IAI America PDR-101-MW User Manual

PULSE DRIVE

Operation Manual First Edition

Directions for Safe Use

Please read these “Directions for Safe Use” thoroughly before selecting a model and using the product.
The following precautions are provided so that you can use this product safely and avoid bodily injury
and/or property damage.
Please observe these precautions together with the safety regulations of JIS B 8433 (general rules for
industrial robots).

Directions are classified into “danger,” “warning,” “caution” and “note,” according to the
degree of risk.

Danger

Indicates an item where imminent danger causing death or serious injury
may occur if the product is mishandled

Warning

Caution

Note

Indicates an item where there is a risk of causing death or serious injury if
the product is mishandled

Indicates an item where there is a possibility of injury or damage to the
equipment if the product is mishandled

Indicates an item to be observed in order to use the product properly, even
though there is no possibility of damage

This product has been designed and manufactured as a component for general industrial
machinery.

Devices must be selected and handled by a system designer, person in charge of the system or similar
individual with sufficient knowledge and experience, after reading both the catalog and operation manual
(particularly the “Directions for Safe Use” section). Mishandling poses a risk.

Please read the operation manuals for all devices, including the main unit and controller.
It is the customer’s responsibility to verify and judge the compatibility between this product and the
customer’s system, and to use them properly.

After reading the catalog, operation manual and other materials, store them in a place where other users
will have easy access to them when necessary.

Be sure to attach the catalog, operation manual and other materials to the product conspicuously if you
transfer or lend the product to others, so that the new owner or user can understand its safe and proper
use.

The danger, warning and caution directions in this “Directions for Safe Use” do not cover every possible
situation. Please read the catalog and operation manual for the given device, particularly for descriptions
unique to it, to ensure its safe and proper handling.

Danger

z Do not use this product for the following applications:

This product is not designed for applications requiring a high degree of security. We do not guarantee the
safety of human life, and the guarantee coverage is limited to this delivered product exclusively.

General

1. Medical devices related to the support and maintenance of human life and body

2. Mechanisms and machinery used for the purpose of moving and transporting people

3. Important security components of machinery

Installation

z Do not use this product in a place where hazardous substances such as combustible, flammable or

explosive substances exist. There is a possibility of the product generating sparks, catching fire or
causing an explosion.

z Do not use this product in a place where there is a possibility of water and oil drops being splashed on

the main unit and controller.

z Never cut and reconnect the cable of this product in order to change the cable length. Doing so may

cause the risk of equipment catching fire.

Operation

z People using pacemakers or similar devices must not approach within one meter of this product.

Pacemakers may malfunction due to the magnetic field caused by the strong magnet within this product.

z Do not pour water on this product. Pouring water on the product, washing it or using it immersed in water

may cause injury due to abnormal operation, electric shock, fire, etc.

Maintenance, Inspection and Service

z Never modify this product. Doing so may cause injury due to abnormal operation, electric shock, fire, etc.
z Do not attempt to disassemble this product. Doing so may cause injury, electric shock, fire, etc.

Warning

z Do not use this product outside the specified range. Using it outside the specified range may cause

z Design a safety circuit or devices so that device damage and physical injury will not occur if the machine

z Make sure to perform D-class grounding (formerly third-class grounding, with ground resistance of 100

z Be sure to confirm the safety of the operating range of devices before supplying power to and operating

z Wire this product correctly while checking against the operation manual. Connect the cables and

z Do not touch the terminal blocks or switches while the power is turned on. There is a risk of abnormal

z Check to see that the servo is off (using the teaching pendant) before manually moving movable parts of

z The cables used are highly flexible but not robotic. Do not store them in a movable wiring duct (e.g.

z Do not damage any of the cables. Damaging, forcibly bending, pulling, winding or pinching cables, or

General

failure, breakdown and damage to the product. Doing so may also lead to a significant reduction in the
product’s useful life. Be sure to observe, in particular, the maximum load weight and speed
specifications.

Installation

stops at system errors such as emergency stop and electric power failure.

Ω or less) for the actuator and controller. There is a possibility of electric shock and malfunction in the
event of current leakage to the ground.

this product. If the power is supplied improperly, there is a risk of electric shock and injury caused by
contact with a movable part.

connectors securely so that they do not get pulled out or loosened. Failure to do so may lead to
abnormal operation of this product or fire.

Operation

operation and electric shock.

this product (such as manual positioning). Failure to do so may lead to injury.

cable bearer) whose radius is less than the specification.

placing heavy objects on them may cause current leakage, fire and/or electric shock due to poor
conduction, abnormal operation, etc.

z Turn off the power in case of electric power failure. Failure to do so may cause injury and product

damage, since the product may start moving suddenly upon recovery from the electric power failure.

z Turn off the power immediately if the product generates abnormal heat, smoke or odor. Failure to do so

may lead to product damage or fire.

z Turn off the power immediately if the protective device (alarm) of the product is activated. Failure to do

so may lead to injury due to abnormal operation of the product or may lead to the product being broken
or damaged. After turning off the power, investigate and remove the cause of the alarm before turning on
the power again.

z Turn off the power immediately if the LEDs of the product fail to light when the power is turned on. A

protective device (e.g. fuse) on the live side may be alive, not blown. Send a repair request to the sales
office from which you purchased the product. (All the LEDs should be turned off when an emergency
stop is activated.)

Maintenance, Inspection and Service

z Be sure to completely remove the supply of electricity before performing various tasks such as

maintenance/inspection, service or replacement. At this point, observe the following precautions:

1. Post a display, for instance “Work in Progress: Do not turn on the power,” in an easy-to-see location,
so that a person other than the operator does not turn on the power inadvertently while the operator
is working in the area.

2. If several operators are involved in the maintenance/inspection, do not turn the power supply on/off or
move the axis until the safety of all operators has been confirmed and all operators are made fully
aware of such operations.

z Do not throw this product into the fire. The product may explode or poisonous gases may be discharged.

Disposal

Caution

Installation

z Do not use this product in places subjected to direct sunlight (ultraviolet light) or dust, salt and iron

powder, humid places, or in an atmosphere containing organic solvent, phosphate-ester hydraulic oil, etc.
The product may stop functioning in a short period of time, or the performance may be deteriorated and
the lifetime of the product may be significantly reduced.

z Do not use this product in an atmosphere containing corrosive gases (sulfuric acid, hydrochloric acid,

etc.). The durability of the product may be diminished due to the generation of rust.

z Take appropriate shielding measures if this product is used in the following places. Failure to take such

measures may lead to a malfunction.

1. Places where large current or strong magnetic fields are generated

2. Places where arc discharges may occur, such as in welding operations

3. Places where electrical noise may be generated due to static electricity

4. Places that may be exposed to radiation

z Install the main unit and controller in a place with minimum dust and dirt. If they are installed in a place

filled with dust and dirt, they may malfunction.

z Do not install the product in a place where it may be subjected to strong vibration or impact (4.9 m/s

more). Doing so may result in the malfunctioning of the product.

z Place an emergency-stop breaker in an easily accessible location so that it is possible to stop the

operation of the product immediately in the event of a potential danger.

z When installing this product, be sure to secure sufficient space for maintenance. If sufficient space is not

secured, daily inspection and maintenance cannot be conducted properly, which will eventually lead to
device failure and/or damage to the product.

z Do not hold on to movable parts or cables of this product at the time of installation. Doing so may lead to

injury.

2

or

z Be sure to use genuine parts supplied by IAI for the cable between the actuator and controller. Moreover,

be sure to use genuine parts supplied by IAI for each component, such as an actuator, controller or
teaching pendant.

z Post a display, for instance “Work in Progress: Do not turn on the power,” when performing tasks relating

to installation, adjustment, etc., so that the power is not turned on inadvertently. If the power is turned on
inadvertently, there is a risk of electric shock or injury due to sudden activation of the actuator.

Operation

z Turn on the power to the host device first. Failure to do so may lead to injury or product damage, since

the product may be activated suddenly.

z Do not place fingers or objects in any of the opening parts of this product. Doing so may lead to fire,

electric shock and injury.

z Do not place floppy disks or other magnetic media within one meter of this product. Data stored on the

floppy disks may be damaged by the strong magnetic field caused by the magnet within this product.

Maintenance, Inspection and Service

z Do not touch the terminals when conducting the insulation-resistance test. Doing so may cause electric

shock. (Do not conduct the withstand voltage test on a product that uses a DC power supply.)

Note

z Be duly cautious in use by providing a sufficient margin to the stated rating and performance limitations,

z Do not place obstacles that prevent ventilation near the controller. Doing so may damage the controller.
z Do not configure control loops that may cause workpieces to be dropped in case of a power failure.

z When handing this product, wear protective gloves, safety glasses, protective footwear, etc., as

z If this product becomes unusable or no longer necessary, dispose of it properly as industrial waste.

General

as well as safety measures (for instance, failsafe measures), if you are considering using the product
under conditions or in environments not described in the catalog and operation manual. This also
applies if you are considering using the product for applications requiring special security such as air
navigation facilities, combustion equipment, entertainment devices, cleanrooms, security devices or
other situations where significant influence on the safety of human life and properties can be expected.
Be sure to consult our sales representative.

Installation

Configure the control loops so that tables and workpieces can be prevented from dropping in case of
power failure and/or the emergency stop of machinery.

Installation, Operation and Maintenance

necessary to secure safety.

Disposal

Others

Q IAI shall have no liability if the general precautions in “Directions for Safe Use” are not

observed.

Q For inquires about this product, please contact your local sales office. Addresses and

telephone numbers of sales offices are listed at the end of the operation manual.

Before Using the Product

Q Precautions

(1) Be sure to read this operation manual to ensure the proper use of the product.
(2) It is prohibited to use or copy any part of this manual without permission.
(3) Please be aware that we shall have no liability for any effects caused by operations not described

in this manual.

(4) The information provided in this manual is subject to change without notice.

Q Handling at Emergency

* If this product is in a dangerous condition, turn off all the power-supply switches of the main unit and

connected devices, or pull out all power-supply cords from their sockets. (A “dangerous condition”
refers to any situation where fire and physical danger can be expected due to abnormal heat, smoke
and/or fire.)

Table of Contents

1. Overview............................................................................................... 1

1.1 Features .......................................................................................................................................... 1

1.2 Name and Function of Each Part of the Controller ......................................................................... 2

1.3 How to Read the Model Specification.............................................................................................4

1.4 Applicable Actuators ....................................................................................................................... 4

1.5 Options............................................................................................................................................ 5

(1) PC Software (Model PDR-101-MW)........................................................................................ 5

(2) External I/O Cable (Model CB-PD-PIOS020) .......................................................................... 5

(3) Regenerative Resistance Unit (Model REU-1) ........................................................................ 6

2. Specification ......................................................................................... 7

2.1 Specification List ............................................................................................................................. 7

2.2 External Dimensions ....................................................................................................................... 8

3. Installation and Noise Prevention ......................................................... 9

3.1 Installation Environment.................................................................................................................. 9

3.2 Supply Power .................................................................................................................................. 9

3.3 Noise Prevention and Grounding.................................................................................................... 9

(1) Wire and Power Supply ...........................................................................................................9

(2) Grounding for Noise Prevention ............................................................................................ 10

(3) Protecting Against Noise Emitting Sources ............................................................................11

3.4 Heat Dissipation and Installation................................................................................................... 12

4. Wiring ................................................................................................. 13

4.1 Configuration................................................................................................................................. 13

4.2 Connection Diagram ..................................................................................................................... 14

(1) Standard................................................................................................................................. 14

(2) Option .................................................................................................................................... 15

4.3 Power-Supply Input Interface........................................................................................................ 16

(1) Commercial Power ................................................................................................................16

(2) Emergency Stop .................................................................................................................... 17

(3) Electromagnetic Brake Power-Supply Input.......................................................................... 18

4.4 I/O Signals..................................................................................................................................... 18

4.5 I/O Signal Interface Circuit ............................................................................................................ 21

(1) Sequence Input Part.............................................................................................................. 21

(2) Sequence Output Part ........................................................................................................... 22

(3) Command Pulse-Train Input Part .......................................................................................... 23

(4) Feedback Pulse Output Part.................................................................................................. 24

4.6 Motor Cable Connector................................................................................................................. 25

4.7 Encoder Cable Connector............................................................................................................. 25

4.8 Sensor (Optional) Input Connector ...............................................................................................26

4.9 Regenerative Resistance Unit Connector..................................................................................... 26

4.10 RS232C Interface ......................................................................................................................... 27

5. Control and Function of I/O Signals.................................................... 28

5.1 Input Signals ................................................................................................................................. 28

5.1.1 Servo ON Signal (SON)......................................................................................................... 28

5.1.2 Alarm Reset Signal (RES) ..................................................................................................... 29

5.1.3 Homing Command Signal (ORGC)........................................................................................ 30

5.1.4 Torque Limit Selection Signal (TL)......................................................................................... 30

5.1.5 Forced Stop Signal (CSTP) ................................................................................................... 31

5.1.6 Command Pulse Inputs (PP, /PP, NP, /NP)............................................................................ 31

5.2 Output Signals............................................................................................................................... 33

5.2.1 System Ready Signal (SRDY)............................................................................................... 33

5.2.2 Operation Ready Signal (RUN) ............................................................................................. 33

5.2.3 Positioning Completion Signal (INP) ..................................................................................... 33

5.2.4 Homing Completion Signal (ORGR)...................................................................................... 34

5.2.5 Torque Limiting Signal (TLR) ................................................................................................. 34

5.2.6 Alarm/Fault Signal (ALM)....................................................................................................... 35

5.2.7 Feedback Pulse Output Signals (AFB, /AFB, BFB, /BFB, ZFB, /ZFB, GND)........................ 35

6. Parameters ......................................................................................... 36

6.1 Parameter Configuration............................................................................................................... 36

6.2 Parameter List............................................................................................................................... 36

6.3 Parameter Setting ......................................................................................................................... 40

6.3.1 Basic Settings ........................................................................................................................ 40

(1) Electronic Gear ...................................................................................................................... 40

(2) Command Pulse Input Mode ................................................................................................. 42

6.3.2 Application Settings ............................................................................................................... 43

(1) PIO Function Setting Flag...................................................................................................... 43

(2) Communication Speed........................................................................................................... 44

(3) Flag for Setting Function at Stop ........................................................................................... 44

(4) Software Stroke Limit............................................................................................................. 44

(5) Ball Screw Lead Length......................................................................................................... 46

(6) Motor Type............................................................................................................................. 46

(7) Encoder Type......................................................................................................................... 47

(8) Number of Encoder Pulses.................................................................................................... 47

(9) Axis Operation Type............................................................................................................... 48

(10) In-Position Width.................................................................................................................... 48

(11) Deviation Error Output Range ............................................................................................... 49

(12) Homing Pattern Code ............................................................................................................ 49

(13) Speed Command Value at Homing........................................................................................ 50

(14) Acceleration Command Value at Homing.............................................................................. 51

(15)

Offset Amount at Homing....................................................................................................... 51

(16) Homing Deviation Pulse ........................................................................................................ 52

(17) Position Control Loop Proportional Gain ............................................................................... 52

(18) Position Command Primary Filter Time Constant.................................................................. 53

(19) Position Feed-Forward Gain .................................................................................................. 53

(20) Jog Acceleration Default Value.............................................................................................. 54

(21) Jog Deceleration Default Value ............................................................................................. 55

(22) Jog Speed Default Value ....................................................................................................... 56

(23)

Maximum Speed at Incomplete Homing................................................................................ 57

(24)

Maximum Acceleration Value................................................................................................. 58

(25)

Maximum Deceleration Value ................................................................................................ 59

(26) Soft Limit Actual Position Margin ........................................................................................... 59

(27) FBP Mode (Feedback Pulse Output Mode Selection)........................................................... 60

(28) Speed Loop Gain ................................................................................................................... 61

(29) Speed Loop Integration Time Constant ................................................................................. 62

(30) Torque Filter Time Constant................................................................................................... 62

(31) Current Control Bandwidth .................................................................................................... 63

(32) Torque Limit Value ................................................................................................................. 63

6.4 Servo Adjustment.......................................................................................................................... 64

6.4.1 Control Block Diagram...........................................................................................................64

6.4.2 Adjustment 1.......................................................................................................................... 65

(1) The Host Controller is not Equipped with Acceleration/Deceleration Function or the Input

Pulse Frequency Changes Sharply....................................................................................... 65

(2) The Actual Speed does not Follow Commands Well............................................................. 66

6.4.3 Adjustment 2.......................................................................................................................... 67

(1) Shocks at Start/Stop .............................................................................................................. 67

(2) Abnormal Noise at Low Speed (Stop).................................................................................... 67

7. Troubleshooting.................................................................................. 68

7.1 Handling Problems........................................................................................................................ 68

7.2 Fault Diagnosis ............................................................................................................................. 68

7.2.1 Errors Occurring when Turning the Power Supply on.................................................................. 69

7.2.2 Errors Without Alarm Display........................................................................................................ 69

(1) The Actuator does not Operate.............................................................................................. 69

(2) Positioning is not Accurate.....................................................................................................70

(3) Abnormal Noise and Vibration are Generated....................................................................... 70

7.2.3 Alarms.................................................................................................................................... 71

(1) Alarm Levels.......................................................................................................................... 71

(2) List of Alarms ......................................................................................................................... 72

8. Operation Procedure .......................................................................... 75

8.1 Step 1............................................................................................................................................ 75

8.2 Step 2............................................................................................................................................ 76

8.3 Step 3............................................................................................................................................ 77

8.4 Step 4............................................................................................................................................ 78

9. PC Software (PDR-101-MW).............................................................. 79

9.1 Before Using the PC Software ...................................................................................................... 79

(1) Checking Accessories............................................................................................................79

(2) Preparation (Operating Environment).................................................................................... 79

(3) Installing the Software............................................................................................................ 80

(4) Starting the Software.............................................................................................................. 80

9.2 Checking Connection.................................................................................................................... 81

9.3 Main Window................................................................................................................................. 81

9.3.1 Operations from the Main Menu ............................................................................................ 82

(1) File Menu (F).......................................................................................................................... 82

(2)

View Menu (V) ....................................................................................................................... 82

(3)

Parameter Menu (P) ..............................................................................................................82

(4) Monitor Menu (M) .................................................................................................................. 83

(5) Driver Menu (D) ..................................................................................................................... 83

(6) Tool Menu (T)......................................................................................................................... 83

(7) Window Menu (W) .................................................................................................................83

(8) Help Menu (H)........................................................................................................................ 84

9.3.2 Operations from the Toolbar .................................................................................................. 84

9.4 Edit Parameter Window ................................................................................................................ 85

9.4.1 Explanation About the Edit Parameter Window..................................................................... 85

9.4.2 Saving Parameters and Completing Editing.......................................................................... 86

(1) Saving Parameter Data Currently Being Edited to a File ...................................................... 86

(2) Transferring Parameter Data Currently Being Edited to the Driver ....................................... 86

(3) Restarting the Driver (Software Reset).................................................................................. 86

(4) Completing Editing Parameters............................................................................................. 86

9.5 Monitor .......................................................................................................................................... 87

9.5.1 Status Monitor Window.......................................................................................................... 87

9.5.2 Error List Window .................................................................................................................. 89

9.6 Driver............................................................................................................................................. 90

9.6.1 Jog Movement Window ......................................................................................................... 90

(1) Current Position, Alarm Code and Mode Display Panel ........................................................ 90

(2) Jog Operation Panel.............................................................................................................. 91

(3) Button Panel .......................................................................................................................... 91

(4) Processing when Closing the Jog Movement Window.......................................................... 92

9.6.2 Re-Connection....................................................................................................................... 92

9.6.3 Memory Initialization.............................................................................................................. 93

9.6.4 Software Reset ...................................................................................................................... 93

9.7 Tool................................................................................................................................................ 94

9.7.1 Environment Setting .............................................................................................................. 94

9.8 Help............................................................................................................................................... 97

9.8.1 Version Information................................................................................................................ 97

1. Overview

This product is a pulse-train input type controller for actuators manufactured by IAI.
It allows controls according to the command signals from the positioning control function of a host
controller (PLC).

1.1 Features

Q Dedicated Homing Signal

P-Driver supports our proprietary stroke end push homing operation. This function allows automatic
homing without using complex sequences or external sensors.

Q Brake Control Function

The power supply of the electromagnetic brake is supplied to the controller, separately from the main
power supply. Since the brake is controlled by the controller, there is no need to program a sequence.
Moreover, the electromagnetic brake can be released at any point after the main power supply is cut off.

Q Torque Limiting Function

The actuator torque can be limited using external signal (via parameter setting), and a signal is output
when the specified torque is reached. With the use of this function, push operation and press-fitting
become possible.

Q Feed-Forward Control Function

Response can be raised under certain conditions, such as when the load inertial ratio is high.
Increasing this parameter setting decreases the deviation (difference between the position command
and the position feedback), thus resulting in improved response.

Q Position-Command Primary Filter Function

Soft start and stop are possible even if acceleration/deceleration is not specified in the command pulse
input.

Q Feedback Function

Position detection data can be output as pulse trains (differential output). This enables reading of the
current position in real time from the host controller.

1

1.2 Name and Function of Each Part of the Controller

(5) Input connector for

electromagnetic-brake power supply

(4) Input connector for actuator sensor

(optional)

(3) Motor connector

(2) Connector for regenerative

resistance unit (optional)

(1) Input connector for main power

supply

(1) Input connector for main power supply
(2) Connector for regenerative resistance unit
(3) Motor connector
(4) Input connector for actuator sensor

(5) Input connector for electromagnetic-brake power supply
Connects the power supply for electromagnetic brake.

(6) Status indicator (LED)

(7) Communication connector
(8) I/O signal connector

(6) Status indicator LED

RUN (green)

RDY (green)

Connects the power supply.
Connects a regenerative resistance unit (optional).
Connects the actuator’s power cable.

Connects cables from the actuator’s sensors such as
LS, CREEP and OT (optional).

(An electromagnetic brake requires an external power
supply.)
Used to monitor the controller’s operating condition.
RDY (green): Indicates that P-Driver is operating

RUN (green): Indicates that the servo is on.
ALM (red): Indicates that an alarm is generated.
ENC (yellow): Indicates that the encoder is

Connects the PC software cable.
Connects the control I/O signals.

ALM (red)

ENC (yellow)

(7) Communication connector

(8) I/O signal connector

(9) System setting switch

(10) Brake release switch

(11) Encoder brake connector

normally.

disconnected or not connected.

2

(9) System setting switches

Used to change the encoder voltage and boot mode (for remote start).
(The rotary switch is used for adjustment by the manufacturer.)

System setting switches

Switch Symbol Function

1 /BTRT Switch for changing boot mode (Set to OFF.)

2 ENCV2 Switch for adjusting encoder power-supply voltage 2

3 ENCV1 Switch for adjusting encoder power-supply voltage 1

4 - Not used (Set to OFF.)

[Settings of switches for changing encoder power-supply voltage]

Set these switches according to the cable length of the encoder.

Switch

2 3

ENCV2 ENCV1

Cable length

[m]

Output voltage

[V]

See the table below
for the setting.

OFF OFF - 5.15

OFF ON L < 15 5.45

ON OFF

ON ON

15 ≤ L < 25

25 ≤ L < 30

(10) Brake release switch

Used to forcibly release the brake.

(11) Encoder brake connector

Connects the actuator’s encoder/brake cable connector.

5.75

6.05

3

1.3 How to Read the Model Specification

PDR  I  100 B  1  P

<Basic model>

<Encoder type>

I: Incremental

<Motor capacity of actuator>

20: 20 W
30: 30 W

60: 60 W
100: 100 W
150: 150 W
200: 200 W
400: 400 W
600: 600 W
750: 750 W

1.4 Applicable Actuators

It is possible to control the following types of actuators.

(1) RCS-SS (R)

(2) RCS-SM (R)

(3) RCS-RA55

(4) RCS-F55

(5) RCS-RB7530/7535

(6) RCS-R10I/20I/30I

(7) RCS-G20I

(8) ISP (D)

(9) IS (D)

(10) IF

(11) FS

(12) SS

(13) 12RS-30/60

(14) DS-SA4/SA5/SA6

<I/O signal specification>
Blank: NPN
P: PNP

<Power-supply voltage>
1: 100 V specification
2: 200 V specification

<Options>
Blank: None
B: Brake
C: Creep sensor
L: Limit switch

4

1.5 Options

(1) PC Software (Model PDR-101-MW)

Content: Floppy disks, PC link cable 1.5 m (Unit model CB-ST-SIO015)
Used to set P-Driver parameters, monitor jogging operation during debugging, check various signals,
and so on.

PC link cable

Taiyo Electric Wire & Cable (7-core twisted paired

cable with shield; UL/cUL compliant)

2464-1061-2A-SB-5PX24AWG

D-sub 9-pin socket:
XM2D-0901 (Omron)
Hood:
XM2S-0913 (Omron)

Controller side
XM2D-0901

Wire Color Signal No. No. Signal Color Wire

Orange with black dots RD 2 3 TXD Orange with black dots

AWG 24 x

7 cores

1 1

Orange with red dots SD 3 2 RXD Orange with red dots

ER 4 4 DTR

Yellow with black dots SG 5 5 SG Yellow with black dots

DR 6 6 DSR
RS 7 7 RTS
CS 8 8 CTS
9 9

(2) External I/O Cable (Model CB-PD-PIOS020)

Content: Plug, shell and 2-m shielded cable
Use this cable for connection between I/O signals and the host device.
No connector for the host device side is provided.
Perform wiring according to the host device to be used.

Plug: 10126-3000VB (Sumitomo 3M)
Shell: 0326-52A0-008 (Sumitomo 3M)

10126-3000VE

Wire Color Signal No.

0.2 sq.,

soldered

Black COM-A 1 Black

White/black COM-A 2 White/black

Red SRDY 3 Red

White/red RUN 4 White/red

Green INP 5 Green

White/green ORGR 6 White/green

Yellow TLR 7 Yellow

White/yello w ALM 8 White/yellow

Brown SON 9 Brown

White/brown RES 10 White/brown

Blue ORGC 11 Blue

White/blue TL 12 White/blue

Gray CSTP 13 Gray

White/gray COM-B 14 White/gray

Orange NP 15 Orange

White/orange /NP 16 White/orange

Purple PP 17 Purple

White/purple /PP 18 White/purple

Light green AFB 19 Light green

White/light green /AFB 20 White/light green

Pink BFB 21 Pink

White/pink /BFB 22 White/pink

Sky blue ZFB 23 Sky blue

White/sky blue /ZFB 24 White/sky blue

White GND 25 White

Black/white

Shield is connected to a cable clamp Shield

GND 26 Black/white

Sunlight SX (N), 13P x 0.2 sq. (Taiyo Electric Wire & Cable)

1.5 m

2 m

PC side
XM2D-0901

Shield

D-sub 9-pin socket:
XM2D-0901 (Omron)
Hood:
XM2S-0913 (Omron)

No connector at end

AWG 24 x

7 cores

Host device side

5

♦

(3) Regenerative Resistance Unit (Model REU-1)

When the actuator is operating, the motor (drive unit) uses supplied electric energy to rotate. On the
contrary, when it decelerates, the motor acts as an electric generator that supplies current back to the
controller. This is called a regenerative current.
In the case of a vertical application, a large regenerative current will flow into the controller at descending.
P-Driver has a built-in regenerative resistance, but in the case of vertical applications, an additional
regenerative resistance unit is required, which is sold separately.

♦ Regenerative resistance unit specification

Model REU-1

Unit dimensions W34 mm x H195 mm x D126 mm

Unit weight 0.9 kg

Ratings of built-in regenerative resistance

Accessory

♦ Installation conditions and quantity

A regenerative resistance unit is required only in the case of vertical applications. It is not required for
horizontal applications.

Motor wattage of vertical axis Quantity

0~150 W Not required

~200 W 1 unit is required.
~400 W 1 unit is required.
~600 W 1 unit is required.
~750 W 2 units are required.

Caution

z Alarms are not detected.
z Thus, excessive heat may be generated if the number of regenerative resistance units is insufficient.

Exercise caution.

♦ External dimensions

5

φ 5

17.4

3.4
(16.6)

126

10

186

195

175

R2.5

(4)

6

17.4

(10)

(18.8)

220 Ω 80W

Controller link cable (1 m)

Model CB-ST-REU010

Connection method

Controller

RB

Regenerative resistance unit

First unit

Controller link cable

Second unit

6

2. Specification

2.1 Specification List

Actuator motor capacity (W) 20 30 60 100 150 200 400 600 750

Power-supply capacity

(W) 34 42 100 150 210 270 520 770 1000

(VA) 57 70 160 240 350 450 870 1300 1600

100 V specification: single-phase, 100 to 115

Input power supply

VAC ±10%, 50/60 Hz

200 V specification: single-phase, 200 to 230 VAC ±10%, 50/60 Hz

Control method Sine wave PWM, vector current control

Position detection method Incremental encoder

Braking method Regenerative resistance

Control mode Position control via pulse-train input

Maximum input pulse
frequency
Command pulse
magnification

(electronic gear:

Positioning completion

Function/performance

width

A
B

Power supply for I/O signal
interface
Power supply for
electromagnetic brake

Max. 500 kpps (differential) / Max. 200 kpps (open-collector)

A, B = 1 to 4096

A

1

)

<

50

50

<

B

(parameter setting)

1

1 to 4096 pulses (parameter setting)

24 VDC ±20%, 0.8 A (supplied externally)

24 VDC ±20%, 1 A (peak value) (supplied externally)

Communication function RS232C (for dedicated PC software)

Protection functions

Operating
temperature/humidity

Storage temperature

Motor overvoltage, overcurrent, abnormal driver temperature, encoder
error, motor overload, etc.

0 to 40°C, 85% RH or less (non-condensing)

-20 to 70°C (non-condensing)

-

Operating ambience Free from corrosive or flammable gases, oil mist or dust

conditions

Environmental

Durability/vibration 4.9 m/s2 (0.5 G)

Withstand voltage 1500 VAC for 1 minute (1000 VAC for 1 minute with actuator connected)

Protection structure Open, forced air cooling (IP20)

Weight 1.2 kg

7

2.2 External Dimensions

129.1

44.1

88.2

φ 5

5

5

5

184

194

8

3. Installation and Noise Prevention

Please pay attention to the controller’s installation environment.

3.1 Installation Environment

a. Avoid blocking air vents for cooling when installing and wiring the controller. (Insufficient ventilation

prevents the controller from achieving full performance and may also cause failure.)

b. Prevent foreign objects from entering the controller through the air vents. Moreover, be aware that the

controller is neither dust-proof nor water (or oil)-proof; avoid using it in dusty environments or
locations where oil mist and cutting fluid may be scattered.

c. Avoid subjecting the controller to heat radiation from large heat sources such as direct sunlight or

heat-treatment furnaces.

d. Use the controller in an environment with an ambient temperature of 0 to 40°C and a humidity of 85%

or less (no condensation), and free from corrosive or flammable gases.
e. Use the controller in an environment free from external vibration and impact.
f. Avoid inducing electric noise to the controller unit and wiring cables.

3.2 Supply Power

Depending on the type of controller, it is possible to select the supply power from 100 VAC or 200 VAC.

3.3 Noise Prevention and Grounding

(1) Wire and Power Supply

Power-supply terminal block PE is protective ground; perform D-class (third-class) grounding.

Moreover, use electric wires with a thickness of 0.75 mm

power-supply wire used.

D-class grounding

(protective ground)

Power supply 100/200 VAC

2

(AWG18) or more, and thicker than the AC

PE

1

L

2

3

N

9

(2) Grounding for Noise Prevention

a. It is necessary to ground the controller to prevent noise, regardless of whether it is configured as a

100 or 200 VAC system.

b. General precautions on wiring method

Separate the wiring of the controller from strong electric lines such as the power circuit. (Do not bind

wires together, and do not place in the same duct.)

Consult IAI’s Technical Service Department or Sales Technology Department if you need longer

cables for motor or encoder wiring.

Connect the controller unit by affixing it to the metal enclosure directly with screws.

100/200 V

controller

Protective ground

1

2

(AC power supply)

3

Make the ground wire as
thick and short as possible.

Metal

enclosure

10

←

(3) Protecting Against Noise Emitting Sources

There are many types of noise emitting sources, but the most familiar ones when building a system

include solenoid valves, magnet switches and relays. The controller can be protected against noise

from such sources by the following actions:

a. AC solenoid valves, magnet switches and relays

Action: Mount a surge killer in parallel with each coil

b. DC solenoid valves, magnet switches and relays

Action: Mount a diode in parallel with each coil. Determine the capacity of the diode according to the load

capacity.

Point

Connect the surge killer to each coil with the shortest
possible wiring.
When it is connected to a terminal block or similar,
the effect is lost if the distance to coil is large.

Careful attention should be paid in the case of DC current; if
the polarity of the diode is mistaken, the diode, internal circuitry
of the controller and/or DC power supply may be destroyed.

11

3.4 Heat Dissipation and Installation

Design the size of the control panel, layout of the controller installation and cooling method so that the
peripheral area of the controller is 40°C or less.
Install the controller vertically on a wall. The controller is cooled by forced ventilation (a jet on the top part).
Observe this direction when installing and ensure a clearance of 100 mm or more above the controller
and 50 mm or more below the controller.
If two or more controllers are installed in parallel, the ambient temperature can be made even by
mounting an additional fan to ensure air circulation in the air above the controllers.
Moreover, ensure a clearance of 100 mm or more between the front side of the controller and wall
(cover).

Ensure a clearance between controllers that allows easy installation and removal of individual controllers,
regardless of the number of controllers.

Wind direction

Fan

100 mm or more

100 mm
or more

50 mm or more

Ventilation

12

A

A

4. Wiring

4.1 Configuration

[Parts to be prepared by

Single-phase AC power supply

Line filter
Since the PWM control circuit of this
product generates higher harmonics
due to switching, radiation noise and
conduction noise may influence
peripheral devices connected to the
same power supply. In such cases,
mount a line filer.

the customer]

100~115 V 50/60 Hz
200~230 V 50/60 Hz

Power-supply breaker
Switches the power
supply on/off and
prevents damages due
to short-circuit current.

Electromagnetic contact
Used when disconnecting
this product from the
power supply, such as at
emergency stop.

C reactor
Used when the
power-supply capacity is
large, in order to control
voltage fluctuations and
higher harmonics.

ctuator

[Parts to be prepared by

the customer]

General-purpose PC
The PC software dedicated for

Motor cable
Encoder cable
LS cable (optional)

Regenerative resistance unit
(optional)

P-Driver allows parameter setting
and operation adjustment.

Brake power supply
24 VDC, 1 A

External (host) controller

P-Driver supports various
controllers of pulse-train output
type.

Power supply for I/O signals
24 VDC 0.8 A

Caution

z Separate the power supply for

the brake from the power supply
for the I/O signal interface.

13

/

/

/

/

/

/

/

/

A

r

4.2 Connection Diagram

The following figure shows a connection diagram of the P-Driver unit.

(1) Standard

MS

Power supply:

Single-phase, 100 VAC
Single-phase, 200 VAC

Brake power supply: 24 VDC
(for actuator with brake)

0 VDC

(NPN specification)

24 VDC

(PNP specification)

Power supply for
I/O signal
interface: 24 VDC

Connect the PIO shielded cable to the
connector shell. An optional external I/O
cable is already connected.

L

N

PE

+

BK

-

PIO

17 PP

18/PP

15 NP

16/NP

9 SON

10 RES

11 ORGC

12 TL

13 CSTP

14 COM-B

1 COM-A

2 COM-A

ORGR 6

U

V

W

PE

ENC

A 1

A 2

B 3

B 4

Z 5

Z 6

SD 7

SD 8

BAT 9

BAT 10

VCC 11

GND 12

BKN 13

BKP 14

FG 15

PIO

AFB 19

AFB 20

BFB 21

BFB 22

ZFB 23

ZFB 24

GND 25

GND 26

SRDY 3

RUN 4

INP 5

TLR 7

ALM 8

ctuato

Feedback pulse

output (differential)

24 VDC

0 VDC

Load

Load

゛

Load

゛

Load

゛

Load

゛

Load

゛

(NPN specification)
(PNP specification)

14

A

r

(2) Option

Regenerative

resistance unit

RB+ RB-

PE

CREEP

24V

LS

OT

RSV

N

ctuato

15

4.3 Power-Supply Input Interface

Connect the power supply specified in 2.1, “Specification List,” to P-Driver.
It must be possible to cut off the AC power supply via an electromagnetic contact in case of an emergency
stop.

(1) Commercial Power

a. 100 V specification: single-phase, 100 to 115 VAC ±10%, 50/60 Hz

b. 200 V specification: single-phase, 200 to 230 VAC ±10%, 50/60 Hz

List of AC power-supply input connector terminals (Phoenix GMSTB2.5/3-GF-7.62 DIP)

Symbol Function

L

N

PE

* Connectors (plugs) are standard accessories.

Main power-supply input terminals

Ground terminal; perform D-class (third-class) grounding or higher.

16

(2) Emergency Stop

It must be possible to cut off the AC power supply via an electromagnetic contact in case of an
emergency stop.
The following figure shows a reference circuit.

+ Turn the forced stop signal (CSTP) on by turning RY off.

When CSTP is turned on, the forced stop processing is performed and the servo is turned off.
Note that if the timer (T) is set short, the drive unit may be cut off before the servo is turned off and the
motor is placed in the free-run status and may become unable to stop. For this reason, wait until
sufficient time has elapsed to allow the motor to stop and then cut off the power to the drive unit (be
careful with the setting of T).

Emergency stop release switch Emergency stop switch

Commercial power

PB 1

RY

RY

MS

RY

Input an alarm/fault signal (ALM) (ON in normal
circumstances).
In this circuit, when PB 1 is turned on and the power is
supplied via MS, MS is self-maintained unless P-Driver
enters an alarm status.
MS is kept turned on unless EMG PB is pressed or
P-Driver enters an alarm status.

T

Input an operation ready signal (RUN).

MS

T

P-Driver

MS

L

N

(100 msec)

* Reference value

17

(3) Electromagnetic Brake Power-Supply Input

This input is required when the actuator has an electromagnetic brake.
Connect a dedicated external power supply.

24 VDC ±20% 1.0 A (peak value)

Do not use the same power supply for the brake power supply as for the I/O signals.

List of electromagnetic brake power-supply input connector terminals (Phoenix MC1.5/2-GF-3.81 DIP)

Symbol Function

BK

* Connectors (plugs) are standard accessories.

+

Electromagnetic brake power-supply input terminals

-

4.4 I/O Signals

Connect the control I/O signals to the external (host) controller.

List of DI/DO interface connector terminals (3M 10226-52A2JL)

Signal

classification

Pin
No.

Symbol Signal name Function

Power
supply

Sequence

signal output

1

COM-A

2

3 SRDY System ready

4 RUN

5 INP

6 ORGR

7 TLR Torque limiting

8 ALM Alarm

Power-supply
common (+)

Operation
ready

Positioning
completion

Homing
completion

Power supply common for external I/O signals.
Connect this terminal to the + side of a 24 VDC
supply. (Pin No. 1 and 2 are internally connected.)

Turns on when the initialization is completed
normally and control of P-Driver is enabled after the
power supply is turned on. Synchronized with the
RDY LED located on the front side of the controller.

Turns on when the servo is turned on and operation
of the servo motor is enabled. Synchronized with the
RUN LED located on the front side of the controller.

Turns on when the robot enters the set in-position
range. (The in-position range is set via parameters.)

Turns on when homing is complete, as indicated by
the ORGC input.

Turns on when the torque reaches the set torque
limit value while TL is on. (The torque limit value is
set via parameters.)

Turns off when a protection circuit (function) is
actuated and the base current is interrupted. This
signal is normally turned on after the power supply is
turned on. Synchronized with the ALM LED located
on the front side of the controller.
The ALM LED is lit in case of an alarm.

18

Signal

classification

Pin
No.

Symbol Signal name Function

9 SON Servo ON

Operation of the servo motor is enabled when this
signal is turned on. The servo motor is placed in
the free-run status when this signal is turned off.
In the case of an actuator with a brake, the brake
is released when this signal is turned on.
If this signal is turned off during operation, forced
stop processing is performed and the motor is
placed in the free-run status. In the case of an
actuator with a brake, the brake is applied at the
same time as the motor is placed in the free-run
status.

Sequence

signal

input

Power
supply

Command

pulse

input

10 RES Alarm reset Alarms are reset at the rising edge of this signal.

11 ORGC

Homing
command

Homing operation starts at the rising edge of this
signal.

The torque limit value set in the parameter
becomes valid when this signal is turned on. To
perform push operation, turn this signal on before
starting the positioning of the actuator or in the

12 TL

Torque limit
selection

middle of the positioning operation.

When this signal is turned on, the robot
decelerates to a stop at the forced stopping torque
and the servo is turned off.

Power-supply common for external I/O signals.
Connect this terminal to the - side of a 24 VDC
supply.

Inputs pulse-train for positioning command.
Open-collector method: Max. 200 kpps

13 CSTP

14 COM-B

15 NP

External
forced stop

Power-suppl
y common (-)

Differential receiver method: Max. 500 kpps

16 /NP

Pulse-train
input

17 PP

The command pulse mode can be chosen from
90-degree phase shifted signal (phases A/B, in
quadrature), pulse-train + forward/reverse signal,
and forward/reverse pulse, and input logic mode
can be selected from positive logic and negative
logic for each of the above.
Moreover, the amount of unit movement per pulse
can be set by an electric gear. (The command

18 /PP

pulse input mode and electric gear settings are
specified using parameters.)

19

Signal

classificati

on

Feedback

pulse output

(differential)

Pin
No.

19 AFB +A

20 /AFB -A

21 BFB +B

22 /BFB -B

23 ZFB +Z

24 /ZFB -Z

Symbol Signal name Function

Outputs position detection data as a pulse train
(differential).

The output pulse mode can be chosen from
90-degree phase shifted signal (phases A/B, in
quadrature), pulse train + forward/reverse signal,
and forward/reverse pulse, and output logic mode
can be selected from positive logic and negative
logic for each of the above. (The output pulse
mode is specified using parameters.)

The resolution is determined by the electric gear
ratio of the command pulse input. (The position
detection data is output with the same resolution
as the command signal.)

25

GND

26

* Connectors (plugs and shells) are standard accessories.

* Optional external I/O cables (CB-PD-PIOS020) are prepared.

Caution

z Note that the actuator moves in the negative direction with a forward pulse (forward for the motor) and

in the positive direction with a reverse pulse (reverse for the motor). (Opposite applies to folded motor
type actuators.)

z When considering the forward/reverse direction, pay attention to the settings of the host controller or

connection of PP and /PP as well as NP and /NP.

* The rotation direction of the motor is indicated by setting CCW to forward, as seen from the axis edge

of the load side.

Reference

potential

Line driver ground line for feedback pulse output
(Pins 25 and 26 are internally connected.)

20

Ω

4.5 I/O Signal Interface Circuit

(1) Sequence Input Part

Item Specification

Input voltage

Input current 7 mA/circuit

Operating voltage

Insulation method Photo-coupler

NPN specification

External power supply
24 VDC

PNP specification

External power supply
24 VDC

24 VDC ± 20%

ON voltage --- Min. 16 V (4.5 mA)
OFF voltage --- Max. 6 V (1.4 mA)

P-Driver

Pin No.

1, 2

COM-A

14

COM-B

Each input

Each input

3.3 KΩ

560 Ω

Internal circuit

P-Driver

Pin No.

1, 2

14

COM-A

COM-B

560 Ω

Internal circuit

Each input

Each input

3.3 K

21

A

A

(2) Sequence Output Part

Item Description

Rated load voltage 24 VDC/60 V (peak; without flywheel diode)

Maximum load current 100 mA/circuit

Insulation method Photo-coupler

Overcurrent protection

NPN specification

Internal circuit

PNP specification

Internal circuit

Fuse resistance: 10 Ω, 0.1 W

P-Driver

Fuse resistance:
10 Ω, 0.1 W

Each output

Each output

COM-

COM-B

P-Driver

COM-

COM-B

Fuse resistance:
10 Ω, 0.1 W

Pin No.

1, 2

14

Pin No.

Each output

Each output

1, 2

14

Load

Load

Load

Load

External power
supply
24 VDC

External power
supply
24 VDC

22

(3) Command Pulse-Train Input Part

Differential line-driver input
Applicable line driver: 26C31 or equivalent

Open-collector input
Pull up with a resistor of 2.2 kΩ.

P24

2.2 kΩ

N24

P-Driver

Pin No.

15/(17)

16/(18)

P-Driver

Pin No.

15/(17)

16/(18)

23

(21)/(23)

)

(4) Feedback Pulse Output Part

Applicable line receiver: 26C32 or equivalent

P-Driver

Pin No.

18/

Pin No.

20/(22)/(24

24

4.6 Motor Cable Connector

List of motor connector terminals (Phoenix GIC2.5/4-GF-7.62 DIP)

Symbol Function

U
V

W

PE

* The connector (plug) is attached to the motor cable.

Motor power cable connection terminals of actuator

4.7 Encoder Cable Connector

List of encoder connector terminals (Omron XM3B-2542-502L)

Pin
No.

1 A
2 /A
3 B
4 /B
5 Z
6 /Z
7 SD

8 /SD

9 BAT+
10 BAT­11 PG5V
12 PGND
13 BKN
14 BKP
15 NC Not used

* The connector (plug) is attached to the encoder cable.

Symbol Function

Encoder phase A signal

Encoder phase B signal

Encoder phase Z signal

Serial data line (serial encoder)
Magnetic pole detection function switch signal (encoder with magnetic
pole detection)

Not used

Encoder power supply

Brake drive power supply

25

4.8 Sensor (Optional) Input Connector

This is an input connector for LS (limit sensor), OT (over-travel sensor) and CREEP (creep sensor), which
are optional sensors that may be attached to the actuator.

List of actuator sensor input terminals (Phoenix MC1.5/6-G-3.5)

Symbol Function

24V Power supply for sensor, 24 VDC (+ side)

N Power supply for sensor, 24 VDC (- side)

LS Limit sensor

CREEP Creep sensor

OT Over-travel sensor

RSV Not used

Caution

z 24V and N are power-supply terminals dedicated for sensors and cannot be used for other purposes.

Do not connect cables other than the LS cable attached to the actuator to these terminals.

4.9 Regenerative Resistance Unit Connector

This is a connector for connecting a regenerative resistance unit (optional).

List of regenerative resistance unit connection terminals (Phoenix MC1.5/6-G-3.5)

Symbol Function

RB+ Regenerative resistance unit connection terminal (+ side)

RB- Regenerative resistance unit connection terminal (- side)

PE Regenerative resistance unit ground terminal

* The connector (plug) is attached to the regenerative resistance connection cable.

26

4.10 RS232C Interface

This is a communication interface for the PC software supporting this product.
Use the cable supplied with the PC software (PDR-101-MW) described in 1.5 (1) or equivalent for the
connection cable.

List of RS232C interface signals (Omron XM2C-0942-502L)

Pin
No.

1 - Cannot be used
2 RXD Reception data
3 TXD Transmission data
4 DTR Data terminal ready
5 GND (Signal) ground
6 DSR Data set ready
7 RTS Request to send
8 CTS Clear to send
9 - Cannot be used

z Do not connect anything to pin numbers 1 and 9.

Symbol Name

Caution

27

5. Control and Function of I/O Signals

5.1 Input Signals

Input signals to the controller are filtered using a time constant set in order to prevent malfunction due to
chattering, noise, etc. (This does not apply to an external forced stop signal (CSTP) input and command
pulse-train input (PP, /PP, NP and /NP).)
Therefore, input each input signal continuously for 6 ms or more.

Input signal

Input signal

6 ms

5.1.1 Servo ON Signal (SON)

This signal places the servo motor of the actuator in operable status.

 Function

The actuator is operable while the SON signal is turned on.
The actuator cannot be operated while this signal is off, even if the power is supplied to the controller.
If this signal is turned off while the actuator is operating, the actuator decelerates to a stop at the forced
stopping torque. After it stops, the servo is turned off and the motor is placed in the free-run status.
At this point, the function (dynamic brake, electromagnetic brake or deviation counter clear) selected
with the flag for setting function at stop (an actuator parameter) is activated.

SON

Dynamic brake

Servo ON

Electromagnetic

brake

5 ms

20 ms

Recognized

Not

recognized

50 ms

28

+ Servo OFF status

1. There is no holding torque after stopping.

2. Pulse-train inputs, ORGC (homing command signal), TL (torque limit selection signal) and CSTP
(external forced stop signal) are all ignored.

3. Output signals, including RUN (operation ready signal), INP (positioning completion signal), ORGR
(homing completion signal) and TLR (torque limiting signal), are all cleared (set to off).

+ Related parameters

It is possible to disable the SON signal using the PIO function setting flag, which is an external interface
parameter (the servo is always on).
In this case, the servo is automatically turned on when the power is supplied to the controller.

5.1.2 Alarm Reset Signal (RES)

This signal resets the alarm detection of the controller.

 Function

Alarm detection of the controller can be reset by turning the RES signal on.

Caution

z If an error at the cold start level occurs, turn the RES signal on while the SON (servo ON) signal is off

to cancel the displayed error. If the SON signal is turned on again, however, an alarm is generated
again.

z Check the cause of the alarm and eliminate the reasons for it; then restart the controller.

+ Related parameters

It is possible to disable the RES signal using the PIO function setting flag, an external interface
parameter.
In this case, the alarm can only be reset by turning the power supply to the controller off and back on
again or using the PC software.

29

5.1.3 Homing Command Signal (ORGC)

This signal commands the actuator to perform automatic homing.

 Function

When the ORGC signal is turned on, this instruction is handled at the rising (ON) edge and the actuator
performs the automatic homing operation.
When homing is completed, the ORGR (homing completion) output signal is turned on.
When the ORGR signal is turned on, set the current value register of the host controller (PLC) to the
home value (enter 0) using the current value preset function.
This signal is always enabled as far as the servo is turned on.
It is possible to perform homing even after homing is completed, by turning the ORGC signal on.

Caution

z The ORGC signal takes priority over the pulse-train command input. For this reason, the actuator

starts homing once the ORGC signal is turned on, even if it is being operated by the pulse-train
command.

z The ORGC signal is only handled at the rising (ON) edge.
z The homing operation is stopped if the SON signal is turned off, the CSTP (external forced stop)

signal is turned on or alarm is detected while homing. When the servo is turned off, the homing
command is canceled even if the ORGC signal is still turned on. For this reason, it is recommended to
turn the ORGC signal off and then on before performing the homing operation again.

+ Related parameters

It is possible to disable the ORGC signal using the PIO function setting flag, an external interface
parameter.
Disable the ORGC signal if you are using the homing function of the host controller (PLC).

5.1.4 Torque Limit Selection Signal (TL)

This signal limits the torque of the motor.

 Function

While the signal is turned on, it is possible to limit the actuator’s thrust (motor torque) to the torque set in
the torque limit value of a speed/current control parameter.
While the TL signal is turned on, if the torque reaches the torque limit value, the TLR (torque limiting)
output signal is turned on. The TL signal is disabled while homing and during forced stop.

30

Caution

z Do not turn the TL signal off while the TLR signal is turned on.
z While the torque is being limited (the TL signal is turned on), excessive deviation (standing pulse)

may be generated (if the actuator cannot operate due to applied load, for instance in the push status).
If the TL signal is turned off in this status, control at the maximum torque is immediately started and
the actuator may operate suddenly or go out of control. After turning the TL signal on (after the push
operation is completed, etc.), make sure to move the actuator to the opposite direction and check that
the TLR signal is turned off. Turn the servo off if moving in the opposite direction is impossible.

+ Related parameters

It is possible to disable the TL signal using the PIO function setting flag, an external interface parameter.
Disable the TL signal if it is not used.

5.1.5 Forced Stop Signal (CSTP)

This signal forcibly stops the actuator.

 Function

Make sure to input the CSTP signal continuously for 10 ms or more. When the actuator receives the
CSTP signal, it decelerates to a stop at the forced stopping torque and the servo is turned off. At this
point, the function (dynamic brake, electromagnetic brake or deviation counter clear) selected with the
flag for setting function at stop (an actuator parameter) is activated.
See 5.1.1, “Servo ON Signal (SON),” for handling and status of servo off.

+ Related parameters

The CSTP signal can be disabled with the PIO function setting flag, an external interface parameter, but
do not use this setting.
The CSTP signal is used to urgently stop the actuator at emergency stop.
See 4.3 (2), “Emergency Stop,” for emergency stop handling.

5.1.6 Command Pulse Inputs (PP, /PP, NP, /NP)

These signals are pulse-train inputs for positioning commands.

 Function

It is possible to input pulse-trains of up to 200 kpps in open-collector mode and 500 kpps in differential
receiver mode.
The command pulse mode can be chosen from 90-degree phase shifted signal (phases A/B, in
quadrature), pulse-train + forward/reverse signal, and forward/reverse pulse, and the input logic mode
can be selected from positive logic and negative logic for each of the above.

31

Caution

z Note that the actuator moves in the negative direction with a forward pulse (forward for the motor) and

in the positive direction with a reverse pulse (reverse for the motor). (Opposite applies to folded motor
type actuators).

z When considering the forward/reverse direction, pay attention to the settings of the host controller or

connection of PP and /PP as well as NP and /NP.

* The rotation direction of the motor is indicated by setting CCW to forward, as seen from the axis edge

of the load side.

+ Related parameters

It is possible to set six types of command pulse modes by the command pulse input mode, a position
control parameter.

Command pulse-train

mode

Forward pulse

train

Reverse pulse

train

A forward pulse train indicates motor revolutions in the forward direction, while a reverse pulse

Pulse train PP x /PP

Input

terminal

PP x /PP

NP x /NP

train indicates motor revolutions in the reverse direction.

Forward Reverse

Sign NP x /NP

A command pulse indicates motor revolutions and its sign indicates the rotating direction of the

Negative logic

Phase A/B pulse

train

Motor revolutions and rotating direction are specified by phases A/B (4 multiplications) with a

Forward pulse

train

Reverse pulse

train

Pulse train PP x /PP

Sign NP x /NP

Positive logic

Phase A/B pulse

train

PP x /PP

NP x /NP

90-degree phase difference.

PP x /PP

NP x /NP

PP x /PP

NP x /NP

Low

motor.

High

High

Low

32

5.2 Output Signals

5.2.1 System Ready Signal (SRDY)

This signal turns on when control of P-Driver is enabled after the main power supply is turned on.

 Function

This signal turns on when the initialization is normally completed and control of P-Driver is enabled after
the main power supply is turned on, regardless of the status of alarm and servo.
It is turned on as far as P-Driver is in a controllable status, even if it is in an alarm status.
It is synchronized with the RDY LED located on the front side of the controller.

5.2.2 Operation Ready Signal (RUN)

This signal turns on when the servo motor becomes operable.

 Function

This signal turns on when the servo is turned on and becomes operable (able to receive the pulse-train
input signal, i.e., in pulse mode) as a result of the SON (servo ON) signal being turned on.
It is turned off when the servo is turned off as a result of the SON signal or CSTP (forced stop) signal
being turned off.
See 5.1.1, “Servo ON Signal (SON),” for handling and status of servo on/off.
It is synchronized with the RUN LED located on the front side of the controller.

Caution

z This signal is turned off while the SIO mode is selected by the PC software. In this case, however, the

RUN LED located on the front side of the controller is not turned off. Moreover, the servo ON status is
maintained.

z With this signal, it is possible to identify whether the servo is in the SIO mode or pulse (normal) mode.

See 9.6.1, “Jog Movement Window,” for how to switch between the pulse mode and SIO mode.

5.2.3 Positioning Completion Signal (INP)

This signal turns on when the deviation (standing pulse) of the deviation counter is within the in-position
range.

 Function

This signal turns on when the servo is turned on and the standing pulse of the deviation counter is
within the range of the pulse number set in the in-position width, a position control parameter.
It is turned off when the servo is turned off.

33

Caution

z This signal turns on when the servo is turned on (because the actuator is positioned at that location).
z Since this signal is turned on by the deviation (standing pulse) only, if the in-position width, a position

control parameter, is made excessively large, the signal turns on once the actuator enters the
in-position range during low-speed operation even if it is operating (positioning is not completed).

5.2.4 Homing Completion Signal (ORGR)

This signal turns on when homing is completed and the coordinate system is established.

 Function

This signal turns on when homing by the ORGC (homing command) signal or the PC software is
completed.
It is turned off when the servo is turned off. Perform homing again after servo off.

Caution

z The software stroke limit, an actuator parameter, is valid only when this signal is turned on.
z Operation is possible even without using this function, but take actions so that pulse commands

larger than the valid stroke are not sent or the actuator is forcibly stopped by setting an external limit
switch.

5.2.5 Torque Limiting Signal (TLR)

This signal turns on when the torque reaches the limit value while the torque limit selection signal is turned
on.

 Function

This signal turns on when the actuator’s thrust (motor torque) reaches the torque set in the torque limit
value, a speed/current control parameter, when the TL (torque limit selection) signal is turned on.
It is turned off when the motor torque decreases.

Caution

z This signal is not turned on if the actuator’s trust does not reach the set torque even when the TL

signal is turned on.

z Do not turn the TL signal off while this signal is turned on. (See Caution in 5.1.4, “Torque Limit

Selection Signal (TL).”)

34

5.2.6 Alarm/Fault Signal (ALM)

This signal turns off when the protection circuit (function) of P-Driver detects an error.

 Function

This signal turns off when an alarm is detected and the protection circuit (function) is actuated, and the
base current is interrupted. This signal is normally turned on. After having been turned off, it can be
turned on again when the cause of the alarm is removed and the RES (reset) signal is turned on (except
in case of alarms at the cold start level).
When an alarm is detected, the ALM LED located on the front side of the controller turns on. This LED is
normally turned off.

Caution

z If an error at the cold start level occurs, turn the RES signal on while the SON (servo ON) signal is off

to cancel the displayed error. If the SON signal is turned on again, however, an alarm is generated
again.

z Check the cause of the alarm and eliminate the reasons for it; then restart the controller. Alarm codes

can be checked with the PC software. The controller can store 16 alarm history messages, which are
kept in memory unless the power supply is interrupted. Moreover, the PC software displays the
occurrence times along with the alarm history messages; it is thus possible to check when and what
alarm occurred.

z See 9.5.2, “Error List Window,” for details of alarm history messages.

5.2.7 Feedback Pulse Output Signals (AFB, /AFB, BFB, /BFB, ZFB, /ZFB, GND)

These signals output position detection data as differential pulse trains.

 Function

These signals output position detection data as differential pulse trains (phases A, B and Z). The host
controller can read the current position value of the actuator in real time using the counter function, etc.

+ Related parameters

The resolution of the pulse output is determined by the electronic gear ratio of the command pulse input
set in the position control parameters; the position detection data is output with the same resolution as
the command signal.
The feedback pulse output mode can be set by specifying the FBP mode, a position control parameter.
It is possible to disable these pulse signals using the PIO function setting flag, an external interface
parameter. Disable the feedback pulse outputs if they are not used.

Caution

z Set these signals in such a way that there are no logical contradictions if you import them in the host

controller to configure a closed loop.

z Phase Z signals are output as is if the encoder of the actuator is not a serial encoder. With serial

encoders, the range of ±0.5° in mechanical angle from the position of point 0 (home) is output as
phase Z signal. This precision is only guaranteed when the revolution speed of the motor is 100 rpm
or less due to the communication cycle with the encoder.

35

6. Parameters

6.1 Parameter Configuration

The parameters are classified into the following five types depending on the content:

a. Driver information
b. External interface information
c. Actuator information
d. Position control information
e. Speed/current control information

6.2 Parameter List

Default values indicated by [A] are determined according to the actuator specifications.
These parameters are set to appropriate values corresponding to the applicable actuator at shipment from
the factory.

Type No. Name Symbol

Default value

(reference)

Unit Input range Description

Emergency stop

1

2 Servo ON delay time SONT 20 msec

3

Driver information

4

1

2

External interface information

3

torque

Servo OFF delay

time

Cumulative number

of writing operations

to non-volatile

memory area

PIO function setting

flag

Communication

speed

Gate switch delay

time

EMTQ 1.0 (multiplier)

SOFT 50 msec

CEEP 0

FPIO 0b (Bit input)

BRSL 38400 bps

RTIM 5 msec

Number of

times

Reference

only

Reference

only

Reference

only

Reference

only

0000000~

1111111b

9600~

115200

Reference

only

To be adjusted by the manufacturer

To be adjusted by the manufacturer

To be adjusted by the manufacturer

To be adjusted by the manufacturer

BIT0 SON 0: Enabled, 1: Disabled

BIT1 RES 0: Enabled, 1: Disabled

BIT2 ORGC 0: Enabled, 1: Disabled

BIT3 TL 0: Enabled, 1: Disabled

BIT4 CSTP 0: Enabled, 1: Disabled

BIT5 FBP 0: Enabled, 1: Disabled

0: Positive pulse count

BIT6 CPR

SIO communication speed setting
9,600/19,200/38,400/57,600
115,200 bps

To be adjusted by the manufacturer

direction

1: Negative pulse count

direction

Actuator

information

1

Flag for setting

function at stop

FSTP

101b

(actuator

without brake)

111b (actuator

with brake)

(Bit input) 000~111b

Clear deviation counter at servo off

BIT0

and alarm generation

0: Enabled, 1: Disabled

Electromagnetic brake

BIT1

BIT2

0: Enabled, 1: Disabled

Dynamic brake

0: Enabled, 1: Disabled

36

Type No. Name Symbol

Default value

(reference)

Unit Input range Description

Software stroke

2

limit, positive side

(actual stroke)

Software stroke

3

limit, negative side

(actual stroke)

Ball screw lead

4

5

Actuator information

6 Motor type MTYP [A] (HEX input) 00~20h

length

Ratio of moment of

inertia of actuator

load

LIMM [A] pulse

LIML [A] pulse

LEAD [A] mm 0.1~102.4 Ball screw lead of the actuator

RINA [A] (multiplier)

134217727~

-134217728

13421777~

-134217728

Reference

only

Actual stroke value on positive side (Set by

Actual stroke value on negative side (Set by

input

value

00~Fh Not used

10h RCS-RB7530 60 W

11h

12h RCS-RB7535 150 W

13h

14h

15h

16h

17h

18h

19h ISP(D)-W 600 W
1Ah ISP(D)-W 750 W

1Bh

1C~
1Eh
1Fh DS-SA4/5 [T1] 20 W
20h DS-SA6 [T1] 30 W

the number of pulses.)

the number of pulses.)

To be adjusted by the manufacturer

Actuator HEX

Type

RCS-RB7530
RCS-RB7535

RCS-SS(R)

RCS-RA55

RCS-F55

ISP(D)

IS(D)

IF
FS
SS

12RS-60
12RS-30 30 W

RCS-SM(R)

RCS-RA55

RCS-F55

SS

RCS-SM(R)

SS

ISP(D)

IS(D)

IF
FS

ISP(D)

IS(D)

IF
FS

ISP(D)

IS(D)

IF
FS

RCS-R10I/20I/30I

RCS-G20I

Not used

Motor

capacity

100 W

60 W

100 W

150 W

100 W

200 W

400 W

60 W

37

Type No. Name Symbol

Instantaneous

7

maximum current

CMLM [A] (multiplier)

limit value

8 Encoder type ETYP [A]

Actuator information

9

10

11

Number of

encoder pulses

Maximum

revolution speed
Axis I/O function

selection

EPLS [A]

MAXV [A]

AIOF [A] (Bit input)

Temperature

12

increase at rated

TPRT [A]

current conduction

Thermal time

13

constant

TMCT [A] sec

14 Axis operation type ATYP [A] 0~1

Control mode

1

selection

CMOD [A]

2 In-position width INP 100 pulse 1~4096

Deviation error

3

output range

ECNT

Command pulse

input mode

4

(Command

CPMD 01h

pulse-train input

mode)

Position control information

Electronic gear

5

Electronic gear

6

denominator

Homing pattern

7

numerator

code

CNUM 2048 1~4096 Command pulse magnification numerator

CDEN 125 1~4096 Command pulse magnification denominator

ORGP [A] 0~1

Default value

(reference)

Three times

the number of

encoder

pulses

Unit Input range Description

(HEX

input)

pulse

/rev

pulse

/sec

°C

pulse 1~99999 Deviation error detection value

(HEX

input)

Reference

only

0~5h

1~131072

Reference

only

Reference

only

Reference

only

Reference

only

Reference

only

00~12h

To be adjusted by the manufacturer

HEX input

value

Actuator type

RCS-SS(R)
RCS-SM(R)

RCS-RA55

RCS-F55

ISP(D)

0h

IS(D)

IF
FS
SS

12RS-60
12RS-30

DS-SA4/5/6 [T1]
1h Not used
2h RCS-RB7530/7535
3h Not used

4h

RCS-R10I/20I/30I

RCS-G20I

5h Not used

If the encoder type HEX input value is 0: 16384
If the encoder type HEX input value is 2: 3072
If the encoder type HEX input value is 4: 4096

To be adjusted by the manufacturer

To be adjusted by the manufacturer

To be adjusted by the manufacturer

To be adjusted by the manufacturer

Input value Type

0 Linear axis
1 Rotational axis

To be adjusted by the manufacturer

Output width of a positioning completion signal

(INP)

HEX input

value

00
01
02
10
11
12

Input value

Command pulse-train mode

Phase A/B pulse train Positive logic

Pulse-train + sign Positive logic

Forward/reverse pulse train Positive logic

Phase A/B pulse train Negative logic

Pulse-train + sign Negative logic

Forward/reverse pulse train Negative logic

Motor revolution direction at homing

0 Reverse

1 Forward

38

Type No. Name Symbol

Speed command

8

value at homing

OVCM [A] pulse/sec 1~819200 Moving speed at homing

Acceleration

9

command value at

OACC [A] pulse/sec

homing

Creep sensor

10

approach speed

Current limit value

11

12

13

14

at homing

Timeout value at

homing

Offset amount at

homing

Homing deviation

pulse

VCRP [A] pulse/sec

OCLM [A] (multiplier)

OTIM 180,000 msec

OFST [A] pulse

OPLS [A] pulse

Position control

15

system

PLPG 20

proportional gain

Position-comman

16

d primary filter

PLPF 0.0 msec 0.0~100.0

time constant

17

18

19

20

Position control information

Position

feed-forward gain

Jog acceleration

default value

Jog deceleration

default value

Jog speed default

value

PLFG 0 0~100

ACC [A] pulse/sec

DEC [A] pulse/sec

Maximum speed

21

at incomplete

SVEL [A] pulse/sec 1~819200

homing

22

23

24

Maximum

acceleration value

Maximum

deceleration value

Soft limit actual
position margin

ACMX [A] pulse/sec

DCMX [A] pulse/sec

SLMR [A] pulse

25 Internal stop pulse IINP [A] pulse

26

FBP mode

Feedback pulse

FBPT 01h

output mode

1 Speed loop gain VLPG [A] 10~10000

Speed loop

2

integration time

VLPT [A] msec 0~1000

constant

Torque filter time

3

constant

TRQF [A] msec

Disturbance

information

Speed/current control

4

observer time

Current control

5

constant

bandwidth

DOBT 0.00 msec

CLPF [A] 500~32767

6 Torque limit value TQLM 0.7 (multiplier) 0.01~0.70

Default value

(reference)

VEL [A] pulse/sec 1~1092266

Unit Input range Description

1,000~

rad/

sec

2

19267584

Reference

only

Reference

only

Reference

only

1~

134217727

1~

134217727

1~200

Moving acceleration at homing

To be adjusted by the manufacturer

To be adjusted by the manufacturer

To be adjusted by the manufacturer

Amount of offset at homing, after the homing

command signal is detected

Detected amount of mechanical end push

deviation at homing

Proportional gain of position control loop

Constant at S-shaped acceleration/deceleration

Feed-forward gain of the position control

system

2

19267584

2

19267584

1000~

1000~

Default acceleration value at jog operation with

the PC software

Default deceleration value at jog operation with

the PC software

Default speed value at jog operation with the

PC software

Default limit speed at jog operation with the PC

software, before homing

1000~

2

Acceleration limit value of the actuator

19267584

1000~

2

Deceleration limit value of the actuator

19267584

(HEX
input)

1~

134217727

Reference

only

00~12h

Amount of movement compared to the actual

stroke at which soft limit over error is detected

To be adjusted by the manufacturer

HEX input

value

00
01
02
10

11

12

Command pulse-train mode

Phase A/B pulse train Positive logic

Pulse-train + sign Positive logic

Forward/reverse pulse train Positive logic

Phase A/B pulse train Negative logic

Pulse-train + sign Negative logic

Forward/reverse pulse train Negative logic

Gain of the speed control loop

Integration time constant of the speed control

loop

0.00~

327.67

Reference

only

Filter time constant with respect to torque

command

To be adjusted by the manufacturer

Control bandwidth of the current control system

Torque amplification when the torque limit

selection signal (TL) is turned on

39

6.3 Parameter Setting

Parameters can be set and changed with the PC software.
Parameter settings and changes become valid by performing a “software reset” by the PC software or
turning the power supply off and back on again.

6.3.1 Basic Settings

This section describes the parameters that must be set in order to operate P-Driver.
(P-Driver can be operated simply by setting these parameters, if only positioning operation is required.)

(1) Electronic Gear

Name Symbol Unit Input range

Electronic gear

numerator

Electronic gear

denominator

CNUM - 1~4096 2048

CDEN - 1~4096 125

Default value

(reference)

These are parameters for determining the amount of unit movement of the actuator per 1 pulse of the
command pulse-train input.

Amount of unit movement for linear axis = Minimum amount of movement (e.g. 1, 0.1, 0.01 mm)/pulse
Amount of unit movement for rotational axis = Minimum amount of movement (e.g. 1, 0.1, 0.01
deg)/pulse

 Calculation formula for electronic gear

In the case of linear axis:

(mm/rev) lenght leadscrew Ball

x

)(pulse/rev pulses encoder of Number

(CNUM) numerator gear Electronic

(CDEN) rdenominato gear Electronic

=

(mm/pulse) movement unit of Amount

(CNUM) numerator gear Electronic

(CDEN) rdenominato gear Electronic

x

(mm/rev) lenght leadscrew Ball

)(pulse/rev pulses encoder of Number

=

(mm/pulse) movement unit of Amount

In the case of rotational axis:

rate reduction gear axis Rotational x (deg/rev) 360

x

)(pulse/rev pulses encoder of Number

(CNUM) numerator gear Electronic

(CDEN) rdenominato gear Electronic

=

rate reduction gear axis Rotational x (deg/rev) 360

x

)(pulse/rev pulses encoder of Number

(CNUM) numerator gear Electronic

(CDEN) rdenominato gear Electronic

=

)(deg/pulse movement unit of Amount

)(deg/pulse movement unit of Amount

40

The number of pulses of the encoder varies depending on the type of actuator.

Actuator type

Number of encoder pulses

(pulse/rev)

RCS-SS(R)/RCS-SM(R)/RCS-RA55/RCS-F55
ISP(D)/IS(D)/IF/FS/SS
12RS-60/12RS-30

16384

DS-SA4/5/6 [T1]
RCS-RB7530/7535 3072
RCS-R10I/20I/30I 4096

The gear reduction rate of the rotational axis is as follows:

Actuator type Gear reduction rate

12RS-60

1/50 or 1/100

12RS-30

RCS-R10I
RCS-R20I

1/18

RCS-R30I 1/4

 Calculation example
If the amount of unit movement is set to 0.01 (1/100 mm) for an actuator equipped with an encoder with a
ball screw lead length of 10 (mm) and a number of encoder pulses of 16384 (pulse/rev):

(CNUM) numerator gear Electronic

(CDEN) rdenominato gear Electronic

x

(mm/rev) lenght leadscrew Ball

)(pulse/rev pulses encoder of Number

=

(mm/pulse) movement unit of Amount

2048

16384

10

1

100

=×=

125

The electronic gear numerator (CNUM) is set to 2048 and the electronic gear denominator (CDEN) is set to

125. With this setting, the amount of movement per pulse of the command pulse-train input is 0.01 (mm).

Caution

a. Make sure to cancel common factors in the electronic gear numerator (CNUM) and denominator

(CDEN), so that both integers to be entered become 4096 or less.

Moreover, CNUM and CDEN must satisfy the following relational expression:

31

2

(mm) length Stroke

×≧

(mm) length leadscrew Ball

(CNUM) x (pulse) pulses encoder of Number

31

2

(mm) length Stroke

×≧

(mm) length leadscrew Ball

(CDEN) x (pulse) pulses encoder of Number

41

b. Do not enter a value less than the encoder’s resolution for the minimum movement unit.

(mm/pulse) resolution encoder axis Linear =

(mm/rev) length leadscrew Ball

)(pulse/rev pulses encoder of Number

)(deg/pulse resolution encoder axis Rotational =

rate reduction gear axis Rotational x (deg/rev) 360

)(pulse/rev pulses encoder of Number

The actuator will not move until the sum of command pulses sent to P-Driver has accumulated to the level
of the encoder’s resolution or more.

(2) Command Pulse Input Mode

Name Symbol Unit Input range

Command pulse

input mode

Set the pulse train input mode of the command pulse inputs (PP, /PP, NP and /NP).

Command pulse-train

mode

Forward

pulse train

Reverse

pulse train

A forward pulse train indicates motor revolutions in the forward direction, while a reverse pulse train indicates motor

Pulse train PP  /PP

Sign NP  /NP

Negative logic

Phase A/B
pulse train

Motor revolutions and rotating direction are specified by phases A/B (4 multiplications) with a 90-degree phase difference.

Forward

pulse train

Reverse

pulse train

Pulse train PP  /PP

Sign NP  /NP

PP  /PP

NP  /NP

A command pulse indicates motor revolutions and its sign indicates the rotating direction of the motor.

PP  /PP

NP  /NP

PP  /PP

NP  /NP

Positive logic

Phase A/B
pulse train

Caution

PP  /PP

NP  /NP

CPMD (HEX input) 00~12h 01h

Symbol Forward Reverse Setting value

revolutions in the reverse direction.

Low

High

High

Low

Make the same positive/negative logic setting as for FBPT regardless of whether the feedback pulse
(FBPT) is used or not. See (27), “FBP Mode,” for the explanation about FBPT.

Default value

(reference)

12h

11h

10h

02h

01h

00h

42

6.3.2 Application Settings

Set the parameters explained in this section as necessary according to the system and load.
Default values indicated by [A] have already been set to appropriate values corresponding to the applicable
actuator at shipment from the factory. They normally do not require changing.
Some of the parameters must be input as binary values (indicated as bit input in the unit column).

[Data structure of bit-input parameters]

The layout of numerical values for a setting value is as follows. Follow the layout below to set each bit
explained in this manual.

Bit No. 7 6 5 4 3 2 1 0

(1) PIO Function Setting Flag

Name Symbol Unit Input range

PIO function setting flag FPIO (Bit input) 0000000~1111111b 0b

Set the functions of I/O signals by setting each of the 7 bits to 1 or 0.

Bit No. Signal name Symbol Setting Status

Command pulse

6

count direction

CPR

5 Feedback pulse FBP

External forced

4

3

2

Torque limit

command signal

stop

selection

Homing

CSTP

TL

ORGC

1 Alarm reset RES

0 Servo ON SON

Caution

a. The revolution direction of the motor relative to the direction of the input pulse can be changed using

bit No. 6.

The actuator moves in the negative direction with a forward pulse (forward for the motor) and in the

positive direction with a reverse pulse (reverse for the motor). (Opposite applies to folded motor type
actuators).

When considering the forward/reverse direction, pay attention to the settings of the host controller or

connection of PP and /PP as well as NP and /NP.
* The rotation direction of the motor is indicated by setting CCW to forward, as seen from the axis

edge of the load side.

b. If “Disabled” is selected for bit No. 0, the servo is turned on/off by turning the power supply on/off.

While the power supply is turned on, the servo can only be turned on/off by the PC software.

0 +

1 -

0 Enabled The feedback pulse is output.
1 Disabled The feedback pulse is not output.
0 Enabled
1 Disabled
0 Enabled
1 Disabled
0 Enabled
1 Disabled
0 Enabled
1 Disabled

0 Enabled

1 Disabled

Default value

(reference)

The motor rotates in the forward direction by a
forward pulse
The motor rotates in the reverse direction by a
reverse pulse.

It is possible to disable a given signal by setting
the corresponding bit to “1.”
If “Disabled” is set for a signal, it is treated as “off”
regardless of whether the input signal is turned on
or off.

With this input signal turned on, the servo is
turned off when the servo ON signal is turned off.
The servo is turned on when the power supply is
turned on.

43

(2) Communication Speed

Name Symbol Unit

Input range

Default value

(reference)

Communication speed BRSL bps 9600~115200 38400

This parameter sets the speed of communication with the PC software.

Communication speeds that can be set = 9,600/19,200/38,400/57,600/115,200 bps

(3) Flag for Setting Function at Stop

Name Symbol Unit

Flag for setting function

at stop

Input range

FSTP (Bit input) 000~111b

Default value

(reference)

(actuator without brake)

(actuator with brake)

[A]

101b

111b

This parameter sets the function activated at a stop operation where the servo is turned off.

Bit No. Function Setting Status

2 Dynamic brake

0 Disabled Disable a dynamic brake.

1 Enabled Enable a dynamic brake.

1 Electromagnetic brake

0 Disabled Disable an electromagnetic brake.

1 Enabled Enable an electromagnetic brake.

0

Deviation counter clear

(when the servo is turned off

and an alarm is generated)

0 Disabled Do not clear the deviation counter.

1 Enabled Clear the deviation counter.

Caution

z When the electromagnetic brake bit is set to “Enabled,” an “electromagnetic brake not released error”

is output and operation is cancelled if the electromagnetic-brake power is not supplied.

z Always set the electromagnetic brake bit to “Disabled” when using P-Driver together with an actuator

that is not equipped with an electromagnetic brake.

(4) Software Stroke Limit

Name Symbol Unit Input range

Software stroke limit,

positive side (actual

stroke)

Software stroke limit,
negative side (actual

stroke)

LIMM pulse

LIML pulse

134217727~

134217728

134217727~

-134217728

Set the upper and lower limits of the actual stroke (catalog values) of the actuator in pulse values. At
shipment from the factory, appropriate values corresponding to the applicable actuator have been set.

Default value

(reference)

[A]

[A]

44

 Calculation formula for stroke pulse value

In the case of linear axis:

)(pulse/rev pulses encoder of Number x (mm) value Stroke

(pulse) value Setting =

In the case of rotational axis:

(pulse) value Setting =

Caution

z The software stroke limit is set differently according to the setting of homing pattern code (motor

revolution direction at homing), a position control information parameter. For example, in the case of
an actuator with a stroke of 100 (mm), a lead of 10 (mm) and a number of encoder pulses of 16384
(pulse), the stroke pulse value is calculated as follows:

(pulse) value pulse Stroke

The limits are set as follows:

a. If the setting of homing pattern code is “1” (the motor revolution direction is forward at homing), LIMM

is set to 0 (pulse) and LIML is set to -163840 (pulse).

b. If the setting of homing pattern code is “0” (the motor revolution direction is reverse at homing), LIMM

is set to 163840 (pulse) and LIML is set to 0 (pulse).

For this reason, it is necessary to change these parameters as well if the homing pattern code parameter is
to be changed.

Note, however, that the values of LIML and LIMM are automatically rewritten when the homing pattern code
is changed if the display unit is set to “Millimeter (mm)” and the coordinate plus process display is set to
“Display” in the environment setting of the PC software.

=

)(pulse/rev 16384 x (mm) 100

(mm/rev) 10

(mm/rev) length leadscrew Ball

rate reduction gear axis Rotational x (deg/rev) 360

(mm/rev) length leadscrew Ball

==

(pulses) 163840

)(pulse/rev pulses encoder of Number x (deg) value Stroke

)(pulse/rev pulses encoder of Number x (mm) value Stroke

45

(5) Ball Screw Lead Length

Name Symbol Unit

Input range

Default value

(reference)

Ball screw lead length LEAD mm 0.1~102.4 [A]

Set the ball screw lead length of the actuator in units of millimeter (mm).

An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.

(6) Motor Type

Name Symbol Unit

Input range

Motor type MTYP (HEX input) 00~20h [A]

Set the type of motor according to the type of actuator.

An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.

The type and capacity of the motor vary depending on the type of actuator.

The table below lists setting values for motor type according to the type of actuator and motor capacity.

Actuator Actuator

Type Motor capacity

RCS-RB7530 60 W 10h

RCS-RB7530
RCS-RB7535

100 W 11h

RCS-RB7535 150 W 12h

Setting

value

Type Motor capacity

RCS-SM(R)

SS

150 W 15h

ISP(D)

IS(D)

IF

100 W 16h

FS

RCS-SS(R)

RCS-RA55

ISP(D)

IS(D)

IF

FS

SS

12RS-60

60 W

13h

ISP(D)

IS(D)

IF

FS

ISP(D)

IS(D)

IF

200 W 17h

400 W 18h

FS

Default value

(reference)

Setting

value

12RS-30 30 W

ISP(D)-W 600 W 19h

ISP(D)-W 750 W 1Ah

RCS-SM(R)

RCS-RA55

RCS-F55

SS

100 W 14h

RCS-R10I/20I/30I

RCS-G20I

60 W 1Bh

DS-SA4/5 [T1] 20 W 1Fh

DS-SA6 [T1] 30 W 20h

46

(7) Encoder Type

Name Symbol Unit

Input range

Default value

(reference)

Encoder type ETYP (HEX input) 00~20h [A]

Set the type of encoder according to the type of actuator.

An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.

The type of encoder varies depending on the type of actuator.

The table below lists setting values for each encoder type according to the type of actuator.

Actuator type Encoder Setting value

RCS-SS(R)/RCS-SM(R)/RCS-RA55/RCS-F55
ISP(D)/IS(D)/IF/FS/SS
12RS-60/12RS-30

Serial 0h

DS-SA4/5/6 [T1]

RCS-RB7530/7535 Incremental 2h

RCS-R10I/20I/30I
RCS-G20I

Incremental 4h

(8) Number of Encoder Pulses

Name Symbol Unit

Number of encoder

pulses

EPLS pulse/rev 1~131072 [A]

Input range

Set the number of pulses per revolution of the encoder according to the type of actuator.

An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.

The number of encoder pulses varies depending on the type of actuator.

Actuator type Setting value (pulse/rev)

RCS-SS(R)/RCS-SM(R)/RCS-RA55/RCS-F55
ISP(D)/IS(D)/IF/FS/SS
12RS-60/12RS-30

16384

DS-SAA4/5/6 [T1]
RCS-RB7530/7535 3072

Default value

(reference)

RCS-R10I/20I/30I
RCS-G20I

4096

47

(9) Axis Operation Type

Name Symbol Unit

Input range

Default value

(reference)

Axis operation type ATYP - 0~1 [A]

Set the operation type, i.e., whether the actuator uses a linear axis or rotational axis.

An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.

Actuator axis operation type Setting value (pulse/rev)

Linear axis 0

Rotational axis 1

(10) In-Position Width

Name Symbol Unit

Input range

Default value

(reference)

In-position width INP pulse 1~4096 100

Set the number of pulses of the deviation counter at which the positioning completion (INP) signal output is
triggered.

INP turns on when the number of standing pulses of the deviation counter is equal to or less than the
setting value.

 Calculation formula for the number of pulses for positioning width (mm)
The setting value of the positioning width is converted from mm to pulses using the following formulae:

In the case of linear axis:

)(pulse/rev pulses encoder of Number x (mm) widthgPositionin

(pulse) value Setting =

(mm/rev) length leadscrew Ball

In the case of rotational axis:

)(pulse/rev pulses encoder of Number x (deg) widthgPositionin

(pulse) value Setting =

rate reduction gear axis Rotational x (deg/rev) 360

Caution

z The setting value of this item indicates pulses of the encoder, and is independent of the electronic

gear setting. The number of pulses of the encoder varies depending on the type of actuator. See (8),
“Number of Encoder Pulses.”

48

(11) Deviation Error Output Range

Name Symbol Unit Input range

Default value

(reference)

[A]

Deviation error output

range

ECNT pulse 1~ 99999

Three times the

number of encoder

pulses

Set the number of pulses at which deviation errors are detected during position control.

A deviation error (error code: C6B) occurs if the number of standing pulses counted by the deviation
counter exceeds the setting value.

An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.

Caution

z The setting value of this item indicates pulses of the encoder, and is independent of the electronic

gear setting. The number of pulses of the encoder varies depending on the type of actuator. See (8),
“Number of Encoder Pulses.”

(12) Homing Pattern Code

Name Symbol Unit Input range

Default value

(reference)

Axis operation type ORGP - 0~1 [A]

Set the direction of motor revolution at homing.

An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.

Motor revolution direction at homing Setting value

Reverse 0

Forward 1

Caution

z The actuator moves in the negative direction with a forward pulse (forward for the motor) and in the

positive direction with a reverse pulse (reverse for the motor). (Opposite applies to folded motor type
actuators).
When considering the forward/reverse direction, pay attention to the settings of the host controller or
connection of PP and /PP as well as NP and /NP.
* The rotation direction of the motor is indicated by setting CCW to forward, as seen from the axis

edge of the load side.

49

(13) Speed Command Value at Homing

Name Symbol Unit Input range

Speed command value

at homing

OVCM pulse/sec 1~819200 [A]

Set the moving speed at homing.

An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.

 Calculation formula of the setting value (pulse/sec) of speed (mm/sec)
The setting value of the speed is converted from mm/sec to pulse/sec using the following formulae:

In the case of linear axis:

)(pulse/sec value Setting =

(mm/rev) length leadscrew Ball

In the case of rotational axis:

)(pulse/sec value Setting =

Caution

z The setting value of this item indicates pulses of the encoder, and is independent of the electronic

gear setting. The number of pulses of the encoder varies depending on the type of actuator. See (8),
“Number of Encoder Pulses.”

Default value

(reference)

)(pulse/rev pulses encoder of Number x (mm/sec) Speed

)(pulse/rev pulses encoder of Number x (deg/sec) Speed

rate reduction gear axis Rotational x (deg/rev) 360

50

(14) Acceleration Command Value at Homing

Name Symbol Unit Input range

Acceleration command

value at homing

OACC pulse/sec

2

1000~19267584 [A]

Set the acceleration at homing.

An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.

 Calculation formula of the setting value (pulse/sec
The setting value of the acceleration is converted from mm/sec

2

) of acceleration (mm/sec2)

2

to pulse/sec2 using the following formulae:

In the case of linear axis:

( onAccelerati

2

=

)(pulse/sec value Setting

mm/sec

2

(mm/rev) length leadscrew Ball

Default value

(reference)

)(pulse/rev pulses encoder of Number x )

In the case of rotational axis:

( value Setting

pulse/sec

( onAccelerati

2

=

)

mm/deg

2

rate reduction gear axis Rotational x (deg/rev) 360

)(pulse/rev pulses encoder of Number x )

Caution

z The setting value of this item indicates pulses of the encoder, and is independent of the electronic

gear setting. The number of pulses of the encoder varies depending on the type of actuator. See (8),
“Number of Encoder Pulses.”

(15) Offset Amount at Homing

Name Symbol Unit Input range

Offset amount at homing OFST pulse 1~134217727 [A]

Set the amount of movement from the position at which phase Z is detected after reversing at the
mechanical end in a push operation, for the homing operation.

An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.

Default value

(reference)

51

(16) Homing Deviation Pulse

Name Symbol Unit Input range

Default value

(reference)

[A]

Homing deviation pulse OPLS pulse 1~134217727

Half of the number

of encoder pulses

Set the amount of deviation at which the mechanical end is detected in a homing operation. The actuator
reverses if the amount of deviation reaches the setting value in a push operation to the mechanical end.

An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.

The number of encoder pulses varies depending on the type of actuator. See (8), “Number of Encoder
Pulses.”

(17) Position Control Loop Proportional Gain

Name Symbol Unit Input range

Position control loop

proportional gain

PLPG rad/sec 1~200 20

Set the proportional gain of the position control loop.

This parameter determines the response of the position control loop. Set a larger value to make the control
loop follow the position command signals more aggressively. Note, however, that over-shoot tends to occur
if the setting value is too large.

If the setting value is too small, the control loop does not follow position command signals well and
positioning takes longer.

It too large a value is set for systems whose mechanical rigidity or natural frequency is low, resonance may
occur in the mechanical parts, causing not only vibration and noise but also overload alarms (error code:
D0A).

In case it cannot be avoided to make the setting value small, it may be possible to improve the response by
setting parameter (19), “Position Feed-Forward Gain,” appropriately.

Speed

If the setting value is high (over-shoot)

If the setting value is low

Default value

(reference)

Time

52

(18) Position Command Primary Filter Time Constant

Name Symbol Unit Input range

Default value

(reference)

Position command

primary filter time

PLPF msec 0.0~100.0 0.0

constant

With the setting of this parameter, the actuator can be made to accelerate/decelerate according to an
S-shaped curve.

If a command pulse-train input is given with a constant frequency, the actuator accelerates/decelerates
gradually according to the set time constant.

The actuator moves only the distance corresponding to the command pulse-train signal.

It is possible to perform smooth acceleration/deceleration even when the host controller does not have any
acceleration/deceleration function, or when the frequency of the command pulse-train changes sharply.

Pulse train

Speed

(19) Position Feed-Forward Gain

Name Symbol Unit Input range

Position feed-forward

gain

PLFG - 0~100 0

Set the amount of feed-forward gain of the position control system.

When this parameter is set, the servo gain increases and the response speed of the position control loop is
improved.

There is no significant effect if (17), “Position Control Loop Proportional Gain,” is set to a sufficiently large
value.

Use this parameter to improve the response of systems whose mechanical rigidity is low or systems where
the load inertial ratio of the mechanical part is large.

Use values between 10 and 50 as a guideline; if a larger value is set, the amount of deviation becomes
smaller and the response speed improves.

If the value is set too high, vibration and noise may be generated. Make sure to check the response while
adjusting the value if you use this parameter.

Default value

(reference)

53

(20) Jog Acceleration Default Value

Name Symbol Unit Input range

Jog acceleration default

value

ACC pulse/sec

2

1000~19267584 [A]

Set the default acceleration value used when performing jog operation with the PC software.

An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.

 Calculation formula of the setting value (pulse/sec
The setting value of the acceleration is converted from G to pulse/sec

2

) of acceleration (G)

2

using the following formulae:

In the case of linear axis:

2

=

( value Setting

pulse/sec

)

(mm/rev) length leadscrew Ball

In the case of rotational axis:

2

=

( value Setting

pulse/sec

)

Caution

z The setting value of this item indicates pulses of the encoder, and is independent of the electronic

gear setting. The number of pulses of the encoder varies depending on the type of actuator. See (8),
“Number of Encoder Pulses.”

Default value

(reference)

)(pulse/rev pulses encoder of Number x 9800 x (G) onAccelerati

)(pulse/rev pulses encoder of Number x 9800 x (G) onAccelerati

rate reduction gear axis Rotational x (deg/rev) 360

54

(21) Jog Deceleration Default Value

Name Symbol Unit Input range

Jog deceleration default

value

DEC pulse/sec

2

1000~19267584 [A]

Set the default deceleration value used when performing jog operation with the PC software.

An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.

 Calculation formula of the setting value (pulse/sec
The setting value of the deceleration is converted from G to pulse/sec

2

) of deceleration (G)

2

using the following formulae:

In the case of linear axis:

2

=

( value Setting

pulse/sec

)

(mm/rev) length leadscrew Ball

In the case of rotational axis:

2

=

( value Setting

pulse/sec

)

Caution

z The setting value of this item indicates pulses of the encoder, and is independent of the electronic

gear setting. The number of pulses of the encoder varies depending on the type of actuator. See (8),
“Number of Encoder Pulses.”

Default value

(reference)

)(pulse/rev pulses encoder of Number x 9800 x (G) onDecelerati

)(pulse/rev pulses encoder of Number x 9800 x (G) onDecelerati

rate reduction gear axis Rotational x (deg/rev) 360

55

(22) Jog Speed Default Value

Name Symbol Unit Input range

Jog speed default value VEL pulse/sec 1~1092266 [A]

Set the default speed value used when performing jog operation with the PC software.

An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.

 Calculation formula of the setting value (pulse/sec) of speed (mm/sec)
The setting value of the speed is converted from mm/sec to pulse/sec using the following formulae:

In the case of linear axis:

)(pulse/sec value Setting =

(mm/rev) length leadscrew Ball

In the case of rotational axis:

)(pulse/sec value Setting =

Caution

z The setting value of this item indicates pulses of the encoder, and is independent of the electronic

gear setting. The number of pulses of the encoder varies depending on the type of actuator. See (8),
“Number of Encoder Pulses.”

Default value

(reference)

)(pulse/rev pulses encoder of Number x (mm/sec) Speed

)(pulse/rev pulses encoder of Number x (deg/sec) Speed

rate reduction gear axis Rotational x (deg/rev) 360

56

(23) Maximum Speed at Incomplete Homing

Name Symbol Unit Input range

Maximum speed at
incomplete homing

SVEL pulse/sec 1~819200 [A]

Set the speed limit for a jog movement command from the PC software before homing.

An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.

 Calculation formula of the setting value (pulse/sec) of speed (mm/sec)
The setting value of the speed is converted from mm/sec to pulse/sec using the following formulae:

In the case of linear axis:

)(pulse/sec value Setting =

(mm/rev) length leadscrew Ball

In the case of rotational axis:

)(pulse/sec value Setting =

Caution

z The setting value of this item indicates pulses of the encoder, and is independent of the electronic

gear setting. The number of pulses of the encoder varies depending on the type of actuator. See (8),
“Number of Encoder Pulses.”

Default value

(reference)

)(pulse/rev pulses encoder of Number x (mm/sec) Speed

)(pulse/rev pulses encoder of Number x (deg/sec) Speed

rate reduction gear axis Rotational x (deg/rev) 360

57

(24) Maximum Acceleration Value

Name Symbol Unit Input range

Maximum acceleration

value

ACMX pulse/sec

2

1000~19267584 [A]

Set the acceleration limit value of the actuator.

An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.

 Calculation formula of the setting value (pulse/sec
The setting value of the acceleration is converted from G to pulse/sec

2

) of acceleration (G)

2

using the following formulae:

In the case of linear axis:

2

=

( value Setting

pulse/sec

)

(mm/rev) length leadscrew Ball

In the case of rotational axis:

2

=

( value Setting

pulse/sec

)

Caution

z The setting value of this item indicates pulses of the encoder, and is independent of the electronic

gear setting. The number of pulses of the encoder varies depending on the type of actuator. See (8),
“Number of Encoder Pulses.”

Default value

(reference)

)(pulse/rev pulses encoder of Number x 9800 x (G) onAccelerati

)(pulse/rev pulses encoder of Number x 9800 x (G) onAccelerati

rate reduction gear axis Rotational x (deg/rev) 360

58

(25) Maximum Deceleration Value

Name Symbol Unit Input range

Maximum deceleration

value

ACMX pulse/sec

2

1000~19267584 [A]

Default value

(reference)

Set the deceleration limit value of the actuator.

An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.

 Calculation formula of the setting value (pulse/sec
The setting value of the deceleration is converted from G to pulse/sec

2

) of deceleration (G)

2

using the following formulae:

In the case of linear axis:

( value Setting

pulse/sec

2

=

)

(mm/rev) length leadscrew Ball

)(pulse/rev pulses encoder of Number x 9800 x (G) onDecelerati

In the case of rotational axis:

( value Setting

pulse/sec

2

=

)

rate reduction gear axis Rotational x (deg/rev) 360

)(pulse/rev pulses encoder of Number x 9800 x (G) onDecelerati

Caution

z The setting value of this item indicates pulses of the encoder, and is independent of the electronic

gear setting. The number of pulses of the encoder varies depending on the type of actuator. See (8),
“Number of Encoder Pulses.”

(26) Soft Limit Actual Position Margin

Name Symbol Unit Input range

Soft limit actual position

margin

SLMR pulse 1~134217727 [A]

Set the amount of movement at which a soft limit over error is detected by the actuator.

An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.

If the amount of movement exceeds this setting value, which is relative to the amount of actual stroke set in
(4), “Software Stroke Limit,” a soft limit over error (error code: C74) is generated and operation is cancelled.
This parameter is enabled when the homing command (ORGC) signal, which is an I/O signal, is input or
homing by the PC software is completed (after ORGR is output).

Default value

(reference)

59

(27) FBP Mode (Feedback Pulse Output Mode Selection)

Name Symbol Unit

Input range

Default value

(reference)

FBP mode

FBPT (HEX input) 00~12h 01h

Set the pulse train output mode of the feedback pulse outputs (AFB, /AFB, BFB, /BFB, ZFB and /ZFB).

Command

pulse-train mode

Forward pulse

train

Reverse pulse

train

A forward pulse train indicates motor revolutions in the forward direction, while a reverse pulse train indicates motor revolutions in

Pulse train

Sign

Symbol Forward Reverse Setting value

AFB  /AFB

BFB  /BFB

AFB  /AFB

BFB  /BFB

the reverse direction.

Low

12h

11h

High

Negative logic

Phase A/B

pulse train

A command pulse indicates motor revolutions and its sign indicates the rotating direction of the motor.

AFB  /AFB

BFB  /BFB

10h

Motor revolutions and rotating direction are specified by phases A/B (4 multiplications) with a 90-degree phase difference.

Forward pulse

train

Reverse pulse

train

Pulse train

Sign

Positive logic

Phase A/B
pulse train

ZFB, /ZFB

AFB  /AFB

BFB  /BFB

AFB  /AFB

BFB  /BFB

AFB  /AFB

BFB  /BFB

02h

Low

01h

High

00h

Phase Z signals are output as is if the encoder of the actuator is not a
serial encoder. With serial encoders, the range of ±0.5° in mechanical
angle from the position of point 0 (home) is output as phase Z signal. This
precision is only guaranteed when the revolution speed of the motor is 100
rpm or less due to the communication cycle with the encoder.
* See (7) for the encoder types.

60

p

The resolution of the output pulse trains is determined by the electric gear ratio of the command pulse input
set in the position control parameters, and the pulses are output with the same resolution as the command
signal.

These pulse signals can be disabled with the PIO function setting flag explained in (1). Disable them if
pulse feedback is not used.

Caution

z Set the same positive/negative logic as for the command pulse input mode (CPMD) regardless of

whether these signals are used or not.

z Set these signals in such a way that there are no logical contradictions if you import them in the host

controller to configure a closed loop.

(28) Speed Loop Gain

Name Symbol Unit Input range

Default value

(reference)

Speed loop gain VLPG - 10~10000 [A]

Set the gain of the speed control loop.

An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.

This parameter determines the response of the speed control loop. Set a larger value to make the control
loop follow the speed command signals more aggressively (the servo rigidity increases). Make the setting
value higher for larger load inertial ratios. Note, however, that over-shoot and oscillation tend to occur if the
setting value is made too large, causing vibrations to be generated in the mechanical parts of the system.

eed

S

If the setting value is high (over-shoot)

If the setting value is low

Time

61

(29) Speed Loop Integration Time Constant

Name Symbol Unit Input range

Speed loop integration

time constant

VLPT msec 0~1000 [A]

Default value

(reference)

Set the integration time constant of the control loop.

An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.

This parameter determines the response of the speed control loop. Set a larger value to make the
response to speed commands slower. Note, however, that the robustness of the control loop against load
fluctuations becomes weaker if the setting value is too large. Over-shoot and oscillation tend to occur if the
setting value is made too small, causing vibrations to be generated in the mechanical parts of the system.

Speed

If the setting value is low (over-shoot)

If the setting value is high

Time

(30) Torque Filter Time Constant

Name Symbol Unit Input range

Torque filter time

constant

TRQF msec 0.00~327.67 [A]

Set the time constant for the torque command filter.

An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.

The motor may begin to vibrate if the resonance frequency of the machine is less than the response
frequency of the servo loop. The resonance between the mechanical parts of the system can be
suppressed by setting this parameter to a large value. If it is made too large, however, the stability of the
control system may be lost.

Default value

(reference)

62

(31) Current Control Bandwidth

Name Symbol Unit Input range

Current control

bandwidth

CLPF msec 500~32767 [A]

Default value

(reference)

This parameter sets the control bandwidth of the current control system.

An appropriate value corresponding to the applicable actuator has been set at shipment from the factory.

Never change this parameter. Changing this parameter is very dangerous because the stability of the
control system may be lost.

(32) Torque Limit Value

Name Symbol Unit Input range

Torque limit value TQLM (multiplier) 0.01~0.70 0.7

Default value

(reference)

Set the torque limit value by the torque limit selection signal (TL), an external input signal.

The torque limit value should be set as a multiplication factor of the rated thrust (catalog value).

The torque limit corresponding to the setting value is applied when the torque limit selection signal (TL), an
external input signal, is turned on.

If the torque current reaches the current value corresponding to the setting value, the torque limiting signal
(TLR), an external output signal, is output.

63

6.4 Servo Adjustment

When P-Driver is shipped from the factory, the parameters are set in such a way that the closed-loop
operation characteristics at the rated load capacity (maximum load capacity) of the actuator become stable.

At the actual operation sites, however, the ideal load conditions (i.e. no resonance, vibration induction or
excessive load fluctuation) may not always be guaranteed.

For this reason, it may be necessary to adjust the servo loop depending on the operating conditions.
This section explains the basic adjustment method.

6.4.1 Control Block Diagram

Command
pulse input

Speed
command

Electronic

gear

CNUM

CDEN

Speed PI

control device

VLPG
VLPT

Position-command

primary filter

PLPF

Torque

filter

TRQF

[Control Block Diagram and Parameters (Symbols) of P-Driver]

Feed-forward

PLFG

Position

proportional

gain

PLPG

Current control

system

CLPF

Speed detection

Position detection

M

PG

Speed
command

64

6.4.2 Adjustment 1

(1) The Host Controller is not Equipped with Acceleration/Deceleration Function or the

Input Pulse Frequency Changes Sharply

 Set the “position command primary filter time constant.” See (18) in Section 6.3.2.

It is possible to accelerate or decelerate smoothly even if the host controller is not equipped with
acceleration/deceleration function or the frequency of the pulse train changes sharply.

Pulse train

Speed

Settling time

In case the host controller is not equipped with the acceleration/deceleration function or the frequency of
pulse train changes sharply, if the command value is input as is, the speed command changes sharply,
which may cause alarms such as “position deviation error” (alarm code: C6B) and “overload” (alarm code:
D0A).

Moreover, a large load is applied to the mechanical parts of the system including the actuator, which may
lead to system failure.

In such cases, use the “position command primary filter time constant” to perform smooth acceleration and
deceleration. (This function is also valid for command pulse signals that have taken
acceleration/deceleration into account.)

The time required for the positioning loop to settle after a command pulse input stops is approximately
three times the setting value.

For example, if the parameter is set to 100 msec, the settling time is approximately 300 msec.
The setting at shipment from the factory is 0 msec and the settling time is adjusted to approximately 150
msec.

65

(2) The Actual Speed does not Follow Commands Well

The actual speed is abnormally slow compared to the commanded speed, vibrations occur during
movement, it takes long for the positioning to complete, etc.

 Increase the “position control loop proportional gain.”
 Set the “position command primary filter time constant” to “0.” See (18) in Section 6.3.2.
 Increase the “speed loop gain.”
 Decrease the “speed loop integration time constant.” See (29) in Section 6.3.2.

If command signals are not followed well because the load weight is heavy or the sliding resistance is large,
it is possible to make adjustments so that the response to command pulse signals becomes faster.

[Points]

1) Position control loop proportional gain
Position command signals are followed better if this value is set larger.
Set the value in the range from 30 to 50 as a guideline. An even higher value can be set as
far as the operation characteristics of the system’s mechanical parts are ensured.
However, over-shoot tends to occur if the value is set too large.

2) Position command primary filter time constant
As explained in (1), this parameter should be set when it is desirable to slow down the
response. Thus, set this parameter to “0” (or a small setting value) to improve the response
speed.

3) Speed loop gain
Speed command signals are followed better if this value is set larger.
In order to secure the stability of the control system, which may have been lowered by
increasing the position control loop proportional gain, raise the speed loop gain as well.
Note, however, that if this value is set too large, the mechanical parts of the system tend to
vibrate.

See (17) in Section 6.3.2.

See (28) in Section 6.3.2.

66

t

6.4.3 Adjustment 2

(1) Shocks at Start/Stop

It is desired to move smoothly without sudden acceleration/deceleration or accelerate/decelerate smoothly
to change the speed to match the command speed (including a speed of 0).

 Set the “position command primary filter time constant.”

(2) Abnormal Noise at Low Speed (Stop)

High-pitched abnormal noise occurs, in particular, at low speeds (50 mm/sec or less).

 Set the “torque filter time constant.”

 Lower the “current control bandwidth.

Caution

z This phenomenon tends to occur when the rigidity of the system’s mechanical parts is not maintained.

The actuator unit itself may generate torsional resonance if its stroke exceeds 600 mm or if it is a
belt-driven type.
Check the following items before making adjustment:

1. The position control loop proportional gain, speed loop gain and speed loop integration time
constant are not set too high.

2. The rigidity of the load is maintained as much as possible, and the load is securely mounted
without looseness and play.

3. There is no distortion on the actuator’s mounting surface.

4. The actuator body is installed securely.

See (18) in Section 6.3.2.

See (30) in Section 6.3.2.

See (31) in Section 6.3.2.

[Points]

1) Torque filter time constant
Resonance between mechanical parts of the system can be suppressed by setting this
value higher (increase the value in steps of 500 µsec). Note, however, that if the value is se
too high, the stability of the control system may be lost (vibration occurs).

2) Current control bandwidth
It is possible to make adjustment by decreasing the setting value of this parameter
(decrease the value in steps of 200 rad/sec as a guideline), but this should only be done if
the problem cannot be adjusted with the torque filter.
If the current control bandwidth is lowered, the torque filter time constant may be lowered as
well in some cases. Place priority on the torque filter time constant when making
adjustment.

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7. Troubleshooting

7.1 Handling Problems

If problems occur, handle them according to the following procedure for prompt recovery and prevention of
recurrence.

a. Check the status indicator LEDs

RDY (Green)
RUN (Green)
ALM (Red)

ENC (Yellow)
b. Host controller errors
c. Check the voltage of the main power supply
d. Check the voltage of the power supply for I/O signal interface
e. Check the voltage of the brake power supply (in the case of an actuator with brake)
f. Check the alarm status
Check alarm codes with the PC software.
g. Check the cable connections to see if they are not disconnected or caught
When checking cables for conductivity, turn the power supply off first (to prevent runaway) and

remove wiring (to prevent current from being conducted from electrical circuits).
h. Check the I/O signals
i. Check the noise prevention measures (e.g. connection of grounding wire, installation of surge

killers)
j. Review the situation before the problem occurred and the operating conditions at the occurrence
k. Analyze the causes of the problem
l. Take appropriate action

Indicates that P-Driver is operating normally.
Indicates that the servo is on.
Indicates that an alarm is generated.
Indicates that the encoder is disconnected or not connected.

Please check items (a) through (j) before contacting IAI.

7.2 Fault Diagnosis

Fault conditions can be classified into the following three types:

a. Errors occurring when turning the power supply on
b. Errors without alarm display
c. Errors with alarm display

+ Check the alarm display (alarm codes) using the PC software.

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7.2.1 Errors Occurring when Turning the Power Supply on

When the prescribed power is supplied to the main power supply of P-Driver, the RDY LED of the status
indicator turns on.

+ Contact us if the RDY LED does not turn on even if the prescribed power is supplied (please check the

voltage).

7.2.2 Errors Without Alarm Display

The ALM LED of the status indicator on the front of P-Driver is not lit. No alarm has been generated even
with the PC software connected.

(1) The Actuator does not Operate

The actuator does not operate

Is the RDY LED lit?

YES

Is the RUN LED lit?

YES

Is the pulse-train

output interface of the

host controller a

differential line driver?

YES

Is each signal of the

I/O interface, including

the pulse train,

operating normally?

YES

Set the command pulse-train mode properly

using the corresponding parameter.

NO

NO

NO

NO

Contact IAI.

The servo is not turned on.
Check the connection of the power supply of
I/O interface (24 VDC) and the I/O cable.

Check the pull-up resistance value in
the case of an open collector.

Check the input signals.

69

g

(2) Positioning is not Accurate

Positioning is not accurate

Are the electronic

gear parameters

set properly?

YES

Is the grounding wire

properly treated?

Perform proper grounding treatment.

YES

When the actuator is

stopped, does the current

value data of the PC

software indicate this fact?

Keep the wiring of the I/O cable sufficiently
distant from the power cable or shield the I/O
cable.
Check the pull-up resistance value if the
pulse-train output interface of the host
controller is an open collector.

YES

Contact IAI.

(3) Abnormal Noise and Vibration are Generated

Abnormal noise and vibration are

enerated.

Are the parameter

settings appropriate?

YES

Contact IAI.

Check the parameter settings.

Modify the parameter settings.

70

7.2.3 Alarms

(1) Alarm Levels

Alarms are classified into the following three levels according to the error description:

Alarm level

Alarm code

(HEX)

ALM LED Condition at occurrence Cancellation method

Message 900~AFF Turned off

Operation

cancellation

Cold start D00~FFF Turned on

+ Cancel the alarm after investigating and removing the cause in all the cases.

+ Contact IAI if the cause of an alarm cannot be removed or an alarm cannot be canceled even if the

cause is removed.

Caution

z If the same error occurs after canceling an alarm, the cause of the alarm has not been removed. Try

removing the cause and canceling the alarm again.

B00~CFF Turned on

Alarm display in the PC software
(The actuator is not stopped.)

The actuator is forcibly
stopped.

(The actuator decelerates to
a stop and the servo is turned
off. The homing completion
status is canceled.)

The actuator is forcibly
stopped.

(The actuator decelerates to
a stop and the servo is turned
off. The homing completion
status is canceled.)

Reset the controller using
the alarm reset signal (RES)
or the PC software.

(It is necessary to perform
homing operation again.)

Turn the power supply off
and back on again.

(It is necessary to perform
homing operation again.)

71

(2) List of Alarms

a. Message Level

Alarm code

(HEX)

SCIF over-run status (at

801

802

803

A17

A18

A19

A1A

A1C

A31

A32

A33

A3D

A4A

protocol reception)

SCIF receive ER status
(at protocol reception)

Reception timeout status
(at protocol reception)

Message sum check error
(at protocol reception)

Message sum check error
(at protocol reception)

Message station number
error (at protocol
reception)
Message ID error (at
protocol reception)

Message conversion error Error in communication with the PC software (a transmitted

Number of parameter
changes error

Parameter type error It was attempted to refer to or change a parameter type not

Parameter No. error It was attempted to refer to or change a parameter No. not

Unit type error It was attempted to refer to or change a unit type not specified in

Monitoring data type error Error of data type referenced in monitoring data

Name Cause

Error in communication with the PC software (communication
interference, noise, errors in connected devices and
communication settings)
Error in communication with the PC software (communication
interference, noise, short-circuit or disconnection of
communication cable, errors in connected devices and
communication settings)
Error in communication with the PC software (disconnection of
communication cable and errors in connected devices)

Error in communication with the PC software 1 (check sum error
in a received message)

Error in communication with the PC software 2 (check sum error
in a received message)

Error in communication with the PC software (station number
error in a received message)

Error in communication with the PC software (ID error in a
received message)

message does not match with message format)
It was attempted to refer to or change a number of parameters

not specified in the communication protocol.

specified in the communication protocol.

specified in the communication protocol.

the communication protocol.

A4B

A4F

A53

A6D

A9E

A9F

Number of monitoring
records specification error

Software reset rejection
error during operation

Servo in-use rejection
error

Error of accessing
addresses outside writing
range at direct writing
Shipped parameter area
check sum error

Forced stop input Forced stop caused by forced stop signal input

Specification error of the number of records referenced in
monitoring data

Software reset (SIO) is prohibited during operation.

It was attempted to perform processing not allowed while the
servo is being used.

It was attempted to access address outside the specified range
with the communication protocol.

Error in check sum value within EEPROM/shipped parameter
area

72

A

b. Operation Cancellation Level (Forced Stop)

Alarm code

(HEX)

B05

B11

Estimated stroke over
error at homing

Home sensor escape
timeout error

Name Cause

Error in home sensor, creep sensor, etc.

Home limit switch was not located. Possibly mis-wiring of the
home limit switch.

Position deviation error The position deviation (difference between command pulse and

C6B

feedback pulse) exceeded the position deviation error output
range (ECNT) set in the parameter.

C6E

Servo-off axis used error

n operation command is given to an axis whose servo is turned

off with the PC software.

Soft limit over error After homing is completed (the homing completion signal is

C74

being output), the slider (or rod) exceeded the stroke length
(LIMM/LIML) + soft limit actual position margin (SLMR) set in the
parameters.

CF4

CF5

POE cause undetermined
error

Encoder data DMA
transfer not completed

Hardware detection error (other errors not determined as error)

The encoder communication took longer than the time limit set in

the parameter.
error
Homing timeout After starting a homing operation, the operation was not

CF6

completed within the time limit set in the homing timeout (OTIM)

parameter.

CF7

CF8

Command counter
overflow

Electromagnetic brake not
released error

The number of command pulse inputs exceeded ±134217728

(H’ F8000000 to H’ 07FFFFFF).

When the electromagnetic brake is enabled by the flag for

setting function at stop (FSTP parameter) and the servo ON

command is input, the brake power is not supplied.

CF9

CFA

CFB

Encoder communication
parity error

Encoder communication
delimiter error

Control field error Reception error status of a serial encoder

Transmission error status of a serial encoder

Transmission error status of a serial encoder

CFC

Transmission under-run
error

Error in the FPGA communication processing of a serial encoder

(When sending data, the transmission data was not sent to the

transmission buffer.)
Reception over-run error Error in the FPGA communication processing of a serial encoder

CFD

(When receiving data, data was updated before the data was

read from the reception buffer.)

CFE

Frame error Error in the FPGA communication processing of a serial encoder

(The logic of the start and stop bits is not consistent.)

73

c. Cold Start Level

Alarm code

(HEX)

D03

Count error Error status of a serial encoder

Name Cause

D08

D09

D0A

D10

D12

D13

D19

D0F

E29

E3E

E67

EA3

FFA

FFB

FFD

FFE

FFF

Encoder communication

CRC error (reception error) of a serial encoder
CRC error

Over speed The motor revolution speed exceeded the maximum revolution

speed (MAXV) set in the parameter.
Overload The effective output torque value exceeded the allowable value

of the motor.
Overcurrent The output current of the converter part became abnormally

large.
Encoder out The encoder is not connected.

FPGA error Error in the FPGA operation clock

Reception timeout error Error in the FPGA communication processing of a serial encoder

(After the transmission is completed and 4 µs has elapsed, the

reception start bit is still not asserted.)
IPM temperature error Abnormal heating of the converter part

EEPROM error A writing signal is sent to EEPROM when access to EEPROM is

prohibited.
Parameter sum check

Error of sum check value within EEPROM/parameter area
error

Motor overvoltage Voltage of the converter part increased abnormally (400 V or

more) due to regenerative voltage, etc.
AC power supply

An AC power supply interrupt was detected.
interruption detection
error
Driver part program

Error in processing of the driver part of a system program
processing error

Feedback pulse data

Feedback pulse data could not be written within the cycle.
writing error

Control power supply

Error in the voltage of the control power supply
voltage error

Current sensor error The offset adjustment amount of the current sensor exceeded

the internally specified value.
CPU error The CPU operated abnormally.

74

8. Operation Procedure

Operate P-Driver according to the four-step procedure as specified below:

Step 1

Step 2

Step 3

Step 4

8.1 Step 1

Connect the servo driver and actuator in order to conduct a test run with the PC software. See 4, “Wiring,”
for wiring procedure.

In step 1, a test run is conducted without mounting workpieces on the actuator to check the following items:

[Items to be checked]

1. Check the wiring of the P-Driver power supply (L, N, PE).

2. Check the motor power cable (U, V, W) and encoder cable.

3. Check the operation of the servo driver and actuator.

Checking unit operation of the delivered product
Perform unit operation of the actuator to check that the delivered product operates

normally (check wiring, the product and parameter settings).
In this test run of the actuator and P-Driver, no workpieces should be mounted on

the actuator.

Checking connection with the host controller
Connect with the host controller and conduct a test run of the actuator unit (without

workpieces), in order to check that the I/O interface is properly connected and set
and check related parameters.

Load test
Check the operation by the host controller under conditions where the actual load

is applied to check the operation characteristics. Adjust parameters, if necessary.

Continuous operation
Operate the system to check that there is no error.

75

[Test Run Procedure]

1. Temporarily fix the actuator at a safe location.

2. Connect P-Driver and the actuator.
(Connect the brake power supply if the actuator is equipped with a brake. If a regenerative resistance

unit is used, connect it as well.)

3. Turn the power supply on.
Check the SRDY LED. The system is normal if SRDY (green) is lit.
If an alarm is detected (ALM (red) turns on), check the alarm description using the PC software (check

the wiring connection as well), remove the cause of the alarm, and cancel the alarm.

4. Conduct a test run from the PC software.
If it is difficult to input the servo ON signal (SON) via the I/O signal interface (for example, if the test run

is conducted without connecting the external I/O cable), set bit 0 of the “PIO function setting flag”
parameter to “1” (to disable the SON signal) and turn the power supply off and back on again or perform
a software reset. The servo is turned on and operation is enabled.

Perform homing and jog operations from the PC software to check that P-Driver operates normally.

If there are no errors, proceed to step 2.

8.2 Step 2

Connect the servo driver to the host controller and conduct a test run of the actuator unit by the host
controller.
At this point, if bit 0 of the “PIO function setting flag” parameter was set to “1” (the SON signal was
disabled) in step 1, set it to “0” (enable the SON signal) and turn the power supply off and back on again or
perform a software reset. The servo ON signal (SON) from the I/O signal interface is enabled.

In step 2, check the following items:

[Items to be checked]

1. Check the wiring between the host controller and P-Driver.

2. Check I/O signals from/to the host controller.

3. Check the basic setting parameters of the position control loop (CNUM, CDEN, CPMD).
See 6.3.1, “Basic Settings.”

76

[Test Run Procedure]

1. Temporarily fix the actuator at a safe location.

2. Connect I/O signals to the host controller.
(Connect the brake power supply if the actuator is equipped with a brake. If a regenerative resistance

unit is used, connect it as well.)

3. Turn the power supply on.
Check the SRDY LED. The system is normal if SRDY (green) is lit.
If an alarm is detected (ALM (red) turns on), check the alarm description using the PC software (check

the wiring connection as well), remove the cause of the alarm, and cancel the alarm.

4. Conduct a test run from the host controller.
Check the operation using I/O signals from the host controller to confirm that P-Driver operates normally.

Check the operation of safety circuits such as the emergency stop breaker.

If there are no errors, proceed to step 3.

8.3 Step 3

Check the operation by the host controller by applying the actual load. At this point, do not make the entire
system operate at once; rather, test each individual operation required for the actuator one by one and
check the operation status.

[Items to be checked]

1. Check the operation status (abnormal noise, vibration).

2. Check the parameters.
See 6.4, “Servo Adjustment.”

[Test Run Procedure]

1. Install the actuator in the system (device) (apply the actual load).
Make sure that there is no play or distortion in the installation.

2. Conduct a test run from the host controller.
Check the operation using I/O signals from the host controller to confirm that P-Driver operates normally.

At this point, do not make the entire system operate at once; rather, test each individual operation
required for the actuator one by one and check the operation status (making sure there is no abnormal
noise and vibration). Adjust parameters, if necessary.

If there are no errors, proceed to step 4.

77

8.4 Step 4

Operate the entire system from the host controller under the actual usage conditions and check that
P-Driver operates normally.

[Items to be checked]

1. Check the operation status (abnormal noise, vibration).

2. Check the parameters.
See 6.4, “Servo Adjustment.”

[Test Run Procedure]

1. Operate the entire system with the host controller.
Operate the entire system from the host controller and check the operation status (making sure there is

no abnormal noise and vibration). Adjust parameters, if necessary.

If there are no errors, the test runs are completed.

78

9. PC Software (PDR-101-MW)

9.1 Before Using the PC Software

(1) Checking Accessories

Before using the software, check that each of the following items is provided:

1) 3.5-inch floppy disks containing the software 2 disks

2) Software license agreement (description) 1 sheet

3) User registration card (serving as software license agreement; postal card) *1 1 card

4) PC connection cable *2 1 piece

*1 Please make sure to send the user registration card (software license agreement) back to us. If you do

not send it back, we cannot provide user support.

*2 If you are using an NEC computer as the host controller, please be aware that a separate adapter may

be required for some models.

(2) Preparation (Operating Environment)

This software requires the following computer and peripheral equipment.

1) Computer and compatible keyboard
A personal computer (hereinafter referred to as “PC”) (DOS/V specification) running Windows with

a compatible keyboard

2) Memory
The PC must have sufficient memory capacity to run Windows.

3) Monitor
A monitor (hereinafter referred to as “CRT”) compatible with the PC environment

4) Graphics card
VGA or better display standards

5) Pointing device such as mouse and compatible driver
A pointing device such as a mouse for easy operation of this software, and a compatible driver

6) Operating system
Windows 98, Windows Me, Windows NT4.0, Windows 2000 or Windows XP

7) Floppy disk drive
A 3.5-inch 1.44 MB floppy disk drive

79

8) Hard disk space
A hard disk with 2 MB or more of free space (This software is installed on the hard disk.)

9) Serial port
An RS-232C serial port (D-sub 9-pin)

10) Printer
A printer compatible with the PC

(3) Installing the Software

This software is installed on the hard disk of the PC. This section explains how to install the software.

1) Close all applications. (Resident virus-scan software and similar applications must be disabled
temporarily.)

2) Insert disk 1 of this software in the floppy disk drive.

3) Run “Setup.exe” in disk 1.

4) The installation program is executed. Follow the messages displayed on the screen.

5) Depending on the version of Windows you are using, you may be prompted to insert disk 2.

6) When the installation program is completed, you may be prompted to restart the PC.

7) An item called “PC software for P-Driver” is added to Programs (P
executed by selecting Start → Programs (P
software is started by selecting the item.

) → IAI → P-Driver → PC software for P-Driver. This

) in the Start menu; it can be

(4) Starting the Software

1) Turn off the power supply to P-Driver and the PC and then connect P-Driver and the PC with the
attached PC connection cable.

2) Turn on the power supply to P-Driver and the PC and start Windows.

3) Start this software from the Start menu.

4) A dialog box for checking connected axes appears. After checking, enter necessary information
for your operation purposes according to the screen display.

80

9.2 Checking Connection

When you start the application, the connection check dialog box (Figure 9.2.1) appears first. The PC
communicates with the driver according to the “communication port” and “baud rate” set in the application
setting window, which is explained later.

When the connection with the driver is checked, the application starts up in the online mode. If the driver
cannot be found or the Esc key is pressed, the application starts up in the offline mode. (Even if the
application is started up in the offline mode, it is possible to switch to the online mode by performing
“re-connection,” which will be explained later.)

Figure 9.2.1 Connection Check Dialog Box

9.3 Main Window

When the connection check is completed, the online startup window (Figure 9.3.1) appears. If the driver
cannot be found, the window starts up in the offline mode (Figure 9.3.2). Select the following items from the
menu or click the corresponding tool buttons to operate the software.

Figure 9.3.1 Online Startup Window

81

Figure 9.3.2 Offline Startup Window

9.3.1 Operations from the Main Menu

(1) File Menu (F)

1. New (N) Create new parameter data.

2. Open (O) Read data saved in a file.

3. Close (C) Close the currently active window.

4. Print Setting (P) Set the printing font and printer options.

5. Exit (X) Exit the application.

(2) View Menu (V)

This menu is used to set display options.

1. Font Size (F

(3) Parameter Menu (P)

This menu is used to perform operations related to parameters.

1. Edit (E

2. Transfer to Driver (S) Copy the data on the line selected by the cursor in the edit window. *1

3. Print (P) Output the parameter data currently being edited to a printer.

) Set the size of the font displayed in the window.

) Read parameters from the controller and edit them. *1

82

(4) Monitor Menu (M)

This menu is used to monitor various statuses, port conditions, etc. and reference error histories.

1. Status (S

2. Error List (E) Open the error list window. *1

) Open the status monitor window. *1

(5) Driver Menu (D)

This menu is used to perform operations related to the driver, such as re-connection and software reset.

1. Jog (J

2. Re-connect (C) Re-establish communication with the driver.

3. Initialize Memory (I

4. Software Reset (R) Perform software reset of the driver. *1

) Open the jog movement window. *1

If the driver is in communication ready state, the application can be
switched from the offline mode to the online mode.

If the environment setting has been changed, such change becomes
valid by re-connecting the driver through this menu option.

) Initialize parameters. *1

(6) Tool Menu (T)

This menu is used to perform settings related to this application.

1. Environment Setting (S

) Perform settings to run the application.

(7) Window Menu (W)

This menu is used to change how windows are displayed.

1. Cascade (C

2. Tile Vertically (V

3. Tile Horizontally (H

4. Arrange Icons (A) Arrange minimized windows

5. Minimize All (M) Minimize all the displayed windows.

6. Restore Up All (N) Restore all the minimized windows to their original size.

7. Close All (W) Close all the displayed windows.

) Arrange the displayed windows in such a way that they overlap,

slightly diagonally shifted relative to one another.

) Arrange the displayed windows by dividing the main window

vertically.

) Arrange displayed windows by dividing the main window horizontally.

83

(8) Help Menu (H)

1. About (A

*1. Valid only in the online mode.

) Display the version information of this application.

9.3.2 Operations from the Toolbar

This section explains the toolbar (Figure 9.3.3) located in the upper area of the main window (below the
menu).

Figure 9.3.3 Toolbar

New Parameter Same as selecting File (F) → New (N)

Open File Same as selecting File (F

) → Open (O)

Edit Parameter Same as selecting Parameter (P

) → Edit (E)

Monitor Status Same as selecting Monitor (M

) → Status (S)

Error List Same as selecting Monitor (M

) → Error List (E)

Jog Same as selecting Driver (D

) → Jog (J)

Re-connect Same as selecting Driver (D

) → Re-connect (C)

Cascade Same as selecting Window (W

) → Cascade (C)

Tile Vertically Same as selecting Window (W

) → Tile Vertically (V)

Tile Horizontally Same as selecting Window (W

) → Tile Horizontally (H)

84

9.4 Edit Parameter Window

9.4.1 Explanation About the Edit Parameter Window

a. Select Parameter (P

b. The Edit Parameter window appears.

Select a desired parameter and change the value.

Note that values displayed in gray are for reference only, and cannot be changed.

Save As
Click this button to save parameter data in a file with a new name.

Transfer to Driver

Click this button to transfer parameter data to the driver.

Print

Same as selecting Parameter (P) → Print (P)

Click this button to print parameter data.

) and then Edit (E) from the menu.

Same as selecting Parameter (P) → Transfer to Driver (T)

Figure 9.4.1 Edit Parameter Window

* Figure 9.4.1 shows driver parameters. Click other tabs to display other types of parameters.

85

* When you open the Edit Parameter window for the first time after starting the application, the

parameter input ranges are acquired from the driver.

In the offline mode, default values in the application are used for the parameter input ranges.

9.4.2 Saving Parameters and Completing Editing

(1) Saving Parameter Data Currently Being Edited to a File

Click the Save As button in the Edit Parameter window.
* The extension of parameter files is “pdp.”

(2) Transferring Parameter Data Currently Being Edited to the Driver

Save parameter data you are editing to the non-volatile memory area of the driver.
Click the Transfer to Driver button in the Edit Parameter window.
This button can only be used at online editing.

(3) Restarting the Driver (Software Reset)

After you transfer parameter data, a confirmation dialog box (Figure 9.4.2) appears with the message
“Restart driver No.0?”

Figure 9.4.2 Confirmation

Yes (Y

No (N

) Enable the parameters you have changed.

) Some of the parameters you have changed are not enabled.

In order to enable all the parameters you have changed, restart the driver (software
reset) or turn off the power supply and back on again.

(4) Completing Editing Parameters

When you close the Edit Parameter window, a confirmation dialog box appears with the message
“Transmit Edited Data to the Driver?”

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Figure 9.4.3 Confirmation

Yes (Y

) Transfer the edited data to the driver; then proceed to (3) Restarting the Driver.

) Discard the edited data and close the Edit Parameter window.

No (N

Cancel Cancel closing and return to the Edit Parameter window.

* It is recommended to save parameters at delivery or when you startup the system.

9.5 Monitor

9.5.1 Status Monitor Window

a. Select Monitor (M) and then Status (S) from the menu.

b. The Status Monitor window appears.

You can display information of only the category you need using the buttons in the toolbar.

Every time you click one of the buttons, the corresponding information is displayed or hidden.

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Figure 9.5.1 Status Monitor

Axis Information
Click this button to display axis information, such as current position.

Axis Status
Click this button to display the status of the axis, such as servo status.

Axis Sensor Input Status
Click this button to display the states of limit switch, etc.

Inputs
Click this button to display the on/off status of each signal of the input port.

Outputs
Click this button to display the on/off status of each signal of the output port.

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Encoder Status
Click this button to display the status of the encoder.

* At the point when you open this window, the axis sensor input status and encoder status are not

displayed. Click the corresponding button to display each of the states.

9.5.2 Error List Window

a. Select Monitor (M) and then Error List (E) from the menu.

b. The Error List window appears.
This window displays the last 16 alarms/warnings that occurred in the driver in the past, along

with their dates and times of occurrence.

* There may be slight errors in the times of occurrence, because they are calculated by

subtracting the value counted within the driver from the internal clock of the PC. Use them
for reference purposes only.

Figure 9.5.2 Error List

Save As
Click this button to save the error list in a file in CSV format.

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Print
Click this button to print the error list.

Data Acquisition
Click this button to update the error list with the latest error information.

Error List All Clear
Click this button to delete the entire error list of the driver.

9.6 Driver

9.6.1 Jog Movement Window

a. Select Driver (D

b. The Jog Movement window appears.

) and then Jog (J) from the menu.

Figure 9.6.1 Jog Movement

(1) Current Position, Alarm Code and Mode Display Panel

This panel displays the current position of the axis (the display unit varies depending on the
environment setting), alarm code and mode.

Figure 9.6.2 Current Position, Alarm Code and Mode Display Panel

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