three types of the output format can be selected through settings of PA2_31 (point detection, area
detection).
The signal can be output at two points with point detection, area 1, 2.
(1) PA2_31 (point detection, area detection) = 0: point detection
The signal is turned on near the position specified with PA2_32 or PA2_33.
190.0 200.0 210.0
Current position
Point detection
OFF ON PA2_32: Point detection, area detection position 1
PA2_33: Point detection, area detection position 2
10.0 10.0 PA2_34: Point detection range
(2) PA2_31 (point detection, area detection) = 1: area OFF ON

The signal is turned on at a position beyond the setting of PA2_32 or PA2_33.
The signal is turned off below the setting.

Current position 190.0 200.0 210.0
Area
OFF ON
(3) PA2_31 (point detection, area detection) = 2: area ON OFF

The signal is turned on below the setting of PA2_32 or PA2_33.
The signal is turned off beyond the setting.
Current position 190.0 200.0 210.0
Area ON OFF
Parameter setting
To assign point detection and area 1 to a sequence output terminal, specify the corresponding
value ("17") to the output terminal function setting parameter. Specify ("18") for point detection and
area 2.

CHAPTER 2 WIRING
Limiter detection: Sequence output signal (Reference value 19)

Whether the limiter function is enabled or not is checked.
Function
With the limiter function, a motion started with positioning data exceeding the positive limiter
2
detecting position (PA2_28) or negative limiter detecting position (PA2_29) is stopped at the
detecting position.
After the motion is stopped at the limiter detecting position, the limiter detection signal is output
under the same conditions as those of issuance of the positioning completion signal.
If the motion is started with positioning data not exceeding the specified limiter position, the limiter
detection signal is turned off.
Rotation speed
Time
OFF
Start positioning
Limiter detection OFF
The above positioning data assumes uniform incremental positioning data.
Parameter setting
To allocate limiter detection to a sequence output terminal, enter the corresponding value (19) to
The limiter function is helpful to move at a uniform interval to the preset parameter position.
There is no need to calculate the frequency of starting or remaining distance to go.
The limiter detection signal is issued after a timer time, similarly to positioning completion.
The limiter function is enabled even in the manual feed and pulse modes. In case of the pulse
mode, the motor is forcibly stopped, causing deviation between the number of command pulses
and the actual motor movement distance. The function is enabled during travel with positioning
data or operation with immediate values.

CHAPTER 2 WIRING
OT detection: Sequence output signal (Reference value 20)

This signal is output if the over-travel (OT) signal is turned off.
Function
The OT detection ("20") sequence output is issued while the +OT (7) or -OT (8) sequence input
signal terminal remains turned off.
2 In addition, OT detection ("20") is turned on if the current position reaches the reference value of
the software OT detection position.
If 7 (positioning operation) is selected for PA1_01 (control mode selection), PA2_25 (position
command format) is enabled.
Select 0 (regular PTP) with PA2_25 to enable the software OT function.
Select 1 (non-overflow) with PA2_25 to disable the software OT function.
Parameter setting
To assign OT detection to a sequence output terminal, specify the corresponding value ("20") to
(1) +OT detection (38)/-OT detection (39)
A + OT signal is detected during servomotor travel in the positive direction, while a - OT signal is
detected during travel in the negative direction.
Use sequence output signals to notify the host controller of detection of the + OT or - OT signal.
Connect to the host controller in general if the host controller is equipped with OT inputs.
(2) Software OT
Set PA2_25 (software OT selection) at "1" (enable) to limit the position range of motion between
(PA2_26 (positive software OT detection position)) and (PA2_27 (negative software OT detection
position)).
If the range is exceeded, the motion is forcibly stopped with the OT detection ("20") sequence
output turned on.
Supply pulse inputs in the direction opposite to the detection direction or perform manual feed
(forward/reverse command) to return to the range. The signal will be turned off and movement in
both directions will be possible.
The + OT (or - OT) sequence input is mechanical position detection, while software OT is position
detection of the servo amplifier. Software OT to reverse the homing motion shall not be applied.
Movable range
Feedback position
PA2_27: - software OT detection PA2_26: + software OT detection

position position

CHAPTER 2 WIRING
Cycle end detection: Sequence output signal (Reference value 21)

Add a cycle end to positioning data to check if the data position is reached. PA2_41 (sequential start
selection) must be set at 1 (enable). Change PA2_40 (internal positioning data selection) to 1
(enable).
Function
Starting at the positioning data at an arbitrary address, execute positioning data with merely the 2
start positioning signal sequentially until positioning data including the CEND status is reached.
Follow the procedure below to execute sequential start.
(1) Designate the first positioning data number and issue the start positioning signal to start the
positioning motion.
(2) Turn all positioning data addresses off and issue the start positioning signal. The motion
starts with the next positioning data.
(3) Step (2) is repeated until the positioning data including CEND is reached
(4) After positioning motions are completed up to the positioning data including CEND, the
cycle end detection signal is turned on at the same timing as the in-position signal.
(5) You can supply the start positioning signal with all addresses turned off to repeat the above
steps (1) through (4).
CEND
Rotation speed
7 8 9 10 7
Time
In-position ON OFF
(level)
Cycle end deteetion OFF
Address 7 00
Parameter setting
To allocate cycle end detection to a sequence output terminal, enter the corresponding value
(21) to the output terminal function setting parameter.
The cycle end detection signal is not output if sequential start cannot be executed.
If the servo-on signal is turned off
If the pulse ratio is enabled or a homing cycle is executed during sequential operation
If +OT or -OT is detected or if software OT is detected

CHAPTER 2 WIRING
Neither positioning cancel nor pause gives effects on cycle end detection.
When positioning data number 15 is reached during sequential operation, the cycle end process
is executed.
If data continuation designation is included in positioning data, operation starts at the next data
having no data continuation designation.
2 Homing completion: Sequence output signal (Reference value 22)

This signal is turned on after the homing motion is finished.
Function
This signal is turned on after the homing motion is normally finished. It remains turned on if the
feedback position is within PA2_17 (home position detection range) around PA2_16 (home
position after homing completion).
The signal is always turned on after homing if PA2_17 (home position detection range) is "0" or the
maximum value.
Home position
Current position
Homing completion
OFF ON
PA2_17: Home position detection range

The home position is the stopping point after a homing motion is finished, or a position at which
position preset is executed. It does not mean the "0" position.
Parameter setting
To assign homing completion to a sequence output terminal, specify the corresponding value
Zero deviation: Sequence output signal (Reference value 23)

The signal is turned on if the deviation (deviation amount) retained in the servo amplifier becomes
within the reference value under position control.
Whether the servomotor has reached close to the command position can be checked.
Function
The signal is turned on if the difference (deviation amount) between the command position and
feedback position is within the reference value of PA1_32 (zero deviation width/in-position range).
The signal status is retained in control modes other than position control mode (such as torque
control mode).
Position deviation will not be generated despite the reference value of PA1_32.

CHAPTER 2 WIRING
Parameter setting
To assign zero deviation to a sequence output terminal, specify the corresponding value ("23") to
Zero speed [NZERO]: Sequence output signal (Reference value 24) 2

The signal is turned on if the servomotor rotation speed is nearly zero.
Function
The signal is turned on if the servomotor rotation speed is within the reference value of PA1_30
(zero speed range).
The signal can be used as a motor stopping condition signal.
Parameter setting
To assign zero speed [NZERO] to a sequence output terminal, specify the corresponding value
Speed coincidence [NARV]: Sequence output signal (Reference value 25)

The signal is turned on after the servomotor rotation speed has reached the command speed.
Function
The signal is turned on if the servomotor rotation speed is within the reference value of PA1_29
(speed coincidence range).
The command speed is the reference values of PA1_41 to 47 (manual feed speed 1 to 7) and the
speed command voltage supplied to the VREF terminal.
The signal is enabled under speed control and position control (interrupt positioning) and in the
homing cycle. It is turned off under torque control.
During manual operation, the signal is not output under the following conditions.
If the [FWD] or [REV] signal is turned off
If the speed does not reach due to PA1_25 (max. rotation speed (for position and speed control))
If the deceleration time is too long to reach the command speed
Parameter setting
To assign the speed coincidence [NARV] signal to a sequence output terminal, specify the
corresponding value ("25") to the output terminal function setting parameter.

CHAPTER 2 WIRING
PA1_25 (max. rotation speed (for position and speed))
Specify the upper limit of the servomotor rotation speed which is specified with a parameter.
If the maximum rotation speed is exceeded due to an override or similar, the servomotor rotates at
the specified value.
2 Under torque control, there is a difference of about 100 [r/min] between the reference value and
the actual servomotor rotation speed. (This is because the speed is not controlled).
The maximum rotation speed setting is disabled under command pulse input position control.
Torque limit detection: Sequence output signal (Reference value 26)

The signal remains turned on while the output torque of the servomotor is at the torque limit value.
Function
The torque limit value can be changed according to conditions. For details, refer to "Torque limit 0,
1" on page 2-36.
The torque limit detection (26) output is enabled in all control modes.
Parameter setting
To assign torque limit detection to a sequence output terminal, specify the corresponding value
Overload warning detection: Sequence output signal (Reference value 27)

The signal is turned on if the servomotor load factor is at the reference value.
A warning can be issued before the servomotor is suddenly stopped due to an overload alarm or
similar.
Function
The signal is turned on if the load factor of the servomotor reaches the overload warning level of
PA2_70 (overload warning value).
The signal is automatically turned off if the factor falls below the overload warning level. (There is
no way to reset with a sequence input signal.)
The signal can be issued before the servo amplifier trips due to an overload alarm. Determine the
reference value while referring to the characteristics diagram specified on the next page.
Parameter setting
To assign overload warning detection to a sequence output terminal, specify the corresponding

CHAPTER 2 WIRING
Standard series
Overload warning time (at 3000r/min)
1200
2
Overload warning time [sec]
1000
Overload warning value=20%
800 Overload warning value=40%
Overload detection (OL2) alarm
400
Lock detection (OL1) alarm
200
0
0 100 200 300 400
Load factor [%]
Overload warning time (at 6000r/min)
600
Overload warning time [sec]
500
200 Overload detection (OL2) alarm
Lock detection (OL1) alarm
100
0
0 100 200 300 400
Load factor [%]

CHAPTER 2 WIRING
Servo control ready [S-RDY]: Sequence output signal (Reference value 28)
Use the signal to check that the servo amplifier and servomotor operate correctly.
Function
The servo control ready signal remains turned on while the conditions listed in the table below are
2
satisfied.
Signal Function
Signal name Signal status
division No.
Forced stop [EMG] 10 ON

CONT input
OUT output Alarm detection 16 OFF
The internal CPU operates correctly. -
The L1, L2 and L3 terminals are turned on. -
Parameter setting
To assign servo control ready to a sequence output terminal, specify the corresponding value
Edit permission response: Sequence output signal (Reference value 29)

The signal is output if the "edit permission" input signal for enabling editing operation for parameters,
etc. is turned on.
Function
After the edit permission assigned to a CONT input signal is on, under some conditions, the "edit
permission response command" is turned on. The conditions are listed in the table below.
Parameter change Edit permission
Edit permission PA2_74
operation response
Not assigned 0: Write enable ON Possible
OFF 0: Write enable OFF Impossible
ON 0: Write enable ON Possible
Not assigned 1: Write protect OFF Impossible
OFF 1: Write protect OFF Impossible
ON 1: Write protect OFF Impossible
Parameter setting
To assign edit permission response to a sequence output terminal, specify the corresponding

CHAPTER 2 WIRING
For details, refer to "Edit permission" on page 2-54.
Data error: Sequence output signal (Reference value 30)
2
The signal is turned on if the data reading or writing process via RS-485 communications does not
proceed correctly.
Function
The signal is turned on if the data via RS-485 communications is incorrect (drifting beyond the
specification limit).
Address error: Sequence output signal (Reference value 31)

The signal is turned on when deviation from the positioning data number range is detected.
Function
The signal is turned on if the start positioning (4) signal is turned on while AD3 through AD0 are
turned off with PA2_41 (sequential start selection) being 0 (disable).
Start operation with a correct positioning data number to turn the signal off.
Parameter
To allocate the address error to a sequence output terminal, enter the corresponding value (31)
to the output terminal function setting parameter.
Alarm code 0: Sequence output signal (Reference value 32)

Upon alarm, signal to output alarm details into code
Function
Alarm code 0 to 4 signals assigned to OUT output signals identifies the nature of the alarm.
Parameter setting
To assign alarm code 0 to 4 to sequence output terminals, specify the corresponding value ("32" to
"36") to the output terminal function setting parameter.

CHAPTER 2 WIRING
List of alarm nature and code
Nature of alarm ALM4 ALM3 ALM2 ALM1 ALM0 Code Indication Order
No alarm (during correct operation) 00H - -

Overload 1 1 01H oL1 15
2 Overload 2
Pulse command frequency error 1

1
0
01H
02H
oL2
HF
16
29
Amplifier overheat 1 1 03H AH 22
Internal braking resistor overheat 1 0 0 04H rH1 18
External braking resistor overheat 1 0 0 04H rH2 19
Braking transistor error 1 0 0 04H rH3 20
Deviation overflow 1 0 1 05H oF 21
Overcurrent 1 1 1 0 06H oC1 1
Overcurrent 2 1 1 0 06H oC2 2
Overspeed 1 1 1 07H oS 3
Overvoltage 1 0 0 0 08H Hv 5
Control power undervoltage 1 0 0 1 09H LvC 4
Main power undervoltage 1 0 0 1 09H LvP 17
Encoder trouble 1 1 0 1 0 0AH Et1 6
Encoder trouble 2 1 0 1 0 0AH Et2 7
Initial error 1 0 1 1 0BH IE 28
Circuit trouble 1 1 0 0 0CH Ct 8
Memory error 1 1 0 1 0DH DE 9
Fuse broken 1 1 1 1 0FH Fb 10
Encoder communication error 1 0 0 0 0 10H EC 13
Motor combination error 1 0 0 0 1 11H CE 11
Braking transistor overheat 1 0 0 1 0 12H tH 12
CONT (Control signal) Error 1 0 0 1 1 13H CtE 14
Encoder overheat 1 0 1 0 0 14H EH 23
Absolute data lost 1 1 0 1 0 1 15H dL1 24
Multi-turn data overflow 1 0 1 1 0 16H AF 27
*1=ON, 0=OFF Indication indicates characters displayed at the keypad.

CHAPTER 2 WIRING
Type Nature of alarm Code
BCD error 19H

Address error
Out-of-range error 1AH
Command rejection 1BH
Data error
BCD error
Out-of-range error, 0 data write
1CH
1DH
2
Negative sign designation 1EH
Battery warning 17H
Maintenance function
Life warning 18H
If two or more alarms occur simultaneously, alarms are output in the priority specified in the table
above.
The life warning is for the capacitors in the main circuit inside the servo amplifier and the cooling
fan (OR condition).
+OT detection: Sequence output signal (Reference value 38)

-OT detection: Sequence output signal (Reference value 39)
The state of over-travel (OT) is output.
Function
The corresponding positive or - OT detection sequence output is turned on while the +OT or -OT
sequence input signal terminal remains turned off.
Parameter setting
To assign positive or - OT detection to a sequence output terminal, specify the corresponding
value ("38" or "39") to the output terminal function setting parameter.
(1) OT detection
The signal is turned on when the servomotor detects the OT signal in either the positive or
negative direction. For details, refer to page 2-68.
(2) Software OT
Set PA2_25 (software OT selection) at "1" to allow movement in the position range between
(PA2_26 (+software OT detection position)) and (PA2_27 (-software OT detection position)).
For details, refer to "PA2_25 to 27 software OT selection/+software OT detection/-software OT
detection position" on page 4-66.

CHAPTER 2 WIRING
Home position LS detection: Sequence output signal (Reference value 40)

The signal is output while the home position LS signal (input signal) remains turned on.
Function
The sequence output corresponding to home position LS detection is turned on while the home
position LS sequence input signal remains turned on.
2 Parameter setting
To assign home position LS detection to a sequence output terminal, specify the corresponding
Forced stop detection: Sequence output signal (Reference value 41)

The signal is turned on while the forced stop signal (input signal) remains turned off.
Function
Forced stop detection is turned on when the forced stop sequence input signal is turned off. For
details, refer to "Forced stop" on page 2-32.
Parameter setting
To assign forced stop detection to a sequence output terminal, specify the corresponding value
Battery warning: Sequence output signal (Reference value 45)

The signal is output if the battery voltage is smaller than the rated value.
Function
If the battery voltage is smaller than the rated value in an established ABS system (absolute
system), a battery warning signal is turned on.
Parameter setting
To assign battery warning to a sequence output terminal, specify the corresponding value ("45") to
Replace the battery immediately if this signal is turned on.

CHAPTER 2 WIRING
Life warning: Sequence output signal (Reference value 46)

The life of internal main circuit capacitors of the servo amplifier and that of the cooling fan are
calculated and output its signal.
Function
2
The life of internal main circuit capacitors of the servo amplifier and that of the cooling fan are
calculated and, if either exceeds the rated time, a life warning is turned on.
Use the PC Loader or keypad (En_003) to discriminate between the main circuit capacitors and
cooling fan.
Parameter setting
To assign the life warning to a sequence output terminal, specify the corresponding value ("46") to
MD0: Sequence output signal (Reference value 60)

The M code of positioning data currently executed is output.
Function
The M code of the positioning data being executed is output.
Unlike JIS B 3614, M00, M02, M30, M98 and M99 are not provided with specific functions but are
general-purpose code outputs. No interlock function is provided at MON and MOFF.
The M code is output at M code sequence output terminals 0 to 7 (60 to 67).
The M code is a hexadecimal between 00H and FFH.
* The default value of the M code is FF.
In case of RS-485 communications, the code can be acquired through in-process positioning data
read function.
Parameter setting
To allocate M codes 0 to 7 to sequence output terminals, enter corresponding value (60 to 67)
to the system parameter.

CHAPTER 2 WIRING
(1) M code setting range
Enter the M code in a binary between 00h and FFh.
(2) Output at start (output in start) / output at completion (output after completion)
2 You can select the M code output timing between during execution of positioning data (output at
start) and after execution of positioning data (output at completion).
Output at start (in-process output)

The signal is issued since the start of the positioning motion to the end. After the positioning motion
is finished, the signal is turned off.
Simultaneous output of M code
Rotation
M code 20
speed
Time
Timer
(positioning data)
Ready for
ON
servo-on
Start
OFF ON
positioning
AD3 to AD0 5 15
(level)
M code FF 20 FF
* Positioning data is executed while the timer time is counted.


CHAPTER 2 WIRING
Output at completion (after-process output)

The signal is output at positioning completion and is hold.
Output after M code issuing
Rotation
M code 20
2
speed
Time
Timer
(positioning data)
Ready for
ON
servo-on
Start
OFF ON
positioning
AD3 to AD0 5 15
(level)
M code FF 20
* Positioning data is executed while the timer time is counted.

Position preset completion: Sequence output signal (Reference value 75)

This signal is output after position preset (position change) is executed and completed.
Function
If position preset is executed in an established ABS system (absolute system) to reset from an
alarm or change the current position, the sequence output corresponding to position preset
completion is turned on after position preset is finished.
Parameter setting
To assign position preset completion to a sequence output terminal, specify the corresponding
Alarm detection (normally closed contact): Sequence output signal (Reference value 76)
The signal is turned off if a protective function (alarm) of the servo amplifier is activated.
For details, refer to Alarm code 0 to 4 on page 2-75.
Immediate value continuation permission: Sequence output signal (Reference value 79)
The signal is turned on when the system is ready to accept an immediate value continuation command.
Function
The immediate value continuation command can be accepted only if this signal is turned on after
immediate value operation is started.
The signal is turned off after the continuation setting completion signal is turned on. It is turned on
again after data continuation is made.
The signal is turned off 50ms after positioning based on the post-continuation data.

CHAPTER 2 WIRING
For details, refer to Immediate value continuation on page 2-37.
Parameter setting
Enter the corresponding value (79) to the output terminal function setting parameter. Relevant
signal reference values are shown below.
2 Allocated signal No.

22
signal
80
79
Immediate value continuation completion: Sequence output signal (Reference value 80)
The signal is turned on after continuation of immediate value operation is processed according to an
immediate value continuation command, and it is turned off after the immediate value continuation
command is turned off.
Function
After immediate value operation is started and positioning is completed, the positioning motion
continues according to new target position (speed) data. The positioning motion continues even if
deceleration is already started with immediate value operation data.
For details, refer to Immediate value continuation on page 2-37.
Parameter setting
Enter the corresponding value (80) to the output terminal function setting parameter. The relevant
Allocated signal No.

22
signal
80
79
Immediate value change completion: Sequence output signal (Reference value 81)
The signal is turned on when the changing process is executed according to an immediate value
change signal, and it is turned off after the immediate value change is turned off.
Function
While the in-position signal is turned off after immediate value operation is started, the target
position and target speed can be changed at an arbitrary timing.
For details, refer to Immediate value change on page 2-39.
The command position and command speed change at the activating edge of the immediate value

CHAPTER 2 WIRING
change command. While the positioning completion signal is turned off, they can be changed at an
arbitrary timing.
Parameter setting
Enter the corresponding value (81) to the output terminal function setting parameter. The relevant
Allocated signal
Immediate value change
No.
23
2
Immediate value change completion 81
Command positioning completion: Sequence output signal (Reference value 82)

The signal is turned on after the command value inside the servo amplifier is completed.
Function
The signal undergoes ON-to-OFF transition at the start of operation and OFF-to-ON transition
upon elimination of the internal command during manual feed, positioning, homing or interrupt
positioning. However, even if the command is eliminated, in the case of the automatic-operation
continuation dwell timer counting cycle for example, the OFF state continues during operation.
When continuation of operation is disabled due to alarm detection, emergency stop detection or
OT detection, this signal is immediately turned on.
Speed
Command
Time
Motor speed
Start positioning ON
Command positioning OFF

completion ON
In-position OFF ON

CHAPTER 2 WIRING
If the command positioning completion signal is allocated to an output signal, the condition for the
next start signal is activation of the command positioning completion signal. Refer to the timing
chart below.
(Example : Automatic operation continuation)
2 Speed Motor
speed
Command
Time
Start positioning ON
Command positioning
OFF
completion
ON
In-position OFF
[INP]
If a motion to the current position is started, the servomotor does not start but the in-position signal is
turned off for the time specified in PA1_34 (in-position minimum OFF time / single shot ON time).
Parameter setting
Enter the corresponding value (82) to the output terminal function setting parameter.
Range 1 of position: Sequence output signal (Reference value 83)

Range 2 of position: Sequence output signal (Reference value 84)
This signal is issued upon detection of the current servomotor position.
Parameter setting
The signal can be output at two positions: position range 1 and 2.
Range 1 of position: Enter at PA3_92 and _93.
Range 2 of position: Enter at PA3_94 and _95.

CHAPTER 2 WIRING
1) Setting value of PA3_92 < Setting value of PA3_93
Range1 of position: Setting1 (PA3_92) Range1 of position: Setting2 (PA3_93)
1000.00 3000.00 2
Motor current
position
Range1 of OFF ON OFF

position
2) Setting value of PA3_92 > Setting value of PA3_93
Range1 of position: Setting2 (PA3_93)

Range1 of position: Setting1 (PA3_92)
1000.00 3000.00
Motor current
position
Range1 of ON OFF ON
position
Note: If setting 1 of range 1 of position (PA3_92) is the same as setting 2 of range 1 of

position (PA2_93), range 1 of position is always turned off. The same is true for range 2 of
position.

CHAPTER 2 WIRING
2.6 Connection Example to Host Controller
For products not described in this manual, be sure to refer to the manual attached to the corresponding
product. Refer to the connection diagram described here.
The servomotor specified in the connection diagram is equipped with a brake. If the servomotor is
2
equipped with no brake, the Br terminal is not provided.
Connection of connector 6 (CN6) is unnecessary for the operation of the servomotor. Use it to
measure or monitor the speed waveform and torque waveform of the servomotor with a measuring
instrument or similar.
Connect a battery at connector 5 (CN5) to configure an absolute system.
It is unnecessary if the absolute system is not configured.
Connector 4 (CN4) is for the PC Loader. It is irrelevant to operation or stopping of the servomotor.
To drive a servomotor, the main power and control power must be supplied. To edit parameters or
perform similar operation without rotating the motor, supply only the control power.
Prepare separate power supplies for 24 [V] DC sequence I/O (CN1) and 24 [V] DC brake.
This is to isolate the effects of voltage fluctuation caused by counter electromotive force generated
by power-on and -off of the brake coil. There is no polarity in the brake power supply input.
2-86 Connection Example to Host Controller

below.
P1 P(+) N(-) RB1 RB2 RB3
TB
Commercial power supply: In case
of single-phase input, connect TB
TB
across L1 and L2 terminals.
L1C
U 1(A) U
L2C
V 2(B) V
L1
W 3(C) W
L2
4(D)
L3
DC24V 1(E) Br
(2) 2(F) Br
CN2
P5 1 7(H) P5
M5 2 8(G) M5
SIG+ 5 5(C) SIG+
SIG- 6 4(D) SIG-
The maximum output frequency is 250kHz.
BAT+ 3 1(T) BAT+

BAT- 4 2(S) BAT-
3 FG
4-axis pulse terminal CN1 Servomotor

[ ] Terminal indication
P 24 FFA 31 enclosed in
12 PPI parentheses ()
*FFA 32
GYS and GYC: 1kW
35 CA FFB 29 or more
0 36 *CA *FFB 30 GYG: All models
1 33 CB FFZ 27
*FFZ 28
34 *CB
FZ 10
8
M5 9
12
- OUT1 5
M 24 20 COMIN
OUT2 6
21 CONT1
P 24 OUT3 26
22 CONT2
OUT4 7
1 CONT3
DC 24 V OUT5 8
DC24V 2 CONT4
COMOUT 19
3 CONT5
4 CONT6 CN5
CHAPTER 2
M 24 23 CONT7
BAT+ 2
24 CONT8
BAT- 1
This terminal needs no FB. For details, refer to the manual prepared for the positioning terminal.
2.6.1 Connection Example (Positioning terminal: NP1SF-HP4DT)
A connection example with MICREX-SX Series four-axis pulse output positioning terminal is shown
Connection Example to Host Controller 2-87

WIRING
2
2
2-88
P1 P(+) N(-) RB1 RB2 RB3
module.
TB
TB
CHAPTER 2

L1C
U 1(A) U
L2C
V 2(B) V
L1
W 3(C) W
L2
4(D)
L3
WIRING
DC24V 1(E) Br
Pulse output positioning module (2) 2(F) Br
[ - ] CN2
P5 1 7(H) P5
Feedback pulse, A-phase A7
M5 2 8(G) M5
Feedback pulse, *A-phase A6
SIG+ 5 5(C) SIG+
Feedback pulse, B-phase B7 SIG- 6 4(D) SIG-
Feedback pulse, *B-phase B6 BAT+ 3 1(T) BAT+
Connection Example to Host Controller

Feedback pulse, Z-phase A4 BAT- 4 2(S) BAT-
Feedback pulse, *Z-phase 3 FG
A3
CN1
Feedback pulse, GND A5
Feedback pulse, GND B5 Servomotor
FFA 31
P24 12 PPI Terminal indication
*FFA 32 enclosed in
35 CA FFB 29 parentheses ()
Forward rotation pulse output A9 36 *CA *FFB 30 GYS and GYC:
Pulse output COM FFZ 27 1kW or more
A8 33 CB
*FFZ 28 GYG: All models
Reverse pulse output B9 34 *CB
FZ 10
Pulse output COM B8 M24 M5 9
24VDC for output A13 P24
24VDC for output B13 OUT1 5
20 COMIN
Output COM A11 M24 OUT2 6
21 CONT1
Output COM B11 OUT3 26
22 CONT2
OUT4 7
Input COM A14 P24 1 CONT3
DC 24 V OUT5 8
Input COM B14 P24 2 CONT4
COMOUT 19
2.6.2 Connection Example (Positioning module: NP1F-MP2)
3 CONT5
A20
4 CONT6 CN5
B20 P24
23 CONT7
A19 M24 BAT+ 2
A connection example with MICREX-SX Series pulse two-axis positioning module is shown below.
24 CONT8 BAT- 1
B19
The maximum output frequency is 200kHz. For details, refer to the manual prepared for the positioning
P1 P(+) N(-) RB1 RB2 RB3
TB
shown below.
TB
L1C
U 1(A) U
L2C
V 2(B) V
L1
W 3(C) W
L2
4(D)
L3
F3YP18-0N)
DC24V 1(E) Br
(2) 2(F) Br
CN2
Pulse positioning module
[ - ]
P5 1 7(H) P5
[ - ]
M5 2 8(G) M5
SIG+ 5 5(C) SIG+
Z-phase input + SIG- 6 4(D) SIG-
15a
BAT+ 3 1(T) BAT+
Z-phase input - 16a
For the PLC, refer to the corresponding manual.
BAT- 4 2(S) BAT-

External power supply
5Vin 8b 3 FG
GND 8a
CN1 Servomotor
5 Terminal indication
FFA 31 enclosed in
12 PPI *FFA 32 parentheses ()
Forward rotation pulse + 14a GYS and GYC:
35 CA FFB 29
1kW or more
Forward rotation pulse - 13a 36 *CA *FFB 30 GYG: All models
Reverse rotation pulse + 12a FFZ 27
33 CB
Reverse rotation pulse -
*FFZ 28
11a 34 *CB
FZ 10
M5 9
Deviation clear 10a
P24 OUT1 5
Contact input common 1a 20 COMIN
OUT2 6
21 CONT1
Deviation clear (GND)
OUT3 26
9a 22 CONT2
OUT4 7
1 CONT3
OUT5 8
2 CONT4
CHAPTER 2
Home position limit 4a COMOUT 19

3 CONT5
2.6.3 Connection Example (Positioning module: F3YP14-0N/
DC 24 V
Contact input common 3a 4 CONT6 CN5
23 CONT7
Home position limit 2a BAT+ 2
24 CONT8
A connection example with the F3YP14-0N type positioning module made by Yokogawa Electric is
M24 BAT- 1
Connection Example to Host Controller 2-89

WIRING
2
2
2-90
P1 P(+) N(-) RB1 RB2 RB3
Commercial power supply: In case TB

TB
L1C
CHAPTER 2
U 1(A) U
L2C
V 2(B) V
L1
W 3(C) W
L2
4(D)
L3
DC24V 1(E) Br
WIRING
(2) 2(F) Br
CN2
Pulse positioning unit
P5 1 7(H) P5
[ QD75D1 ]
M5 2 8(G) M5
SIG+ 5 5(C) SIG+
1A9 SIG- 6 4(D) SIG-
BAT+ 3 1(T) BAT+
1A10
BAT- 4 2(S) BAT-
3 FG
Connection Example to Host Controller

1A12
For the PLC, refer to the corresponding manual.
1A13
CN1
Servomotor
Terminal indication
FFA 31 enclosed in
12 PPI *FFA 32 parentheses ()
+ 1A15 35 CA FFB 29 GYS and GYC:
- 1kW or more
1A16 36 *CA *FFB 30
GYG: All models
+ 1A17 FFZ 27
33 CB
- *FFZ 28
1A18 34 *CB
FZ 10
M5 9
1A11
P24 OUT1 5
1A6 20 COMIN
OUT2 6
21 CONT1
1A1 OUT3 26
22 CONT2
Connection between the QD75 type positioning unit and servo amplifier is shown.
1A2 OUT4 7
1 CONT3
OUT5 8
2.6.4 Connection Example (Positioning unit: QD75 type)
1A3 2 CONT4
COMOUT 19 M24
1A4 3 CONT5
DC 24 V
4 CONT6 CN5
1A5
23 CONT7
1A14 BAT+ 2
24 CONT8
M24 BAT- 1
A connection example with the QD75 type positioning unit made by Mitsubishi Electric is shown below.
CHAPTER 3 OPERATION 3
3-1
CHAPTER 3 OPERATION
3.1 Signal Description (Priority among Input Signals)
Input signals of the servo amplifier for stopping the motor shaft are received first in view of safety.
Section
Applicable signal
Description
(Function No.)
Free-run command (54)

01 Operation signal always given highest priority
3
Servo-on (1)
Forced stop (10)
02 Operation signal always given priority
External braking resistor overheat (34)
Torque limit 0 (19)
03 Signal for controlling the torque
Torque limit 1 (20)
+OT (7)
-OT (8)
Command pulse inhibit (26)
04 Signal for stopping the motor
Pause (31)
Positioning cancel (32)
Deviation clear (50)
FWD (2)
REV (3)
05 Signal for turning the motor
Start positioning (4)
Homing (5)
Home position LS (6)
+OT (7)
06 Signal for determining the home position -OT (8)
Interrupt input (49)
Position preset (16)
Alarm reset (11)
07 Signal irrelevant to motor operation
Edit permission (55)
The moving part of the mechanical system of the elevator may drop if a free-run command is
used. Do not assign the command unless necessary.
If +OT (7) is detected during rotation caused by an FWD (2) signal, priority is given to the +OT (7)
signal.
Even if the +OT (7) signal is detected, priority is given to the torque limit (30) signal.
Priority is given to forced stop (10) during operation with a torque command (30) signal. However,
if the free-run command (34) signal is issued, the servo amplifier output is stopped.
The response time of the sequence input terminal and output terminal is about 1 [ms].
If the zero deviation signal setting or similar is too small, the host PLC may fail to recognize.
(The scanning cycle of a general PLC is several tens of milliseconds [ms].)
3-2 Signal Description (Priority among Input Signals)

CHAPTER 3 OPERATION
3.2 Selection of Operation Procedure
The VV type servo amplifier is capable of speed control and torque control with analog voltages,
position control with pulse, positioning data operation with Di/Do signals or RS-485 communications,
and immediate value data operation with RS-485 communications.
Follow the flow chart below to select the desired operation and enter parameters, etc.

3
No No Positioning control with
Positioning operation Operation in FALDIC-
speed control, torque control
with amplifier alone? series-compatible mode?
or pulse is used.
Yes Yes
Enter 7 to PA1_01 Enter 6 to PA1_01 Enter 1 to 5 to PA1_01

(control mode selection). (control mode selection). (control mode selection).
Positioning operation No Immediate value positioning

with internal data? operation is necessary.
Yes
Enter 1 to PA2_40 Enter 0 to PA2_40

(internal positioning data selection). (internal positioning data selection).
Positioning operation for up to 15 Positioning operation can be made Operation can be made with the Operation can be made
points can be made according to according to RS-485 (Modbus-RTU or PC same host settings as those of according to analog voltages
internal data. Loader) communications. FALDIC- Series. and pulse commands.

Refer to pages 3-15 Refer to pages 3-15 Refer to pages 3-12 Refer to pages 3-8
and 3-18. and 3-19. through 3-16. through 3-11.
(Immediate value data +

startup command)
Selection of Operation Procedure 3-3

CHAPTER 3 OPERATION
3.3 Operation Check
3.3.1 Power On
Connect the commercial power supply and the servomotor to the servo amplifier.
For the wiring method, refer to "CHAPTER 2 WIRING."
Supplying commercial power

3 Operate MCCB/ELCB to supply power.
Supply main power simultaneously or later to the control power.
If necessary, insert an electromagnetic contactor in the upstream of the main power input so that
the power can be shut off at any time.
The main power (L1, L2 and L3) and control power (L1C and L2C) are separated internally. Be
sure to supply power to both of them. The following results indicate the correct state.
(1) The charge LED lights up in red.
Charge LED
(2) If the servo amplifier is in the factory shipment state, the keypad
shows the following.
If the charge LED fails to light up

200 [V] is not supplied to the main power terminals (L1, L2 and L3). Check the source voltage.
Operation does not start with single-phase 100 [V] power supply. In case of three-phase 400 [V],
use a transformer to drop to 200 [V] to supply. (400 [V] will cause the servo amplifier to be
broken.)
If the keypad does not light up

200 [V] is not supplied to the control power terminals (L1C and L2C). Check the source voltage.
Operation does not start with signal-phase 100 [V] power supply. In case of three-phase 400 [V],
use a transformer to drop to 200 [V] to supply. (400 [V] will damage the servo amplifier.)
3-4 Operation Check

CHAPTER 3 OPERATION
If the keypad indicates differently

If three characters from the left is "AL-," an alarm is detected. In this case, the display blinks.
In addition, the orange LED below the keypad blinks upon an alarm.
If the keypad shows those other than specified above, the servo amplifier is not in the factory
shipment state.
3
3.3.2 Power-On/Servo Control-Ready [S-RDY]
The servo control ready [S-RDY] signal is issued about 2.0 seconds after the control and main power
supplies are turned on.
The CPU inside the servo amplifier diagnoses itself and, if the result is correct, the signal is issued and
remains turned on until the power is shut down.
Power supply Shutdown Supply
[SRDY]
OFF ON
About 2.0 seconds
3.3.3 Servo-On [S-ON]/Ready for Servo-On [RDY]
Issue this signal to turn the servomotor on and make it ready to turn. If the signal is turned off in motor
stoppage, the motor immediately free-run.
If the signal is turned off during motor rotation, the motor decelerates to stop and, after it is stopped, the
motor free-run.
After servo-on is turned on and the motor becomes ready to rotate, the ready for servo-on [RDY] signal
is turned on and the motor is in the ready-to-rotate state can be checked.
[S-ON] OFF ON
[RDY] OFF ON
About 2ms About 2ms
The servo amplifier input signal can be always enabled with parameters PA3_26 to PA3_30.
Servo-on [S-ON] turned on before power-on does not cause breakage to the servo amplifier.
Operation Check 3-5

CHAPTER 3 OPERATION
3.3.4 If the Servomotor Fails to Start
If the servomotor fails to start or unexpected indication is given, it is recommended to undergo the
procedure described in 14.5.8 Diagnosis to be Made If the Servomotor Fails to Start on page 14-28,
using PC Loader.
3.3.5 Shutdown
3 If the power is turned off with the servo-on signal turned on, the servo amplifier detects a low voltage
alarm.
If the main power is turned off for an interval longer than the main power shutoff detection time
(PA2_68) with the servo-on signal being turned on, and if the power is supplied again, a main circuit
low voltage alarm (LVP) is detected.
If the motor power is turned on again with the servo-on signal being turned on after one second or
more since the main power shutoff detection time (PA2_68) has elapsed, the main circuit low
voltage alarm is not detected.
If the DC link voltage drops below about 200V and the power is restored within one second with the
servo-on signal being turned on, the main circuit low voltage is detected. If the duration exceeds one
second, the main power undervoltage is not detected.
Even if the main circuit low voltage alarm is detected, there is no effect on the servo amplifier.
However, do not repeat to turn the power on or off to start or stop the servomotor.
Repetitive power-on and shutdown will cause breakage to the servo amplifier.
If the operation command is turned off before the power is shut off, the main circuit low voltage is not
detected.
This type of the servo amplifier does not cause the output shaft of the servomotor to coast to stop even
if an alarm reset signal is supplied.
The alarm reset signal resets alarm detection (activation of a protective function of the servo amplifier).
If the power is shut off during operation, the servo amplifier turns off operation preparation
completion [RDY] to stop the internal CPU.
3-6 Operation Check

CHAPTER 3 OPERATION
3.4 Operation
3.4.1 Test Operation at Keypad
Using the test operation mode of the keypad, check the motor rotation.
In case of a servomotor equipped with a brake, supply 24 [V] DC to release the brake.
The motor rotates even without a sequence I/O signal.
The relevant parameter settings and default values are shown below.
Default
3
Parameter No. Name Setting range
value
PA1_37 Acceleration time 1 0.0 [ms] to 99999.9 [ms] 100.0 [ms]
PA1_38 Deceleration time 1 0.0 [ms] to 99999.9 [ms] 100.0 [ms]
PA1_41 Manual feed speed 1 0.01 [r/min] to (max. speed) [r/min] 100.0
Test operation at keypad

Follow the procedure below to check that the output shaft of the servomotor rotates.
[1] Use the [MODE/ESC] key to start the test operation mode [Fn_001].
[2] The servomotor rotates while the key on the keypad is held down.
SET
(1 sec. or over)
ESC
SET
ESC SET (1 sec. or over) Indicates rotation in the

positive direction.

Indicates rotation in the

Keeps changing in the offline mode. negative direction.

After checking shaft rotation in the test operation mode, press the [MODE/ESC] key to return until
[Fn_001] is displayed again.
Unless [Fn_001] is displayed again, rotation with the sequence I/O signal is impossible.
Notation of key
In this chapter, keys on the keypad may be simply specified as shown below.
[MODE/ESC] key
In case of [MODE] function: MODE
In case of [ESC] function: ESC
[SET/SHIFT] key
In case of [SET] function: SET (1 sec. or above)
In case of [SHIFT] function: SHIFT
Operation 3-7
CHAPTER 3 OPERATION
3.4.2 Position Control (Pulse)
The shaft rotation position is controlled under position control according to the pulse input of the servo
amplifier.
The pulse operation procedure is shown below.
(2) Position control setting
3 (3) Position control check

(4) Pulse amount check
(1) Pulse setting
(1) Pulse setting

According to the pulse format of the host pulse generator, enter the following parameters.
Default
No. Name Setting range
value
0: Command pulse/direction
PA1_03 Command pulse form selection 1: Forward/reverse pulse 1
2: A/B phase pulse
Number of command input pulses 0: Electronic gear is enabled

PA1_05 0
per revolution 64 to 1048576 [pulses]
PA1_06 Numerator 0 of electronic gear ratio 1 to 4194304 16

PA1_07 Denominator of electronic gear ratio 1 to 4194304 1
To assign 4000 pulses per revolution of the servomotor

PA1_05 = 4000
To connect a 5 [mm] ball screw directly and change the per-pulse mechanical system traveling
amount to 0.001 [mm] (18-bit)
Because (5/262144)(PA1_06/PA1_07) = 1/1000
PA1_05=0,PA1_06=32768,PA1_07 = 625
3-8 Operation
CHAPTER 3 OPERATION
(2) Position control setting

The factory shipment settings of the VV type (RYT5-VV2 type) servo amplifier are as
follows.
Assignment of input terminal (CONT input signal)
CONT1: Servo-on [S-ON] (Function No. 1)
CONT2: Alarm reset [RST] (Function No. 11)
CONT3: Deviation clear (Function No. 50)
CONT4 to CONT24: (No designation)
Parameter PA1_01: Control mode selection 0 (position control) 3
Therefore the power-on state is the position control mode.
CONT1: Turn on servo-on [S-ON] and supply a pulse to turn the motor.
(3) Confirmation of position control

Confirm the position control mode. The third character "P" from the left indicates position control.
SET
(1 sec. or over)
ESC
(4) Confirmation of pulse amount

Issue a pulse from the host controller. Check that the count agrees with that of the servo amplifier.
SET
(1 sec. or over)
ESC
SHIFT
The display example for 40000 is shown.
With A/B phase pulse, four times the pulse count is displayed.
Operation 3-9
CHAPTER 3 OPERATION
3.4.3 Speed Control
The shaft rotation speed is controlled in the speed control mode according to the speed command
voltage input [VREF] of the servo amplifier or parameter setting.
If parameter PA1_01 is set at "1," the speed control mode starts after the RDY signal is turned on.
While the manual forward command [FWD] or manual reverse command [REV] signal is turned on, the
motor accelerates and turns at a constant speed, and deceleration starts when the signal is turned off.
Use the ACC (14) input signal to switch the acceleration/deceleration time.
3
The acceleration/deceleration time follows the parameter setting.
The rotation speed follows the X1 (51), X2 (52) and X3 (53) input signals or speed command voltage
[VREF].
In the below chart, the operation is executed with the speed corresponding to VREF.
First when the X1 signal is turned on, the operation is executed with the speed corresponding to the X1
signal (rotation speed setting in PA1_41).
Then the operation decelerates and stops after turning the FWD signal off.
Speed
ON
[RDY]
Zero speed ON OFF
Manual forward command OFF ON

[FWD]
Multi-step speed [X1] OFF ON
Use parameter PA3_35 to specify the zero clamp level in relation to the [VREF] input.
The following signal is active in the speed control mode.

Zero speed
The signal is turned on if the feedback speed of the motor (present shaft rotation speed of motor)
falls below a certain value.
3-10 Operation
CHAPTER 3 OPERATION
3.4.4 Torque Control
The shaft output torque is controlled under the torque control according to torque command voltage
input [TREF] of the servo amplifier or a parameter setting.
If parameter PA1_01 is set at "2," the torque control mode starts after the RDY signal is turned on.
The torque is output while the manual forward command [FWD] or manual reverse command [REV]
signal is turned on, while the torque is reduced to zero after the signal is turned off.
Torque
Torque setting filter
3
[RDY] ON
Manual forward OFF ON

command [FWD]
Use parameter PA1_60 to specify the torque setting filter.

The maximum motor rotation speed can be controlled.
No. Name Setting

Speed limit selection at 0: Limitation upon PA1_26 setting
PA2_56
torque control 1: Limitation at a speed selected with X3, X2 or X1
The speeds corresponding to X3, X2 and X1 are given with PA1_41 to PA1_47, or [VREF]
terminal.
Because the speed control is not performed, the actual speed limit level is different.
Operation 3-11
CHAPTER 3 OPERATION
3.4.5 Mode Selection
The operation control mode can be changed with parameter settings shown below and control mode
switching signal.
PA1_01:Control mode Control mode (function No.36)

selection Control mode selection=OFF Control mode selection=ON
3 3
4
Position control
Position control
Speed control
Torque control
The operation pattern with 5 specified in PA1_01 (speed control torque control) is shown below.
Forcible push against the

mechanical system
Speed
[RDY] ON
Zero speed ON OFF
Control mode OFF ON

selection
Speed control Torque control
To forcibly push against the mechanical system as shown in the figure above, torque limit
should be adopted with a pushing material or the like.
For the torque control, refer to Section 3.4.4.
The control mode switching condition is activation of the zero speed signal.
The same rule applies to the case where the control mode is 6 (extension mode).
3-12 Operation
CHAPTER 3 OPERATION
3.4.6 Extension Mode
Compatible mode with standard type of FALDIC- Series

If parameter PA1_01 is 6, operation is made with control signal inputs similar to those of the Series.
If the pulse operation is performed, pulses are active while "position control" and "pulse ratio 1 (2)" are
turned on.
[S-ON] OFF ON
3
[RDY] OFF ON
About 2ms About 2ms
Position control ON
Pulse ratio 1 ON
Input
Disable Pulse enable Disable
enable/disable
Command pulse multiplication (PA1_01 = 0)

Numerator 0 of electronic gear (PA1_06), numerator 1 of electronic gear (PA2_51), numerator 2 of
electronic gear (PA2_52) or numerator 3 of electronic gear (PA2_53) with an input signal can be
selected.
Position control
The following signals are enabled in the position control mode.
Zero deviation
The difference between the command position (pulse input) and feedback position (present
motor position) is the deviation. The signal is turned on if the present deviation is below a certain
value. You can check that the motor has reached the command position.
Zero speed
The signal is turned on if the feedback speed of the motor (present shaft rotation speed of motor)
is below a certain value.
In-position
Parameter PA1_34 to switch between level output and single-shot output can be used. The level
output is the same as the zero deviation signal, The single-shot output is turned on for a certain
time after the zero deviation signal is turned on.
Operation 3-13
CHAPTER 3 OPERATION
Deviation clear
The difference between the command position (pulse input) and feedback position (present
motor position) is the deviation.
Issue a deviation clear signal to zero the internal deviation. The command position becomes the
same as the feedback position.
Deviation clear is always effective and active even during rotation.
Either edge or level can be selected with parameter PA3_36 to switch the input format of the
3 deviation clear signal.

Because the deviation is forcibly zeroed, the motor is stopped.
Speed
Zero deviation ON OFF
Zero speed ON OFF
In-position ON OFF
(level)
In-position OFF ON
(single shot)
PA1_34
The single-shot output is forcibly turned off if the zero deviation signal is turned off.
To perform homing and interrupt positioning, select the extension mode. For details, refer to the
following pages.
3-14 Operation
CHAPTER 3 OPERATION
3.4.7 Homing
When in-position [INP] is turned on, activation of the homing command [ORG] starts a homing motion.
Enter parameters PA2_06 through 18 and 24 to configure the homing pattern.
Speed Homing speed
Homing
creeping speed
Shift amount for
homing
3
Time
[RDY] ON
[INP] ON OFF ON
Home position
LS detection OFF ON OFF
Homing completion OFF ON
[ORG] OFF ON OFF
[LS] OFF ON OFF
Encoder Z-phase OFF OFF

ON
For details of the homing pattern settings, refer to CHAPTER 4 PARAMETER.

The homing motion can be interrupted with forced stop [EMG].
The in-position [INP] signal shown in the figure assumes the level output mode.
If positioning completion single shot output is selected with basic setting parameter No.
33, check for stoppage with an external circuit before executing operation.
Operation 3-15
CHAPTER 3 OPERATION
3.4.8 Interrupt Positioning
Turn interrupt input enable signal on during operation with a forward [FWD] or reverse [REV] rotation
command to start to move by an interrupt traveling unit amount, which is specified at parameter
PA2_20, at the activating edge (OFF-to-ON transition) of the interrupt input.
Allocate interrupt input enable and interrupt input to CONT signals with input terminal function
parameters.
3 Interrupting traveling unit amount (PA2-20)

Speed
Time
[RDY] ON
[INP] ON OFF ON OFF
[FWD] OFF ON OFF ON
[X3, X2, X1] [ON, OFF, OFF]

Interrupt input enable OFF ON OFF ON
Interrupt input OFF ON OFF ON OFF
Disabled
(1) After the interrupt input enable signal is turned on, the activating edge
(OFF-to-ON transition) of the first interrupt input is enabled.
(2) Allocate the interrupt input to the CN1 terminal of CONT1 to 5. The filter circuit of
CONT1 to 5 causes a delay of about 0.05 [ms].
(3) To execute interrupt positioning again after interrupt positioning, turn the
interrupt input enable signal off temporarily and turn it on again.
(4) The in-position [INP] signal shown in the figure assumes the level output mode.
3-16 Operation
CHAPTER 3 OPERATION
3.4.9 Torque Limit
Torque limit is always enabled in the position control, speed control and torque control mode.
If the torque is limited under position or speed control, the designated position or designated speed
may not be achieved.
(1) Position/Speed control
The following limits can be set through combination of the "torque limit 0" and "torque limit 1"
sequence inputs.

3
OFF OFF Value set at PA1_27 and PA1_28
Smaller value between torque command voltage [TREF] and
OFF ON
PA1_27 (PA1_28)
ON OFF Smaller value between PA1_27 (PA1_28) and PA2_58
Smaller value between torque command voltage [TREF] and
ON ON
PA2_58
If neither "torque limit 0" nor "torque limit 1" is used, PA1_27 and PA1_28 are enabled.
(2) Torque control
Forward rotation torque limit PA1_27 and reverse rotation torque limit PA1_28 are always enabled
under torque control.
The output torque is in proportion to the voltage applied at the torque command voltage [TREF]
terminal.
(3) Forced stop
The torque limit in forced stop follows parameter PA2_60.
Operation 3-17
CHAPTER 3 OPERATION
3.4.10 Positioning Data Operation
Enter 1 to parameter PA2_40 (internal positioning data selection) to perform positioning data
operation. PTP (point-to-point) positioning operation is made according to Di/Do signals or commands
sent via RS-485 communications.
When in-position [INP] is active, enter the desired positioning address (AD0 to AD3) and turn start
positioning [START] on (activating edge) to execute positioning.
3 The positioning data can be registered with the PC Loader or keypad (front panel of amplifier) or
through teaching. To enable positioning data operation, you can allocate 77 (positioning data
selection) to a CONT signal and turn the signal on.
For details, refer to CHAPTER 12 POSITIONING DATA.
Speed
Stand still timer Stand still timer
Positioning data Positioning data
No.7 No.15
Time
[RDY] ON
[INP] ON OFF ON ON
M code output 5 7 15
Positioning
address 7 15
[START] OFF ON OFF ON OFF
3-18 Operation
CHAPTER 3 OPERATION
3.4.11 Immediate Value Data Operation
Enter 0 to parameter PA2_40 (internal positioning data selection) to enable operation with
immediate value data. Point-to-point (PTP) positioning operation is made according to commands sent
via RS-485 communications. When In-position [INP] is active, enter desired positioning data and so on
and turn start positioning [START] on (activating edge) to execute positioning.
To enable immediate value data operation, you can allocate 77 (positioning data selection) to a CONT
signal and turn the signal off. Use the Modbus-RTU protocol. (Immediate value data operation is
impossible with the PC Loader protocol.)
3
For details, refer to CHAPTER 13 RS-485 COMMUNICATIONS
Speed
stand still timer stand still timer
immediate value data 1 immediate value data 2

Time
[RDY] ON
[INP] ON OFF ON ON
M code output 5 7 15
immediate value data immediate value data 1 immediate value data 2
[START] OFF ON OFF ON OFF
To perform immediate value data operation with the Modbus-RTU protocol in a system
consisting of two or more servo system axes, you can use broadcasting to start multiple
axes simultaneously, so that pseudo interpolation operation is realized.
Operation 3-19
CHAPTER 3 OPERATION
3.4.12 Interrupting/Stopping Operation
The following input signals interrupt or stop each operation.

Servo-on [S-ON]
+OT/-OT
Forced stop [EMG]
Pause
3 Positioning cancel
Deviation clear
Free-run
(1) Servo-on [S-ON]

If servo-on [S-ON] is turned off during motor rotation, operation is stopped and the motor is stopped
according to the setting of parameter PA2_61 (action sequence at servo-on OFF). If immediate
deceleration is selected, deceleration is made at the torque specified in parameter PA2_60 (third
torque limit).
Speed
Time
[RDY] ON OFF
[INP] OFF ON
Zero deviation OFF ON
Zero speed OFF ON
[S-ON] ON OFF
(1) If free-run at deceleration is selected at parameter PA2_61 (action sequence at

servo-on OFF), the motor coasts for a while due to inertia.
(2) The in-position [INP] signal shown in the figure indicates the state in the level
output mode.
(3) If the forward torque limit (parameter PA1_27) or reverse torque limit (PA1_28) is
smaller than the third torque limit (parameter PA2_60), the torque settings of the
forward torque limit and reverse torque limit are effective.
3-20 Operation
CHAPTER 3 OPERATION
(2) +OT/-OT / positive software OT / negative software OT

If +OT or -OT is detected during motor rotation (inactive due to normally closed contacts) or
positive software OT or negative software OT is detected, operation is stopped and immediate
controlled stop is caused according to the torque specified in parameter PA2_60 (third torque
limit).
Positioning setting parameter
3
Positive Software OT detection position
(PA2_26)
Speed Speed
PA2_60 PA2_60
Time Time
[RDY] ON [RDY] ON
[INP] OFF ON [INP] OFF ON
Zero deviation OFF ON Zero deviation OFF ON
Zero speed OFF ON Zero speed OFF ON
OT detection OFF ON OT detection OFF ON
+OT detection OFF ON +OT detection OFF ON
+OT ON OFF
(1) OT detection, +OT detection and -OT detection do not turn on if OT detection at
homing is reverse. In addition, deceleration follows the setting of parameter
PA2_18 (selection of operation at OT during homing).
output mode.
forward torque limit and reverse torque limit are effective.
Operation 3-21
CHAPTER 3 OPERATION
(3) Forced stop [EMG]

If forced stop [EMG] is detected during motor rotation, operation is stopped and immediate
controlled stop is caused according to the torque specified in parameter PA2_60 (third torque limit).
While forced stop [EMG] is detected, the motor is stopped at the zero speed and the current
position is not retained.
Speed
PA2_60
3 Time
[RDY] ON OFF
[INP] OFF ON
Zero speed OFF ON

Forced stop
OFF ON
detection
Forced stop [EMG] ON OFF
(CONT1 to 8)
(1) Forced stop [EMG] is a normally closed contact signal if it is allocated to CONT 1
to 8 signals.
output mode.
forward rotation torque limit and reverse rotation torque limit are effective.
3-22 Operation
CHAPTER 3 OPERATION
(4) Pause
If the pause signal is turned on during homing, interrupt positioning, positioning data operation or
immediate value data operation, operation is interrupted and the motor is stopped while the signal
remains turned on. After the signal is turned off, the operation continues. In-position [INP] is not
turned on in a pause.
Speed
[RDY] ON
Time
3
[INP] OFF ON
Zero deviation OFF ON OFF ON
Zero speed OFF ON OFF ON
Pause OFF ON OFF
(1) Acceleration/deceleration follows the settings of parameters PA1_37 through 40

and the state of input signal ACC0, or the settings of acceleration/deceleration
time data.
output mode.
(5) Positioning cancel

If the positioning cancel signal is turned on during motor rotation, operation is stopped and
controlled stop is caused according to the deceleration time setting. While the positioning cancel
signal remains active, homing, interrupt positioning, positioning data operation or immediate value
data operation does not start.
The signal is enabled for speed operation and pulse operation.
Speed
Time
[RDY] ON
[INP] OFF ON
Zero speed OFF ON
Positioning cancel OFF ON
(1) Acceleration/deceleration follows the settings of parameters PA1_37 through 40

and the state of input signal ACC0, or the settings of acceleration/deceleration
time data.
output mode.
Operation 3-23
CHAPTER 3 OPERATION
(6) Deviation clear

If the deviation clear signal is detected during motor rotation, operation is stopped and immediate
controlled stop is caused according to the selected torque limit. (The maximum torque is assumed
if parameter setting is selected with the default setting). If 1 (level signal) is selected for parameter
PA3_36 (deviation clear input form), the motor is stopped at the zero speed and the current
position is not retained while the deviation reset signal remains active.
Speed
3 Time
[RDY] ON
[INP] OFF ON
Zero speed OFF ON
Deviation clear OFF ON
The in-position [INP] signal shown in the figure indicates the state in the level output
mode.
(7) Free-run
While the free-run signal is turned on, outputs of the servo amplifier are turned off and the
servomotor coasts to stop (at zero torque). (The motor rotation is not controlled.) If the free-run
signal is turned on during motor rotation, operation is stopped and the motor keeps rotating due to
the inertia of the load.
Speed
Time
[RDY] ON OFF ON
[INP] OFF ON
Zero speed OFF ON
Free-run OFF ON OFF
In regular cases, free-run is not used for vertical traveling machines. If the function is
used for a vertical traveling machine, examine adaptability with the brake carefully.
In addition to operation stop and interruption caused by input signals, detection of an alarm causes
the operation to be stopped. The stopping motion upon an alarm follows the setting of parameter
PA2_62 (serious alarms: fixed at free-run).
3-24 Operation
CHAPTER 3 OPERATION
(8) Positive limiter detection / negative limiter detection

If the target position is set with overshooting positive/negative limiter detection value, operation is
canceled before reaching to the target positon and stopped at positive/negative limiter detection
position.
Limiter detection signals are turned on after the stopping.
Speed
Positioning setting parameter
Positive limit detection position (PA2_28)
Time 3
[RDY] ON
[INP] OFF ON
Zero speed OFF ON
Limiter detection OFF ON
(1) Acceleration/deceleration follows the settings of parameters PA1_38 and 40 and

the state of input signal ACC0, or the setting of deceleration time data.
(2) During pulse operation, the motor is stopped at the limiter detecting position
when the pulse input position reaches the limiter detecting position. The stopping
motion follows the torque limit specified in a parameter.
output mode.
Operation 3-25
CHAPTER 3 OPERATION
3-26 Operation
CHAPTER 4 PARAMETER
4
4-1
CHAPTER 4 PARAMETER
4.1 Parameter Division
CAUTION
Never add an extreme change to parameters. Otherwise machine motion will become
unstable.
Risk of injuries
Parameters of the ALPHA5 servo amplifiers are divided into the following setting items according to the
function.
Ref.
Parameter setting item Major description
4 Basic parameters
(No.PA1_01 to 50)
Be sure to check or enter these parameters
before starting operation.
page
4-2
Control gain and filter setting parameter Use to adjust the gain manually.
4-24
(No.PA1_51 to 99)
Automatic operation setting parameter Use to enter or change the positioning
4-34
(No.PA2_01 to 50) operation speed and homing function.
Extended function setting parameter Use to enter or change the extended
4-72
(No.PA2_51 to 99) functions such as the torque limit.
Input terminal function setting parameter Use to enter or change input signals of the
4-85
(No.PA3_01 to 50) servo amplifier.
Output terminal function setting Use to enter or change output signals of the
parameter servo amplifier. 4-91
(No.PA3_51 to 99)
4.2 Basic Parameters
Parameters marked " " in the "Power" field are enabled after the control power is
turned off then turned on again. (Check that the keypad (7-segment display) of the servo
amplifier is unlit when the control power is turned off.)
4.2.1 List (PA1_ )
Control mode Record of

No.
Name Default value Power reference
PA1_
Position Speed Torque value
01 Control mode selection 0
02 INC/ABS system selection 0
03 Command pulse form selection 1 - -
04 Rotation direction selection 0
Number of command input pulses per
05 0 - -
revolution
06 Numerator 0 of electronic gear 16 - - -
07 Denominator of electronic gear 1 - - -
08 Number of output pulses per revolution 2048
09 Numerator of electric gear for output pulses 1
4-2 Parameter Division

CHAPTER 4 PARAMETER

No.
PA1_
Denominator of electric gear for output
10 16
pulses
Output pulse phase selection at CCW
11 0
rotation
12 Z-phase position offset 0
13 Tuning mode selection 0 - -
14 Load inertia ratio 1.0 - -
15 Auto tuning gain 1 12 - -
16 Auto tuning gain 2 4 - - -
20
21
Easy tuning: stroke setting
Easy tuning: speed setting
2.00
500.00
-
- 4
22 Easy tuning: timer setting 1.500 -
23 Easy tuning: direction selection 0 -
Max. rotation speed 6000.00
25 GYS,GYC - -
(for position and speed control)
750W or less
5000.00
Max. rotation speed (GYS,GYC
26 1kW or more) - - -
(for torque control)
3000.00 (GYG)
27 Forward rotation torque limit 300 -
28 Reverse rotation torque limit 300 -
29 Speed coincidence range 50 - -
30 Zero speed range 50 -
31 Deviation unit selection 0 - - -
32 Zero deviation range/In-position range 100 - - -
33 In-position output format 0 - -
In-position minimum OFF time/ Single shot
34 20 - - -
ON time
35 In-position judgment time 0 - - -
Acceleration / deceleration selection at
36 0 - -
speed control
37 Acceleration time 1 100.0
38 Deceleration time 1 100.0
-
Manual feed speed 1 for position and speed control/
41 speed limit 1 for torque control
100.00
500.00
1000.00
44 100.00 -
speed limit 4 for torque control
100.00
100.00
100.00
Parameters marked " " in the table are enabled in the corresponding control mode.
Basic Parameters 4-3

CHAPTER 4 PARAMETER
4.2.2 Description of Each Parameter
PA1_01 Control mode selection

Default
value
0: Position 1: Speed 2: Torque
Control mode 3: Position speed 4: Position torque
01 0 Power
selection 5: Speed torque 6: Extended mode
7: Positioning operation
Specify the desired control mode in the parameter with a value.
To switch during operation, change over the control mode selection (function No. 36) signal.
4 For details, refer to the table below.

Control mode
Reference value of PA1_01
(control mode selection) Control mode selection = Control mode selection =
OFF ON
0 Position control
1 Speed control
2 Torque control
3 Position control Speed control
4 Position control Torque control
6 Extended mode
7 Positioning operation mode
(1) If PA1_01 (control mode selection) is between 0 and 5

Change over the control mode selection (function No. 36) signal to change the control mode even
during operation.
Position control can be made only during pulse operation.
For the transition of the control mode, see the figure below.
Pulse operation
Position control
Control mode switch If the reference value is Control mode switch
36ON/OFF between 3 and 5, you can 36ON/OFF
use CONT to switch even
during operation.
Speed control Torque control
Analog speed command Torque control operation

operation
Manual operation
Multi-step speed operation
Control mode switch 36ON/OFF
4-4 Basic Parameters

CHAPTER 4 PARAMETER
[Example] The operation pattern of control mode selection 3 (position speed) is shown in the figure
below.
Speed
Manual operation Manual operation

Operation mode Pulse
(analog speed) (Multi-step speed)
Servo-on
[S-ON] OFF ON
4
Control mode
selection ON OFF ON OFF
Manual forward rotation

[FWD] or manual OFF ON OFF ON OFF
reverse rotation [REV]
Multi-step speed
1[X1] OFF ON OFF
Pulse
Analog speed
command
(2) If PA1_01 (control mode selection) is 6

This control mode is compatible with that of the existing Series.
The power-on state is the speed control mode (see the figure below).
To perform homing and interrupt positioning, select this mode.
Speed control
Free run
Under speed control
(no driving force) Position control
Servo (1)
ON OFF Pulse positioning
Forced stop (10)
Forward command (2)
Reverse command (3) OFF ON
OFF ON
Being stopped Command pulse ratio 1 (27)

Position control (37)
(speed control) Command pulse ratio 2 (28)
ON
Being stopped Forward command (2)
Torque control (38) OFF ON (position control) Reverse command (3)
OFF Homing (5)
Being stopped Interrupt input enable (48)
(torque control) Interrupt input (49)
Forward command (2)

Reverse command (3)
OFF ON
ON OFF
Torque control
Manual feed
Under torque control

Homing
Interrupt positioning

CHAPTER 4 PARAMETER
(3) If PA1_01 (positioning operation mode selection) is 7

Positioning (positioning data operation, immediate value data operation and homing) can be made.
The position control mode is selected immediately after the power is turned on (see the figure
below).
Speed control
Free run
Under speed control
(no driving force)
Position control
Servo (1)
ON OFF Pulse positioning
Forced stop (10)
Forward command (2)
Reverse command (3) OFF ON
OFF ON
4
Being stopped Position control (37) Command pulse ratio 1 (27)
(speed control) Command pulse ratio 2 (28)
ON
Being stopped Forward command (2)
Torque control (38) OFF ON (position control) Reverse command (3)
OFF Homing (5)
Being stopped Interrupt input enable (48)
(torque control) Interrupt input (49)
Forward command (2)

Reverse command (3)
OFF ON OFF ON
ON OFF
Torque control
Manual feed
Under torque control Positioning

Homing
Interrupt positioning

CHAPTER 4 PARAMETER
PA1_02 INC/ABS system selection

Default
value
INC/ABS selection 0:Incremental system 1:Absolute system
02 0 Power
2: Endless absolute system
Select either the relative position (incremental) system or absolute position system.
Reference Function Description
value
Relative position The current position is lost after the control power is turned
0
(incremental) system off. Homing must be performed again.
The current position is stored in memory even after the
1
Absolute position
system
control power is turned off. Homing is unnecessary. You
can operate in the limited range. If the operation range is
exceeded, an alarm and stoppage are caused.
4
(Operation range: between -32768 and +32768 revolutions
of motor shaft)
The current position is stored in memory even after the
control power is turned off. Homing is unnecessary.
Because there is no limit in the operation range, this
Endless absolute system is best for the control of the rotating body. (The
2
position system multi-turn data over flow alarm is not detected.)
Multi-rotation data should be processed at the host
controller suitably.
Specify so that the ratio of PA1_06 to 07 = 2n/1.
To establish an absolute position system, set this parameter at "1" or "2." In addition, install the
optional absolute backup battery.
Because a multi-rotation data loss alarm (dL1 alarm) is detected when the power is turned on,
perform position presetting to remove the alarm and start operation.
To use in an absolute position system, refer to "CHAPTER 11 ABSOLUTE POSITION
SYSTEM."
PA1_03 Command pulse form selection

Default
value
Command 0: Command pulse/direction
03 pulse form 1: Forward/reverse pulse 2: A / B phase pulse 1 Power
selection
This parameter is enabled only under position control.
You can select the signal format of the command pulse input terminal.
The pulse format of the command pulse input terminals [CA], [*CA], [CB] and [*CB] of the servo
amplifier can be specified.
The maximum input frequency is 1.0 [MHz] at differential input or 200 [kHz] at open collector input.
However, enter each signal so that the following conditions are satisfied (the same signal conditions
apply to CA, *CA, CB and *CB).
In case of A/B phase pulse, the rising or falling edge of the A-phase signal or B-phase signal is counted
as a single pulse, so that a single-pulse input is equivalent to four pulse counts.

CHAPTER 4 PARAMETER
Command pulse / sign (reference value of parameter 03: 0)

The command pulse indicates the rotation amount (CA, *CA), while the command sign (CB, *CB)
indicates the direction of rotation.
If (CB) is at the low level and (*CB) is at the high level, a forward direction command is issued.
Differential input
Forward rotation command Reverse rotation command
t1 t3 t2
90%
t1100 [nsec]
t1100[nsec]
CA 10%
t4 t2100 [nsec]
t2100[nsec]
*CA t3480 [nsec
t3480[nsec ]
t6 t7
t4480 [nsec
t4480[nsec ]
4
90%
t6500 [nsec]
t6500[nsec]
CB 10%
t8 t7500 [nsec]
t7500[nsec]
*CB t8100 [nsec]
t8100[nsec]
Arrow marks "" in the figure above indicate the pulse count timing.
Open collector input
t4 t10.2[sec]
t10.2[sec]
*CA 90% t20.2[sec]
10% ON ON ON ON ON ON t20.2[sec]
t1 t3 t2 t6 t7 t32[sec]
t32[sec
t8 t42[sec]
t42[sec
*CB 90%
t62.5[sec]
10% ON t62.5[sec]
t72.5[sec]
"ON" specified in the figure above indicates activation of the transistor, which means a low signal level. t72.5[sec]
Arrow mark "" in the figure above indicates the pulse count timing. t80.2[sec]
t80.2[sec]
Forward / reverse pulse (reference value of parameter 03: 1)

The forward rotation pulse (CA, *CA) indicates the rotation amount in the forward direction, while
the reverse rotation pulse (CB, *CB) indicates that in the reverse direction.
Differential input

t1 t3 t2 t5
90%
CA 10%
t4
t1100[nsec]
t1100[nsec]
*CA t2100[nsec]
t2100[nsec]
t3480[nsec
t3480[nsec]
t4480[nsec
CB t4480[nsec]
t5500[nsec]
t5500[nsec]
*CB

t4 t5
*CA 90% t10.2[sec]
t10.2[sec]
10% ON ON ON
T20.2[sec]
t20.2[sec]
t1 t3 t2
t32[sec]
t32[sec
*CB t42[sec]
t42[sec
ON ON ON
t52.5[sec]
t52.5[sec]
"ON" specified in the figure above indicates activation of the transistor, which means a low signal level.
Arrow mark "" in the figure above indicates the pulse count timing.

CHAPTER 4 PARAMETER
A/B phase pulse (reference value of parameter 03: 2)

The A-phase signal (CA, *CA) and B-phase signal (CB, *CB) indicate the direction of rotation and
rotation amount, respectively.
Each edge of the A-phase and B-phase signals corresponds to one pulse. (It is four-fold frequency
in the amplifier.)
Differential input

t1 t3 t2
90%
CA 10%
t4 t1 100[nsec]
t1100[nsec]
t2 100[nsec]
t2100[nsec]
*CA
4
t3] 480[nsec]
t9 t10 t3480[nsec]
t4] 480[nsec]
90%
CB 10% t4480[nsec]
t9] 500[nsec
t10] 500[nsec
t9500[nsec]
*CB t10500[nsec
t4 t10.2[sec]
*CA 90% t1?
0.2[?sec]
10% ON ON ON ON t20.2[sec]
t2?
0.2[?sec]
t1 t3 t2 t32[sec]
t9 t10 t3?2[?sec
*CB t42[sec]
90%
10% ON ON ON ON
t4?2[?sec
t92.5[sec]
t9?2.5[?sec]
"ON" specified in the figure above indicates activation of the transistor, which means a low signal level.
Arrow mark "" in the figure above indicates the pulse count timing.
t102.5[sec]
t10?2.5[?sec]
PA1_04 Rotation direction selection

Default
value
Rotation direction 0: Rotation direction at forward command.
04 0 Power
selection 1: Rotation direction at reverse command.
This parameter keeps consistency between the direction of rotation of the servomotor and the traveling
direction of the machine.
In case of operation with pulse
The direction of rotation caused upon an input of a forward rotation pulse and high level command
sign or a B-phase pulse lead pulse with A / B phase pulse becomes the forward direction, making
the servomotor rotate forward.
To switch the phase of the output pulse, select the phase of counterclockwise (CCW) rotation of
the servomotor.
In case of operation with speed command voltage
The direction of rotation caused by a positive speed command voltage in a forward command
(FWD) signal is the forward direction, causing the servomotor to rotate forward.

CHAPTER 4 PARAMETER
Forward/Reverse rotation Forward

The servomotor rotates forward if it rotates counterclockwise (CCW: rotation
figure on the right) when the output shaft is viewed from the front.
Clockwise rotation is reverse rotation.
PA1_05 Number of command input pulses per revolution

Default
value
Number of command 0: Electronic gear is enabled
05 input pulses per Other than 0: The specified value is enabled 0 Power
revolution (64 to 1048576).
4 This parameter is enabled only under position control.

Enter the number of command pulses necessary to rotate the servomotor a full turn.
The setting range is 64 to 1048576 [pulses]. However, if the end of the model number of the
servomotor is "HB2" (18-bit encoder), the maximum value is 262144 [pulses].
With the default value ("0"), the settings of PA1_06 and _07 (electronic gear numerator and
denominator) are enabled.
PA1_06 Numerator 0 of electronic gear, PA1_07 Denominator of electronic gear

Default
value
06 Numerator 0 of electronic gear 1 to 4194304 (in increments of 1) 16 Always
07 Denominator of electronic gear 1 to 4194304 (in increments of 1) 1 Always
These parameters are enabled only under position control.
With these parameters, the traveling amount of the mechanical system per each command pulse is
adjusted to a unit amount.
If parameter PA1_05 is "0," the settings of these parameters are enabled.
The following equation is used to calculate.
Equation of numerator 0 of electronic gear and denominator of electronic gear
Cancel down so that numerator 0 divided by the denominator of the electronic gear is an integer
(4194304 or less).
(Traveling amount of mechanical system per servomotor revolution) Numerator 0 of electronic gear
= (Unit amount) *
Number of encoder pulses * Denominator of electronic gear
* The unit amount is "1," "0.1," "0.01," "0.001," etc. Its unit is [unit].
* The number of encoder pulses is 262144 for an 18-bit encoder or 1048576 for a 20-bit encoder.
Numerator 0 of electronic gear Number of encoder pulses

= (Unit amount)
Denominator of electronic gear (Traveling amount of mechanical system per servomotor revolution)

CHAPTER 4 PARAMETER
Entering from PC Loader

Use the "electronic gear setting (T) from mechanical configuration" button provided at the lower
part of the parameter editing screen (PA1: fundamental setting) of PC Loader to specify the
electronic gear simply.
Enter the specifications of the

machine to automatically
calculate the settings.
Parameters grouped according
to each mechanical
configuration helps you enter 4
simply.
[Example of calculation of electronic gear ratio]

To connect the ball screw (lead 10 [mm]) directly to the output shaft of the servomotor and set the
unit amount at 1/100, the number of encoder pulses (20-bits) is 1048576 revolutions.
(Traveling amount of mechanical system per servomotor revolution) Numerator 0 of electronic gear
= (Unit amount)
1048576 pulses/revolution Denominator of electronic gear
10mm Numerator 0 of electronic gear

= 1/100
1048576 pulses/revolution Denominator of electronic gear
Numerator 0 of electronic gear 1048576 pulses/revolution 131072

= 1/100 =
Denominator of electronic gear 10mm 125
Therefore numerator 0 and denominator of the electronic gear are 131072 and 125, respectively.
If the traveling amount of the mechanical system per 0.01mm per pulse
servomotor revolution includes , you can approximate
to 355/113.
The number of output pulses is irrelevant to command
pulse correction.
10mm per 1000 pulses
A / B phase pulse in B-phase advance are output
(one full motor revolution)
according to the reference value of PA1_08 (number
of output pulses per revolution) during forward rotation of the motor shaft.

CHAPTER 4 PARAMETER
PA1_08 Number of output pulses per revolution

Default
No. Name Setting range value Change
Number of output 0: Entered values at PA1_09 and _10 are enabled.

08 pulses per Other than 0: The entered value is enabled (16 to 2048 Power
revolution 262144).
Enter the number of pulses output per motor rotation from pulse output terminal (FFA, *FFA, FFB and
*FFB).
The setting range is 16 to 262144 [pulses]. However, if the end of the model of the servomotor is "HB2"
(18-bit encoder), the maximum value is 65536 [pulses]. (The output pulse value is deducted -2bit from
encoder resolution.)
If the reference value is other than 0, the Z-phase output synchronizes with the A-phase output, and an
4 output having the same pulse width as that of the A-phase is obtained.
With default value "0," settings of parameters PA1_09 and _10 (The output pulse value is deducted
-2bit from encoder resolution.) are followed.
PA1_09 Numerator of electric gear for output pulses

PA1_10 Denominator of electric gear for output pulses
Default
Numerator of electric gear for

09 1 to 4194304 (in increments of 1) 1 Power
output pulses
Denominator of electric gear for
10 1 to 4194304 (in increments of 1) 16 Power
output pulses
Specify the ratio of the output pulse per revolution of the servomotor.
If parameter PA1_08 is "0," settings of these parameters are enabled.
Calculate according to the following equation.
In case of an 18-bit encoder, specify "1/32" to output 2048 (65536 x 1/32) A-phase and B-phase
pulses per revolution.
The Z-phase output is issued asynchronously to the A- and B-phases at a constant pulse width of
125s.
Enter parameters so that PA1_09 PA1_10. If PA1_09 > PA1_10, the division ratio is 1.
PA1_11 Output pulse phase selection at CCW rotation

Default
Output pulse phase 0: B-phase pulse lead at CCW rotation

11 selection at CCW 1: A-phase pulse lead at CCW rotation 0 Power
rotation
The phase of the output pulse of the servomotor is adjusted to the traveling direction of the machine.
Select the phase of forward rotation (CCW rotation) of the servomotor.
The pulse is output at connector CN1 (FFA, *FFA, FFB and *FFB).
If the reference value is 0
A-phase
B-phase
If the reference value is 1
A-phase
B-phase
CHAPTER 4 PARAMETER
PA1_12 Z-phase position offset

Default
Z-phase position 20bitPG0 [pulse] to 1048575 [pulse]

12 offset 0 Power
18bitPG0 [pulse] to 262143 [pulse]
The Z-phase output position shifts. The Z-phase output position shifts in the CCW direction by the
specified pulse amount. For servomotors having "HB2" at the end of the model name (18-bit encoder),
the maximum value is 262143 [pulses].
This parameter is irrelevant to the rotation direction selection (parameter PA1_04).
The Z-phase used for homing is also the position that is offset with this parameter.
Z-phase output position
If the Z-phase position offset is [0] If the Z-phase position offset is [262144] 4
262144 pulses
= 0.25 [revolutions]
1048576 pulses/revolution
Z-phase position *
Z-phase position *
Motor shaft
Motor shaft
The Z-phase shifts 0.25
revolutions in the CCW
direction.
* The position of the key is not always the Z-phase position.
The position of the key is supposed to be the Z-phase position in this explanation.
PA1_13 Tuning mode selection

Default
0: Auto tuning
1: Semi-auto tuning
13 Tuning mode selection 0 Always
2: Manual tuning
3: Interpolation control mode
This parameter is enabled under position and speed control.
Select the tuning method of the servo amplifier. Refer to the following description to select the mode.
Auto tuning (default value)
In this mode, the ratio of moment of inertia of the load of the machine is always assumed inside the
amplifier and the gain is automatically adjusted to the best one. "0" is entered, too, in case of easy
tuning.
Semi-auto tuning
Use this mode if the ratio of moment of inertia of the load of the machine has relatively large
fluctuation or the ratio of moment of inertia of the load is not estimated correctly inside the
amplifier.
The gain is automatically adjusted to the best one in relation to the setting of PA1_14 (load inertia
ratio).

CHAPTER 4 PARAMETER
Manual tuning
Use this mode if auto tuning and semi-auto tuning modes do not function satisfactorily. Manually
enter the ratio of moment of inertia of the load and various gains.
Interpolation control mode
Use this mode to adjust responses of each shaft to the command during interpolation of two or
more servomotor axes of an X-Y table or similar.
In this mode, PA1_51 (moving average S-curve time) and PA1_54 (position command response
time constant) that determine the following characteristics to commands must be entered
manually.
As well, PA1_14 (load inertia ratio) must be entered, too, manually.
The other gain adjustment parameters are automatically entered.
4 Parameters that must be entered in each tuning mode and automatically adjusted parameters are
shown below.
No. Tuning mode selection

Name
PA1_ 0: Auto 1: Semi-auto 2: Manual
3: Interpolation
control
14 Load inertia ratio -

15 Auto tuning gain 1
51 Moving average S-curve time - -
Position command response
54 - -
time constant
55 Position loop gain 1 - - -
56 Speed loop gain 1 - - -
Speed loop integration time
57 - - -
constant 1
Torque filter time constant for
59 U U U U
position and speed control
Model torque filter time
87 - - -
constant for position
Position loop integration time
88 - - -
constant
: Items that must be entered
U: The item is entered automatically or manually according to a parameter (PA1_94: torque filter
setting mode).
- : Entry is unnecessary. (The item is automatically calculated inside the amplifier and the result is
reflected on the parameter.)
: Entry can be made, but the setting is ineffective.
For detail description of tuning, refer to "CHAPTER 5 SERVO ADJUSTMENT."

CHAPTER 4 PARAMETER
PA1_14 Load inertia ratio
GYS and GYC, 750 [W] or less:

0.0 to 300.0 [times]
14 Load inertia ratio GYS and GYC, 1 [kW] or more: 1.0 Always
0.0 to 100.0 [times]
GYG : 0.0 to 30.0 [times]
Enter the moment of inertia of the load of the mechanical system in relation to the motor shaft (moment
of inertia of load converted to motor shaft) in a ratio to the moment of inertia of the motor.
4
Load inertia of converted to motor shaft
Load inertia ratio =
Inertia of motor
The parameter must be entered according to some settings of PA1_13 (tuning mode selection).
With auto tuning, the value is automatically updated and saved in EEPROM every 10 minutes.
The value must be entered in the semi-auto, manual and interpolation control modes.
How to enter the ratio of inertia of load
(1) Entering the value monitored at keypad
Use the monitor mode of the keypad to monitor.
Enter the monitored value.

If the value drifts, enter an average value.
If fluctuation is substantial and the ratio of the maximum to the minimum exceeds two, adopt
entry method (2).
(2) Entering the calculated value
Calculate the moment of inertia of load converted to the motor shaft and enter the ratio to the
moment of inertia of the motor. For the moment of inertia calculation method, refer to "CHAPTER
14 APPENDICES."
The value is automatically calculated with the capacity selection software (visit Fuji Electric's
home page to download).
PA1_15 Auto tuning gain 1

Default
15 Auto tuning gain 1 1 to 40 (in increments of 1) 12 Always

This parameter is enabled under speed and position control.
Specify the response of the servomotor of auto tuning, semi-auto tuning and interpolation control
modes.
While a larger setting shortens command following characteristic and positioning settling time, too large
a value causes vibration of the motor.

CHAPTER 4 PARAMETER
Setting method
(1) Parameter entry with PC Loader and keypad (parameter setting mode)
After the parameter is established, the setting is updated.
(2) Entry using "auto tuning gain setting (Fn_011)" of keypad (test operation mode)
After the value is switched, the setting is updated at real time.
Approximate reference value
Mechanical configuration Auto tuning gain 1
(division by mechanism) (approximate reference value)
Large transfer machine 1 to 10
4
Arm robot 5 to 20
Belt mechanism 10 to 25
Ball screw + Belt mechanism 15 to 30
Mechanism directly coupled with
20 to 40
ball screw
For details of tuning, refer to "CHAPTER 5 SERVO ADJUSTMENT."

Default
16 Auto tuning gain 2 1 to 12 (in increments of 1) 4 Always

This parameter is enabled only under position control.
The parameter is enabled if PA1_13 (tuning mode selection) is 0 (auto tuning) or 1 (semi-auto tuning).
Adjust auto tuning gain 1 before adjusting this parameter.
With this parameter, the positioning and settling time of auto tuning and semi-auto tuning is reduced, so
that the cycle time is effectively reduced. While a larger value reduces the positioning and settling time,
an overshoot is likely to be caused.
PA1_51 (moving average S-curve time) and PA1_54 (position command response time constant) are
automatically adjusted in relation to the reference value of this parameter.

CHAPTER 4 PARAMETER
What is positioning and settling time

Time from completion of issuance of command frequency to issuance of in-position signal
The time varies according to various conditions such as the frequency matching the traveling
distance, acceleration/deceleration rate, and stopping accuracy. Adjustment of the entire system
including the host and servo to optimum conditions is necessary to reduce the positioning and
settling time.
Frequency
[kHz]
Command
frequency
Time
Rotation speed
Motor speed
[r/min]
OFF
Settling
time
Time 4
In-position signal ON
OFF
Time
PA1_20 to 23 Easy tuning settings

Default
Easy tuning:
20 0.01 [rev] to 200.00 [rev] (in increments of 0.01) 2.00 Always
stroke setting
Easy tuning: 10.00 [r/min] to Max. rotation speed [r/min] (in
21 500.00 Always
speed setting increments of 0.1)
Easy tuning:
22 0.000 [s] to 5.000 [s] (in increments of 0.001) 1.500 Always
timer setting
0: Forward reverse rotation
Easy tuning:
23 1: Forward rotation only 0 Always
direction selection
2: Reverse rotation only
Enter the parameter to perform easy tuning.
PA1_25 and 26 Max. rotation speed
Max. rotation speed GYS and GYC,750 [W] or less 6000 (GYS and GYC
25
(for position and speed control) 0.01 to 6000 [r/min] of 750 [W] or less)
GYS and GYC,1 [kW] or more 5000 (GYS and GYC Always
Max. rotation speed
0.01 to 5000 [r/min] of 1 [kW] or more)
26 (for torque control)
GYG0.01 to 3000 [r/min] 3000 (GYG)
Enter the maximum rotation speed of the servomotor for position, speed and torque control.
However, this parameter is disabled during pulse operation.
There is a difference of about 100 [r/min] between the reference value and actual servomotor rotation
speed under torque control.
Use PA1_96 (speed limit gain for torque control) to adjust the error.

CHAPTER 4 PARAMETER
PA1_27 Forward rotation torque limit, PA1_28 Reverse rotation torque limit
27 Forward rotation torque limit

0 [%] to 300 [%] 300 Always
28 Reverse rotation torque limit
Enter the limit to be set on the output torque of the servomotor.
If the input signal (CONT signal: torque limit 0, 1, etc.) is turned off, this limit is enabled.
For description of the input signal (such as torque limit 0 and 1), refer to "CHAPTER 3 OPERATION."
CCW torque
4 Forward rotation
torque limit
CW rotation CCW rotation

Reverse rotation
torque limit
CW torque
PA1_29 Speed coincidence range

Default
Speed coincidence 10 [r/min] to max. rotation speed [r/min]

29 50 Always
range
Enter the range in which the "speed coincidence" output signal is turned on.
The speed coincidence signal is turned on if the actual servomotor rotation speed is nearly the
command speed.
In case of a default value of 50 [r/min], the speed coincidence signal is turned on in the range of 50
[r/min] to the command speed.
If the command speed is not reached due to PA1_25 (maximum rotation speed), override or similar, the
signal is turned off.
The speed coincidence signal does not turn on if the [FWD] or [REV] signal is turned off.
PA1_29: Speed coincidence width
Rotation speed
Time
Forward command [FWD]

Speed coincidence

[NARV]
For the speed coincidence signal, refer to "Speed coincidence [NARV]" on page 2-69.

CHAPTER 4 PARAMETER
PA1_30 Zero speed range

Default
30 Zero speed range 10 [r/min] to max. rotation speed [r/min] 50 Always

Enter the activation level of the "zero speed" output signal.
The signal is turned on at servomotor rotation speeds within the reference value.
PA1_31 Deviation unit selection

Default
31 Deviation unit selection

0: Unit amount [unit amount]
1: Pulse amount [pulse]
Enter the unit of position deviation.
0 Always
4
Select 0 (unit amount) for the unit after multiplication by the electronic gear ratio. [Unit] is displayed.
Select 1 (pulse amount) for the unit before multiplication by the electronic gear ratio. (Unit of encoder
pulse amount)
This setting is related to the unit of all position deviation monitored with the keypad, PC Loader or
monitor 1/2 signal.
PA1_32 Zero deviation range/In-position range

Default
Zero deviation range/ 0 [pulse] to 200000 [pulse]/

32 100 Always
In-position range [unit amount]
Zero deviation range
Enter the activation level of the "zero deviation" output signal.
The signal is turned on at position deviation within the reference value.
In-position range
Enter the deviation condition of the "in-position (INP)" output signal.
The in-position (INP) signal is turned on if position deviation is within this reference value and the
motor rotation speed is within the reference value of the "zero speed range."
However, the condition includes completion of pulse elimination from the inside of the servo amplifier
for homing.
The setting unit is the one specified with PA1_31 (deviation unit selection).
PA1_33 to 35 In-position output signals

Default
33 In-position output format 0: Level 1: Single shot 0 Power

In-position minimum OFF time/
34 1 [ms] to 1000 [ms] 20 Always
Single shot ON time
35 In-position judgment time 0 [ms] to 1000 [ms] 0 Always

CHAPTER 4 PARAMETER
Enter the output format, minimum OFF time / Single shot ON time and judgment time of the in-position
[INP] signal.
In-position output format: Select the format of the output signal (refer to the timing chart shown below).
In-position minimum OFF time / Single shot ON time: For the single shot output format, enter the time
for which the output signal is turned on.
In-position judgment time: Enter the judgment time needed to recognize in-position.
In-position signal
The in-position signal is turned on if position deviation is within the reference value of "zero
4
deviation range" and the motor rotation speed is within the reference value of "zero speed range"
(AND condition of zero speed and zero deviation).
The output timing of this signal substantially varies according to the setting of PA1_31 (deviation
unit selection).
Check the reference value to use. Refer to the following timing chart.
Timing chart
Rotation
speed Zero speed range
Time
Deviation
Zero deviation range/In-position range
Time
Zero speed OFF ON
Zero deviation ON
OFF
ON
In-position (level)
OFF
In-position judgment time
In-position OFF
OFF
(single shot)
ON
In-position minimum OFF time / Single shot ON time

CHAPTER 4 PARAMETER
PA1_36 to 40 Acceleration time and deceleration time settings

Default
Acceleration / deceleration 0: Disable

36 0 Always
selection at speed control 1: Enable
0.0 [ms] to 99999.9 [ms] Always
Specify the acceleration and deceleration of the servomotor with PA1_37 to _40
(acceleration/deceleration time).
The parameter is enabled for acceleration and deceleration motions under speed control and position
control (automatic operation, homing and manual position control operation). Acceleration and
4
deceleration follow these parameters during profile operation, too.
These parameters are disabled during pulse operation.
The acceleration/deceleration time setting indicates the time from 0 (zero) [r/min] to 2000 [r/min].
Acceleration time 2 and deceleration time 2 are enabled while the "ACC0" selection signal remains
turned on.
ACC0 can be turned on or off at any time and the acceleration time and deceleration time are similarly
changed.
ACC0 is assigned to an input signal (CONT signal). Selection follows the table below.
The deceleration time with a load in a carrier drive mechanism can be specified separately from that
without a load.
ACC0 (14) Acceleration time Deceleration time
OFF PA1_37 PA1_38

ON PA1_39 PA1_40
Use PA1_36 (acceleration / deceleration selection at speed control) to select acceleration/deceleration

of speed control.
To perform position control at the host control unit and to perform speed control at the servo system,
enter "0" to PA1_36 (control method to output analog speed command voltage at host control unit).
To perform speed control independently in the servo system, enter "1" to PA1_36 to enable PA1_37
through PA1_40. To perform position control independently in the servo system, PA1_37 through
PA1_40 are enabled without relations to the setting of PA1_36.
Acceleration/Deceleration with the speed limit of torque control also follows this parameter (PA1_36:
acceleration / deceleration selection at speed control).
Acceleration and deceleration occurs according to the table shown above if PA1_36 is set at "1"
(enable).
If the acceleration/deceleration time data is 0 during operation with position data, the values specified
in these parameters are enabled.

CHAPTER 4 PARAMETER
Timing chart
2000 [r/min]
Rotation
speed
Time
Forward command OFF ON

OFF
FWD
4 ACC0
PA1_37: Acceleration time 1 PA1_40: Deceleration time 2
OFF ON
PA1_41 to 47 Manual feed speed/speed limit for torque control

Default
Manual feed speed 1 for

41 position and speed control/ 100.00 Always
Manual feed speed 4 for 0.01 [r/min] to
44 position and speed control/ max. rotation speed [r/min] 100.00 Always
Enter the speed of manual feed for speed control and position control.
For torque control, if PA2_56 (speed limit selection at torque control) is "0," the reference value of
PA1_26 (maximum rotation speed) becomes the speed limit.
If PA2_56 (speed limit selection at torque control) is "1," the speed limit is enabled as shown on the
next page.
Combine input signals (CONT signal: multi-step speed selection 1 [X1] to 3 [X3]) to select.

CHAPTER 4 PARAMETER
Multi-step speed
Enabled parameter
selection
Under speed/position
X3 X2 X1 Under torque control
control *1
VREF terminal voltage VREF terminal voltage
OFF OFF OFF
(analog speed limit) (analog speed limit)
OFF OFF ON 41: Manual feed speed 1 41: Speed limit 1 for torque control 1
OFF ON OFF 42: Manual feed speed 2 42: Speed limit 1 for torque control 2
OFF ON ON 43: Manual feed speed 3 43: Speed limit 1 for torque control 3
4
ON OFF OFF 44: Manual feed speed 4 44: Speed limit 1 for torque control 4
ON OFF ON 45: Manual feed speed 5 45: Speed limit 1 for torque control 5
ON ON OFF 46: Manual feed speed 6 46: Speed limit 1 for torque control 6
ON ON ON 47: Manual feed speed 7 47: Speed limit 1 for torque control 7
*1) Position control specified in the table above indicates the state of PA1_01 (control
mode) set at "6" (extension mode).

CHAPTER 4 PARAMETER
4.3 Control Gain and Filter Setting Parameter
Parameters marked " " in the "Power" field is enabled after the control power is turned off
then turned on again. (Check that the keypad (7-segment display) of the servo amplifier is
unlit when the control power is turned off.)
4.3.1 List (PA1_ )

Default value: *** Determined in auto tuning.
No. Default Control mode Record of
Name Power
PA1_ value Position Speed Torque reference value
4 51
52
Moving average S-curve time
Low-pass filter (for S-curve) time constant
***
0.0
-
-
- -
-
53 Command pulse smoothing function 0 - - -
54 Position command response time constant *** - - -
55 Position loop gain 1 *** - - -
56 Speed loop gain 1 *** - -
57 Speed loop integration time constant 1 *** - -
58 Feed forward gain 1 0.000 - - -
Torque filter time constant for position and speed
59 *** - -
control
60 Torque filter time constant for torque control 0.00 - - -
61 Gain changing factor 1 - -
62 Gain changing level 50 - -
63 Gain changing time constant 1 - -
64 Position loop gain 2 100 - - -
65 Speed loop gain 2 100 - -
66 Speed loop integration time constant 2 100 - -
67 Feed forward gain 2 100 - - -
68 Acceleration compensation gain for position control 0 - - -
70 Automatic notch filter selection 1 - -
71 Notch filter 1, frequency 4000 - -
72 Notch filter 1, attenuation 0 - -
73 Notch filter 1, width 2 - -
74 Notch filter 2, frequency 4000 - -
75 Notch filter 2, attenuation 0 - -
76 Notch filter 2, width 2 - -
77 Automatic vibration suppression selection 0 - - -
78 Vibration suppressing anti resonance frequency 0 300.0 - - -
Vibration suppressing workpiece inertia ratio
79 0 - - -
(vibration suppressing resonance frequency) 0
81 0 - - -
83 0 - - -
4-24 Control Gain and Filter Setting Parameter

CHAPTER 4 PARAMETER

Name Power
PA1_ value Position Speed Torque reference value

85 0 - - -
86 Vibration suppressing damping coefficient 0.0000 - - -
87 Model torque filter time constant *** - -
88 Position loop integration time constant *** - - -
89 Position loop integration limiter 0 - - -
90 Load torque observer 0 - -
91 P/PI automatic change selection 0 - -
92 Speed range for friction compensation 10.0 - -
93
94
Coulomb friction torque for friction compensation
Torque filter setting mode
0
1
-
-
-
-
4
Model torque calculation selection, speed observer
95 3 - -
selection
96 Speed limit gain for torque control 10.0 - - -
Paremeters marked "" in the table are enabled in the corresponding control mode.

PA1_51 to 53 Command filter settings
Default
51 Moving average S-curve time 0, 2 to 500 (0.125 [ms]) *** Always

Low-pass filter (for S-curve) time 0.0 [ms] to 1000.0 [ms]
52 0.0 Always
constant
53 Command pulse smoothing function 0: Disable 1: Enable 0 Always
Filters can be added to commands for smoother follow-up.

This parameter is enabled under position control.
Specify the moving average S-curve filter time to position commands.
A larger setting at low command pulse frequencies or large electronic gear ratios can
Moving
reduce the torque ripple caused by fluctuation of the command pulse.
average
The new setting of this parameter is reflected when both the position command and
S-curve time
filter accumulation pulse are "0".
If PA1_13 (tuning mode selection) is 0 (auto tuning) or 1 (semi-auto tuning), automatic
adjustment is made inside the amplifier.
Low-pass Enter the low-pass filter (for S-curve) filter time constant in relation to position
filter (for commands and speed commands. Acceleration and deceleration are made so that an
S-curve) approximate S-curve is drawn.
time constant
The parameter is enabled under position control.
If the function is enabled, smoothing is added to the position command every 2 [ms]
Command
intervals.
pulse
A larger setting at low command pulse frequencies or large electronic gear ratios can
smoothing
reduce the torque ripple caused by fluctuation of the command pulse.
function
While the setting can be changed at any time, the new setting is reflected when both
the position command and filter accumulation pulse are "0".
Control Gain and Filter Setting Parameter 4-25

CHAPTER 4 PARAMETER
Function configuration block

Command pulse Moving Low-pass filter
smoothing average (for s-curve) Control
Command
function S-curve time time constant section
PA1_54 Position command response time constant

Default
4
54 Position command response time constant 0.00 [ms] to 250.00 [ms] *** Always
Specify the following response characteristics to commands. A smaller setting improves the response
characteristics.
Automatic adjustment is made inside the amplifier if PA1_13 (tuning mode selection) is 0 (auto tuning)
or 1 (semi-auto tuning).
PA1_55 to 57 Response to disturbance settings

Default
55 Position loop gain 1 1 [rad/s] to 2000 [rad/s] *** Always

56 Speed loop gain 1 1 [Hz] to 2000 [Hz] *** Always
57 Speed loop integration time constant 0.5 [ms] to 1000.0 [ms] *** Always
Position loop gain 1: Position disturbance response setting. A larger setting improves the response
characteristics.
Speed loop gain 1: Speed disturbance setting. A larger setting improves the response characteristics.
Speed loop integration time constant 1: Integration time constant setting of speed response. A smaller
setting improves the response.
Too much a response characteristic may cause vibration or noise.
Automatic adjustment is made inside the amplifier if PA1_13 (tuning mode selection) is other than 2
(manual tuning).
PA1_58 Feed forward gain 1

Default
58 Feed forward gain 1 0.000 to 1.500 0.000 Always

A larger setting decreases the position deviation amount, improving the response characteristics.
Set at 1.000 to reduce the position deviation at a constant speed to almost zero (except during
acceleration or deceleration).
Use this parameter to increase the synchronization accuracy between two axes of synchronous control
or similar.
For regular point-to-point operation, set the parameter at 0.500 or less (approximate value).

CHAPTER 4 PARAMETER
PA1_59 Torque filter time constant for position and speed control
PA1_60 Torque filter time constant for torque control
Default
Torque filter time constant

59 for position and speed 0.00 [ms] to 20.00 [ms] *** Always
control
Torque filter time constant
60 0.00 [ms] to 20.00 [ms] 0.00 Always
for torque control
This parameter is enabled under speed and position control.

Torque filter
time constant
Add a filter to internal torque commands.
The response of the servo system is improved and resonance is suppressed. In
particular, the reference value should be larger with large load inertia.
4
for position and
Automatic adjustment is made inside the amplifier in other than the manual tuning
speed control
mode.
Set PA1_94 at 0 to allow manual settings.
Torque filter The parameter is enabled under torque control. Add a filter to external torque
time constant commands. Good effects can be expected for a system prone to electric noise or
for torque one with fluctuation in the command voltage.
control
PA1_61 to 67 Second gain settings

Default
0: Position deviation (x10)

1: Feedback speed
61 Gain changing factor 2: Command speed 1 Always
3: External switch (CONT signal
switch)
62 Gain changing level 1 to 1000 (in increments of 1) 50 Always
63 Gain changing time constant 0 [ms] to 100 [ms] (in increments of 1) 1 Always
64 Position loop gain 2 30 [%] to 200 [%] (in increments of 1) 100 Always
65 Speed loop gain 2 30 [%] to 200 [%] (in increments of 1) 100 Always
Speed loop integration time 30 [%] to 200 [%] (in increments of 1)
66 100 Always
constant 2
67 Feed forward gain 2 30 [%] to 200 [%] (in increments of 1) 100 Always
The gain of the servo system is switched from the first gain (PA1_55 to _58) to the second gain
(PA1_64 to _67).
Noise and vibration during stoppage can be reduced through gain switching.
Select the gain changing factor with PA1_61.
The unit of the reference value of the second gain (PA1_64 to _67) is "%." Specify the ratio to the first
gain.
[Example] If PA1_56 (speed loop gain 1) is 100 [Hz] and PA1_65 (speed loop gain 2) is 80 [%], the
second gain is 80 [Hz]. PA1_64 (position loop gain 2) is similar. If PA1_57 (speed loop
integration time constant 1) is 20 [ms] and PA1_66 (speed loop integration time constant 2)
is 50 [%], integration time constant 2 is 40 [ms].

CHAPTER 4 PARAMETER
The timing chart of each signal is shown below.
Feedback speed
Gain changing level (PA1_62)

Time
Position loop gain Position loop gain 1 (PA1_55) Position loop gain 2 (PA1_64)
Speed loop gain Speed loop gain 1 (PA1_56) Speed loop gain 2 (PA1_65)
4 Speed loop
integration time
Speed loop integration time constant 1 (PA1_57) Speed loop integration time constant 2 (PA1_66)
Feed forward gain Feed forward gain 1 (PA1_58) Feed forward gain 2 (PA1_67)
Gain switching time constant (PA1_63)
External switch
(Servo response switch) OFF ON
If external switch is selected as a gain changing factor, changeover to the second gain occurs during
OFF-to-ON transition as shown above. In this case, you can turn on or off at an arbitrary timing without
relations to the motor motion.
The gain of the go stroke and that of the return stroke of a reciprocal motion can be switched.
PA1_68 Acceleration compensation gain for position control

Default
Acceleration compensation gain 0 [%] to 200 [%]

68 0 Always
for position control
Enter the following characteristics to the command.
A larger reference value reduces the position deviation caused during acceleration or deceleration
while improving following characteristic to position commands.
Too much reference value may cause vibration or noise.
PA1_70 to 76 Notch filter settings

Default
Automatic notch filter 0: Disable 1: Enable
70 1 Always
selection
71 Notch filter 1, frequency 10 [Hz] to 4000 [Hz] (in increments of 1) 4000 Always
72 Notch filter 1, attenuation 0 [dB] to 40 [dB] (in increments of 1) 0 Always
73 Notch filter 1, width 0 to 3 2 Always
74 Notch filter 2, frequency 10 [Hz] to 4000 [Hz] (in increments of 1) 4000 Always
75 Notch filter 2, attenuation 0 [dB] to 40 [dB] (in increments of 1) 0 Always
76 Notch filter 2, width 0 to 3 2 Always

CHAPTER 4 PARAMETER
Specify to suppress resonance of the mechanical system. Up to two resonance points can be
suppressed. Select 1 (enable) for automatic notch filter selection to adjust the notch filter automatically
to the best value and suppress resonance.
Parameters automatically adjusted in this case include PA1_71 to _76. Values are stored in the
EEPROM every 10 minutes.
How to set the notch filter
(1) If there is resonance in the mechanical system, a notch filter is automatically set. If resonance is
not suppressed, set PA1_70 (automatic notch filter selection) at 0 (disable) and follow the
procedure below to manually adjust the notch filter.
(2) Using the servo analyze function of PC Loader, determine the resonance point of the machine.
4
Resonance
point
Gain
(b) Depth
[dB]
(c) Width
Frequency [Hz] (a) Resonance frequency

(3) Enter the resonance frequency of and attenuation of the resonance point of the machine into
parameters.
(a) Resonance frequency PA1_71: Notch filter 1, frequency
(b) Depth PA1_72: Notch filter 1, attenuation *
(c) Width PA1_73: Notch filter 1, width
* Too much attenuation may undermine stability of the control. Do not enter too much
setting. (Set at 0dB to disable the notch filter.)
The notch filter is Activate the servo

The notch filter functions to
analyze function again.
added to the eliminate the resonance point.
resonance point.
Attenuation

Width

Frequency

(4) Approximate reference value

Refer to the table below for the approximate reference value.
Frequency [Hz] 200 500 700 1000
Attenuation [dB] -5 -10 -15 -20
Width 2,3

CHAPTER 4 PARAMETER
PA1_77 to 86 Vibration suppressing control settings

Default
value
Automatic vibration suppressing control selection 0: Disable 1: Enable
77 0 Always
2: Communication setting
78 Vibration suppressing anti resonance frequency 0 1 [Hz] to 300.0 [Hz] (in increments of 1) 300.0 Always

79 0 [%] to 80 [%] (in increments of 1) 0 Always

81 0 [%] to 80 [%](in increments of 1) 0 Always
4 82 Vibration suppressing anti resonance frequency 2 1 [Hz] to 300.0 [Hz] (in increments of 1) 300.0

Always


86 Vibration suppressing control damping coefficient 0.0000 to 0.1000 0.0000 Always
These parameters are enabled only under position control.
Use these parameters to specify the anti resonance frequency to suppress workpiece vibration
(vibration control).
Set at 300.0 [Hz] (factory shipment setting) to disable vibration suppressing control function.
Set PA1_77 (automatic vibration suppressing control selection) at 1 (enable) to repeat starting and
stopping the motor multiple times while automatically detecting the anti resonance frequency of the
machine and adjusting PA1_78 (vibration suppressing anti resonance frequency 0) to the best value.
To use this function, always reserve 1.5s or longer stopping time.
Use vibration suppressing workpiece inertia ratio (vibration suppressing resonance frequency) 0 to
enter the ratio of a vibrating inertial body such as the arm to the inertia of the entire system.
The enabled parameter is selected through the CONT input signal as shown in the table on the next
page.
The RS-485 communications setting is enabled if the parameter PA1-77 (automatic vibration
suppressing control selection) is set at 2 (comunication setting).
Anti resonance Anti resonance Enabled vibration suppressing Enabled vibration suppressing
frequency 1 frequency 0 anti resonance frequency workpiece inertia ratio
OFF OFF PA1_78 PA1_79
OFF ON PA1_80 PA1_81
ON OFF PA1_82 PA1_83
ON ON PA1_84 PA1_85
For details of vibration suppressing control, refer to Section 5.8 "Special Adjustment (Vibration
Suppressing Control)."

CHAPTER 4 PARAMETER
PA1_87 Model torque filter time constant

Default
87 Model torque filter time constant 0.00 [ms] to 20.00 [ms] *** Always
Specify the feed forward control filter time constant of the torque for a model of inertia moment.
Automatic adjustment is made inside the amplifier in other than the manual tuning mode.
PA1_88 and 89 Position loop integration time constant, position loop integration limiter
Default
Position loop integration time

88
89
constant
Position loop integration limiter
1.0 [ms] to 1000.0 [ms]
0 [r/min] to Max. rotation speed [r/min]

***
0
Always
Always
4
Use to improve interpolation accuracy of axes when interpolating two or more servomotor axes of an
X-Y table or similar.
PA1_88 (position loop integration time constant) is automatically adjusted inside the amplifier in other
than the manual tuning mode.
The position loop integration time constant is disabled if PA1_89 (position loop integration limiter) is 0.
To enter manually, enter settings so that the following equation is satisfied: Position loop integration
time constant Speed loop integration time constant x 5
PA1_90 Load torque observer

Default
90 Load torque observer 0: Disable 1: Enable 0 Always

Set at 1 (enable) to suppress effects of load disturbance torque and improve speed fluctuation.
Use the parameter to reduce the positioning settling time due to effects of the load torque such as friction.

CHAPTER 4 PARAMETER
PA1_91 P/PI automatic change selection

Default
91 P/PI automatic change selection 0: Disable 1: Enable 0 Always

The speed adjuster switches to P (proportional) or PI (proportional + integral) control.
Set at 1 (enable) to automatically switch according to the setting of PA1_61 (gain changing factor).
The switching level follows the reference value of PA1_62 (gain changing level).
The state at switching is shown below.
PA1_61: Gain changing factor Condition State
Position deviation, feedback speed Reference value level or over P control
4
Command frequency, command
speed Reference value level or less PI control
External signal switch ON P control

(CONT signal switch)
OFF PI control
To apply the brake from an external unit, arrange the P control state.
PA1_92 and 93 Friction compensation settings

Default
92 Speed range for friction compensation 0.1 [r/min] to 20.0 [r/min] 10.0 Always
Coulomb friction torque for friction 0 [%] to 50 [%]
93 0 Always
compensation
Specify in a system with reversing speeds if smooth reversing motions are not obtained due to friction.
Specify the speed at which static friction changes to dynamic friction, in these parameters.
Set PA1_92 (speed range for friction compensation) at about 1.0 [r/min] to 10.0 [r/min].
Set PA1_93 (Coulomb friction torque for friction compensation) at the torque equivalent to dynamic
friction (Coulomb friction).
Friction compensation is disabled if the friction compensation torque reference value is 0.
PA1_94 Torque filter setting mode

Default
94 Torque filter setting mode 0: Not set automatically 1: Set automatically 1 Always
Select either to automatically set the torque filter automatically or not during auto tuning operation.
Set at 0 (not set automatically) to manually specify PA1_59 (torque command filter) without relations
to the setting of PA1_13 (tuning mode selection).
Set at 1 (set automatically) to automatically adjust inside the amplifier in other than the manual tuning
mode.

CHAPTER 4 PARAMETER
PA1_95 Model torque calculation and speed observer selection

Default
Setting Model torque Speed observer

calculation
Model torque 0 Disable Disable
95 calculation and speed 1 Enable Disable 3 Always
observer selection 2 Disable Enable
3 Enable Enable

Select whether model torque calculation and speed observer are enabled or disabled.
4
If model torque calculation is disabled, the torque feed forward calculation using a model of moment of
inertia of load is disabled.
Use the parameter to perform position and speed control at the host controller.
Select "enable" for speed observer during regular operation. Speed compensation is made and stability
is improved.
Parameters related to response of the control system are automatically adjusted according to the
setting of auto tuning 1 or 2. However, the function of PA1_54 (position command response time
constant) is canceled internally.
PA1_96 Speed limit gain for torque control

Default
96 Speed limit gain for torque control 0.0 to 50.0 10.0 Always
This parameter is enabled under torque control.
If the rotation speed exceeds the reference value of PA1_26 (maximum rotation speed (under torque
control)) under torque control, the command torque is reduced so that the rotation speed becomes near
the reference value. At this time, an error is caused in the rotation speed in relation to the reference
value. Take into consideration that the parameter adjusts the error. While a larger reference value
decreases the error, excessive value will cause instability.

CHAPTER 4 PARAMETER
4.4 Automatic Operation Setting Parameter
Parameters marked " " in the "Power" field are enabled after the control power is turned
off then turned on again. (Check that the keypad (7-segment display) of the servo
4.4.1 List (PA2_ )

No.
PA2_
4 01
06
Decimal point position of
positioning data
Homing speed
0
500.00
-
- - -
07 Creep speed for homing 50.00 - - -
08 Starting direction for homing 0 - -
Reverse traveling unit amount for
09 homing
0 - - -
Homing direction after reference
10 signal detection
0 - -
11 Reference signal for shift operation 1 - -
Reference signal for homing
12 (Deceleration starting signal)
0 - -
Home position LS signal edge
13 selection
0 - -
14 Home position shift unit amount 1000 - - -
Deceleration operation for creep
15 speed
0 - -
Home position after homing
16 completion
0 - - -
17 Home position detection range 0 - -
Deceleration time at OT during
18 homing
100.0 - - -
19 Preset position 0 - - -
20 Interrupt traveling unit amount 100000 - - -
22 Detection time for contact-stopper 0 - - -
23 Torque limit for contact-stopper 0 - - -
Selection of operation at OT during
24 homing
0
25 Software OT selection 0 -
Positive software OT detection
26 position
2000000000 - -
Negative software OT detection
27 position
-2000000000 - -
28 Positive limiter detection time 2000000000 - - -
29 Negative limiter detection time -2000000000 - - -
31 Point detection, area detection 0 -
Point detection, area detection
32 position 1
0 -
33 position 2
0 -
34 Point detection range 100 -
4-34 Automatic Operation Setting Parameter

CHAPTER 4 PARAMETER

No.
PA2_
36 Override 1 10
37 Override 2 20
- -
38 Override 4 40
39 Override 8 80
40 Internal positioning data selection 0 - -
41 Sequential start selection 0 - -
Decimal point position of stand still
42 timer
0 - - -
43 Output selection at M code OFF 1 - -


4
PA2_01 Decimal point position of positioning data
Default
Decimal point position of 0:0 1:0.1 2:0.01 3:0.001

01 0 Always
positioning data 4:0.0001 5:0.00001
Specify the decimal point position of the displayed position data.
PA2_06 to 18 and 24 Homing settings

Default
06* Homing speed 0.01 [r/min] to Max. rotation speed [r/min] 500.00 Always
07 Creep speed for homing 0.01 [r/min] to Max. rotation speed [r/min] 50.00 Always
0:Forward rotation 1:Reserve rotation
08* Starting direction for homing 0 Power
2:Condition judgment start
09 0 to 2000000000 [unit amount] 0 Always
homing
Homing direction after reference signal
10* 0: Forward 1: Reverse 0 Power
detection
0: Home position LS
1: Encoder Z-phase
11* Reference signal for shift operation 1 Power
2: +OT 3:-OT 4: Interrupt input
5: Stopper
12 0: Home position LS 1:+OT 2:-OT 0 Power
(Deceleration starting signal)
Home position LS signal edge 0: Rising edge detection
13 0 Power
selection 1: Trailing edge detection
14* Home position shift unit amount 0 to 2000000000 [unit amount] 1000 Always
0: Reverse rotation disable
15 Deceleration operation for creep speed 0 Power
1: Reverse rotation enable
-2000000000 to 2000000000
16 Home position after homing completion 0 Always
[unit amount]
Automatic Operation Setting Parameter 4-35

CHAPTER 4 PARAMETER
Default
0: Always ON after homing completion
17 Home position detection range 0 Always
1 to 2000000000 [unit amount]
18 Deceleration time at OT during homing 0.0 [ms] to 99999.9 [ms] 100.0 Always
22 Detection time for contact-stopper 0 [ms] to 10000 [ms] 0 Always
23 Torque limit for contact-stopper 0 [%] to 100 [%] 0 Always
0: Reverse rotation upon OT detection
24 1: Stopped upon OT detection (homing 0 Power
homing
cancel)
*: Compulsory setting item
4 ALPHA5 can combine parameter settings to create the desired homing profile.
The homing profile is configured with combination of the following parameters.
(1) Starting direction for homing
Specify the starting direction (forward/reverse rotation) of homing. The direction opposite to the
homing direction after reference signal detection can be specified.
(2) Homing direction after reference signal detection
Select the side of the home position (forward or reverse rotation side) in relation to the reference
signal for homing (Deceleration starting signal) and reference signal for shift operation.
(3) Reference signal for shift operation
Select the signal serving as the direct standard of the zero position. You can select +OT or -OT.
(4) Reference signal for homing (Deceleration starting signal)
Specify the creep speed deceleration signal that is used if the encoder Z-phase is selected as a
reference signal for shift operation. You can select +OT or -OT.

CHAPTER 4 PARAMETER
(1) Homing profile setting procedure

The basic procedure for specifying the homing profile (homing parameter) is described.
Homing pattern setting

procedure
Home position shift unit amount
Z-phase/home Enter the standard signal for

Enter the reference signal for position LS determining the home position
homing.PA2_11 +OT/-OT
Interrupt input shift unit amount.
-OT Home Reference +OT

Z-phase Home position position signal for
shift amount standard signal =
4
homing
Z-phase? (PA2_11)
=Z-phase
Enter the signal triggering

Enter the reference signal Home position deceleration to the homing
for homing (PA2_12) LS
creep speed.
+OT/-OT
-OT Home position LS +OT
Homing speed
Homing creep speed
Reference signal for
homing (Deceleration
starting signal)
Reverse direction Forward direction
Forward
Enter the homing direction direction
Enter the side of the home position in
after reference signal
Reverse relation to the reference signal for
detection. (PA2_10) homing.
direction
-OT Home Reference Home +OT

position signal for position
homing
Reverse direction Forward direction
Forward Enter the direction of starting motion

Enter the starting direction for direction caused upon a homing command
homing. (PA2_08) Reverse
input.
direction
-OT +OT
End of homing pattern setting
Parameter setting examples of typical homing profiles are described on page 4-46.
(2) Homing motion setting parameter

Parameters are combined to determine the homing motion.

CHAPTER 4 PARAMETER
PA2_06 Homing speed

Default
06 Homing speed 0.01 [r/min] to Max. rotation speed [r/min] 500.00 Always
Specify the homing speed.
Homing speed (PA2_06)
Speed Homing creep speed (PA2_06)
Time
Homing [ORG] OFF OFF
4 Reference signal for

homing
ON
OFF
ON
OFF
PA2_07 Creep speed for homing

Default
07 Creep speed for homing 0.01 [r/min] to Max. rotation speed [r/min] 50.00 Always
Specify the motion speed taken after the reference signal for homing (deceleration starting signal) is
detected.
PA2_08 Starting direction for homing

Default
value
0:Forward rotation
08 Starting direction for homing 1:Reverse rotation 0 Power
2:Condition judgment start
Specify the starting direction of the homing motion.
Reverse Forward
Reverse
Forward
-OT +OT
For the direction of 2: condition judgment start, refer to page 4-62.

Forward direction: direction of position increase Reverse direction: direction of position decrease
The forward/reverse direction depends on parameter PA1_04 (rotation direction selection).

CHAPTER 4 PARAMETER
PA2_09 Reverse traveling unit amount for homing

Default
Reverse traveling unit

amount for homing
Not a compulsory item
Specify the reverse traveling amount taken in the direction opposite to the starting direction for homing
at the start of homing motion.
If a reference signal for homing (deceleration starting signal) or reference signal for shift operation is
detected during reverse travel, movement toward the homing direction after reference signal detection
begins. Use the setting to reduce the homing time.
4
Use if the stopping position is in the direction opposite to the starting direction for homing and the
maximum distance from the stopping position to the zero position is always known.
The unit amount depends on PA1_06 (numerator 0 of electronic gear) and PA1_07 (denominator of
electronic gear).
If neither the reference signal for homing (deceleration starting signal) nor reference signal for shift
operation is detected during reverse motion, movement in the starting direction for homing begins after
reverse motion by the preset traveling amount.
Reverse traveling unit
amount for homing
Starting direction for homing
Stopping position
-OT Reference signal for +OT

shift operation
+ Homing creep speed
Speed Homing speed
Time Reference value of reverse

traveling unit amount for
homing
-
Homing [ORG]
OFF OFF
ON
Home position OFF OFF OFF
reference signal ON ON
PA2_10 Homing direction after reference signal detection

Default
value
10 Homing direction after
0: Forward 1: Reverse 0 Power
reference signal detection
Specify the direction of the zero position when viewed from the reference signal for shift operation. The
reference signal for shift operation is passed during home position shift unit amount travel in this
direction. Reverse Forward
-OT Reference signal for +OT

shift operation
CHAPTER 4 PARAMETER
If +OT or -OT is set as a reference signal for homing (deceleration starting signal), this parameter is
disabled and the direction opposite to the one toward the specified OT signal is the homing direction
after reference signal detection.
The definition of the direction of motion is shown below.
Forward: direction of position increase Reverse: direction of position decrease
PA2_11 Reference signal for shift operation

Default
0: Home position LS
Reference signal for shift 1: Encoder Z-phase
11 1 Power
4
operation 2: +OT 3:-OT 4: Interrupt input
5: Stopper
Specify the signal serving as a standard of the home position.
The position of a travel from the specified reference signal toward the homing direction after reference
signal detection by the home position shift unit amount is the home position.
The home position accuracy (reproducibility of zero position) is the highest with 3 (encoder Z-phase).
If the Z-phase is selected, the reference signal for shift operation (deceleration starting signal) can be
installed.
Next to the encoder Z-phase, 4 (interrupt input) has the highest home position accuracy (reproducibility
of zero position). This is because 4 (interrupt input) detects the interrupt position with a signal while 0
(home position LS), 2 (+OT) and 3 (-OT) detects a level.
Home position shift unit
amount
Encoder Z-phase
-OT Interrupt Home +OT

input position LS Reference signal for
shift operation
If one among 0 (home position LS), 2 (+OT) and 3 (-OT) is selected, there is an error of 250 [pulses]
in the zero position at a creep speed for homing of 50 [r/min].

CHAPTER 4 PARAMETER
PA2_12 Reference signal for homing

Default
12 Reference signal for homing 0: Home position LS 1:+OT 2:-OT 0 Power

If the encoder Z-phase is selected as a reference signal for shift operation, specify the timing signal for
deceleration to the creep speed for homing. The first encoder Z-phase after reference signal for shift
operation detection is the starting point of the home position shift unit amount.
-OT Home position LS +OT
4
Homing speed
Homing creep Example where the
speed home position LS is the
reference signal for
Speed
homing
Time
Home position LS OFF OFF
ON
PA2_13 Home position LS signal edge selection

Default
Home position LS signal 0: Rising edge detection

13 0 Power
edge selection 1: Trailing edge detection
Specify the enabling timing of the home position LS signal if the home position LS is specified as a
reference signal for shift operation reference signal for homing (Deceleration starting signal).
[Home position LS timing selection = 0] [Home position LS timing selection = 1]
Homing speed Homing speed

Homing creep speed Homing creep speed
Speed Speed
Time Time
Home position
LS OFF OFF Home position OFF OFF
ON LS ON
PA2_14 Home position shift unit amount

Default

amount
Specify the distance (traveling amount) from the reference Home position shift unit amount
signal for shift operation to the home position.
Home position Reference signal for

shift operation

CHAPTER 4 PARAMETER
PA2_15 Deceleration operation for creep speed

Default
Deceleration operation for 0: Reverse rotation disable

15 0 Power
creep speed 1: Reverse rotation enable
Specify 1 (reverse rotation enable) to return upon detection of the reference signal for shift operation
during movement at the homing speed in the homing direction after reference signal detection
temporarily to the point ahead of the reference signal for shift operation and move at the creep speed
for homing again in the homing direction after reference signal detection to the position (home position)
the home position shift unit amount away from the reference signal for shift operation.
Accurate homing can be executed only with the reference signal for shift operation without a reference
4 signal for homing (deceleration starting signal).
(1) Homing speed (2) Homing creep speed (3) Homing creep speed (homing
(homing direction after reference signal (reverse) direction after reference signal detection)
detection)
Reference signal for shift Reference signal for shift Reference signal for shift
operation operation operation
(1)Homing speed
+ (3) Homing creep speed
Speed
Time
- (2) Homing creep speed

homing OFF OFF OFF OFF
ON ON ON
PA2_16 Home position after homing completion

Default
Home position after homing -2000000000 to 2000000000

16 0 Always
completion [unit amount]
Not a compulsory item Home position shift unit amount
Specify the coordinate position of the homing completion point.
After a homing is normally finished, the current position is
replaced with the reference value of this parameter.
Specify if the homing motion completion point is other than zero.
Home position Reference signal for
shift operation
Home position after

homing completion

CHAPTER 4 PARAMETER
PA2_17 Home position detection range

Default
Home position detection 0: Always ON after homing completion

17 0 Always
range 1 to 2000000000 [unit amount]
Specify the range in which the homing completion signal is turned on.
If the current position is between the positive home position detection range and negative home
position detection range around the home position, homing completion is turned on.
Specify 0 to always turn the homing completion signal on after a homing is finished.
Home position detection range Home position detection range
Homing completion OFF ON OFF 4

-OT Home position +OT
The zero position is not necessarily 0. The home position is the position specified as a home position
after homing completion (PA2_16) or preset position (PA2_19).
PA2_18 Deceleration time at OT during homing
Default
Deceleration time at OT
18 0.0 [ms] to 99999.9 [ms] 100.0 Always
during homing
Specify the deceleration time taken after +OT or -OT is detected during homing motion.
Specify the time taken to decelerate from 2000 [r/min] to 0 [r/min]. Determine the setting under
consideration of the homing speed and moving range after the OT sensor. (0.7 in the equation
indicates the safety factor.)
[Example of calculation of reference value]
Moving range after OT 0.7 = Homing speed Reduction ratio Ball screw lead
(Homing speed/2000 [r/min] Deceleration time after homing OT/1000/60) 1/2
30[mm] 0.7 = 1000.00 [r/min] (1/5) 20 [mm]
(1000.00 [r/min]/2000 [r/min] Deceleration time at OT during homing /1000/60) 1/2
Deceleration time at OT during homing = 1260.0 [ms]
+ Homing speed The acceleration time and

Deceleration time at homing OT deceleration time are based on
Speed 2000 [r/min].
Time
Acceleration time 1 or acceleration time 2
-
+OT and -OT are generally

+OT ON OFF ON normally closed contact signals.
If 1 (stop) is selected with parameter PA2_24 (selection of operation at OT during homing), stoppage
occurs according to parameter PA2_60 (third torque limit). In this case, the homing motion is
stopped upon detection of OT.

CHAPTER 4 PARAMETER
PA2_22 Detection time for contact-stopper

PA2_23 Torque limit for contact-stopper
Default
Detection time for

22 0 [ms] to 10000 [ms] 0 Power
contact-stopper
Torque limit for
23 0 [%] to 100 [%] 0 Power
contact-stopper
These parameters are enabled if 5 (stopper) is selected for PA2_11 (home position shift amount
reference signal).
Enter these parameters to perform homing in applications such as positioning of a cylinder or the like
4
where the home position LS or +/-OT cannot be used.
Enter the stopper contact detection time and dead stop torque limit.
For details, refer to (7) Homing Pattern Using the Stopper on page 4-64.
PA2_24 Selection of operation at OT during homing

Default
Selection of operation at 0: Reverse rotation upon OT detection

24 0 Power
OT during homing 1: Stop upon OT detection (homing cancel)
Specify the motion taken upon first OT detection during homing motion.
Specify 0 to reverse the motion upon first OT detection.
Specify 1 to cancel homing and stop upon detection of OT.
Selection of operation at OT during homing = 0 Selection of operation at OT during homing = 1

Homing speed Homing speed
Speed
Speed
Time Time
+OT OFF ON OFF +OT OFF ON
In-position OFF ON OFF In-position OFF ON
Parameters related to homing

PA1_12 (Z-phase position offset)
Default
0 [pulse] to 1048575 [pulse]: 20

12 Z-phase position offset 0 Power
bits
The encoder Z-phase position can be adjusted.
The Z-phase output position shifts by the pulse amount (pulse units) specified in the CCW
direction.
If the encoder Z-phase is selected as a reference signal for shift operation, adjust the encoder
Z-phase position with this parameter after motor replacement so that homing can be made to the
original position without changing the reference signal for homing (deceleration starting signal) or
homing parameters.
For details, refer to "PA1_12 Z-phase position offset" on page 4-13.

CHAPTER 4 PARAMETER
PA1_37 to 40 (acceleration times, deceleration times)

Default

0.0 [ms] to 99999.9 [ms] Always
Specify acceleration and deceleration in the homing motion.
The acceleration/deceleration time is the time from 0 [r/min] to 2000 [r/min].
For details, refer to "PA1_36 to 40 Acceleration time and deceleration time settings" on page 4-21.
PA2_60 (third torque limit)

Default
4
60 Third torque limit 0 [%] to 300 [%] 0 Always

Specify the deceleration torque for stopping upon detection of +OT or -OT during homing motion.
If 1 (stop) is selected as parameter PA2_24 (selection of operation at OT during homing) and OT is
detected, the homing process is canceled and controlled stop is caused according to this
parameter.
For details, refer to "PA2_57 to 60 Torque limit settings" on page 4-74.

CHAPTER 4 PARAMETER
Typical homing profiles

(1) Basic homing profile (equivalent to homing profile 1 of FALDIC- Series)
Described here is the homing profile of the most basic motion, in which homing is started, the
reference signal for homing (deceleration starting signal) is detected and deceleration to the creep
speed for homing occurs, and the reference signal for shift operation is detected and movement by
the home position shift unit amount is caused until the motion is stopped.
Use the profile if the machine stopping position is less than the reference signal for homing
(deceleration starting signal) or reference signal for shift operation.
Because neither +OT nor -OT is installed for homing of a rotating body as an indicator of the
traveling limit, this homing profile is used in principle.
[Parameter setting example]
4 PA1_
No. Name Setting

Default
value Change
01 Control mode selection 6: Extension mode 0 Power

PA2_
Default
No. Name Setting value Change
06 Homing speed 500.00 [r/min] 500.00 Always

07 Creep speed for homing 50.00 [r/min] 50.00 Always
08 Starting direction for homing 0: Forward 0 Power
Reverse traveling unit amount
09 0 [unit amount] 0 Always
for homing
10 0: Forward 0 Power
signal detection
Reference signal for shift
11 1: Encoder Z-phase 1 Power
operation
12 0: Home position LS 0 Power
Home position LS signal edge 0: Rising edge
13 0 Power
selection detection
14 Home position shift unit amount 1000 [unit amount] 1000 Always
Deceleration operation for creep 0: Reverse rotation
15 0 Power
speed disable
completion
0: Always ON after
homing completion
18 100.0 [ms] 100.0 Always
homing
Selection of operation at OT
24 0: Reverse rotation 0 Power
during homing
To cancel homing upon detection of +OT or -OT, specify 1 (stop) to parameter PA2_24
(selection of operation at OT during homing).

CHAPTER 4 PARAMETER
The motion proceeds in the following procedure.

(1) The motion starts upon homing [ORG] (OFF ON) in the starting direction for homing (PA2_08)
at homing speed (PA2_06).
(2) When the home position LS (PA2_12, PA2_13) is detected, the motion changes in the homing
direction after reference signal detection (PA2_10) at the creep speed for homing (PA2_07).
(3) After the home position LS (PA2_12) is detected during travel in the homing direction after
reference signal detection and the first encoder Z-phase (PA2_11) is detected, a travel occurs by
the home position shift unit amount (PA2_14), followed by stoppage. The stopping point changes
to the home position and homing completion is turned on and the homing process is finished.
Encoder Z-phase
(1) (2)
(3)
4
Home Home +OT
-OT Homing direction after position LS position
Homing speed [PA2_06]
Speed (2) Homing creep speed [PA2_07]
(1) Home position shift unit amount [PA2_14]
(3)
Time
Servo-on [S-ON] OFF ON
Position control OFF ON

Controller,
Homing [ORG] OFF ON OFF sensor

Home position LS [LS] OFF ON OFF Servo amplifier
Encoder Z-phase OFF ON OFF
Ready for servo-on OFF ON
Homing LS detection OFF ON OFF

Servo
Homing completion
OFF ON amplifier

Controller
Zero speed ON OFF ON
In-position [INP] ON OFF ON

CHAPTER 4 PARAMETER
(2) OT reference homing profile (equivalent to homing profile 2 of FALDIC- Series)

If the OT located in the starting direction for homing is detected after homing is started before the
reference signal for homing (deceleration starting signal) is detected, the motion reverses
automatically and a travel occurs in the opposite direction for a reference signal for shift operation
in this homing profile.
Secure homing is realized even if the direction of the reference signal for homing (deceleration
stating signal) or reference signal for shift operation in relation to the machine stopping position is
not known.
PA1_
Default
4 PA2_
Default

09 Reverse traveling unit amount for homing 0 [unit amount] 0 Always
detection
11 Reference signal for shift operation 1: Encoder Z-phase 1 Power
13 Home position LS signal edge selection 0: Rising edge detection 0 Power
15 Deceleration operation for creep speed 0: Reverse rotation disable 0 Power
16 Home position after homing completion 0 [unit amount] 0 Always
0: Always ON after homing
completion
18 Deceleration time at OT during homing 100.0 [ms] 100.0 Always
homing
Because the reverse rotation upon OT detection is enabled with the standard homing setting of
ALPHA5, the OT reference homing is executed with the same parameter settings as those of the
basic homing profile.
If the reference signal for homing (deceleration starting signal) is detected before OT is detected,
the motion profiles the same as that of (1) basic homing profile.
If OT is detected in the starting direction for homing during homing motion, the motion proceeds in
the following procedure.
(1) The motion starts at the rising edge (OFF ON) of homing [ORG] in the starting direction for
homing (PA2_08) at the homing speed (PA2_06).
(2) If OT is detected in the starting direction for homing (PA2_08) before the home position LS
(PA2_12) is detected, the motion reverses at the homing speed (PA2_06).
(3) If the home position LS (PA2_12) is detected during reverse rotation, the motion changes in
the homing direction after reference signal detection (PA2_10) at the creep speed for homing
(PA2_07).

CHAPTER 4 PARAMETER
(4) Upon detection of the first encoder Z-phase (PA2_11) after detection of the home position LS
(PA2_12) during travel in the homing direction after reference signal detection (PA2_10), a
travel continues by the home position shift unit amount (PA2_14), followed by stoppage. The
stopping point changes to the home position and homing completion is turned on and the
homing process is finished.
Encoder Z-phase
(3) (4) (1) (2)
Homing direction Starting

Home Reverse
after reference Home direction for
-OT signal detection position LS position
homing
rotation
+OT
Speed
+
(2)
Homing creep speed [PA2_07]

amount
4
[PA2_14]
(1)
(3) (4)
Time

Homing [ORG] OFF ON OFF Controller,

sensor
+OT ON OFF ON
Servo
Home position LS [LS]
OFF ON OFF ON OFF amplifier
OT detection OFF ON OFF
+OT detection OFF ON OFF

Servo
Homing LS detection OFF ON OFF ON OFF amplifier

Homing completion OFF ON Controller
Zero speed ON OFF ON OFF ON OFF ON
In-position ON OFF ON OFF ON OFF ON

[INP]
At the rotation direction selection point with zero speed, zero speed and in-position [INP] are
momentarily turned on. The signal change may fail to be sensed according to some scanning
periods of the host controller.

CHAPTER 4 PARAMETER
(3) At-start reverse rotation homing profile1 (equivalent to homing profile 3 of FALDIC- Series)
After homing is started, a travel occurs in the direction opposite to the starting direction for homing
by the specified reverse traveling unit amount for homing while the reference signal for homing
(deceleration starting signal) is searched for.
This profiles used if the machine stopping position is larger than the reference signal for homing
(deceleration starting signal) or reference signal for shift operation.
PA1_
Default
4 PA2_
No. Name Setting

Default
Change
value
homing
signal detection
Reference signal for shift
11 1: Encoder Z-phase 1 Power
operation
Home position LS signal edge
13 0: Rising edge detection 0 Power
selection
Deceleration operation for creep
15 0: Reverse rotation disable 0 Power
speed
completion
completion
18 100.0 [ms] 100.0 Always
homing
Selection of operation at OT
during homing
Because rotation reverses in the direction opposite to the OT direction upon OT detection to
detect the reference signal for homing (deceleration starting signal) and reference signal for shift
operation, secure homing is realized. The reverse rotation after OT detection follows (2) OT
reference homing profile.

CHAPTER 4 PARAMETER

(1) The motion starts at the rising edge (OFF ON) of homing [ORG] in the direction opposite to the
starting direction for homing (PA2_08) at the homing speed (PA2_06).
(2) If the home position LS (PA2_12) is detected during travel by the reverse traveling unit amount for
homing (PA2_09), the motion changes in the homing direction after reference signal detection
(PA2_10) at the creep speed for homing (PA2_07).
(PA2_12) during travel in the homing direction after reference signal detection (PA2_10), a travel
continues by the home position shift unit amount (PA2_14), followed by stoppage. The stopping
point changes to the home position and homing completion is turned on and the homing process is
finished.
Encoder Z-phase
4
(2) (3) (1)

Home Home
-OT position LS position
Homing direction after +OT
Homing speed Reverse traveling

+ [PA2_06] unit amount for
Speed homing [PA2_09] Home position shift unit amount
[PA2_14]
(2)
(3)
Time
(1)
-
Position control OFF ON Controller,

sensor
Homing [ORG] OFF ON OFF
Servo
Home position LS [LS] OFF ON OFF ON OFF amplifier
Homing LS detection OFF ON OFF ON OFF Servo

amplifier
Controller
Zero speed ON OFF OFF ON
ON
In-position ON OFF OFF ON
[INP] ON
At the direction of rotation switch rotation direction selection point with zero speed, zero speed and
in-position [INP] are momentarily turned on. The signal change may fail to be sensed according to
some scanning periods of the host controller.

CHAPTER 4 PARAMETER
If the home position LS (PA2_12) is not found during travel from the homing starting position in the
reverse traveling unit amount for homing (PA2_09), the motion continues in the starting direction
for homing to search for the home position LS (PA2_12).
(1) The motion starts at the rising edge (OFF ON) of homing [ORG] in the direction opposite to
the starting direction for homing (PA2_08) at the homing speed (PA2_06).
(2) If the home position LS (PA2_12) is not found during travel by the reverse traveling unit
amount for homing (PA2_09), the motion changes in the starting direction for homing
(PA2_08) at the homing speed (PA2_06).
(3) If the home position LS (PA2_12, PA2_13) is detected, the motion changes in the homing
4
(PA2_12) during travel in the homing direction after reference signal detection, a travel
continues by the home position shift unit amount (PA2_14), followed by stoppage. The
Reverse traveling unit amount for homing Home position shift unit amount
Encoder Z-phase
(2) (1) (3) (4)
-OT Starting direction for homing Home +OT

Home
position position
signal detection
LS Homing speed [PA2_06]
Homing speed
+ Homing creep speed [PA2_07]
[PA2_06] Reverse traveling
Speed unit amount for Home position shift unit amount
homing [PA2_09] [PA2_14]
(2)
(3)
Time
(1)
-

sensor
Servo
Home position LS [LS] OFF ON OFF amplifier
Homing LS detection OFF ON OFF Servo

amplifier
Controller
ON
In-position ON OFF OFF ON
[INP] ON
CHAPTER 4 PARAMETER
If the home position LS (PA2_12) is not found during travel from the homing starting position in the
reverse traveling unit amount for homing (PA2_09), the motion changes in the starting direction for
homing and the home position LS (PA2_12) is searched for. If the home position LS (PA2_12) is
not found during the motion in the starting direction for homing until OT in the starting direction for
homing is detected, the motion reverses and the reference signal for homing (Deceleration starting
signal) and reference signal for shift operation are searched for.
(1) The motion starts upon at the rising edge (OFF ON) of homing [ORG] in the direction
opposite to the starting direction for homing (PA2_08) at the homing speed (PA2_06).
(2) If the home position LS (PA2_12) is not found during travel by the reverse traveling unit
amount for homing (PA2_09), the motion changes in the starting direction for homing
4
(PA2_08) at the homing speed (PA2_06).
(3) If OT in the starting direction for homing (PA2_08) is found while the home position LS
(PA2_12) is not found, the motion reverses at the homing speed (PA2_06).
(4) If the home position LS (PA2_12) is found during reverse rotation, the motion changes in the
homing direction after reference signal detection (PA2_10) at the creep speed for homing
(PA2_07).
(PA2_12) during travel in the homing direction after reference signal detection (PA2_10), a
travel by the home position shift unit amount (PA2_14) continues, followed by stoppage. The

CHAPTER 4 PARAMETER
Encoder Z-phase
(4) (5) (2) (1) (3)
-OT Home Home Starting direction for homing +OT

position LS position Homing direction after reference
signal detection

Reverse traveling
+ Homing creep speed [PA2_07] amount [PA2_14]
unit amount for
homing [PA2_09] (3) (5)
Speed
4 (1) (2) Homing speed

[PA2_06]
(4)
Time
-

Controller,
Homing [ORG] OFF ON OFF sensor

+OT ON OFF ON Servo
amplifier
Home position LS [LS] OFF ON OFF ON OFF
+OT detection OFF ON OFF

Servo
Homing LS detection OFF ON OFF ON OFF amplifier

Homing completion OFF ON Controller
Zero speed ON OFF OFF

ON ON ON OFF ON
In-position ON OFF ON ON OFF ON OFF ON

[INP]

CHAPTER 4 PARAMETER
(4) Reference signal for shift operation homing profile (equivalent to homing profile 4 of FALDIC-
Series)
Upon detection of a reference signal for shift operation after the start of homing, the motion
reverses to the point ahead of the reference signal for shift operation, and then the motion
continues at the creep speed for homing to detect the reference signal for shift operation and
determine the home position.
Accurate homing (highly reproducible zero position) is realized only with the reference signal for
shift operation without using the reference signal for homing (deceleration starting signal).
PA1_
Default
4

PA2_
Default

homing
detection
11 Reference signal for shift operation 0: Home position LS 1 Power
12 3: None 0 Power
15 Deceleration operation for creep speed 1: Reverse rotation enable 0 Power
completion
homing
operation, homing can be secured. The reverse rotation after OT detection follows (2) OT

CHAPTER 4 PARAMETER

homing (PA2_08) at the homing speed (PA2_06).
(2) Upon detection of the home position LS (PA2_12, PA2_13), the motion reverses in the
direction opposite to the homing direction after reference signal detection (PA2_10) to the
point ahead of the home position LS (PA2_12).
(3) The motion changes in the homing direction after reference signal detection (PA2_10) to
detect the home position LS (PA2_12, PA2_13), and it changes to the creep speed for homing
(PA2_07) by the home position shift unit amount (PA2_14), followed by stoppage. The
4 (1) (2)-2 (2)-1 (3)


Home Home
-OT Homing direction after
position LS position +OT

+
Speed (3)
(1) Home position shift unit
(2) amount [PA2_14]
Time

sensor
Servo
Home position LS [LS] OFF ON ON OFF ON OFF amplifier
Homing LS detection OFF ON ON OFF ON

Servo
Homing completion OFF ON amplifier

Zero speed ON OFF ON OFF ON OFF ON Controller
In-position ON OFF ON OFF ON OFF ON

[INP]

CHAPTER 4 PARAMETER
(5) At-start reverse rotation homing profile2

The motion occurs in the direction opposite to the homing direction after reference signal detection
(direction of home position when viewed from the reference signal for homing) to detect the
reference signal for homing (deceleration starting signal) and reference signal for shift operation.
This profile is used if the machine stopping position is larger than the reference signal for homing
or reference signal for homing.
PA1_
Default

PA2_
No. Name Setting

Default
Change
4
value
08 Starting direction for homing 1: Reverse 0 Power
homing
detection
11 Reference signal for homing 1: Encoder Z-phase 1 Power
12 Reference signal for homing 0: Home position LS 0 Power
15 Deceleration operation for creep speed 0: Reverse rotation disable 0 Power
completion
homing
operation, secure homing is realized. The reverse rotation after OT detection follows (2) OT
The direction of movement is defined as follows.
Forward: direction of position increase Reverse: direction of position decrease.

CHAPTER 4 PARAMETER

homing (PA2_08; direction opposite to homing direction after reference signal detection in this
case) at the homing speed (PA2_06).
(2) Upon detection of the home position LS (PA2_12, PA2_13), the motion changes in the homing
(PA2_12), the travel continues by the home position shift unit amount (PA2_14), followed by
stoppage. The stopping point changes to the home position and homing completion is turned
on and the homing process is finished.
4 Encoder Z-phase
(2) (3) (1)
Starting direction
-OT Home Home for homing +OT
position LS position

signal detection

+ Homing speed
[PA2_06] (2) Home position shift unit
Speed amount [PA2_14]
(3)
Time
(1)
-

sensor
Servo
Home position LS [LS] OFF ON OFF ON OFF amplifier
Homing LS detection OFF ON OFF ON OFF Servo

amplifier
Controller
Zero speed ON OFF ON OFF ON
In-position [INP] ON OFF ON OFF ON

CHAPTER 4 PARAMETER
(6) Homing profile without using OT

Below is an example of the setting for returning to the home position with the home position LS
signal without the OT signal. Use this profile for mechanical configurations where one of directions
of the moving part of the mechanical system is turned on with the home position LS signal as
shown in the figure below. The starting direction for homing is automatically determined according
to the setting of PA2_10 (homing direction after reference signal detection) and the ON/OFF state
of the home position LS at which return begins.
[An example of relationship between moving range of machine and home position LS]
Reverse Moving range of machine Forward

rotation rotation
LS
OFF ON
4
PA1_
Default

PA2_
Default
No. Name Setting Change
value
08 Starting direction for homing 2: Condition judgment start 0 Power
homing
Homing direction after reference signal 0: Forward direction
10 0 Power
detection
11 Reference signal for shift operation 1: Z-phase of encoder 1 Power
Reference signal for homing 0: Home position LS
12 0 Power
13 Home position LS signal edge selection 0: ON-edge detection 0 Power
15 Deceleration operation for creep speed 1: Reverse rotation enable 0 Power
completion
PA2_13: Home position LS signal edge selection indicates selection of the edge of the home
position LS corresponding to the direction of homing.
If PA2_08 is set at 2, use of the home position LS is assumed. Accordingly the following
conditions are included in combination conditions.
PA2_11 (Reference signal for shift operation) = 0 (home position LS) or
PA2_11 (Reference signal for shift operation) = 1 (encoder Z-phase) and PA2_12 (reference signal
for homing) = 0 (home position LS)

CHAPTER 4 PARAMETER
If PA2_08 = 2 and neither of the above conditions is satisfied, the starting direction for homing
follows the setting of PA2_10 (homing direction after reference signal detection). If PA2_08 is set
at 2, PA2_09 (reverse traveling unit amount for homing) is internally handled as zero forcibly.
Operation proceeds in the following order.

(1) Condition judgment start is made upon the rising edge (OFF-to-ON transition) of homing
[ORG] in the reverse rotation direction at the zero return speed (PA2_06).
(2) Upon deactivation of home position LS (PA2_12, PA2_13), movement is temporarily stopped,
then continues in the homing direction after reference signal detection (PA2_10) at the creep
speed for homing (PA2_07).
(3) The travel continues by the home position shift unit amount (PA2_14) after the first encoder
Z-phase (PA2_11) is detected since the home position LS (PA_12) is detected, followed by
4 stoppage. The stopping point changes to the home position and homing completion is turned
on, finishing the homing process.
Home position shift amount
Encoder Z-phase
(2) (1) (3)
Home position LS

Home position
Homing direction after reference signal detection
Creep speed for homing [PA2_07]

Homing speed
Speed
[PA2_06] Home position shift unit amount

(2) [PA2_14]
(3)
Time
(1)


sensor
Servo amplifier
Home position LS ON OFF ON
[LS]

ON
Homing LS detection OFF OFF
Servo amplifier
Controller
ON
In-position [INP] ON OFF OFF ON
ON

CHAPTER 4 PARAMETER
Zero speed and in-position [INP] are temporarily turned on when the speed is reduced to zero at
changeover of the direction of rotation. Signal transition may not be detected according to some
scanning frequencies of the host controller.
[Supplement] Operation example showing the machine position in lateral direction

[Homing starting after LS activation]
(1) A travel in the reverse direction starts at the homing speed (PA2_06).
(2) When the falling edge (ON-to-OFF transition) of the zero LS is detected, reverse rotation
continues to decelerate to the creep speed for homing (PA2_07).
(3) When the first encoder Z-phase (PA2_11) is detected after the rising edge (OFF-to-ON
transition) of the home position LS is detected, a travel is made by the home position shift
unit amount (PA2_14), followed by stoppage.
[Homing starting after LS deactivation] 4

(1) A travel in the forward direction starts at the homing speed (PA2_06).
(2) Because the deceleration operation for creep speed (PA2_15) is set at 1 (reverse rotation
enable), reverse rotation is made upon detection of the rising edge (OFF-to-ON transition) of
the home position LS while decelerating to the creep speed for homing (PA2_07).
(3) Changeover to forward rotation is made again upon detection of the falling edge
(ON-to-OFF transition) of the home position LS.
(4) When the first encoder Z-phase (PA2_11) is detected after the rising edge (OFF-to-ON
transition) of the home position LS is detected, a travel is made by the home position shift
unit amount (PA2_14), followed by stoppage.
Machine moving range
Reverse rotation ON edge of LS Forward rotation
LS (ON active)
Z-phase
PA2_07Creep
Start from inside of LS speed for homing
Position
PA2_14Home
PA2_06Homing speed position shift unit
PA2_06Homing speed amount
PA2_07Creep
Start from outside of LS speed for homing
Position

CHAPTER 4 PARAMETER
Operation example at parameter setting change

Operation examples after a parameter change necessitated due to the position, etc. of the home
position LS (see Table a for the setting example) are shown in Figs. a to c.
Table a
No. Name Setting example of Setting example of Setting example of
Fig. a Fig. b Fig. c
PA2_08 Starting direction for homing 2:Condition judgment start
PA2_10 Homing direction after 0:Forward rotation 1:Reverse rotation

PA2_11 Reference signal for shift
1:Encoder Z-phase
4
operation
PA2_12 Reference signal for homing
0:Home position LS
PA2_13 Home position LS signal edge
1:OFF edge 0:ON edge 1:OFF edge
selection
PA2_15 Deceleration operation for
1:Reverse rotation enable
creep speed
Figs. a through c assume that the machine position is in the lateral direction.
[Fig. a]
Reverse rotation LS OFF edge Forward rotation
LS (ON active)
Z-phase
PA2_06Homing speed
Start from the PA2_07Creep
inside of LS speed for homing
Position
PA2_14Home position
shift unit amount
PA2_07Creep
Start from outside of LS speed for homing
Position
PA2_06Homing speed

CHAPTER 4 PARAMETER
[Fig. b]
Reverse rotation LS ON edge Forward rotation
LS (ON active)
Z-phase
PA2_06Homing speed
4
Start from the
inside of LS
Position PA2_07Creep speed for homing
PA2_14Home position
shift unit amount
Start from
outside of LS
PA2_06Homing speed
[Fig. c]
Reverse rotation LS OFF edge Forward rotation
LS (ON active)
Z-phase
Start from the inside of LS

PA2_14Home position PA2_06Homing speed

shift unit amount PA2_06Homing speed
Start from outside
of LS

CHAPTER 4 PARAMETER
(7) Homing pattern using the stopper

PA1_
Default
value
7: Positioning
01 Control mode selection 0 Power
operation
PA2_
4
Default
value
Homing direction after
10 reference signal 0: Forward 0 Power
detection
11 5: Stopper 1 Power
shift operation
amount
Home position after
homing completion
Home position detection 0: Always ON after
17 0 Always
range homing completion
Detection time for
22 50 [ms] 0 Always
contact-stopper
Torque limit for
23 30 [%] 0 Always
contact-stopper
Select 5 (stopper) for the home position shift amount reference signal (PA2_11). Be sure to enter
the output torque generated upon contact with the stopper, as a torque limit for contact-stopper
(PA2_23), and enter the time between contact with the stopper and completion of homing as a
Detection time for contact-stopper (PA2_22).
(i) If the home position sift amount (PA2_14) is zero, homing is finished at the stopping
position after the detection time for contact-stopper.
(ii) If the home position shift amount (PA2_14) is other than zero, the motor moves by the
home position shift amount from the stopping position after the detection time for
contact-stopper in the reverse direction to the dead stop, and homing is finished there.

CHAPTER 4 PARAMETER
Timing chart
Speed
Homing speed
[PA2_06]
Time
Home position
shift unit amount
[PA2_14]
Creep speed for
Stopper homing [PA2_07]
Homing
ON
Torque limit detection ON 4

Homing completion PA2_22: Detection time for contact-stopper ON
PA2_23: Torque limit for contact-stopper

Torque limit value
PA1_27: Forward rotation torque limit

PA1_28: Reverse rotation torque limit
(1) The activating edge of the homing signal starts operation at the homing speed (PA2_06)
in the homing starting direction (PA2_10).
(2) Upon contact with the stopper or the like, the motor is stopped and the output torque is
limited to the torque limit for contact-stopper (PA2_23).
After limitation is set in the output torque, the detection time for contact-stopper (PA2_22)
is counted for the specified time, then a return is caused by the home position shift
amount (PA2_14), and homing is finished.
If the home position shift amount is zero, homing is finished at the contact position.

CHAPTER 4 PARAMETER
PA2_19 Preset position

Default
-2000000000 to 2000000000 [unit

19 Preset position 0 Always
amount]
Specify the new position to be substituted with the current position upon an input signal ("position
preset (16)" assigned to a CONT signal). After position preset is turned on, the current position
changes to the reference value of this parameter.
PA2_20 Interrupt traveling unit amount
4
Default
Interrupt traveling unit 1 to 2000000000 [unit amount]

20 100000 Always
amount
Specify to perform interrupt positioning.
Specify the traveling amount based on the position located at the timing of activation of an input signal
("interrupt input (49)" assigned to CONT signal).
PA2_25 to 27 Software OT selectionposition command format, software OT

detection position
Software OT selection
0: Disable 1: Enable
(PA1_01 = 1 to 6)
25 0 Power
Position command
0: Normal PTP 1: Non-overflow
format (PA1_01 = 7)
Positive software OT -2000000000 to 2000000000
26 2000000000 Always
detection position [unit amount]
Negative software OT -2000000000 to 2000000000
27 -2000000000 Always
detection position [unit amount]
(1) Software OT selection.
Forced stop is caused, different from +OT or -OT external input signal, if the servomotor position
exceeds the reference value.
Enter settings so that + software OT detection position is larger than - software OT detection
position.
Traveling range
Feedback position
Negative software OT detection Positive software OT detection

position (PA2_27) position (PA2_26)
(2) Position command format

Normal PTP: Motion is conducted in the range from -2000000000 to 2000000000 [unit amount].
Absolute/incremental positioning data designation and various position detection
functions can be used.

CHAPTER 4 PARAMETER
Non-overflow: Repetitive rotation in the same direction can be made.

The position is preset at the start, and all position data is handled as an incremental
value. The OT function, software OT and hardware OT functions allocated to input
signals are disabled.
PA2_28 to 29 Limiter detection position
Positive Iimiter detection

28 2000000000
position
-2000000000 to 2000000000 [unit amount] Always
Negative Iimiter detection
29 -2000000000
position
Enter the position of the limiter detection function. 4
While each setting can be positive or negative, the setting of PA2_28 must not be smaller than the
setting of PA2_29.
For detail description of limiter detection, refer to CHAPTER 2 WIRING.

CHAPTER 4 PARAMETER
PA2_31 to 34 Point detection, area settings

Default
Point detection, area 0: Fixed point 1: Passing point OFF/ON

31 0 Always
detection 2: Passing point ON/OFF
Point detection, area
32 -2000000000 to 2000000000 [unit amount] 0 Always
detection position 1
Point detection, area
33 -2000000000 to 2000000000 [unit amount] 0 Always
detection position 2
34 Point detection range 0 to 2000000000 [unit amount] 100 Always
Specify the output format of the "point detection, area detection" signal that is output as an output
4 signal (OUT signal).

In case of point detection setting, the signal is output if the servomotor is located nearly in the reference
value (point detection range)
In case of area setting, the signal is turned on or off if the servomotor position exceeds the reference
value.
(1) Point detection (If PA2_31 (point detection, area detection) is 0)

The signal is turned on if the current position is nearly the position specified in the standard
parameter. Point detection, area detection position 1
(PA2_32)
Point detection, area detection position 2
(PA2_33)
(Standard parameter 64)
190.0 200.0 210.0

Current position
Fixed point
OFF ON
Point detection range
(PA2_34)
10.0 10.0

CHAPTER 4 PARAMETER
(2) Area OFF ON (If PA2_31 (point detection, area detection) is 1)

The signal is turned on if the current position is exactly or larger than the setting of the standard
parameter.
It is turned off if the position is less than the setting.
(PA2_32)
(PA2_33)
(Standard parameter 64)
190.0 200.0 210.0

Current position
Area
OFF ON
(3) Area ON OFF (If PA2_31 (point detection, area detection) is 2) 4

The signal is turned on if the current position is exactly or less than the setting of the standard
parameter.
It is turned off if the position exceeds the setting.
(PA2_32)
(PA2_33)
190.0 200.0 210.0
Current position
Area
ON OFF

CHAPTER 4 PARAMETER
PA2_36 to 39 Override settings

Default
36 Override 1 10 Always
0 [%] to 150 [%]
These parameters are enabled under speed and position control.
To use these signals, be sure to turn on "override enable."
With this setting, the speed can be changed during operation. For the weight of the override, refer to
4 the table below.
Ratio of override
Traveling
Override Override Override Override
speed
8 4 2 1 %
OFF OFF OFF OFF 0
OFF OFF OFF ON 10
OFF OFF ON OFF 20
OFF OFF ON ON 30
OFF ON OFF OFF 40
OFF ON OFF ON 50
OFF ON ON OFF 60
OFF ON ON ON 70
ON OFF OFF OFF 80
ON OFF OFF ON 90
ON OFF ON OFF 100
ON OFF ON ON 110
ON ON OFF OFF 120
ON ON OFF ON 130
ON ON ON OFF 140
ON ON ON ON 150
* For default override weight
PA2_40 Internal positioning data selection

Default
Internal positioning data

40 0: Disable 1: Enable 10 Power
selection
Select whether the internal positioning data is enabled or disabled.
Setting 0: Immediate value data operation over RS-485 Modbus communications
Setting 1: Positioning data operation with address settings AD0 to AD3

CHAPTER 4 PARAMETER
PA2_41 Sequential start selection

Default
41 Sequential start selection 0: Disable 1: Enable 2: Homing 0 Power

Select whether sequential start is enabled or disabled.
If 1 is selected and AD0 through AD3 are inactive, sequential start operation is conducted.
For details of sequential start, refer to CHAPTER 12 POSITIONING DATA
If 2 is selected and AD0 through AD3 are inactive, homing is conducted.
PA2_42 Decimal point position of stand still timer
No. Name Setting range

Default
value Change
4
Decimal point position of
42 0: 0.01 1: 0.001 0 Always
stand still timer
Select the least input increment of the stand still timer.
Selection can be made between 1 [ms] and 10 [ms].
PA2_43 Output selection at M code OFF

Default
Output selection at M
43 0: 00H 1: FFH 1 Power
code OFF
Select the output signal status at M code shutoff.
For details of the M code, refer to CHAPTER 12 POSITIONING DATA

CHAPTER 4 PARAMETER
4.5 Extended Function Setting Parameter

4.5.1 List (PA2_ )

No. Control mode Record of
PA2_ Position Speed Torque value
51 Numerator 1 of electronic gear ratio
4
52 Numerator 2 of electronic gear ratio 1
54 Command pulse ratio 1 1.00
56 Speed limit selection at torque control 0
57 Torque limit selection 0
58 Second torque limit 300
59 Deviation hold selection at torque limit 0
60 Third torque limit 300
61 Action sequence at servo-on OFF 5
62 Action sequence at alarm 0
63 Action sequence at main power shutoff 0
64 Torque keeping time to holding brake 0.00
65 Braking resistor selection 1
66 Flying start at speed control 0
67 Alarm detection at undervoltage 1
68 Main power shutoff detection time 35
69 Deviation detection overflow value 15.0
70 Overload warning value 50
72 Station number 1 (RS-485)
73 Communication baud rate (RS-485) 0
74 Parameter write protection 0
75 Positioning data write protection 0
77 Initial display of the keypad 0
78 Display transition at warning detection 0
80 Parameter in RAM 1
0
86 Positioning data in RAM 1 0
89 Sequence test mode: mode selection 0
4-72 Extended Function Setting Parameter

CHAPTER 4 PARAMETER

PA2_ Position Speed Torque value
90 Sequence test mode: encoder selection 0
93 Parity/stop bit selection (for Modbus) 0
94 Response time (for Modbus) 0.00
Communication time over time
95 0
(for Modbus)
97 Communication protocol selection 0
Parameters marked in the table are enabled in the corresponding control mode.
PA2_51 to 53 Electronic gear ratio numerator 1, 2, 3

4
Default

52 Numerator 1 of electronic gear ratio 2 1 to 4194304 1 Always
Specify the electronic gear ratio, using the input signal ("electronic gear numerator selection 0, 1"
assigned to CONT signal).
Electronic gear Electronic gear numerator Numerator of electronic gear
numerator selection 1 selection 0
OFF OFF PA1_6 Basic setting
OFF ON PA2_51 Extended function setting
ON OFF PA2_52 Extended function setting
ON ON PA2_53 Extended function setting
Do not change the electronic gear ratio in case of interrupt positioning or homing.
PA2_54 and 55 Command pulse ratio 1, 2
No. Name Setting range Default Change

value
0.01 to 100.00 Always
Specify the multiplication of the command pulse.
The reference value selected with an input signal ("command pulse ratio 1, 2" assigned to a CONT
signal) is enabled.
Extended Function Setting Parameter 4-73

CHAPTER 4 PARAMETER
PA2_56 Speed limit selection at torque control

Default
0: Parameter
Speed limit selection at
56 1: Multi-step speed selection, VREF 0 Power
torque control
terminal voltage
Select the method of setting limitation on the speed under torque control.
If the setting is 0, the reference value of PA1_26 (maximum rotation speed) is the speed limit.
If the setting is 1, the limit is shown in the table below.
CONT INPUT SIGNAL
Enabled speed limit
4
X3 X2 X1
OFF OFF OFF VREF terminal voltage (analog speed limit)

OFF OFF ON Speed limit 1 under torque control
OFF ON OFF Speed limit 2 under torque control
OFF ON ON Speed limit 3 under torque control
ON OFF OFF Speed limit 4 under torque control
ON OFF ON Speed limit 5 under torque control
ON ON OFF Speed limit 6 under torque control
ON ON ON Speed limit 7 under torque control
PA2_57 to 60 Torque limit settings

Default
value
0: Torque limit 0,1 setting of CONT input
57 Torque limit selection 0 Power
1:TREF
58 Second torque limit 0 [%] to 300 [%] 300 Always
0: No deviation hold
Deviation hold selection at
59 1: Deviation hold at second torque limit 0 Power
torque limit
2: TREF
60 Third torque limit 0 [%] to 300 [%] 300 Always

CHAPTER 4 PARAMETER
The enabled torque limit is described below.

(1) In case of position control and speed control (If PA2_57 is 0)
CONT signal * State of each limit Enabled torque limit
Torque Torque CCW: Powering, CW: Powering,

TL: TREF (analog torque limit) CW: Regeneration CCW: Regeneration
limit 1 limit 0
Forward rotation Reverse rotation
OFF OFF No condition judgment
torque limit torque limit
Forward rotation Reverse rotation
TL Forward/Reverse rotation torque limit
OFF ON torque limit torque limit
TL < Forward/reverse rotation torque limit TL TL
Second torque limit Forward/Reverse rotation Forward rotation Reverse rotation
ON OFF
torque limit torque limit
Second torque limit < Forward/Reverse torque Second torque
limit limit
torque limit
Second torque
limit
4
Second torque Second torque
TL Second torque limit
ON ON limit limit
TL < Second torque limit TL TL
Add a positive voltage to TL. The negative voltage is limited to zero.
A negative setting is limited to zero.
If PA2_57 is 1, the torque limit is always the TL value.
(2) In case of torque control
The forward rotation torque limit and reverse rotation torque limit are followed.
(3) Torque limit for controlled stop action (under position or speed control) (If PA2_57 is 0)
CONT signal * State of each limit Enabled torque limit
Torque Torque CW deceleration CCW deceleration
TL: TREF (analog torque limit)
limit 1 limit 0 stop stop
Forward rotation torque limit Third
Third torque limit Third torque limit
torque limit
OFF OFF
Forward/Reverse rotation torque limit < Forward rotation torque Reverse rotation torque
Third torque limit limit limit
TL, forward/reverse torque limit Third
torque limit
OFF ON TL or forward rotation TL or reverse rotation
TL, forward/reverse torque limit < Third
torque limit, whichever torque limit, whichever
torque limit
is less is less
Second torque limit, forward/reverse
rotation torque limit Third torque limit
ON OFF Second torque limit or Second torque limit or
Second torque limit, forward/reverse
forward rotation torque, reverse rotation torque,
rotation torque limit < Third torque limit
whichever is less whichever is less
TL, second torque limit Third torque
limit
ON ON
TL, second torque limit < Third torque TL or second torque TL or second torque
limit limit, whichever is less limit, whichever is less
If PA2_57 is 1, the torque limit is always the TL value.

CHAPTER 4 PARAMETER
(4) Third torque limit

This parameter is enabled under position or speed control.
The reference value of this parameter becomes the torque limit under the following conditions.
Sudden controlled stop caused by servo-on (function No. 1) turned off
Sudden controlled stop caused by forced stop (function No. 10) turned off
Sudden controlled stop caused by OT (function No. 7, 8) turned off
Controlled stop caused by minor failure alarm (If PA2_62 is 4 or 5)
(5) Deviation holds selection at torque limit

This parameter is enabled under position control.
4 If a motion is stopped at a dead stop, position deviation is held with this function. Position deviation
is held so that the position deviation count does not reach the limit at the dead stop.
The function is enabled under the following conditions. (If PA2_57 is 0)
CONT signal *
Torque limit for holding
P59 Deviation hold selection at torque limit
Torque Torque deviation
limit 1 limit 0
OFF OFF - None
1: Second torque limit None
OFF ON
2: TREF TL
1: Second torque limit Second torque limit
ON OFF
2: TREF None
1: Second torque limit Second torque limit
ON ON
2: TREF TL
If PA2_57 is 1 and PA2_59 is 2, TL is TREF.

CHAPTER 4 PARAMETER
[Reference example]
Example: Timing chart
To hold deviation at TL (TREF)
(Torque limit 1 = OFF, Torque limit 0 = ON)
TL Forward rotation torque limit
Reverse rotation torque limit
Torque
limit
150% 200%
50%
Time
Forward rotation torque limit

Reverse rotation torque limit
4
Deviation is held if the
Internal torque is limited.
torque limit
150%
50%
Time
Dead stop timing
Speed
Position deviation is held.
Position
deviation
Reset the position deviation

Deviation with a customer's device.
reset OFF ON
PA2_61 to 63 Action sequence settings

Default
0: DB at deceleration, DB at stop
1: DB at deceleration, free-run at stop
Action sequence at 2: Free-run at deceleration, DB at stop
61 5 Power
servo-on OFF 3: Free-run at deceleration, free-run at stop
4: Emergency stop at deceleration /, DB at stop
5: Emergency stop at deceleration /, free-run at stop
2: Free-run at deceleration, DB at stop
Action sequence at
62 3: Free-run at deceleration, free-run at stop 0 Power
alarm
4: Emergency stop at deceleration / (*1), DB at stop
5: Emergency stop at deceleration / (*1), free-run at
stop
Action sequence at 2: Free-run at deceleration, DB at stop
63 0 Power
main power shutoff 3: Free-run at deceleration, free-run at stop
4: Emergency stop at deceleration /, DB at stop
5: Emergency stop at deceleration /, free-run at stop

CHAPTER 4 PARAMETER
(*1) DB causes deceleration upon serious failure alarm.

Specify the deceleration and stopping states for each condition as shown in the previous table.
DB: Dynamic braking with short circuiting of three motor phases
Use DB under the following conditions.
Frequency: Once in 10 min.
Number of times: Up to 1000 times.
Sudden deceleration: Regenerative braking using braking resistor
PA2_64 Torque keeping time to holding brake

Default
4 64
Torque keeping time to
holding brake
0.00 [s] to 9.99 [s]
Assign the "brake timing (function No. 14)" signal to the output signal.
0.00 Always
The reference value of this parameter indicates the delay taken from shutoff of servo-on (function No.
1) CONT input signal to free-run.
Specify a time larger than the one taken from excitation of the brake to actual brake application.
The brake timing signal is turned off when servo-on is turned off.
PA2_65 Braking resistor selection

Default
0: None
65 Braking resistor selection 1 Power
1: Built-in resistor 2: External resistor
Select the braking resistor.
If the reference value is 1, the temperature of the braking resistor is calculated inside the amplifier and
monitored as a regenerative thermal value. 100 [%] indicates an overheated internal braking resistor
(RH1).
To install an external braking resistor for elevator operation or high operation frequency, set at 2.
If the reference value is 2, connect the thermistor of the external resistor to the external braking resistor
overheat (function No. 34).
Because of a normally closed contact, shutoff indicates an overheated external braking resistor (RH2).
PA2_66 Flying start at speed control

Default
Flying start at speed 0: No flying start

66 0 Power
control 1: Flying start
The parameter is enabled under speed control.
If servo-on is turned on during free-run operation, the speed at the timing is picked and acceleration
begins at the speed.
If the control power of the servo amplifier is turned off, the dynamic brake is applied, causing sudden
stop.
The speed at the timing of control power-on is not picked in this case.

CHAPTER 4 PARAMETER
PA2_67 Alarm detection at undervoltage

Default
Alarm detection at 0: No detection

67 1 Power
undervoltage 1: Detection
Select whether or not to detect alarms when undervoltage is detected.
The detected alarms include control power undervoltage and main power undervoltage.
PA2_68 Main power shutoff detection time

Default
68
Main power shutoff
detection time
35 [ms] to 1000 [ms] 35 Power 4
Specify the time for detecting shutoff of the main power. Power supply phases to be detected are L1
and L2.
The AC power is detected.
If power is restored after the time specified in this parameter since the main power is turned off with
servo-on turned on, a main circuit power undervoltage alarm (LVP) is caused.
Avoid repeating turning on or off frequently in a short time.
However, if power is restored after the time specified in this parameter and 1 [s], no alarm is detected.
To supply DC power, set at 1000 [ms]. If this is the case, the detection function is canceled.
To supply AC power, leave the default value unchanged in regular cases.
PA2_69 Deviation detection overflow value

Default
Deviation detection
69 0.1 [rev] to 100.0 [rev] 15.0 Always
overflow value
Specify the value for detecting an "excessive deviation" alarm.
Enter the parameter in a rotation amount of the motor output shaft.
PA2_70 Overload warning value

Default
70 Overload warning value 10 [%] to 100 [%] 50 Always

Specify the output level of the "overload warning (27) signal that is issued as an output signal (OUT
signal).
Use the signal as a warning of an "overload (OL)" alarm.
Characteristics of the overload warning are specified in "CHAPTER 9 CHARACTERISTICS."

CHAPTER 4 PARAMETER
PA2_72 Station number
72 Station number RS-485: 1 to 31 1 Power

Specify the station number of the amplifier.
RS-485 type: Specify the station number of each station.
PA2_73 Communication baud rate (RS-485)
Communication baud rate 0: 38400 [bps] 1: 19200 [bps]

73 0 Power
4
(RS-485) 2: 9600 [bps]
Specify the communication baud rate of the system combined over RS-485.
PA2_74 Parameter write protection

Default
74 Parameter write protection 0: Write enable 1: Write protect 0 Always

Specify parameter write protection.
Enter "1" to prohibit parameter editing. Only this parameter can be changed.
PA2_75 Positioning data write protection

Default
Positioning data write

75 0: Write enable 1: Write protect 0 Always
protection
Specify positioning data write protection.
Enter "1" to prohibit positioning data editing.

CHAPTER 4 PARAMETER
PA2_77 Initial display of the keypad (Keypad)

Default
0: Sequence mode. 1: Feedback speed. 2: Command speed.
3: Command torque. 4: Motor current. 5: Peak torque.
6: Effective torque. 7: Feedback position.
8: Command position. 9: Position deviation.
10: Command pulse frequency. 11: Feedback cumulative pulse.
12: Command cumulative pulse. 13: LS-Z pulse.
Initial
14: Load inertia ratio. 15: DC link voltage (max.).
display of
16: DC link voltage (min.). 17: VREF input voltage.
the keypad
77 18: TREF input voltage. 19: Input signals. 20: Output signals. 0 Power
(Data
21: OL thermal value. 22: Braking resistor thermal value.
displayed on
4
23: Power (W). 24: Motor temperature. 25: Overshoot unit amount.
keypad)
26: Settling time. 27: Resonance frequency 1.
28: Resonance frequency 2. 40: Station number.
41: Alarm at present. 42: Alarm history . 43: Warning at present.
44: Total time - main power supply.
45: Total time - control power supply.
46: Motor running time.
Specify the data displayed on the keypad at the upper part of the front of the amplifier when the power
is turned on.
PA2_78 Display transition at warning detection

Default
Display transition at 0: No transition 1: Transition to

78 0 Power
warning detection warning
Select whether or not a warning sign is displayed at the keypad on the front panel of the amplifier when
a "cooling fan life expiration," "main circuit capacitor life expiration," or "low battery voltage" warning is
detected.
If the replacement timing is drawing near after several years of operation, change this parameter to "1"
to show a warning on the keypad in front of the servo amplifier.
If the battery voltage is low, the orange status indication LED blinks at 0.5[s] intervals without relations
to the setting of this parameter.

CHAPTER 4 PARAMETER
PA2_80 to 85 Parameter in RAM 1 to 6

Default
82 Parameter in RAM 3 0: No setting
0 Power
83 Parameter in RAM 4 1 to 299: Parameter No.
If you change some parameters frequently, store them in RAM.
With this setting, you can change parameters infinitely.
4 Parameters that can be stored in RAM are those marked "Always" in the "Change" field.
The parameter stored in RAM is in the default value when the amplifier is turned on.
[Setting example] 1 to 99 = PA1_1 to 99, 101 to 199 = PA2_1 to 99, 201 to 299 = PA3_1 to 99
PA2_86 to 88 Positioning data in RAM 1 to 3

Default
86 Positioning data in RAM1
0: No setting
87 Positioning data in RAM2 0 Power
1 to 15: Positioning data No.
88 Positioning data in RAM3
If you change positioning data frequently, store them in RAM.
With this setting, you can change positioning data infinitely.
The positioning data stored in RAM is in the default value when the amplifier is turned on.

CHAPTER 4 PARAMETER
PA2_89 and 90 Sequence test mode: Mode selection and encoder selection
Default
Sequence test mode: 0: Normal mode

89 0 Power
Mode selection 1: Sequence test mode
Sequence test mode: 0: 20 bits
90 0 Power
Encoder selection 1: 18 bits
PA2_89 (sequence test mode):
Select 0 to start the sequence test mode from the PC Loader or keypad. Turn the power off
then on again to return to the normal mode.
Specify the encoder bit according to the type of the servomotor.
"RB2" at the end of servomotor model: 20-bit encoder. "HB2": 18-bit encoder
PA2_89 (sequence test mode):
Select 1 to always start the sequence test mode. To return to the normal mode, change
4
PA2_89 to 0 and turn the power off then on again.
Specify the encoder bit according to the type of the servomotor.
"RB2" at the end of servomotor: 20-bit encoder. "HB2": 18-bit encoder
In the sequence test mode, the status indication LED on the front panel of the servo amplifier
blinks quickly at very short intervals.
PA2_90: Specify the parameter according to the connected motor encoder bit.
ALPHA5 RB type (20 bits) = 0
ALPHA5 HB type (18 bits) = 1
PA2_93 Parity/stop bit selection (for Modbus)
Default
0: Even parity with 1 stop bit

1: Odd parity with 1 stop bit
2: No parity with 1 stop bit
93 Parity/stop bit selection 0 Power
3: Even parity with 2 stop bits
4: Odd parity with 2 stop bits
5: No parity with 2 stop bits
Set existence and logic of a parity and a stop bit length.
Characters are organized for each setting as follows:
LSB MSB
PA2_93
0 1 2 3 4 5 6 7 8 9 10 11
0, 1 Start Data (8 bits) Parity Stop
2 Start Data (8 bits) Stop
3, 4 Start Data (8 bits) Parity Stop (2 bits)
5 Start Data (8 bits) Stop (2 bits)

CHAPTER 4 PARAMETER
PA2_94 Response time (for Modbus)

PA2_95 Communication time over time (for Modbus)
Default
94 Response time 0.00 to 1.00 [s] (*) 0.00 Always
0.00 [s]No detection
95 Communication time over 0.00 Always
0.01 to 9.99 [s]
* The actual response time is the setting of PA2_94 or the sum of {time of 3 characters + amplifier's
processing time}, whichever is longer.
Enter the response time of the servo amplifier.
4 Enter the response time and communication time-over time when necessary.
PA2_97 Communication protocol selection

Default
Communication protocol 0: PC Loader protocol
97 0 Always
selection 1: Modbus RTU
Select either the PC Loader protocol or Modbus RTU communications.
The factory shipment setting is 0 (PC Loader protocol). To use Modbus RTU communications, do not
fail to change to 1.

CHAPTER 4 PARAMETER
4.6 Input Terminal Function Setting Parameter
4.6.1 List (PA3_ )

No.
PA3_
4
01 CONT1 signal assignment

12 CONT12 signal assignment Refer to the table
on the next page.
26 CONT always ON 1 0
Input Terminal Function Setting Parameter 4-85

CHAPTER 4 PARAMETER

PA3_ value
Position Speed Torque
31 Speed command scale 5.0 -
32 Speed command offset Shipment setting -
33 Torque command scale 3.0 -
34 Torque command offset Shipment setting -
35 Zero clamp level 0 - -
36 Deviation clear input form 0 - -
4 39
Speed command fine
adjustment gain
Torque command fine
1.0000 -
40 1.0000 -
adjustment gain
PA3_01 to 08 CONT 1 to 8 signal assignment (turned on/off by hardware CONT

signal)
01 CONT1 signal assignment 1
04 CONT4 signal assignment Select among CONT 0
signal assignment Power
05 CONT5 signal assignment functions. (See below.) 0
PA3_09 to 24 (CONT9 to 24 signal assignment) can be set only by RS-485 communications.
4-86 Input Terminal Function Setting Parameter

CHAPTER 4 PARAMETER
(1) Input terminal (CONT input signal) list

Select the input terminal function assigned to the CONT signal in the table below.
The number and the function have one-on-one relationship. To specify a desired function, assign
the corresponding number to the CONT input signal (CONT 1 to 8).
Communication data setting is enabled from CONT9 through CONT24.
However, the setting of "48" (interrupt input enable) must be assigned to from CONT1 to 8.
For details of each function, refer to "CHAPTER 2 WIRING."
Function list
No. Name No. Name No. Name
Electronic gear
1 Servo-on [S-ON] 24 47 Override 8
2
Forward command
[FWD]
25
numerator selection 0
Electronic gear
numerator selection 1
48 Interrupt input enable
4
Reverse command Command pulse inhibit
3 26 49 Interrupt input
[REV] [INH]
4 Start positioning 27 Command pulse ratio 1 50 Deviation clear
Multi-step speed
5 Homing [ORG] 28 Command pulse ratio 2 51
selection 1 [X1]
Multi-step speed
6 Home position LS [LS] 29 Proportional control 52
selection 2 [X2]
Multi-step speed
7 +OT 31 Pause 53
selection 3 [X3]
8 -OT 32 Positioning cancel 54 Free-run
10 Forced stop [EMG] 34 55 Edit permission
overheat
Anti resonance
11 Alarm reset [RST] 35 Teaching 57
frequency selection 0
Anti resonance
14 ACC0 36 Control mode selection 58
frequency selection 1
16 Position preset 37 Position control 60 AD0
17 Gain switch 38 Torque control 61 AD1
19 Torque limit 0 43 Override enable 62 AD2
20 Torque limit 1 44 Override 1 63 AD3
Immediate value Positioning data
22 45 Override 2 77
continuation selection
Immediate value
23 46 Override 4
change

CHAPTER 4 PARAMETER
(2) Connector pin layout

The pin layout of each signal is shown in the figure below.
Assign desired functions to signals CONT1 through CONT8.
CN1
35 CA 36 *CA 17 VREF 18 M5
33 CB 34 *CB 15 TREF 16 MON1
31 FFA 32 *FFA 13 M5 14 MON2
29 FFB 30 *FFB 11 P10 12 PPI
4
27 FFZ 28 *FFZ 9 M5 10 FZ
25 M5 26 OUT3 7 OUT4 8 OUT5
23 CONT7 24 CONT8 5 OUT1 6 OUT2
21 CONT1 22 CONT2 3 CONT5 4 CONT6
PA3_26 to 30 CONT always effective 1 to 5

Default
value
26 CONT always ON 1
27 CONT always ON 2
Specify the number corresponding to
28 CONT always ON 3 0 Power
desired function (0 to 77)
29 CONT always ON 4
30 CONT always ON 5
Specify the CONT input signal that is always enabled after the power is turned on.
The normally open contact signal is always turned on. The normally closed contact signal is always
turned off.
Functions that may not be specified with a normally open signal include alarm reset, deviation clear
and free-run.
Functions that may not be specified with a normally closed signal include forced stop and external
braking resistor overheat. (Functions that can be specified with a normally closed signal are +OT
and -OT.)
For example, to turn forward command [FWD] always on, specify "2," which corresponds to the
forward command, to one of CONT always ON signals 1 to 5.
The signal assigned to CONT input signal can be also assigned to CONT always enabled setting
redundantly.

CHAPTER 4 PARAMETER
PA3_31 to 34 Speed and torque command scale and offset settings
Speed command scale 1.0 [V]/ to 100.0 [V]/ Rated rotation

31 5.0 Always
speed
32 Speed command offset -2000 [mV] to 2000 [mV] Shipment setting Always
Torque command scale 1.0 [V] to 10.0 [V]/ Torque
33 3.0 Always
command offset
34 Torque command offset -20010 [mV] to 20010 [mV] Shipment setting Always
Specify the scale (gain) and offset of the analog input signal.
Speed command scale (default value)
Rotation speed
Torque command scale (default value)
Output torque
4
Rated rotation Rated torque
speed
Offset -3.0V Offset
-5.0V
VREF input voltage +3.0V TREF input voltage
+5.0V
Rated rotation Rated torque
speed
PA3_35 Zero clamp level
35 Zero clamp level 0 [r/min] to 500 [r/min] 0 Always

The parameter is enabled under speed or position control.
Rotation speeds less than the specified value are clamped (fixed) at 0 [r/min].
This parameter is not affected by offsets or similar for the prevention of drifting upon nearly zero speed
command input value.
PA3_36 Deviation clear input form
Deviation clear input

36 0: Edge 1: Level 0 Power
form
Specify the deviation clear input signal format.
Select 0 (edge) to reset position deviation at the rising edge timing.

CHAPTER 4 PARAMETER
PA3_39 Speed command fine adjustment gain
39 Speed command fine adjustment gain 0.8000 to 1.2000 1.0000 Always

The gain is finely adjusted in relation to the speed command.
In an X-Y table or similar where two or more servomotor axes are interpolated with analog speed
commands, you can make the D/A scale of the host unit match the A/D scale of the servo amplifier.
Interpolation accuracy is improved with this.
[Example]
If the VREF voltage is 5 [V] and PA3_39 is 1.0100, the speed command inside the servo amplifier
is 5.05 [V] (5 x 1.0100).
4 PA3_40 Torque command fine adjustment gain
40 Torque command fine adjustment gain 0.8000 to 1.2000 1.0000 Always

The gain can be finely adjusted in relation to the torque command.
The function is similar to that of PA3_39 (speed command fine adjustment gain).
[Example]
If TREF voltage is 3 [V] and PA3_40 is 1.0100, the torque command inside the servo amplifier is
3.03 [V] (3 1.0100).

CHAPTER 4 PARAMETER
4.7 Output Terminal Function Setting Parameter
4.7.1 List (PA3_ )

Name Power reference
PA3_ value Position Speed Torque value
51
52
OUT1 signal assignment
OUT2 signal assignment
4
53 OUT3 signal assignment
59 OUT10 signal assignment Refer to
60 OUT11 signal assignment the table
below.
81 Monitor 1 signal assignment 2 -
82 Monitor 2 signal assignment 3 -
83 Monitor 1 scale 7.0 -
84 Monitor 1 offset 0 -
85 Monitor 2 scale 6.0 -
86 Monitor 2 offset 0 -
87 Monitor 1/2 output format 0 -
Command pulse frequency
88 3 - - -
sampling time for monitor
Feedback speed sampling time
89 1 -
for monitor
92 Range1 of position: Setting1 0 - - -
Output Terminal Function Setting Parameter 4-91

CHAPTER 4 PARAMETER

Name Power reference
PA3_ value Position Speed Torque value
PA3_51 to 55 OUT 1 to 5 signal assignment (turned on/off by hardware OUT signal)

4 No. Name Setting range Default value Change
51 OUT1 signal assignment 1
52 OUT2 signal assignment Select among OUT 28
signal assignment
53 OUT3 signal assignment 2 Power
functions (refer to the
54 OUT4 signal assignment following table). 76
55 OUT5 signal assignment 26
PA3_56 to 71 (OUT6 to 21 signal assignment) can be set only by RS-485 communications.
4-92 Output Terminal Function Setting Parameter

CHAPTER 4 PARAMETER
(1) Output terminal (OUT output signal) list

Select the input terminal function assigned to the OUT signal in the table below.
The number and the function have one-on-one relationship. To specify a desired function, assign
the corresponding number to the OUT output signal (OUT 1 to 5).
Communication data setting is enabled from OUT6 through OUT21.
For details of each function, refer to "CHAPTER 2 WIRING."
Function list
No. Name No. Name No. Name
Ready for servo-on

1 30 Data error 66 MD6
[RDY]
2 In-position [INP] 31 Address error 67 MD7
Position preset
4
11 Speed limit detection 32 Alarm code 0 75
completion
Alarm detection
13 Over write completion 33 Alarm code 1 76 (normally closed
contact)
Immediate value
14 Brake timing 34 Alarm code 2 79
continuation permission
Alarm detection
Immediate value
16 (normally open 35 Alarm code 3 80
continuation completion
contact)
Immediate value change
17 Point detection, area 1 36 Alarm code 4 81
completion
Command position
18 Point detection, area 2 38 +OT detection 82
completion
19 Limiter detection 39 -OT detection 83 Range1 of position
Home position LS
20 OT detection 40 84 Range2 of position
detection
21 Cycle end detection 41 Forced stop detection
22 Homing completion 45 Battery warning
23 Zero deviation 46 Life warning
24 Zero speed 60 MD0
25 Speed coincidence 61 MD1
26 Torque limit detection 62 MD2
27 Overload warning 63 MD3
Servo control ready
28 64 MD4
[S-RDY]
Edit permission
29 65 MD5
response

CHAPTER 4 PARAMETER
(2) Connector pin layout

The pin layout of each signal is shown in the figure below.
Assign desired function to signals OUT1 through OUT5.
CN1
35 CA 36 *CA 17 VREF 18 M5
33 CB 34 *CB 15 TREF 16 MON1
31 FFA 32 *FFA 13 M5 14 MON2
29 FFB 30 *FFB 11 P10 12 PPI
27 FFZ 28 *FFZ 9 M5 10 FZ
25 M5 26 OUT3 7 OUT4 8 OUT5
4 23
21
CONT7
CONT1
24
22
CONT8
CONT2
5
3
OUT1
CONT5
6
4
OUT2
CONT6
PA3_81 to 87 Monitor output scale and offset settings

Default
1: Command speed. 2: Feedback speed.
Monitor 1 signal
81 3: Torque command. 2 Always
assignment
4: Position deviation [unit amount/pulse].
5: Position deviation 1/10 [unit amount/pulse].
6: Position deviation 1/100 [unit amount/pulse].
7: Command pulse frequency.
8: Speed deviation. 9: Motor current.
Monitor 2 signal
82 10: Effective torque. 11: DC link voltage. 3 Always
assignment 12: OL thermal value.
13: Braking resistor thermal value.
14: Power (W).
15: Motor temperature. 16: Command speed (filtered)
83 Monitor 1 scale 2.0 [V] to 100.0 [V] 7.0 Always
84 Monitor 1 offset -50 to 50 0 Always
85 Monitor 2 scale 2.0 [V] to 100.0 [V] 6.0 Always
86 Monitor 2 offset -50 to 50 0 Always
0: Monitor 1 (both voltage output) / 2 (both voltage
output)
1: Monitor 1 (single voltage output) / Monitor 2
Monitor 1/2 output (both voltage output)
87 0 Always
format 2: Monitor 1 (both voltage output) /
Monitor 2 (single voltage output)
3: Monitor 1 (single voltage output) / Monitor 2
(single voltage output)

CHAPTER 4 PARAMETER
Monitor 1/2 signal assignment

Specify the data to be output at the monitor 1 [MON1] and monitor 2 [MON2] terminals.
Monitoring item Description Specifications
1: Command speed Speed command given to servomotor Output voltage corresponding to maximum
2: Feedback speed Actual rotation speed given to servomotor rotation speed
Torque reference value given to Output voltage corresponding to maximum
3: Torque command
servomotor torque
4: Position deviation Output voltage corresponding to 1000 [pulses]

Difference (deviation) between position
5: Position deviation (1/10) command and position feedback Output voltage corresponding to 10000 [pulses]
6: Position deviation (1/100) Output voltage corresponding to 100000 [pulses]
4
7: Command pulse frequency Input pulse frequency reference value Output voltage corresponding to 1 [MHz]
Difference between speed command and Output voltage corresponding to maximum
8: Speed deviation
speed feedback speed
Output voltage corresponding to maximum
9: Motor current Amperage supplied to servomotor
current
10: Actual torque Actual torque given to servomotor Output voltage corresponding to rated torque
11: DC link voltage DC voltage inside servo amplifier Output voltage corresponding to 400 [V]
12: OL thermal value Load factor OL alarm upon 100 [%]
13: Braking resistor thermal
Load factor of braking resistor Braking resistor alarm upon 100 [%]
value
Output voltage corresponding to rated rotation
14: Power (W) Motor power (W)
speed and rated torque
15: Motor temperature Internal detected temperature of encoder Output voltage corresponding to 100 [C]
Output voltage corresponding to maximum
16: Command speed (filtered) Speed reference value after internal filter
rotation speed
Monitor 1/2 scale

Specify the full scale to be output at the monitor 1 [MON1] and monitor 2 [MON2] terminals.
Specify a negative sign to reverse the polarity of the output voltage.
Though up to 100.0 [V] can be entered, the maximum output voltage is 11.0 [V].
[Example] If the monitor 1 scale is set at 100.0 [V] (with a maximum rotation speed of 6000 [r/min])
Voltage [V]
+100.0
6000 11
+11 = 660 [r/min]
100.0
660 6000 Rotation speed [r/min]

CHAPTER 4 PARAMETER
Monitor 1/2 offset

The offset voltage between the monitor 1 [MON1] and monitor 2 [MON2] terminals can be
adjusted. The setting range is from -50 to 0 to 50 in increments of 1. The reference value has no
unit.
Every increment corresponds to about 6.1 [mV].
Monitor 1/2 output format

You can select either swing on both sides or swing on a single side for the signal, scale and offset
assigned to the monitor 1 [MON1] and monitor 2 [MON2] terminals.
Monitor 1 terminal (swing on both sides) Monitor 1 terminal (swing on single side)
4 Output voltage
Output voltage
+7.0V
+7.0V
(Max. rotation speed)
(Max. rotation speed)

(Max. rotation speed) (Max. rotation speed)
-7.0V
Specify the negative sign for the monitor 1/2 scale to reverse the polarity of the output voltage.
Resolution of monitor 1/2 output

The resolution is 14 bits (16384) at the full scale (between -12.5 [V] and +12.5 [V]).
The resolution (*) is 1.5 [mV] (-12.5 to +12.5) [V]/214).
* While the maximum or minimum output voltage is 11 [V], 12.5 [V] is used for the calculation of
the resolution.
PA3_88 Command pulse frequency sampling time for monitor

Default
Command pulse 0: 62.5 [s] 1: 125 [s] 2: 250 [s],

88 frequency sampling 3: 500 [s] 4: 1 [ms] 5: 2 [ms], 3 Always
time for monitor 6: 4 [ms] 7: 8 [ms]
Specify the command pulse frequency sampling time for monitor.
The sampling time is for the monitoring function. No effect is caused to the control even if the value is
changed.

CHAPTER 4 PARAMETER
PA3_89 Feedback speed sampling time for monitor

Default
Feedback speed 0: 62.5 [s] 1: 125 [s] 2: 250 [s],

89 sampling time for 3: 500 [s] 4: 1 [ms] 5: 2 [ms], 1 Always
monitor 6: 4 [ms] 7: 8 [ms]
Specify the feedback speed sampling time for monitor.
The sampling time is for the monitoring function. No effect is caused to the control even if the value is
changed.
PA3_92 Range1 of position: Setting1

4
Range1 of position: -2000000000 to 2000000000 [unit

92 0 Always
Setting1 amount]
93 0 Always
Setting2 amount]
94 0 Always
Setting1 amount]
95 0 Always
Setting2 amount]
<Additional signals> Refer to the
OUT1 to OUT 21 signal
51 to 71 83: Range 1 of position parameter Power
assignment
84: Range 2 of position table.
The current servomotor position is detected and output in these signals.
The output signal can be turned on or off according to the current motor position. The parameter that
can be specified for range 1 of position signal includes range 1 of position - setting 1 (PA3_92) and
range 1 of position - setting 2 (PA3_93).
For example, if the setting of range 1 of position - setting 1 (PA3_92) is smaller than the setting of range
1 of position - setting 2 (PA3_93) and the position specified for range 1 of position - setting 1 (PA3_92)
passes during forward motion, the range 1 of position signal undergoes OFF-to-ON transition. If the
position specified for range 1 of position - setting 2 (PA3_93) passes, the range 1 of position signal
undergoes ON-to-OFF transition.
Similarly to the above description, range 2 of position is related to parameters PA3_94 and 95.
This function is enabled after homing is finished.
For details of the position range, refer to CHAPTER 2 WIRING.

CHAPTER 4 PARAMETER

CHAPTER 5 SERVO ADJUSTMENT 5
5-1
CHAPTER 5 SERVO ADJUSTMENT
5.1 Adjustment Procedure
Adjustment (tuning) of the servo amplifier is necessary so that the servomotor operates according to
commands sent from the host control unit.
Proceed servo amplifier tuning as in the following chart.
Using the tuning procedure and mode selection
START
5 Synchronous
or interpolation operation of two or more
Yes Auto tuning for checking the
upper gain limit
Adjust in the interpolation
control mode
axes?
No
No
Adjust through easy Review and check the
tuning. Satisfactory motion? mechanical system.
Yes
No
Adjust through auto tuning.
Satisfactory motion?
Yes
Adjust through No
auto tuning application. Satisfactory
motion?
Yes
No
Adjust through manual
tuning. Satisfactory motion?
Yes
END
5-2 Adjustment Procedure

5.2 Easy Tuning
5.2.1 What is Easy Tuning?
Disconnect the servo amplifier from the host control Servo amplifier Reciprocal motion,
unit and operate only the servo amplifier and etc.
servomotor to automatically tune internal
parameters of the amplifier.
With this function, even if the host control unit
program is incomplete, the servomotor can be
operated in advance which can lead to the
reduction of the setup time.
5.2.2 Easy Tuning Operation Profile 5

Easy tuning is operated by PC Loader or keypad.
To install PC Loader, refer to "CHAPTER 14 PC LOADER."
Start operation after checking no collision exists in the moving parts of the machine.
To operate with PC Loader

[1] Slow running
(1)
For machines with a linear driving
system, follow the procedure below
to perform slow running before
performing easy tuning.
Turn the motor at 10 [r/min] (fixed)
(3)
while checking the rotation direction
and stroke.
Select "slow running" (1) on the PC
Loader screen shown on the right
and enter the "stroke setting" and
"direction selection" parameters (2), (2)
and then press the "START/STOP"
button (3).
Slow running is unnecessary for machines with a rotary driving system.
Easy Tuning 5-3

[2] Easy tuning

Select "easy tuning" on the aforementioned screen . Enter the "stroke," "speed" and other
particulars and press the "START/STOP" button. Up to 25 reciprocal motions occur while
parameters are automatically tuned.
"Slow run" for rotation direction and stroke "Easy tuning" for automatic tuning
checks
Slow travel at 10 [r/min] Automatic tuning
5
To operate with keypad
(1) Select the course. (2) Offline indication
Slow running
SET [ EASy1]
[ EASy1]
SET(1 sec. or longer) [ EASy2]
[Fn_012] ESC

ESC [ EASy2] Offline indication
Easy tuning
Press MODE to
return to (2).
(3) In-progress indication (4) Successful completion
[ ASy2]
Press SET to start. [ donE]
[ E Sy2]
[ EA y2]
[ EAS y2]
[ nG1]
[ nG2]
Impossible to start [nG1]
Press MODE to Fault [nG2]
interrupt. [ nG3]
Resonance [nG3]
[o SToP]
Fault indication
If "NG1" to "NG3" is indicated during slow running, easy tuning or profile operation, see the table
below and take the corresponding action.
Indication State Action
NG1 Failure to start Check the starting conditions (see the following pages).
Check the conditions of interruption (see the following
NG2 Interrupted
pages).
Though tuning is finished,
NG3 Perform auto tuning or manual tuning to adjust again.
adjustment is necessary.
5-4 Easy Tuning

5.2.3 Description of Operation
Two operation patterns of easy tuning are described.
Slow running
Starting conditions
Conditions for starting slow running are indicated " " in the table below.
Slow running does not start if the conditions shown below are not satisfied ("NG1" is indicated).
If none of conditions are satisfied during operation, operation is stopped ("NG2" is indicated).
The gain reference value at the time of the start is kept as far as no resonance is observed.
Power supply Neither OT BX signal Parameter
No alarm Auto tuning*1
to main circuit nor EMG OFF write enable*2
*1) PA1_13 (tuning mode selection): other than 2 (manual tuning)

*2) PA2_74 (parameter write protection): 0 (write enable)
5
Operation pattern (in case of reciprocal motion)
The operation pattern is shown below. "P " in the table indicates the number of the basic
setting parameter (PA1_ ).
Rotation speed
10 [r/min]
P20
P37 P38 P22 P37 P38 Time [s]
P20
-10 [r/min]
Rotation direction
Traveling Operation Acceleration Deceleration Rotation
Timer
distance frequency time time speed Return
Go stroke
stroke
P20 Once P37 P38 10 [r/min] P22 P23
Easy Tuning 5-5

Details of tuning
No tuning is performed in slow running.
However, the auto tuning gain is automatically decreased if resonance is observed in the machine.
In this case, the automatic notch filter function is activated.
Details of completion of action

The action completion method includes three patterns: normal completion, interruption by user,
and faulty termination. Each profile is described below.
Faulty termination
Normal completion Interruption by user
NG2 NG3
Stopped after the specified The auto tuning gain The auto tuning The auto tuning gain
stroke action. If mechanical at the start of gain at the start of automatically changes
resonance is found, the notch operation is operation is to the one that will
5 filter is automatically adjusted

and the auto tuning gain
automatically decreases.
restored. restored. suppress resonance
(re-adjustment is
necessary).
Easy tuning
Starting condition
Conditions necessary to start easy tuning are indicated " " in the table below.
Easy tuning does not start if the following conditions are not satisfied ("NG1" is indicated).
Easy tuning is interrupted if any condition is unsatisfied during operation ("NG2" is indicated).
Power supply Neither OT nor Parameter write
No alarm BX signal OFF Auto tuning*1
to main circuit EMG enable*2
*1) PA1_13 (tuning mode selection): other than 2 (manual tuning)

*2) PA2_74 (parameter write protection): 0 (write enable)
Easy tuning may not function correctly in mechanisms listed below.

Machines susceptible to vibration due to small rigidity
Machines with large backlash
Machines with large viscous friction
Machines with very small rotation speed (example: 100 [r/min] or less)
Machines with large load inertia of load (GYS motor: 100 times or over. GYG motor: 30
times or over)
Machines with large and fluctuating load inertia
5-6 Easy Tuning

Operation profile (in case of reciprocal motion)

The operation profile is shown below. "P" in the table indicates the number of the basic setting
parameter (PA1_).
Rotation speed
P21
P20 Automat- Automat-

ically ically 24 more times
calculated calculated
P22
Automat- Automat-
P20 Time [s]
ically ically
P21
Rotation
Traveling Operation Acceleration Deceleration Rotation direction*1
5
Timer
distance frequency time time speed
Go Return
stroke stroke
Max. 25 Automatically Automatically *2

P20 *1 *1 P21 P22 P23
times calculated calculated
*1) The result of automatic calculation can be checked with the PC Loader.
*2) 1 [s] or less reference values are assumed to be 1 [s] for easy tuning.
The frequency of a reciprocal motion is 25 cycles maximum, and that of a single-direction motion is 50
cycles maximum.
Details of tuning
Up to 50 easy tuning cycles are repeated while auto tuning gain 1 is automatically adjusted in the
range from 5 to 30.
Details of completion of action

The action completion method includes three profiles: normal completion, interruption by user, and
faulty termination. Each profile is described below.
Faulty termination
Normal completion Interruption by user
NG2 NG3
Completion of easy tuning is Auto tuning gain 1 at Auto tuning gain 1 at Auto tuning gain 1
indicated. the start of the start of automatically changes
Auto tuning gain 1 (range operation is operation is to the one that will
between 5 and 30) is restored. restored. suppress resonance
automatically adjusted to the (re-adjustment is
best value. necessary).
Easy Tuning 5-7

Results of easy tuning

After easy tuning is normally finished, the gain and load inertia ratio automatically adjusted in
tuning are reflected on parameters.
If resonance is observed during easy tuning, a notch filter is automatically set to suppress
resonance, and the filter is reflected on parameters.
Perform regular operation under the above status and if satisfactory actions are obtained, there is
no need to perform tuning described on following pages.
Notes on easy tuning

With easy tuning, automatic operation is performed according to functions of the servo amplifier.
Sufficient care should be taken on the safety.
If ill effects are expected to the machine due to resonance of the motor with the mechanical
system, assign the servo-on (S-ON) signal to a CONT signal before starting easy tuning.
If a fault is found during operation, turn the signal off immediately.
5 If the excessive stroke cause damage to the machine, assign over-travel (OT) signals to CONT
signals and install over-travel sensors at both ends of the motion stroke before starting easy
tuning.
Easy tuning for vertical transportation

When performing easy tuning with the servomotor for vertical transportation, to prevent a carried
object from falling due to its own weight, turn the servo-on signal to ON and check that the servo
lock is activated before releasing the brake.
Then performe easy tuning, refer to P5-6 procedure.
5-8 Easy Tuning

5.3 Auto Tuning
If satisfactory results are not obtained after easy tuning, perform "auto tuning." In this mode, the load
inertia ratio of the machine is always estimated, and optimum gain is automatically settled.
5.3.1 Conditions for Auto Tuning
Auto tuning may not function correctly if the following conditions are not satisfied.
The load inertia ratio of the mechanical system is within 100 times of the servomotor.
Required time to reach 2000 [r/min] is 5 [s] or shorter with the acceleration/deceleration time
constant.
The motor rotation speed is 100 [r/min] or more.
5
There is no substantial load fluctuation during operation or acceleration/deceleration.
The friction force is not large and does not apply pressure.
5.3.2 Parameters Used for Auto Tuning
Parameters used for gain adjustment are listed in the table below.
No. Name Approximate reference value
PA1_13 Tuning mode selection 0: Auto tuning 1: Semi-auto tuning

No need to enter Enter a stable estimated value
PA1_14 Load inertia ratio
(automatically updated) (or average value).
Refer to "5.3.3 Approximate Reference Value of Auto
Tuning Gain 1" for adjustment.
PA1_16 Auto tuning gain 2 Enter when necessary.
During auto tuning, by adjusting PA1_15: auto tuning gain 1, other parameters are automatically
adjusted. The values are always updated.
During semi-auto tuning, enter PA1_14 (load inertia ratio) and by adjusting PA1_15: (auto tuning
gain 1 other parameter are automatically adjusted.
Values are fixed as far as the setting is left unchanged.
Auto Tuning 5-9

5.3.3 Approximate Reference Value of Auto Tuning Gain 1
By increasing auto tuning gain, response will be improved while possibly causing vibration or other ill
effects. Change the value at intervals of about 2 points.
If resonance with the mechanical system or abnormal noises are not caused, auto tuning gain 1 can be
increased and the settling time can be decreased.
Machine configuration Auto tuning gain 1

(Division by mechanism) (Approximate reference value)
Large transfer machine 1 to 10

Arm robot 5 to 20
Belt mechanism 10 to 25
5
Ball screw + Belt mechanism 15 to 30
Mechanism directly coupled with
20 to 40
ball screw
5-10 Auto Tuning

5.3.4 Auto Tuning Adjustment Procedure
START
Repeat acceleration/deceleration operation.
No
Is the estimated Change to semi-auto tuning and enter the
load inertia ratio stable? ratio of moment of inertia of load.
Yes
Yes
5
Adjust auto tuning gain 1.
*1)
No
Satisfactory motion? Adjust auto tuning gain 2.
Yes
Yes
No
END Adjust while referring to 5.4 Auto Tuning

Application.
*1) There is no need to adjust auto tuning gain 2 under speed control.
Auto Tuning 5-11

5.4 Auto Tuning Application
If the results of "auto tuning" are not satisfactory, perform adjustment according to "auto tuning
application." In this mode, manually enter the second gain, notch filter and other particulars.
Conditions for adjustment are the same as those of auto tuning.
5.4.1 Parameters Used for Auto Tuning Application
Parameters used for auto tuning application adjustment are shown in the table below.
PA1_13 Tuning mode selection 0: Auto tuning 1: Semi-auto tuning
5 PA1_14 Load inertia ratio

No need to enter
(automatically updated)
Enter a stable estimated
value (or average value).
Refer to "5.3.3 Approximate Reference Value of
Auto Tuning Gain 1" for adjustment.
PA1_16 Auto tuning gain 2 Enter when necessary.
Torque filter time constant for Increase in increments of 0.5 [ms], starting at the
PA1_59
position and speed control current setting.
PA1_64 Position loop gain 2 70
PA1_65 Speed loop gain 2 70
PA1_66 70
constant 2
PA1_70 Automatic notch filter selection Select 0 (disable).
PA1_71 Notch filter 1, frequency
Use the servo analyze function of the PC Loader
PA1_72 Notch filter 1, attenuation for adjustment.
PA1_73 Notch filter 1, width
PA1_94 Torque filter setting mode Select 0 (no automatic setting).
During auto tuning application adjustment, based on the adjustment in auto tuning, potential
manually settling parameters will be manually adjusted.
5-12 Auto Tuning Application

5.4.2 Notch Filter Setting Method
[1] Set PA1_70 (automatic notch filter selection) at 0 (disable).

[2] Using the servo analyze function of the PC Loader, determine the mechanical resonance point.
Resonance
point
Gain
(2) Depth
[dB]
(3) Width
5
Frequency [Hz] (1) Resonance frequency
[3] Enter the resonance frequency of the mechanical resonance point and attenuation in parameters.
(1) Resonance frequency PA1_71 (notch filter 1, frequency)
(2) Depth PA1_72 (notch filter 1, attenuation)
(3) Width PA1_73 (notch filter 1, width)
Excessive attenuation might undermine control stability.

Setup beyond necessity shall be avoided.
Use the servo analyze

function again.
Gain [dB]
Gain [dB]
Notch filter 1,
attenuation
Frequency [Hz] Notch filter 1, frequency

Frequency [Hz]
The notch filter is added to the resonance point

as shown in the figure above.
Auto Tuning Application 5-13

[4] Specify the width of the notch filter.

The width of the notch filter can be specified in four levels.
A large setting covers a wide frequency range.
A reference value of 2 is recommended in general.
Width of notch filter
Gain [dB] Narrow: setting 0
Wide: setting 3
The notch filter is added to

eliminate the resonance point.
5 Frequency [Hz]
Use PA1_74 to 76 to add a notch filter to two resonance points simultaneously.
5-14 Auto Tuning Application

5.4.3 Adjustment Procedure with Auto Tuning Application
START
Re-read out of the parameters obtained

in auto tuning adjustment.
Adjust the second gain.

(PA1_64 to 66)
Enter 0 to PA1_94 and

No
5
adjust the torque filter time constant
Satisfactory motion? for position and speed control.
(PA1_59)
Yes
Yes
No
Turn off the automatic notch

filter selection function.
Perform servo analyze to enter

the notch filter manually.
*1)
Adjust auto tuning gains 1 and 2 again.
Yes
No
Follow the procedure described

END in 5.5 Manual Tuning.
*1) Adjustment of auto tuning gain 2 is unnecessary under speed control.
Auto Tuning Application 5-15

5.5 Manual Tuning
If the result of "auto tuning application" is not satisfactory or if faster response is intended, perform
manual adjustment of all gains.
5.5.1 Conditions for Manual Tuning
Check the following conditions when adjusting.

The load inertia ratio of the mechanical system is within 100 times of the servomotor.
The backlash of the mechanical system is not large and the belt is free from deflection.
Auto tuning has been performed.
5.5.2 Parameters Used for Manual Tuning

5 Parameters used for gain adjustment are shown in the table in the next section.
5.5.3 Approximate Gain Reference Value
If manual tuning is performed to change parameters without performing auto tuning, the
control system in the servo amplifier becomes imbalanced and triggers hazard.
Be sure to perform re-read out of the parameters after auto tuning, and conduct
adjustment based on those parameters.
Approximate reference Position Speed

No. Name
value control control
PA1_13 Tuning mode selection 2: Manual tuning
Enter a stable assumed
PA1_14 Load inertia ratio (Jl)
value (or average value).
PA1_51 Moving average S-curve time 16 or over -
PA1_54 Kpt 600/Kp1 -
time constant (Kpt)
PA1_55 Position loop gain 1 (Kp1) Kp1 Kv1 (1 to 3) -
PA1_56 Speed loop gain 1 (Kv1) Kv1 2000/ (1+Jl)
PA1_57 Ki1 500/Kv1
constant 1 (Ki1)
PA1_58 Feed forward gain 1 Specify when necessary. -
Torque filter time constant for
PA1_59 0.1 Tt 1.0
position and speed control (Tt)
Approximate values specified in the table above are reference values for a general mechanical
configuration of the transfer system.
The approximate gain reference value varies according to the configuration of the mechanical
system, load inertia ratio, etc.
Refer to the next page for the adjustment procedure. Parameters marked "-" in the speed control
field in the table above need no adjustment.
5-16 Manual Tuning

5.5.4 Manual Tuning Adjustment Procedure
START
Select the manual tuning mode.
Re-read out of the parameters.
Enter the load inertia ratio.
Increase speed loop gain 1 to the 5

maximum as far as vibration or
abnormal noises are not caused.
Adjust the torque filter time constant

for position and speed control.
Decrease speed loop integration time

constant 1.
Increase position loop gain 1.
Decrease the moving average S-curve time and *1)

position command response time constant.
*1)
Increase feed forward gain 1.
If resonance is caused in the mechanical *1)

system, check the notch filter settings again.
END
*1) Adjustment is unnecessary under speed control.
Manual Tuning 5-17

5.5.5 Individual Adjustment
The adjustment method for the individual case is described (for position control).
The method varies according to the configuration of the mechanical system and other particulars.
Use the procedure as a basic adjustment procedure.
Before making adjustment, use historical trace of the PC Loader to measure the action time and output
timing of in-position signal.
Adjustment for faster response (reduced settling time)

In case of shortage in travel
(1) Decrease PA1_51 (moving average S-curve time). Speed
(2) Decrease PA1_54

Motor
(position command response time constant). movement
5
(3) Increase PA1_58 (feed forward gain 1). Command
(4) Decrease PA1_14 (load inertia ratio).
(Each change should be within 10 [%].)
Time
In case of overshoot Speed
(1) Increase PA1_51 (moving average S-curve time).

Motor
(2) Increase PA1_54 movement
(position command response time constant).

Command
(3) Decrease PA1_58 (feed forward gain 1).
(4) Increase PA1_14 (load inertia ratio).
(Each change should be within 10 [%].) Time
Adjustment checking method

The overshoot unit amount and settling time can be monitored with PC Loader during adjustment to
reduce the settling time.
The motion waveform can be monitored, as well.
For details, refer to "CHAPTER 14 PC LOADER."
5-18 Manual Tuning

5.6 Interpolation Control Mode
Use the "interpolation control mode" to adjust command responses of a system with two or more
servomotor axes such as the X-Y table when performing synchronous operation or interpolation
operation.
5.6.1 Conditions for Interpolation Control Mode
Check the following conditions to perform adjustment.

Keep consistency in the mechanical configuration and specifications of each axis to the largest
extent (ball screw pitch, diameter, length, etc.).
The backlash of the mechanical system is not large and the belt is free from deflection.
Commands sent from the host are common among axes.
5.6.2 Parameters Used for Interpolation Control Mode

5
Parameters used for gain adjustment are shown in the table below.
PA1_13 Tuning mode selection 3: Interpolation control mode

PA1_14 Load inertia ratio Enter a stable assumed value (or average value).
Enter while referring to "5.3.3 Approximate
Reference Value of Auto Tuning Gain 1."
PA1_51 Moving average S-curve time 0
PA1_54 5 or over
time constant
The other parameters are automatically adjusted.

However, auto tuning gain 2 becomes disabled.
Interpolation Control Mode 5-19

5.6.3 Adjustment Procedure in Interpolation Control Mode
[1] Specify PA1_13 (semi-auto tuning mode).

[2] Specify PA1_14 (load inertia ratio).
[3] Increase PA1_15 (auto tuning gain 1).
[4] If vibration or abnormal noises are caused in the mechanical system, reset the gain and set that
value as the upper limit.
[5] Select the interpolation control mode with PA1_13.
[6] Set PA1_51 (moving average S-curve time) at 0.
[7] Gradually decrease PA1_54 (position command response time constant) (min: 5).
[8] Position command response time constant shall tune to the larger parameter between two axes.
[9] While observing interpolation characteristics and rotation state, finely adjust PA1_15 (auto tuning
5 gain 1) and PA1_54 (position command response time constant).
5-20 Interpolation Control Mode

5.7 Profile Operation
5.7.1 What is Profile Operation?
Even if the host control unit is not connected, automatic operation can be executed according to the
specified operation pattern.
The motion continues until the user stops it. Use this feature to check the load condition of the
mechanical system, effective torque, etc.
During profile operation, parameters are not tuned.
Operate the PC Loader or keypad to perform profile operation.
Select the operation pattern and press the "START/STOP" button to start to operate.
In case of operation at PC Loader 5
Profile Operation 5-21

In case of operation at keypad

With this method, profile operation is performed at the keypad.
SET (1 sec. or longer)

[Fn_013] [ Ptn]
ESC SET
[0 Ptn] Offline
(standby state)
SET
Press the MODE key to
stop profile operation.
Profile operation
5.7.2 Description of Operation
5
Starting conditions
Conditions for starting profile operation are described. Necessary conditions are indicated with
" ."
The operation does not start if the following conditions are not satisfied ("NG1" is indicated).
Operation is interrupted if any condition is dissatisfied during operation ("NG2" is indicated).
The gain reference value is left unchanged at the start level as far as resonance is not observed.
Power supply to BX signal turned Neither OT nor

No alarm state
main circuit off EMG
Operation pattern
The operation pattern is shown below. "P " in the table indicates the number of the basic
setting parameter (PA1_ ).
Rotation speed
P21
P20
Continue
P37 P38
P22
Time [s]
P37 P38 P20
P21
Rotation direction
Moving Operation Acceleration Deceleration Rotation
Timer
distance frequency time time speed Return
Go stroke
stroke
P20 Continuous P37 P38 P21 P22 P23
5-22 Profile Operation

How to stop profile operation

Profile operation is stopped by the user or upon an error*.
* The error includes the following events.
OT, EMG or external braking resistor overheat is detected in the middle.
BX (Free-run signal) is turned on in the middle.
The servo-on (S-ON) signal is turned off in the middle.
Profile Operation 5-23

5.8 Special Adjustment (Vibration Suppression)
5.8.1 What is Vibration Suppression ?
Purpose of vibration suppression

The end of the workpiece held in a structure having a spring characteristic such as the robot arm and
transfer machine vibrates during quick acceleration or deceleration of the motor. The vibration
suppression function aims at suppression of the workpiece and realization of positioning in a shorter
cycle time in such a system.
a) Without vibration suppression function b) With vibration suppression function
5 Rattling No vibration
Laser Laser
displace- displace-
ment ment
gauge gauge
2 [min/div] 2 [min/div]
Target position Target position of arm

of arm
Actual speed Actual speed
500 [r/min/div] 500 [r/min/div]
Not only vibration of the tip of the machine but also vibration of the entire machine can
be suppressed.
System without vibration suppression
At motor acceleration / deceleration, torque tends to reach maximum value. This
acceleration / deceleration shock could cause vibration to the entire machine.
System with vibration suppression
Because the torque is controlled during acceleration / deceleration of the motor, the
shock of acceleration/deceleration is reduced, and even with machine that is
relatively less rigid, the vibration to the entire machine can be reduced.
5-24 Special Adjustment (Vibration Suppression)

Principles of vibration suppression

A machine model is contained inside, and the control works inside the model to eliminate vibration of
the position of the assumed workpiece held in the model. The control amount is added as an offset to
the position and speed control of the motor, thereby suppressing vibration of the actual workpiece
position.
Amplifier
Position
command
Motor position/Speed control M
Position/speed offset
Vibration suppressing
control 5
Position of assumed
Machine model workpiece
Workpiece
Mechanical characteristics and conditions that make vibration suppression effective

Applicable machine characteristics and conditions
Vibration is caused at the end of the arm due to the shock of traveling/stopping of the robot arm
or similar.
The machine itself vibrates due to the shock of traveling / stopping of a part of the machine.
The vibration frequency is about 1 [Hz] to 300 [Hz].
Inapplicable mechanical characteristics and conditions

Vibration is observed continuously without relations to traveling / stopping.
Eccentric vibration is caused in synchronization to the rotation of the motor or machine.
The vibration frequency is less than 1 [Hz] or more than 300 [Hz].
The traveling time is less than the vibration period.
There is backlash in the mechanical joint to the vibrating mechanism.
(Numerator 0 of electronic gear ratio / Denominator of electronic gear ratio) > 250 (18-bit
encoder)
(Numerator 0 of electronic gear ratio / Denominator of electronic gear ratio) > 1000 (20-bit
encoder)
If the command pulse train frequency is equal to or less than 20 [kHz]
Special Adjustment (Vibration Suppression) 5-25

5.8.2 Automatic Vibration Suppression
Automatic vibration suppression is a function for automatically adjusting the vibration suppressing anti
resonance frequency to the optimum value.
Follow the procedure below.
Automatic vibration suppression setting procedure

[1] Set PA1_77 (automatic vibration suppression selection) at 1 (enable).
[2] Perform profile operation or issue position commands from the host unit to start and stop the
servomotor nine times.
[3] Set the dwell at 1.5 [s] or longer.
[4] After operation is normally finished, the optimum value is automatically stored in PA1_78 (vibration
suppressing anti resonance frequency 0).
5
[5] Upon a fault (if no effect is verified), PA1_78 (vibration suppressing anti resonance frequency 0)
remains the default value.
[6] After normal or faulty completion, PA1_77 (automatic vibration suppression selection)
automatically changes to 0 (disable).
* The applicable frequency is 1 [Hz] to 100 [Hz].
If the procedure is interrupted at eight or fewer cycles and the main power is turned off, the cycle count
begins from 1 again.
Learning state of automatic vibration suppression

Use the monitor of the PC Loader to monitor the learning state of the automatic vibration
suppression.
If no expected effect is obtained under automatic vibration suppression, refer to the following "5.8.3
Manual Adjustment of Vibration Suppression."

5.8.3 Manual Adjustment of Vibration Suppression
Adjustment flow chart
(1) Adjust the servo gain.
Check the vibration suppressing

(2)
anti resonance frequency.
Enter the vibration suppressing anti

(3) resonance frequency
(parameters PA1_78, _80, _82 and _84).
Enter the S-curve * May not be entered in case of

5
(4)
(parameters PA1_51, 52). auto or semi-auto tuning.
(5) Check the effects.
Finely adjust the vibration suppressing anti

(6) resonance frequency
Adjust the inertia ratio of vibration

(7) suppressing workpiece
(1) Adjusting the servo gain

To ignore the vibration of the tip of the machine and reserve smooth stopping action of the
servomotor free from overshoot, refer to the description given in sections 5.1 through 5.5 to adjust
the servo gain.
If gain-related parameters are adjusted after the vibration suppressing anti resonance
frequency is set, the vibration suppressing anti resonance frequency must be adjusted
again. Perform gain adjustment first.

(2) Checking the vibration suppressing anti resonance frequency

Using the PC Loader
Use the servo analyze function to check the vibration suppressing anti resonance point.
Resonance
Gain point
(Note 2)
[dB]
Vibration
suppressing anti
resonance point
(Note 1)
5 Frequency [Hz]
Note 1 The vibration suppressing anti resonance point may not be observed with the servo
analyze function in the following machine configuration.
Machine with large friction
Machine with relatively large mechanical loss such as reduction gear and ball screw
Note 2 Use the notch filter for the resonance point.
What are the resonance point and vibration suppressing anti resonance point?
Vibration of the machine includes the "resonance point" and "vibration suppressing anti
resonance point."
The "resonance point" and "vibration suppressing anti resonance point" mentioned
here are machine characteristics viewed from the motor.
"Resonance point": Frequency at which the motor vibrates without arm tip vibration
"Vibration suppressing anti resonance point": Frequency at which the arm tip vibrates
without vibration of the motor shaft
In general, the vibration suppressing anti resonance frequency is less than the
resonance frequency.

Not using the PC Loader

There are two checking methods.
If measurement of the vibration frequency can be made with a laser displacement gauge or similar,
adopt method 1). In other cases, adopt method 2).
1) Measure the vibration of the arm tip with a laser displacement gauge or similar.
Frequency of vibration (Ts)

Vibration
Time
1
5
Vibration suppressing anti resonance frequency = [Hz]
Ts
2) Starting at 300.0 [Hz] (maximum setting), decrease the reference values of parameters
PA1_78, _80, _82 and _84 gradually while visually checking vibration, to find the best value.

(3) Entering the vibration suppressing anti resonance frequency

Enter the vibration suppressing anti resonance frequency obtained in step (2) to one of parameters
PA1_78, _80, _82 and _84*.
PA1_78 Vibration suppressing anti resonance frequency 0 1.0 to 300.0 [Hz] (in increments of 0.1) 300.0 Always
* Parameters for up to four points can be entered.

While combining the "anti resonance frequency selection 0" and "anti resonance frequency
selection 1" CONT input signals, up to four points can be specified.
The vibration suppressing anti resonance point may vary according
to the arm length and weight of the load.
5 a b c
The vibration suppressing anti

resonance frequency varies according
to conditions a, b and c.
In such a case, assign this function to CONT input signals and switch the vibration
suppressing anti resonance frequency setting.
Anti resonance frequency Anti resonance frequency Vibration suppressing anti
selection 1 selection 0 resonance frequency
*
OFF OFF PA1_78
OFF ON PA1_80
ON OFF PA1_82
ON ON PA1_84
* This signal is always handled to be turned off if it is not assigned to the sequence input
signal. In this case, PA1_78 (vibration suppressing anti resonance frequency 0) is always
enabled.
To disable the vibration suppressing anti resonance frequency, set the vibration suppressing
anti resonance frequency at 300.0 Hz.
Be sure to switch while the motion is stopped. Otherwise shock will be caused.
(4) Entering the S-curve

To attain effective vibration suppression, enter the S-curve.
Enter either PA1_51 (moving average S-curve time*) or PA1_52 (low-pass filter for S-curve time
constant).
The approximate reference value is shown below.
PA1_51 Moving average S-curve time* 0.1 to 500[ 0.125msec] (in increments of 1) 20 Always
PA1_52 low-pass filter for S-curve time constant 0.0 to 1000.0[msec] (in increments of 0.1) 0.0 Always
* Cannot be set during auto or semi-auto tuning.

/*1 50 (PG=18bit) 50 < /*1 250 (PG=18bit)

PA1_78/80/82/84 /*1 200 (PG=20bit) 200 < /*1 1000 (PG=20bit)
(Vibration suppressing anti
resonance frequency) PA1_51*2 PA1_52 PA1_51*2 PA1_52
(Moving average S- (Low-pass filter for S- (Moving average S- (Low-pass filter for S-
curve time) curve time constant) curve time) curve time constant)
< 10Hz 80 10ms 160 20ms
10Hz to 20Hz 40 5ms 80 10ms
> 20Hz 16 to 24 2 to 3ms 40 5ms
*1 PA1_06 (numerator 0 of electronic gear)

=
PA1_07 (denominator of electronic gear)
* 2 Cannot be set during auto or semi-auto tuning.
(5) Checking the effects

5
There are three checking methods.
(1) Observe vibration of the arm tip with a laser displacement gauge or similar measuring
instrument.
(2) Take a motion picture of the arm tip with a high speed video to check vibration.
(3) Visually observe.
The vibration suppressing anti resonance frequency is not reflected on the servo
analyze function even if it is entered.
Gain
Anti resonance
point remains.
Frequency
(6) Finely adjusting the vibration suppressing anti resonance frequency

While checking effects of vibration suppression, finely adjust the reference value (in increments of
0.1 or 0.2).

(7) Entering the vibration suppressing workpiece inertia ratio

Ratio of the inertia of the vibrating point such as the arm specifies the portion of the total load
inertia. By setting the vibration suppressing workpiece inertia ratio which is equivalent to amount
to be applied when receiving reaction force from mechanical system (workpiece), the vibration
can be further suppressed.
Setting method
[1] Calculate the inertia of the vibrating point according to specifications of the machine.
Vibration suppressing Vibrating point inertia

=
workpiece inertia ratio Entire load inertia
[2] Entering with the PC Loader
5
(1) Check the anti resonance frequency and resonance frequency by using the servo analyze
function.
(2) Select [Parameter Edit] - [PA1: Control Gain - Filter Setting] and press the "enter vibration
suppressing anti resonance frequency" button to open the exclusive window.
Enter the anti resonance frequency and resonance frequency* to automatically calculate the
ratio of inertia of the workpiece.
* The resonance frequency is not the resonance frequency suppressed with the notch filter.
Use the servo analyze function to check this resonance frequency.
This resonance frequency appears as a set with the anti resonance frequency, and it is about two
times the anti resonance frequency.
[Example of resonance frequency]
Gain
Resonance frequency: about 90Hz
Anti resonance frequency: about 45Hz
Frequency

CHAPTER 6 KEYPAD 6
6-1
CHAPTER 6 KEYPAD
6.1 Display
The servo amplifier is equipped with a keypad (see the figure on the
right).
The keypad is fixed.
(1)
The keypad is equipped with six-digit seven-segment LEDs (1), four
keys (2), and a status indication LED (3) (lift the front cover).
(2)
Numbers and letters are displayed on the six-digit seven-segment
(3)
LEDs.
Keys are [MODE/ESC], [], [], [SET/SHIFT] from the leftmost one.
The status indication LED (orange) shows the following conditions.
Lit: Online state and servo ready ON
Blink 1: Alarm or battery warning (lit for 0.35 sec. and unlit for 0.15 sec.)
Blink 2: Sequence test mode (lit for 0.95 sec. and unlit for 1.2 sec.)
Unlit: Offline state
The offline state indicates execution of test operation (manual operation, profile operation, etc.)
6
made at the PC Loader or keypad, which accompanies motor rotation. The servo amplifier functions
online in other cases.
6.1.1 Mode
The keypad functions in seven modes.

Some modes are unavailable for some models of the servo amplifier.
Sequence mode: The control and operation statuses of the servo amplifier are displayed.
Monitor mode: Various servomotor states, I/O signals and so on are monitored.
Station No. mode: The station number specified with a parameter is displayed.
Maintenance mode: Alarm at presents and alarm history are displayed.
Parameter edit mode: Parameters can be edited.
Positioning data edit mode: Positioning data can be edited.
Test operation mode: Servomotor operates through key operation at the keypad.
7-segment display 0 1 2 3 4 5 6 7 8 9 -
A b C d E F G H i J L
n o P q r S t U v y
6-2 Display
CHAPTER 6 KEYPAD
6.1.2 Key
[SET/SHIFT]
[MODE/ESC] The cursor digit shifts to the right
The mode is switched (MODE). (SHIFT).
The mode is deselected (ESC). The mode or value settles (SET).
Press and hold for at least one
second to settle.
[]
The sub mode is selected. []
The value increases by one (+1). The sub mode is selected.
The value decreases by one (-1).
To show five or more digits, alternate the upper and lower five digits.
6.1.3 Mode Selection
Use the [MODE/ESC] key to select each mode. 6

Mode selection Sub mode selection Indication example
The power is turned on.
Sequence mode
[MODE/ESC]
Monitor mode
[MODE/ESC]
Station number mode
[MODE/ESC]
Maintenance mode
[MODE/ESC]
Parameter edit mode
[MODE/ESC]
Positioning data edit mode
[MODE/ESC]
Test operation mode
[MODE/ESC]
Display 6-3
CHAPTER 6 KEYPAD
6.2 Function List
In the parameter edit mode and the positioning data edit mode reference values can be checked and
changed.
Mode Sub mode Sub mode selection Indication and entry example
Sequence mode Sequence mode
Amplifier setting
Motor setting
Monitor mode Feedback speed
6 Command speed
Command torque
Motor current
Peak torque
Effective torque
Feedback position
Command position
Position deviation
Command pulse
frequency
Feedback cumulative
pulse
Command
cumulative pulse
LS-Z pulse
Load inertia ratio
DC link voltage (max.)
6-4 Function List

CHAPTER 6 KEYPAD
Monitor mode DC link voltage (min.)
VREF input voltage
TREF input voltage
Input signal
Output signal
OL thermal value
Braking resistor thermal

value
Power (w)
6
Motor temperature
Overshoot unit amount
Settling time
Resonance frequency 1
Resonance frequency 2
Station number mode Station number display
Maintenance mode Alarm at present
Alarm history
Warning at present
Function List 6-5

CHAPTER 6 KEYPAD
Maintenance mode Total time main power

supply
Total time - control power
supply
Motor running time
Parameter edit mode Parameter page 1
Parameter page 2
Parameter page 3
6 Positioning data edit mode
Positioning status
Target position
Rotation speed
Stand still timer
M code
Acceleration time
Deceleration time
6-6 Function List

CHAPTER 6 KEYPAD
Test operation mode Manual operation
Position preset
Homing
Automatic operation
Alarm reset
Alarm history
initialization
Parameter initialization
Positioning data
initialization 6
Auto offset adjustment
Z-phase offset
adjustment
Auto tuning gain
Easy tuning
Profile operation
Sequence test mode
Teaching
Function List 6-7

CHAPTER 6 KEYPAD
6.3 Sequence Mode
In the sequence mode, the state of the servo amplifier and amplifier setting are displayed.
Press the [MODE/ESC] key until [ ] is displayed, and press and hold the [SET/SHIFT] key
for at least one second to show data.
: Sequence mode
: Amplifier setting
: Motor setting
Key notation
In this chapter, keypad keys may be simply described as shown below.
[MODE/ESC] key
When using as a [MODE] key: MODE
When using as an [ESC] key: ESC
6 [SET/SHIFT] key
When using as a [SET] key: SET (for at least one second)
When using as a [SHIFT] key: SHIFT
(1) Sequence mode

The status of the output signal of the servo amplifier and operation status are displayed.
SET (1 sec. or over)
ESC
Zero speed In-position
Speed coincidence
Ready
Forced stop detection

Zero deviation
6-8 Sequence Mode

CHAPTER 6 KEYPAD
Control
Indication Name Description
mode
The motor is not turned on.
Servo off
The servomotor has no driving force.
Servo on The servomotor is ready to rotate.
Manual
Manual feed rotation state
operation
Pulse train operation
(position command
During pulse input operation
operation) (During operation according to position command sent over SX )
Positioning Positioning is being executed.
Position
Homing Homing is being executed.
control
Interrupt
Interrupt positioning is being executed.
positioning
+OT The positive over-travel signal is being detected.
-OT
Zero speed
The negative over-travel signal is being detected.
Stopped at zero speed due to forced stop signal

6
stop
In undervoltage. For details, see the pages about
In LV
undervoltage on 7-7 and 7-10.
Servo off
Manual
operation
Speed
+OT The positive over-travel signal is being detected.
control
-OT The negative over-travel signal is being detected.
Zero speed
Stopped at zero speed due to forced stop signal
stop
In LV
Servo off

Torque
control Manual
operation
In LV
When the servo amplifier power is turned on, "sequence mode operation mode" is shown.
The indication contents at power-on can be changed with parameter PA2_77.
Sequence Mode 6-9

CHAPTER 6 KEYPAD
Reference Reference
value Initial display value Initial display
0 Sequence mode 19 Input signals
1 Feedback speed 20 Output signals
Command OL thermal
2 21
speed value
Command Braking resistor
3 22
torque thermal value
4 Motor current 23 Power (W)
Motor
5 Peak torque 24
temperature
Overshoot unit
6 Effective torque 25
amount
Feedback
7 26 Settling time
position
6 8
Command
position
27
Resonance
frequency 1
Position Resonance
9 28
deviation frequency 2
Command pulse
10 40 Station No
frequency
Feedback
11 41 Alarm at present
cumulative pulse
Command
12 42 Alarm history
cumulative pulse
Warning at
13 LS-Z pulse 43
present
Total time-main
14 Load inertia ratio 44
power supply
DC link voltage Total time-control
15 45
(max.) power supply
DC link voltage Motor running

16 46
(min.) time
VREF input
17
voltage
TREF input
18
voltage
6-10 Sequence Mode

CHAPTER 6 KEYPAD
(2) Amplifier setting

The servo amplifier control function, interface format and capacity are displayed.
SET
SET (1)
(1 sec. or over)
ESC
1st
1 digit 2
2nd digit 3rd 4th46
to 6th digits
3
Control
Indication
function Indication
Connection format digit
Indication
Capacity
Speed control
DI/DO
0.2 [kW]
standard
(20 101)
(2010

2.0 [kW]

SX bus
(20 1022)
(2010
6
(3) Motor setting
The type of servomotor connected to the servo amplifier, capacity and encode type are displayed.
SET
SET
(1 sec.(1)
or over)
ESC
1
1st digit 24
2nd to 4th digits 5th 6
6th digit
5

Indication
Motor profile
Indication
Capacity digit
Indication
Encoder type

0.2 [kW]

Slim -
18bit-ABS
(20 1011)
(2010

2.0 [kW]

Cubic -
20bit-INC
(20 102)
(2010
Medium

inertia
Sequence Mode 6-11

CHAPTER 6 KEYPAD
6.4 Monitor Mode
In the monitor mode, the servomotor rotation speed, cumulative input pulse and so on are displayed.
Press the [MODE/ESC] key until [ ] is displayed, and press and hold the [SET/SHIFT] key
for at least one second to display data.
: Feedback speed : Feedback cumulative : OL thermal value
pulse
: Command speed : Command cumulative
: Braking resistance thermal
pulse
value
: Command torque : LS-Z pulse
: Power (W)
: Motor current : Load inertia ratio

: Motor temperature
: Peak torque : DC link voltage (max.)

: Overshoot unit amount
: Effective torque : DC link voltage (min.)

: Settling time
: Feedback position : VREF input voltage

: Resonance frequency 1
: Command position : TREF input voltage

: Resonance frequency 2
: Position deviation : Input signal
6 : Command pulse
frequency : Output signal
(1) Feedback speed (displayed digits: signed four digits)

Current rotation speed of servomotor.
The correct value is displayed even if the load (mechanical system) rotates the motor.
The speed is displayed in r/min and a negative sign is attached for reverse rotation (clockwise
rotation when viewed against the motor shaft).
SET
SET (1(1)
sec. or over)
ESC
ESC
(2) Command speed (displayed digits: signed four digits)

Current speed command issued to the servomotor. The command speed is given in a speed
command voltage, multi-step speed, pulse or similar. The speed is displayed in [r/min] and a
negative sign is attached for reverse rotation (clockwise rotation when viewed against the motor
shaft).
SET(1 (1)
SET sec. or over)
ESC
ESC
(3) Command torque (displayed digits: signed three digits)

Average torque issued from the servo amplifier to the servomotor; the torque is displayed in
percent [%] to the rated torque. The range from 0 [%] to the maximum torque is displayed in
increments of 1 [%]. In case of a negative average torque, a negative sign is attached to the most
significant digit.
SET
SET(1 (1)
sec. or over)
ESC
ESC
6-12 Monitor Mode

CHAPTER 6 KEYPAD
(4) Motor current (displayed digits: signed three digits)

Current flowing through the servomotor; the current is displayed in percent [%] to the rated current.
The range from 0 [%] to the maximum current is displayed in increments of 1 [%]. In case of a
negative motor current, a negative sign is attached to the most significant digit.
SET
SET(1(1)
sec. or over)
ESC
ESC
(5) Peak torque (displayed digits: signed three digits)

Peak torque value of the servomotor at every two seconds; the torque is displayed in percent [%]
to the rated torque.
The range from 0 [%] to the maximum torque is displayed in increments of 1 [%]. In case of a
negative peak torque, a negative sign is attached to the most significant digit.
SET(1 sec.
SET (1)
or over)
ESC
ESC
(6) Effective torque (displayed digits: signed three digits)

The load ratio of the servomotor; displayed in percent [%] to the rated torque.
The range from 0 [%] to the maximum torque is displayed in increments of 1 [%]. 6
SET(1 sec.
SET (1)
or over)
ESC
ESC
(7) Feedback position (displayed digits: signed 10 digits)

The rotation amount of the servomotor is displayed in the unit amount after correction with an
electronic gear. If the electronic gear is unused, the data indicates the exact rotation amount of the
motor shaft encoder (1048576 pulses/revolution for the 20-bit serial encoder).
In case of a negative feedback position, "H" or "L" and a negative sign alternate at the most
significant digit.
SET(1 sec.
SET (1)
or over)
ESC
ESC Press the SHIFT key to alternate
between high order and low order
five digits.
Monitor Mode 6-13

CHAPTER 6 KEYPAD
(8) Command position (displayed digits: signed 10 digits)

The position of the servomotor controlled by the servo amplifier is displayed in the unit amount
after correction with an electronic gear. If the operation command is turned off and the load
(mechanical system) rotates the motor after the target position is reached, the position is not
correct. For indication, refer to "(7) Feedback position."
In case of a negative command position, "H" or "L" and a negative sign alternate at the most
significant digit.
SET(1 sec.
SET (1)
or over)
ESC
ESC
Press the SHIFT key to alternate
between the high order and low
order five digits.
(9) Position deviation (displayed digits: signed 10 digits)

The difference between the command position and feedback position is displayed. The deviation
amount is in encoder pulses.
For the indication, refer to "(7) Feedback position."
6 In case of a negative position deviation, "H" or "L" and a negative sign alternate at the most
significant digit.
SET
SET (1)
(1 sec. or over)
ESC
ESC
order five digits.
(10) Command pulse frequency (displayed digits: signed five digits)

The pulse frequency supplied to the pulse input terminal is displayed. The value is displayed in
0.1 [kHz].
The displaying range is from -1000.0 [kHz] to 1000.0 [kHz].
SET(1 (1)
SET sec. or over)
ESC
ESC
6-14 Monitor Mode

CHAPTER 6 KEYPAD
(11) Feedback cumulative pulse (displayed digits: signed 10 digits)

The cumulative pulses of servomotor rotation amount are displayed in encoder pulses (1048576
pulses per revolution). Reverse rotation decreases the cumulative value. Even if the load
(mechanical system) rotates the motor, the correct value is displayed. For the indication, refer to
"(7) Feedback position."
SET
SET(1 (1)
sec. or over)
ESC
ESC Press the SHIFT key to alternate
order five digits.
Press and hold the [] and [] keys simultaneously for at least one second to reset the
feedback cumulative pulses.
(12) Command cumulative pulse (displayed digits: signed 10 digits)
The number of pulses supplied to the pulse input terminal is displayed. The cumulative value
increases upon forward direction pulses, while it decreases upon reverse direction pulses. With
two signals at A/B phase pulse, each edge is counted (multiple of four). The count increases upon
B-phase advance.
For the indication, refer to "(7) Feedback position."
6
SET(1 (1)
SET sec. or over)
ESC
ESC
order five digits.
Press and hold the [] and [] keys simultaneously for at least one second to reset the
command cumulative pulses.
(13) LS-Z pulse (displayed digits: unsigned seven digits)

The number of pulses in a homing counted since the home position LS signal is turned off until the
Z-phase of the encoder of the servomotor is detected is displayed. The indication is updated every
time homing is performed. Because the value is in the homing direction, no negative sign is
attached.
Displayed only if the Z-phase is enabled.
SET
SET (1(1)
sec. or over)
ESC
ESC
order five digits.
Monitor Mode 6-15

CHAPTER 6 KEYPAD
(14) Load inertia ratio (displayed digits: unsigned four digits)

The load inertia ratio recognized by the servo amplifier without relations to parameter PA1_13
(tuning mode selection) is displayed. The value is displayed in a multiple (in 0.1 increments) to the
inertia of the servomotor itself.
The displaying range is from 0.0 to 300.0 times.
(Load inertia recognized by servo amplifier)

(Load inertia ratio) =
(Inertia of servomotor itself)
SET
SET(1 (1)
sec. or over)
ESC
ESC
(15) DC link voltage (max.) (displayed digits: unsigned three digits)

The DC link voltage (max.) of the servo amplifier at every two seconds is displayed.
The displaying range is from 0 [V] to 500 [V].
SET(1 sec.
SET (1)
or over)
6 ESC
ESC
If the DC link voltage (max.) exceeds 390 [V] during operation, an external braking resistor
is necessary. "HV" (overvoltage) is detected at 420 [V].
(16) DC link voltage (min.) (displayed digits: unsigned three digits)

The DC link voltage (min.) of the servo amplifier at every two seconds is displayed.
The displaying range is from 0 [V] to 500 [V].
SET(1 (1)
SET sec. or over)
ESC
ESC
"LV" (under-voltage) is detected at 200 [V].
(17) VREF input voltage (displayed digits: signed four digits)

The input voltage of the analog input terminal [VREF] is displayed in 0.01 [V]. The negative sign
indicates a negative voltage.
The displaying range is from -10.50 [V] to 10.50 [V].
SET(1 (1)
SET sec. or over)
ESC
ESC
6-16 Monitor Mode

CHAPTER 6 KEYPAD
(18) TREF input voltage (displayed digits: signed four digits)

The input voltage of the analog input terminal [TREF] is displayed in 0.01 [V]. The negative sign
indicates a negative voltage.
The displaying range is from -10.50 [V] to 10.50 [V].
SET
SET(1 sec. or over)
(1)
ESC
ESC
(19) Input signals

The ON/OFF status of sequence input signals supplied to the servo amplifier is displayed.
The corresponding LED lights up when the input signal is turned on.
CONT20CONT11
SET
SET (1(1)
sec. or over)
ESC
ESC
The number of sequence input

CONT10CONT1
Press the SHIFT key to alternate 6
signals varies according to the order five digits.
type of the servo amplifier.
CONT40CONT31
CONT30CONT21
Monitor Mode 6-17

CHAPTER 6 KEYPAD
(20) Output signals

The ON/OFF status of sequence output signals issued by the servo amplifier is displayed.
The corresponding LED lights up when the output signal is turned on.
OUT20OUT 11
SET
SET (1(1)
sec. or over)
ESC
ESC
OUT 10OUT 1
The number of sequence output
signals varies according to the Press the SHIFT key to alternate
type of the servo amplifier. between the high order and low
order five digits.
OUT40OUT 31
6
OUT 30OUT 21
(21) OL thermal value (displayed digits: unsigned three digits)

The load ratio to the load alarm level is displayed in percent. An overload alarm is caused if this
value reaches 100. The minimum increment is 1 [%]. The displaying range is from 0 [%] to 100 [%].
SET
SET (1(1)
sec. or over)
ESC
ESC
(22) Braking resistor thermal value (displayed digits: unsigned three digits)
The regeneration load ratio to the braking resistor overheat alarm level is displayed in percent. A
braking resistor overheat alarm is caused if this value is 100. The regeneration load ratio is
calculated for 0.4 [kW] or larger motor capacities if PA2_65 (braking resistor selection) is set at 1
(internal resistor).
The minimum increment is 1 [%]. The displaying range is from 0 [%] to 100 [%].
SET(1 (1)
SET sec. or over)
ESC
ESC
6-18 Monitor Mode

CHAPTER 6 KEYPAD
(23) Power (w) (displayed digits: signed three digits)

The servomotor power (w) is displayed in percent [%] to the rating.
The data is displayed in the range from 0 [%] to 900 [%] in increments of 1 [%].
SET
SET (1(1)
sec. or over)
ESC
ESC
(24) Motor temperature (displayed digits: unsigned three digits)

The servomotor temperature is displayed. The range from 0 [C] to 120 [C] is displayed in
increments of 1 [C].
SET
SET (1(1)
sec. or over)
ESC
ESC
(25) Overshoot unit amount (displayed digits: signed 10 digits)

The overshoot unit amount under position control is displayed. The data is displayed in the unit
amount after correction by the electronic gear.
If the overshoot unit amount is negative, "H" or "L" and a negative sign alternate at the most
significant digit.
SET
SET (1(1)
sec. or over)
6
ESC
ESC
order five digits.
(26) Settling time (displayed digits: unsigned five digits)

The settling time under position control is displayed.
The displaying range is from 0 [ms] to 1000.0 [ms]. If the settling time exceeds 1000.0 [ms],
"1000.0 [ms] is displayed.
SET(1 (1)
SET sec. or over)
ESC
ESC
(27) Resonance frequency 1 (displayed digits: unsigned four digits)

The resonance frequency recognized by the servo amplifier is displayed.
The displaying range is from 100 [Hz] to 2000 [Hz]. If no resonance is detected, "4000 [Hz]" is
displayed.
SET(1 (1)
SET sec. or over)
ESC
ESC
Monitor Mode 6-19

CHAPTER 6 KEYPAD
(28) Resonance frequency 2 (displayed digits: unsigned four digits)

The resonance frequency recognized by the servo amplifier is displayed.
The displaying range is from 100 [Hz] to 2000 [Hz]. If no resonance is detected, "4000 [Hz]" is
displayed.
SET
SET (1(1)
sec. or over)
ESC
ESC
6.5 Station No Mode
In the station no mode, the station no of the servo amplifier is displayed and a new station no can be
entered.
Press the [MODE/ESC] key until [ ] is displayed, and press and hold the [SET/SHIFT] key for
at least one second to display data.
: Station no
6
SET
SET (1)
(1 sec. or over)
ESC
ESC
Communication time over

Press the SHIFT key to Parameter PA2_72 is

move among digits. updated.
6-20 Station No Mode

CHAPTER 6 KEYPAD
6.6 Maintenance Mode
In the maintenance mode, detected alarms, total time - main power supply and so on are displayed.
Press the [MODE/ESC] key until [ ] is displayed and press and hold the [SET/SHIFT] key for
at least one second to display data.
: Alarm at present : Total time - main power supply
: Alarm history : Total time - control power supply
: Warning at present : Motor running time
(1) Alarm at present
The alarm detected currently is displayed in a code.
If an alarm is detected, the status indication LED blinks. After an alarm reset, indication
changes to . Use [ ] to display the history.
After an alarm is detected, the following is displayed automatically. Supplementary data to the
alarm can be displayed, too.
SET
SET
(1 sec.(1)
or over)
ESC
SET
SET(1 (1)
sec. or over)
6
(Total time-main power supply)
(Total time-control power supply)
(Motor running time)
(Feedback speed)
(Feedback speed before five min)
(Command speed)
(Command torque)

(Motor current)
(Effective torque)
(DC link voltage)
(EC error counts)
(Command position H)
(Command position L)
(Sequence mode)
Maintenance Mode 6-21

CHAPTER 6 KEYPAD
Alarm indication
Order Indication Name Order Indication Name
1 Overcurrent 1 16 Overload 2
Main power
2 Overcurrent 2 17
undervoltage
Internal braking resistor
3 Overspeed 18
overheat
Control power External braking resistor
4 19
undervoltage overheat
5 Overvoltage 20 Braking transistor error
6 Encoder trouble 1 21 Deviation overflow
7 Encoder trouble 2 22 Amplifier overheat
8 Circuit trouble 23 Encoder overheat
9 Memory Error 24 Absolute data Lost 1
6 10 Fuse Broken 25 Absolute data Lost 2
11 Motor Combination Error 26 Absolute data Lost 3
Braking transistor
12 27 Multi-turn data over flow
overheat
Encoder Communication
13 28 Initial Error
error
CONT (control signal) Command Pulse
14 29
Error Frequency Error
15 Overload 1
The alarm is automatically displayed upon detection.

If an alarm is detected, indication blinks quickly (at 0.5-second intervals) (when
compared with regular blinks at 1-second intervals).
The alarm can be reset even in the test operation mode.
When an alarm is displayed, press and hold the [] and [] keys simultaneously for at
least one second to reset the alarm.
After an alarm reset, indication changes to .
Next, initial display is automatically restored.
6-22 Maintenance Mode

CHAPTER 6 KEYPAD
(2) Alarm history

Up to 20 past alarms can be displayed.
Press the [] or [] key to scroll in the history.
SET SET
SET
(1 sec.(1)
or over) SET (1)
(1 sec. or over)
ESC

Detected history number ("1" indicates Alarm code (Refer to (2).)

the latest alarm, and "20" the earliest.)
The history can be cleared in the test operation mode [ ].
(3) Warning at present

Warnings in the ABS battery, main circuit capacitors and cooling fan are displayed.
"0" indicates no warning, and "1" indicates a warning.
6
SET
SET (1)
(1 sec. or over)
ESC
Cooling fan life warning

Battery warning
Main circuit capacitor life
(4) Total time - main power supply

The cumulative time of turning the main power (L1, L2 and L3) on is displayed.
The displaying range is from 0 [h] to 9999 [h].
SET
SET (1)
(1 sec. or over)
(5 minutes 9 seconds)
ESC
After 1 hour (59 minutes 59 seconds or later)
15959
(9999 hours)
Maintenance Mode 6-23

CHAPTER 6 KEYPAD
(5) Total time - control power supply

The cumulative time of turning the control power (L1C and L2C) on is displayed.
SET
SET
(1 sec.(1)
or over)
ESC
15959
(9999 hours)
(6) Motor running time

The cumulative time of turning the servomotor on is displayed.
SET
SET (1)
(1 sec. or over)
6
ESC
15959
(9999 hours)
6-24 Maintenance Mode

CHAPTER 6 KEYPAD
6.7 Parameter Edit Mode
Parameters can be edited in the parameter edit mode.

Press the [MODE/ESC] key until [ ] is displayed and press and hold the [SET/SHIFT] key for at
least one second to select parameter editing.
After selecting parameter editing, press the [] or [] key to select the number of the desired parameter
to be edited.
Press and hold the [SET/SHIFT] key for at least one second to edit the data.
: Parameter page 1
: Parameter page 2
: Parameter page 3
(1) Parameter page 1

On parameter page 1, relatively frequently used parameters are registered. Changes in most
6
parameters are reflected on the servo amplifier and servomotor operation immediately.
SET SET
SET
(1 sec.(1)
or over) SET (1)
(1 sec. or over)
ESC ESC


On parameter page 2, parameters related to system setting such as the homing functions are
registered. Changes in parameters become enabled after the power is turned off then on again.
SET SET
SET
(1 sec.(1)
or over) SET (1)
(1 sec. or over)
ESC ESC


On parameter page 3, parameters related to system setting such as sequence I/O terminals are
registered. Changes in parameters become enabled after the power is turned off then on again.
SET SET
SET
(1 sec.(1)
or over) SET (1)
(1 sec. or over)
ESC ESC

Parameter Edit Mode 6-25

CHAPTER 6 KEYPAD
Indication and editing

The parameter indication and editing methods are described below.
Value indication
<Unsigned parameter with six or less digits>
Unsigned values with six or less digits are displayed in the exact value.
Example shown on the left indicates a two-digit value.
To indicate the number of digits of the value explicitly, digits other than those that can be entered
are also displayed.
<Signed parameter with six or less digits>

Signed value with six or less digits has a negative sign at the left end and the value is displayed in
the remaining digits in the exact value. In case of a six-digit number, the negative sign at the left
end and the most significant digit alternate.
6
<Unsigned parameter with seven to ten digits>
"H" is displayed at the left end for the high order five digits.
"L" is displayed at the left end for the low order five digits.
High order five digits Low order five digits
SHIFT
<Signed parameter with seven to 10 digits>

"H" is displayed at the left end of a positive high order five digits, while "-" and "H" alternate in case
of a negative high order five digits.
"L" is displayed at the left end for the low order five digits.
In case of positive value
SHIFT
In case of negative value

SHIFT
6-26 Parameter Edit Mode

CHAPTER 6 KEYPAD
Value editing
When a parameter is loaded, the units digit (rightmost digit) blinks (for parameters consisting of
high and low orders, the high order data is displayed). The blinking digit can be edited (the digit
blinks at about 1-second intervals). Press the [] or [] key to change the value.
Even if "9" changes to "0," no carry-over occurs (the higher order number does not change).
Similarly, the higher order number does not change when "0" changes to "9."
Press the [] key at the tens digit to increase "9."
The tens digit changes to "0" but no change occurs to the higher
order number.
Press the [SET/SHIFT] key to shift the digit to be edited. The shifting order is from (1) to (10).
H side (High order five digits) L side (Low order five digits)
SHIFT
(1)
(2)
(3)
(4)
(5)
(6)(7)(8)(9)(10)

6
Settling the value
Press and hold the [SET/SHIFT] key for at least one second to settle the value. All digits blink three
times. The settled value remains. (The value blinks at about 0.5-second intervals when it is
settled.)
Press the [MODE/ESC] key to return to the parameter number selection screen.
Value out of range

Values out of the allowable setting range can be entered as far as the number of digits allows.
[Example] In case of parameter PA1_7, you can enter in the range from 0 to 9999999 (setting
range: 1 to 4194304). However, the value out of the permissible setting range is not
reflected on the parameter (NG indication is caused).
Parameter Edit Mode 6-27

CHAPTER 6 KEYPAD
An example of editing operation

Change parameter PA1_7 (denominator of electronic gear) to100000.
Key operation Remarks
An example of indication in sequence mode
[MODE] Return to mode selection.
[MODE] Select the parameter editing mode.
[SET] (1 sec. or over) The parameter number is displayed.
[] Select parameter PA1_7.
6 The set data of PA1_7 is displayed. The most

[SET] (1 sec. or over) significant digit of the high order five digits blinks (the
high order two digits of default value "1" is
displayed).
Blink
[SET] Shift to the desired editing digit.
Blink
[] Increase the value to "1."
Blink
[SET] Show the low order five digits.
Blink
[SET] Shift to the desired editing digit.
Blink
[] Change the value to "0."
Blink
Settle the new value.

[SET] (1 sec. or over)
After being settled, the value remains.
6-28 Parameter Edit Mode

CHAPTER 6 KEYPAD
6.8 Positioning Data Edit Mode
In the positioning edit mode, you can edit positioning status, target position, rotation speed, stand still
timer, M code, and acceleration and deceleration time.
: Positioning status
: Target position
: Rotation speed
: Stand still timer
: M code
: Acceleration time
: Deceleration time
[Example]
The following shows the example with address 1 selected. (For how to edit, refer to "Indication and editing"
on page 6-26 (only for (2) to (5)).
(1) Positioning status

Set data relevant to the positioning data.
6
SET SET
(1 sec. or over) (1 sec. or over)
ESC ESC
SET
ESC
(1 sec. or over)
1st digit 3rd and 4th digits 6th digit

Indication Command Indication Step Indication M-code
method mode
No
ABS Disable
designation
Output at
INC Continuous
startup
Output at
Cycle end
completion
How to edit positioning status

SET SET SET
* Determined by SET (1 sec. or over)
* Determined by SET (1 sec. or over) * Determined by SET (1 sec. or over)
Positioning Data Edit Mode 6-29

CHAPTER 6 KEYPAD
(2) Target position

Set the target position of the motor. The setting value range is from -2000000 to 2000000 in
increments of 1.
Set the target position of the servomotor for ABS command method, and set the incremental value
for INC.
SET SET
ESC ESC
SET
ESC
(1 sec. or over)
SHIFT SHIFT
6 (3) Rotation speed

Set the travel speed to the motor target position. Use the motor shaft rotation speed for the setting
value. The setting value range is from 0.01 to 6000 [r/min] in increments of 0.01.
Note that the setting speed is not the machine travel speed.
SET SET
ESC ESC
SET ESC
(1 sec. or over)
6-30 Positioning Data Edit Mode

CHAPTER 6 KEYPAD
(4) Stand still timer

Set the stop time after the motor has reached the target position. The setting value range is from
0.00 to 655.35 [s] in increments of 0.01.
After the stop time has elapsed, the sequence output signal (in-position signal [INP]) turns on.
The decimal point position can be changed in the parameter PA2-42 (timer data decimal point
position).
SET SET
ESC ESC
SET
(1 sec. or over) ESC
(5) M code
The M code output by executing positioning data can be edited. The setting range is from 00 to FF
in hexadecimal. The minimum increment is 1. 6
The default value is FF.
SET SET
ESC ESC
SET
ESC
(1 sec. or over)
(6) Acceleration time

Set the motor acceleration time. The setting value range is from 0.0 [ms] to 99999.9 [ms] in
increments of 0.01 [ms].
The setting value is the time until the motor rotation speed reaches 2000 [r/min].
SET SET
ESC ESC
SET
ESC
(1 sec. or over)
Positioning Data Edit Mode 6-31

CHAPTER 6 KEYPAD
(7) Deceleration time

Set the motor deceleration time. The setting value range is from 0.0 [ms] to 99999.9 [ms] in
increments of 0.01 [ms].
The setting value is the time until the motor rotation speed reaches 2000 [r/min].
SET SET
ESC ESC
SET
ESC
(1 sec. or over)
6-32 Positioning Data Edit Mode

CHAPTER 6 KEYPAD
6.9 Test Operation Mode
In the test operation mode, you can operate keypad keys to rotate the servo amplifier or reset various
data. Press the [MODE/SET] key until [ ] is displayed, and press and hold the [SET/SHIFT]
key for at least one second to execute test operation.
: Manual operation : Positioning data initialization

: Position preset : Auto offset adjustment
: Homing : Z-phase position adjustment
: Automatic operation : Auto tuning gain
: Alarm reset : Easy tuning
: Alarm history initialization : Profile operation
: Parameter initialization : Sequence mode
: Teaching
6
(1) Manual operation
The servomotor rotates while a keypad key is held down.
The rotation speed of the servomotor depends on the setting of parameter PA1_41.
SET
SET *1
1
(1 sec.(1)
or over)
ESC
ESC SET (1
SET sec. or over)
(1)
* Under position control

Forward rotation indication
Changes in offline mode.

Reverse rotation indication
The servomotor keeps rotating while the [] or [] key is held down. Under speed control
[NG] is indicated while the servomotor rotates upon a sequence I/O signal.
*1) Cause of NG indication
The S-ON and FWD/REV signals are turned on.
The motor is during rotation.
The forced stop, external braking resistor overheat, OT and free-run signals are enabled
even during test operation. Check these signals if test operation does not start.
Test Operation Mode 6-33

CHAPTER 6 KEYPAD
(2) Position preset

The command position and feedback position of the servomotor are reset to zero.
*1
SET SET
ESC
End of resetting
ESC

6 (3) Homing
Operate keypad keys to perform homing. The homing profile follows settings of parameters PA2_6
through PA2_18.
After homing complete, indication remains [ ].
Press the [MODE/ESC] key to return to mode selection.
SET
*1
(1 sec. or over)
ESC
ESC SET (1 sec. or over)
SET
(1 sec. or over)
ESC

6-34 Test Operation Mode

CHAPTER 6 KEYPAD
(4) Automatic operation

Operate keypad keys to perform automatic operation.
Positioning is executed according to registered positioning data.
*1
(2) Address selection

SET
(1 sec. or over)
ESC (1) Offline indication indication
SET
SET
(1 sec. or over)
(1 sec. or over)
ESC
Changes in the
offline mode.
Return to offline
by ESC
(3) In-process indication (4) Normally completed

Press ESC to
return to (2). 6
Press SET to start.
*1
Changes during
positioning operation.
(The address in
operation blinks.)
*1 If NG indication is shown, remove the cause of the fault and press the [MODE/ESC] key to
return to the offline state (2) .
<Cause of NG1 indication> - Offline switching impossible

The motor is during rotation. (Operation such as manual feed, homing is being executed.)
<Cause of NG2 indication> - Startup failure
<Cause of NG2 indication> -Abnormality during operation
The forced stop, external braking resistor overheat, OT and free-run signals are enabled
even during test operation. Check these signals if test operation does not start.

CHAPTER 6 KEYPAD
(5) Alarm reset

The alarm currently detected in the servo amplifier is reset.
SET SET
ESC
End of resetting
ESC
The servo amplifier is not reset from some alarms through alarm resetting. To reset these alarms,
turn the power off then on again.
Alarms removed through alarm resetting Alarms not removed through alarm resetting
Indication Name Indication Name
Overcurrent 1 Encoder trouble 1
Overcurrent 2 Encoder trouble 2
6 Overspeed
Control power
undervoltage
Circuit trouble
Memory Error
Overvoltage Fuse Broken
Braking transistor
Motor Combination Error
overheat
Encoder Communication CONT (control signal)
error Error
Overload 1 Braking transistor error
Overload 2 Absolute data Lost 1
Main power Absolute data Lost 2

undervoltage
Internal braking resistor Absolute data Lost 3
overheat
External braking resistor Multi-turn data over flow
overheat
Deviation overflow Initial Error
Amplifier overheat
Encoder overheat
Command Pulse
Frequency Error

CHAPTER 6 KEYPAD
(6) Alarm history initialization

The history of detected alarms recorded in the servo amplifier is deleted. The alarm detection
history (alarm history) can be monitored with [ ] in the sequence mode.
SET SET
ESC
End of initialization
ESC
The alarm history is retained even after the power is turned off.
(7) Parameter initialization

Parameters are initialized.
6
After initializing parameters, be sure to turn the power off then on again.
*1
1
SET
(1 sec.(1)
SET or over) SET
SET (1)
(1 sec. or over)
ESC
End of initialization
ESC

The S-ON signal is turned on.
Parameter PA2_74 (parameter write protection) is set at 1 (write protect).
(8) Positioning data initialization

All positioning data is reset to initial values.
After initializing, turn the power off then on again.
*1
SET
(1 sec. or over) SET
(1 sec. or over)
ESC
ESC

CHAPTER 6 KEYPAD

The S-ON signal is turned on.
(9) Auto offset adjustment (only for RYT 5-VV )

The current input voltage supplied at the analog speed command voltage input [VREF] terminal is
reset to 0 [V].
*1
SET SET
ESC
End of offsetting
ESC
6 If both the X1 and X2 terminals of multi-step speed selection are turned off with the FWD (REV)
signal, the output shaft of the servomotor rotates according to the analog speed command voltage.
The output shaft of the servomotor may rotate at a small speed even if the speed command
voltage is 0 [V].
Use the "zero clamp function (parameter PA3_35)" when necessary.
Follow the procedure below to adjust the offset voltage.

[1] Supply 0 [V] to the [VREF] terminal. The operation command can be given or not given.
[2] Select [ ] at the keypad and press the [SET/SHIFT] key to automatically adjust the
offset.
[3] Turn the operation command [S-ON] signal on and check that the output shaft of the
servomotor does not rotate.

Parameter PA2_75 (positioning data write protection) is set at 1 (write protected).
Results of adjustment are stored in parameter PA3_32.

According to variation in the ambient environment of the servo amplifier, offset
adjustment may become necessary. However, do not select if the host controller uses
the speed command voltage and division output pulse (feedback) to control the servo
amplifier.

CHAPTER 6 KEYPAD
(10) Z-phase position offset

The current position is defined to be the Z-phase position. After the Z-phase offset is defined, the
distance between the current position and Z-phase is automatically entered in parameter PA1_12
(Z-phase offset). *1
SET
(1 sec. or over) SET
(1 sec. or over)
ESC
End of offsetting
ESC

The zero position (Z-phase) of the encoder is not established (immediately after the power is
turned on). In this case, turn the motor shaft two or more turns to establish the Z-phase.
(11) Auto tuning gain

6
Parameter PA1_15 (auto tuning gain 1) is updated at real time.
The data is reflected at real time merely through increase/decrease of data, different from regular
parameter entry (parameter PA1_15 is not updated if no operation is made; press the
[SET/SHIFT] key to register parameter PA1_15).
SET
(1 sec. or over)
ESC
SET
(1 sec. or over)
Press the [] or [] key to Parameter PA1_15 is

change the value. updated.


CHAPTER 6 KEYPAD
(12) Easy tuning

Operate the servomotor automatically and adjust the auto tuning gains automatically.
Best adjustment can be obtained according to the machine even if cables to the host control unit
are not connected.
The operation pattern includes two variations: slow running and easy tuning.
For details, refer to "CHAPTER 5 SERVO ADJUSTMENT."
Direction of rotation
Operation Travel Operation Acceleration Deceleration Rotation
Timer Return
pattern name distance frequency time time speed Go path
path
Slow running PA1_20 Once PA1_37 PA1_38 10r/min PA1_22 PA1_23
Automati- Automati-
Max. 50
Easy tuning PA1_20 cally cally PA1_21 PA1_22 PA1_23
times
(1) Select the operation pattern. (2) Offline indication

SET
SET
(1 sec.(1)
or over) SET
SET
(1 sec.(1)
or over)
ESC

Changes in the offline mode.
ESC
6 (3) In-process indication (4) Normally completed Press MODE to

return to (2).
SET
Press SET to start.
*11

Changes in the

tuning mode.
MODE
Press MODE to interrupt.
*1) If NG indication is shown, remove the cause of the fault and press the [MODE/ESC] key to
return to the offline state (2).
<Cause of NG1 indication>
OT, EMG, or external braking resistor overheat is detected.
Parameter PA1_13 (tuning mode) is other than 0 (auto tuning).
The power is not supplied to the main circuit.

CHAPTER 6 KEYPAD

OT, EMG or external braking resistor overheat is detected in the middle (the free-run signal is
ignored).
The S-ON signal is turned off.
The motor oscillates even if the auto tuning gain is "4" or less.
(13) Profile operation

Operate the servomotor continuously. Once started, reciprocal operation (depending on parameter
PA1_23) continues until operation is stopped.
Continuous operation is possible even if cables to the host control unit are not connected. Use this
mode to check the effective torque or for other purposes.
Direction of rotation
Operation Travel Operation Acceleration Deceleration Rotation
Timer Return
pattern name distance frequency time time speed Go path
path
Profile
PA1_20 Endless PA1_37 PA1_38 PA1_21 PA1_22 PA1_23
operation
1
*1
6
SET
SET
(1 sec.(1)
or over)
ESC
SET
Press the MODE key to stop

profile operation. Offline
(standby state)
SET
Changes in the offline mode.

During profile operation
*1) If NG indication is shown, remove the cause of the fault and press the [MODE/ESC] key to
restart the offline state.
OT, EMG or external braking resistor overheat is detected.
The power is not supplied to the main circuit.
OT, EMG or external braking resistor overheat is detected in the middle (the free-run signal is
ignored).
The S-ON signal is turned off.

CHAPTER 6 KEYPAD
(14) Sequence test mode

You can issue sequence output signals and show statuses without connecting the servomotor as if
the servomotor actually operates in response to sequence input signals.
Use this mode to check the program (sequence) of the host controller or similar.
SET *1
1
SET
(1 sec.(1)
or over)
ESC ESC
SET (1)
SET SET
(1)
(1 sec. or over)

6 *1) Cause of NG indication

The S-ON signal is turned on in advance.
The orange status indication LED blinks in the sequence test mode.
Interval of blinks: 0.95 sec. lit and 1.2 sec. unlit
The sequence test mode is not finished even if another mode other than "Fn_014"
indication is started. To exit from the mode, turn the main power off then on again.
If parameter PA2_89 is set at 1, change the reference value to 0 before turning the
power off and on.
Status indication LED (orange)

CHAPTER 6 KEYPAD
(15) Teaching mode

After operating the servomotor in the manual operation or pulse train operation or similar, the
target position can be written to the specified address as the positioning data.
Only the target position can be written and other data need to be set separately.
(Positioning status, rotation speed, stand still timer)
If the initial positioning data is selected for teaching, the command method of positioning status
is set to ABS.
SET (1 sec. or over) ESC

SET
(1 sec. or over)
ESC
ESC
(1) Address selection
SET
(1 sec. or over) ESC (3) Executing teaching
6
SET
(1 sec. or over)
(2) Checking the teaching position

SHIFT SHIFT (4) Normally completed
*1
*1 If NG indication is shown, remove the cause of the fault and press the [MODE/ESC] key to
return to the address selection (2).
<Cause of NG indication>
The teaching position exceeds the positioning data stop position [-2000000000 to 2000000000].
Parameter PA2_75 (positioning data write protection) is set at 1 (write protect).
The edit permission is allocated to an input terminal CONTn and the CONTn is not turned on.

CHAPTER 6 KEYPAD

CHAPTER 7 MAINTENANCE AND INSPECTION 7
7-1
CHAPTER 7 MAINTENANCE AND INSPECTION
7.1 Inspection
The servo amplifier and servomotor are maintenance free and no special daily inspection is necessary.
However, to avoid accidents and operate the devices for a long term at a stable reliability, perform
periodical inspection.
WARNING
After turning the power off, wait for at least five minutes and check that the charge LED is unlit
before performing inspection.
Do not touch the servomotor, servo amplifier and cables in the power-on state.
Never disassemble or remodel the servomotor and servo amplifier.
It might cause fire and failure. It will not be covered by the warranty.
Periodic inspection items

The periodic inspection items are shown below.
7 Device Description of inspection
There is no deviation *1) in the linkage between the servomotor shaft and
mechanical system.
Servomotor
The servomotor is free from direct splashes of water, vapor or oil.
The servomotor itself does not vibrate excessively.
Screws of the terminal block and mounting sections are not loose.
Connectors are inserted correctly.
Servo amplifier
There is no massive dust on the servo amplifier.
There is no malodor, damage, breakage or faults in appearance.
*1) Indicates faults in installation such as an angle error, parallelism eccentricity, axial
displacement or similar in the linkage between the servomotor shaft and mechanical system.
Before checking cables of the servomotor and servo amplifier, turn the power off and wait
at least five minutes and check that the charge LED is unlit.
CAUTION
Do not perform a Megger test of the printed circuit board and terminal block.
Otherwise the servo amplifier or the encoder built in the servomotor may be damaged.
7-2 Inspection
7.2 Status Display
7.2.1 Initial State
(1) After the control power (L1C, L2C) is supplied to the servo amplifier, the seven-segment LED of
the keypad lights up.
(2) After the main circuit power (L1, L2, L3) is supplied to the servo amplifier, the "charge LED" lights
up.
To operate the servomotor, states (1) and (2) must be arranged.

If nothing is displayed even though the power is supplied or either (1) or (2) is not arranged,
perform Immobility diagnosis described in 14.5.8 (on page 14-28), or contact us.
Front view of servo amplifier Front view of servo amplifier

(small frame) (large frame)
Keypad
7-segment LED
7
Status indication
LED
Charge LED
7.2.2 State at Alarm
If an alarm is alerted, display of the servo amplifier will be as follows.

(1) An alarm code is displayed at the seven-segment LED of the keypad.
For the description of display, refer to the following pages.
(2) The orange status indication LED blinks. (The LED blinks at 0.5-second intervals.)
Be sure to check the alarm code to clarify the cause of the alarm.
Status Display 7-3

7.2.3 Alarm Display List
When an alarm is detected, the keypad of the servo amplifier automatically shows alarm data.
Order of
descrip- Indication Name (in English) Type
tion
Overcurrent1
1
Overcurrent2
2 Overspeed
3 Control power undervoltage

4 Overvoltage
Encoder trouble1
5
Encoder trouble2
6 Circuit trouble
Serious failure
7 Memory Error
8 Fuse Broken
9 Motor Combination Error
10 Braking transistor overheat
11 Encoder Communication error
7 12
13
Cont(control signal) Error
Overload1
Overload2
14 Main power undervoltage

15 Internal braking resistor
overheat
16 External braking resistor
overheat
17 Braking transistor error
18 Deviation overflow
19 Amplifier overheat
20 Encoder overheat Minor failure
Absolute data Lost1

21 Absolute data Lost2
Absolute data Lost3
22 Multi-turn data over flow
23 Initial Error
24 Command pulse Frequency
Error
To reset the alarm, perform one of the following methods.

Turn alarm reset (RST: sequence input signal) on temporarily and then turn it off.
From the keypad, select the test operation mode [Fn_005] and execute alarm reset.
On the alarm screen, press and hold the [] and [] keys of the keypad simultaneously for at least
one second.
From the PC Loader, use alarm reset in the "monitor" command.
After an alarm reset, the data specified with parameter "PA2_77 (initial display of the keypad)" is
displayed.
7-4 Status Display

Alarm reset
Some alarms cannot be canceled through alarm resetting. To remove the alarm that is not
canceled through alarm resetting, reset it by turning the power off then on again.
Alarms canceled through alarm resetting Alarms not canceled through alarm resetting
Indication Name Indication Name
Overcurrent 1 Encoder trouble1
Overcurrent 2 Encoder trouble2
Overspeed Circuit trouble
Control power undervoltage Memory Error
Overvoltage Fuse Broken
Braking transistor overheat Motor Combination Error
Encoder Communication error Cont(control signal) Error
Overload 1 Braking transistor error
Overload 2 Absolute data Lost1
Main power undervoltage Absolute data Lost2
Internal braking resistor Absolute data Lost3

overheat
7
External braking resistor Multi-turn data over flow
overheat
Initial Error
Deviation overflow
Amplifier overheat
Encoder overheat
Command pulse Frequency Error
Alarm reset at keypad

The alarm currently detected at the servo amplifier is reset.
SET
SET1
ENT
(1 sec.(1)
or more) SET
ENT (1)
SET1
(1 sec. or more)
ESC
ESC

End of resetting
Status Display 7-5

7.3 Troubleshooting Method
1. Overcurrent
[Display] [Description of detected alarm]

The output current of the servo amplifier exceeds the rated value.
OC1: Direct detection by internal transistor of servo amplifier
OC2: Indirect detection with software of servo amplifier
[Cause and remedy]
Cause Remedy
Wrong servomotor output wiring Correct the wiring of power cables (U, V and W).
Short circuit or grounding fault in Check cables visually or through continuity check
servomotor output wiring and replace the defective cable.
Measure the insulation resistance. (Several M or
Servomotor insulation fault
over to ground)
Measure the resistance across cables. (Several
Failure of servomotor
between cables)
Incorrect resistance of braking resistor Replace with the braking resistor within the rating.
7
Current imbalance caused by an encoder
Replace the servomotor.
fault
Unconnected grounding cable Connect the grounding cable.
2. Overspeed

The rotation speed of the servomotor exceeds 1.1 times the maximum
speed.
[Cause and remedy]
Cause Remedy
Wrong servomotor output
Correct the wiring of power cables (U, V and W).
wiring
Check the speed waveform during acceleration with the PC
Loader or similar (see the figure below) and take the following
The rotation speed of the countermeasures.
servomotor overshoots. Increase PA1_37 (acceleration time).
Increase PA1_52 (S-curve time constant).
Increase PA1_56 (speed loop gain 1).

Overshoot

Max. rotation speed

Time
7-6 Troubleshooting Method

3. Control Power Undervoltage

The voltage of the control power supplied to the servo amplifier
temporarily drops below the minimum specification limit.
[Cause and remedy]

Cause Remedy
Check the power supply environment for momentary
The source voltage drops due to power failure and improve the power supply environment.
momentary power failure or similar. Check and improve the power supply capacity and
transformer capacity.
Poor power supply capacity of
Replace the transformer, etc.
transformer, etc.
DC input is under execution. Set PA2_68 (main power shutoff detection time) at 1000 [ms].
4. Overvoltage
The DC voltage inside the servo amplifier exceeds the upper limit.
[Cause and remedy] 7

Cause Remedy
Check if the source voltage is within the specification
The source voltage is too high limits.
(immediately after power-on). Insert a reactor if there is a power factor improvement
capacitor.
Unconnected external braking Connect the external braking resistor.
resistor or wrong wiring Correct the wiring of the external braking resistor.
Broken braking transistor Replace the servo amplifier.
The internal DC voltage can be checked in the monitor mode of the keypad.
[on_015]: Internal DC link voltage (max. value)
Approximately over 420 [V], overvoltage is detected.
5. Encoder Trouble

There is a fault in the encoder built in the servomotor.
(Communications are normal.)
Et1: Single revolution position detection fault of encoder
Et2: Encoder memory data reading fault
[Cause and remedy]

Cause Remedy
Fault in data sent from encoder Use shielded cables to eliminate noise effects.
Failure of encoder Replace the servomotor.
Troubleshooting Method 7-7

6. Circuit Trouble
There is a fault in the source control power voltage inside the

servo amplifier. There may be a failure in the internal circuit.
[Cause and remedy]

Cause Remedy
Turn the power off then on again. If restoration
Failure of servo amplifier
is not obtained, replace the servo amplifier.
7. Memory Error
The parameter data stored in the servo amplifier is damaged.
[Cause and remedy]
7
Cause Remedy
Using the PC Loader, read parameters and
enter those indicated in red.
Initialize parameters.
Failure of stored data
Turn the power off then on again. If
restoration is not obtained, replace the
servo amplifier.
The parameter overwriting frequency has Store the parameters, which need to be
exceeded 100,000 cycles. overwritten, in the RAM.
8. Fuse Broken

The fuse in the main circuit of the servo amplifier is blown.
This alarm is only generated in servo amplifiers with 2 [kW]
or larger capacities.
[Cause and remedy]

Cause Remedy
Blown fuse Replace the servo amplifier.
The fuse of the main circuit is installed for prevention of secondary disaster such as fire.
The end user cannot replace the fuse. Do not turn the power on. Contact us.

9. Motor Combination Error
The capacity and model of the servo amplifier do not agree

with those of the connected servomotor.
[Cause and remedy]
Cause Remedy
The capacity and model of the servo Check the capacity and model of the servomotor and
amplifier do not agree with those of those of the servo amplifier.
the servomotor.
10. Braking Transistor Overheat

The regeneration handling transistor built in the servo
amplifier is overheated.
[Cause and remedy]

Cause Remedy
High source voltage

(immediately after power-on)
Check if the source voltage is within the specification limits.
Insert a reactor if there is a power factor improvement
capacitor.
7
Increase the deceleration time.
Too large regeneration
Decrease the servomotor rotation speed.
power
Increase the dwell and decrease the regeneration frequency.
11. Encoder Communication Error

Communications with the internal encoder of the servomotor
fails.
[Cause and remedy]
Cause Remedy
Interrupted encoder Check cables visually and through continuity check and
communications correct faults.
Check for the broken wire in the encoder cable and correct.
Broken wire or poor contact
Insert ferrite cores.
The servo amplifier and encoder communicate through high speed serial communications.
The encoder cable has a voltage amplitude of about +5 [V]. Do not route the encoder cable in a
strong magnetic or electric field. Route the encoder cable separately from the main body of the
servo amplifier, inverter, electromagnetic contactor or similar (reserve at least 100 [mm]).

12. CONT (control signal) Error
There is duplication in allocation of sequence input terminals of

the servo amplifier.
[Cause and remedy]
Cause Remedy
The same input signal is allocated to two or Do not specify the same number among
more terminals. CONT signal settings.
13. Overload
OL1: Instantaneous alarm such as a locked shaft. (3s/300%)

OL2: The effective torque exceeds the allowable limit of the
servomotor. (Detection at electronic thermal relay built in servo
amplifier) (About 200s/200%)
7 [Cause and remedy]

Cause Remedy
Check the wiring of power cables (U, V and
The servomotor fails to rotate
W) and correct faults.
mechanically.
Check if the brake is active.
Examine the servomotor capacity, based on
the load factor.
The mechanical system is too heavy If the rotation speed can be reduced, add a
against the servomotor capacity. reduction gear.
Apply the brake to retain a stopped
elevator.
The acceleration/deceleration frequency Increase the cycle time and decrease the
and operation frequency are too high. operation frequency.
Servo amplifier is damaged. Replace the servo amplifier.
If an OL2 alarm is caused but no damaged servo amplifier or incorrect wiring is found, the
servomotor capacity must be examined.
Check the OL thermal value with the PC Loader or monitor mode of the keypad in both cases.
14. Main Power Undervoltage
The power supplied to the servo amplifier falls below the minimum
specification voltage limit.

[Cause and remedy]

Cause Remedy
Check the power supply environment whether
momentary power failure is generated or not, and
The source voltage drops due to
improve the power supply environment.
momentary power failure or similar.
Check and improve the power supply capacity and
transformer capacity.
Do not turn the power on after the time specified in
The power is turned on or off
PA2_68 (main power shutoff detection time) has elapsed.
intentionally.
(Detection fails after about 2 [s].)
DC input is under execution. Set PA2_68 (main power shutoff detection time) at 1000 [ms].
If the power supply environment is adverse, PA2_67 (alarm detection at undervoltage) can be
applied to ignore undervoltage detection. In this case, operation can be continued with the setting
of PA2_66 (flying start at speed control) in the event of momentary power failure. Undervoltage
detection is set at about 200 [V] by the DC voltage in the servo amplifier.
15. Internal Braking Resistor Overheat

The power consumption of the braking resistor built in the servo
amplifier exceeds the upper limit. (Detection is made at the
internal electronic thermal relay of the servo amplifier.)
[Cause and remedy]
Cause Remedy 7
Excessive source voltage Check if the source voltage is within specification limits.
(immediately after power-on) Insert a reactor if there is a power factor improvement capacitor.
Due to vertical transfer or Decrease the servomotor rotation speed.
winding purpose, etc. the Increase the cycle time and decrease the operation frequency.
regenerative power cannot be
consumed. Connect an external braking resistor.
Install a counterweight.
The braking resistor is not
Connect correctly. Set PA2_65 at 0 or 2.
connected.
16. External Braking Resistor Overheat
The external braking resistor overheat signal (normally closed contact

signal) is turned off.
[Cause and remedy]
Cause Remedy
Excessive source voltage
Check if the source voltage is within the specification limits.
(immediately after power-on)
Due to vertical transfer or
Decrease the servomotor rotation speed.
winding purpose, etc. the
Increase the cycle time and decrease the operation frequency.
regenerative, power cannot be
consumed. Connect an external braking resistor.
Install a counterweight.
Wrong wiring of external
braking resistor overheat Connect correctly.
signal

17. Braking Transistor Error
The regeneration handling transistor built in the servo amplifier

is damaged.
[Cause and remedy]

Cause Remedy
The braking transistor is short Turn the power off then on again. If the alarm persists, replace
circuited or damaged. the servo amplifier.
If the braking transistor is short circuited or damaged, fire may be caused. If the braking
transistor fault alarm signal is output, turn the power off immediately.
18. Deviation Overflow
A position deviation amount equivalent to servomotor
7 revolutions specified in PA2_69 (deviation detection overflow

value) is accumulated inside the servo amplifier.
[Cause and remedy]

Cause Remedy
Wrong connection of power cables
Check and correct the wiring of power cables (U, V
(The alarm is alerted immediately when
and W).
servo-on is turned on.)
The servomotor fails to rotate mechanically. Check if the brake is applied.
Low output torque Increase PA1_27, _28 (torque limit).
The deviation detection width is small. Increase PA2_69 (deviation detection overflow
value).
The amplifier is in the P control mode. Turn off the P motion signal.
Low gain Perform gain adjustment.
Acceleration/deceleration of pulse train
Increase the acceleration/deceleration time.
frequency is too acute.
The default setting of PA2_69 (deviation detection overflow value) is 15 (rev), that is, 20 bits x 15
pulses. During regular servo system operation, the deviation amount increases in proportion to the
rotation speed.

19. Amplifier Overheat
The temperature of the servo amplifier has exceeded the

allowable limit.
[Cause and remedy]

Cause Remedy
Reduce the ambient temperature to 55 [C] or lower. (40
[C] or lower temperatures are recommended for regular
The ambient temperature exceeds operation.)
55 [C].
Move heat generating bodies near the servo amplifier as
far away as possible.
Perform operation at a continuous load factor within 100%.
20. Encoder Overheat
The encoder inside the servomotor may be overheated. 7

[Cause and remedy]
Cause Remedy
Reduce the ambient temperature of the servomotor to
40 [C] or lower.
Excessive ambient temperature
Remove shields interrupting heat radiation, if there
are any.
The effective torque exceeds the Increase the cycle time and reduce the operation
rating. frequency.
The main body of the encoder detects this alarm according to results of self-diagnosis.
21. Absolute Data Lost
The absolute data of the encoder is lost.

dL1: Battery voltage drop, broken encoder cable, loss of
multi-rotation data
dL2: Multi-turn data fault in encoder
dL3: Detection at power-on after an ET alarm

[Cause and remedy]

Cause Remedy
Replace the battery and check if the encoder cable
is not broken and correct.
dL1 alarm
A warning is displayed at the keypad if the battery
voltage is low. (If PA2_78 is set at 1)
Perform position preset. If the alarm persists, replace the
dL2 alarm
servomotor.
After position preset, dL3 is canceled but the ET alarm
dL3 alarm persists.
If the ET alarm is not canceled, replace the servomotor.
For details, refer to "CHAPTER 11 ABSOLUTE POSITION SYSTEM."
22. Multi-turn Data Overflow
Rotation of the output shaft of the servomotor exceeds the range

between -32766 and +32765.
7 [Cause and remedy]

Cause Remedy
Check the servomotor revolutions.
Excessive servomotor revolutions Use the PC Loader or take similar measures to
check the current position.
23. Initial Error
The initial position inside the encoder is not established.
[Cause and remedy]

Cause Remedy
The encoder is damaged. Replace the servomotor.
The power is turned on while the Stop the servomotor and turn the power off then
servomotor rotates due to an external force on again. If restoration is not obtained, replace
(at 250 [r/min] or over). the servomotor.

24. Command Pulse Frequency Error

The frequency of the command pulse inside the servo amplifier is
high.
200 [MHz] or a higher frequency is detected at the inlet of the
position deviation counter inside the servo amplifier.
[Cause and remedy]
Cause Remedy
The command pulse frequency is high. Reduce the command pulse frequency.
The pulse reference value such as the input Change the pulse ratio setting to a correct
electronic gear setting is high. reference value.
7.4 Items to be Inquired upon Trouble
If an alarm is alerted due to any cause, take corrective actions according to description given in "7.3
Troubleshooting Method." If the servo amplifier is reset to continue operation though the cause is
unknown, damage may be caused to the servomotor and/or servo amplifier. When contacting us, notify
the following information. 7
Item Information to Be Provided
Description of Model of servomotor and that of servo amplifier

nameplate [Example] RYT201D5-VS2
Device Host control unit, external braking resistor, etc.
configuration [Example] External braking resistor (model: WSR-401)
Configuration of Outline of configuration of mechanical system driven by motor
mechanical system [Example] Spring feed, vertical, reduction ratio 1/2
(1) Operation years, whether the equipment has functioned correctly even once
or not
(2) Frequency of alarm detection and control method (pulse operation, etc.) and
other circumstances
[Example] An alarm is displayed whenever a certain device functions.
(3) Description of alarm display
(4) Repeatability of alarm
Details of trouble (5) Timing of alarm occurrence - during acceleration, during rotation at constant
speed, during deceleration, ...
(6) Difference in alarm occurrence between forward and reverse rotation
(7) Whether the alarm occurs under certain circumstances or not
[Example] When the servo-on (S-ON) signal is turned on
[Example] When the table advances to reach a certain point
(8) Whether the similar phenomenon is observed or not if the servo amplifier is
replaced with another one used for a machine of the same specification
Items to be Inquired upon Trouble 7-15

7.5 Maintenance and Discarding
Use in the operating environment specified in "CHAPTER 1 INSTALLATION."

(1) Power-on
Power can be supplied continuously to the servo amplifier.
WARNING
Do not touch the servomotor, servo amplifier or cables in the power-on state.
(2) Specifications
The rating of the GYC, GYS, and GYG type servomotors is continuous rating.
(3) Power supply
Avoid repeating power-on and shutdown of the commercial power supply to start or stop the
servomotor. The service life of parts inside the servo amplifier may be affected.
7 (4) Radio noise

The servomotor and servo amplifier are devices for general industrial machines and no
countermeasures against radio noise are taken. For this reason, noise effects may be observed
under the following circumstances.
Electric noise may be observed at AM radios placed near the servo amplifier or servomotor.
Electric noise may be added to radio broadcasting systems or similar installed near cables.
Electric noise may be added to measuring instruments and commercial devices.
For countermeasures against electric noise and installation method, refer to "CHAPTER 10
PERIPHERAL EQUIPMENT."
7-16 Maintenance and Discarding

7.5.2 Life
The servomotor and servo amplifier have service lives even if they are used under regular operating
conditions.
Contact our service division for parts replacement. Never disassemble or repair by yourself.
(1) Bearing of servomotor

The service life of the servomotor varies according to the operating conditions.
Replacement is necessary if abnormal noise or excessive vibration is found during inspection.
(2) Cooling fan built in servo amplifier
Set parameter PA2_78 (Display transition at warning detection) at 1 to show a warning on the
keypad of the front panel of the servo amplifier when the limit of the service life of the cooling fan
draws near.
The cooling fan operates in the ready for servo-on (RDY) state. If the cooling fan fails to rotate in
the state, the cooling fan must be replaced.
(3) Brake built in servomotor
The brake built in the servomotor is a non-exciting type retention-only brake. Do not use it for
braking. Failure will be caused if the brake is used for braking, resulting in substantial reduction of
the service life. Use it only for retention of a stopped servomotor.
(4) Capacitor built in servo amplifier
The electrolytic capacitors used for the main circuit and control circuit of the servo amplifier have
service lives. 7
For capacitors used in the main circuit, set parameter PA2_78 (Display transition at warning
detection) at 1 to show a warning at the keypad on the front panel of the servo amplifier when the
limit of the service life draws near.
(5) Battery (for ABS system)
The battery used in an absolute position system has a service life.
If the battery voltage is lower than the rated value, a warning is displayed at the keypad on the front
panel of the servo amplifier. The orange status indication LED blinks at 0.5-second intervals
simultaneously.
Replace the battery soon while leaving the control power turned on.
7.5.3 Discarding
(1) Servomotor
Handle the servomotor as a general industrial waste.
(2) Servo amplifier
Handle the servo amplifier as a general industrial waste.
Maintenance and Discarding 7-17

7.6 Approximate Replacement Timing
The approximate replacement timings of parts for the following operating conditions are shown below.
However, note that the timing varies according to the operation method, environmental conditions and
so on. For the replacement method, contact us.
[Operating conditions]
Ambient temperature: Annual average 30 [C]
Load factor: Within 80 [%]
Operation rate: Within 20 hours/day
Servomotor
Part name Standard service life Method
Bearing 20,000 to 30,000 hours Send the product back

Oil seal 5000 hours to us for repair.
7 Servo amplifier
Part name Standard service life Method
Capacitors of main circuit 73,000 hours

Aluminum electrolytic capacitors
73,000 hours Send the product back
of printed circuit board
to us for repair.
Cooling fan 73,000 hours
Fuse 73,000 hours
Battery for absolute system 35,000 hours *1 Replace with a new part.
*1 Cumulative operation hours without tuning the power on
7-18 Approximate Replacement Timing

CHAPTER 8 SPECIFICATIONS 8
8-1
CHAPTER 8 SPECIFICATIONS
8.1 Specifications of Servomotor
8.1.1 GYS Motor
200V series
Standard specifications
8-2 Specifications of Servomotor

Brake specification (motor equipped with a brake)
Specifications of Servomotor 8-3

Torque characteristics drawing (at 3-phase 200 [V] or single-phase 230 [V] source
voltage)
GYS500D5-2 (0.05[kW]) GYS101D5-2 (0.1[kW])
GYS201D5-2 (0.2[kW]) GYS401D5-2 (0.4[kW])
8
GYS751D5-2 (0.75[kW]) GYS102D5-2 (1.0[kW])

GYS152D5-2 (1.5[kW]) GYS202D5-2 (2.0[kW])
GYS302D5-2 (3.0[kW]) GYS402D5-2 (4.0[kW])
GYS502D5-2 (5.0[kW])
8
These characteristics indicate typical values of each servomotor combined with the corresponding
RYT type servo amplifier. The rated torque indicates the value obtained when the servo amplifier is
installed to the following aluminum heat sink.
x Model GYS500, 101 : 200 200 6 [mm]
x Model GYS201, 401 : 250 250 6 [mm]
x Model GYS751 : 300 300 6 [mm]
x Model GYS102, 152, 202 : 350 350 8 [mm]
x Model GYS302, 402, 502 : 400 400 12 [mm]

100V series

8

Torque characteristics drawing (at single-phase 100 [V] source voltage)

GYS500D5-6 (0.05[kW]) GYS101D5-6 (0.1[kW])
GYS201D5-6 (0.2[kW]) GYS401D5-6 (0.375[kW])
8
These characteristics indicate typical values of each servomotor combined with the corresponding
RYT type servo amplifier. The rated torque indicates the value obtained when the servo amplifier is
installed to the following aluminum heat sink.
x Model GYS500, 101 : 200 200 6 [mm]
x Model GYS201, 401 : 250 250 6 [mm]

8.1.2 GYC Motor
8

Torque characteristics drawing (at 3-phase 200 [V] or single-phase 230 [V] source
voltage)
GYC101D5-2 (0.1[kW]) GYC201D5-2 (0.2[kW])
GYC401D5-2 (0.4[kW]) GYC751D5-2 (0.75[kW])

GYC102D5-2 (1.0[kW]) GYC152D5-2 (1.5[kW])
GYC202D5-2 (2.0[kW])
8 These characteristics indicate typical values of each servomotor combined with the corresponding RYT
type servo amplifier.
The rated torque indicates the value obtained when the servo amplifier is installed to the following
aluminum heat sink.
x Model GYC101, 201, 401 : 250 250 6 [mm]
x Model GYC751 : 300 300 6 [mm]
x Model GYC102D : 300 300 12 [mm]
x Model GYC152D, 202D : 400 400 12 [mm]

8.1.3 GYG Motor [2000 r/min]
8

Torque characteristics drawing (at 3-phase 200 [V] source voltage)

GYG501C5-2 (0.5[kW]) GYG751C5-2 (0.75[kW])
GYG102C5-2 (1.0[kW]) GYG152C5-2 (1.5[kW])
8
GYG202C5-2 (2.0[kW])
These characteristics indicate typical values of each servomotor combined with the corresponding RYT
aluminum heat sink.
x Model GYG501C, 751C, 102C : 300 300 12 [mm]
x Model GYG152, 202 : 400 400 12 [mm]

8.1.4 GYG Motor [1500 r/min]

Torque characteristics drawing (at 3-phase 200 [V] source voltage)

GYG501B5-2 (0.5[kW]) GYG851B5-2 (0.85[kW])
GYG132B5-2 (1.3[kW])
8
These characteristics indicate typical values of each servomotor combined with the corresponding RYT
aluminum heat sink.
x Model GYG501B, 851B : 300 300 12 [mm]
x Model GYG132 : 400 400 12 [mm]

8.2 Specifications of Servo Amplifier
8.2.1 Common Specifications
Specifications of Servo Amplifier 8-15

8.2.2 Specifications of VV Type
Outline of system configuration
Interface specifications
8-16 Specifications of Servo Amplifier

8.3 Dimensions of Servomotor
8.3.1 GYS Motor
* See page 8-27 for the shaft extension specification of the motor with a key.
Dimensions of Servomotor 8-17

8.3.2 GYS Motor (With a Brake)
8-18 Dimensions of Servomotor

8.3.3 GYC Motor

8.3.4 GYC Motor (With a brake)

8.3.5 GYG Motor (2000[r/min])
8.3.6 GYG Motor (2000[r/min]) (With a brake)

8.3.7 GYG Motor (1500[r/min])
8.3.8 GYG Motor (1500[r/min]) (With a brake)

8.4 Dimensions of Servo Amplifier
Dimensions of Servo Amplifier 8-23

8-24 Dimensions of Servo Amplifier

8.5 Optional Specification of Shaft Extension [With a

Key, Tapped]
Optional Specification of Shaft Extension [With a Key, Tapped] 8-25

8-26 Optional Specification of Shaft Extension [With a Key, Tapped]

CHAPTER 9 CHARACTERISTICS 9
9-1
CHAPTER 9 CHARACTERISTICS
9.1 Timing Chart
9.1.1 Power-On Timing
If the motor power and control power are turned on simultaneously

(1) After power-on, it takes about 2.0 seconds until initialization of the servo amplifier is finished.
(2) Completion of initialization is indicated by activation of servo control ready [S-RDY].
(3) After (2) is verified, the servo-on [S-ON] signal is turned on.
(4) After ready for servo-on [RDY] is turned on, the servo amplifier is ready to operate.
Main power, control power* Shutoff Power-on
Initialization of amplifier 2.0 s.
Servo control ready [S-RDY] OFF ON
Ready for servo-on [RDY] OFF ON
If the control power is turned on first
9 (1) It takes about 2.0 seconds until initialization of the servo amplifier is finished since the control
power is turned on.
(2) Completion of initialization is indicated by activation of the servo control ready [S-RDY] signal
after power-on.
(3) After (2) is verified, the motor power is turned on and the servo-on [S-ON] signal is turned on.
(4) After ready for servo-on [RDY] is turned on, the servo amplifier is ready to operate.
Control power (sL1, sL2)* Shutoff Power-on
Main power (L1, L2, L3) Shutoff Power-on
Initialization of amplifier 2.0 s.
Servo control ready [S-RDY] OFF 0.12 s. ON
Ready for Servo-On [RDY] OFF ON
9-2 Timing Chart

9.1.2 Each Signal Timing
Sequence input signal response time

The response time from sequence signal activation to signal recognition inside the servo amplifier
is 2 [ms]. Leave the sequence input signal turned on for at 1 [ms] or more.
CONT signal OFF ON

(sequence input signal)
2ms
Recognition by servo
amplifier OFF ON
[Example] Deviation clear signal

Deviation clear (50)
OFF ON OFF
2ms
Position deviation amount UU pulses 0 pulses
Zero deviation (23)

OFF ON
2ms
Pulse command
Can be input May not be input Can be input
Timing Chart 9-3

9.1.3 Control Mode Selection Timing
Transition time for each control mode is 2 [ms].

After issuing a selection signal, wait for 2 [ms] or more before issuing next commands.
[Example] Switching from position control to speed control
PA01_01 (control mode selection)

OFF ON
2ms
Position Speed
Control mode
control control
Manual forward rotation [FWD] OFF ON
2ms
Speed command voltage May not be input Can be input
9.1.4 Alarm Reset Timing
After an alarm occurs, it takes about 0.5 [ms] until alarm detection output.
It takes about 1.5 [ms] or 80 [ms]* after an alarm reset signal is issued until the alarm is actually
removed.
9 Alarm
Normal Alarm occurrence Normal
1.5ms/80ms*
Alarm reset
OFF ON OFF
Servo-on [S-ON]
ON
0.5ms 1.5ms/80ms*
Ready for servo-on
[RDY] ON OFF ON
Servo alarm detection

(normally open contact) OFF ON OFF
Servo alarm detection

(normally closed contact) ON OFF ON
* The time varies according to the setting of PA2_62 (Action sequence at alarm).
If the action at stop is free-run (reference value: 1, 3 or 5): 1.5 [ms]
If the action at stop is DB (dynamic brake) (reference value: 0, 2 or 4): 80 [ms]
9-4 Timing Chart

9.2 Overload Characteristic
The detection time and load factor characteristics until an overload alarm (OL1/OL2) occurs are
indicated by rotation speed.
9.2.1 GYS/GYC Motor
(1) In case of operation at rated rotation speed (3000 [r/min])
1000
alarm detection time [s]
OLOL[s]
100
OL2 alarm
OL2
OL1 alarm
OL1
10
OL2 alarm
1
0 50 100 150 200 250 300
Load factor [%]
[%] 9
(2) In case of operation at maximum rotation speed (6000 [r/min])
1000
OL alarm detection time [s]
OL[s]
100
OL2
OL2 alarm
OL1
OL1 alarm
10
1
0 50 100 150 200 250 300
Load factor [%]
[%]
Overload Characteristic 9-5

(3) In case of operation at max. rotation speed (5000 [r/min])

Target capacity: 1.0 [kW], 1.5 [kW]
1000
alarm detection time [s]
OL[s]
100
OL2 alarm
OL2
OL1 alarm
OL1
10
OL
1
0 50 100 150 200 250 300
Load[%]
factor [%]
9-6 Overload Characteristic

9.2.2 GYG Motor
1In case of operation at rated rotation speed (1500/2000 [r/min])
1000
detection time [s]
OL[s]
100
OL2 alarm
OL2
OL1 alarm
OL1
10
OL alarm
1
0 50 100 150 200 250 300
Load[%]
factor [%]
2In case of operation at max. rotation speed (3000 [r/min])
9
1000
detection time [s]
OL[s]
100
OL2 alarm
OL2
OL1 alarm
OL1
10
OL alarm
1
0 50 100 150 200 250 300
Load[%]
factor [%]
Overload Characteristic 9-7

9.3 Power Supply Capacity and Generated Loss
Heat value of amplifier(Qamp)
Heat value of motor(Qmot)
Power
Power supply consumption (P)
capacity
[kVA]
Power
Rated Power Heat value of Heat value of
Servo amplifier Capacity supply
rotation Servomotor model consumption amplifier motor
model [kW] capacity
speed (P) [kW] (Qamp) [kW] (Qmot) [kW]
[kVA]
RYT500D5-2 (6) GY500D5-2 (6) 0.05 0.1 0.074 0.018 0.006
RYT101D5-2 (6) GY101D5-2 (6) 0.1 0.2 0.13 0.021 0.011
RYT201D5-2 (6) GY201D5-2 (6) 0.2 0.4 0.25 0.027 0.022
RYT401D5-6 GY401D5-6 0.375 0.8 0.48 0.038 0.044
9
RYT401D5-2 GY401D5-2 0.4 0.8 0.48 0.038 0.044
3000 RYT751D5-2 GY751D5-2 0.75 1.5 0.89 0.059 0.083

[r/min] RYT102D5-2 GY102D5-2 1.0 2.0 1.2 0.073 0.11
RYT152D5-2 GY152D5-2 1.5 2.9 1.8 0.103 0.17
RYT202D5-2 GY202D5-2 2.0 3.9 2.4 0.13 0.22
RYT302D5-2 GY302D5-2 3.0 5.9 3.5 0.19 0.33
RYT402D5-2 GY402D5-2 4.0 7.8 4.7 0.25 0.44
RYT502D5-2 GY502D5-2 5.0 9.8 5.9 0.31 0.56
RYT501C5-2 GY501C5-2 0.5 1.0 0.60 0.044 0.056
RYT751C5-2 GY751C5-2 0.75 1.5 0.89 0.059 0.083
2000
RYT102C5-2 GY102C5-2 1.0 2.0 1.20 0.073 0.11
[r/min]
RYT152C5-2 GY152C5-2 1.5 2.9 1.8 0.103 0.17
RYT202C5-2 GY202C5-2 2.0 3.9 2.4 0.13 0.22
RYT501B5-2 GY501B5-2 0.5 1.0 0.6 0.044 0.056
1500
RYT851B5-2 GY851B5-2 0.85 1.7 1.0 0.065 0.094
[r/min]
RYT132B5-2 GY132B5-2 1.3 2.6 1.5 0.091 0.14
9-8 Power Supply Capacity and Generated Loss

9.4 Inrush Current
The allowable inrush current of the servo amplifier is specified below.
Rated rotation Capacity

Servo amplifier model Servomotor model Inrush current [A]
speed [kW]
RYT500D5-6 GY500D5-6 0.05
RYT101D5-6 GY101D5-6 0.1 3.6
RYT201D5-6 GY201D5-6 0.2

RYT401D5-6 GY401D5-6 0.375 11.8
RYT500D5-2 GY500D5-2 0.05
RYT101D5-2 GY101D5-2 0.1
7.2
RYT201D5-2 GY201D5-2 0.2
3000
RYT401D5-2 GY401D5-2 0.4
[r/min]
RYT751D5-2 GY751D5-2 0.75
23.5
RYT102D5-2 GY102D5-2 1.0
RYT152D5-2 GY152D5-2 1.5
34.4
RYT202D5-2 GY202D5-2 2.0
RYT302D5-2 GY302D5-2 3.0
RYT402D5-2 GY402D5-2 4.0 68.8
RYT502D5-2 GY502D5-2 5.0
9
RYT501C5-2 GY501C5-2 0.5
RYT751C5-2 GY751C5-2 0.75 23.5
2000
RYT102C5-2 GY102C5-2 1.0
[r/min]
RYT152C5-2 GY152C5-2 1.5
34.4
RYT202C5-2 GY202C5-2 2.0
RYT501B5-2 GY501B5-2 0.5
1500 23.5
RYT851B5-2 GY851B5-2 0.85
[r/min]
RYT132B5-2 GY132B5-2 1.3 34.4
x The inrush current indicates the maximum peak current.
Inrush Current 9-9

9.5 Bending Strength of Cable
The bending life of the cable used at a bending radius larger than the recommended bending radius R
of 60 [mm] is 5,000,000 cycles or over when tested under the following conditions.
<Testing conditions>
(1) Use testing apparatus shown in the figure below to cause the cable to be bent in a traveling
distance L of 300 [mm].
(2) Count each reciprocal test cycle. Count the bending frequency until conductors are broken.
Traveling distance L=300 [mm]
Bending Moving end

radius
R=60 [mm]
Fixed end
9 The cable life depends largely on the handling method. The bending life is a
reference value for the testing conditions specified above.
9-10 Bending Strength of Cable

CHAPTER 10 PERIPHERAL EQUIPMENT 10
10-1
CHAPTER 10 PERIPHERAL EQUIPMENT
10.1 Overall Configuration of Peripheral Equipment
MCCB/ELCB
Install in the primary circuit (power
supply circuit) of the servo amplifier
to protect the servo amplifier
against damage caused by power MCCB/ELCB
switching or short circuiting current.
Insert the electromagnetic
contactor between MCCB/ELCB
and AC reactor if one is to be used.
AC reactor AC reactor
Install for large power supply
capacities, imbalance in the
source voltage, and suppression
of harmonics.
Power filter
Install to suppress harmonics in Power filter
the power supply circuit and to
protect the servo amplifier against
surges and noises in the power (4)
supply. RS-485 cable
Servo amplifier
(option)
(1)
DC reactor
Sequence I/O cable
10 (2)
Motor power cable
(3)
(5)
Encoder cable
Servomotor
Wiring connectors do not come with the servo amplifier or servomotor.

Prepare the necessary option cable or connector kit.
10-2 Overall Configuration of Peripheral Equipment

10.2 Cable Size
Main circuit section

600V class 2 vinyl cable, or 600V polyethylene insulated cable (HIV cable)
When compared with the IV cable, the cable size is smaller and the cable is superior in
flexibility and the maximum allowable temperature as an insulated cable is as high as 75 [C].
Therefore this cable is used both for the main circuit and for the control circuit.
However, if the cable is used for the control circuit, the wiring distance must be short and the
cable must be twisted.
600V cross linked polyethylene insulated cable

Mainly used for the main circuit and grounding circuit. When compared with the IV and HIV
cables, the cable size is smaller and the cable is superior in flexibility. Due to these features,
the cable is used for higher ambient temperatures (50 [C], etc.), reduced cable space,
improved actuation efficiency, etc. The maximum allowable temperature as an insulated cable
is 90 [C].
[Example]:BOARDLEX made by FURUKAWA ELECTRIC
Control circuit section

Twisted shielded cable for electronic and electric devices
Used for control circuits. Use this cable for applications susceptible to (potential) radiant noise
and inductive noise. The cable has a large shielding effect. Even inside panels, use this cable
without fail if the wiring distance is long.
[Example]: BEAMEX S shielded cable XEBV or XEWV made by FURUKAWA ELECTRIC
10
Encoder section
The encoder cable of the servomotor is a composite 2C (cable), 2P (pair) shielded cable
housing different cable sizes shown below.
Cross linked polyethylene vinyl sheath cable for robot travel (composite cable) (DAIDEN Co., Ltd.)
RMCV-SB-A (UL2464) AWG#25/2P+AWG#23/2C (wiring length 10 [m])
RMCV-SB-A (UL2464) AWG#25/2P+AWG#17/2C (10 [m] < wiring length 50 [m])
Cable Size 10-3

10.2.1 Main Circuit Section Cable Size
The following cable sizes are recommended for parts (1), (2), (3), (4) and (5) specified on page 10-2.
Single-phase 100V
Recommended cable size [mm2]
(1) Power supply
(L1,L2,L3) (4) Control
Rating Capacity (2) Braking resistor
(3) Motor power power
[r/min] [W] (RB1, RB2, RB3)
(U,V,W) (L1C,L2C)
(5) Earthing (E)
75 [] 75 []
90 [] 90 [] Common
(HIV) (HIV)
50
3000 to 1.25 0.75 1.25 1.25 0.75
375
Single-phase 200V
(1) Power supply
(L1,L2,L3) (4) Control
Rating Capacity (2) Braking resistor
(3) Motor power power
[r/min] [W] (RB1, RB2, RB3)
(U,V,W) (L1C,L2C)
(5) Earthing (E)
75[] 75[]
90[] 90[] Common
(HIV) (HIV)
10 3000
50
to
750
1.25 0.75 1.25 1.25 0.75
500
2000
750
1500 500
10-4 Cable Size

3-phase 200V
(1) Power supply
(4) Control
Rating Capacity (L1,L2,L3) (2) Braking resistor
power
[r/min] [W] (3) Motor power (U,V,W) (RB1, RB2, RB3)
(L1C,L2C)
(5) Earthing (E)
75 [] 75 []
90 [] 90 [] Common
(HIV) (HIV)
50
to 1.25
1000
0.75
1500
3000 2000 2.0
3000 1.25
4000 2.0
3.5
5000 3.5
1.25 1.25 0.75
500
to 1.25
2000 1000
1500
2.0 0.75
2000
500
1500 850 1.25
1300
If the servo system requires to fit the overseas standard, use the following cable size.
(Cable: 75 [] (HIV)) 10
<Power supply and motor power>
(1) 1kW or less (100V and 200 V series) = 1.25mm2
(2) 1.5kW = 2.0mm2
(3) 2kW or more = 5.5mm2
<Braking resistor, control power supply, etc.>

Same as above table.
Cable Size 10-5

10.2.2 Encode Wiring Cable
Use the specified shield cable for encoder wiring of the servomotor.
The optional cable for the servomotor is a UL-rated cable having bend resistance.
Use a regular twisted pair batch shield cable if the servomotor and cable do not move.
Cross linked polyethylene vinyl sheath cable for robot travel (flame-resistant) (Daiden
Co., Ltd.)
RMCV-SB-A AWG#25/2P + AWG#23/2C
(For 10 [m] or smaller wiring length)
RMCV-SB-A AWG#25/2P + AWG#17/2C
(For wiring lengths < 10 [m] and 50 [m])
The relationship between AWG and mm is shown below.
Gauge SI unit Inch unit

Cross
Diameter Diameter Cross
A.W.G In [mm2] section
[mm] [mil] section [CM]
[mm2]
16 1.25 1.291 1.309 50.82 2583
17 - 1.150 1.037 45.26 2048
18 - 1.024 0.8226 40.30 1624
19 - 0.9116 0.6529 35.89 1288
20 - 0.8118 0.5174 31.96 1021
10 21
22
-
-
0.7299
0.6438
0.4105
0.3256
28.46
25.35
810.0
642.6
23 - 0.5733 0.2518 22.57 509.4
24 - 0.5106 0.2024 20.10 404.0
25 - 0.4547 0.1623 17.90 320.4
10-6 Cable Size

10.2.3 How to Calculate the Servo Amplifier Input Current
Calculate the servo amplifier input current in the following equation to select peripheral equipment.
Formula
Input current (single-phase 100/200 [V]): Iin = (Po + Pi) / (Vac 1.35 amp mot) 1.27 3
Input current (3-phase 200 [V]): Iin = (Po + Pi) / (Vac 1.35 amp mot) 1.27
amp (amplifier efficiency) = 0.95 and mot (motor efficiency) = 0.90 are common among all
models.
In case of single-phase 100V
Capacity Internal power Input current for
Input voltage Input current
Rated rotation consumption selection of peripheral
speed
(Po) (Vac)
(Pi)
(Iin) equipment
[W] [V] [A] (Iin1.5) [A]
[W]
50 1.5 2.3
100 2.6 3.9
3000 [r/min] 85 15
200 4.8 7.2
375 8.7 13.1

(Po) (Vac) (Iin)
speed (Pi) equipment
[W] [V] [A] (Iin1.5) [A]
[W]
50 0.7 1.1
100 1.3 2.0
3000 [r/min] 200 2.4 3.6
400 4.7 7.1
170* 15
750 8.6 13.0
500 5.8 8.7
2000 [r/min]
750 8.6 13.0
1500 [r/min]
* -15% of 200V
500 5.8 8.7
10
Cable Size 10-7

In case of 3-phase 200V

(Po) (Vac) (Iin)
speed (Pi) equipment
[W] [V] [A] (Iin1.5) [A]
[W]
50 0.4 0.6
100 0.7 1.1
200 1.4 2.1
400 2.7 4.0
750 5.0 7.4
3000 [r/min] 1000 6.6 9.8
1500 9.8 14.7
2000 13.0 19.5
3000 19.5 29.3
4000 170* 15 26.0 39.0
5000 32.5 48.8
500 3.3 5.0
750 5.0 7.4
2000 [r/min] 1000 6.6 9.8
1500 9.8 14.7
2000 13.0 19.5
500 3.3 5.0
1500 [r/min] 850 5.6 8.4
1300 8.5 12.8
* -15% of 200V
10.2.4 Conditions for Selecting Peripheral Equipment of Servo

Amplifier
10 To select peripheral equipment for a single servo amplifier

Obtain "1.5 times" the input current (Iin) obtained above.
To select peripheral equipment for two or more servo amplifiers

Multiply "1.5 times" the sum of the input currents (Iin) of all servo amplifiers.
[Example] In case of two 200 [W] units and three 400 [W] units (In case of single-phase 200V)
I = {(2.4 2) + (4.7 3)} 1.5 = 28.35 [A]
Select peripheral equipment having 25.5 [A] or a larger rated current.
10-8 Cable Size

10.3 MCCB/ELCB (Molded Case Circuit Breaker/Earth

Leakage Breaker)
Install MCCB (molded case circuit breaker) or ELCB (earth leakage breaker) in the primary circuit
(power supply circuit) of the servo amplifier to protect the servo amplifier against losses caused by
the power switching current and short circuit current. Models for a single servo amplifier are
described here. Because the servo amplifier is provided with protective functions against output
circuits such as the overcurrent, protective devices such as the thermal relay are unnecessary.
Model of molded case circuit breaker and earth leakage breaker

Rated rotation ELCB
speed
Capacity [kW] MCCB (Sensed current: 30mA)
0.05 EA32AC/3 EG32AC/3

0.1 EA32AC/5 EG32AC/5
3000 [r/min]
0.2 EA32AC/10 EG32AC/10
0.375 EA32AC/15 EG32AC/15

Rated rotation ELCB
speed
0.05
EA32AC/3 EG32AC/3
0.1
3000 [r/min] 0.2 EA32AC/5 EG32AC/5
0.4
0.75
EA32AC/10
EA32AC/15
EG32AC/10
EG32AC/15 10
0.5 EA32AC/10 EG32AC/10
2000 [r/min]
0.75 EA32AC/15 EG32AC/15
1500 [r/min] 0.5 EA32AC/10 EG32AC/10
MCCB/ELCB (Molded Case Circuit Breaker/Earth Leakage Breaker) 10-9


Rated rotation ELCB
speed
0.05
0.1 EA33AC/3 EG33AC/3
0.2
0.4 EA33AC/5 EG33AC/5
0.75 EA33AC/10 EG33AC/10
3000 [r/min] 1.0 EA33AC/15 EG33AC/15
1.5 EA33AC/20 EG33AC/20
2.0 EA33AC/30 EG33AC/30
3.0 EA53AC/40 EG53AC/40
4.0
EA53AC/50 EG53AC/50
5.0
0.5
EA33AC/10 EG33AC/10
0.75
2000 [r/min] 1.0 EA33AC/15 EG33AC/15
1.5 EA33AC/20 EG33AC/20
2.0 EA33AC/30 EG33AC/30
0.5
EA33AC/10 EG33AC/10
1500 [r/min] 0.85
1.3 EA33AC/15 EG33AC/15
10
10-10 MCCB/ELCB (Molded Case Circuit Breaker/Earth Leakage Breaker)

10.4 Electromagnetic Contactor
Connect the electromagnetic contactor to disconnect the servo amplifier from the power supply with
an external signal or to turn the power on or off from a remote operation panel.
The model is to turn the primary circuit of a single servo amplifier of 500 [kVA] or less power
capacities with the designated cable size and 20 [m] or less wiring length.
If the power supply capacity exceeds 500 [kVA], connect an AC reactor.
Model of electromagnetic contactor
In case of single-phase 100V In case of 3-phase 200V

speed / Capacity [kW]
MC Capacity
Rated rotation
MC
0.05
0.1 SC-03 0.05
3000 [r/min] 0.1
0.2
0.375 SC-0 0.2
SC-03
0.4
0.75
3000 [r/min] 1.0
In case of single-phase 200V 1.5
Rated rotation Capacity SC-4-1
MC 2.0
0.05 3.0 SC-N1
0.1 4.0
SC-03 SC-N2
3000 [r/min] 0.2 5.0
0.4 0.5
0.75
0.5
SC-0
SC-03 2000 [r/min]
0.75
1.0
SC-03
10
2000 [r/min] 1.5
0.75 SC-0 SC-4-1
1500 [r/min] 0.5 SC-03 2.0
0.5
SC-03
1500 [r/min] 0.85
1.3 SC-0
Electromagnetic Contactor 10-11

10.5 Surge Absorber
To install a surge absorber to peripheral equipment (electromagnetic contactor, solenoid,

electromagnetic brake, etc.) of the servo amplifier, use the following one.
When an inductive load such as the clutch and solenoid is turned off, a counter electromotive
force of several hundreds or several thousands of volts [V] is generated. The surge absorber
suppresses the surge voltage.
For DC devices, install a diode to suppress the surge voltage.
Control relay, etc.
Model: S1-B-0 (made by OKAYA ELECTRIC INDUSTRIES)
300 401 201
27.5
mm
Electromagnetic contactor, etc.

Model: S2-A-0 (made by OKAYA ELECTRIC INDUSTRIES)
300 401 301
37.5
mm
Applicable to 250 [V] AC or less voltages

A non-inductive capacitor and a non-inductive resistor are connected in series and filled in
epoxy resin.
10
S1-B-0:200 (1/2 [W])+0.1 [F]
S2-A-0:500 (1/2 [W])+0.2 [F]

The purpose of the surge
absorber is suppression of the

Preliminary
Series connection
Mounting surge voltage.
solder leg
(flame retardant construction)
treatment
Protection in AC circuit Protection in DC circuit

C-R circuit Diode
(Protection of the DC circuit is also provided.) (Be aware of the orientation of the diode.)
Load Load
10-12 Surge Absorber

10.6 Power Filter
The servo amplifier performs high frequency switching under PWM control similarly to
general-purpose inverters. Therefore radiant noise, conductive noise and so on may give effect on
peripheral equipment.
The following method is effective as a countermeasure.
Radio
Radiant noise
Power transformer Servomotor

Power
supply
Servo amplifier M
Conductive
noise Static induction Electromagnetic induction noise
noise
Measuring
Sensor
instrument
Electronic
device
(1) House the servo amplifier in an iron (conductive) control panel and ground the control panel.
Do not install a PC or measuring instrument nearby.
(2) If devices connected to the same power supply are affected, install a power filter in the primary
circuit of the servo amplifier.
If devices in different power supplies are affected, install an obstruction wave preventive
transformer (TRAFY).
(3) Route cables between the servo amplifier and servomotor in a conductive duct and ground the
10
duct (multi-point grounding allowed).
(4) Use a grounding cable as thick and short as possible.
Connect the grounding cable directly from the copper bar to individual device (do not use a
jumper cable). A twisted or net cable has a larger effect.
(5) Never connect the following signals.
Grounding terminal 0 [V] of +24 [V] DC power 0 [V] of encoder power

FG (Frame ground) supply for sequence I/O supply
(6) Do not tie the main circuit cable and control circuit cable together. Do not route these cables in
parallel.
Main circuit: Commercial power supply, motor power cable between servo amplifier and
servomotor
Control circuit: +24 [V] DC or less voltage signal cable
Servomotor encoder cable
(7) Use an obstruction wave preventive transformer (TRAFY) to connect 100 [V] devices (such as
the programmable logic controller and general-purpose PC) to the 200 [V] power supply.
Power Filter 10-13

(7)
TRAFY PLC
(2) Power E
filter
E
(5) Servo E
amplifier
Copper bar
(1)
(4)
(6)
PG M (3)
Numbers (1), (2), ... in the figure indicate the paragraph number given on the previous page.
Power filter model
In case of single-phase 100V In case of 3-phase 200V
Rated rotation Capacity Rated rotation Capacity
speed
Power filter Power filter
[kW] speed [kW]
0.05 0.05
RNFTC06-20
0.1 0.1
3000 [r/min] RNFTC06-20
0.2 RNFTC10-20 0.2
0.375 RNFTC20-20 0.4
0.75
RNFTC10-20
3000 [r/min] 1.0
1.5
10
RNFTC20-20
2.0
Power filter RNFTC30-20
speed [kW] 3.0
0.05 4.0
RNFTC50-20
0.1 RNFTC06-20 5.0
3000 [r/min] 0.2 0.5 RNFTC06-20
0.4 RNFTC10-20 0.75
RNFTC10-20
0.75 RNFTC20-20 2000 [r/min] 1.0
0.5 RNFTC10-20 1.5
2000 [r/min] RNFTC20-20
0.75 RNFTC20-20 2.0
1500 [r/min] 0.5 RNFTC10-20 0.5 RNFTC06-20
1500 [r/min] 0.85 RNFTC10-20
1.3 RNFTC20-20
The purpose of the power filter is suppression of high frequency voltage fluctuation caused by
the servo amplifier in the commercial power supply.
Because the filter effect is bi-directional, the servo amplifier is also protected against high
frequency voltage fluctuation in the power supply.
10-14 Power Filter

10.7 AC/DC Reactor
Connect an AC or DC reactor in following cases.
(1) Large power supply capacity

With power supply capacities exceeding 500 [kVA], the power-on input current fed to the servo
amplifier may become too large and cause damage to the internal rectifying diode.
(The power supply capacity depends on the 20 [m] wiring length and the designated cable size.)
(2) Imbalance in source voltage

If there is imbalance in the source voltage, the current gathers to the phase of a higher voltage.
Connect the AC reactor if the ratio of voltage imbalance is 3 [%] or above.
(Max. voltage [V]) - (Min. voltage [V])

(Ratio of power supply imbalance) = 100
(Average voltage of three phases [V])
Insert an AC reactor to balance the input current among phases. The AC reactor also provides
protection against loss of source voltage or similar hazards.
(3) Suppression of harmonics

The servo amplifier generates harmonics currents because it is a capacitor input type. The AC
reactor suppresses current distortion in the power supply system, protecting devices in the
same system against damage. Imbalance in the source voltage increases harmonics currents.
Insert an AC reactor in the primary circuit of the servo amplifier. Heat generation is caused with
types of a small rated conductive current, and the suppression effect is reduced with types of a
large rated conductive current.
Model of AC/DC reactor

10
speed AC reactor DC reactor
[kW]
0.05 ACR2-0.4A DCR2-0.4
0.1 ACR2-0.75A DCR2-0.75
3000 [r/min]
0.2 ACR2-1.5A DCR2-1.5
0.375 ACR2-2.2A DCR2-2.2
AC/DC Reactor 10-15


speed
AC reactor DC reactor
[kW]
0.05 DCR2-0.2
ACR2-0.4A
0.1 DCR2-0.4
3000 [r/min] 0.2 ACR2-0.75A DCR2-0.75
0.4 ACR2-1.5A DCR2-1.5
0.75 ACR2-2.2A DCR2-2.2
0.5 ACR2-1.5A DCR2-1.5
2000 [r/min]
0.75 ACR2-2.2A DCR2-2.2
1500 [r/min] 0.5 ACR2-1.5A DCR2-1.5

speed
AC reactor DC reactor
[kW]
0.05
DCR2-0.2
0.1 ACR2-0.4A
0.2 DCR2-0.4
0.4 ACR2-0.75A DCR2-0.75
0.75 ACR2-1.5A DCR2-1.5
3000 [r/min] 1.0
ACR2-2.2A DCR2-2.2
1.5
2.0 ACR2-3.7A DCR2-3.7
3.0 ACR2-5.5A DCR2-5.5
4.0 ACR2-7.5A DCR2-7.5
5.0 ACR2-11A DCR2-11
0.5 ACR2-0.75A DCR2-0.75
10
0.75 ACR2-1.5A DCR2-1.5
2000 [r/min] 1.0
ACR2-2.2A DCR2-2.2
1.5
2.0 ACR2-3.7A DCR2-3.7
0.5 ACR2-0.75A DCR2-0.75
1500 [r/min] 0.85 ACR2-1.5A DCR2-1.5
1.3 ACR2-2.2A DCR2-2.2
10-16 AC/DC Reactor

Harmonics suppression measures

1. All servo amplifier models are applicable to the "guideline of harmonics suppression measures for
high voltage or extra high voltage consumers" if they are used at a specific consumer. If you are
a consumer to whom the guideline is applicable, calculate the equivalent capacity and harmonics
outflow current and, if the harmonics current exceeds the limit predetermined for the contract
wattage, take adequate countermeasures. (For details, refer to JEM-TR225.)
2. The servo amplifier was excluded from the target of "guideline of harmonics suppression
measures for electric appliances and general-purpose products" in January 2004. However,
JEMA prepares a JEMA technical document in the view point of educating general harmonics
suppression measures. It is recommended to take harmonics suppression measures of the
discrete device as far as possible. (For details, refer to JEM-TR227.)
Source: The Japan Electrical Manufacturers' Association (JEMA)
Limitations set in the guideline for harmonics suppression measures are satisfied if the servo
amplifier is connected with an AC/DC reactor.
How to connect the AC reactor

Connect in the primary circuit of the servo amplifier as shown in the figure below.
Servo amplifier
Commercial power supply AC reactor
3-phase 200V
U X L1
V Y L2
W Z L3 Purpose of AC reactor
L1C (1) Improvement of input power
L1C factor
(2) Protection against imbalance
in voltage or similar
(3) Harmonics suppression
(4) Suppression of power supply
capacity
10
How to connect the DC reactor
Disconnect the jumper wire from the P1 and P(+) terminals and connect the DC reactor.
P1 P(+) DC reactor Purpose of DC reactor

Remove the jumper wire. (1) Improvement of input power
factor
(2) Protection against imbalance
P1 P(+) N(-) RB1 RB2 RB3 P1 P(+) N(-) RB1 RB2 RB3
TB2 TB2
in voltage or similar
(3) Harmonics suppression
(4) Suppression of power supply
capacity
AC/DC Reactor 10-17

10.8 External Braking Resistor
The external braking resistor consumes regenerative power generated by the servomotor.
Use an external braking resistor if the elevating load is large and the operation frequency is high.
Capacity External Applicable

Rated rotation Servo amplifier Built-in
Braking
speed model [kW] resistor* resistance []
Resistor
RYT500D5-6 0.05 WSR-401
20 to 75
RYT101D5-6 0.1 (68, 17W)
RYT201D5-6 0.2 8W/20 WSR-751 15 to 39
RYT401D5-6 0.375 20W/20 (15, 25W) 10 to 22
RYT500D5-2 0.05
RYT101D5-2 0.1 WSR-401 39 to 160
RYT201D5-2 0.2 (68,17W)
3000 [r/min] RYT401D5-2 0.4 8W/40 39 to 80
RYT751D5-2 0.75 20W/40 15 to 40
WSR-152
RYT102D5-2 1.0
20W/15 (15, 50W) 12 to 27
RYT152D5-2 1.5
RYT202D5-2 2.0 DB11-2 7.5 to 20
30W/12
RYT302D5-2 3.0 (10, 260W) 7.5 to 13
RYT402D5-2 4.0 DB22-2
60W/6 (5.8, 3.9 to 8
RYT502D5-2 5.0
300W)
RYT501C5-2 0.5
20W/40 WSR-152 15 to 40
RYT751C5-2 0.75
(15, 50W)
2000 [r/min] RYT102C5-2 1.0 20W/15 12 to 27
RYT152C5-2 1.5 DB11-2
30W/12 7.5 to 20
RYT202C5-2 2.0 (10, 260W)
10 1500 [r/min]
RYT501B5-2
RYT851B5-2
0.5
0.85
20W/40
20W/15
WSR-152
(15, 50W)
DB11-2
15 to 40
12 to 27
RYT132B5-2 1.3 30W/12 7.5 to 20
(10, 260W)
* The allowable wattage of the built-in braking resistor varies according to the ambient
temperature.
10-18 External Braking Resistor

Block diagram of main circuit section (Amplifier for 1.5kW/3000r/min (frame4) or less)
RB 1
RB 2
RB 3 Built-in braking resistor
P(+) Servo amplifier

P1
Servomotor
L1
Inrush current
L2 suppression
L3
resistor
M
N(-)
PG
From sequence
I/O connector
Power supply for
internal control
Battery
L1 C L2 C
Use the external braking resistor in the designated set without fail.
There is a risk of fire.
10
External Braking Resistor 10-19

To connect the optional external braking resistor
P(+) Symbol
) example
DB
1
2
(Disconnect the jumper wire.) External Braking Resistor
P1 P(+) RB1 RB2 RB3 N(-)

Commercial power supply
3-phase 200V
L1
L2 U 1 U
L3 V 2 V
W 3 W

L1C
L2C 4 E
CN2
P5 1 7 P5
M5 2 8 M5
BAT+ 3 1 BAT+
BAT- 4 2 BAT-
SIG+ 5 4 SIG+
SIG- 6 5 SIG-
3 FG
Connect the sheath

Servo amplifier shield to the shell cover
on the amplifier and to Servomotor
no.3 (EG terminal) on
the motor.
To use an external braking resistor, wiring and parameter setting are necessary.
Wiring of thermistor output of external braking resistor
Connect to the host device so that the servo amplifier is shut off upon activation of the
thermistor*.
10
Allocate external braking resistor overheat (34) to a CONT input terminal.
Parameter setting
Set PA2_65 (braking resistor selection) at 2 (external resistor).
* The external braking resistor will become excessively hot in the event of failure of the
braking transistor, possibly causing fire.
10-20 External Braking Resistor

10.9 Optional Equipment
Optional sequence I/O cable

Model: WSC-D36P03
Applicable range: All models (for CN1)
43.5
Mark tube
12.7
18
+10
39 L 100 -0
Model and manufacturer Terminal layout

Connector 1 1 18
Plug 10136-3000PE
Shell 10336-52A0-008
Made by Sumitomo 3M Ltd. 19 36
Cable color
* *
Connector 1 1 2 3 4 5 6 7 8 9 11 10 12 13 15 14 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36
Mark tube 1 2 3 4 5 6 7 8 9 11 10 12 13 15 14 16 17 18 19 20 21 22 23 24 25 26 27 28 29 30 31 32 33 34 35 36
Color Orange Gray White Yellow Pink Orange Gray White Yellow Pink Orange Gray White Yellow Pink Orange Gray White
Cable color
Black 1
Black 1
Black 1
Black 1
Black 1
Black 2
Black 2
Black 2
Black 2
Black 2
Black 3
Black 3
Black 3
Black 3
Black 3
Black 4
Black 4
Black 4
Red 1
Red 1
Red 1
Red 1
Red 1
Red 2
Red 2
Red 2
Red 2
Red 2
Red 3
Red 3
Red 3
Red 3
Red 3
Red 4
Red 4
Red 4
Mark
10
* Take care of the pin number.
Length
Model L [mm]
WSC-D36P03 3000 +3000
* Contact Fuji Electric representative if the cable of lengths other than 3 [m] is necessary.
The manufacturer of the connector is subject to change without notice.
Optional Equipment 10-21

Optional encoder wiring cable (1)

Model: WSC-P06P02-E to WSC-P06P20-E
Applicable range: GYS model ... 0.75 [kW] or less (for CN2)
GYC model ... 0.75 [kW] or less (for CN2)
Servo amplifier connector Servomotor connector
molex
18.8
3 2 1
6 5 4
9 8 7
135
24 6
19
12
18
42.5 L 47
Model and manufacturer Servomotor connector

Servo amplifier connector
Main body of plug housing 54180-0619 Cap housing 1-172332-9
Plug shell cover 58299-0626 Socket 170361-1
Plug shell body 58300-0626 Cover (2) 316455-1
Plug mold cover (A) 54181-0615 Screw (2) XPB M2.610
Plug mold cover (B) 54182-0605 Nut (2) M2.6
Cable clamp 58303-0000 Made by Tyco Electronics Amp K.K.
Clamp screw 59832-0009
Made by Molex Japan Co., Ltd.
Cable color
Servo amplifier side 1 2 3 4 5 6 Shell
Servomotor side 7 8 1 2 5 4 3
Orange Blue
Shield
(1) Red Black Orange / / Blue

White White
Cable The cable color is either (1) or (2).
color
10
Shield
(2) White Black Yellow Brown Blue Red
Signal name P5 M5 BAT+ BAT- SIG+ SIG- FG
Length
Model L [mm]
WSC-P06P02-E 20002000
WSC-P06P05-E 50005000
WSC-P06P10-E 1000010000
WSC-P06P20-E 2000020000

The movable cable is used.
CAUTION
Do not join two or more encoder wiring cables and extend the wiring distance.
Otherwise the voltage drop caused by connector contact resistance will cause sudden
stoppage.
10-22 Optional Equipment

Option cable for encoder wiring (2)

Model: WSC-P06P05-C to WSC-P06P20-C
Applicable range: GYS model ... 1.0 to 5.0 [kW] (for CN2)
GYC model ... 1.0 to 2.0 [kW] (for CN2)
GYG model ... 0.5 to 2.0 [kW] (for CN2)
molex
Model indication
Connector on servo
Connector on servomotor side amplifier side

Model and manufacturer Connector on servo
Connector on servomotor side amplifier side
Connector MS3108B20-29S Main body of plug housing 54180-0619
Cable clamp MS3057-12A Plug shell cover 58299-0626
Made by Daiichi Denshi Kogyo Plug shell body 58300-0626
Plug mold cover (A) 54181-0615
Plug mold cover (B) 54182-0605
Cable clamp 58303-0000
Made by Molex Japan
Cable cover Servomotor side

Servo amplifier side 1 2 3 4 5 6
Cable
Color
(1) Red Black Orange
Orange/
white
Light
blue
Light
blue/
white
The cable cover is either (1) or (2). 10
(2) White Black Yellow Brown Red Blue
Length Model L[mm]

WSC-P06P05-C 5000 5000
WSC-P06P10-C 1000010000
WSC-P06P20-C 2000020000

CAUTION
stoppage.

Option cable for encoder wiring (3)

Model: WSC-P06P05-W to WSC-P06P20-W
Applicable range: All models (for CN2)

12
100
135
246
18.8
42.5 L
Model and manufacturer

Main body of plug housing 54180-0619
Plug shell cover 58299-0626
Plug shell body 58300-0626
Made by Molex Japan Co., Ltd.
Cable color
Pin number 1 2 3 4 5 6 Case
Protective tube
Orange/ Light blue

(1) Red Black Orange
White
Light blue
/White
Cable The cable color is either (1) or (2).
10
color
(2) White Black Yellow Brown Red Blue
Signal name P5 M5 BAT+ BAT- SIG+ SIG- -
Length
Model L [mm]
WSC-P06P05-W 50005000
WSC-P06P10-W 1000010000
WSC-P06P15-W 1500015000
WSC-P06P20-W 2000020000

CAUTION
stoppage.

Optional servomotor power cable

Model: WSC-M04P02-E to WSC-M04P20-E
Applicable range: GYS model ... 0.75 [kW] or less
GYC model ... 0.75 [kW] or less
Servo amplifier side Servomotor connector
9.8
Cable size: AWG#194
2 1
4 3
105
11.8
50
L 23.7

Servomotor connector
Cap housing 172159-9
Socket 170362-1
Made by Tyco Electronics Amp K.K.
Cable color
Servo amplifier side U V W E
Servomotor side 1 2 3 4
Green
10
Cable color Red White Black /
yellow
Signal name U V W E
Length
Model L [mm]
WSC-M04P02-E 20002000
WSC-M04P05-E 50005000
WSC-M04P10-E 1000010000
WSC-M04P20-E 2000020000


Optional servomotor brake cable

Model: WSC-M02P02-E to WSC-M02P20-E
Applicable range: GYS model ... 0.75 [kW] or less (With brake)
GYC model ... 0.75 [kW] or less (With brake)
Control device side Servomotor connector
5.6
Cable size: AWG#192
1
2
11.8
L 23.7

Servomotor connector
Socket 170362-1
Cable color
Control device side - -
Servomotor side 1 2
Cable color Red Black
10
Signal name B B
Length
Model L [mm]
WSC-M02P02-E 20002000
WSC-M02P05-E 50005000
WSC-M02P10-E 1000010000
WSC-M02P20-E 2000020000


Sequence I/O connector kit

Model: WSK-D36P
Applicable range: All models
External Dimension 17 Model and manufacturer

Unit: [mm] Soldered plug 10136-3000PE
Shell kit 10336-52A0-008
Made by Sumitomo 3M
14
32.2 18
Terminal layout 1 18
41 (Max.)
39
2
19 36
23.8
43.5 12.7
The model of the connector kit is different from that of the optional cable.
Encoder wiring connector kit (amplifier side)

Model: WSK-P06P-M
External Dimension
42.5 (Max.)
Unit: [mm]
Main body of plug housing 54180-0619

10
Plug shell cover 58299-0626
37.4 12
Plug shell body 58300-0626
molex
18.8
18.4
135
246

7.8 Made by Molex Japan

Encoder wiring connector kit (motor side)

Model: WSK-P09P-D
External Dimension Unit: [mm] Model and manufacturer

47 Cap 172161-9
Cap cover 316455-1
170365-1(bulk)
Socket (SIG+,SIG-,FG)
170361-1(chain)
19
14
170366-1(bulk)
Socket (P5,M5)
170362-1(chain)
8
14 Terminal layout
18
12
3 2 1
5
6 5 4
9 8 7
Connector kit for encoder wiring (motor side)

Model: WSK-P06P-C
Applicable range: GYS model ... 1.0 to 5.0 [kW]
GYC model ... 1.0 to 2.0 [kW]
GYG model ... 0.5 to 2.0 [kW]
10 External dimension
Groove
position Unit: [mm]
Connector MS3108B20-29S
Cable clamp MS3057-12A
Made by Daiichi Denshi Kogyo
37.3

Rubber bushing

81

37.3

70.9
4
The connector model is different from that of the option cable.


Power cable connector kit (amplifier side)

Model: WSK-S05P-E
GYG model ... 1.0 [kW] or less
External Dimension Unit: [mm]

29 Connector Kit 05JFAT-SBXGF-I
J.S.T. Mfg. Co., Ltd.
5 4 3 2 1
Terminal layout
34.12
39.32
L1C
1
L2C
2
RX
L1
3
L2
4
L3
5
13.2
6.7
Intermediate circuit wiring connector kit (amplifier side) * Provided with amplifier.
Model: WSK-R06P-E
10
Connector Kit 06JFAT-SBXGF-I
29 20
J.S.T. Mfg. Co., Ltd.
Terminal layout
1
2
44.4
39.2
P1
1
4
P(+)
2
5
N(-)
3
6
RB1
RX
RB2
5
RB3
6
Lead wire/UL2501 AWG#18

13.2
6.7

Motor power cable connector kit (amplifier side)

Model: WSK-M03P-E

Connector Kit 03JFAT-SBYGF-I
29 J.S.T. Mfg. Co., Ltd.
Terminal layout
1
23.96
29.16
2
3
U
RY
1
V
2
W
3
13.2
6.7
Motor power cable connector kit (motor side)

Model: WSK-M04P-E
10 External Dimension
23.7
Unit: [mm] Model and manufacturer
Cap housing
Socket
172159-9
170362-1
11.8
Terminal layout
1U
4
2V
9.8
3W
4
4E

Connector kit for motor power wiring (motor side)

Model: WSK-M04P-CA
GYG model ... 0.5 to 2.0 [kW]
External Dimension Model and manufacturer

Groove position
Unit [mm] Connector MS3108B18-10S
Cable clamp MS305710A
34.2
Rubber bushing
71.5
31.7
65.8 3.2
Connector kit for motor power wiring (motor side : with brake)
Model: WSK-M06P-CA
Applicable range: GYS model ... 1.0 to 2.0 [kW] (with brake)
External Dimension
GYG model ... 0.5 to 2.0 [kW] (with brake)
10
Groove position
Unit : [mm] Connector MS3108B20-15S
37.3 Brake
Brake
Rubber bushing
80.7
37.3
70.9
4

Connector kit for motor power wiring (motor side)

Model: WSK-M04P-CB
GYC model ... 1.0 to 2.0 [kW]
Groove position
Unit: [mm]
Connector MS3108B22-22S
40.5
Rubber bushing
81
37.3
72.5 4
Connector kit for motor power wiring (motor side : with brake)
Model: WSK-M06P-CB
10 Applicable range: GYS model ... 3.0 to 5.0[kW]
GYC model ... 1.0 to 2.0[kW]
(with brake)
(with brake)

Groove position
Unit: [mm] Connector MS3108B24-10S
43.7
Brake
Brake
Rubber bushing
90
42.9
79.6 4.8

Brake wiring connector kit (motor side)

Model: WSK-M02P-E
Applicable range: GYS model ... 0.75 [kW] or less (with brake)
GYC model ... 0.75 [kW] or less (with brake)
Unit: [mm]
23.7
Socket 170362-1
11.8
Terminal layout
2 1B
5.6
2B
1
Battery (CN5)
Connect the optional battery.
When using a battery, use WSB-SC. Model and manufacturer
Housing IL-2S-S3L-(N)
1 BAT- 2 BAT+ Crimp terminal IL-C2-1-10000
Japan Aviation Electronics Industry, Ltd.
Battery + Battery case

Model: WSB-SC
10
Battery Battery case
1 2
38
17 605 361
20.4
Model and manufacturer R 10

22
Battery ER1733WK41 1PP
Hitachi Maxell Ltd.

17.5

Monitor (CN6)
A measuring instrument or similar is connected to the connector 6 (CN6) of the servo amplifier.
The signal of this connector is analog output voltage for measuring instrument and is not necessary
for servo amplifier operation.
This connector is not prepared as option. Model and manufacturer
1 MON1 3 M5(0V) 3
1 Crimp socket DF11-4DS-2C
2 MON2 4 M5(0V) 4 Crimp terminal DF11-2428SC
Hirose Electric Co., Ltd.

2
External braking resistor (1)

Model: WSR-401
Applicable range: servo amplifier model: RYT500D5 to 1RYT401D5
182.51.5
1721
1501 1000 +1000
280.5
4.2+0.20
10
200.3

* Thickness of the installed section: 1.2mm
Item Specifications
Model WSR-401
Resistance 68 []
Resistor
Allowable power 17 [W] (cont.)
Operating temperature Open at 135 10C
Thermistor Dielectric strength For 1 minutes at 1.5kV AC
Contact capacity 30VDC 3A
Connect the braking resistor to the servo amplifier with a 10 [m] or shorter cable.
The external braking resistor becomes hot. Keep flammable matters away from the external
braking resistor.
For connection of the external braking resistor, refer to "10.8 External Braking Resistor."


Model: WSR-751
Applicable range: servo amplifier model: RYT201D56RYT401D56
2301.5
2201
1941
1000 +50
0
+0.2
+0.5
+0.5
4.2 0
0
0
64
64
21 0.3
0
* Thickness.
of the installed section: 1.5mm
Item Specifications
Model WSR-751
Resistance 15 []
Resistor
10
braking resistor.


Model: WSR-152
Applicable range: servo amplifier model: RYT751D5 to RYT152D5, RYT501C5 to RYT102C5,
RYT501B5 to RYT851B5

P DB 1 2

10 Item Specifications
Model WSR-152
Resistance 15 [O]
Resistor
braking resistor.


Model: DB11-2
Applicable range: servo amplifier model: RYT202D5 to RYT302D5, RYT152C5 to RYT202C5,
RYT132B5
142
74
R3.5
15 160
7.5
10
31.6
4301
415
26.6
10
M5
M3.5
7.5
1.6
R3.5
7
Item Specifications
Model DB11-2
Resistance 10 []
Resistor
Contact capacity 120VAC/30VDC 0.1A
braking resistor.


Model: DB22-2
Applicable range: servo amplifier model: RYT402D5 to RYT502D5
142
74
R3.5
7.5 160
15
31.6
10
5101
495
26.6
M5
10 M3.5
R3.5
7
7.5 1.6
Item Specifications
Model DB22-2
Resistance 5.8 []
Resistor
Contact capacity 120VAC/30VDC 0.1A
braking resistor.

CHAPTER 11 ABSOLUTE POSITION SYSTEM 11
11-1
CHAPTER 11 ABSOLUTE POSITION SYSTEM
11.1 Specifications
11.1.1 Specification List
Item Description
Method Battery backup method
Battery Lithium battery (primary battery, nominal +3.6 [V])
Max. rotation range Home position 32767 [rev]
Max. rotation speed at power
6000 [r/min]
failure
Service life of battery About 35000 hours (life without power turned on)
It is recommended to replace the battery periodically (every three years or more

frequently) despite the power-on or shutdown state.
11.1.2 Precautions
Aerial transport of battery

A revision (volume 44) of hazardous material rules of International Air Transport Association
(IATA) was made into effect on January 1, 2003 and the "rule about lithium and lithium ion
battery" was revised. This battery is a non-hazardous matter (with 1.0g or less lithium; non-class
9) and is out of the scope of the rule if the quantity is within 24 pieces. If the quantity exceeds 24,
the package must be compliant to the rule. For details, contact Fuji Electric representative. (As of
August 2006)
11 Conditions blocking establishment of absolute position system

The absolute position system is not established under the following conditions.
The electronic gear setting is changed after position preset.
The command pulse ratio is changed after position preset.
The absolute position system can be established even under speed control or torque control.
11-2 Specifications
11.2 Battery Installation and Replacement Procedures
11.2.1 Battery Installation Procedure (for Amplifier of

1.5kW/3000r/min [Frame 4] or Less)
Install the battery in the following procedure.
Prepare the servo amplifier, battery and battery

[1]
case.
Connect the lead wire connector of the battery to

[2]
CN5 on the front panel of the servo amplifier.
Engage one catch of the battery case with the

[3]
bottom of the servo amplifier.
Engage the other catch of the battery case with the

bottom of the servo amplifier.
[4]
Installation is finished.
After installing, check if both the connector and case

11
[5] are securely connected and fixed as shown in the
photo on the left.
Battery Installation and Replacement Procedures 11-3

11.2.2 Battery Installation Procedure (for Amplifier of

2kW/3000r/min [Frame 5] or More)
Prepare the servo amplifier, battery and battery

case.
Connect the lead wire connector of the battery

to CN5 on the front panel of the servo amplifier.
Engage one catch of the battery case with the

front of the servo amplifier.
Engage the other catch of the battery case with
11
the front of the servo amplifier.
Installation is finished.
After installing, check if both the connector and

case are securely connected and fixed as
shown in the photo on the left.
11-4 Battery Installation and Replacement Procedures

11.2.3 Battery Replacement Procedure
Reverse the installation procedure to remove and install the new battery according to the installation
procedure.
Be sure to leave the control power supplied when working (turn the main power off).
Leave the encoder cable connected.
11
Battery Installation and Replacement Procedures 11-5

11.3 Connection Diagram
11.3.1 VV Type
0.75 [kW] or less

P1 P(+) N(-) RB1 RB2 RB3 Connect the external braking resistor across
Commercial power supply: In
RB1 and RB2. (Remove the jumper wire
case of single-phase input, TB2
from RB2 and RB3.)
connect to the L1 and L2 TB1
TB3
terminals.
L1C
U 1 U
L2C
V 2 V
L1
W 3 W
L2
4
L3
DC24V 1 Br
(2) 2 Br
CN4 CN2
USB-B
P5 1 7 P5
M5 2 8 M5
CN3A(IN) SIG-
SIG+ 5 5 SIG+
SIG-
SIG+
SIG- 6 4 SIG+
SIG-
RS485
RS-485 BAT+ 3 1 BAT+
BAT- 4 2 M5
3 FG
CN3B(OUT) *
CN6
Connector CN3B Servomotor
The terminator is unnecessary RS485
RS-485 MON1 1 GYS/GYC type
even at the end of the network. M5 3
3000 [r/min] rating
MON2 2
(0.75 [kW] or less )
CN1 M5 4
11 P10
FFA 31
17 NREF
*FFA 32
FFB 29
11
15 TREF
*FFB 30
13 M5
FFZ 27 * Connect to the
*FFZ 28 shell on the servo
12 PPI amplifier side.
FZ 10
35 CA
M5 9
36 *CA
MON1 16
33 CB
MON2 14
34 *CB
M5 18
* OUT1 5
20 COMIN
OUT2 6
21 CONT1
OUT3 26
22 CONT2
OUT4 7
1 CONT3
OUT5 8
2 CONT4
COMOUT 19
3 CONT5
4 CONT6 CN5
23 CONT7
BAT+ 2 Battery (3.6 [V]DC)
24 CONT8 BAT- 1
Servo amplifier RYT-VV type

3000 [r/min] rating (0.75 [kW] or less)
11-6 Connection Diagram

11.4 Starting Up Procedure
Follow the procedure below to start up the absolute position system.
Install the battery. Follow the description of section

[1]
11.2 to install the battery correctly.
Set PA1_02 (INC/ABS system) at 1 (ABS) or 2

[2] Enter PA1_02.
(endless non-overflow ABS).
Turn the main power and To make new parameters enabled, turn the power off
[3]
control power off then on again. then on again.
An absolute data lost alarm (dL1) is caused when

[4] Perform position preset.
the power is turned on first after the absolute
position system is established. Execute position
preset to remove the alarm.
[5] Perform homing. To establish the coordinate system of the absolute

position system, execute regular homing. 11
Execute regular operation. After above steps [1] through [5] are finished, the absolute
[6]
position system is established. You can start regular
operation.
If the encoder cable is disconnected due to transportation or device changes, repeat the procedure
from step [4].
Starting Up Procedure 11-7

11.5 Battery Warning
A battery warning is issued if the battery voltage is lower than the value preset in the servo amplifier.
If this warning* is issued, replace the battery immediately.
* The battery warning is detected when the control power is turned on. If the battery is kept
installed and the system is left shut off for a long time, the battery life limit may be reached
before the battery warning is issued.
There are the following four ways to check the battery warning.
(1) OUT signal (assignment number: 45)
(2) [Monitor] - [Warning/Forecast monitor] of PC Loader
(3) Maintenance mode of keypad

The battery warning can be checked in the maintenance mode of the keypad.
SET
SET1
ENT
(1 sec.(1)
or over)

ESC
Cooling fan life forecast Battery warning

Main circuit capacitor life
(4) Blink of orange status indication LED of keypad
11 The blink of the status indication LED indicates an alarm in regular cases. If the indication status
LED blinks though no alarm (AL----) is shown at the keypad, it states the battery warning*.
Status indication
LED
* Set PA2_78 (display transition at warning detection) at 1 (transition to warning display) to

automatically show (3) at the keypad.
11-8 Battery Warning

11.6 Calculation of Battery Life
The battery life elapses if the control power of the servo amplifier is left turned off for 35,000 hours.
During actual operation, the power-on and shutoff cycles are repeated. An example of calculation of
the service life in this case is shown as a reference. Note that the value is merely a calculated value
and it is not guaranteed. Note, too, that the service life becomes shorter under some ambient
environmental conditions.
Operation condition
Operation No operation
1 day 10 hours 14 hours
1 year* About 261 days (= 365 days x 5 / 7) About 104 days (= 365 days x 2 / 7)
* Assumption: operation on Monday through Friday, no operation on Saturday and Sunday
Current consumption
Current consumption in power-on phase: 0.0075 [mA]
Current consumption in shutoff phase: 0.0415 [mA] (= 0.0075 [mA] + 0.034 [mA])
Calculation of service life

Annual battery capacity consumption
(10 [Hr] 0.0075 [mA] + 14 [Hr] 0.0415 [mA]) 261 [days] + 24 [Hr] 0.0415 [mA]
104 [days] = 275 [mAh]
Annual battery life estimation
1600 [mAh] / 275 [mAh/year] = 5.8 [years]
Hence the service life of the battery is about 5.8 years* under the above operation conditions.
11
* However, the battery manufacturer recommends to stop using the battery after three years of
operation. Periodic replacement within three years is recommended without relations to the
operation conditions.
Calculation of Battery Life 11-9

11
11-10 Calculation of Battery Life

CHAPTER 12 POSITIONING DATA
12
12-1
12.1 Operation Modes
12.1.1 Operation Method
Positioning operation based on positioning data and immediate value data can be conducted with this
servo amplifier.
(1) Positioning data operation

Set data items to positioning data inside the servo amplifier in advance and designate the
address (data number) of the desired operation data among AD0 to AD3 at the host controller,
etc.
Turn on the start positioning (START) to execute the positioning operation according to the
preset data.
Interface: Di / Do signal or RS-485 communications (Modbus-RTU)
Positioning data NO.1

Host controller
- Position data
- Speed data
- Timer data
- M code
Address (AD0 to AD3) - Position data
- Status
- Speed data
- Acceleration time
- Timer data
Start positioning (START) - Deceleration time
- M code
- Status
- Acceleration time
- Position data
- Deceleration time
- Speed data
- Timer data
12 - M code
- Status
- Acceleration time
- Deceleration time
Up to 15 points can be registered as positioning data.
Register data, using PC Loader or at the keypad.
12-2 Operation Modes

(2) Immediate value data operation

Designate position data, speed data and so on at the host controller directly to execute
positioning operation.
Interface: RS-485 communications (Modbus-RTU)
Amplifier (slave)
Host controller
(master)
Immediate value data, start positioning (START)
Immediate value data

- Position data
- Speed data
- Timer data
- M code
- Status
- Acceleration time
- Deceleration time
<Message>
Messages are sent from the master to the slave in the uni-cast method where the immediate
value data, monitor data and so on are sent with the station number of the slave and then a
response message is sent.
To start two or more axes simultaneously, you can use the broadcasting method where
transmission is made to all slaves through designation of station number 0. 12
In the broadcasting method, no response message is sent. For this reason, you can send the
start positioning signal in a broadcasting message to execute motions under pseudo
interpolation control.
<Message>
The following parameters must be entered for operation based on immediate data.
PA1_01: control mode selection = 7 (positioning operation)
PA2_40: internal positioning data selection = 0 (disable)
PA2_97: communication protocol = 1 (Modbus-RTU)
Operation Modes 12-3

12.1.2 Operation Mode Selection
Positioning operation based on positioning data and immediate value data can be conducted with this
servo amplifier.
To change the operation mode, enter parameters shown in the table below and supply an input signal.
The setting in operation mode (1) is enabled if 77 (positioning data selection) is not specified with the
CONT signal.
<Operation mode (1)>

Internal
Sequential
Control mode positioning
start
selection: data AD3 AD2 AD1 AD0 Operation
selection:
PA1_01 selection:
PA2_41
PA2_40
7: Positioning 1: Enable 0: Disable OFF OFF OFF OFF Address error
operation 1: Enable Sequential start
2: Homing Homing
OFF OFF OFF ON Operation with
positioning data
No. 1
ON ON ON ON Operation with
positioning data
No. 15
0: Disable PA2_97: Communication protocol selection = 1 * Operation with
immediate value
data
Immediate value data operation is impossible with the PC Loader protocol.
12
12-4 Operation Modes

If 77 (positioning data selection) is specified with the CONT signal, the setting in operation mode (2) is
enabled.
Operation mode (2)
Internal
positioning
Control mode Sequential
data
selection: start selection: AD3 AD2 AD1 AD0 Operation
selection:
PA1_01 PA2_41
CONT
signal: 77
7: Positioning ON 0: Disable OFF OFF OFF OFF Address error
operation 1: Enable Sequential start
2: Homing Homing
OFF OFF OFF ON Operation with
positioning data
No. 1

ON ON ON ON Operation with
positioning data
No. 15
OFF PA2_97: Communication protocol selection = 1 Operation with
immediate value
data
12
Operation Modes 12-5

12.2 Settings
12.2.1 Positioning Data Specifications
By providing a start positioning signal as assigned from an external address (AD3-AD0),

positioning operation is started according to the settings.
The content of the internal positioning data is as follows:

Default
Item Setting range
value
No. of positioning data addresses 15 (addresses 1-F)
Positioning Status (ABS/INC) ABS, INC, CO, CEND, and M code INC and M
data setting enable/disable code
M code output during positioning/after disable
positioning completion
Position (stop position) -2000000000 to +2000000000 [unit amount] 0
(in increments of 1)
Speed (rotation speed) 0.01 to max. rotation speed [r/min] 0.01
(in increments of 0.01)
Stand still timer 0.00-655.35 [sec] (by 0.01s) or 0.000-65.535 0.00
[sec] (by 0.001s) (Note 1)
Acceleration time 0.0-99999.9 [ms] (in increments of 0.1) 0.0
However, when 0.0 is set, the amplifier
follows the acceleration time 1 (PA1_37) or
2 (PA1_39) (Note 2) selected by ACC0.
Deceleration time 0.0-99999.9 [ms] (in increments of 0.1) 0.0
12
follows the deceleration time 1 (PA1_38) or
M code 0 to 0xFF 0xFF
Note 1: Set by the decimal point position of stand still timer (PA2_42).
Note 2: If ACC0 (set to 14) has not been assigned to the CONT signal, acceleration/deceleration
time values follow acceleration time 1 (PA1_37) and deceleration time 1 (PA1_38).
12-6 Settings
12.2.1.1 Position data (stop position)
Specify a position at which the servo motor stops when the status is ABS. Specify an increment when
the status is INC.
To travel the mechanical system for the same amount (20.00 [mm]) as the setting of positioning data
(ex. 20.00), the following parameter setting is necessary.
For the details of setting, refer to PA1_06 Numerator 0 of electronic gear, PA1_07 Denominator of
electronic gear and PA2_01 Decimal point position of positioning data.
PA1_06 Numerator 0 of electronic gear, PA1_07 Denominator of electronic gear
Default
value
Numerator 0 of 1-4194304 (in increments of 1)

06 16 Always
electronic gear
Denominator of 1-4194304 (in increments of 1)
07 1 Always
electronic gear
PA2_01 Decimal point position of positioning data
Default
value
Decimal point position of 0:0 1:0.1 2:0.01 3:0.001

01 0 Always
positioning data 4:0.0001 5:0.00001
12.2.1.2 Speed data (motor axis rotation speed)
Set a rotation speed at which the servo motor rotates up to a specified position of positioning data.
This setting is not a traveling speed of the mechanical system but a rotation speed of the servo motor
axis [r/min].
Speed data can be set from the minimum value, 0.01, to the maximum rotation speed of the servo
12
motor by 0.01 [r/min].
Settings 12-7
12.2.1.3 Stand still timer (stop time)
After the motor has reached a specified position of the positioning data, when the set time of the stand
still timer has passed, the in position [INP] signal is output outside. (It is impossible to set the stand
still timer on immediate value data.)
This timer can be set from 0.00 to 655.35 [s] in increments of 0.01 [s].
By changing the setting of the PA2_42 decimal point position of stand still timer, it is also allowed to
set from 0.000 to 65.535 [s].
Stand still timer of positioning data

Position data (stop position)
Rotation Speed data (rotation speed)

speed
No. 5
Time
Stand still timer
(stop time)
Ready ON
Start
OFF ON
positioning
AD3-AD0 5 9
In position ON OFF ON
(lNP)
M code (output FF 20 FF
at startup)
Positioning data are regarded as being executed while the timer is measured.
The default value of the M code is "FF" (changeable into "00" by PA2_43).
12.2.1.4 Acceleration time and deceleration time
12 Set an acceleration/deceleration time of the servo motor.

Setting value of the acceleration/deceleration time is a time setting before reaching 0 to 2000 [r/min].
However, if the setting is 0.0 (default value), as shown in the table below, the motor follows the
acceleration/deceleration time is set by parameters by turning ON/OFF ACC0.
ACC0 (14) Acceleration time Deceleration time

OFF PA1_37 PA1_38
ON PA1_39 PA1_40
For details of acceleration time and deceleration time, refer to PA1_36 to 40 Acceleration time and
deceleration time settings in CHAPTER 4 on page 4-21.
12-8 Settings
12.2.1.5 Status (command system, step mode)
To set status, ABS/INC, CO, CEND, and M code enable/disable are usable.
It is also allowed not to specify CO or CEND.
Use CO when operate data continuously.
Use CEND when starting up the motor in series.
Absolute (ABS) / Incremental (INC)

When ABS specification is applied, the current position of the motor moves up to the setting of the
positioning data.
When positioning data is set to 0 and the motor is started up by the positioning data of ABS, the
motor moves up to the zero point from any position.
When INC specification is applied, the servo motor moves from the current position by the setting of
the positioning data.
When positioning data is set to 100.0, the servo motor moves from the current position by 100.0 in
the positive direction.
12
Settings 12-9
Data continuation (CO)

When the motor is started up by positioning data with data continuation specified, positioning is
completed by the data, and then the motor moves according to the setting of the next positioning
data.
If data continuation is specified on positioning data 5, the motor moves according to positioning data 6.
In the same way, if data continuation is specified on positioning data 6, the motor moves according
to positioning data 7.
If the stop timer is set to 0.00 [s], traveling speed varies continuously.
If the stop timer is set to 0.00 [s], speed varies depending on the setting of positioning data.
Data continuation of positioning data
No. 5
Rotation
speed
No. 6
Time
Stand still timer
(stop time)
Ready ON
Start
OFF ON
positioning
AD3-AD0 5 **
(lNP)
M code (output after FF 20

position completion)
Positioning data are regarded as being executed while timer is measured.

The default value of the M code is "FF" (changeable into "00" by PA2_43).
(1) When data with a high speed is continued to data with a low speed, speed has already been
reduced to the next speed data at the specified position of the positioning data.
(2) When data with a low speed is continued to data with a high speed, acceleration is started from
the specified position of the positioning data.
12 Data continuation is executed in the order of positioning data numbers (addresses).

When the motor is started up at positioning data while data continuation is executed, the positioning
data before the start up are ignored.
(Data continuation is not executed as tracing back positioning data.)
When the motor is started up from No.7 using the following positioning data, the setting of No.6 is
ignored.

No. Command style Step mode Stop position Rotation speed
6 ABS CO 0.00 0.00
7 ABS CO 5000.00 5000.00
8 ABS CO 5200.00 500.00
9 ABS 5400.00 50.00
12-10 Settings
Cycle end (CEND)

After the motor has been moved completely by positioning data with cycle end specified, the cycle
end signal assigned to OUT is output.
It is not allowed to specify data continuation and cycle end on a set of positioning data
simultaneously.
Cycle end is used when performing sequential start operation.
Operation by sequential start can be selected by PA2_41: sequential start selection.
After an address at which you wish to start up is set, if start positioning is turned on, operation will be
started up. When the address is changed to 0 afterward, positioning operation is automatically
continued up to the positioning data on which cycle end is specified.
No. 6 No. 7
No. 8
Rotation
No. 9
speed
Time
Stand still timer
Stop time
Ready ON
Start
OFF ON
positioning
AD3-AD0 6 0
(INP)
OFF ON
Cycle end
Positioning data are regarded as being executed while timer is measured.
Sample setting of positioning data

No. Command style Step mode Stop position Rotation speed
6 ABS 500.00 3000.00
12
7 ABS 1000.00 2000.00
8 ABS 1500.00 1000.00
9 ABS CEND 2000.00 500.00
M code
By specifying an M code on positioning data, it is able to output an arbitrary numerical value outside
while positioning is executed (output at startup) or after positioning has been complete (output at
completion).
The figure above shows an output of M code after positioning has been complete.
Settings 12-11
12.2.2 Immediate Value Data Specifications
After immediate value data are set by the RS-485 communications, when the start positioning
signal is set, positioning is started according to the setting.
The content of immediate value data is as follows:
Item Setting range Default value
Status (ABS/INC) ABS, INC, and M code enable/disable INC and M code
M code output during positioning/after disable
positioning completion
Position (stop position) -2000000000 to +2000000000 [unit 0
amount] (in increments of 1)
Speed (rotation speed) 0.01 to max. rotation speed [r/min] (in 0.01
increments of 0.01)
Acceleration time 0.0-99999.9 [ms] (in increments of 0.1) 0.0
follows the acceleration time 1 (PA1_37) or
Deceleration time 0.0-99999.9 [ms] (in increments of 0.1) 0.0
follows the deceleration time 1 (PA1_38) or
M code 0 to 0xFF 0xFF(Note 2)
Note 1: If ACC0 (setting 14) is not assigned to the CONT signal, the motor follows acceleration
time 1 (PA1_37) and deceleration time 1 (PA1_38), respectively.
Note 2: The OUT signals (MD0 to MD7) of the M code follow the selection of output when
PA2_43: output when M code off.
12 Immediate value data are different from positioning data in the continuing function of status setting
(CO and CEND) and setting of the stand still timer.
For details of each data, refer to sections 12.2.1.1 to 12.2.1.5.
12-12 Settings
12.3 Startup
Operation with positioning data
It is able to register 15 sets of positioning data in the servo amplifier.
Register the positioning data described in section 12.2.1 from the PC Loader or keypad, and set
address numbers according to the table below:
Positioning is started at the ON edge of the start positioning [START] signal.
Even if homing or position presetting has not been complete, the start positioning signal is
enabled.
Address No. selection table

Sequential start
Address
AD3 AD2 AD1 AD0 selection: Operation mode
No.
PA2_41
0 OFF OFF OFF OFF 0: Disable Address error
1: Enable Sequential startup
2: Homing Homing
1 OFF OFF OFF ON Operation with positioning data 1
2 OFF OFF ON OFF Operation with positioning data 2
3 OFF OFF ON ON Operation with positioning data 3
4 OFF ON OFF OFF Operation with positioning data 4
5 OFF ON OFF ON Operation with positioning data 5
6 OFF ON ON OFF Operation with positioning data 6
7 OFF ON ON ON Operation with positioning data 7
8 ON OFF OFF OFF Operation with positioning data 8
9 ON OFF OFF ON Operation with positioning data 9
10 ON OFF ON OFF Operation with positioning data 10
11
12
ON
ON
OFF
ON
ON
OFF
ON
OFF

Operation with positioning data 11
Operation with positioning data 12
12
13 ON ON OFF ON Operation with positioning data 13
14 ON ON ON OFF Operation with positioning data 14
15 ON ON ON ON Operation with positioning data 15
Startup 12-13
Operation with immediate value data

When immediate value data are directly set by the RS-485 communications, if the start positioning
signal is set, positioning is started according to the setting.
This operation differs from the operation with positioning data in the continuation function and
setup of the stand still timer.
For the continuation function, a similar function can be realized by assigning the immediate value
continuation to the CONT signal.
In addition, if you wish to change data immediately during operation, the function of the immediate
value change is usable.
For the function of the stand still timer, adjust timing using the host controller.
Stop method
The servo motor is decelerated before the specified position set by positioning data, and stopped
automatically at that position.
The method for stopping the motor forcibly after moving has started is as follows:
Turn off the operation command [RUN].
Turn off the forced stop [EMG].
Turn on the positioning cancel.
Turn off the external error input.
Turn on the pause (By turning it off, the remaining operation is executed).
Turn on free run.
After the motor has started moving, if one of the signals below is detected, the specified position of
positioning data might not be reached.
Software OT (overtravel), +OT, and -OT signals
12 Limiter detection
12-14 Startup
12.4 Setting Change

The setting of positioning data can be edited by the following method.
Edit on the keypad of the servo amplifier

Edit using the PC loader
Change positioning data by the teaching signal assigned to control
Edit positioning data using the RS-485 communications
Editing positioning data by the PC Loader or keypad can be restricted by setting PA2_75: positioning
data write protection.
Editing can be limited by the external control input signal using the editing permission signal assigned
to the CONT signal.
After positioning data are set, if PA2_01: decimal point position of positioning data is changed, the
setting might be increased (or decreased). The significant figure 10 digits long is not changed.
12.5 Response Time

The response time of start positioning (operation according to positioning data) is as follows:
Starting up by the CONT signal

Start positioning [START] terminal sampling time Approx. 1.0 [ms]
Automatic startup software processing time Approx. 0.5 [ms]
Total Approx. 1.5 [ms]
12
Setting Change 12-15

12
12-16 Response Time

CHAPTER 13 RS-485 COMMUNICATIONS 13
13-1
CHAPTER 13 RS-485 COMMUNICATIONS
13.1 Modbus RTU Communications
13.1.1 Settings for Servo Amplifier
Set up the parameters of the servo amplifier (hereinafter called amplifier) to perform the Modbus
communications.
(1) Protocol selection

No. Parameter name Setting range Default value Change
PA2_97 Communication 0: PC Loader protocol 0 Power
protocol selection 1: Modbus RTU
Set to 1 (Modbus RTU).
Since this parameter is set to 0 (PC Loader protocol) at factory shipment, be sure to change it to 1.
(2) Station number/communication baud rate

PA2_72 Station number 1 to 31 1 Power
PA2_73 Communication 038400 [bps] 0 Power
baud rate 119200 [bps]
2 9600 [bps]
Set an amplifiers station number (slaves station number) and a communication baud rate.
(3) Character configuration

PA2_93 Selection of 0: Even parity with 1 stop bit 0 Power
parity/stop bit 1: Odd parity with 1 stop bit
2: No parity with 1 stop bit
3: Even parity with 2 stop bits
13 4: Odd parity with 2 stop bits

5: No parity with 2 stop bits
13-2 Modbus RTU Communications

Set existence and logic of a parity and a stop bit length.

Characters are organized for each setting as follows:
LSB MSB
PA2_93
0 1 2 3 4 5 6 7 8 9 10 11
0, 1 Start Data (8 bits) Parity Stop
2 Start Data (8 bits) Stop
3, 4 Start Data (8 bits) Parity Stop (2 bits)
5 Start Data (8 bits) Stop (2 bits)
(4) Response time and communication time over

No. Parameter name Setting range Default Change
value
PA2_94 Response time 0.00 to 1.00 [sec] (*) 0.00 Always
PA2_95 Communication 0.00 [sec]: No detection 0.00 Always
time over 0.01 to 9.99 [sec]
(*) Actual response time is set to PA2_94 setting or {time for 3 characters + amplifiers processing time},
whichever is longer.
Set the response time and communication time over parameters if needed.
For details, refer to pages 13-18 (response time) and 13-19 (communication time over).
13
Modbus RTU Communications 13-3

13.1.2 Communication Specifications
Item Specifications Remarks (PA is a parameter No.)

Electric I/F RS-485
Communication 38400192009600 [bps] Set by parameter PA2_73
speed
Synchronization Asynchronous (UART)
method
Communication
Communication Semi-duplex communication
method
Transmission format Master-slave (servo amplifier) = 1:N Max. 31 units connected

(1N31) simultaneously
Connection cable LAN cable (straight) or equivalent
Terminator treatment Master side :100[]

recommended
Slave side : Unnecessary
Character Start bit : 1 bit Set by parameter PA2_93

Data length : 8 bits
configuration Parity : Even/odd/none
Stop bit : 1 or 2 bits
Communications Compliant with Modbus RTU protocol
protocol
Communications RTU mode The ASCII mode is not
mode supported.
Station number 0: Broadcast Set by parameter PA2_72
1-31: Slave station No.
Protocol
Function code (FC) 3(03h): Read out various data Responses other than those in
8(08h): Maintenance (echo back) the left cell are exceptional
16(10h): Write in various data responses (improper FC).
Error check method CRC-16 method
Message length Max. 189 bytes When positioning data are
written in (9 sets)
Frame Timing synchronization Frames are initialized if time
synchronization data for three characters are
13
method absent.

13.1.3 Transmission Protocol
1. Message types
Communications are configured as the single master and multiple slaves method. The amplifier
operates as a slave.
The messages sent/received between the master and amplifier are classified into the two types below:
Query: Messages transferred from the master to the amplifier

Response message: Messages transferred from the amplifier to the master
Communications are started by a query from the master. Communications are not performed between
the amplifiers.
2. Message fields
The message frame is as follows for both the query from the master and the response message from
the amplifier.
0: Broadcast query to all amplifiers.

(No response message is issued.)
Station No. 1 byte 1-31: Query for each station number.
Self station numbers 1-31 are responded in the response
messages from the amplifiers.
Master: Specify an FC according to the processing that you
wish to execute.
Amplifier: Returns the specified FC.
FC (function code) 1 byte
(If the amplifier has not finished processing successfully,
the message is returned with the MSB of the FC set to 1.)
...Exceptional response
Query/response message: Data are set according to the FC.
Information Variable length An exceptional code (1 byte) is returned in the exceptional
response from the amplifier.
Query/response message: CRC-16 is added to the bottom
13
of the frame.
(L)
The sender calculates CRC-16 for the data sent, add it to the
16 bits bottom of the frame, and send the frame.
CRC check
(2 bytes) The receiver calculates CRC-16 of the received data. If the
calculation results are not equal to the received CRC-16,
(H)
an error occurs.
If an error is detected, no response message is returned.

3. Function codes (FC)

The three types of FC below are supported:
03h : Readout of various data
08h : Maintenance (Only echo back is supported.)
10h : Write of various data
FC 03h (Readout of various data)

(1) Query from the master
Station No. 1 byte
FC 1 byte 03h
(H) Specify the data address.
Address 2 bytes
(L)
Information
(H) Specify the number of sets of data n 2.
No. of registers 2 bytes
(L) * Specify n 10 on the positioning data.
16 bits (L)
CRC check (2
(H)
bytes)
(2) Response message from an amplifier

Station No. 1 byte
FC 1 byte 03h
No. of data n 4
1 byte
bytes * The positioning data are n 20.
(HH) Readout data for n sets from the specified
(HL) address
Data 1 4 bytes
(LH) * The positioning data are 20 bytes per
Information (LL) data.
~ ~ * For the data format, refer to page 13-8
(HH) [Table 13-1].
(HL)
Data n 4 bytes
(LH)
(LL)
16 bits (L)
CRC check (2
(H)
bytes)
13 FC 08h (maintenance echo back)

Station No. 1 byte
FC 1 byte 08h
(H) Specify the sub-code of echo back, 0000h.
Sub-code 2 bytes
(L)
Information
(H) Specify arbitrary data.
Data 2 bytes
(L)
16 bits (L)
CRC check
(2 bytes) (H)

(2) Response message from an amplifier

Station No. 1 byte
FC 1 byte 08h
(H) 0000h
Sub-code 2 bytes
(L)
Information
(H) The specified data are echoed back.
Data 2 bytes
(L)
16 bits (L)
CRC check
(2 bytes) (H)
FC 10h (Write of various data)

Station No. 1 byte
FC 1 byte 10h
(H) Specify the data address.
Address 2 bytes
(L)
No. of (H) Specify the number of sets of data n 2.
2 bytes
registers (L) * Specify n 10 on the positioning data.
No. of n 4
1 byte
data bytes * The positioning data are n 20.
(HH) Write data for n sets from the specified
Information (HL) address
Data 1 4 bytes
(LH) * The positioning data are 20 bytes per
(LL) data.
~ ~ * For the data format, refer to page 13-8.
(HH)
(HL)
Data n 4 bytes
(LH)
(LL)
16 bits (L)
CRC check
(2 bytes) (H)
(2) Response message from a slave
Station No. 1 byte
FC 1 byte 10h
Address 2 bytes
(H)
(L)
Specified address
13
Information
No. of (H) Number of sets of actually written data, m 2
2 bytes
registers (L) * The positioning data are m 10.
16 bits (L)
CRC check
(2 bytes) (H)

4. Data addresses
The addresses of various data are as follows:
[Table 13-1] Address list

Applicable
Address Format Setting range
Data type Data name FC
(hex.) (with a sign) (default value)
03h 10h
Communic- Communication Refer to page
0000 0-FFFFh (0: OFF all)
ation CONT signal 13-10.
CONT/
Communication OUT Refer to page
OUT 0100
signal 13-10.
signals
Feedback speed 1000 1h=1 [r/min] (Yes)
Command speed 1001 1h=1 [r/min] (Yes)
Command torque 1002 1h=1 [%] (Yes)
Peak current 1003 1h=1 [%] (Yes)
Motor current 1004 1h=1 [%] (Yes)
Effective torque 1005 1h=1 [%] (No)

1h=1 [unit
Feedback position 1006 (Yes)
amount]
1h=1 [unit
Command position 1007 (Yes)
amount]
Position deviation 1008 1h=1 [(*)] (Yes)
Command pulse
Monitor 1009 1h=0.1 [kHz] (No)
frequency
Feedback
100A 1h=1 [pulse] (Yes)
cummulative pulses
Cummulative input
100B 1h=1 [pulse] (Yes)
pulses
LS-Z pulse 100C 1h=1 [pulse] (No)
Load inertia ratio 100D 1h=0.1 [times] (No)
13 DC link voltage (max.)

DC link voltage (min.)
100E
100F

1h=1 [V]
1h=1 [V]
(No)
(No)

VREF input voltage 1010 1h=0.01 [V] (Yes)
TREF input voltage 1011 1h=0.01 [V] (Yes)
OL thermal value 1012 1h=1 [%] (No)

Applicable
Address Format Setting range
Data type Data name FC
(hex.) (with a sign) (default value)
03h 10h
Braking resistor
1013 1h=1 [%] (No)
thermal value
Power (W) 1014 1h=1 [%] (Yes)
Motor temperature 1015 1h=1 [C] (No)
Overshoot unit
1016 1h=1 [(*)] (Yes)
Monitor amount
Settling time 1017 1h=0.1 [ms] (No)
Resonance frequency
1018 1h=1 [Hz] (No)
1
Resonance frequency
1019 1h=1 [Hz] (No)
2
Hardware CONT Refer to page
2000
signal 13-10.
Hardware OUT Refer to page
2001
Sequence signal 13-10.
monitor Control mode 2100 Refer to page 13-11.
Sequence mode 2101 Refer to page 13-11.
Alarm at present 2200
Refer to page 13-11.
Alarm history 1-20 2201-2214
0.0, 1.0-300.0
Anti resonance (0.0: The vibration
3002 1h=0.1 [Hz] (No)
Various frequency suppressing control
commands function is disabled.)
Workpiece inertia
3003 1h=1 [%] (No) 0-80 (0)
ratio
PA1_1-99 4000-4062
The parameter is The parameter is
Parameter PA2_1-99 4100-4162
followed. followed.
PA3_1-99 4200-4262
Immediate value
5100 Refer to page 13-12.
status
Immediate value
5101 1h=1 [unit amount] (Yes) 0-2000000000 (0)
position
Immediate Immediate value 0.01-Max. rotation
5102 1h=0.01 [r/min] (No)
13
value data speed speed (0.01)
Immediate value
5103 1h=0.1 [ms] (No) 0.0-99999.9 (0.0)
acceleration time
Immediate value
5104 1h=0.1 [ms] (No) 0.0-99999.9 (0.0)
deceleration time
Positioning D000-
Positioning data 1-15 Refer to page 13-12.
data D00E
(*) By setting PA1_31 (selection of deviation unit), 0 and 1 are defined as unit amount and pulse, respectively.

5. Data formats
CONT/OUT signals
The CONT/OUT signals are classified into hardware signals (sequence I/O terminal) and
communication signals (Modbus communications), respectively as shown in the table below according
to the I/O format.
Hardware signal Communication signal

CONT signal CONT 1-8 (8 bits) CONT 9-24 (16 bits)
OUT signal OUT 1-5 (5 bits) OUT 6-21 (16 bits)
For readout and write, signals of the same type (5 to 16 bits) are handled as batch data.
Signals are arranged as follows in the data. Applicable bits mean ON and OFF when they are 1 and 0,
respectively.
(1) Hardware CONT signal (CONT1-8)

00h
00h
Data 4 bytes
00h
CONT8 CONT7 CONT6 CONT5 CONT4 CONT3 CONT2 CONT1
(2) Communication CONT signal (CONT9-24)

00h
00h
Data 4 bytes
(3) Hardware OUT signal (OUT1-5)

00h
00h
Data 4 bytes
00h
13 0 0 0 OUT5 OUT4 OUT3 OUT2 OUT1
(4) Communication OUT signal (OUT6-21)

00h
00h
Data 4 bytes
OUT21 OUT20 OUT19 OUT18 OUT17 OUT16 OUT15 OUT14
OUT13 OUT12 OUT11 OUT10 OUT9 OUT8 OUT7 OUT6

Sequence monitor
Data in the sequence monitor are 1-byte code data (except hardware CONT/OUT signals).
00h
00h
Data 4 bytes
00h
Code
Code is different for each data. For details, refer to the tables below.
Control modes Sequence modes

Code Control mode Code Operation mode
00h Position control 00h Servo off
01h Speed control 01h Servo on
02h Torque control 02h Zero speed stop
03h Manual feed (JOG)
04h Pulse train operation
05h +OT
06h -OT
07h In LV (under voltage)
08h Positioning
09h Homing
0Ah Interrupt positioning
Alarms at present and alarm histories

Code Alarm Symbol (*) Code Alarm Symbol (*)
00h None ---
01h Overcurrent 1 oc1 21h Main power undervoltage LvP
02h Overcurrent 2 oc2 22h Braking resistor overheat 1 rH1
03h Overspeed oS 23h Braking resistor overheat 2 rH2
Control power
04h Lvc 24h Braking resistor overheat 3 rH3
undervoltage
05h Overvoltage Hv 25h Deviation overflow oF
06h Encoder trouble 1 Et1 26h Amplifier overheat AH
07h Encoder trouble 2 Et2 27h Encoder overheat EH
08h Control power error ct 28h Absolute data lost 1 dL1
09h Data error dE 29h Absolute data lost 2 dL2
0Ah Fuse broken Fb 2Ah Absolute data lost 3 dL3
Motor combination
0Bh cE 2Bh Multi-turn data overflow AF
error
13
Braking transistor
0Ch tH 2Ch Initial error iE
overheat
Encoder Command pulse frequency
0Dh Ec 2Dh FE
communication error error
0Eh CONT error ctE
0Fh Overload 1 oL1
10h Overload 2 oL2
(*) Displayed on the keypad on the front of the servo amplifier.


The immediate value status of immediate data is configured as follows:
Configuration Format (default value)
Immediate value status 1 byte Refer to [Table 13-2].
Data 4 bytes Immediate value M code 1 byte 0-FFh (FFh)
Not used 2 bytes 00h fixed
[Table 13-2] Immediate value status

Bit Item Description Default value
5 M code output timing 0: Output during 1: Output after positioning 0
start up completion
4 M code selection 0: Disable 1: Enable 0
0 Command method 0: ABS 1: INC 1
Others Not used 0 fixed 0
Positioning data
Positioning data are 20 bytes long for each set, organized as follows:
Configuration Format, setting range (default value)
Positioning status 1byte Refer to [Table 13-3].
M code 1byte 0-FFh (FFh)
Stop timer 2 bytes (H) 1h = 0.01 [ms] (*)
(L) 0.00-655.35 (0.00)
Stop position 4 bytes (HH) 1h = 1 [unit amount]
(HL) 0 - 2000000000 (0)
(LH)
(LL)
Rotation speed 4 bytes (HH) 1h = 0.01 [r/min]
20 (HL) 0.01 - Max. rotation speed (0.01)
Data
bytes (LH)
(LL)
Acceleration time 4 bytes (HH) 1h = 0.1 [ms]
(HL) 0.0 - 99999.9 (0.0)
(LH)
(LL)
Deceleration time 4 bytes (HH)
(HL)
(LH)
(LL)
(*) By setting PA2_42 (stop timer decimal point position), 0 and 1 indicate 0.01 [ms]
and 0.001 [ms], respectively.
13
[Table 13-3] Positioning status
Bit Item Description Default value
5 M code output timing 0: Output during 1: Output after 0
startup positioning completion
4 M code 0: Disable 1: Enable 0
Selection
2,1 Step mode 0,0: No specification 0,0
0,1: Continuation (CO)
1,0: End of cycle (CEND)
1,1: Setup impossible
0 Command method 0: ABS 1: INC 1
Others Not used fixed to 0 0

6. Exceptional responses
The amplifier returns an exceptional response if it has not succeed the process specified by a query.
The message frame is as follows. This is common to all FC values.
Station No. 1byte
FC 1byte
Exceptional
1byte
code
16 bits (L)
CRC check
(2 bytes) (H)
Function code (FC) field

Exceptional responses from slaves are returned as one is set on the MSB of the FC specified by the
query.
Query Exceptional response
03h 83h
08h 88h
10h 90h
(2) Exceptional code field
Exceptional responses from slaves are returned as exceptional response which indicates exceptional
content with the query.
Exceptional
Description and sample queries
code
Incorrect FC (An incorrect FC is specified.)

01h
13
An FC other than 03h/08h/10h, which are supported, is specified.
Incorrect address (An incorrect address is specified)

02h An address not included in the address list is specified.
An address corresponding to FC 03h only is specified with FC 10h.
Incorrect data (An abnormal value is specified in the information field.)

Zero, an odd number, or 192 bytes or more is specified in the register.
03h
A value different from the number specified in the register x2 is specified.
A value out of the range is specified in the data to be written in.

7. CRC-16
(1) Outline of CRC
CRC (Cyclic Redundancy Check) is a system to check if communications data are correct.
In the CRC calculation, data expressed as a polynomial are divided by a generating polynomial,
and the residue is used as CRC data.
Modbus RTU uses the CRC-16 which performs calculation using X16 + X15 + X2 + 1 as the
generating polynomial.
(2) CRC-16 calculation algorithm

The algorism for calculating CRC-16 on the data (N bytes) from the station number field to the
information field is as follows:
START
CRC Calculated value of CRC-16

Default settings
POLY Generating polynomial
CRC = FFFFh
dtn Data counter
POLY = A001h
sft Shift counter
dtn =0
DT[dtn] Nth data (one byte)
N Number of data bytes
XOR exclusive OR
sft = 0
DT[0] is station number, DT[1] is FC, and

CRC = CRC XOR DT[dtn]
DT[2]-DT[N-1] are data in the information
field.
Shift CRC to the right by one bit
No
Shift carry available?
Yes
CRC = CRC XOR POLY
sft = sft + 1
13 Yes
sft 8
No
dtn = dtn + 1
dtn N ?
Yes
No
END

8. Communication operating method

<Unicast method>
Messages are sent in the following order in this method: (1) (2) (3) (4) (5) (6).
Host controller
(master)
(1) Transmission message
(6) Response message

(4) Response
(3) Transmission
message
message
(5) Transmission
(2) Response message
message
<Broadcasting method>
A transmission message is sent to slaves simultaneously in this method. No response message
is sent back.
Host controller
(master)

(1) Transmission
message
13

13.1.4 Sample Wiring with Host Controller
Operation display (host controller)
No terminal
resistor is
needed.
In case of using Fujis V8
Touch
Screen
MJ1/MJ2 ALPHA5 CN3A
Operator
Panel
Signal name Pin.NO Pin.NO Signal name
-RD/-SD 2 8 P5
+RD/+SD 1 7 M5 (0V)
SG 5 6 *TXD
FG Shell 5 RXD
4 *RXD
3 TXD
2 M5 (0V)
1 P5
RJ45 connector
Connect between ALPHA5 and ALPHA5 with a commercial LAN cable (straight).
13

13.1.5 Communications Procedures
1. Start of communications
The amplifier cannot perform communications after the control power supply is turned on until the
internal initialization has been complete. When turning on the amplifier, perform the procedure below,
and then start normal communications.
1. Turn on the control power supply, and wait for approximately 1.5 [sec].
2. Send an FC 08h (maintenance echo back) query from the master.
3. Confirm that a response message (echo back) is returned from the amplifier.
2. Communications timings
Communications timings are as follows:
Queries with specifying an amplifier's station number
Master : Query Query

Amplifier : Response Response
T1 T2 T1
Broadcast queries
Master : Query Query Query

Amplifier : T3 T3
(1) Amplifiers response time (T1)

This is the time passing after a query is sent from the master until the amplifier starts sending a
response message. When communication timeout is monitored by the master, time around T1 +
100 [ms] is recommended.
(2) Sending/receiving switching time (T2)

This is the time passing after a response message is sent by an amplifier until the amplifier
becomes able to receive the next query.
When the master has received a response message from the amplifier, it must wait for T2 or more
13
before sending the next query.
(3) Waiting time after a broadcast query is sent (T3)

This is the time passing after a broadcast query is sent by the master until the amplifier becomes
able to receive the next query. When the master has sent a broadcast query, it must wait for T3 or
more before sending the next query.

(4) Definition of amplifiers timings

Timings on the amplifier side are defined as follows:
Recommended
FC Information field T1 T2 T3
timeout setting
03h - 38400 [bps] 5 [ms]
08h - 19200 [bps]10 [ms] 100 [ms]
10h Other than below 9600 [bps]10 [ms] 38400 [bps] 5 [ms]
Same
Specify that n sets of 19200 [bps]10 [ms]
as T1
parameters or 9600 [bps]10 [ms]
Within (n+2)10 [ms] 250 [ms]
positioning data are
written in
Response time
It is able to specify a response time of the amplifier (T1) by PA2_94 (response time).
However, actual response time becomes {time for 3 characters + time for executing processing} (T0)
or longer.
* Although T0 varies depending on communications baud rate, FC, and so on, the shortest time is 2.5
[ms] for 38,400 [bps].
If any time longer than T0 is specified, the amplifier responses after waiting for the specified time.
Master Query
Amplifier T0
PA2-94 < T0 PA2-94 Response
PA2-94 > T0 PA2-94 Response
After the master has sent a query, if it takes a long time until the master switches into the receiving state,
set PA2_94 (response time) as needed because responses from the amplifiers might not be received
correctly.
13 3. Error processing
Errors are classified into the following:
(a) Physical/character-level errors : Parity error, framing error, and so on
(b) Protocol level error (1) : CRC error
(c) Protocol level error (2) : Incorrect FC/address/data

(1) Amplifiers operation when an error is detected

An amplifier operates as follows when it has detected one of various errors while receiving a query
from the master:
If an error of type (a) or (b) is detected:
The amplifier discards the data which have been received up to that time, and returns to the
reception waiting state. No response message is returned.
It is recommended that the master monitors timeout after sending a query.
If an error of type (c) is detected:

The amplifier returns an exceptional response. It must confirm the content of the query according
to the exceptional code.
(2) Masters operation when an error is detected (recommended)

While the master is receiving a response message from an amplifier, if it has detected one of the
various errors, it is recommended to send the same query again (retry processing) after waiting for
T2 after the reception has been complete.
4. Communication time over

Communication time over is detected if any time other than 0.00 [sec] is set on PA2_95 (communication
time over).
If an amplifier has been in the state of waiting for receiving a message over the time specified by
PA2_95, a communication time over has occurred, and all the communication CONT signals
(CONT9-24) operated by the Modbus communications are set off.
When communication time over has occurred, the station number mode of the keypad is displayed as
follows (an example of station number 01):
Normal display of station number
Communication time over

Communication time over detected
(_ is displayed at the second leftmost digit.)
Even if communication time over has occurred, communications can be performed as usual. When the
amplifier receives a query from the master to the self station number or a broadcast query,
communication time over is cancelled, and the keypad returns to the normal display.
Master :
Amplifier :
Query
Response Reception waiting state
Query
13
T2
PA2-95 Displayed on keypad
Communication time over detected Cancel

Turn CONT9 to 24 OFF
If PA2_95 is set to 0.00 [sec], communication time over is not detected. Use this setting as needed, for
example, if the system communicates periodically and you wish to detect discontinuation of the
communications.

5. Communications example
5-1. Immediate value data operation
A Communications example for conducting positioning operation with immediate value data is
described.
Preparation
Select the positioning operation control mode.
PA1_01: Control mode selection =7: Positioning operation
Assign [START] to CONT9. PA3_09: CONT9 signal assignment =4: [START]
Assign [INP] to OUT6. PA3_56: OUT6 signal assignment =2: [INP]
Communications example
Turn on [S-ON] assigned to CONT1 to arrange the operation state, and perform communications
as shown below.
The example assumes a communications baud rate of 38400 [bps].
5[ms] 5[ms] 5[ms] 5[ms] 5[ms] 5[ms] 5[ms] 5[ms] 5[ms]

Query
Response
Immediate value data setting 1 Immediate value data setting 2
[START] OFF ON
[INP] ON OFF

operation 1
Speed
operation 2
(1) Write immediate value data setting 1 as immediate value data.

Setting 1: Designation method = ABS. Immediate value position = 500000 [unit amount].
Immediate value speed = 500.00 [r/min]
Query: 01 10 5100 0006 0C 00000000 0007A120 0000C350 D9EC (21 bytes)
Response: 01 10 5100 0006 50F7 (8 bytes)
(2) Write 1 (ON) to [START] to start positioning operation. (Immediate value data operation 1
based on immediate value data setting 1 starts.)
Query: 01 10 0000 0002 04 00000001 326F (13 bytes)
Response: 01 10 0000 0002 41C8 (8 bytes)
13 The detail timing at this time is shown below.

5[ms]
Query
Detection of time for 3 1.5[ms] Response

characters (38400[bps])
[START] 0.5[ms]
Speed 0.5[ms]

(3) Write 0 (OFF) to [START]. (This is to generate a rising edge in the next start.)
Query: 01 10 0000 0002 04 00000000 F3AF (13 bytes)
Response: 01 10 0000 0002 41C8 (8 bytes)
(4) Write immediate value data setting 2, which is for the next operation, as immediate value data.
The immediate value data operation follows the immediate value data read at the start (rising
edge of [START]). After operation is started, you can write the following setting as immediate
value data.
Setting 2: Immediate value position = -100000 [unit amount]. Immediate value speed =
200.00 [r/min]
Query: 01 10 5101 0004 08 FFFE7960 00004E20 667A (17 bytes)
Response: 01 10 5101 0004 80F6 (8 bytes)
(5) Read [INP] and check that immediate value data operation 1 is finished.
If [INP] is turned off, immediate value data operation 1 is in progress. (5) is repeated until [INP]
is turned on.
Query: 01 03 0100 0002 C5F7 (8 bytes)
Response: 01 03 04 0000 0000 FA33 (9 bytes)
If 1, [INP] is turned on.
Because immediate value data operation 1 is finished, the
process proceeds to step (6).
(6) Write 1 (ON) at [START] to start positioning operation. (Immediate value data operation 2
based on immediate value data setting 2 starts.)
Query: 01 10 0000 0002 04 00000001 326F (13 bytes)
Response: 01 10 0000 0002 41C8 (8 bytes)
(7) Write 0 (OFF) at [START]. (This is to generate a rising edge at the next start.)
Query: 01 10 0000 0002 04 00000000 F3AF (13 bytes)
Response: 01 10 0000 0002 41C8 (8 bytes)
(8) Read [INP] and check that immediate value data operation 2 is finished.
If [INP] is OFF, immediate value data operation 1 is in progress. Repeat step (8) until [INP] is
turned on.
Query: 01 03 0100 0002 C5F7 (8 bytes)
Response: 01 03 04 0000 0000 FA33 (9 bytes) 13
If 1, [INP] is turned on.
Immediate value data operation 1 is finished.

5-2. Monitoring cycle

A communications cycle example for writing the CONT signal to read monitored data is shown as
a communication method for starting operation and monitoring the state. The example assumes a
communications baud rate of 38400 [bps] and 11-bit characters.
Master Amplifier
Communication CONT signal write

3.7 [ms]
01 10 0000 0002 04 0000**** **** (13 bytes)
5 [ms]
2.3 [ms]
01 10 0000 0002 41C8 (8 bytes)
5 [ms] Cycle
32 [ms]
Monitor data read (2 pcs.)
2.3 [ms]
01 03 1006 0004 A0C8 (8 bytes)
5 [ms]
3.7 [ms]
01 03 08 ******** ~ **** (13 bytes)
5 [ms]
Communication CONT signal write

3.7 [ms]
01 10 0000 0002 04 0000**** **** (13 bytes)
5 [ms]
2.3 [ms]
01 10 0000 0002 41C8 (8 bytes)
5 [ms]
13

13.2 PC Loader Communications

The transmission and reception commands of the RYT5-VV2 type servo amplifier are
described in details.
The RYT5-VV2 type servo amplifier is capable of reading data and writing parameters via serial
communications.
13.2.1 Station Number
The station number to the servo amplifier (parameter PA2_72: station number) setting determines the
station number of the message. After changing the parameter, by shutting down and turning on the
power, the station number will be enabled.
13.2.2 Communication Specifications
RS-485 Communications
RS485 Communication Specifications
Specification
Item Specifications
Specification
Signal level RS485
RS-485
Synchronization method Asynchronous, no protocol
Communication method 4-wire type, semi-duplex communication
Transmission speed 9600/19200/38400bps (Set at parameter PA2_72.)
Transmission code 8 bits
Start bit: 1 bit

Transmission Data bit: 8 bits
configuration Parity bit: 1 bit (even)
Stop bit: 1 bit
Transmission control Transparent mode (No separation with DLE character)

Error control Check sum
Transmission length Reception 128 bytes, transmission 128 bytes (max.)
One-to-n communications (1n1)
communication (1n31)
The servo amplifier

amplifier functions
functionsas
asaaslave
slaveand
andresponds
respondstotomaster
mastercommands.
commands.
No communications
communication isare made
made betweenslaves.
between slaves.
Transmission format
Master
Master
(General-purpose
(General-purpose PC)
PC)
(General-purposecommunications)
(General-purpose communication)
Slave 1 Slave 2 Slave 3 Slave 31

13
Total wiring length 500m
Station No. 1 to 31 (Set at PA2_73.)
Connection cable LAN cable (straight) or equivalent
Terminator treatment On master side: 100 [] recommended. Slave side: Unnecessary
Operation command: Within 100ms

Response time
Data (parameter) transfer: Within 100ms
* Some pieces of software do not allow eight data bits and a stop bit simultaneously.
PC Loader Communications 13-23

13.2.3 Transmission Protocol
Transmission format
Description Transmission command Reception command
Order
(Hexadecimal value) (From host to amplifier) (From amplifier to host)
(1) Start code 5A 5A
(2) Count of No. of pieces of data No. of pieces of data No. of pieces of data
(3) Fixed value used by system 00 00
(4) Process status FF 00
(5) Connection method 7A 7A
00: Fixed 00: Fixed
(6) Amplifier station No. Station number of target
amplifier Amplifier station No.
11 11
00 00
Fixed value used by FF FF
(7)
system FF FF
FF FF
FF FF
(8) CMND As per command As per command
(9) MODE 00 00
(10) End data 00 00
(11) Sequence No. 01 01
No. of pieces of data of No. of pieces of data of
(12) Data section count data section data section
(13) Fixed value used by system 00 00
Memory type Memory type
Address (L) Address (L)
Address (M) Address (M)
Address (H) Address (H)
No. of loaded or written No. of loaded or written
(14) Data section bytes bytes
00 00
STR1
As per command STR2
As per command
(15) BCC Calculated BCC Calculated BCC
13
*1: The range of calculation of the BCC is from (2) to (14).
*2: The range of counting of the number of data pieces is from (4) to (15).
13-24 PC Loader Communications

13.2.4 Description of Transmission Data
Transmission code
Item Description (Hex.) Function
Start code 5AH (Fixed) Start code

Count of No. of pieces of Byte counter
data XXH (Variable) Enter the number of bytes from the process status to BCC.
Fixed value used by 00H (Fixed)

system or Enter the value specified in the transmission format table.
XXH (Fixed)
Process status 00H or FFH 0xFF for a request command, or 0x00 for a response command.
Connection method 7AH (Fixed)
Station No. of amplifier

01H to 1FH Station number
(Variable) Enter the station number identifying the servo amplifier (1 to 31).
CMND XXH (Variable) Designate the command given to the servo amplifier.
MODE 00H (Fixed)
End data 00H (Fixed)
Sequence No. 01H (Fixed)
Count of data section XXH (Variable) Enter the number of bytes of data section. Max. 108 bytes.
Data section XXH (Variable) Enter the value of each command.

Check sum
BCC XXH (Variable) 0x00 - (sum of number of bytes from data number count to data section)
13.2.5 Status Data
Status data (STR1, STR2)

Bit
Code Function Description
position
7 Command acceptance 0: Accepted. 1: Not accepted
6 Data error 0: None. 1: Yes
5 Transmission error 0: None. 1: Yes
4 Not used 0: Fixed

STR1
0: Initialization finished.
3 Completion of power-on initialization 1: Being initialized
2 ONLINE/OFFLINE 0: ONLINE,1: OFFLINE
1 In-position 0: Moving. 1: Motion finished
0 Alarm detection 0: None. 1: Yes

0: Uncertain
STR2 7 to 0 Not used (Area used by manufacturer)
Bit position (STR1)
7 0
0
Alarm detection
In-position
13
ONLINE/OFFLINE
Completion of power-on initialization
(Not used)
Transmission error
Data error
Command acceptance

13.2.6 Command List
Command list
Data section
No. Function CMND

Memory type Address (L) Address (M) Address (H)
Monitor relations
01 Data readout with multiple 50H 01H 00H 00H 04H

monitors
Sequence monitor relations
02 Sequence mode readout 01H
03 System status readout 04H
04 Alarm at present readout 50H 02H 00H 00H 10H
05 Alarm history readout 11H
06 Sequence I/O signal readout 12H
Parameter editing relations
07 PA1 parameter readout 50H 00H

Quantity No.
21H
(1 to 15) (1 to 99)
08 PA1 parameter write 51H 01H

Quantity No.
22H (1 to 15) (1 to 99)

Quantity No.
23H (1 to 15) (1 to 99)
Operation command relations
13 Alarm reset 01H 17H

51H 08H 00H
14 Alarm history Initialization 01H 23H
13.2.7 Command Transmission Specifications
The message exchanged between the host and amplifier is categorized into the following two types:
13 Request command: Message sent from host to amplifier

Response command: Message sent from amplifier to host
Communication is not made between amplifiers.

13.2.8 Communications Starting Procedure
The amplifier does not respond to the host until power is turned on and the internal initialization process
is finished. Conduct the following procedure at power-on, and then start regular communications.
(1) After the amplifier is turned on, wait for about 1.5 [s].
(2) The host issues any command and checks if the amplifier responds.
At the time, the "status data (STR1)" in the response data is checked if "completion of power-on
initialization (bit 3)" is 0 (OFF). If the bit is 1 (ON), initialization is in progress.
13.2.9 Regular Communications Procedure
(1) The host sends a request command to the amplifier.

(2) When receiving a request command, the amplifier processes the requested command and sends
back a response command.
The host sends the next request command after checking the response command. Do not send
the request command without checking the response command.
(3) The amplifier is constantly in command state from the host unless process (2) is in progress.
[Example of processing procedure upon an error for improvement of reliability]

(1) Transmission error at physical or character level (detected by amplifier)
If a transmission error at the physical or character level (such as a parity error) is caused during
reception of a request command sent from the host, the amplifier does not send back the response
command (considered as nonresponse).
If there is no response from the amplifier, the host should send the same request command again.
y The timer for judging absence of response (time-out) is counted after transmission of the
request command is finished.
y Time-out period shall be as below according to the transmission speed.
Parameter interrupt command Other commands
38400 [bps]: 250 [ms] or over 100 [ms] or over
y The retry frequency depends on each application, but recommend being more than twice.
(2) Transmission error at physical or character level (detected by host)
If there is a transmission error at the physical or character level during reception of a response
command from an amplifier, the host should send the same request command again.
y Re-transmission should be performed after the following timing after the transmission error.
38400 [bps]: 50 [ms] or over
13
19200 [bps]: 100 [ms] or over
9600 [bps]: 200 [ms] or over
y The retry frequency depends on each application, but recommend being more than twice.

13.2.10 Protocol Level Error
If an error (data error) is found in the protocol, the amplifier does not process the requested command
but it sends error data in "status data (STR1)" of the response command.
For the description of STR1, refer to "13.2.5 Status Data."
It is recommended to check error data during development of host application software.
Debug the protocol according to the error data.
The data error is caused if there is an error in the request command data (header, BCC, setting
range of parameter data, etc.). Correct data.
A command reception error is caused if parameter writing is attempted in the parameter write
protection state. Check the setting of parameter PA2_74 (parameter write protection).
In the LV (under-voltage) state, memory access to the amplifier is limited and command acceptance
may be rejected if parameter reading or writing or alarm history reading is attempted. Check the
power supply state.
13

13.2.11 Wiring (CN3)
Connect to the host controller with marketed LAN cable.

Connect between the host (master) and servo amplifier (slave) so that the output of the host controller
becomes the input of the servo amplifier.
Connect between a servo amplifier (slave) and another servo amplifier (slave) with a straight cable.
The connector is RJ-45 (8 pins). No termination is necessary.
Up to 31 servo amplifiers can be connected.
No terminal
Host resistor is
controller needed.
Pin layout of connector
IN port (CN3A) OUT port(CN3B)

8 P5 8 N.C.
7 M5(0V) 7 M5(0V)
6 *TXD 6 *TXD
5 RXD 5 RXD
4 *RXD 4 *RXD
3 TXD 3 TXD
2
1
M5(0V)
P5
2
1
M5(0V)
N.C.
13
(Upper side) (Lower side)

Standard connection diagram

0.75 [kW] or less
Connect the external braking

resistor across RB1 and RB2.
Commercial power supply: In P1 P(+) N(-) RB1 RB2 RB3
(Remove the jumper wire from RB2
case of single-phase input, TB2 and RB3.)
connect to the L1 and L2 TB1
TB3
terminals.
L1C
U 1 U
L2C
V 2 V
L1
W 3 W
L2
4
L3
DC24V 1 Br
(2)
DC24V 2 Br
CN4 CN2
USB-B
P5 1 7 P5
M5 2 8 M5
CN3A(IN) SIG-
SIG+ 5 5 SIG+
SIG-
SIG+
SIG- 6 4 SIG+
SIG-
RS-485
RS485 BAT+ 3 1 BAT+
BAT- 4 2 BAT-
M5
3 FG
CN3B(OUT) *
CN6
Servomotor
RS485
RS-485 MON1 1 GYS/GYC type
M5 3 3000 [r/min] rating
MON2 2 (0.75 [kW] or less)
CN1 M5 4
* Shield wire on the servo
11 P10 amplifier connects to the
FFA 31
17 NREF connector shell .
*FFA 32
FFB 29
15 TREF
*FFB 30
13 M5
FFZ 27
*FFZ 28
12 PPI
FZ 10
35 CA
M5 9
36 *CA
MON1 16
33 CB
MON2 14
34 *CB
M5 18
*
OUT1 5
13
20 COMIN
OUT2 6
21 CONT1
OUT3 26
22 CONT2
OUT4 7
1 CONT3
OUT5 8
2 CONT4
COMOUT 19
3 CONT5
Servo amplifier
4 CONT6 CN5 RYT-VV type
23 CONT7 3000 [r/min] rating
BAT+ 2
24 CONT8 BAT- 1 (0.75 [kW] or less)

13.2.12 Communication
Reading multi-monitor data

The designated multi-monitor data is read in hexadecimals.
The number of monitor data read at a time is four.
CMND 50H
Sent from host controller Sent from servo amplifier

DATA
7 0 7 0
(n)
Memory type 01H Memory type 01H
Address (L) 00H Address (L) 00H
Address (M) 00H Address (M) 00H
Address (H) 04H Address (H) 04H
Number of loaded Number of loaded
bytes 16H bytes Same as request
Dummy 00H Dummy 00H
Data 1 designation BCD (See below.) STR1
Status data
Data 2 designation BCD (See below.) STR2
Data 3 designation BCD (See below.) Data 1 designation 00H
Same as request
Data 4 designation BCD (See below.) Data 2 designation Same as request
Data 3 designation Same as request
Data 4 designation Same as request
LL
LH
Code Monitor name Code Monitor name Monitor data 1
HL
00 H No designation 15 H DC link voltage (max.)
HH
01 H Feedback speed 16 H DC link voltage (min.) LL
02 H Command speed 17 H VREF input voltage LH
Monitor data 2
03 H Command torque 18 H TREF input voltage HL
04 H Peak torque 19 H OL thermal value HH
05 H Motor current 20 H Braking resistor thermal value LL
LH
06 H Effective torque 21 H Power Monitor data 3
HL
07 H Feedback position 22 H Motor temperature
HH
08 H Command position 23 H Overshoot unit amount
LL
09 H Position deviation 24 H Settling time LH
Monitor data 4
10 H Command Pulse frequency 25 H Resonance frequency 1 HL
11 H Feedback cumulative pulse 26 H Resonance frequency 2 HH
Command cumulative pulse
For manufacturer Reserved
12 H
13 H LS-Z pulse
14 H Load inertia ratio
13
For details of monitor data, refer to the next page.

Details of monitor data

Data
No. Monitor data Max. value
(32-bit long binary)
1 Feedback speed 3000 [r/min]/3000H Max. rotation speed
2 Command speed 1.1
3 Command torque 300 [%]/1FFFH 300%
4 Peak torque
5 Motor current
6 Effective torque
7 Feedback position 1 [unit amount] / 1H *2
8 Command position
9 Position deviation 1 [selection unit (*1)]/ 1H *2
10 Command pulse frequency 0.1 [kHz]/1H 1 [MHz]
11 Feedback cumulative pulses 1 [pulse]/1H *2
12 Cumulative input pulses
13 LS-Z pulse 1 [pulse]/1H Encoder pulse [pulse]
14 Load inertia ratio 1 [time] / 100H 300 [times]
15 DC link voltage (max.) 550 [V]/3FFH 550 [V]
16 DC link voltage (min.)
17 VREF input voltage 10.6765 [V]/7080H 12 [V]
18 TREF input voltage 10.6765 [V]/1FFFH
19 OL thermal value 100 [%]/1000H 100% (trip level)
Regenerative resistor thermal
20
value
21 Power Wattage 300 [%]/1FFFH 300 [%]
22 Motor temperature 1 [C]/4H 100 [C]
23 Overshoot unit amount 1 [selection unit (*1)] /1H *2
24 Settling time 0.1 [ms]/1H 100.0 [ms]
25 Resonance frequency 1 10 [Hz]/1H 4000 [Hz]
26 Resonance frequency 2
*1 The unit depends on that designated with PA1_31 (deviation unit selection).
*2 The data range is from -2147483648 to +2147483647.
(In signed hexadecimal notation, from 80000000h to 7FFFFFFFh)
If the range is exceeded, the count cycles are as shown below.
+2147483647
Decrease Increase
-1 0 +1
13 Decrease Increase
-2147483648

Sequence mode readout
CMND 50H

DATA
7 0 7 0
(n)
bytes 05H bytes 05H
Dummy 00H Dummy 00H
STR1
Status data
STR2
Control mode See the table below.
Action mode See the table below.
Sub mode 00H
Code Control mode

00H Position control
01H Speed control
02H Torque control
Code Sequence mode

00H Servo OFF
01H Servo ON
02H Zero speed stop
03H Manual feed
Pulse train/
04H Position command operation
05H +OT
06H -OT
07H Under voltage
08H Positioning
09H Homing
0AH Interrupt positioning
13

System status readout
CMND 50H

DATA
7 0 7 0
(n)
Number of loaded
bytes 11H Number of loaded bytes 11H
Dummy 00H Dummy 00H
STR1
Status data
STR2
Dummy 00H
Amplifier type See below.
ALPHA5 identification 30H
Amplifier rating 20H
See the table below.
<Amplifier-related data> Amplifier voltage See the table below.

<Motor-related data>
Amplifier capacity See the table below.
Code Amplifier type Code Motor type Amplifier ZNO. BCD

00H V type Motor type See the table below.
00H GYC 5000
Motor voltage See the table below.
01H GYS 5000
Motor capacity See the table below.
Amplifier rating 03H GYC 6000
Code Encoder model See the table below.
(r/min) 05H GYS 6000
00H 3000 06H GYG 2000 I/F 00H
01H 2000 07H GYG 1500
02H 1500
Amplifier voltage Code Motor voltage (V)

Code (V)
00H 200
00H 200 02H 100
02H 100
Motor, amplifier capacity [W] Motor, amplifier capacity [W]

Code
(GYS,GYC) (GYG)
00H - 500 <Encoder-related data>
01H 50 750
02H 100 850 Code Motor type
03H 200 1000 06H 18bit ABS
04H 400 1300 07H 20bit INC
05H 750 1500
06H 1000 1800
07H 1500 2000
08H 2000 2900
09H 3000 -
0AH 4000 -
0BH 5000 -
13

Alarm at present readout
CMND 50H
DATA
7 0 7 0
(n)
Number of loaded Number of readed
bytes 0AH bytes 0AH
Dummy 00H Dummy 00H
STR1
Status data
STR2
(L)
Alarm code
(H)
Total time-main (L)
power supply
(H)
Total time-control (L)
power supply
(H)
<Alarm-related data> Motor running time
(L)
(H)
Code Symbol Name
00H

(No detection)

01H oc1 Overcurrent 1
03H oS Overspeed
04H Lvc Control power undervoltage
05H Hv Overvoltage
06H Et1 Encoder trouble 1
07H Et2 Encoder trouble 2
08H ct Circuit trouble
09H dE Memory error
0AH Fb Fuse broken
0BH cE Motor Combination error
0CH tH Braking transistor overheat
0DH Ec Encoder communication error
0EH ctE CONT (control signal) error
0FH oL1 Overload 1
10H oL2 Overload 2
21H LvP Main power undervoltage
22H rH1 Internal braking resistor overheat
23H rH2 External braking resistor overheat
24H rH3 Braking transistor error

25H oF Deviation overflow
26H AH Amplifier overheat
27H EH Encoder overheat
28H
29H
2AH
dL1
dL2
dL3
Absolute data lost 1
13
2BH AF Multi-turn data over flow
2CH IE Initial error
2DH HF Command pulse frequency error

Alarm history readout

CMND 50H
DATA
7 0 7 0
(n) Memory type
Memory type 02H 02H
Address (L) Quantity (01 to 02H) Address (L) Quantity (01 to 10H)
Address (M) Starting No. (01 to 20H) Address (M) No. (01 to 20H)
bytes (L)
bytes (L) (Quantity 32) + 2 Number of loaded (Quantity 32) + 2
Number of loaded
bytes (H) bytes (H)
STR1
Status data
STR2
Designate addresses (L) and (M) in a BCD.
(L)
Alarm code
(H)
Total time-main (L)
<Alarm-related data> power supply (H)
Code Symbol Name Cumulative excitation (L)

time of control circuit (H)
00H

(No detection)

01H oc1 Overcurrent 1 Motor running (L)
time (H)
03H oS Overspeed (L)
Feedback speed
Alarm history of (H)
04H Lvc Control power undervoltage
designated Feedback speed (L)
05H Hv Overvoltage
number (5ms before) (H)
06H Et1 Encoder trouble 1 (32 bytes)
07H Et2 Encoder trouble 2 Command (L)
speed (H)
08H ct Circuit trouble
09H dE Memory error Command (L)
torque (H)
0AH Fb Fuse broken
0BH cE Motor Combination error (L)
Motor current
(H)
0CH tH Braking transistor overheat
0DH Ec Encoder communication error (L)
Effective torque
(H)
0EH ctE CONT (control signal) error
0FH oL1 Overload 1 (L)
DC link voltage
(H)
10H oL2 Overload 2
21H LvP Main power undervoltage (L)
EC error count
(H)
22H rH1 Internal braking resistor overheat
23H rH2 External braking resistor overheat Command position (L)

(high order word) (H)
24H rH3 Braking transistor error
25H oF Deviation overflow Command position (L)
(low order word) (H)
26H AH Amplifier overheat
27H EH Encoder overheat (L)
Sequence mode
28H dL1 Absolute data lost 1 (H)
29H dL2 Absolute data lost 2 Alarm history of 00H
Dummy
2AH dL3 Absolute data lost 3 designated 00H
2BH AF Multi-turn data over flow number by
2CH IE Initial error designated
quantity (32 bytes)
2DH HF Command pulse frequency error
13

Sequence I/O signal readout
CMND 50H

DATA
7 0 7 0
(n)
Number of loaded
bytes 0AH Number of loaded
bytes
0AH
Dummy 00H Dummy 00H
STR1
Status data
STR2
7 0
Input signal See the figure on the left.
Input signal Dummy 00H
CONT1
Dummy 00H
Dummy 00H
CONT2
Output signal See the figure on the left.
CONT3
Dummy 00H
CONT4
CONT5
Dummy 00H
Dummy 00H
CONT6
CONT7
CONT8
7 0
Output signal 0
OUT1
OUT2
OUT3
OUT4
OUT5
(Not used)
(Not used)
(Not used)
13

Parameter readout
CMND 50H
Sent from host controller

DATA
7 0
(n)
Memory type See the table below.
Address (L) Quantity (01H to 15H)
Address (M) No.(01H to 99H)
Address (H) 00H Sent from servo amplifier
Number of readed
out bytes (L) (Designated No. x 6) + 2
Number of readed
out bytes (H)
00H 7 0
Memory type See the table on the left.
* Designate addresses (L) and (M) in a BCD. Address (L) Quantity (01H to 4H)
Example: 49 49H, 50 50H Address (M) No.(01H to 99H)
Address (H) 00H
Number of readed out
Memory type Parameter bytes (L) (Designated No.
x 6) + 2
Number of readed out
21H PA1_ bytes (H) 00H
22H PA2_ STR1
Status data
23H PA3_ STR2
Parameter of
designated No.
Parameter of designated No. (6 bytes)
7 0
0 0
Data sign Parameter of
(Decimal point position)
0: +, 1: - designated No. + 1
Data status
0: Normal. 1: Memory error
(10th digit) (9th digit)
Parameter of designated
(8th digit) (7th digit) No. + Designated
quantity - 1
(4th digit) (3rd digit)
(2nd digit) (1st digit)
13
* The data is a 10-digit BCD.

Parameter write
CMND 51H

DATA
7 0 7 0
(n) Memory type
Memory type See the table below. See the table below.
Address (L) Quantity (01H to 15H) Address (L) Quantity (01H to 15H)
Address (M) No.(01H to 99H) Address (M) No.(01H to 99H)
No. of written bytes (L) (Designated No. x 6) No. of written bytes (L) (Designated No. x 6)
No. of written bytes (H) 00H No. of written bytes (H) 00H
STR1
Status data
STR2
Parameter of
designated No.
* If the entire data is correct, the data of the
designated quantity is written.
If an error is found, the following data is not
written.
Bit 6 of STR1 (data error) is turned on and the
Parameter of number of data pieces actually written is sent
designated No. back.
+1
Parameter of designated No. (6 bytes)
7 0
0 0 0
Parameter of Data sign
designated No. (Decimal point position)
0: +, 1: -
+ Designated
quantity - 1
* Designate addresses (L) and (M) in a BCD. (8th digit) (7th digit)
Example: 49 49H, 50 50H

Memory type Parameter
21H PA1_
22H PA2_ (4th digit) (3rd digit)
23H PA3_
(2nd digit) (1st digit)
* The data is a 10-digit BCD.
13

Alarm reset
CMND 51H

DATA
7 0 7 0
(n)
No. of written No. of written
bytes
00H bytes
00H
Dummy 00H Dummy 00H
STR1
Status data
STR2
Alarm history initialization
CMND 51H

DATA
7 0 7 0
(n)
No. of written No. of written
bytes
00H bytes
00H
Dummy 00H Dummy 00H
STR1
Status data
STR2
13

CHAPTER 14 PC LOADER 14
14-1
CHAPTER 14 PC LOADER
14.1 Operating Environment
To run PC Loader, a PC having the following environment is necessary.

Operating system
Windows 2000 Professional (Service Pack 4 or later)
Windows XP Professional (Service Pack 1 or later)
Windows XP Home Edition (Service Pack 1 or later)
CPU
Pentium 133MHz or faster (Windows 2000 Professional)
Pentium 300MHz or faster (Windows XP Professional, Windows XP Home Edition)
Memory environment
64 [MB] or more (Windows 2000 Professional)
128 [MB] or more (Windows XP Professional, Windows XP Home Edition)
Display
Windows-compatible display having XGA (1024 x 768 [pixels]) or better resolution
Free space of hard disk
80 [MB] minimum
14.2 Installation Method
Before starting installation, exit from Message Manager (MM) (see page 14-8).
[1] Run the ALPHA5 PC Loader setup program.

Click setup.exe.
[2] The installation preparation screen is displayed.

Click "Next "
14
14-2 Operating Environment

[3] The ALPHA5 PC Loader software license agreement is

displayed.
Carefully read the license agreement.
To accept, click "I accept the terms in the license
agreement " then "Next ."
[4] Enter user information.

Enter the user name and the division you belong to.
Designate the user of the PC Loader.
After entering and selecting, click "Next ."
[5] The installation preparation start screen is displayed.

Click "Install ."
File copying begins.
[6] The installation end screen is displayed.

Click "Finish " to finish installation.
14
Installation Method 14-3

Procedure of USB hardware search wizard

For Windows XP
[1] Using a USB cable, connect the PC with the amplifier.
Turn the amplifier on. The PC recognizes the amplifier as
a USB device.
Install the ALPHA5 USB driver.
Select "Install from a list or specific location (Advanced)"
and click "Next."
[2] Select the USB driver file.
Select "Search for the best driver in these locations " and
place a check mark at "Include this location in the search ."
Click the "Browse" button and select the USB driver.
[3] Select the folder containing the driver file.
The USB driver is copied in the folder* where PC Loader is

installed.
* C: \Program Files\ALPHA5\Driver
Select the folder and click "OK."
14
14-4 Installation Method

[4] The folder is designated.

Click "Next" to start to install the driver.
[5] Select the SxUsb.sys file.

Click the "Browse " button to open the browse screen.
The SxUsb.sys file is found in the following folder in the
default state.
C:\Program Files\ALPHA5\Driver\Win2000
[6] Select the SxUsb.sys file and click the "Open" button.
[7] "Copy from " is designated.

Click the "OK" button.
[8] The file is copied and the completion screen is

displayed.
Click the "Finish" button to exit from driver installation.

14

For Windows 2000
[1] Using a USB cable, connect the PC with the amplifier.
Turn the amplifier on. The PC recognizes the amplifier

as a USB device.
Install the ALPHA5 USB driver.
[2] Select "Search for a suitable driver for my device

(recommended) " and click "Next ."
[3] Designate the location of the driver file.
Select "Specify a location " and click "Next ."
14

[4] Select the driver file.

Click the "Browse " button to open the file
selection screen.
The USB driver is copied in the folder* where the
PC Loader is installed.
* C: \Program Files\ALPHA5\Driver
[5] Select the SxUsb.inf file and click "OK."
[6] Click "Next " to start to install the driver.
[7] The file is copied and the completion screen is

displayed.
Click the "Finish" button to exit from installation
of the driver.
14

On Message Manager (MM)

Message Manager (hereinafter referred to as "MM") controls the communications port when
multiple pieces of loader software run. It automatically runs after ALPHA5 PC Loader is launched.
Keep MM running during operation of ALPHA5 PC Loader.
If the PC Loader for the following Fuji Electric FA's products is used, the MM controlling the
communications function of the PC is launched in addition to the loader software of the
corresponding device. If the version of the loader of each device is applicable to the one shown in
the following table, terminate MM and launch ALPHA5 PC Loader. The version of the MM of the
PC Loader found in the following list is too early to allow operation of ALPHA5 PC Loader.
If the ALPHA5 PC Loader is launched first, the PC Loader in the following list can be used.
(As of November 2007)
Applicable Applicable
Name and model of loader Version
device model
SX Programmer Expert (D300winVer2) All versions
/ NP4H-SEDBV2
SX Programmer Expert (D300winVer3) V3.3.4.* or earlier
Fuji's integral / NP4H-SEDBV3
MICREX-SX
controller SX Programmer Standard V2.2.3.* or earlier
/ NP4H-SWN
SX communications middle ware All versions
/ NP4N-MDLW
FRENIC-Mini The FRENIC Loader Ver.2.1.0.0
Fuji's inverter FRENIC-Eco
FRENIC-Multi FRENIC Loader Ver.4.1.0.0
"*" indicates a number.
Look at the Windows task bar to check whether the MM runs or not.
Follow the procedure below to terminate MM (description is for the right handed mouse).
[1] Move the mouse cursor to the MM icon and click the right mouse button. "Exit Message Manager"
is displayed.
[2] Move the mouse cursor to "Exit Message Manager" and click the left mouse button. The
termination confirmation screen is displayed. Move the mouse cursor to "Yes" and click the left
mouse button.
14
[3] MM is terminated and the icon disappears from the task bar.

14.3 Function List
After the PC Loader is launched, the wizard Menu [General] shown below is displayed.
Real time trace

The speed, torque waveform and so on can be obtained easily with a single click.
Historical trace
Enter trigger settings to obtain waveforms in more details than those obtained with real time trace.
Monitor
Monitor [I/O check], [Various numerical data], [Alarm history], [Warning/Forecast monitor],
[Automatic vibration suppressing monitor], or [System configuration].
Edit Parameters
Parameters can be edited, transferred, compared or initialized.
Communication setup
Set up communication conditions between the servo amplifier and PC.
Test running
Various test operations can be conducted independently between the servo amplifier and
servomotor.
Servo analyze
The resonance point and anti resonance point of the mechanical system are located.
For the description of buttons provided on each screen, refer to the Help of PC Loader. 14
Function List 14-9

14.4 Use Method at Setting Up
When setting up the equipment, follow the procedure below for smoother work.
Step Description Items to be confirmed Operation of PC Loader

[1] Operate the Perform manual operation Select Test Operation Manual Operation.
discrete motor [JOG] to check if the motor
to check if the operates according to
motor commands.
functions
correctly.
Use real time trace to check the motion waveform.
<Acquired waveform (reference)>

Ch1: Command speed (analog)
Ch2: Feedback speed (analog)
Ch3: Command torque (analog)
[2] Connect with Perform I/O check. Perform I/O monitor in the monitor mode to check.
the host If necessary, perform forced
controller and OUT signal output and forced
perform motion pulse output.
to check if the
sequence
program
functions
correctly.
Give commands from the host Use digital monitor in the monitor mode to check the
and check for motions. command pulse frequency and command cumulative
pulses.
[3] Install the motor Operate the motor in the final Use real time trace to check the motion waveform.
to the machine state to check for faults in the
and operate to motion.
check if the <Acquired waveform (reference)>
14
Ch1: Command pulse frequency
mechanical (analog)
equipment Ch2: Position deviation (analog)
functions Ch3: Command torque (analog)
Ch4: INPOS (digital)
correctly.
14-10 Use Method at Setting Up

14.5 Detail Description of Function
14.5.1 Real-Time Trace
Servomotor motion waveforms are drawn. Data of Relationship between sampling time and tracing
about 60000 points can be acquired continuously. time
Sampling time [ms] Tracing time [s]
The trace is automatically terminated when the
1 60
limit of 60000 points is exceeded. 2 120
5 300
Select the desired waveform and press the 10 600
20 1200
"START/STOP" button to acquire the waveform.
50 3000
100 6000
200 12000
[Example of real time trace screen]
You can show the interval between two points, overlap waveforms, perform FFT analysis, copy the
screen, show parameter data of the acquired waveform, save the waveform (in a CSV file), or do other
things.
Tabs
14
Buttons For detail description of each tab and button,
refer to the Help of PC Loader.
Detail Description of Function 14-11

Tracing procedure
[1] Select the desired waveform.
[2] Select the sampling time.
[3] Press the "START/STOP" button to start to trace.
[4] Press the "START/STOP" button to stop tracing.
Waveform that can be acquired

Up to eight channels* of analog or digital signals can be acquired.
Waveforms that can be acquired are shown below. (All digital I/O signals can be traced.)
* Up to four analog signals can be acquired. If four analog signals are selected, no more digital
signals are acquired.
[Example of analog signal selection screen] [Example of digital signal selection screen]
14
14-12 Detail Description of Function

14.5.2 Historical Trace
The motion waveform of the servomotor is drawn. Relationship between sampling time and
Data of 500 points is acquired. tracing time
Sampling time [ms] Tracing time [s]
Enter trigger settings to acquire the local waveform 0.125 0.0625
to be observed. 0.250 0.125
0.500 0.25
1 0.5
2 1
5 2.5
10 5
20 10
50 25
100 50
200 100
[Historical trace screen]
You can show the interval between two points, overlap waveforms, perform FFT analysis, re-load the
waveform, copy the screen, show parameter data of the acquired waveform, save the waveform (in a
CSV file), or do other things.
Tabs
14
Buttons For detail description of each tab and
button, refer to the Help of PC Loader.

Tracing procedure
[1] Select the desired waveform.
[2] Enter trigger conditions.
[3] Select the sampling time.
[4] Enter the trace number starting at the trigger position.
[5] Press the "START/STOP" button to start to trace.
If trigger conditions are satisfied, the waveform is acquired and the procedure is automatically
stopped.
Waveform that can be acquired

Same as that of real time trace
Trigger setting
Both analog and digital waveforms can be used for the trigger setting*.
* The trigger setting is only for the single channel.
Analog trigger setting Digital trigger setting
14

Example of setting method for measurement of waveform in stoppage

(1) 3 analog waveforms (command speed, position deviation and command torque)
1 digital waveform (in-position (INP))
(2) Select "Use at edge" as a digital trigger signal of the digital waveform (in-position (INP)).
(3) Set the sampling time at "1ms."
(4) Set the trace count from the trigger position at 250.
After entering above, press the "START/STOP" button to start to trace.
(2)
(1)
(3)
(4)
Select [Monitor] [Digital monitor] to show the overshoot unit amount and settling time
at real time.
14

14.5.3 Monitor
The state of the servo amplifier and servomotor is monitored.

Item Description Screen example
Check the ON/OFF status of

I/O monitor
the digital I/O signal.
Monitor various pieces of data*

during operation (the data is
not saved).
Digital
monitor
* Data that can be monitored in
the monitor mode of the
keypad
The history (incl.

accompanying data*) of past
20 alarms is displayed.
Alarm history
monitor
* Feedback speed at alarm,
torque command, DC link
voltage, etc.
Warning/ The warnings and forecasts

Forecast indicated at the servo amplifier
monitor are displayed.
Automatic
The state of learning of
vibration
automatic vibration
suppressing
suppressing is displayed.
monitor
14 System
monitor
The model of the connected
servo amplifier and servomotor
is displayed.

14.5.4 Parameter Editing
Servo amplifier parameters are edited.
(1) (2) (3) (4) (5) (6)
The following functions can be used on this screen.

(1) Reload
Parameters are read out from the connected servo amplifier.
(2) Send changes
Changed parameters are sent to the connected servo amplifier.
(3) Send all
All parameters are sent to the connected servo amplifier.
(4) Comparison
The edited parameters are compared with those of the connected servo amplifier or those having
been saved in a file.
(5) Initialization
Currently edited parameters or those of the connected servo amplifier* are reset to default values.
* This function can be executed only while the servo is turned off. After initializing, turn the servo
amplifier off then on again.
(6) File information
Data about currently edited parameter file. The type, date, comment and so on of the servo
amplifier and servomotor connected at the time of loading can be monitored.
Send parameters ((2) and (3)) while the servomotor is stopped to make sure of safety.
Otherwise movement characteristics may change, possibly giving damage to equipment. 14

Automatic calculation of electronic gear

Press the "Mechanical settings calulation" button at [PA1: Basic setting] to open a special window.
Enter specifications of each mechanical system to automatically calculate the electronic gear.
Automatic calculation of workpiece inertia ratio

Press the "Enter vibration suppressing resonance frequency" at [PA1: Control gain and filter
setting] and enter the anti resonance frequency and resonance frequency* to automatically
calculate the workpiece inertia ratio.
* The resonance frequency is not the one suppressed with the notch filter.
Perform servo analyze to check this resonance frequency.
This resonance frequency appears as a set with the anti resonance frequency, and the value is
about twice the anti resonance frequency.
[Example of resonance frequency]

Gain
Resonance frequency: about 90Hz
14 Anti-resonance frequency: about 45Hz
Frequency [Hz]

14.5.5 Positioning Data Edit
Positioning data are registered to the servo amplifier.

Launch the screen by selecting [Menu] [Positioning data edit].
(1) (2x (3) (4) (5) (6)
The following functions can be used on this screen.

(1) Reload
Positioning data are read out from the connected servo amplifier.
(2) Send changes
Changed positioning data are sent to the connected servo amplifier.
(3) Send all
All positioning data are sent to the connected servo amplifier.
(4) Comparison
Currently edited parameters are compared with those of the connected servo amplifier or those
having been saved in a file.
14
(5) Initialization
Currently edited parameters or those of the connected servo amplifier* are reset to default values.
(6) File information
Data about currently edited parameters file. The type, date, comment and so on of the servo
amplifier and servomotor connected at the time of loading can be monitored.
Refer to the Loader help for explanation of other buttons.

14.5.6 Test Operation
Disconnect the servo amplifier from the host to perform test operation of the servomotor from the main
body of the servo amplifier.
Use this function if the servomotor does not operate correctly according to host commands, if the motor
fails to start or to check the direction of rotation.
1 2
1
2
*1 Servo-on is automatically turned on and the motor rotates. Be careful.

*2 To return to the regular mode, turn the servo amplifier off. Be careful.
14

Each test operation screen

(1) Manual operation
Select the speed (parameters PA1_41 through _47).
The motor rotates forward while the button is clicked on.
The motor reverses while the button is clicked on.
(2) Homing
Press the "Homing" button to start the motor according to the setting of
homing-related parameters PA2_06 through _14.
After the homing motion is finished, the motion is finished.
(3) Position preset

Press the "Preset" button to change the current position to the one
specified in parameter PA2_19 (preset position).
(4) Z-phase position set

Press the "Set" button to output the Z-phase at the current position and
automatically change parameter PA1_12 (Z-phase offset).
* "Z-phase position set" fails in the following cases.
PA2_74 (parameter write-protection) is set at 1 (write-protect).
The zero position (Z-phase) of the encoder is not established.
In this case, turn the motor shaft twice or more.
(5) Offset adjustment

Press the "Adjustment Start" button to adjust the offset of the VREF and
TREF analog input terminals and change parameters PA3_32 (speed
command offset) and PA3_34 (torque command offset).
Offset adjustment is impossible if PA2_74 (parameter write-protection) is
set at 1 (write-protect).
14

(6) Feedback cumulative pulse clear

Press the "Clear" button
to reset the cumulative
feedback pulse to
"zero."
(7) Command cumulative pulse clear
Press the "Clear" button

to reset the command
cumulative pulse to
"zero."
(8) Easy tuning

Press the "START/STOP" button to start
one of motions (a).
(a) Press the START/STOP button during the
motion to stop immediately.
Slow running
A motion starts according to parameter
settings (b).
The speed is fixed at 10 [r/min].
The function is for the check of the
(b)
traveling amount and direction.
Easy tuning
A motion starts according to parameter
settings (2) while the auto tuning gain 1 is
adjusted. However, the acceleration and
deceleration time is automatically
adjusted.
[Slow running fault screen] [Easy tuning fault screen]
14

(9) Profile operation Press the "START/STOP" button to start

profile operation.
Press the "START/STOP" button during
the motion to stop after the current cycle.
[Profile operation fault screen]
(10) Forced OUT signal output
Select the OUT signal output at (a) and select ON or OFF at (b).
To exit from this mode, turn the power off.
(a)
(b)
(11) Forced pulse output

Select the pulse signal to be output, at (a).
Phase-A/B
Enter the frequency and press the "Forced pulse output"
button to issue pulses.
(a) Frequency setting range: 0 to 1000 [kHz] in increments
14
of 1 [kHz]
Z-phase
The Z-phase signal alternates each time the "Forced H
signal output" or "Forced L signal output" button is
pressed.
To exit from this mode, turn the power off.

(12) Sequence test mode

Even if the servomotor is not connected, you can simulate servomotor connection state.
Use this function to efficiently debug host programs.
Notes
Operation conditions and I/O signal functions are the same as those of motor connection state.
Be sure to supply the main power (L1, L2 and L3) to the amplifier as a condition for operation.
Simulation follows the encoder bit count setting. Enter the encoder bit count.
No current flows in the motor. (Transistors in the main circuit do not turn on or off.)
The motor current, effective torque, OL thermal value and braking resistor thermal value do not
change.
The overload warning does not function.
Under torque control, simulation proceeds in the powering state. The motor rotates in the same
direction as the sign included in the torque command. The speed at the time follows the setting of
easy tuning speed setting (PA1_21).
INC/ABS system selection (PA1_2) is handled as 0 (INC) internally. (The absolute system is not
simulated.)
To exit from the sequence test mode, turn the control power (sL1, sL2) of the amplifier off.
Checking the sequence test mode state

If the servo amplifier is in the sequence test mode, the Status
orange status indication LED on the front panel of the indication LED
amplifier blinks at very short intervals.
Startup screen
14

(13) Positioning start

Launch the positioning start
by selecting [Test running] [Positioning start].
The following window appears with launching.
(The positioning data edit screen can be launched at the same time for checking the positioning
data.)
Select the positioning data to be launched.
Pressing this button starts automatic operation with selected

positioning data.
Positioning operation is canceled and stops if this button is pressed
during operation.
Currently executed positioning data address and feedback current

position are monitored.
14

(14) Teaching
Launch the teaching by selecting
[Test running] [Teaching].
The following window appears with launching.

(The positioning data edit screen can be launched at the same time for checking the positioning
data.)
Select the positioning data to write data.
Pressing this button executes teaching.
Data are written to the address selected for the feedback current
position shown here.
* The address to which the teaching was executed will have the ABS
type command method. Other setting will not be changed.
14

14.5.7 Servo Analyze
Servo analyze is a tool for measuring frequency characteristics of the mechanical equipment.
Execute the servo analyze function to visually show the resonance point and anti resonance point of
the mechanical equipment, providing you with approximate measures of these parameter settings (anti
resonance frequency and notch filter relations).
During servo analyze operation, a torque is added three times. For this reason, the servomotor actually
moves. Note that the motor may turn substantially according to some vibration torque settings. (Enter a
suitable allowable stroke setting to set a limit.)
(1)
(2)
(3)
(4)
Each setting
(1) Mode
In case of horizontally driven equipment, select "Normal." In case of vertically driven equipment,
select "UpDown."
(2) Adds vibration torque
Larger the value, better the accuracy. But the shock is larger, causing a larger burden to the
equipment. In regular cases, select the default setting (50 [%]).
(3) Permission stroke
An error is caused if the servomotor moves beyond this reference value. A travel of the rotation
setting is not guaranteed.
(4) Notch filter
Select "Disable" to check mechanical characteristics such as the resonance point.
14
Select "Enable" to check effects of the notch filter.

14.5.8 Diagnosis to be Made if the Servomotor Fails to Start
If the servomotor fails to start or unexpected message is shown, launch "Immobility diagnosis" to
analyze probable causes at real time.
Starting method
Select [Diagnosis] [Immobility diagnosis] from the menu or click the icon to start.
Reference screen
(1)
Operation method
Select from the list of "Operation being started" (1) in the screen above.
14 Press the "Diagnosis START/STOP" button to show the amplifier state and estimate the cause of
immobility.

14.5.9 Language Selection
The PC Loader supports Japanese and English.
Applicable version
The version of PC Loader supporting Japanese and English is V1.3 or later.
Selecting procedure
Select the desired language by selecting [Setup] [Language] in the menu bar.
Exit the PC Loader after the following window is shown.
14
The language will be updated when the PC Loader is restarted.

14

CHAPTER 15 APPENDIXES 15
15-1
15
15-2
CHAPTER 15
Command position
Filter
Command Command
pulse cumulative Command Position command Speed Command
deviation speed deviation Peak torque
frequency pulse speed torque
Electronic DC link
APPENDIXES
gear Peak voltage

calculation
Status Indication Block Diagram

Command Electronic Command
+ Position
+ Speed Torque + Current
pulse gear filter adjuster adjuster filter control PWM Motor
- - -
Inertia of load
+ estimation and
Position
calculation
deviation
- Derivation Encoder
Electronic
gear Feedback Motor Calculation of
Feedback Load inertia effective value
speed current
cumulative pulse ratio
15.1 Status Indication Block Diagram
Effective
Feedback
torque
position
P1 P(+) N(-) RB1 RB2 RB3
Applicable models :
DS
RY
L1/R U
1PH C
+ V
3PH L2/S
M
200 to L3/T CHARGE W
240VAC LED
50/60Hz
Fan
15.2 Main Circuit Block Diagram
(Frame 3 or
above)
Power Over- Braking Gate Dynamic
Fan Voltage Current
supply current transistor failure braking
drive monitor detection detection detection drive detection circuit
L1C R
1PH PT
200 to C +
240VAC L2C Control power
50/60Hz
CHAPTER 15
RYT500D5 to RYT152D5, RYT501C5 to RYT102C5, RYT501B5 to RYT851B5
Main Circuit Block Diagram

APPENDIXES
15-3
15
15
15-4
P1 P(+) N(-) RB1 RB2 RB3
CHAPTER 15
Applicable models :
DS FUSE
RY
L1/R U
3PH C + V
AC200240V L2/S M
50/60Hz CHARGE
L3/T W
Main Circuit Block Diagram

LED
APPENDIXES
Fan
(Frame 3 or
above)
Fan Power Voltage Brown fuse Over- Braking transistor Gate Current Dynamic
supply current braking
drive monitor detection detection detection failure detection drive detection circuit
L1C R
1PH PT
AC200240V C +
50/60Hz L2C Control power
RYT202D5 to RYT502D5, RYT152C5 to RYT202C5, and RYT132B5
Electronic gear
PA1_05 : Number of command input pulses per
revolution PA1_53 : PA1_51 : Moving PA1_52 : Low-pass
PA1_06 : Numerator 0 of electronic gear
Command Command pulse average S-curve filter(for S-curve)
PA1_07 : Denominator of electronic gear
PA2_51 : Numerator 1 of electronic gear ratio
smoothing function time time constant
Inertia model calculation (vibration control)

PA1_78 : Vibration suppressing anti resonance frequency 0
PA1_79 : Vibration suppressing workpiece inertia ratio 0
PA1_82 : Vibration suppressing anti resonance frequency 2 PA1_95 : Model torque calculation selection,
PA1_83 : Vibration suppressing workpiece inertia ratio 2 speed observer selection
PA1_86 : Vibration suppressing damping coefficient
PA1_54 : Position PA1_68 : Acceleration

Inertia model calculation

command response compensation gain for
[1+(PA1_14 : Load inertia ratio)]
PA1_87 : Model torque
filter time constant
time constant position control *(dv/dt)
Friction compensation
PA1_92 : Speed range for friction compensation
PA1_93 : Coulomb friction torque for
compensation
Position adjuster Speed adjuster

PA1_59 :Torque filter time constant for
PA1_55 : Position loop gain 1 PA1_56 :Speed loop gain 1
position and speed control
Control PA1_64 : Position loop gain 2 PA1_57 :Speed loop integration time
constant 1 PA1_71 :Notch filter 1 frequency Motor
model PA1_88 : Position loop integration time PA1_72 :Notch filter 1 attenuation
15.3 Control Circuit Block Diagram
PA1_65 :Speed loop gain 2

constant PA1_73 :Notch filter 1 width
PA1_66 :Speed loop integration time
PA1_89 : Position loop integration limiter PA1_74 :Notch filter 2 frequency
constant 2
PA1_90 :Load torque observer PA1_75 :Notch filter 2 attenuation
PA1_91 :P/PI automatic change selection PA1_76 :Notch filter 2 width
Position Speed
detection Encoder
detection
PA1_58 : Feed forward gain 1
PA1_67 : Feed forward gain 2
CHAPTER 15
Control Circuit Block Diagram

APPENDIXES
15-5
15
CHAPTER 15 APPENDIXES
15.4 Parameter List
PA1_: Basic setting parameter

Control mode Record of reference
No. Name Power
01 Control mode selection
02 INC/ABS system selection
03 Command pulse form selection - -
04 Rotation direction selection
Number of command input pulses per
05 - -
revolution
06 Numerator 0 of electronic gear - - -
07 Denominator of electronic gear - - -
08 Number of output pulses per revolution
Numerator of electric gear for output
09
pulses
Denominator of electric gear for output
10
pulses
Output pulse phase selection at CCW
11
rotation
12 Z-phase offset
13 Tuning mode selection - -
14 Load inertia ratio - -
15 Auto tuning gain 1 - -
16 Auto tuning gain 2 - - -
20 Easy tuning: stroke setting -
21 Easy tuning: speed setting -
22 Easy tuning: timer setting -
23 Easy tuning: direction selection -
Max. rotation speed (for position and
25 - -
speed control)
26 Max. rotation speed (for torque control) - - -
27 Forward rotation torque limit -
28 Reverse rotation torque limit -
29 Speed coincidence range - -
30 Zero speed range -
31 Deviation unit selection - - -
32 Zero deviation range/In-position range - - -
15 33
34
In-position output format
In-position minimum OFF time/ Single shot -
-
-
-
-
ON time
35 In-position judgment time - - -
15-6 Parameter List


No. Name Power
Acceleration / deceleration selection at
36 - -
speed control
37 Acceleration time 1
38 Deceleration time 1
-
39 Acceleration time 2
40 Deceleration time 2
Manual feed speed 1 for position and
41 speed control / speed limit 1 for torque
control
control
control
44 speed control / speed limit 4 for torque -
control
control
control
control
PA1_: Control gain and filter setting parameter

No. Name Power
51 Moving average S-curve time - - -
52 Low-pass filter (for S-curve) time constant - -
53 Command pulse smoothing function - - -
Position command response time - - -
54
constant
56 Speed loop gain 1 - -
57 Speed loop integration time constant 1 - -
58 Feed forward gain 1 - - -
Torque filter time constant for position and - -
59
speed control
Torque filter time constant for torque
15
60 - - -
control
61 Gain changing factor - -
62 Gain changing level - -
63 Gain changing time constant - -
Parameter List 15-7


No. Name Power
65 Speed loop gain 2 - -
66 Speed loop integration time constant 2 - -
67 Feed forward gain 2 - - -
Acceleration compensation gain for
68 - - -
position control
70 Automatic notch filter selection - -
71 Notch filter 1 frequency - -
72 Notch filter 1 attenuation - -
73 Notch filter 1 width - -
74 Notch filter 2 frequency - -
75 Notch filter 2 attenuation - -
76 Notch filter 2 width - -
77 Automatic vibration suppressing selection - - -
Vibration suppressing anti resonance
78 - - -
frequency 0
Vibration suppressing workpiece inertia
79 ratio (vibration suppressing resonance - - -
frequency) 0
80 - - -
frequency 1
frequency) 1
82 - - -
frequency 2
frequency) 2
84 - - -
frequency 3
frequency) 3
86 Vibration suppressing damping coefficient - - -
87 Model torque filter time constant - -
88 Position loop integration time constant - - -
89 Position loop integration limiter - - -
90 Load torque observer - -
91 P/PI automatic change selection - -
92 Speed range for friction compensation - -
15 93
Coulomb friction torque for friction
compensation
- -
94 Torque filter setting mode - -

Model torque calculation selection, speed
95 - -
observer selection
15-8 Parameter List


No. Name Power
96 Speed limit gain for torque control - - -
PA2_: Automatic operation setting parameter

No. Name Power
01 Decimal point position of positioning data -
06 Homing speed - - -
07 Creep speed for homing - - -
08 Starting direction for homing - -
09 Reverse traveling unit amount for homing - - -
10 - -
detection
11 Reference signal for shift operation - -
12 - -
13 Home position LS signal edge selection - -
14 Home position shift unit amount - - -
15 Deceleration operation for creep speed - -
16 Home position after homing completion - - -
17 Home position detection range - - -
18 - - -
homing
19 Preset position - - -
20 Interrupt traveling unit amount - - -
22 Detection time for contact-stopper - - -
23 Torque limit for contact-stopper - - -
24 Reverse motion selection at homing OT - -
25 Software OT selection -
26 + software OT detection position - -
27 - software OT detection position - -
28 + limiter detection position - - -
29 - limiter detection position - - -
31 Point detection, area detection -
32 -
position 1
Point detection area detection
33 -
15
position 2
34 Point detection range -
36 Override 1
37 Override 2 - -
38 Override 4
Parameter List 15-9


No. Name Power
39 Override 8 - -
40 Internal positioning data selection - -
41 Sequential start selection - -
42 Decimal point position of stand still timer - - -
43 Output selection at M code OFF - -
PA2_: Extended function setting parameter
No. Name Power
52 Numerator 2 of electronic gear ratio - - -
54 Command pulse ratio 1 - - -
55 Command pulse ratio 2 - - -
56 Speed limit selection at torque control - -
57 Torque limit selection -
58 Second torque limit - -
59 Deviation hold selection at torque limit - -
60 Third torque limit - -
61 Action sequence at servo-on OFF
62 Action sequence at alarm
63 Action sequence at main power shutoff
64 Torque keeping time to holding brake -
65 Braking resistor selection
66 Flying start at speed control - -
67 Alarm detection at undervoltage
68 Main power shutoff detection time
69 Deviation detection overflow value - - -
70 Overload warning value -
72 Station number
73 Communication baud rate (RS-485)
74 Parameter write protection -
75 Positioning data write protection - - -
15 77 Initial display of the keypad

78 Display transition at warning detection
15-10 Parameter List


No. Name Power
86 Positioning data in RAM 1 - -
89 Sequence test mode: mode selection
90 Sequence test mode: encoder selection
93 Parity/stop bit selection (for Modbus) - -
94 Response time (for Modbus) - - -
95 Communication time over time - - -
(for Modbus)
97 Communication protocol selection - - -
PA3_: Input terminal function setting parameter

No. Name Power





16
17
CONT16 signal assignment
CONT17 signal assignment
15
Parameter List 15-11


No. Name Power

26 CONT always ON 1
27 CONT always ON 2
28 CONT always ON 3
29 CONT always ON 4
30 CONT always ON 5
31 Speed command scale -
32 Speed command offset -
33 Torque command scale -
34 Torque command offset -
35 Zero clamp level - -
36 Deviation detection overflow input form - -
39 Speed command fine adjustment gain -
40 Torque command fine adjustment gain -
15
15-12 Parameter List

PA3_: Output terminal function setting parameter

No. Name Power







81 Monitor 1 signal allocation -
82 Monitor 2 signal allocation -
83 Monitor 1 scale -
84 Monitor 1 offset -
85 Monitor 2 scale -
86 Monitor 2 offset -
87 Monitor 1/2 output format -
Command pulse frequency sampling time
88 - - -
for monitor
89 Feedback speed sampling time for monitor -
92 Range1 of position: Setting1 - - -
93
94
Range1 of position: Setting2
Range2 of position: Setting1
-
-
-
-
-
-
15
95 Range2 of position: Setting2 - - -
Parameter List 15-13

15.5 Capacity Selection Calculation
15.5.1 Type of Mechanical System

The mechanical system driven by a variable speed motor includes the following types.
Mechanism Features
Ball screw (direct coupling)
Used for a relatively short distance and accurate positioning.

The motor is connected with the ball screw via a coupling and no
play is included.
Ball screw (geared)
A reduction gear is included so that the torque transmitted to the

mechanical system becomes large.
Because of a gear backlash, compensation measures are
necessary.
Rack & Pinion
Used for positioning of a relatively long distance (such as carrier

drive).
Because a value is included in each pinion rotation,
compensation measures are necessary.
Timing belt (conveyor)
Has a relatively large degree of freedom when compared with chain.

Mainly for small loads.
Because a value is included in the traveling distance of each
pulley rotation, compensation measures are necessary.
When applying the servo system to a mechanical system, take care of the following points.
(1) Reduction ratio
Use nearly at the rated speed (maximum rotation speed) of the motor to take advantage of the
servomotor power. The continuous output torque at the maximum rotation speed is smaller than
the rated torque.
(2) Preload torque
The load torque of a preloaded screw is large while the rigidity is increased. For the friction torque
15 caused by the preload, refer to the specifications of the ball screw.

(3) Retention torque
The servomotor keeps outputting the retention force in the stopping state of a hoisting machine.
Use of a retention brake is recommended if the time allows.
15-14 Capacity Selection Calculation

Mechanism Features
Chain drive
Mainly used for the transfer line. Countermeasures against

elongation of the chain itself are necessary. Used mainly for
relatively large reduction ratios; the traveling speed of the
mechanical system is small.
Feed roll
The material on a plate (band) is sandwiched between rolls and fed.

Because the roll diameter is not obtained accurately, there is an
error in a long distance.
compensation is necessary.
Sudden acceleration causes slippage, resulting in shortage in the
feeding amount.
Table indexing
Because the moment of inertia of the table is large, a sufficiently

large reduction ratio is necessary.
The table rotation speed is low and a worm gear is usually used.
Spindle drive
Because winding of a wire material results in a larger moment of

inertia, a sufficiently large reduction ratio is necessary.
To achieve a constant surface speed, examination must be made,
including peripheral equipment.
Approximate machine constants

Approximate friction coefficient Material density
Mechanism Friction coefficient Material Density kg/m 3

Rail and iron wheel Copper 8.96 103
0.05
(Carrier and crane) Brass 8.54 103
Linear guide Stainless steel 7.91 103
Ball spline Iron 7.85 103
0.05 to 0.2
Roller table Aluminum 2.7 103
Roller system Polyacetals 1.43 103
15
Capacity Selection Calculation 15-15

Approximate mechanical efficiency
Mechanism Mechanical efficiency

Trapezoidal screw thread 0.5 to 0.8
Ball screw 0.9
Rack & Pinion 0.8
Gear reducer 0.8 to 0.95
Worm reducer
0.5 to 0.7
(starting)
Worm reducer
0.6 to 0.8
(during operation)
Belt transmission 0.95
Chain transmission 0.9
Module
(Pitch circle diameter of gear)

(Module) =
(Number of teeth)
* Metric gear
* Module
0.5 0.75 0.8 1 1.5 2 2.5 3 4 5 6 7
Chain size
No. Pitch No. Pitch
15 4.762 80 25.4
25 6.35 100 31.75
35 9.525 120 38.1
40 12.7 140 44.45
50 15.875 160 50.8
60 19.05 180 57.15
15.5.2 Capacity Selection Calculation
Perform capacity selection calculation to obtain the servomotor capacity necessary for machine
specifications (configuration).
Items necessary for capacity selection calculation include the following.
Load inertia (moment of inertia of mechanical system)
Load torque (torque necessary to move the machine)
Acceleration/Deceleration time
Operation profile
In general, there is no way to measure the inertia of the mechanical system and load torque, calculate
approximate values according to the configuration of the machine.
15

Follow the procedure below to perform capacity selection calculation.

Capacity selection flow chart
(1) Calculate the load inertia according to the

Start configuration of the machine.
(2) Calculate the load torque according to the

(1) Calculate the moment of
inertia of load.
configuration of the machine.
(2)
(3) Temporarily select the motor capacity.
Calculate the load torque
TL.
(4) Check the shortest acceleration/
deceleration time. If the time is designated,
calculate the necessary
Temporarily select the acceleration/deceleration torque.
(3)
motor capacity.
(5) Create the torque pattern according to the

Calculate the shortest
(4) acceleration/deceleration time. operation pattern.
(Calculate the acceleration/
deceleration torque.)
(6) Calculate the effective torque according to
(5)
the torque pattern.
Create the torque pattern.
(7) If the effective torque (Trms) is smaller than

(6) Calculate the actual
torque.
the rated torque (TR), operation can be
made with the designated operation pattern.
No (8) Calculate the regenerative power and, if

(7) _ R
Trms<T
necessary, select the braking resistor.
Yes
(9)
(8) Calculate the regenerative Review specifications of the (9) Review the specifications of the machine if
power. machine. Change the operation
pattern.
possible.
End
15

Calculation of inertia
Shape
2

3
4

3 3
2 2

3 3
W [kg]
2
D [mm]
L [mm]
3 3 [kg/m 3]
2 2
1

3 3
4 4
1

3 3 3
2 2 2
1

3 3 3

2
1
2
W [kg]
D [mm]
3 3 3
L [mm]
[kg/m 3]
2 2

3 3
2 2

3 3
2 2

3 3 W [kg]
L [mm]
A : [mm]
B : [mm]
3 3 3
[kg/m 3]
2 2

3 3
2 2

3 3
2 2

W [kg]
3 3
L [mm]
A : [mm]
B : [mm]
[kg/m 3]
3 3 3
2 2 2 2
2 2 1 1
x
3 3 3 3
2 2 2 2
2 2 1 1
y W [kg]
3 3 3 3
L [mm]
2 2 2 2
2 2 2 1 1 1 A : [mm]
z
3 3 3 3 B : [mm]
15
[kg/m 3]
2 2 1 1

3 3 3 3 3
2 2 1 1
2 1
3 3 3 3 3 3

Conversion
Ball screw
2

1 2
3
W: Total mass of moving parts [kg]

BP: Thread lead [mm]
GL: Reduction ratio (no unit)
Rack & Pinion, conveyor and chain drive

2

2 2
3

D: Diameter of pinion [mm]
Diameter of sprocket [mm]
Feed roll
2

3 2
3

D: Roll diameter [mm]
Rotating body and table drive
Obtain the sum of inertia of each shape.

Inertia of body located at a distance from the axis of rotation
2
4 2

3
J: Inertia around the center of gravity of body

W: Mass of body [kg]
L: Distance between body and axis of rotation [mm]
15

Calculation of load torque (TL)
Ball screw
Traveling speed Mass of moving parts

V W

3
Reduction ratio
GL
Screw lead
: Friction coefficient BP: Screw lead [mm]
L
W, W1: Mass of moving parts [kg]
Rotation speed of
motor shaft
N W2: Mass of counterweight [kg]
GL: Reduction ratio (no unit) F: Thrust [kg]
Hoisting (vertically) 12

3
Descending (vertically) 12

3
At a stop (vertically)
12

3
Conveyor and rack & pinion

Mass of moving parts
W

Traveling speed 3
V
Reduction ratio
GL
: Friction coefficient D: Diameter [mm]
Rotation speed of
W, W1: Mass of moving parts [kg]
motor shaft
N W2: Mass of counterweight [kg]
Diameter of pinion
D GL: Reduction ratio (no unit)
Hoisting (vertically) 12

3
Descending (vertically)
12

3
At a stop (vertically)
12

3
15

(1) Calculating the load inertia (JL)

Calculate the inertia (GD2) of the load of the mechanical system converted to the motor axis.
Calculate the inertia of the parts rotating (moving) along with motor rotation, and obtain the sum of
all.
(2) Calculating the load torque (TL)

Calculate the load torque converted to the motor axis.
(3) Temporarily select the motor capacity

Select the motor capacity satisfying the following two conditions.
Allowable load inertia

JL JM 100 (30) In case of slow travel under speed control
JL JM 30 (10) In case of positioning under position control
JL JM 10 (-) In case of frequent positioning
(Approximate measure: Starting and stopping at every 0.5 seconds or more frequently)
Values in parentheses indicate operation with the GYG motor.
Load torque
TL TR 0.9 0.9 indicates a typical margin of safety.
(4) Calculating the shortest acceleration/deceleration time (calculating the accelerating/decelerating

torque)
Check the shortest acceleration/deceleration under consideration of load conditions. If the
acceleration/deceleration time is designated, calculate the acceleration/deceleration torque.
Shortest acceleration/Deceleration time

(JM + JL) 2 (N1 - N0)
tAC =
60 (TAC - TL)
Acceleration/Deceleration torque
(JM+JL) 2 (N1 - N0)

tAC = +TL
60 ( tAC)
where
tAC: Acceleration/Deceleration time [s]
2
JM: Inertia of servomotor [kgm ]
2
JL: Inertia of load converted to motor axis [kgm ]
TL: Load torque converted to motor axis [Nm]
TAC: Acceleration/Deceleration torque [Nm]
15

(5) Creating the torque pattern

Create the pattern of the output torque according to the operation pattern.
Operation pattern
Traveling
speed
Time
Torque pattern
TAC: Acceleration torque

Output t t
torque
TL: Load torque
Time
tAC t
TDC: Deceleration torque

tcyc
(6) Calculating the effective torque (Trms)

Calculate the effective torque of each cycle of the operation pattern.
(TAC2 tAC) + (TL2 tL) + (TDC2 tDC)

Trms =
tCYC
Obtain the sum of each of the product of the squared output torque multiplied by the output time
and divide the sum by the cycle time, and obtain the square root of the result.
(7) Trms TR
If the effective torque is equal to or smaller than the rated torque, continuous operation in the
designated operation pattern is possible.
15

(8) Calculating the regenerative power

Regenerative operation is caused in general in the following state.
Horizontal feed: During deceleration
Vertical feed: During constant speed feed in the lowering cycle and during deceleration
Regenerative power during deceleration (P1)

P1 [W] = (2/60) TDC [Nm] N1 [r/min] (1/2)
Constant speed feed in lowering cycle (P2)

P2 [W] = (2/60) TDC [Nm] N1 [r/min]
Calculate the average regenerative power (P) of each cycle of the operation pattern to check if P is
within the braking resistor capacity. If it is not, an external braking resistor is necessary.
(9) Reviewing the operation pattern and mechanical configuration

If Trms exceeds TR, review the following items.
Increase the acceleration/deceleration time a little in the allowable range.
Reduce the operation frequency (increase the cycle time).
If the rotation speed allows, increase the reduction ratio.
Increase the motor capacity.
If the stopping time of a hoisting machine is too long, adopt a mechanical brake.
In case of operation at a high frequency, increase the reduction ratio and reduce the inertia.
15.5.3 Capacity Selection Calculation Example
Mechanical configuration
Reduction ratio 1/1 (direct coupling)
Servomotor
Screw pitch 10 [mm], transfer mass 20 [kg], thrust 0 [kg] (absent)
15

(1) Max. traveling speed (v)

If the reduction ratio is 1/1 and the rotation speed of the motor shaft is 3000 [r/min]
v = (3000/60) 10(1/1) = 500 [mm/s]
(2) Load inertia converted to motor axis (JL)

Screw (J1) Suppose 20 and 500 [mm] in length.
4
L D1
J1 = GL2
32 1000 1000
4
7.85 103 500 20
= ( 1/1)2
32 1000 1000
= 0.6 10-4 [kg m2]
Moving parts (J2) Suppose a transfer mass of 20 [kg].

2
1 BP
J2 = W (GL)2
2 1000
2
1 10
= 20 ( 1/1)2
2 1000
= 0.5 10-4 [kg m2]
JL = 1.1 10-4 [kg m2]
(3) Load torque converted to motor axis (TL)

Suppose a transfer mass of 20kg, friction coefficient () of 0.1 and machine efficiency () of 0.9.
(W + F) 9.81 BP
TL = GL
2 1000
(0.1 20 + 0) 9.81 10
= (1/1)
2 0.9 1000
= 0.03 [Nm]
15

(4) Capacity selection condition
TL TR 0.9
JL JM 5 (Frequent feed)
TL = 0.03 [Nm]
JL = 1.1 10-4 [kg m2]
(5) Temporary selection

According to the capacity selection condition, GYS201D5-HB2 (0.2 [kW]) is found.
(JM = 0.135 10-4 [kgm2], TR = 0.637 [Nm], TAC = 1.91 [Nm])
(6) Shortest acceleration/deceleration time (tAC)
(JM + JL) 2 N
TAC =
60 (TAC - TL)
(0.135 10-4 + 1.1 10-4) 2 3000

=
60 (1.91 - 0.03)
= 0.021 [s]
Acceleration/Deceleration torque at an acceleration/Deceleration time of 0.05 seconds
(JM + JL) 2 N
TAC = + TL
60 (TAC)
(0.135 10-4 + 1.1 10-4) 2 3000

= + 0.03
60 0.05
= 0.78 [Nm]
15

(7) Operation profile
500 [mm/s]
Speed
50 [mm]
Time
0.05 0.05 0.05
Toque 0.78
0.03
Time
0.78
This profile is based on calculation selection. The operation cycle time supposes 0.5 sec.
(8) Effective torque (Trms)

Time-average output torque
TAC2 ta + TL2 tL + TDC2 td

Trms =
tcyc
(0.782 0.05) 2 + (0.032 0.05) 1

= 0.5
= 0.25 [Nm]
Because the result is smaller than rated torque (0.637 [Nm]) of the GYS201D5-HB2 type, continuous
operation can be made in the designated profile.
(9) Result of selection

Servomotor: GYS201D5-HB2 (0.2 [kW])
15

(10) Regenerative power

Regenerative power is caused during deceleration.
P1 [W] = (2/60) T [Nm] N [r/min] (1/2)
= (2/60) 0.78 3000 (1/2)
123 [W]
Average regenerative power of cycle operation

P = (123 0.05)/0.5
12.3 [W]
The RYT201D5 type servo amplifier is not equipped with a built-in braking resistor.
Follow the procedure below to check if the braking resistor is necessary or not.
[1] Obtain the energy (EG) of the mechanical system in the deceleration cycle.
1
EG = (JM+JL)(2N/60)2
2 2
1 2 3000
= (0.135 10-4 + 1.1 10-4)
2 60
= 6.1 [J]
[2] Calculate the energy (EL) consumed by the load torque.

EL = (2/60) TL N tDC (1/2)
= (2/60) 0.03 3000 0.05 (1/2)
= 0.24 [J]
[3] Calculate the energy (EM) consumed by the coil of the servomotor.
EM = 3 (R I2) tDC
= 3 R ((TDC/TR IR)2) tDC
= 3 2.3 ((0.78/0.637 1.5)2) 0.05
= 1.2 [J]
Phase resistance of GYS201D5-HB2 type: 2.3 []
15

[4] Calculate the energy (ES) that can be absorbed by the servo amplifier.
1
ES = C (VDB2 - VDC2)
2
1
= (300 10-6) (3902 - (200 2)2)
2
= 10.8 [J]
DC link capacity (RYT201): 300 [F], source voltage 200 [V] (actual value)
The capacitor of 0.2 [kW] or smaller capacity servo amplifiers is 300 [F].
VDB: DB transistor activation level (390 [V]). VDC: DC link voltage (200 x 2 [V])
The energy that can be processed by the mechanical system, servo amplifier and servomotor is:
EL + EM+ ES = 0.24 + 1.2 + 10.8 12.2 [J]
Because EG = 6.1 [J], no external braking resistor is necessary.
15

Constants
200V series
Rated Phase
Capacity Inertia Capacity of capacitor
Series current resistance
[kW] 10-4[kgm2] [F]
[A] []
0.05 4.7 0.0192
0.85
0.1 7.8 0.0371 300
0.2 1.5 2.3 0.135
0.4 2.7 1.1 0.246 660
0.75 4.8 0.36 0.853
940
GYS 1.0 7.1 0.35 1.73
1.5 9.6 0.25 2.37 1360
2.0 12.6 0.19 3.01 1880
3.0 18.0 0.07 8.32 2720
4.0 24.0 0.05 10.8
4080
5.0 30.0 0.05 12.8
Rated Phase
[kW] 10-4[kgm2] [F]
[A] []
0.1 1.0 3.6 0.0577
300
0.2 1.5 2.1 0.213
0.4 2.6 0.9 0.408 660
GYC 0.75 4.8 0.38 1.21
940
1.0 6.7 0.27 3.19
1.5 9.6 0.15 4.44 1360
2.0 12.6 0.11 5.69 1880
Rated Phase
[kW] 10-4[kgm2] [F]
[A] []
0.5 3.5 0.71 7.96
940
0.75 5.2 0.40 11.55
GYG
2000r/min 1.0 6.4 0.32 15.14
1.5 10.0 0.17 22.33
1880
2.0 12.3 0.14 29.51
GYG
0.5
0.85
4.7
7.3
0.40
0.32
11.55
15.15
940 15
1500r/min
1.3 11.5 0.17 22.33 1880

100V series
Rated Phase
[kW] 10-4[kgm2] [F]
[A] []
0.05 0.85 4.7 0.0192
0.1 1.5 2.5 0.0371 2000
GYS
0.2 2.7 0.66 0.135
0.375 4.8 0.31 0.246 2400
15

15.6 Revision History
Date of printing Index Description of revision
September 30, 2007 None First version
December 20, 2007 a Capacity expamded (up to 5kW)
April 20, 2008 b Version up with VV type

Description divided into VVtype and SX type
100V series added
15
Revision History 15-31

15.7 Product Warranty
Dear Customers of Fuji Electric Product,

The warranty of this product is as follows unless the special instructions state otherwise in the quote,
contract, catalogue, or specifications at the time of quote or order.
The purpose or area of use may be limited, and a routine checkup may be required depending on the
product. Please contact the distributor from which you purchased the product from, or Fuji Electric for
further information.
Please conduct prompt incoming inspection of the product upon purchase or delivery. Also, please give
enough consideration to management and maintenance of the product prior to accepting the product.
1. Period and coverage of the warranty

1-1 Period
(1) The period of the warranty is effective until the earliest of either a year from the date of
purchase or, eighteen (24) months from the date of manufacture printed on the plate.
(2) The above period may not be applicable in case the particular environment, conditions or
frequency of use affects the lifetime of the product.
(3) The warranty for the parts repaired by Fuji Electric service department is effective for six
months from the date of repair.
1-2 Coverage
(1) If malfunction occurs in the period of warranty due to Fuji Electric, the malfunctioning parts
are exchanged or repaired for free at the point of purchase or delivery. However, the warranty
does not apply to the following cases.
1) The malfunction occurs due to inappropriate conditions, environment, handling or usage
that is not instructed in a catalogue, instruction book or user's manual.
2) The malfunction is caused by the factors that do not originate in the purchased or
delivered product.
3) The malfunction is caused by other devices or software design that does not originate in
Fuji Electric products.
4) The malfunction occurs due to an alteration or repair that is not performed by Fuji
Electric.
5) The malfunction occurs because the expendable parts listed in an instruction book or
catalogue were not maintained nor exchanged in an appropriate manner.
6) The malfunction occurs due to factors that were not foreseeable by the practical
application of science and technology at the time of purchase or delivery.
7) The malfunction occurs because the product is used for an unintended purpose.
8) The malfunction occurs due to a disaster or natural disaster that Fuji Electric is not
responsible for.
(2) The warranty is only applicable to the single purchased delivered product.
(3) The warranty covers only the area stated in above (1). Any damage induced by the
malfunction of the purchased or delivered product, including the damage or loss to a device
or machine and passive damages, is not covered by the warranty.
15 1-3 Malfunction diagnosis

(1) Malfunction is to be diagnosed temporarily by the purchaser. This diagnosis can be
conducted by Fuji Electric or its delegated service provider with due charge upon the request
from the purchaser. The charge is to be paid by the purchaser at the rate stipulated in the rate
schedule of Fuji Electric.
15-32 Product Warranty

2. Liability for opportunity loss

Regardless of the time period of the occurrence, Fuji Electric is not liable for the damage caused
by the factors Fuji Electric is not responsible for, opportunity loss of the purchaser caused by
malfunction of Fuji Electric product, passive damages, damage caused due to special situations
regardless of whether it was foreseeable or not, and secondary damage, accident compensation,
damage to products that were not manufactured by Fuji Electric, and compensation towards other
operations.
3. Period for repair and provision of spare parts after the production is discontinued (maintenance
period)
The discontinued models (products) can be repaired for seven years from the date of
discontinuation. Also, most spare parts used for repair are provided for seven years from the date
of discontinuation. However, some electric parts may not be obtained due to their short life cycle.
In this case, repair or provision of the parts may be difficult in the above period. Please contact Fuji
Electric or its service providers for further information.
4. Delivered term
Standard products that do not entail application setting or adjustment are regarded as received by
the purchaser upon delivery. Fuji Electric is not responsible for local adjustments and test runs.
5. Service
The price of the delivered or purchased products does not include the service fee for the
technician. Please contact Fuji Electric or its service providers for further information.
6. Scope of application
Above contents shall be assumed to apply to transactions and use of the country where you
purchased the products. Consult the local supplier or Fuji Electric for the detail separately.
15
Product Warranty 15-33

15.8 Service Network
15
15-34 Service Network

15
Service Network 15-35

The Inverter Value Engineering Center (Suzuka Area) has acquired
environment management system ISO14001 and quality management
system ISO9001 certifications.
JQA-0456
Mitsui Sumitomo Bank Ningyo-cho Bldg.,

5-7,Nihonbashi Odemma-cho,Chuo-ku,Tokyo 103-0011,Japan
Phone: +81-3-5847-8011 Fax: +81-3-5847-8172
URL http://www.fujielectric.co.jp/fcs/index.html
Printed on recycled paper
Information in this catalog is subject to change without notice. 2008-07 CM

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FUJI SERVO SYSTEM

The following documents are included in the package of each device.

Device Document name Doc. No.

The target model of this manual is shown below.

* "" in the model indicates a decimal point or number.

CHAPTER 1 INSTALLATION 1-1

CHAPTER 2 WIRING 2-1

CHAPTER 3 OPERATION 3-1

CHAPTER 4 PARAMETER 4-1

CHAPTER 5 SERVO ADJUSTMENT 5-1

CHAPTER 6 KEYPAD 6-1

CHAPTER 7 MAINTENANCE AND INSPECTION 7-1

CHAPTER 8 SPECIFICATIONS 8-1

CHAPTER 9 CHARACTERISTICS 9-1

CHAPTER 10 PERIPHERAL EQUIPMENT 10-1

CHAPTER 11 ABSOLUTE POSITION SYSTEM 11-1

CHAPTER 12 POSITIONING DATA 12-1

CHAPTER 13 RS-485 COMMUNICATIONS 13-1

CHAPTER 14 PC LOADER 14-1

CHAPTER 15 APPENDIXES 15-1

0 0.1 Safety Precautions

(1) Types and meanings of warning signs

Warning sign Meaning

Negligence of description will cause danger in which deaths or

Negligence of description will cause danger in which minor or

(2) Graphic symbols

Do not touch Make sure to make grounding

0-2 Safety Precautions

Safety Precautions 0-3

0-4 Safety Precautions

Safety Precautions 0-5

0-6 Safety Precautions

Safety Precautions 0-7

Harmonics suppression measures (for Japan)

Source: The Japan Electrical Manufacturers' Association (JEMA)

0-8 Safety Precautions

Compliance with EU directives

Compliance with RoHS directive

Service life of EEPROM

Safety Precautions 0-9

0 0.2 Outline of System

0-10 Outline of System

0.2.2 Servo Amplifier

Outline of System 0-11

0 0.3 Model Nomenclature

If you have any uncertainties, contact the seller.

0-12 Model Nomenclature

0.3.2 Servo Amplifier

Model Nomenclature 0-13

0 0.4 Combination between Servomotor and Servo

GYS500D5-2(6)-(B) 0.05 RYT500D5-VV2VV6 1

Motor=2, amplifier=VV2: power supply voltage 200V

0-14 Combination between Servomotor and Servo Amplifier

1 1.1.1 Storage Environment

Item Environmental condition

Ambient temperature -20 [C] to +60 [C] (no freezing allowed)

Ambient humidity 10 [%] to 90 [%] RH (no condensation allowed)

1.1.2 Operating Environment