Sanyo SUPER BL P5, SUPER BL PY2, SUPER BL PY User Manual

M0001584J

AC SERVO SYSTEM

BL Super Series

PY2

PY2 Servo Amplifier Instruction Manual

Released September 1999
Revision F April 2001
Revision J August 2003

SANYO DENKI CO.,LTD English

E

This product does not qualify as strategic goods as specified by the Foreign Exchange

and Foreign Trade Control Law. Accordingly, applying for an export permit from the

Ministry of Economy, Trade & Industry is not required. For customs purposes, however,

an explanation may be required. So, please ask us for the material explaining that this

product is not applicable. In addition, when this product is incorporated into other

equipment, the applicable regulations must be complied with.

i

PREFACE

The "PY" series Servo Amplifier is applicable to a wide range of applications from small to medium
capacity thanks to its multiple functions, high performance, downsizing and high cost performance.
The "PY2" was developed as an upgraded version of this "PY" series to satisfy customer needs for
further downsizing.

The "PY2" Servo Amplifier features the same performance as the "PY" series, on which it is based,
with only the size reduced. The small and high performance "PY2" Servo Amplifier is useful for a
large number of customers in applications requiring space saving.

This User's Manual explains the functions, wiring, installation, operation, maintenance and
specifications of the "PY2" Servo Amplifies and our Servomotors.

To completely utilize all functions of the "PY2" series, read this manual carefully before use to
ensure proper operation.

After reading this manual, keep it handy so that it can be referred to by anyone at anytime.

In this manual,
"AC Servomotor" is sometimes abbreviated to "Servomotor" or "Motor".
"AC Servo Amplifiers" to "Servo Amps." or "Amps.".
Also, "Wiring-saved incremental encoders" and "Request signal-unavailable

absolute encoders" are sometimes abbreviated to "Encoders" and "Wiring-saved
incremental encoders", "Request signal-unavailable absolute encoders" and
"Request-available absolute sensors" to "Sensors".

i

International Standard Compliance

The “PY2” Servo Amplifier complies with the following International standards.

International standard Standard No.

TÜV EN50178

UL UL508C

CUL UL508C

Low Voltage Directive EN50178

EMC Directive EN55011

Working Environment

Since the working environment for the “PY2” Servo Amplifiers must be pollution level 2 or above (i.e. level 1
or 2) as specified in EN50178, be sure to use them in a pollution level 1 or 2 environment.

Power Supply

The “PY2” Servo Amplifiers must be used under the conditions specified in overvoltage category II, EN

50178. Use a reinforced insulation transformer conforming to the EN Standard for power supply input.
For the interface, use a DC power supply whose input and output sections have reinforced-insulation.

i

CE Marking

At Sanyo Denki, we are executing tests on the “PY2” Servo Amplifier for compliance with the CE marking at
qualifying institutions. The CE mark is required to be attached all end products sold in EU countries.
Only products conforming to the safety standards are permitted to have them. Accordingly, customers are
requested to perform the final conformity test on their machines or systems incorporating our amplifiers.

The CE Marking Conformity Standards

We execute conformity tests for the following standards on the “PY2” Servo Amplifier at qualifying
institutions.

Classification of

directive

Classification Test Test standard

Low Voltage

Directive

－ － EN50178

Terminal interference voltage EN55011

Emission

Electromagnetic radiation
interference

EN55011

Radiation field immunity

EN61000-4-3 / 1996
ENV50204 / 1995

Conductivity immunity EN61000-4-6 / 1996

Electrostatic immunity

EN61000-4-2
EN61000-4-2 : A1 / 1998

Electrostatic immunity

EN61000-4-2
EN61000-4-2 : A1 / 1998

EMC Directive

Immunity

Burst immunity EN61000-4-4 / 1995

File numbers

Low Voltage Directive, Declaration : File No. C0002827C
Low Voltage Directive, Certification : File No. B 01 05 21206 040 (Messrs. TÜV PRODUCT SERVICE)
EMC Directive, Declaration : File No. C0004056
EMC Directive, Certification : File No. E9 99 05 30982 005 (Messrs. TÜV PRODUCT SERVICE)

UL Marking

The “PY2” series products are qualified to have the UL (U.S. version) and cUL (Canada version) marks of
the Underwriters Laboratories attached.

File Numbers

File No.: E179775 Power Conversion Equipment (CCN: NMMS, NMMS7)

Fuse

The “PY2” Servo Amplifiers are not equipped with fuses. Customers are requested to prepare a
UL-approved fast-blown fuse and install it in the input section of the main circuit power supply.

iv

CONTENTS

0. SAFETY PRECAUTIONS

0.1 Introduction ..................................................................................................................... 0-2

0.2 "Warning Label" Location on Product ............................................................................. 0-2

0.3 Meaning of Warning Indication ....................................................................................... 0-3

0.3.1 Details of Indications ........................................................................................... 0-3

0.3.2 Rank of Cautions on Safety................................................................................. 0-3

0.3.3 Symbolic Indication.............................................................................................. 0-4

0.4 Cautions on Safety .........................................................................................................0-5

1. BEFORE OPERATION

1.1 Precaution on Unpacking ................................................................................................. 1-2

1.2 Confirmation of the Product.............................................................................................. 1-2

1.3 Precautions on Operation................................................................................................. 1-2

1.4 How to Read Model Numbers .......................................................................................... 1-6

1.4.1 Model Number of Servomotor ............................................................................. 1-6

1.4.2 Model Number of Servo Amplifier ....................................................................... 1-7

1.5 "PY2" Servo Amplifier Standard Combination.................................................................. 1-8

1.6 Flowchart for Determining Servomotor

Model Number .................................................................................................................. 1-9

2. FUNCTION, CHARACTERISTICS AND CONFIGURATION

2.1 "PY2" Servo Amplifier Built-in Functions.......................................................................... 2-2

2.2 Characteristics of "PY2" Servo Amplifier.......................................................................... 2-6

2.3 Characteristics of Servomotor .......................................................................................... 2-11

3. SERVO SYSTEM CONFIGURATION

3.1 Block Diagram .................................................................................................................. 3-2

3.2 External Mounting and Wiring Diagram............................................................................ 3-2

3.3 Names of Servo Amplifier Parts ....................................................................................... 3-3

3.3.1 PY2A015/030 ...................................................................................................... 3-3

3.3.2 PY2E015/030 ...................................................................................................... 3-4

3.3.3 PY2A050 ............................................................................................................. 3-5

3.4 Optional Peripheral Equipment List.................................................................................. 3-6

4. WIRING

4.1 Applicable Wire Sizes.......................................................................................................4-2

4.2 Specifications of Sensor Cable ........................................................................................ 4-3

4.3 External Wiring Diagram................................................................................................... 4-4

4.3.1 External Wiring Diagram (200 VAC Input Type) ................................................. 4-4

4.3.2 External Wiring Diagram (100 VAC Input Type) ................................................. 4-6

v

4.3.3 Sensor Connection Diagram (INC-E).................................................................. 4-8

4.3.4 Sensor Connection Diagram (ABS-E) ................................................................. 4-9

4.3.5 Sensor Connection Diagram (ABS-RII) .............................................................. 4-10

4.3.6 Sensor Connection Diagram (ABS-E.S1) ........................................................... 4-11

4.4 Connector Terminal Arrangement Input/Output Signal Diagram..................................... 4-12

4.4.1 CN1: Interface Connector.................................................................................... 4-12

4.4.2 CN2: Sensor Connector ...................................................................................... 4-13

4.5 Wiring Procedure.............................................................................................................. 4-15

4.6 Precautions on Wiring ...................................................................................................... 4-16

4.6.1 Recommended Surge Protector.......................................................................... 4-17

4.6.2 CN1 & CN2 Shielding Procedure ........................................................................ 4-18

4.6.3 Typical CN2 Compression Insert Application...................................................... 4-20

5. INSTALLATION

5.1 Servo Amplifier Installation............................................................................................... 5-2

5.1.1 Installation Place ................................................................................................. 5-2

5.1.2 Installation Procedure.......................................................................................... 5-3

5.2 Servomotor Installation.....................................................................................................5-4

5.2.1 Installation Place ................................................................................................. 5-4

5.2.2 Installation Procedure.......................................................................................... 5-4

5.3 Cable Installation .............................................................................................................. 5-9

6. OPERATION

6.1 Operation Sequence......................................................................................................... 6-2

6.1.1 Power ON Sequence........................................................................................... 6-2

6.1.2 Stop Sequence .................................................................................................... 6-3

6.1.3 Servo OFF Sequence.......................................................................................... 6-5

6.1.4 Alarm Reset Sequence ....................................................................................... 6-6

6.1.5 Overtravel Sequence........................................................................................... 6-7

6.2 Display.............................................................................................................................. 6-8

6.2.1 Status Display...................................................................................................... 6-8

6.2.2 Alarm Display ...................................................................................................... 6-8

6.3 Be Sure to Check the Functioning at First ....................................................................... 6-9

6.3.1 Minimum Wiring................................................................................................... 6-9

6.3.2 Jog Operation ...................................................................................................... 6-10

6.3.3 Resetting and Turning the Power Off.................................................................. 6-12

6.4. Encoder Clear Using Remote Operator

(When Absolute Encoder is Used) ................................................................................... 6-13

7. EXPLANATION OF PARAMETERS

7.1 Remote Operator (Optional)............................................................................................. 7-2

7.1.1 Outline of Remote Operator ................................................................................ 7-2

7.1.2 Function Table..................................................................................................... 7-3

7.1.3 Basic Operation Procedure ................................................................................. 7-4

vi

7.1.4 Parameter Setting Mode

(Screen Mode 0 to 2 and 8)................................................................................. 7-5

7.1.5 Parameter Increment/Decrement Mode

(Screen Mode 3).................................................................................................. 7-8

7.1.6 Parameter Select Mode (Screen Mode 4)........................................................... 7-10

7.1.7 Monitor Mode (Screen Mode 5)........................................................................... 7-12

7.1.8 Alarm Trace Mode (Screen Mode 6)................................................................... 7-14

7.1.9 Test Mode (Screen Mode 7)................................................................................ 7-19

7.1.9.1 JOG Operation.................................................................................................. 7-18

7.1.9.2 Off Line Auto-tuning Function........................................................................... 7-20

7.1.9.3

7.2 Description of Parameters................................................................................................ 7-25

7.2.1 Block Diagram of Position, Velocity and

Torque Control Type Parameters........................................................................ 7-25

7.2.2 Parameter Summary Table ................................................................................. 7-26

7.2.3 Parameter List ..................................................................................................... 7-29

8. MAINTENANCE

8.1 Troubleshooting (Alarm)................................................................................................... 8-2

8.2 Troubleshooting (Non-Alarm) ........................................................................................... 8-20

8.3 Switching of Velocity Loop Proportional Gain Using Rotary Switch................................. 8-23

8.3.1 Overview.............................................................................................................. 8-23

8.3.2 Setting Procedure................................................................................................ 8-23

8.4 Maintenance ..................................................................................................................... 8-24

8.5 Overhaul Parts.................................................................................................................. 8-25

9. SPECIFICATIONS

9.1 Servo Amplifier ................................................................................................................. 9-3

9.1.1 Common Specifications....................................................................................... 9-3

9.1.2 Acceleration and Deceleration Time ................................................................... 9-5

9.1.3 Allowable Repetition Frequency.......................................................................... 9-6

9.1.4 Precautions on Load ........................................................................................... 9-9

9.1.5 CN1 Input/Output Interface Circuit Configuration................................................ 9-10

9.1.6 Position Signal Output ......................................................................................... 9-13

9.1.7 Monitor Output..................................................................................................... 9-17

9.1.8 Position Control Type Specifications................................................................... 9-20

9.1.9 Velocity/Torque Control Type Specifications ...................................................... 9-28

9.1.10 Switching of the Control Mode ............................................................................ 9-35

9.1.11 Internal Velocity Command ................................................................................. 9-36

9.1.12 Power Supply Capacity ....................................................................................... 9-37

9.1.13 Servo Amplifier/Servomotor Leakage Current .................................................... 9-39

9.1.14 Calorific Value ..................................................................................................... 9-40

9.1.15 Dynamic Brake .................................................................................................... 9-42

9.1.16 Regenerative Processing .................................................................................... 9-45

9.2 Servomotor ....................................................................................................................... 9-48

vii

9.2.1 Common Specifications....................................................................................... 9-48

9.2.2 Revolution Direction Specifications ................................................................... 9-49

9.2.3 Motor Mechanical Specifications......................................................................... 9-50

9.2.4 Holding Brake Specifications............................................................................... 9-53

9.2.5 Motor Data Sheet ................................................................................................ 9-55

9.3 External Views.................................................................................................................. 9-125

9.3.1 Servo Amplifier .................................................................................................... 9-125

9.3.2 Servomotor .......................................................................................................... 9-126

9.3.3 Remote Operator (Option)................................................................................... 9-140

9.4 External Regenerative Resistor (Optional) ..................................................................... 9-141

9.4.1 How to Connect and Set External Regenerative Resistor (Optional) ................. 9-141

9.4.2 External Regenerative Resistor Combination Table ......................................... 9-144

9.4.3 External Regenerative Resistor List.................................................................... 9-147

9.4.4 Detailed Connecting Methods of External Regenerative Resistor...................... 9-148

9.4.5 External Regenerative Resistor Outline Drawings.............................................. 9-149

9.5 Full Close Function (Option)............................................................................................. 9-151

9.5.1 Rough Diagram of Full Close Function (Option).................................................. 9-151

9.5.2 Hardware of Full Close Function (Option)............................................................ 9-152

9.5.3 Parameter of Full Close Function (Option) .......................................................... 9-153

10. INTERNATIONAL STANDARDS

10.1 International Standard Conformity.................................................................................... 10-2

10.1.1 Outline................................................................................................................. 10-2

10.1.2 International Standard Conformity for PYR Servo System ................................. 10-2

10.2 Cautions for International Standard Conformity ............................................................... 10-3

10.2.1 Cautions Common to UL/TUV Conformity .......................................................... 10-3

10.3 UL/cUL/TUV Standard Conformity ................................................................................... 10-4

10.3.1 UL/cUL Conformity and File Numbers ................................................................ 10-4

10.3.2 TUV Conformity and File Numbers ..................................................................... 10-5

10.4 Conformity with EC Directives.......................................................................................... 10-5

10.4.1 Outline................................................................................................................. 10-5

10.4.2 Conformity with EC Directives ............................................................................ 10-5

10.4.3 CE Marking Conformity Standard....................................................................... 10-6

10.4.4 Cautions for EMC Directive Conformity.............................................................. 10-7

11. PY PC INTERFACE

11.1 Outline of Servo Function ................................................................................................. 11-2

11.2 Control Mode Switch ........................................................................................................ 11-3

11.3 Gain Switch ...................................................................................................................... 11-4

11.4 Real Time Automatic Tuning............................................................................................ 11-5

11.5 Additional Function of Velocity Loop Proportional Gain................................................... 11-9

11.6 P-PI Control Automatic Switch ......................................................................................... 11-9

11.7 Full Close Function........................................................................................................... 11-10

0. SAFETY PRECAUTIONS

0－1

SAFETY PRECAUTIONS

0.1 Introduction ................................................................................ 0-2

0.2 "Warning Label" Location on Product ......................................... 0-2

0.3 Meaning of Warning Indication ................................................... 0-3

0.3.1 Details of Indications ......................................................... 0-3

0.3.2 Rank of Cautions on Safety............................................... 0-3

0.3.3 Symbolic Indication ........................................................... 0-4

0.4 Cautions on Safety ..................................................................... 0-5

This chapter summarizes the precautions to ensure safe operation of
the PY2 Servo Amplifier.

Be sure to read this chapter before operation.

0. SAFETY PRECAUTIONS

0－2

0.1 Introduction

The “PY2” Servo Amplifier is designed to be used for general industrial equipment. So, note the following
precautions.

• To ensure proper operation, thoroughly read the Instruction Manual before installation, wiring and

operation.

• Do not modify the product.

• For installation or maintenance, consult our dealer or authorized agency.

• When using the product for the following purposes, special measures, such as system multiplication or

emergency power generator installation, should be taken regarding operation, maintenance and
management of the product. In this case, consult us.

① Use in medical equipment affecting people's lives.
② Use in equipment that may be lead to physical injury, for example, trains or elevators.
③ Use in a computer system that may be socially or publicly influential.
④ Use in other equipment related to physical safety or equipment that may affect the functions of

public facilities.

• For use in an environment subject to vibration, for example, on-vehicle use, consult us.

Be sure to read all parts of this manual before use (installation, operation, maintenance, inspection, etc.) to
properly use the equipment and only start using it after completely understanding all aspects, safety
information and precautions relating to the equipment.
Keep this manual handy after reading it.

0.2 "Warning Label" Location on Product

The warning label is on the front upper left of the Servo Amplifier.

0. SAFETY PRECAUTIONS

0－3

0.3 Meaning of Warning Indication

This chapter explains how warnings are indicated.
Please understand the details of indications before reading 0.4 Cautions on Safety.

0.3.1 Details of Indications

Section 0.4 describes as follow s:

① : Rank of cautions on safety
② : Symbolic indication
③ : Meaning of each symbolic indication

0.3.2 Rank of Cautions on Safety

Cautions are divided into the following four ranks:

①

Incorrect operation may result in such a dangerous situation as

death or serious injury.

②

Incorrect operation may result in such a dangerous situation as

medium or slight injury or may result in only physical damage.

Note that some indications with may lead to serious results depending on situations.
Since any indications are important, be sure to observe them.

③ What should not be done are indicated.

④ What should be done by all means are indicated.

DANGER

1. The amplifier inside

①

②

③

DANGER

CAUTION

PROHIBITION

COMPULSION

CAUTION

0. SAFETY PRECAUTIONS

0－4

0.3.3 Symbolic Indication

Symbolic indications are divided into the following eight kinds:

Kinds of symbols Example of symbols

Symbolic indications of
danger

DANGER,

INJURY

ELECTRIC

SHOCK

Symbolic indications
calling attention

CAUTION

FIRE

BURN

Symbolic indications
prohibiting actions

PROHIBITION

PROHIBITION OF
DISASSEMBLING

Symbolic indication
urging actions

MANDATORY

0. SAFETY PRECAUTIONS

0－5

0.4 Cautions on Safety

DANGER

<General>

1. Don't operate the system in explosive environment, or you may be injured or fire
may occur.

2. Never touch any inside part of the amplifier, or you may be struck by electricity.

3. Don't arrange wires nor conduct maintenance work and inspection under a
hot-line condition.
Be sure to turn the power off more than 5 minutes in advance.
Otherwise, you may be struck by electricity.

4. Ask experts in respective fields for transportation, installation, wiring, operation,
maintenance and inspection.
Persons without expertise may receive electric shocks, be injured or fire may
occur.

<Wiring>

5. Be sure to ground the PE (protective earth) terminal of the amplifier.
The grounding terminal of the motor must be connected to the PE (protective
earth) terminal of the amplifier. Otherwise, an electric shock may occur.

6. Don't damage cable, stress them abnormally, place heavy items on them nor get
them caught between other parts or devices.
Otherwise, an electric shock may occur.

7. Be sure to connect the power cable in accordance with the connection diagram
or the User's Manual.
Otherwise, you may be struck by electricity, or fire may occur.

8. Since no fuse is built into the main power supply input terminals (R, S and T) of
the amplifier, be sure to insert a UL-approved circuit breaker or fast-blown fuse to
the amplifier power supply input wiring to protect it and its peripherals.

0. SAFETY PRECAUTIONS

0－6

DANGER

<Operation>

9. During operation, never touch the motor rotator, or you may be injured.

10. While the power is supplied, never approach nor touch terminals, or you may be
struck by electricity.

11. While the power is supplied, never remove any terminal cover, or you may be
struck by electricity.

0. SAFETY PRECAUTIONS

0－7

CAUTION

<General>

1. Before installation, operation, maintenance and inspection, be sure to read the
User's Manual and follow instructions detailed in the manual.
Otherwise, you may be struck by electricity or be injured, or fire may occur.

2. Don't use the amplifier and the motor in any situations where the specifications
are not fully satisfied.
Otherwise, you may be struck by electricity or injured, or they may be damaged.

3. Don't use the amplifier and the motor if they are damaged.
Otherwise, you may be injured or fire may occur.

4. Use the amplifier and the motor only in the combination specified, or fire or a
trouble may occur.

5. Note that the amplifier, the motor and their peripheral equipment are heated to
high temperatures.
Don't touch them, or you may be burnt.

<Unpacking>

6. Check which side is up before unpacking, or you may be injured.

7. Check if what you have received are as per your order.
Installation of an incorrect product may result in injury to you or breakage of the
product.

8. Don't apply static electricity to the motor sensor terminal, or the motor may get
out of order.

0. SAFETY PRECAUTIONS

0－8

CAUTION

<Wiring>

9. Don't measure insulation resistance and dielectric strength, or these units may
be damaged.
When you have to measure them, please contact us.

10. Arrange cables in accordance with the Technical Standard for Electric Facilities
and the Extension Rules.
Otherwise, cables may be burnt and fire may occur.

11. Arrange cables correctly and securely, or the motor may run away and you may
be injured.

12. Don't apply static electricity or high voltage to the motor sensor terminal, or the
motor may get out of order.

<Installation>

13. Don't climb up these units nor place heavy substance on them, or you may be
injured.

14. Don't stop the air inlets and outlets nor put foreign matters in them, or fire may
occur.

15. Be sure to observe the direction of installation, or a trouble will occur.

16. Decide the distances between the amplifier, the inside surface of the control
panel and other equipment in accordance with the User's Manual.
Otherwise, troubles may occur.

17. Don't shock these units badly, or they may be get out of order.

18. During installation, take an extreme care not to drop nor overturn these units, or
you may face serious dangers.
When raising the motor, use the lifting bolt if it is fitted.

19. Never install these units where they are exposed to splash of water, in corrosive
or inflammable gas atmosphere or near combustibles.
Otherwise, fire may occur or they may get out of order.

20. Install them to any of nonflammables like metal, or fire may occur.

0. SAFETY PRECAUTIONS

0－9

CAUTION

<Operation>

21. This motor is not equipped with any protective device.
So, protect it with an overcurrent device, an earth leakage breaker, a thermal
cutout or an emergency stop device.
Otherwise, you may be injured or fire may occur.

22. During the power is supplied or for a while after the power is turned off, don't
touch the amplifier radiator, the regenerative resistor and the motor because they
are or have been heated to high temperatures.
Otherwise, you may be burnt.

23. When any trouble has occurred, stop operating the system immediately, or you
may be struck by electricity or injured, or fire may occur.

24. An extreme adjustment change will make the system operate unstably. Never
make such a change, or you may be injured.

25. To check operation of the system in a trial run, fix the motor and separate it from
the mechanical system.
Otherwise, you may be injured.
After the trial run, mount it on the system.

26. The holding brake is not a stopping device to operate the system safely.
So, install a stopping device to the system for the purpose, or you may be
injured.

27. When an alarm occurs, remove the cause and check that the system is in safety.
Then, reset the alarm and resume the operation.
Otherwise, you may be injured.

28. When the power is restored after momentary interruption, don't approach the
system because it may suddenly start again.
(Design the system so that the operator can remain safe even if it may start
again.)
Otherwise, you may be injured.

29. Check that the power supply specification is normal.
Otherwise, troubles may occur.

0. SAFETY PRECAUTIONS

0－10

CAUTION

<Maintenance>

30. Since the amplifier frame is heated to high temperature, beware of it at the time
of maintenance and inspection, or you may be burnt.

31. The electrolytic capacitor inside the amplifier is recommended to be replaced
with a new one every five years for preventive maintenance providing that the
yearly ambient temperature is 40°C.
The expected life of the cooling fan motor is 10 years at the yearly ambient
temperature of 40°C. Regular replacement is recommended.

32. In case of repair, please contact us.
If these units are disassembled by yourself, they may malfunction.

<Transportation>

33. During transportation, take an extreme care not to drop nor overturn these units,
or you may face serious dangers.

34. During transportation, don't catch cables and the motor shaft, or these unit may
get out of order or you may be injured.

<Disposal>

35. Dispose of the amplifier and the motor as general industrial wastes.

0. SAFETY PRECAUTIONS

0－11

PROHIBITION

<Storage>

1. Don't store these units where they are exposed to water, rain drops, hazardous
gas or liquid.
Otherwise, they will get out of order.

<Operation>

2. The built-in brake of the motor is for holding and should not be used for braking
in general.
If used for braking, the brake will be broken.

<Maintenance>

3. Don't overhaul the system, or fire will occur and you will be struck by electricity.

<General>

4. Do not remove the nameplate.

0. SAFETY PRECAUTIONS

0－12

MANDATORY

<Storage>

1. Store these units where they are not exposed to direct sunlight and in the
specified ranges of temperature and humidity {–20°C to +65°C, below 90%RH
(without dew condensation)}.

2. When the amplifier was stored for a long period (over 3 years as a guide), please
contact us for how to treat it.
When it is stored for a long time, the electrolytic capacitor capacity will decrease
and any trouble may occur.

<Operation>

3. Install an emergency stop circuit outside the system so that operation can be
stopped immediately and that the power supply can be shut off.

4. When the alarm generates, assemble the safety circuit outside of the amplifier.
Running away, injury, burning, fire, and secondary damage may be caused.

5. Operate the system within the specified ranges of the temperature and humidity
(see below).
Amplifier: Temperature = 0 to 55°C, Humidity = 90% RH or lower (no dew
condensation)
Motor: Temperature = 0 to 40°C, Humidity = 90% RH or lower (no dew
condensation)

<Transportation>

6. Overloaded products will collapse.
So, load them in accordance with the indication on the outer cases.

7. Use the lifting bolts on motors for carrying motors only and don't use them for
carrying machines.

1. BEFORE OPERATION

1－1

BEFORE OPERATION

1.1 Precaution on Unpacking ............................................................. 1-2

1.2 Confirmation of the Product .........................................................1-2

1.3 Precautions on Operation ............................................................ 1-2

1.4 How to Read Model Numbers...................................................... 1-6

1.4.1 Model Number of Servomotor ........................................... 1-6

1.4.2 Model Number of Servo Amplifier ..................................... 1-7

1.5 PY2 Servo Amplifier Standard Combination ................................ 1-8

1.6 Flowchart for Determining Servomotor

Model Number ............................................................................. 1-9

1. BEFORE OPERATION

1－2

Please operate this system taking the contents of the following description into consideration.
A misoperation will lead to an unexpected accident or damage.

1.1 Precaution on Unpacking

When unpacking this product after purchasing, care is needed to the following.

• When unpacking the Servo Amplifier, don't touch its printed circuit boards in any case.

1.2 Confirmation of the Product

Check the following after receiving the product. Contact us if any abnormality is detected.

• Check if the model numbers of the Servomotor and the Servo Amplifier match those of the ordered ones

(the numbers are described after "MODEL" on the main nameplate).

• Check the appearance of the Servomotor and the Servo Amplifier to confirm that they are free from any

abnormality such as breakage or lack of parts.

• Check that all screws on the Servomotor and the Servo Amplifier are tightened properly.

1.3 Precautions on Operation

Take care the following during operation.

• At installation, don't give shocks to the Servomotor and the Servo Amplifier, or they may break.

In particular, handle the Servomotor carefully since it is provided with a sensor.

1. BEFORE OPERATION

1－3

• Be sure to use a power supply within the specified range.

200 VAC input type: PY2A…, PY2B…
200 VAC to 230 VAC (+10%, −15%) 50/60 Hz

100 VAC input type: PY2E…, PY2F…
100 VAC to 115 VAC (+10%, −15%) 50/60 Hz

If a power supply other than the above is used, an accident may result.

• When a surge voltage is produced in the power supply, connect a surge absorber or others between the

powers to absorb the voltage before operation.
Otherwise malfunction or breakage may result.

• Turn the power on and off during maintenance and inspection after safety (such as the situation of the

load) is completely checked. If the power is turned on or off during the load is applied, an accident or
breakage may result.

• Never use this product where corrosive (acid, alkali, etc.), flammable or explosive liquid or gas exists to

prevent it from deforming or breaking.

• Never use this product where flammable or explosive liquid or gas exists since the liquid or the gas may

be ignited, causing great danger.

Corrosives

Gas

Acid/Alkali

Flammables

Explosives

• Use this product within the ambient temperature range from 0°C to 40°C (0°C to 55°C for the Servo

Amplifier) and below the relative humidity limit of 90%.

• The Servomotor and the Servo Amplifier should be kept away from water, cutting fluid or rainwater

.

Otherwise electric leakage or and electric shock may result.

1. BEFORE OPERATION

1－4

• For operating safety, check that the Servo Amplifier is grounded by at least a class 3 (less than 100Ω) of

the PE (protective earth) terminal . In addition, the grounding terminal of the Servomotor must be
connected to the PE (protective earth) terminal .

• Never perform a withstand voltage or a megger test of the Servomotor or the Servo Amplifier.

In this product, 0V and the main body is earthed by the capacitor.
If such test is necessary, consult with us.

• Perform correct wiring by referring to the chapter "4. Wiring".

Wrong wiring may cause Servomotor's or amplifier's breakage.

• Since the "P" series Servomotor is not an induction motor, the direction of revolution cannot be changed

by swapping the phases.
To change the direction, use the remote operator.

• For safety operation, be sure to install a surge absorber on the relay, electromagnetic contactor,

induction motor and brake solenoid coils.

1. BEFORE OPERATION

1－5

• Connect a power supply within the specified range to the Servo Amplifier’s R, S, T terminals respectively.

When a power supply out of the specified range is used, install a transformer.
If a commercial power supply is applied to the U, V or W terminal, the amplifier will break.

Commercial

power supply

1. BEFORE OPERATION

1－6

1.4 How to Read Model Numbers

1.4.1 Model Number of Servomotor

1. BL series
P10...P1 series
P20...P2 series
P30...P3 series
P50...P5 series
P60...P6 series
P80...P8 series

2. Indicates the BL motor

3. Indicates flange square size
03…35 mm 04…40 or 42 mm 05…54 mm
06…60 mm 07…76 mm 08…80 or 86 mm
13…130 mm 15…150 mm 18…180 mm
22…220 mm

4. Indicates rated output
○○○ = ○○○ × 10 w

5. Maximum revolution speed
S…1000 min

−

1

M…1500 min

−

1

B…2000 min

−

1

R…2500 min

−

1

H…3000 min

−

1

D…4500 min

−

1

P…4500 min

−

1

6. Equipping of holding brake
X…Not equipped. B…Equipped. (90V) C…Equipped. (24V)

7. Type of detector
S… Wiring-saved incremental encoder
J… Absolute encoder with the motor flange square of 60 mm or less;

Request signal-unavailable type.

A… Absolute encoder with the motor flange square of 76 mm or more;

Request signal-unavailable type.
N... ABS-RII; Super-capacitor-unavailable, request signal-available type.
V... ABS-RII; Super-capacitor-built-in, request signal-available type.

8. Specification identification
00… Standard motor

B

○○○ ○○○ △ □ ◇○○ ▽▽

The design revision order is indicated by an alphabet at the end of Lot No. on the
nameplate.

1. BEFORE OPERATION

1－7

1.4.2 Model Number of Servo Amplifier

1. Indicates a PY2 servo amplifier

2. Type of power unit

A… For 200 VAC input, with dynamic brake
B… For 200 VAC input, without dynamic brake
E… For 100 VAC input, with dynamic brake
F… For 100 VAC input, without dynamic brake

3. Amplifier capacity

015… 15A 030… 30A 050...50A

4. Hardware type of control unit

A... Wiring-saved incremental encoder (INC-E) or request

signal-unavailable absolute encoder (ABS-E)

H... Request signal-available absolute sensor (ABS-RII)

P… Wiring-saved absolute sensor (ABS-E.S1)

5. Optional specifications of power supply input and power sections

6. Applicable motor

(For details, refer to the standard combination table on the next page. )

Example M1…P50B03003D□□□□ PA…P60B13050H□□□□

7. Type of applicable sensor

1... Wiring-saved incremental encoder (2000P/R)

2... Wiring-saved incremental encoder (6000P/R)

3... Request signal-unavailable absolute encoder (ABS-E, 2048P/R)

6... Request signal-available absolute encoder (ABS-RII, 8192P/R)
W…Wiring-saved absolute sensor (ABS-E.S1, 32768 dividing)

8. Interface specification
S…Speed control type. T…Torque control type. P…Position control type.
X…S-T switch type Y…P-T switch type U…P-S switch type V…Internal Speed control type

9. Discrete specification
00… Standard product

00

▽△

XX 0

PY2

○○○□

A

• The design revision order is indicated by an alphabet at the end of Lot No. on the

nameplate.

• In some Servo Amplifiers, the items 6 to 9 above are not specified. Servo Amplifiers

having the following model numbers can be used after specifying the parameters such as
motor, sensor and interface.

PY2A015A2 PY2A030A2 PY2A050A6 PY2E015A3 PY2E030A3

Model code Contents of specifications Support by power section type and amplifier capacity *3

Built-in

regenerative

resistor *1

RDY output

*2

Main circuit

power supply

type

PY2A015 PY2A030 PY2A050 PY2E015 PY2E030

0 × ○ 3-phase ○ ○ × × ×
1 × ○ Single phase ○ ○ × ○ ○
2 × × 3-phase ○ ○ × × ×
3 × × Single phase ○ ○ × ○ ○
4 ○ ○ 3-phase △ *4 ○ ○ × ×
5 ○ ○ Single phase △ *4 ○ ○ △*4 ○
6 ○ × 3-phase △ *4 ○ ○ × ×

7 ○ × Single phase △ *4 ○ ○ △*4 ○
*1: Built-in regenerative resistor: ○= with built-in regenerative resistor, ×= without built-in regenerative resistor
*2: RDY output: ○= with RDY output, ×= without RDY output
*3: Support by power section type and amplifier capacity ○= supportive, ×= not supportive
*4: For 15A regenerative resistor built-in type, configuration (dimension) of Amp. partially differs from standard.

1. BEFORE OPERATION

1－8

1.5 "PY2" Servo Amplifier Standard Combination

Check the model numbers of the motor and the amplifier on the combination table below.
If the combination is different, the system will not function properly.

Table1-1 "PY2" Servo Amplifier Standard Combination Table (200 VAC input type)

Table1-2 "PY2" Servo Amplifier Standard Combination Table (100 VAC input type)

Servomotor Servo Amplifier

P☆B○○○○○○□◇▽▽

PY2A○○○A2ＸＸ△▽00

Series

Flange square

Rated output

Maximum speed

Amplifier

capacity

Motor type

03003D 015 M1
04006D 015 M2
04010D 015 M3
05005D 015 M4
05010D 015 M5
05020D 015 M6
07020D 015 M8
07030D 015 M9
07040D 030 MA
08040D 030 MB
08050D 030 MC
08075D 050 MD
08100D 050 ME
08075H 030 MF
08100H 030 MG

P50

13050H 030 PA
13100H 050 P1
13150H 050 P2

P60

15075H 030 R2
18120H 050 R3

P80

Servomotor Servo Amplifier

P☆B○○○○○○□◇▽▽

PY2A○○○A2ＸＸ△▽00

Series

Flange square

Rated output

Maximum speed

Amplifier
capacity

Motor type

10030H 030 11
10075H 030 12
13050H 030 13
13100H 050 14
13150H 050 15
13050B 030 1A
13100B 030 1B
13150B 050 1C
18200B 050 1D

P10

10100D 050 21
10150D 050 22
10100H 030 28
10150H 050 29
10200H 050 2A

P20

04003D 015 N1
04005D 015 N2
04010D 015 N3
06020D 015 N4
06040D 030 N5
08075D 030 N6

P30

Servomotor Servo Amplifier

P☆B○○○○○○□◇▽▽

PY2E○○○A3ＸＸ△▽00

Series

Flange square

Rated output

Maximum speed

Amplifier

capacity

Motor type

03003P 015 MH
04006P 015 MJ
04010P 015 MK
05005P 015 ML
05010P 015 MM
05020P 030 MN
07020P 030 MR

P50

07030P 030 MS

Servomotor Servo Amplifier

P☆B○○○○○○□◇▽▽

PY2E○○○A3ＸＸ△▽00

Series

Flange square

Rated output

Maximum speed

Amplifier

capacity

Motor type

04003P 015 NA
04005P 015 NB
04010P 015 NC
06020P 030 ND

P30

1. BEFORE OPERATION

1－9

1.6 Flowchart for Determining Servomotor

Model Number

Refer to the following flowchart to determine the Servomotor model number.

Select Servomotor capacity.

With brake

90 V

24 V

Without brake

Determine capacity and
maximum speed.

Add B to the end.

Add C to the end.

Add X to the end.

P50B08100D

P50B08100DB

P50B08100DC

P50B08100DX

P50B08100DXS

P50B08100DXA

P50B08100DXS00

P50B08100DXN

Incre. 2000P/R

Standard specifications

Absol. 2048 divisions

ABS-RII 8192 divisions

Ex.

Ex. Sensor type

Add S to the end.

Add 00 to the end.

Consult with us for special
requirements.

Add A to the end.

Add N to the end.

2. FUNCTION, CHARACTERISTICS AND CONFIGURATION

2－1

FUNCTION, CHARACTERISTICS

AND CONFIGURATION

2.1 "PY2" Servo Amplifier Built-in Functions...................................... 2-2

2.2 Characteristics of "PY2" Servo Amplifier...................................... 2-6

2.3 Characteristics of Servomotor......................................................2-11

2. FUNCTION, CHARACTERISTICS AND CONFIGURATION

2－2

2.1 "PY2" Servo Amplifier Built-in Functions

This section describes the main built-in functions of the Servo Amplifier and additional functions specially for
the PY2 series.
The functions marked require the remote operator (see Chapter 7).

● Position, speed and torque control

The above three types are controlled as a package and can be selected using the remote operator.
The control type can be changed during operation (velocity ↔ torque, position ↔ torque, position ↔
velocity).

● Regenerative processing function

A regenerative processing circuit is built into the system, which enables regenerative processing simply
by externally connecting a resistor to the amplifier.
Since no regenerative resistor is built in except for 50 A type amplifier, one is required to be externally
connected to the amplifier when regenerative processing is required.

● Dynamic brake function

When the main circuit power supply is cut off, the dynamic brake is actuated.
However, this brake is operated regardless of the main circuit power supply when an alarm occurs.

● Holding brake excitation timing output

The power supply to the holding brake is controlled with the timing of this output signal, thereby
preventing a self-weight fall of the gravitational shaft at an emergency stop.
Keep this output open when the system is not operated.

● Vibration restraining function

If a vibration occurs when this function is incorporated in the system, the parameters "BEF" and "LPF"
are set by the remote operator according to the vibration frequency, restraining the vibration. When
offline, executing “auto notch filter tuning (Tune IBEF) at test mode can automatically set notch filter
frequency (IBF1). For more adequate setting, measure the oscillation frequency with an oscilloscope
on the current command monitor.

● Separation of control power and main circuit power

The control power and the main circuit power are separated.
When an alarm or an emergency stop occurs, the main circuit power alone can be cut off for safety, and
the control power can remain activated.
This enables the continuation of alarm output, making analysis and maintenance easy.

OP

OP

OP

2. FUNCTION, CHARACTERISTICS AND CONFIGURATION

2－3

● Servo tuning support function

When the remote operator sets a mode, the load inertia is automatically estimated and a proper
parameter is set. There are two different kind of tuning methods: one is “Offline auto tuning” executed
at test mode when offline, and the other is “Online auto tuning” estimating appropriate gain and
changing the gain at real time during operation.

● Electric gear function

For a position control type, the feed can be changed without changing the mechanical gear by using this
electronic gear.
This gear is set by the remote operator.

● Dividing output function

Encoder signal pulses can be output by being divided into N/8192 (N=1 to 8191), 1/N (N=1 to 64) or 2/N
(N=3 to 64) based on the setting by the remote operator.
Although the phase relation does not change, the 2/5 division is not the 90° phase difference.
To set the encoder signal dividing ratio, refer to the explanation on the parameters.
The dividing ratio must be a value with which the encoder pulse number can be divided.
For a 2000 pulses/rev encoder, for example, 1/3, 1/6 or 1/7 cannot be used since they are aliquant.
Some typical divided encoder output waveforms are described below.

● Alarm trace function

The past 7 alarm history data can be stored and reviewed from the remote operator or the front panel
SELECT, enabling easy troubleshooting.

OP

OP

OP

OP

Position command

f2

N
D

Input command pulse

When N = 1 to 32767 and
D = 1 to 32767

f2 = f1 ×

≦≦ 32767

f1

N
D

1

32767

N
D

90°

A-phase

Dividing ratio 1/1

B-phase

Dividing ratio 1/2

Dividing ratio 2/5

Typical encoder signal output waveforms (forward revolution)

A-phase

B-phase

A-phase

B-phase

2. FUNCTION, CHARACTERISTICS AND CONFIGURATION

2－4

● Power supply type selection function (200 VAC input type)

Either a 3-phase, 200 VAC type or the single phase, 200 VAC type main power supply can be selected.
After selecting either one, simply turn the control power supply on again, no other parameter settings
are necessary. (Since some types of motors have different 3- or single-phase properties, refer to the
combination specifications in Section 9.)

● Applicable to wiring-saved incremental & absolute encoders

The same amplifier is applicable to an incremental encoder (INC-E) and an absolute encoder (ABS-E)
simply by changing the appropriate parameters using the remote operator.
Different motors, however, are required for the INC-E and the ABS-E, respectively.

● Applicable to absolute sensor (ABS-R II)

Applicable to an absolute sensor (ABS-R II).

● Applicable to Wiring-saved absolute sensor (ABS-E.S1)

Applicable to a wiring-saved absolute sensor (ABS-E.S1). Absolute sensor can be wiring-saved. In
use to application not requiring holding multi-rotational part, wiring number can be less then that for
wiring-saved incremental encoder (INC-E). In case of not requiring holding multi-rotational part, battery
connection is not necessary (Need parameter setting to select functions).

OP

OP

OP

Applicable Servo Amplifiers to absolute sensor (ABS-R II) and wiring-saved absolute sensor
(ABS-E.S1) have different internal circuits from incremental (INC-E) and absolute (ABS-E)
encoder-type amplifiers. Use product applicable to an absolute sensor.

OP

2. FUNCTION, CHARACTERISTICS AND CONFIGURATION

2－5

Additional function specially for the PY and PY2 series (compared to PZ amplifiers)

In addition to the various control functions provided in the "PZ" series, the following functions have been
added to the "PY" and "PY2" series

1. Control mode switching function

This function is for switching the control mode without power shutdown.

2. Internal velocity command function

The amplifier has three types of velocity commands, and this function is for switching the velocity
command depending on the situation.

3. Function to correspond with the external encoder for full-close control

By providing an external incremental encoder process circuit in the amplifier, full-close control is
enabled. (For full-close correspondence, consult us, as additional parts are required.)

4. Gain switching using a rotary switch

By using a rotary switch, gain setting is enabled without connecting to a remote operator.

5. Gain switching function

Two types of gain settings can be selected in the amplifier. Gain switching is enabled depending on
the situation.

6. Upgrading of the personal computer interface functions

Following upgrading of the personal computer interface functions, graphic indication of the monitor data
and execution of various test modes have been enabled as well as parameter setting and editing using
a PC.
(See the instruction manual for the personal computer interface provided separately.)

7. Input command auto offset function

The analog input command auto offset function is added, which facilitates offset adjustment in the
velocity or torque control mode.

OP

OP

OP

OP

OP

OP

OP

Be sure to use the PY personal computer interface version 1.30 or later when combining the
100 VAC power input type (PY2E), single-phase power supply specification PY2 Servo
Amplifier with a personal computer interface.

(The amplifier may malfunction if combined with version 1.24, 1.23 or earlier.)

2. FUNCTION, CHARACTERISTICS AND CONFIGURATION

2－6

2.2 Characteristics of "PY2" Servo Amplifier

This section explains the characteristics of the "PY2" amplifiers.

• The volume is about half that of conventional models

About 40% to 65% smaller in terms of volume than the “PY”, ”PZ” and ”PE” series.
PY2A015 (to 300 W) : About 45%
PY2A030 (to 1 kW) : About 65%
PY2A050 (to 2 kW) : About 45% (Note: "PY" is assumed to be 100%.)

• Unified height and depth

The height of the amplifier applicable to 30 W to 2 kW motors is kept at to 168 mm (excluding the
mounting fitting) and the depth at 135 mm.

• Front or rear installation is selectable

Although only rear installation is usually available for a small Servo Amplifier, both front and rear
installations can be selected for the "PY2" or "PY" type.
(Rear installation is standard for the "PY2" on shipment.)

• All amplifier I/O wirings are changed to the connector type

The terminals of the high-voltage parts, which used to be the terminal board type on our conventional
"PY" and "PZ" series, are changed to the connector type. This improves operability when installing or
maintaining the Servo Amplifier.

• The leakage current has been reduced to about half that of conventional models

Measures to reduce leakage current are taken on the "PY2" amplifier, reducing it to about half that of
our conventional "PY" or "PZ" series.
When a 2 m cabtyre cable is used for the motor power line:

• 15A, 30A 0.5 mA or less

• 50A 1.5mA or less

• Additional tuning function

In addition to “Offline auto tuning” function, “Online auto tuning” and “Auto notch filter tuning” functions
are available.

Servo
Amplifier

Front
installation

Servo
Amplifier

Rear
installation

2. FUNCTION, CHARACTERISTICS AND CONFIGURATION

2－7

• Supports various types of power supplies

The “PY2” Servo Amplifier supports 200 VAC 3-phase, 200 VAC single-phase and 100 VAC
single-phase types of power supplies.
Switching between 200 VAC 3-phase and 200 VAC single-phase is possible by simply changing the
parameters.
(Switching between 100 VAC single-phase and 3-/single-phase is impossible since they have different
hardware. A 100 VAC motor is also necessary.)

• High response

Features higher response than our conventional "PZ" type ("PY" and "PY2" have the same level of
response).

• High reliability and long life

Ensures long operation without failure thanks to circuit technologies accumulated from extensive
experience gained from our conventional models.

2. FUNCTION, CHARACTERISTICS AND CONFIGURATION

2－8

Differences Between PY2 Amplifier and Sanyo Denki’s Conventional Models and
Precautions

• No fuse is built into the main power supply input section.

On our conventional PY, PZ, PE and PU models, fuses are built into the main power supply input

sections to save wiring and other reasons when a single axis is used. On the PY2 amplifier, however,

no fuse is built in since use of multiple axes is assumed and downsizing is the main theme of its

development.

(No fuse is built into the PV amplifier, one of our conventional models, as with the PY2.)

In order to protect the main power supply input section from overcurrent, connect a UL-approved circuit

breaker and a fast-blown fuse to the amplifier input section before operation.

• Fewer noise filters on the main and control power supply input sections

The number of noise filters has been reduced on the PY2 amplifier than on our conventional PY, PZ,

PE, PV and PU models. Noiseproofing, however, is the same as that on conventional models thanks

to improved internal circuits.

Although noiseproofing does not differ, after Sanyo Denki’s conventional amplifier in your system is

replaced with the PY2 amplifier, power supply noise which had been absorbed by the noise filters

inside the conventional amplifier may affect other peripherals. So, it is recommended that you attach

noise filters to the power supply (200 VAC).

• No regenerative resistor is built in. (The 50 A type amplifier normally has one built-in.)

On our conventional PY, PZ, PE, PV and PU models, regenerative resistors are built in (the power

absorbed differs depending on the model and the capacity).

On the “PY2A015*” and “PY2A030*” types, no regenerative resistor is built in.

(They incorporate regenerative processing circuits only.)

Externally connect regenerative resistors to systems requiring regenerative processing.

If no regenerative resistor is externally connected, it takes about five minutes to discharge the

capacitor after the main circuit power is turned off. Before maintaining the amplifier, make sure that

the "CHARGE" lamp on the front of the amplifier indicates that it has been discharged.

• The dynamic braking methods differ.

On the PY2 amplifier, the slowing-down revolution angle at the time of stopping by dynamic braking is

twice that of the PY, PZ and PE models in the worst case.

(The angle is the same between the PV and PY2. No dynamic brake is built into the PU model.)

• The forcible air cooling method is adopted for cooling power modules

(for the 30 A and 50 A types only).

On the “PY2A030*” and “PY2A050*” types, the forcible air cooling method is adopted to enable down

sizing and long life. So, the Servo Amplifier does not stop functioning even after the cooling fan stops

due to failure. To ensure long operation of the amplifier, check the motion of the fan during regular

inspection.

2. FUNCTION, CHARACTERISTICS AND CONFIGURATION

2－9

• Sensor cable wiring

While the maximum length of the sensor cable wiring is 50 m for our conventional PY, PZ, and PE

models when a standard cable is used, the length is 30 m for the PY2 amplifier for sensor power

supply reasons (the maximum length is 25 m for the absolute encoder (ABS-E) type).

The permissible wiring distance can be extended to 50 m by using a cable with low conductor

resistance (a thick cable) or by increasing the number of wires. Contact us for details.

• External thermal input

While our conventional PY, PZ and PE models are equipped with input terminals capable of directly

connecting contact outputs of external thermals, the PY2 amplifier is not.

To connect an external thermal output to the amplifier, set the general-purpose input terminal to the

external thermal signal input before operation.

• AMP ready contact output

While our conventional PY, PZ and PE models are equipped with contact output terminals (AMP ready

output terminals) for magnetic contactors which control the amplifier main power on/off switching, they

are optional on the PY2 amplifier. For details, refer to "1.4 How to Read Model Numbers".

When no AMP ready output is used, turn the main power on and off using an external safety circuit.

• Analog monitor output

While analog monitor output is ± 10 V peak for our conventional PY, PZ and PE models, it is ± 3 V

peak for the PY2 amplifier. The resolution of the PY2 is also lower than that of conventional models.

Consult with us if high resolution is required for system evaluation or other purposes.

2. FUNCTION, CHARACTERISTICS AND CONFIGURATION

2－10

Table 2-1 Comparison of PY2/PY and Sanyo's Other Series (for Reference)

PY2

amplifier

PY

amplifier

PZ and PE

amplifiers

PU

amplifier

PR

amplifier

RB

amplifier

PV

amplifier

Input

power

100 VAC
200 VAC

Single phase

3 phases

200 VAC

Single phase

3 phases

200 VAC

Single phase

3 phases

100 VAC
200 VAC

Single phase

200 VAC

Single phase

5 VDC, 38 V
5 VDC, 24 V

100 VAC,

Single phase

200 VAC,

Single phase

200 VAC

Single phase

Features ● Multi function

● High response, high
performance

● Small & compact

● Easy connection due

to adopting
connector method

● Multi function

● High response,

high
performance

● Multi function

● High response,

high
performance

● Small & compact

● Easy connection

due to adopting
connector
method

● Data
transmission
servo
(Direct input of
velocity,
acceleration and
feed data.
Easy operation
using PC or
CPU.)

● High cost
performance

● Downsizing

● Easy system

design

● Data
transmission
servo
(Direct input of
velocity,
acceleration and
feed data.
Easy operation
using PC or
CPU.)

● High cost
performance

● Downsizing

● Easy system

design

● Small & compact

● Wide range of

interface

• Position,

velocity and
torque
command

• Serial

command
(RS-485)

• Contact input

operation
command

● Easy connection
due to adopting
connector
method

Motor

combined

P1 series

0.3 to 2 kW

P2 series

1 to 2 kW

P3 series

30 to 750 W

P5 series

30 to 1000 W

P6 series

0.5 to 1.5 kW

P8 series

0.75 to 1.2 kW

P1 series

0.3 to 5.5 kW

P2 series

1 to 5 kW

P3 series

30 to 750 W

P5 series

30 to 1000 W

P6 series

0.5 to 15 kW

P8 series

0.75 to 4.5 kW

P1 series

0.3 to 5.5 kW

P2 series

1 to 5 kW

P3 series

30 to 750 W

P5 series

30 to 1000 W

P6 series

0.5 to 15 kW

P8 series

0.75 to 4.5 kW

P3 series

30 to 750 W

P5 series

30 to 1000 W

P3 series

30 to 750 W

P5 series

30 to 1000 W

Robust-syn motor
Equivalent to 10 to
600 W

P3 series

30 to 750 W

P5 series

30 to 1000 W

Sensor Wiring-saved

incremental

ANS-R II

ABS-E

ABS-E.S1

Wiring-saved

incremental

ABS-R II

ABS-E

Wiring-saved

incremental

ABS-R II

ABS-E

Wiring-saved

incremental

ABS-R II

Wiring-saved

incremental

Incremental

(200P/R, 800P/R)

Wiring-saved

incremental

ABS-R II

ABS-E

I/F Pulse train input

Analog input

Serial input

Pulse train input

Analog input

Serial input

Pulse train input

Analog input

Serial input

Pulse train input or

analog input

Centronics-based
8-bit parallel data

input

Centronics-based

8-bit parallel data

input

Serial command

(RS-485),

pulse train input

or analog input

Built-in

functions

● Regenerative
processing circuit
(without internal
regenerative resistor)

● Auto tuning

● Electronic gear

● Remote operator

● Vibration restraining

function

● Dynamic brake

● Holding brake

excitation timing
output

● Rush prevention

● Control mode

switching

● Internal velocity
command function

● Gain changeover
using a rotary switch

● Gain changeover

● Personal computer

interface functions

● Regenerative
processing

● Auto tuning

● Electronic gear

● Remote operator

● Vibration

restrain-ing
function

● Dynamic brake

● Holding brake

excitation timing
output

● Rush prevention

● Discharge circuit

● Control mode

switching

● Internal velocity
command
function

● Gain
change-over
using a rotary
switch

● Gain
changeover

● Personal
computer
interface
functions

● Regenerative
processing

● Auto tuning

● Electronic gear

● Remote operator

● Vibration

restraining
function

● Dynamic brake

● Holding brake

excitation timing
output

● Rush prevention

● Discharge circuit

● Regenerative

processing

● Auto tuning

● Electronic gear

● Remote operator

● Built-in pattern

generator

● Rush prevention

● Discharge circuit

● Built-in pattern

generator

● Rush prevention

● Discharge circuit

● Regenerative

processing

● Vibration
restraining
function

● Dynamic brake

● Rush prevention

Measures

for

overseas

standards

TÜV recognition to be

obtained

UL recognition to be

obtained

TÜV recognition

obtained

UL recognition

obtained

TÜV recognition

obtained

(PE type only)

TÜV recognition

obtained

TÜV recognition

obtained

TÜV recognition

obtained

UL recognition

obtained

2. FUNCTION, CHARACTERISTICS AND CONFIGURATION

2－11

2.3 Characteristics of Servomotor

• Wide range of models (67 types in total)

P1 series: from 0.3 to 5.5 kW (15 types) P2 series: from 1 to 5 kW (14 types)
P3 series: from 30 to 750 W (6 types) P5 series: from 30 W to 1000 W (15 types)
P6 series: from 0.5 to 7 kW (11 types) P8 series: from 0.75 to 4.5 kW (6 types)

• High-speed motor

Maximum speed of 2000 min

−

1

and 3000 min

−

1

for P1

Maximum speed of 3000 min

−

1

and 4500 min

−

1

for P2

Maximum speed of 4500 min

−

1

for P3 and P5

Maximum speed of 3000 min

−

1

for P6 and P8
The above enables the positioning time to be shortened.
(For P1, P6/P8 series motor with output of 4.5 kW or above, however, maximum speed is little lower.)

• Compatibility

Compatible with the conventional models.

• Compatible with various sensors

Compatible with the wiring-saved incremental encoder, the ABS-E absolute sensor (encoder) or the
ABS-R II absolute sensor (the settings inside the amplifier differ depending on sensor types).

Table 2-2 Comparison of PY2 and PY Servomotor (for reference)

P1 series

(high rigidity)

P2 series

(low inertia)

P3 series

(low inertia)

P5 series

(high rigidity)

P6 series

(high rigidity)

P8 series
(flat type)

Features ● High servo

performance

● Compatible with
"861" motor

● High inertia

● Series expanded

● Flange size
□100 added

● Down-sizing

80% smaller than
our conventional
models

● Low inertia

● High power rate

● Successor to "862"

series

● Upper capacity
model of
P3 series

● Down-sizing
40% smaller than
our conventional
models

● Low inertia

● High power rate

● Down-sizing

50% smaller than
our conventional
models

● Medium inertia, high
rigidity

● Compatible with
"865Z" motor

● Flange size
□35 and
□42 added

● Down-sizing

70% smaller than
our conventional
models

● Medium inertia, high
rigidity

● Upper capacity
model of P5 series

● Compatible with
“861” motor

● Supplements
P8 series

● Down-sizing
50% smaller than
our conventional
models

● Medium inertia,
super flat type

● Compatible with
"868Z" motor

● Down-sizing
70% smaller and
60% flatter than our
conventional models

Rated
output

0.3 to 5.5 kW
(15 types)

1 to 5 kW

(14 types)

30 to 750 W

(6 types)

30 to 1000 W

(15 types)

0.5 to 7 kW
(11 types)

0.75 to 4.5 kW
(6 types)

Sensor ● Incre.

● Absolute
ABS-E

● Incre.

● Absolute

ABS-E
ABS-R II (R III)

● Incre.

● Absolute

ABS-R II (R III)

● Incre.

● Absolute

ABS-E
ABS-R II (R III)

● Incre.

● Absolute

ABS-E
ABS-R II (R III)

● Incre.

● Absolute

ABS-E
ABS-R II (R III)

Waterproof ● IP67 ● IP67 ● IP40 (IP55 option) ● IP55

(□55 to □86)

● IP55
(□35 to □42)
(IP55 option)

● IP67 ● IP67

Holding

brake

● Standard
specifications
(24 V, 90 V)

● Standard
specifications
(24 V, 90 V)

● Standard
specifications
(24 V, 90 V)

●Standard
specifications
(24 V, 90 V)

●Standard
specifications
(24 V, 90 V)

●Standard
specifications
(24 V, 90 V)

Oil seal ● Standard

specifications

● Standard
specifications

● Optional ● Standard
specifications
(□54 to □86)

● Optional
(□35 to □42)

● Standard
specifications

● Standard
specifications

Measures

for CE

● TÜV obtained ● TÜV obtained ● TÜV obtained ● TÜV obtained ● TÜV obtained ● TÜV obtained

3. SERVO SYSTEM CONFIGURATION

3－1

SERVO SYSTEM CONFIGURATION

3.1 Block Diagram.............................................................................. 3-2

3.2 External Mounting and Wiring Diagram ....................................... 3-2

3.3 Names of Servo Amplifier Parts................................................... 3-3

3.3.1 PY2A015/030 .................................................................... 3-3

3.3.2 PY2E015/030 .................................................................... 3-4

3.3.3 PY2A050 ........................................................................... 3-5

3.4 Optional Peripheral Equipment List.............................................. 3-6

3. SERVO SYSTEM CONFIGURATION

3－2

3.1 Block Diagram

Fig. 3-1 System Configuration Schematic Diagram

3.2 External Mounting and Wiring Diagram

Optional

Use one when load with
large inertial is to be
operated or in other
necessary cases.

External regenerative
resistor

DC power supply for brake

Used when the Servomotor is equipped
with a brake.

Magnetic contactor (MC)

Turns the Servo Amplifier power on and
off. Install a spark killer on it.
(Equivalent to CRE-50500 of Okaya
Electric Industries Co., Ltd.)

Noise filter

Install a filter equivalent to the LF series
of Tokin Corporation to prevent
common mode noise and normal mode
noise.

Circuit breaker, fuse

Used to protect the power line.
On the “PY2” Servo Amplifiers, no fuse is
built in. Be sure to connect a fast-blown
fuse of the capacity indicated in the
external connection diagram.

To
controller

Power supply:

200 VAC 3φ 50 Hz/60 Hz
200 VAC 1φ 50 Hz/60 Hz
100 VAC 1φ 50 Hz/60 Hz

See Fig. 6-1 in

“6 Operation”.

Brake control
relay

Safety

circuit

Encode

r

connector

Thermostat
contact output

Thermostat
contact output

The input power supply differs
depending on the specifications
of the amplifier and the motor.
Be sure to connect the power
supply within the specified range.

The wiring
required when the
motor is equipped
with a brake.

Fig. 3-2 External Mounting and Wiring Diagram

External regenerative resistorServo Amp.

Upper controller

Command

Feedback

Remote operator

Holding brake

excitation

timing output

Sensor Motor

AMP ready

3. SERVO SYSTEM CONFIGURATION

3－3

CHARGE

POWER

CN

1

2

CNＡ

CNB

CND

CNC

CN

r

t

R

S

T

P

Ｙ

U

V

W

RDY

1

2

RDY

PY2A015

1

2

3

4

5

6

7
8

9

10
11

12

13

ＯＰ

14

ＳＥＬＥＣＴ

ＰＯＷＥＲ

Ｎ

11

13

12

10

OP

SELECT
POWER

RDY

2

RDY

1

PY2A015

CN

2

CNC

CNB

CND

CHA

W

V

U

N

CN

1

Y

P

T

S

R

r

t

CHARGE

POWER

6

5

4

3

2

1

9

8

7

14

Fig. 3-3 Front View of Servo Amplifier

(PY2A015A0)

3.3 Names of Servo Amplifier Parts

3.3.1 PY2A015/030

1 Main circuit power supply charge (CHARGE)

Indicates the charge of the smoothing capacitor of the
main circuit power supply.

2 Control & main power supply inputs (CAN)

Connect the control power supply (AC 200 V, single
phase) to the r and t terminals and the main power
supply (AC 200 V, 3-phase) to the R, S and T terminals.

3 Regenerative resistor connector terminal (CND)

Connect a regenerative resistor between the P and Y (or
COM) terminals.

4 Main circuit connector terminal (CNB)

Connect a motor power cable to it.

5 AMP ready output terminal (CNC)

Outputs a-contact when the control power supply is set
up and no alarm occurs (250 VAC, 2 A/30 VDC, 2 A).

6 Protective earth terminal ( )

Grounds an earth cable for

class 3 earthing.
7 Remote operator connector
8 HISTORY/GAIN changeover switch

Sets the rotary switch to the alarm history or gain

changeover function.
9 Rotary switch (SELECT)

Used to check the alarm history and change the gain.
10 5 V power supply set-up (POWER)

Comes on when the control power (r or t) is supplied.
11 7-segment LED

Indicates the status of the amplifier and the type of alarm

issued.
12 Interface connector (CN1)

Connected to a host controller, etc.
13 Sensor signal connector (CN2)

Connected to the sensor signal line from the motor.
14 Maintenance mode switch

Used for maintenance by Sanyo operator. So, do not

change the setting during general operation.

When the Servo Amplifier is used, be sure to set the

switch to the left when viewed from the front of the

amplifier. (It is hard to view from the front since hidden

in the Servo Amplifier case.)

HISTORY GAIN

Optional

14 Maintenance mode switch

• Be sure to set this switch to the normal mode for

operation (set it to the left when viewed from the front of
the amplifier).

• Never change the setting of this switch. If it is set to

the maintenance mode, the system malfunctions.

The 15 A and 30 A capacity amplifiers have different
dimensions (width).

3. SERVO SYSTEM CONFIGURATION

3－4

CHARGE

POWER

CN

1

2

CNＡ

CNB

CND

CNC

CN

r

t

R

S

T

P

Ｙ

U

V

W

RDY

1

2

RDY

PY2A015

1

2

3

4

5

6

7
8

9

10

11

12

13

ＯＰ

14

ＳＥＬＥＣＴ

ＰＯＷＥＲ

Ｎ

OP

SELECT
POWER

RDY

2

RDY

1

PY2E015

CN

2

CNC

CNB

CND

CHA

W

V

U

N

CN

1

11

Y

P

T

S

R

r

t

CHARGE

POWER

6

5

4

13

12

3

2

1

10

9

8

7

14

3.3.2 PY2E015/030

Fig. 3-4 Front View of Servo Amplifier

(PY2E015A1)

2 Control and main power supply (CNA)

Connect the control power supply (100 VAC,
single-phase) to r and t, and the main power supply (100
VAC, single-phase) to R and T.

Same as 1 and 3 to 14, 200 VAC input type.
(Refer to 3.3.1 PY2A015/030.)

14 Maintenance mode switch

• Be sure to set this switch to the normal mode for

operation (set it to the left when viewed from the front of
the amplifier).

• Never change the setting of this switch. If it is set to

the maintenance mode, the system will malfunction.

The 15 A and 30 A capacity amplifiers have different
dimensions (width).

3. SERVO SYSTEM CONFIGURATION

3－5

CHARGE

CN

1

2

CNＡ

CNB

CND

CNC

CN

ｒ

ｔ

R

S

T

Ｙ

U

V

W

RDY

1

2

RDY

PY2A050

1

2

3

4

5

6

7
8

9

10

11

12

13

ＯＰ

14

ＳＥＬＥＣＴ

ＰＯＷＥＲ

Ｎ

Ｘ

Ｐ

PY2A050

CNC

6

5

RDY

2

RDY

1

CN

2

CNB

W

V

12
13

4

U

CN

1

Y

X

Y

P

CND

3

POWER

SELECT

OP

2

1

T

S

R

t

r

CNA

10
11

8
9

CHARGE

7

14

3.3.3 PY2A050

3 Regenerative resistor connecting terminal

(CND)

When a built-in regenerative resistor is

used, use it at the settings made on
shipment (i.e. short-circuit the P and X
terminals using a short-circuit bar).
When an external regenerative resistor is
used, remove the short-circuit bar from
across the P and X terminals and install a
regenerative resistor between the P and Y
terminals.

Same as 1, 2 and 4 to 14, PY2A015/030.

(Refer to 3.3.1 PY2A015/030.)

Fig. 3-5 Front View of Servo Amplifier

(PY2A050A4)

14 Maintenance mode switch

• Be sure to set this switch to the normal

mode for operation (set it to the left when
viewed from the front of the amplifier.)

• Never change the setting of this switch. If it

is set to the maintenance mode, the system
will malfunction.

3. SERVO SYSTEM CONFIGURATION

3－6

3.4 Optional Peripheral Equipment List

The following optional peripheral devices are available for the PY2 Servo Amplifiers.
Please order as necessary.

● I/O connectors

The table below lists I/O connector plugs and housings.
(Connectors of standard shapes are listed as optional equipment.)

Connector List for PY2A (200 VAC input type)

Application Model No. Set contents Maker Maker’s model No.

10150-3000VE

AL-00385594 CN1 plug and housing Sumitomo 3M

10350-52A0-008
10120-3000VE

AL-00385596 CN2 plug and housing Sumitomo 3M

10320-52A0-008
AL-00329461-01 CNA plug Phoenix Contact MSTB2.5/5-STF-5.08
AL-00329458-01 CNB plug Phoenix Contact IC2.5/3-STF-5.08
AL-00329460-01 CNC plug Phoenix Contact MSTB2.5/2-STF-5.08

Single item

AL-00329459-01 CND plug Phoenix Contact IC2.5/4-STF-5.08

10150-3000VE

10350-52A0-008

10120-3000VE

Low-voltage

circuit connector

set

AL-00292309

CN1 or CN2 plug and
housing

Sumitomo 3M

10320-52A0-008

MSTB2.5/5-STF-5.08

IC2.5/3-STF-5.08

High-voltage

circuit connector

set

AL-00377169 CNA, CNB or CND plug Phoenix Contact

IC2.5/4-STF-5.08

10150-3000VE

10350-52A0-008

10120-3000VE

10320-52A0-008

MSTB2.5/5-STF-5.08

IC2.5/3-STF-5.08

PY2A015 and

PY2A030 (without

RDY output) set

AL-00382550

CN1 or CN2 plug and
housing
CNA, CNB or CND plug

Sumitomo 3M

Phoenix Contact

IC2.5/4-STF-5.08

PY2A015 and

PY2A030

(with RDY

output) set

AL-00382550

AL-00329460-01

CN1 or CN2 plug and
housing
CNA, CNB, CNC or
CND plug

Sumitomo 3M

Phoenix Contact

PY2A015 (built-in 10150-3000VE

Regenerative resistor) 10350-52A0-008

PY2A030 (built-in 10120-3000VE

Regenerative resistor) 10320-52A0-008

PY2A050(without MSTB2.5/5-STF-5.08
RDY output) set

AL-00393603

Sumitomo 3M

Phoenix Contact

IC2.5/3-STF-5.08

PY2A015 (built-in

Regenerative resistor)

PY2A030 (built-in

Regenerative resistor)

PY2A050 (with
RDY output) set

AL-00393605

CN1 or CN2 plug and
housing
CNA, CNB or CNC plug

Sumitomo 3M

Phoenix Contact

3. SERVO SYSTEM CONFIGURATION

3－7

Connector List for PY2E (100 VAC input type)

Application Model No. Set contents Maker Maker’s model No.

Single item AL-00329461-02 CNA plug Phoenix Contact MSTB2.5/4-STF-5.08

10150-3000VE

10350-52A0-008

10120-3000VE

10320-52A0-008

MSTB2.5/4-STF-5.08

IC2.5/3-STF-5.08

PY2E015 and

PY2E030 (without

RDY output) set

AL-00397841

CN1 or CN2 plug
and housing
CNA, CNB or CND
plug

Sumitomo 3M

Phoenix Contact

IC2.5/4-STF-5.08

PY2E015 and

PY2E030

(with RDY output)

set

AL-00397841

AL-00329460-01

CN1 or CN2 plug
and housing
CNA, CNB, CNC or
CND plug

Sumitomo 3M

Phoenix Contact

PY2A015 (built-in

Regenerative resistor)

PY2A030

(built-in

Regenerative resistor)

(without RDY output)

set

AL-00329461-02

AL-00329458-01

AL-00292309

CN1 or CN2 plug
and housing
CNA or CNB plug

Sumitomo 3M

Phoenix Contact

PY2A015 (built-in

Regenerative resistor)

PY2A030

(built-in

Regenerative resistor) (with

RDY output) set

AL-00329461-02

AL-00329458-01

AL-00329460-01

AL-00292309

CN1 or CN2 plug
and housing
CNA, CNB or CNC
plug

Sumitomo 3M

Phoenix Contact

● Remote operator

Connected to the Servo Amplifier to set various parameters or check the internal status.

Model No.

RP-001

• Although a commercially available plug not listed in the above table may be used, it may

not engage with the amplifier properly depending on its shape.

• Consult with us when using a plug or housing whose engagement with the amplifier is not

confirmed.

• The power supply input connector CNA models differ depending on the input power

supply voltage type (200 VAC or 100 VAC input).

• CND connector (IC2.5/4-STF-5.08) is normally attached to Servo Amplifier having an

amplifier capacity of 50 A.

• CND connector (IC2.5/4-STF-5.08) is normally attached to 15A and 30A Servo Amplifier

with built-in regenerative resistor.

3. SERVO SYSTEM CONFIGURATION

3－8

● Personal computer interface

The following parts are available for communication with PC.

Model No. Remarks

AL-00356620-01 Specialized cable

SFY95-00 Communication program

● External regenerative resistor

Use one when load with large inertia is to be operated or in other necessary cases.

Model No. Model No.

REGIST-080W 100B REGIST-220W 20B

REGIST-080W 50B REGIST-500W 20B

REGIST-120W 100B REGIST-500W 14B

REGIST-120W 50B REGIST-500W 10B

REGIST-220W 100B REGIST-500W 7B

REGIST-220W 50B

● Cable

Only sensor cables are available. Terminals, however, are not treated.

Model No. Remarks

6879019-1 For wiring-saved incremental encoder (20 m or shorter)

6870010-1 For wiring-saved incremental encoder (20 m or longer)

For absolute encoder (ABS-E)

Absolute sensor (ABS-R II)

● Cannon connector

Use a connector to wire the Servo Amplifier and the motor.

Model No. Remarks

MS06B24-11S-16 Straight plug for the P1, P2, P6 or P8 motor power line.

MS06B20-29S-12 Straight plug for the P1, P2, P6 or P8 motor sensor line.

● Anti-noise parts

The following anti-noise parts are available.

Model No. Remarks

CRE-50500 Spark killer

R·A·V-781BXZ-2A Surge protector

The PC interface can be used only on Windows 95.

A type without a thermal (no "B" at the end of the model number) is also available.

4. WIRING

4－1

WIRING

4.1 Applicable Wire Sizes .................................................................. 4-2

4.2 Specifications of Sensor Cable .................................................... 4-3

4.3 External Wiring Diagram .............................................................. 4-4

4.3.1 External Wiring Diagram (200 VAC Input Type) ................ 4-4

4.3.2 External Wiring Diagram (100 VAC Input Type) ................ 4-6

4.3.3 Sensor Connection Diagram (INC-E) ................................ 4-8

4.3.4 Sensor Connection Diagram (ABS-E) ............................... 4-9

4.3.5 Sensor Connection Diagram (ABS-RII) ............................ 4-10

4.3.6 Sensor Connection Diagram (ABS-E.S1).......................... 4-11

4.4 Connector Terminal Arrangement

Input/Output Signal Diagram........................................................ 4-12

4.4.1 CN1: Interface Connector ................................................. 4-12

4.4.2 CN2: Sensor Connector .................................................... 4-13

4.5 Wiring Procedure ......................................................................... 4-15

4.6 Precautions on Wiring.................................................................. 4-16

4.6.1 Recommended Surge Protector ........................................ 4-17

4.6.2 CN1 & CN2 Shielding Procedure ...................................... 4-18

4.6.3 Typical CN2 Compression Insert Application ....................4-20

4. WIRING

4－2

4.1 Applicable Wire Sizes

• The table below shows typical sizes of external terminals and wires used for the Servo Amplifier.

• Select the wire to use and its size based on the wiring distance, operation environment and current

capacity.

• Table 4-1 assumes that the rated current flows on three lead wiring harnesses at an ambient
temperature of 104°F (40°C).

Table 4-1 Applicable Wire Sizes

Model

Example of applicable wire size

External terminal name

Terminal code

PY2A015
PY2E015

PY2A030
PY2E030

PY2A050

Main circuit power supply

input terminal

CNA

(R. S. T)

Equivalent to

AWG16

Equivalent to

AWG14

Equivalent to

AWG12

Control power supply input

terminal

CNA

(r. t)

Equivalent to AWG16

Motor connector terminal

(power line)

CNB

(U, V, W)

Equivalent to

AWG16

Equivalent to

AWG14

Equivalent to

AWG12

PE (protective earth) terminal

( )

Equivalent to AWG14

AMP ready output terminal

(optional)

CNC

(RDY1, RDY2)

Equivalent to AWG20

Regenerative resistor

connection input terminal

CND

(P, X, Y)

Equivalent to AWG16 Equivalent to

AWG14

I/O signal connector CN1 AWG24 or greater

(A twisted pair lump shielded wire is partly used.)

Sensor signal

connector

CN2 AWG 24 or greater twisted pair lump

shielded wire

Signal

circuit

1 For bundling wires or putting them in a duct, take the allowable current reduction ratio of

the wires into consideration.

2 When the ambient temperature is high, the life will be shortened due to thermal

degradation. In this case, use a heat-resistant vinyl cable.

3 The size of the wire to be connected to the main circuit power supply input terminal or

motor connecting terminal can be smaller than listed in the above table, depending on
the capacity of the Servomotor. (Use a wire of suitable size, referring to Power Supply
Capacity in Section 9.)

4 We prepare an optional sensor signal line connector cable, which can be purchased by

specifying the model number.

5 It is recommended to use an "insulation sleeve-equipped bar terminal" if a certain

insulation distance is required to be secured between main circuit wires or between
main and signal circuit wires.
(This terminal cannot be used when the wire used is AWG12 or greater.)

6 The recommended tightening torque of the jack screw (screw) in the shell

(connector cover : 10320-52A0-008) is 0.196±0.049N･m(2.0±0.5kgf･cm).
We ask you to tighten with this torque.

7 The jack screw with a stopper can prevent over-tightening. The product no. (with a

stopper) is 3342-26 and the recommended tightening torque is 0.441±0.049N･m
(4.5±0.5kgf･cm)．

4. WIRING

4－3

4.2 Specifications of Sensor Cable

Table 4-2 Specifications of Cable

Specifications

Wiring-saved incremental encoder

(INC-E : wiring distance 20 m or less)

Wiring-saved incremental encoder

(INC-E : wiring distance 20 m to 30 m)

Absolute encoder (ABS-E, ABS-RII)

Connecting

Method

By soldering By soldering

Maker names Tonichi Cable, Ltd. Tatsuta Electric Wire and

Cable Co., Ltd.

Approximate
specification

6-pairs × 0.2 mm2

(Tinned annealed copper wire)

10-pairs × 0.2 mm2

(High-strength copper alloy twisted wire)

Finished outside

diameter

8.0 mm MAX 10.0 mm MAX

Bulk resistance 91 Ω /km MAX 123 Ω/km MAX

Internal

composition and

Lead color

対

押え巻

横線ｼｰﾙﾄﾞ

ﾄﾞ ﾚｲ ﾝﾜ ｲﾔ

ｼｰｽ

１

２

３

４

５

６

1 : Red-Black (Twisted pair)

2 : Blue-Brown (Twisted pair)

3 : Green-Purple (Twisted pair)

4 : White-Yellow (Twisted pair)

5 : Skyblue-Pink (Twisted pair)

6 : Orange-Gray (Twisted pair)

対

押え巻ﾃｰﾌﾟ

銅箔糸編組

ﾄﾞﾚｲﾝﾜｲﾔ

ｼｰｽ

１

２

３

４

５

６

７

８

９

10

しゃへい

1 : Blue-White (Twisted pair)

2 : Yellow-White (Twisted pair)

3 : Green-White (Twisted pair)

4 : Red-White (Twisted pair)

5 : Purple-White (Twisted pair)

6 : Blue-Brown (Twisted pair)

7 : Yellow-Brown (Twisted pair)

8 : Green-Brown (Twisted pair)

9 : Red-Brown (Twisted pair)

10 : Purple-Brown (Twisted pair)

Our available
specifications

Our Model No. 6879019-1,

No terminal treatment (without connector)

Our Model No. 6870010-1,

No terminal treatment (without connector)

Sheath

Binding tape

Copper foil
yarn mesh
shielding

Sheath

Drain wire

Pair

Drain wire

Striping
shield

Binding tape

Pair

6

5

4

3

2

9

8

6

7

2

5

1

3

4

10

4. WIRING

4－4

1 When applicable cables are used, the permissible distance between the Servo Amplifier

and the motor (sensor) is as follows:

• Wiring-saved incremental encoder (INC-E): 20 m max. when 6 pairs of cables of
91 Ω/km or less are used.

• Wiring-saved incremental encoder (INC-E): 30 m max. when 10 pairs of cables of
123 Ω/km or less are used.

• Absolute encoder (ABS-E): 25 m max. when 10 pairs of cables of 123 Ω/km or less
are used.

• Absolute sensor (ABS-R II): 30 m max. when 10 pairs of cables of 123 Ω/km or less
are used.

2 The permissible wiring distance can be extended to 50 m by using a cable with low

conductor resistance (a thick cable) or increasing the number of wires. Contact us for
details.

3 When ordering cables from us, please specify our Model Nos. and lengths.

4 Before using these cables to any moving elements, please consult with us.

4. WIRING

4－5

4.3 External Wiring Diagram

4.3.1 External Wiring Diagram (200 VAC Input Type)

Fig. 4-1 (a) External Wiring Diagram (200 VAC Input Type)

AC power supply 3φ
200 to 230 V
50/60 Hz

User unit

En-

coder

SERVO

Orange (yellow)

Holding brake
(for the type with
a brake only)

Short bar

Note 15)

SERVO AMPLIFIER

Note 3)

Note 16)

Note 14)

Note 17)

Start ready ON

System error

System error

DC 5 V to 24

Emergency

sto

p

Emergency

sto

p

Servo ON

Alarm reset

Current limit permit

Note 9) Forward revolution

overtravel

Note 9) Backward revolution

overtravel

Note 10) General-purpose

input

Note 10) General-purpose

input

Note 10) General-purpose

input

Note14) 12 VDC to 24 V

Note 11) General-purpose output

Note 11) General-purpose output

Start ready complete output
Holding brake relay excitation
timing output

A

LM1

ALM2
Note 12) Alarm output
ALM4
ALM8

Output common

Note 13) Forward revolution

current limit

Note 18) Lithium battery

3.6 VDC

Note 13) Backward revolution

current limit

Note 8) Line driver 26LS31

Note 8) Velocity command input

Note 8) Torque compensation/

command input

Monitor 1
Monitor 2

Monitor common

Note 18) Encoder signal

Open collector output

Plug: 10150−3000 VE, Shell: 10350-52A0-008

Forward
revolution
pulse

Backward
revolution
pulse

Position
command
pulse input

Start ready OFF

Start ready OFF

Note 19)

Note 14) 5 VDC

Built-in type
regenerative resistor

When connecting an external
regenerative resistor

Note 4) PY2A050 built-in type

regenerative resistor

Regenerative resistor

Note 4)

Note 6) Red

White

Black

(Green/yellow)

Green

Note 7)

Plug : 10120-3000VE,
Shell : 10320-52A0-008

Note 5)

Sensor connector

Series regulator

Note 2)

Line receiver:

26LS32

Line driver: 26LS31

Note 5)

4. WIRING

4－6

Note 1) : For the parts marked , use a twisted pair shielded cable.

Note 2) : Select the power supply from the two types, 5 V or 12 V to 24 V.

CN1 -

38 pin

CN1 -

49 pin
5 V used Connected Open
12 to 24 V used Open Connected

Note 3) : RDY (RDY1 or 2 terminal) output is optional.

RDY (RDY1 or 2 terminal) is a contact output.

Contact rating: 250 VAC, 2 A
30 VDC, 2 A
Inductive load: COSφ = 0.4, L/R = 7 mS

Note 4) :

Amp. capacity

CND terminal

*1

Built-in type

regenerative resistor

Use of built-in type

regenerative resistor

*2

Method of connecting external

regenerative resistor *3

15, 30 A
(Normal)

P, Y (or COM), N None Connect it between

the P and Y (or COM) terminals.

30 A
(Special)

P, Y, N Equipped Same as default connection.

Connect it between
the P and Y terminals.

Connect it between
the P and Y terminals after removing
the wiring connected between
the P and Y terminals.

*4

50 A
(Normal)

P, Y, X, N Equipped Same as the default.

Short-circuit the P and X
terminals using a short-circuit
bar.

Connect it between the P and X
terminals after removing the
short-circuit bar across
P and X terminals.

*1 : The N terminal is for maintenance (high-voltage circuit). So, do not wire the N terminal.
*2 : The thermostat contact output of the built-in regenerative resistor is connected inside the amplifier.
*3 : A thermostat for the external regenerative resistor shall be built into the user device, or connected to the external overheat detection

input to protect the resistor.

*4 : Be careful not to bring the removed wire into contact with the conductive parts.

Note 5) : Refer to 4.6.2 CN1 & CN2 Shielding Procedure.

Note 6) : Motor connection differs to the motor specifications. The indications of red, white, black, green and orange apply when the motor

power and brake lines are the lead type. When they are the cannon plug type, connect them according to the motor specifications.

Note 7) : For how to wire the sensor connector, refer to the sensor wiring diagram.

Note 8) : The functions of command input differ depending on control modes.

Command input terminal

Control mode

Position command

pulse input

Velocity command input

Torque command input

Position control type Position command

pulse input

Velocity addition input is assumed
depending on the setting of Func1.

Torque compensation input is
assumed depending on the setting of
Func1.

Velocity control type − Velocity command input Torque compensation input is

assumed depending on the setting of
Func1.

Torque control type − − Torque command input
Velocity/torque
switch type

No switching − Velocity command input Torque compensation input is

assumed depending on the setting of
Func1.

During

switching

− − Torque command input

Position/torque
switch type

No switching Position command

pulse input

Velocity addition input is assumed
depending on the setting of Func1.

Torque compensation input is
assumed depending on the setting of
Func1.

During

switching

− − Torque command input

Position/velocity
switch type

No switching Position command

pulse input

Velocity addition input is assumed
depending on the setting of Func1.

Torque compensation input is
assumed depending on the setting of
Func1.

During

switching

− Velocity command input Torque compensation input is

assumed depending on the setting of
Func1.

5 V input

38

12 V to 24 V
input

Max.
30 VDC

O I

49

G

5 V input:
10 mA max.
12 to 24 V input:
50 mA max.

Output common

4. WIRING

4－7

For the details of the control mode and Func1 setting, refer to
the user's manual.

The polarity of command input can be reversed.

Refer to the figure on the right when connecting the position
command pulse input to the open collector output.

Note 9) : Forward/backward revolution overtravel input

By setting Func0, this function can be deleted or set
to the a-contact input.

Note 10) : The function of the general-purpose input can be

selected from the table below.

General-purpose input terminal

Control mode

34 pin 35 pin 36 pin

Position control type Deviation clear (1) (1)

Velocity control type Internal velocity command,

revolution direction input

(2) (2)

Torque control type

−

(3) (3)

Velocity/torque switch
type

No switching Internal velocity command,

revolution direction input

Control mode switching
input or (2).

Control mode switching
input or (2).

During switching

−

Control mode switching
input or (3).

Control mode switching
input or (3).

Position/torque switch
type

No switching Deviation clear Control mode switching

input or (1).

Control mode switching
input or (1).

During switching

−

Control mode switching
input or (3).

Control mode switching
input or (3).

Position/velocity switch
type

No switching Deviation clear Control mode switching

input or (1).

Control mode switching
input or (1).

During switching Internal velocity command,

revolution direction input

Control mode switching
input or (2).

Control mode switching
input or (2).

(1) : Functions can be selected among external overheating detection, proportional control, command multiplication and command pulse

inhibit.
(2) : Functions can be selected among external overheating detection, proportional control, zero clamp and internal setting velocity select.
(3) : Available as the external overheating detection input function.

In addition to the above, it can also be set as the gain switch input.
One pin can be set to have several or no functions.
For details, refer to the operation manual.

Note 11) : General-purpose output

By setting Func4, functions can be selected among current limit, low velocity, high velocity, velocity match, positioning complete and
command receive enabled. Output logic can also be selected.

Note 12) : Alarm output

Output alarm state using codes. It can also be output using bits by setting.

Note 13) : Forward/backward revolution current limit input

By changing the setting, both forward and backward revolution currents can be limited using the revolution current limit or the
backward revolution current can be limited using positive voltage. It can also be limited using the internal setting.

Note 14) : Your are required to prepare the power. Either of the inputs can be selected.

Note 15) : The R, S, T, r, t, RDY1, RDY2, P, Y (or COM), N, U, V and W terminals are high-voltage circuits and the others are low-voltage

circuits.
For the wiring-related reason, allow sufficient distance between high- and low-voltage circuits.

Note 16) : We recommend that a UL-approved earth leakage breaker be used that complies with IEC or EN standard.

Note 17) : Do not wire the S phase for a single-phase power amplifier.

Note 18) : The lithium battery connector terminals (1 and 2 pins) and encoder signals PS and PS (9 and 10 pins) are available when your

encoder is the absolute type (ABS-E, ABS-RII or ABS-E.S1).

Note 19) : Be sure to install the following types of UL-approved fuses for the main circuit power supply input.

Amplifier capacity 15 A, 30 A : 30 A fast-blown type

Amplifier capacity 50 A : 50 A fast-blown type

Note 20) : Make sure to connect SG (signal ground) for difference input signal (line driver of position command/ line driver of dividing output),

or wrong operation and breakage may occur.

Fig. 4-1 (b) External Wiring Diagram (200 VAC Input Type), Precautions

26

47

Forward
revolution pulse

Backward
revolution pulse

28

48

4. WIRING

4－8

4.3.2 External Wiring Diagram (100 VAC Input Type)

Fig. 4-2 (a) External Wiring Diagram (100 VAC Input Type)

AC power supply 3φ

100 to 115 V

50/60 Hz

User unit

En-

coder

SERVO

Orange (yellow)

Holding brake
(for the type with
a brake only)

Note 15)

SERVO AMPLIFIER

Note 3)

Note 16)

Note 14)

Start ready ON

+10%

−15%

System error

System error

DC 5 V to 24

Emergency

sto

p

Emergency

sto

p

Servo ON

Alarm reset

Current limit permit

Note 9) Forward revolution

overtravel

Note 9) Backward revolution

overtravel

Note 10) General-purpose

input

Note 10) General-purpose

input

Note 10) General-purpose

input

Note14) 12 VDC to 24 V

Note 11) General-purpose output

Note 11) General-purpose output

Start ready complete output

Note 13) Forward revolution

current limit

Note 13) Backward revolution

current limit

Note 8) Line driver 26LS31

Note 8) Velocity command input

Note 8) Torque compensation/

command input

Monitor 1
Monitor 2

Monitor common

Note 17) Encoder signal

Open collector output

Plug: 10150−3000 VE, Shell: 10350-52A0-008

Forward
revolution
pulse

Backward
revolution
pulse

Position
command
pulse input

Start ready OFF

Start ready OFF

Note 18)

Note 14) 5 VDC

Regenerative
resistor

Note 4)

Note 4)

Note 6) Red

White

Black

(Green/yellow)

Green

Note 7)

Note 5)

Sensor connector

Series regulator

Note 2)

Line receiver:

26LS32

Line driver: 26LS31

Note 5)

A

LM1

ALM2
Note 12) Alarm output
ALM4

ALM8

Output common

Holding brake relay
excitation timing output

Plug : 10120-3000VE,
Shell : 10320-52A0-008

Note 18) Lithium battery

3.6 VDC

4. WIRING

4－9

Note 1) : For the parts marked , use a twisted pair shielded cable.

Note 2) : Select the power supply from the two types, 5 V or 12 V to 24 V.

CN1 -

38 pin

CN1 -

49 pin

5 V used Connected Open

12 to 24 V used Open Connected

Note 3) : RDY (RDY1 or 2 terminal) output is optional.

RDY (RDY1 or 2 terminal) is a contact output.

Contact rating: 250 VAC, 2 A
30 VDC, 2 A
Inductive load: COSφ = 0.4, L/R = 7 mS

Note 4) :

Amp. capacity

CND terminal

*1

Built-in type

regenerative resistor

Use of built-in type

regenerative resistor

*2

Method of connecting external

regenerative resistor *3

15, 30 A
(Normal)

P, Y (or COM), N None Connect it between

the P and Y (or COM) terminals.

30 A

(Special)

P, Y, N Equipped Same as default connection.

Connect it between the P and
Y terminals in the same way
as on shipment.

Connect it between
the P and Y terminals after removing
the wiring connected between the P
and Y terminals.

*4

*1 : The N terminal is for maintenance (high-voltage circuit). So, do not wire the N terminal.
*2 : The thermostat contact output of the built-in regenerative resistor is connected inside the amplifier.
*3 : A thermostat for the external regenerative resistor shall be built into the user device, or connected to the external overheat detection

input to protect the resistor.

*4 : Be careful not to bring the removed wire into contact with the conductive parts.

Note 5) : Refer to 4.6.2 CN1 & CN2 Shielding Procedure.

Note 6) : Motor connection differs to the motor specifications. The indications of red, white, black, green and orange apply when the motor

power and brake lines are the lead type. When they are the cannon plug type, connect them according to the motor specifications.

Note 7) : For how to wire the sensor connector, refer to the sensor wiring diagram.

Note 8) : The functions of command input differ depending on control modes.

Command input terminal

Control mode

Position command

pulse input

Velocity command input

Torque command input

Position control type − Velocity addition input is assumed

depending on the setting of Func1.

Torque compensation input is
assumed depending on the setting of
Func1.

Velocity control type − Velocity command input Torque compensation input is

assumed depending on the setting of
Func1.

Torque control type − − Torque command input

Velocity/torque
switch type

No switching − Velocity command input Torque compensation input is

assumed depending on the setting of
Func1.

During

switching

− − Torque command input

Position/torque
switch type

No switching Position command

pulse input

Velocity addition input is assumed
depending on the setting of Func1.

Torque compensation input is
assumed depending on the setting of
Func1.

During

switching

− − Torque command input

Position/velocity
switch type

No switching Position command

pulse input

Velocity addition input is assumed
depending on the setting of Func1.

Torque compensation input is
assumed depending on the setting of
Func1.

During

switching

− Velocity command input Torque compensation input is

assumed depending on the setting of
Func1.

5 V input

38

12 V to 24 V
input

Max.
30 VDC

O I

49

G

5 V input:
10 mA max.
12 to 24 V input:
50 mA max.

Output common

4. WIRING

4－10

For the details of the control mode and Func1 setting, refer to
the user's manual.

The polarity of command input can be reversed.

Refer to the figure on the right when connecting the position
command pulse input to the open collector output.

Note 9) : Forward/backward revolution overtravel input

By setting Func0, this function can be deleted or set
to the a-contact input.

Note 10) : The function of the general-purpose input can be

selected from the table below.

General-purpose input terminal

Control mode

34 pin 35 pin 36 pin

Position control type Deviation clear (1) (1)

Velocity control type Internal velocity command,

revolution direction input

(2) (2)

Torque control type

−

(3) (3)

Velocity/torque switch
type

No switching Internal velocity command,

revolution direction input

Control mode switching
input or (2).

Control mode switching
input or (2).

During switching

−

Control mode switching
input or (3).

Control mode switching
input or (3).

Position/torque switch
type

No switching Deviation clear Control mode switching

input or (1).

Control mode switching
input or (1).

During switching

−

Control mode switching
input or (3).

Control mode switching
input or (3).

Position/velocity switch
type

No switching Deviation clear Control mode switching

input or (1).

Control mode switching
input or (1).

During switching Internal velocity command,

revolution direction input

Control mode switching
input or (2).

Control mode switching
input or (2).

(1) : Functions can be selected among external overheating detection, proportional control, command multiplication and command pulse

inhibit.
(2) : Functions can be selected among external overheating detection, proportional control, zero clamp and internal setting velocity select.
(3) : Available as the external overheating detection input function.

In addition to the above, it can also be set as the gain switch input.
One pin can be set to have several or no functions.
For details, refer to the operation manual.

Note 11) : General-purpose output

By setting Func4, functions can be selected among current limit, low velocity, high velocity, velocity match, positioning complete and
command receive enabled. Output logic can also be selected.

Note 12) : Alarm output

Output alarm state using codes. It can also be output using bits by setting.

Note 13) : Forward/backward revolution current limit input

By changing the setting, both forward and backward revolution currents can be limited using the revolution current limit or the
backward revolution current can be limited using positive voltage. It can also be limited using the internal setting.

Note 14) : Your are required to prepare the power. Either of the inputs can be selected.

Note 15) : The R, S, T, r, t, RDY1, RDY2, P, Y (or COM), N, U, V and W terminals are high-voltage circuits and the others are low-voltage

circuits.
For the wiring-related reason, allow sufficient distance between high- and low-voltage circuits.

Note 16) : We recommend a UL-approved earth leakage breaker be used that complies with IEC or EN standard.

Note 17) : The lithium battery connector terminals (1 and 2 pins) and encoder signals PS and PS (9 and 10 pins) are available when your

encoder is the absolute type (ABS-E, ABS-RII or ABS-E.S1).

Note 18) : Be sure to install a UL-approved, 30 A fast-blown type fuse for the main circuit power supply input.

Note 19) : Make sure to connect SG (signal ground) for difference input signal (line driver of position command/ line driver of dividing output),

or wrong operation and breakage may occur.

Fig. 4-2 (b) External Wiring Diagram (100 VAC Input Type), Precautions

26

47

Forward
revolution pulse

Backward
revolution pulse

28

48

4. WIRING

4－11

Incremental encoder (INC-E): Cannon plug type

Black

Red

Yello

w

White

Violet

Green

Brown

Blue

Plug
Shell

Plug
Shell

Note

2)

Note 1)

Shield

Note 3) + 5 DCV

Note 3) GND (0 V)

Note 2)

Note 1)

Note 3) +5 VDC

Note 3) GND (0 V)

Case Earth

Incremental encoder (INC-E): Cannon plug type

Incremental encoder (INC-E): Lead wire type

A or U channel input

A or U channel input

B or V channel input

B or V channel input

C or W channel input

C or W channel input

Optical

Encoder

GND (0 V)

Sensor Incremental Encoder

+5 VDC

A or U channel output

A or U channel output

B or V channel output

B or V channel output

C or W channel output

C or W channel output

GND (0 V)

Optical

Encoder

Sensor Incremental Encoder

+5 VDC

A or U channel output

A or U channel output

B or V channel output

B or V channel output

C or W channel output

C or W channel output

A or U channel input

A or U channel input

B or V channel input

B or V channel input

C or W channel input

C or W channel input

4.3.3 Sensor Connection Diagram (INC-E Wiring-saved Incremental Encoder)

Notes: 1. For the parts marked , use a twisted pair shielded cable.

2. Refer to 4.6.2 CN1 & CN2 Shielding Procedure.

3. The sensor power connection differs depending on the cable length.
Refer to the following table.

Sensor cable length 5 m or less 10 m or less 20 m or less 30 m or less

+5 VDC wiring 19-pin connection

(9, 12 and 17 pins need not
be connected)

17- and 19-pin connection
(9 and 12 pins need not be
connected)

12-, 17- and 19-pin connection
(9 pin need not be connected)

9-, 12-, 17- and 19-pin
connection

GND (0 V) wiring 20-pin connection

(10, 11, 16 and 18 pins need
not be connected)

18- and 20-pin connection
(10, 11 and 16 pins need not
be connected)

11-, 18- and 20-pin connection
(10 and 16 pins need not be
connected)

10-, 11-, 16-, 18- and 20-pin
connection

Fig. 4-3 Sensor Connection Diagram (INC-E Wiring-saved Incremental Encoder)

4. WIRING

4－12

4.3.4 Sensor Connection Diagram

(ABS-E Request Signal-unavailable Absolute Encoder)

Notes: 1. For the parts marked , use a twisted pair shielded cable.

2. Refer to 4.6.2 CN1 & CN2 Shielding Procedure.

3. The sensor power connection differs depending on the cable length. Refer to the following table.

Sensor cable length 5 m or less 10 m or less 15 m or less 25 m or less

+5 V wiring 19-pin connection

(9, 12 and 17 pins need not
be connected)

17- and 19-pin connection
(9 and 12 pins need not be
connected)

12-, 17- and 19-pin connection
(9 pin need not be connected)

9-, 12-, 17- and 19-pin
connection

0 V wiring 16- and 20-pin connection

(10, 11 and 18 pins need not
be connected)

16-, 18- and 20-pin
connection
(10 and 11 pins need not be
connected)

11-, 16-, 18- and 20-pin
connection
(10 pin need not be connected)

10-, 11-, 16-, 18- and 20-pin
connection

Fig. 4-4 Sensor Connection Diagram (ABS-E Absolute Encoder)

Plug
Shell

Note

2)

Note 1)

Shield

Note 3
Note 3

Sensor Absolute Encoder

Blue

White/blue

Sensor Absolute Encoder

Yello

w

White/yello

w

Orange

White/orange

Brown

White/brown

Black

Green

White/black

White/green

Red

White

/

red

Plug
Shell

Note

2)

Note 1)

Note 3
Note 3

Absolute encoder (ABS-E): Lead wire type

Absolute encoder (ABS-E): Cannon plug type

4. WIRING

4－13

4.3.5 Sensor Connection Diagram

(ABS-RII Request Signal-available Absolute Sensor)

Notes: 1. For the parts marked , use a twisted pair shielded cable.

2. Refer to 4.6.2 CN1 & CN2 Shielding Procedure.

3. When the sensor cable length is 5m or less, 11, 12, 17 and 18 pins need not be connected.
When the length is between 5 m and 30 m, connect all pins.

Fig. 4-5 Sensor Connection Diagram (ABS-RII Absolute Sensor)

Shield

Plug
Shell

Note

2)

Note 1)

Note 3
Note 3

Note 3

Blue

Brown

Sensor Absolute Encoder

Green

Orange

Pink

White

Purple

Red

Yello

w

Black

Gray

Plug
Shell

Note2)

Note 1)

Note 3
Note 3

Note 3

Sensor Absolute Encoder

A

bsolute sensor (ABS-RII): Lead wire type

Absolute sensor (ABS-RII): Cannon plug type

4. WIRING

4－14

4.3.6 Sensor Connection Diagram

(Wiring-saved Absolute Sensor)

Absolute sensor (E03B151302): Lead wire type

Notes: 1. For the parts marked , use a twisted pair shielded cable.

2. Refer to 4.6.2 CN1 & CN2 Shielding Procedure.

3. The sensor power connection differs depending on the cable length. Refer to the following table.

Sensor cable length 10 m or less 25 m or less 40 m or less

+5 V wiring 19-pin connection

(12 and 17 pins need not be
connected)

17- and 19-pin connection
(12 pin need not be connected)

12-, 17- and 19-pin
connection

0 V wiring 20-pin connection

(11 and 18 pins need not be
connected)

18- and 20-pin connection
(11 pin need not be connected)

11-, 18- and 20-pin
connection

4. In case of application not using multi-rotational part, wiring of “EBAT+” and “EBAT-“ are not necessary.

However, set Func6, bit5 to “1”.

Fig. 4-6 Sensor Connection Diagram (Wiring-saved Absolute Encoder ABS-E.S1)

Shield

Plug
Shell

Note 3
Note 3

Blue

Brown

Sensor Absolute Encoder

Purple

Pink

Red

Black

Absolute sensor (E03B151302): Cannon plug type

Note

2

Note 1

Plug
Shell

Note2

Note 1

Note 3
Note 3

Sensor Absolute Encoder

4. WIRING

4－15

4.4 Connector Terminal Arrangement Input/
Output Signal Diagram

4.4.1 CN1: Interface Connector

CN1 is an interface connector to a host computer or the like.
The connector of the amplifier is "10250-52A2JL" (made by Sumitomo 3M).

１

２

３

４

５

６

７

８

９

１０

１１

１２

１３

１４

１５

１６

１７

１８

１９

２０

２１

２２

２３

２４

２５

２６

２７

２８

２９

３０

３１

３２

３３

３４

３５

３６

３７

３８

３９

４０

４１

４２

４３

４４

４５

４６

４７

４８

４９

５０

ＢＡＴ－

ＢＡＴ＋

Ａ

Ａ

Ｂ

Ｂ

Ｃ

Ｃ

ＰＳ

ＰＳ

ＳＧ

ＳＧ

ＳＧ

ＳＧ

ＳＧ

ＭＯＮ２

ＭＯＮ１

ＣＯＰ

ＣＯＰＧ

ＰＩＬ

ＮＩＬ

ＶＣＭＤＧ

ＴＣＭＤ

ＴＣＭＤＧ

／

ＶＣＭＤ

～２４Ｖ

ＤＣ５Ｖ

～２４Ｖ

ＣＯＭ

ＤＣ１２Ｖ

～２４Ｖ

ＣＯＭ

ＤＣ１２Ｖ

ＰＰＣ

ＰＰＣ

ＮＰＣ

ＮＰＣ

ＩＬＭ

ＲＳＴ

ＮＲＯＴ

ＰＲＯＴ

汎用入力

汎用入力

汎用入力

ＳＯＮ

汎用出力

５Ｖ

ＳＲＤＹ

ＨＢＯＮ

ＡＬＭ１

ＡＬＭ２

ＡＬＭ８

ＡＬＭ４

汎用出力

ＤＣ１２Ｖ

～２４Ｖ

ＤＣ５Ｖ

～２４Ｖ

バッテリ

マイナス側

プラス側

バッテリ

位置信号出力

位置信号出力

Ｃ相

(

ｵｰﾌﾟﾝｺﾚｸﾀ

出力

)

Ｃ相

コモン

モニタ

モニタ

出力１

出力２

モニタ

コモン

正転側

逆転側

電流制限

電流制限

電流制限

コモン

速度指令

トルク指令

コモン

速度指令

トルク指令

入力ｼｰｹﾝｽ

電源１

出力ｼｰｹﾝｽ

電源コモン

出力ｼｰｹﾝｽ

電源コモン

入力ｼｰｹﾝｽ

電源２

出力ｼｰｹﾝｽ

電源

正転パルス

指令

逆転パルス

指令

正転パルス

指令

指令

逆転パルス

パルス指令

パルス指令

コモン

コモン

電流制限

許可

警報

リセット

逆転側

正転側

オーバー

トラベル

オーバー
トラベル

汎用入力

汎用入力

汎用入力

汎用出力

汎用出力

サーボオン

運転準備

完了

出力ｼｰｹﾝｽ

電源

保持ﾌﾞﾚｰｷ

ﾀｲﾐﾝｸﾞ出力

警報出力

警報出力

注１

注１

注１

注１

注２

注２

注２

注２

注２

注２

注２

注３

注３

注５

注５

注６

注６

注６

注６

注８

注８

注７

注７

注７

注４

注４

注３

注９

注６

Fig. 4-7 CN1 Connector Terminal Arrangement Diagram

Notes :

1. Battery connector terminal and position signal output PS terminal:
Available when being used together with the absolute encoder (ABS-E) or the absolute sensor
(ABS-RII).

2. Command input : Functions differ depending on the control modes.

3. Current limit : The input method can optionally be set.

4. Overtravel : The input method can optionally be set.

5. Monitor output : The signal and output range to be monitored can be selected.

6. Alarm output : The output method and polarity can be selected.

7. General-purpose input : Selectable from multiple signals. The contents of signals differ depending
on the control modes.

8. General-purpose output : Multiple signals can be selected.

9. Holding brake timing output : Timing output for operating the motor holding brake.
The timing can be adjusted according to the machine.

The above figure shows the arrangement when viewed from the wiring section of the
connector. Connector at cable side is not attached to Servo Amplifier, and should be
prepared by user.

12VDC

to 24V

Note2

Note2 Note3 Note5

Note5

Note2 Note3

Note1 Note1

Note1 Note1

Note2 Note2 Note3Note4Note7Note8Note6 Note6

Note6 Note6 Note8Note9 Note7 Note7

Note4

Note6

Note2 Note2

Output

sequence

power

common

Torque

command

Velocity/

torque

command

Forward

revolution

side current

limit

Monitor

output 2

Monitor

common

Position signal output

Battery

negative

side

12VDC

to 24V

5VDC

to 24V

Output

sequence

power

common

Input

sequence

power 1

Velocity

command

Backward
revolution

side current

limit

Current

limit

common

Monitor

output 1

C-phase
common

C-phase

(open

collector

output)

Position signal output

Battery

positive

side

12VDC

to 24V

Output

sequence

power

Pulse

command

common

Alarm output

Operation

ready

complete

General-

purpose

output

General-

purpose

output

General-

purpose

input

General-

purpose

input

Backward
revolution

side

over travel

Current

limit

permit

Backward
revolution

pulse

command

Forward

revolution

pulse

command

Forward

revolution

pulse

command

Backward
revolution

pulse

command

Forward

revolution

pulse

command

Servo

ON

Alarm

reset

Alarm output

Pulse

command

common

12VDC

to 24V

Input

sequence

power 2

General-

purpose

output

Output

sequence

power

General-

purpose

input

General­purpose

input

General-

purpose

input

General-

purpose

input

General-

purpose

output

Holding

brake

timing

output

4. WIRING

4－16

4.4.2 CN2 Sensor Connector

The amplifier-side connector is "10220-52A2JL" (made by Sumitomo 3M).

● Incremental encoder (INC-E) terminal arrangement diagram

Fig. 4-8 CN2 Connector (INC-E Incremental Encoder) Terminal Arrangement Diagram

● Request signal-unavailable absolute encoder (ABS-E) terminal arrangement diagram

Fig. 4-9 CN2 Connector (ABS-E Request Signal-unavailable Absolute Encoder)

Terminal Arrangement Diagram

2 4

A

6

B C

8

SG

10

1 3

A

5

B C

7

SG

9

5 V

12 14 16

SG SG

18

SG

20

SG

11 13 15

5 V

17

5 V

19

BAT−

PS

ECLR PS

BAT+

Reserved

2 4

A

6

B C

8

SG

10

Reserved

1 3

A

5

B C

7

5 V

9

5 V

12 14

Reserved

16

SG SG

18

SG

20

SG

11 13 15

5 V

17

5 V

19

ReservedReserved

• Connection differs depending on the type of the Servomotor sensor to be combined with

the Servo Amplifier.

• Note that the hardware inside the Servo Amplifier differs between the incremental

encoder (INC-E) or the request signal-unavailable absolute encoder (ABS-E) and the
request signal-available absolute sensor (ABS-RII) or wiring-saved absolute sensor
(ABS-E.S1).

4. WIRING

4－17

● Request signal-available absolute sensor (ABS-RII) terminal arrangement diagram

Fig. 4-10 CN2 Connector (ABS-RII Request Signal-available Absolute Sensor)

Terminal Arrangement Diagram

● Wiring-saved absolute sensor (ABS-E.S1) terminal arrangement diagram

Fig. 4-11 CN2 Connector (ABS-E.S1 Wiring-saved Absolute Sensor)

Terminal Arrangement Diagram

2 4

REQ−

6

SG SG

8

SG

10

1 3

REQ+

5

−5 V −5 V

7

5 V

9

5 V

12 14 16

SG SG

18

SG

20

SG

11 13 15

5 V

17

5 V

19

BAT−

PS

ECLR PS

BAT+

2 4

OPEN

6

OPEN OPEN

8

SG

10

1 3

OPEN

5

OPEN OPEN

7

5 V

9

5 V

12 14 16

SG SG

18

SG

20

SG

11 13 15

5 V

17

5 V

19

BAT−

ES

OPEN ES

BAT+

4. WIRING

4－18

4.5 Wiring Procedure

The Servo Amplifier is control unit to process signals of several mV or less.
Therefore, perform wiring observing the following items.

1 Input/output or sensor signal line

For the input/output or sensor signal line, use recommended cables or their equivalent

(twisted wires or multi-conductor twisted lump shielded wires). Wire them by taking the
following precautions into account.

• Wire them in the shortest distance.

• Separate the main circuit line from the signal circuit line.

• Do not wire the main circuit line on the side of the amplifier or near another amplifier.

• We recommend to use an "insulation sleeve-equipped bar terminal" if a certain

insulation distance is required to be secured between main circuit wires or between
main and signal circuit wires.
(This terminal cannot be used when AWG12 wire is used.)

2 Earth cable

• Earth the wire with the diameter of 2.0 mm

2

at one point.

• Perform class 3 earth (earth resistance value: 100 Ω max.).

• Be sure to connect the frame of the Servomotor (the grounding wire and the terminal)

to the PE (protective earth) terminal ( ) of the Servo Amplifier.

• Be sure to connect the PE (protective earth) terminal ( ) for the Servo Amplifier to

that for the control panel. Be sure to ground it at one point.

3 Measures against malfunction due to noise

Note the following to prevent malfunction due to noise.

• Arrange the noise filter, the Servo Amplifier, and the upper controller as near as

possible.

• Be sure to install a surge absorbing circuit on the coils for the relay, the magnetic

contactor, the induction motor and the brake solenoid.

• Don’t pass main circuit signal lines in the same duct or overlap them.

• When a large noise source such as an electric welding machine or an electric

discharge machine exists nearby, insert a noise filter into the power supply and the
input circuit.

• Don't bind the noise filter primary and secondary side wires together.

• Don't make the earth cable longer.

4 Measure against radio interference

Since the Servo Amplifier is an industrial equipment, no measure against radio

interference has been taken to it. If the interference causes some problem, insert a line
filter to the power line input.

4. WIRING

4－19

1 Noise processing

The main circuit of the Servo Amplifier uses IGBTs under PWM control. If the wiring

processing is not earthed properly, switching noise may occur by di/dt and dv/dt
generated when IGBT is switched. Because the Servo Amplifier incorporates
electronic circuits such as the CPU, it is necessary to perform wiring and processing so
as to prevent external noise from invading to the utmost.
To prevent trouble due to this noise in advance, perform wiring and grounding securely.
The power noise resistance (normal, common noise) of the Servo Amplifier is within 30
minutes at 1500 V, 1 µsec. Do not conduct a noise test for more than 30 minutes.

2 Motor frame earth

When the machine is grounded through the frame, Cf x dv / dt current flows from the

PWM power unit of the Servo Amplifier through the motor floating capacity (Cf).
To prevent any adverse effect due to this current, be sure to connect the motor terminal
(motor frame) to the PE (protective earth) terminal ( ) of the Servo Amplifier.
Also, be sure to ground it directly.

3 Wire grounding

When a motor is wired to a metal conduit or box, be sure to ground the metal. In this

case, perform one-point grounding.

4 Miswiring

Since miswiring in the Servo Amplifier and the Servomotor may damage equipment, be

sure to check that wiring has been performed properly.

5 Protection against input overcurrent

Be sure to connect a UL-approved circuit breaker and a fast-blown fuse to the Servo

Amplifier input to protect the power line. For the capacity of the fast-blown fuse, refer
to the following.

Amplifier capacity 15 A, 30 A : 30 A fast-blown type
Amplifier capacity 50 A : 50 A fast-blown type

ｒ

ｔ

Ｒ

Ｓ

Ｔ

速断タ イ プ ヒ ュ ーズ

ＭＣ

ＡＣ電源

サーキッ ト ブ レ ーカ

サーボア ン プＰ Ｙ ２

ＣＮＡ

4.6 Precautions on Wiring

Perform wiring observing the following completely.

PY2

Servo Amplifier

CN

A

AC power

supply

Fast-blown fuse

Circuit breaker

r
t
R
S
T

MC

4. WIRING

4－20

6 Leakage current

Even after the motor frame is grounded as specified, leakage current flows in the input

power line. When selecting a leak detection-type breaker, make sure that no
oversensitive operation is caused by high-frequency leakage current by referring to
“Servo Amplifier/Servomotor Leakage Current” in the specifications.

7 Power supply surge

When a surge voltage occurs in the power supply, connect a surge absorber between

the powers to absorb the voltage before operation.

8 Lightning surge

When there is a possibility that a lightning surge over 2kV may be applied to the Servo

Amplifier, take countermeasures against the surge at the control panel inlet.
For lightning surge protectors to be inserted to each Servo Amplifier inlet, the product in
the following table or its equivalent is recommended.

4. WIRING

4－21

4.6.1 Recommended Surge Protector

When purchasing the following, directly make a reference to the maker for it.

Item Specification

Model No. R.A.V-781BXZ-2A (Okaya Electric Industries Co., Ltd.)

External dimensions

Maximum allowable circuit

voltage

300 Vrms

Clamp voltage 783 V±10%

Surge-resistant current 2500 A (waveform) 8 × 20 µs

Surge-resistant voltage 20 kV (waveform) 1.2 × 50 µs

Connection diagram

Weight Approx. 100 g

Fig. 4-12 Recommended Surge Protector

321

Yellow/green

BlackBlackBlack

Yellow/green

11±1

28.5±1

200

28.5±1

4.5

φ

4.2

Resin : Expoxy, black

Case : PBT, black

UL-1015AWG16 (0.26.26)
black, yellow/green

Black

+30

−0

5.5±1

44.5±1

4. WIRING

4－22

4.6.2 CN1 & CN2 Shielding Procedure

The following figure shows the connector shielding procedure for the CN1 or CN2 connector.
There are two shielding procedures, clamp and soldering processing.

● Clamp processing

1

Remove the cable sheath.

2

Mount a tape or a compression insert.

At this time, the tape or the compression
insert should be completely on the cable
sheath.

3

Fold back the drain wire.

4

Tighten the cable clamp from on the drain
wire.

Set it about 1 mm away from the end face
of the tape or the compression insert.

Set the compression insert before soldering the cable to the connector.

Tape or
compression insert

Drain wire

Sheath

φ

A

Ground plate

Drain wire

1 mm

4. WIRING

4－23

● Soldering processing

Procedures 1 and 2 are the same as the clamp processing.

1

Turn the cable and bring the drain wire near the ground plate.

2

● Applicable CN2 φ A Size

The applicable CN1 and CN2 φA sizes are shown in the following table.

Table 4-3 Applicable CN2 φ A Size

1 mm

Ground plate

Drain wire

Ground plale

5 mm

Solder the drain wire
(where ○ is narked.)

Connector No. Applicable φA size Connector model name Maker name

CN1 15.0 to 16.5 mm 10150-3000VE

10350-52A0-008

Sumitomo 3M Ltd.

CN2 10.5 to 12.0 mm 10120-3000VE

10320-52A0-008

Sumitomo 3M Ltd.

4. WIRING

4－24

4.6.3 Typical CN2 Compression Insert Application

The following products are recommended as a CN2 compression insert.

Table 4-4 CN2 Compression Inserts

Compression insert No. Applicable cable outer

diameter (φA)

Maker name

10607-C058

10607-C068

10607-C078

10607-C088

10607-C098

φ4.0 to 5.0 mm
φ5.0 to 6.0 mm
φ6.0 to 7.0 mm
φ7.0 to 8.0 mm
φ8.0 to 9.0 mm

Sumitomo 3M Ltd.

1 The above products are applicable to the connector CN2.

2 When purchasing the above products, directly make a reference to the maker for them

or ask our company for information.

For inquiry: Sumitomo 3M Ltd., Tokyo Branch

Phone: [phone]

5. INSTALLATION

5 - 1

INSTALLATION

5.1 Servo Amplifier Installation .......................................................... 5-2

5.1.1 Installation Place ............................................................... 5-2

5.1.2 Installation Procedure ....................................................... 5-3

5.2 Servomotor Installation ................................................................ 5-4

5.2.1 Installation Place ............................................................... 5-4

5.2.2 Installation Procedure ....................................................... 5-4

5.3 Cable Installation ......................................................................... 5-9

5. INSTALLATION

5 - 2

5.1 Servo Amplifier Installation

Refer to the following for the Servo Amplifier installation place and procedure.

5.1.1 Installation Place

Install the Servo Amplifier by referring to the following.

Case Precautions

When installing

the Servo

Amplifier in a box

The temperature in the box may be higher than the outside temperature depending
on the power loss of built-in equipment and the dimensions of the box.
Be sure to keep the temperature around the Servo Amplifier at 55℃ or lower by
properly determining the dimensions of the box, the cooling system and the
arrangement.
For a longer lifetime and higher reliability, operate the Servo Amplifier at an in-box
temperature of lower than 40°C.

When there is a
vibration source

nearby

Install the Servo Amplifier at the base through a shock absorber so that vibration
may not be transmitted directly to the Servo Amplifier.

When there is a
heat generating

source nearby

Even it there is a possibility that a temperature rise may be caused by convection or
radiation, keep the temperature near the Servo Amplifier lower than 55°C.

When there is

corrosive gas

If the Servo Amplifier is operated for a long time, contact failure will come to occur at
contact parts (e.g., connectors). So, never install the Servo Amplifier in corrosive
gas atmosphere.

When there is
explosive gas or
combustible gas

Never install the Servo Amplifier in explosive gas or combustible gas atmosphere.
Relays and contactors, which generate arcs (sparks) inside boxes, and such parts
as regenerative brake resistor may become ignition sources, causing fires and
explosion.

When there is

dust or oil mist

Never install the Servo Amplifier in such atmosphere containing dusts or oil mists.
Dusts or oil mists adhered to or accumulated on the Servo Amplifier may lower
insulation or cause leak between conductors of applicable parts, damaging the
Servo Amplifier.

When there is a

large noise

source

Induction noise will enter input signals and the power supply circuit, causing Servo
Amplifier’s malfunction.
When there is a possibility of noise entering, take proper measures such as inserting
a noise filter, revising line wiring and preventing noise generation.

5. INSTALLATION

5 - 3

5.1.2 Installation Procedure

● Direction and Position of Installation

Install the Servo Amplifier vertically and fix the amplifier by tightening M5 screws onto the four mounting
holes as in the figure below.

Fig. 5-1

● Board arrangement conditions

• Provide a space of 50 mm at minimum on both upper and lower sides of the Servo Amplifier so as

not to prevent air from flowing out of the radiator or the amplifier. If heat remains on the upper part
of the amplifier, install a fan to force air to flow.

• Provide a space of 10 mm at minimum on both sides of the amplifier so as not to prevent radiation

from the heat sink on the side of the amplifier or air from flowing out of it.

Fig. 5-2

M5 M5

M5 M5

Servo Amp.

Rear installation

Front installation

Side view

Servo Amplifier

Draft

50 mm min.

50 mm min.

Front view

Servo Amplifier

50 mm min.

Fan

10 mm min.

50 mm min.

5. INSTALLATION

5 - 4

5.2 Servomotor Installation

The Servomotor is designed to be installed indoors.
Note the following precautions on the position and method for installation.

5.2.1 Installation Place

Install the Servomotor at an indoor site by referring to the following.

• Ambient temperature : 0 to 40°C

• Storage temperature : − 20 to 65°C

• Ambient humidity : 20 to 90%

• Well-ventilated places without corrosive or explosive gas

• Places free from dust or foreign materials

• Places easy to check and clean

• Always keep the oil seal lip away from oil or the Servomotor away from a large amount of water, oil or

cut liquid. The Servomotor can be protected from slight splashes by means taken on it.

5.2.2 Installation Procedure

● Direction of installation

• The Servomotor can be installed horizontally or on/under the end of a shaft.

• Set the cable from the motor with its end downward.

• At vertical installation, provide a cable trap to prevent oily water from going to the motor.

Fig. 5-4

Lead wire

Cable trap

5. INSTALLATION

5 - 5

● Prevention against wetting

The motor, as a single unit, satisfies the IEC standard. Since the standard, however, is intended to
check performance over a short period of time, the following measures against wetting are required for
actual usage. Handle the system carefully, or the connector sheathes may be hit or damaged,
deteriorating waterproof function.

The cannon plug type P1, P2 and P6 as well as the P8 series motor become equivalent to IP67 by using
a waterproof connector or conduit on the other side of the cannon connector.
The P3 series motors and the P5 series motors with the flange size of 30 mm and 40 mm sqs. have
waterproofing equivalent to IP40 and the P5 series motors with the flange size of 50 mm, 70 mm and 80
mm sqs. to IP55.

• Set the connector (lead outlet) with its end downward in the angle range shown in the following

figure.

• Install the cover on the side to which water (oil) will splash.

• Install the cover with a gradient so that water (oil) may not stay.

• Avoid dipping the cable in water (oil).

• Slacken the cable outside the cover so that water (oil) may not invade the motor side.

Fig. 5-5

Fig. 5-6

50°50°

Cover
Water (oil) pool

Seal this portion with
a sheet packing.

5. INSTALLATION

5 - 6

• When the connector (lead outlet) cannot be installed with its end downward by any means, slacken

the cable so that water (oil) may not invade it.

• Make the oil level of the gear box lower than the oil seal lip.

• Provide a vent to prevent the internal pressure of the gear box from rising.

Fig. 5-7

● Connection to the opposite machine

• Perform centering accurately between the motor shaft and the opposite machine as in Fig. 5-8.

Note that when a rigid coupling is used, especially, a slight offset will lead to damage of the output
shaft.

Fig. 5-8 Centering

External
diameter of
the shaft

Oil seal lip

Gear

Oil level

Motor

Slackness

The difference between the maximum and
minimum after measuring four points on the
entire circumference is 3/100 mm or less
(when rotated together with the coupling).

5. INSTALLATION

5 - 7

• Since a precision encoder is directly connected to the motor shaft, be careful not to give shocks to it.

If tapping on the motor is unavoidable for position adjustment or other reasons, tap on the front
flange, if possible, with a rubber or plastic hammer.

• When installing the motor to the machine, make a installing hole precisely so that the motor joint can

be smoothly connected. Also, make the installing surface as flat as possible, or the shaft or the
bearing may be damaged.

• When installing the gear, the pulley, the coupling, etc., avoid giving shocks to them by using the

screw on the shaft edge.

• Since torque is transferred, in the case of the tapered motor shaft, from the tapered surface, take

care that the key can be engaged without being tapped. Also, make a hole so that at least 70% of
the tapered surface is to be engaged.

• When removing the gear, the pulley, etc., use a dedicated extracting tool.

• When performing belt driving, check that the shaft-converted value of the belt tension does not

exceed the allowable value shown in Table 5-1.

● Allowable load of bearing

Fig. 5-1 shows the load which the Servomotor can endure.
Do not apply an excessive thrust or radial load.
The thrust or radial load in the table indicates the value when it is independently applied to the shaft.

Bolt

Plate

Pulley

Pulley

Extracting
tool

Taper

Taper

5. INSTALLATION

5 - 8

Table 5-1 P Series Motor Allowable Radial and Thrust Load

During assembly During operation

Models Radial load

(kg)

Thrust load

(kg)

Radial load

(kg)

Thrust load

(kg)

FR F

Direction

F1

Direction

FR F

Direction

F1

Direction

P1 P10B10030 60 80 80 40 10 10

P10B10075 60 80 80 40 10 10

P10B13050 100 140 140 50 10 10

P10B13100 100 140 140 50 10 10

P10B13150 100 140 140 70 10 10

P10B18200 230 190 190 150 50 50

P2 P20B10100 100 30 30 70 30 30

P20B10150 100 30 30 70 30 30

P20B10200 100 30 30 70 30 30

P3 P30B04003 10 8 8 5 3 3

P30B04005 15 10 10 10 3 3

P30B04010 15 10 10 10 3 3

P30B06020 40 20 20 20 8 8

P30B06040 40 20 20 25 10 10

P30B08075 60 40 40 35 20 20

P5 P50B03003 7 7 7 6 2 2

P50B04006 15 10 10 10 3 3

P50B04010 15 10 10 10 3 3

P50B05005 20 20 15 15 8 8

P50B05010 20 20 15 15 8 8

B50B05020 25 20 15 15 8 8

P50B07020 25 50 20 20 10 10

P50B07030 25 50 20 20 10 10

P50B07040 25 50 20 25 10 10

P50B08040 60 80 30 35 20 20

P50B08050 60 80 30 35 20 20

P50B08075 60 80 30 35 20 20

P50B08100 60 80 30 35 20 20

P6 P60B13050 65 130 130 35 35 35

P60B13100 100 140 140 65 50 50

P60B13150 170 190 190 65 50 50

P8 P80B15075 100 140 140 65 50 50

P80B18120 150 140 140 95 50 50

5. INSTALLATION

5 - 9

LR

LR/3

Thrust load

F direction

F1 direction

Point

loaded

Fig. 5-9 Radially loaded position

5.3 Cable Installation

• Be careful not to give stress or damage to cables.

• When the motor and cables are moved by cable bearer, determine a bending radius of each cable by

the necessary flexure lifetime and type of wire. It is recommended that the cable of a movable portion
should have a structure that permits periodic replacement. When you desire to use a recommended
cable for a movable portion, consult with our company.

The allowable radial load refers to the maximum load applicable to the point one-third of the
output shaft length away from the output shaft (see the figure below).

6. OPERATION

6－1

OPERATION

6.1 Operation Sequence .................................................................... 6-2

6.1.1 Power ON Sequence ........................................................ 6-2

6.1.2 Stop Sequence.................................................................. 6-3

6.1.3 Servo OFF Sequence ....................................................... 6-5

6.1.4 Alarm Reset Sequence ..................................................... 6-6

6.1.5 Overtravel Sequence ........................................................ 6-7

6.2 Display ......................................................................................... 6-8

6.2.1 Status Display ................................................................... 6-8

6.2.2 Alarm Display .................................................................... 6-8

6.3 Be Sure to Check the Functioning at First ................................... 6-9

6.3.1 Minimum Wiring ................................................................ 6-9

6.3.2 Jog Operation.................................................................... 6-10

6.3.3 Reseting and Turning the Power Off ................................. 6-12

6.4 Encoder Clear Using Remote Operator

(When Absolute Encoder is Used)............................................... 6-13

6. OPERATION

6－2

6.1 Operation Sequence

The frequency of power ON/OFF should be 10 times/H or less, and 50 times/day or less.

6.1.1 Power ON Sequence

Fig. 6-1

Control power ON (r, t)

Sequence power ON (CN1)

2.5 Sec
or less

A

mplifier ready output (RDY)

Start ready ON (external switch)

Main circuit power supply

(R, S, T)

Release

Dynamic brake release

A

pprox. 1.0 Sec

1

Start ready complete (SRDY)

1 The dotted line denotes an option.
2 RDY1 and RDY2 in the safety circuit are optional.
3 The thermostat output in the external regenerative resistor can be connected to

general-purpose input CN1 of the amplifier.

R

S

T

r

t

Install a spark killer
on the magnetic contactor
(Okaya Electric Industries Co.,
Ltd.: CRE-50500)

Safety circuit

3φ
200 V to
230 VAC

50 Hz to

External regenerative resistor:
Overheating detection thermostat

System

erro

r

Emergency

sto

p

Input to

CN1

External regenerative resisto

r

Start

read

y

DC power supply
for brake

Holding
brake

Fast-blown fuse

Prevention against
common/ normal
mode noise

Circuit
braker

2

PY

RDY1

MC

RDY2

MC

MC

Encoder
signal

CN1

CN2

MC

Controller

Motor

U

V

W

E

U

V

W

3

1

24 VDC

OP

1

MC

RY

Noise

filter

1 The time period from main circuit power ON to SRDY is approx. 1 sec. However, in

case of single phase power of Amplifier with 50A capacity, that will be approx. 1.5 sec.

6. OPERATION

6－3

6.1.2 Stop Sequence

6.1.2.1 Stop and recovery due to emergency stop input

1 • Release "emergency stop" before inputting "start ready".
2 • The holding brake timing (standard value 300 ms, in Parameter Mode 1 on page 13) can

be changed to 0 to 1 sec. However, when it is set at 0 msec, command ineffective
(forced zero) status continues for 4 msec after SON.

• The current is limited by the sequence current limit value (standard value 120 %, in

parameter Mode 1 on page 12) between t2 and t3.

3 • It is possible to make commands ineffective (forced zero) during t3 after SON by setting

Func1 bit5 to "0" when setting parameters. In case of the position control type,
however, the command pulse remains as a deviation for t3.

• It is possible to make commands effective immediately after SON by setting Func1 bit5 to

"1" when setting parameters. However, the sequence current limit value is applied
when switching from SON to SOFF and is not applied when switching from SOFF to
SON.

4 • If an emergency stop occurs in a heavy load status, MPE (Main circuit Power Error,

alarm "9") may be activated.

5 • It is possible to output the command effectiveness from CN1-39 and 40 pins by using

parameter Func4.

6 • The time period from main circuit power ON to SRDY is approx. 1 sec. However, in

case of single phase power of Amplifier with 50A capacity, that will be approx. 1.5 sec.

7 • When the alarm generates, assemble the safety circuit outside of the amplifier.

Running away, injury, burning, fire, and secondary damage may be caused.

ON

OFF

ON

OFF

300 mSec

( 2)

Contact open

Start ready ON
(external switch)

Emergency stop
(EMR)

Main circuit power
supply (R, S, T)

Amplifier ready
output (RDY)

Dynamic brae

Servo ON
(SON)

Holding brake
excitation timing
output (HBON)

Start ready
complete output

(

SRDY)

Motor excitation

Command
effectiveness
output ( 5)

( 1)

300 mSec ( 2)

OFF

OFF

OFF

OFF
(holding brake operation)

ON (operating)

OFF

OFF

OFF

Command ineffective (forced zero)

Approx. 50 to 100 mSec

ON

Effective

ON

t1

t3

t2

ON

(release)

ON

OFF

O

N

ON

ON

ON

( 3)

(release)

6. OPERATION

6－4

6.1.2.2 Stop and recovery due to an internal error

1 • In an internal error status, inputting "emergency stop" has no effect.

However, release it before inputting "start ready".

2 • As per the alarm reset sequence.
3 • The holding brake timing (standard value 300 ms, in Parameter Mode 1 on page 13) can

be changed to 0 to 1 sec. However, when it is set at 0 msec, command ineffective
(forced zero) status continues for 4 msec after SON.

• The current is limited by the sequence current limit value (standard value 120 %, in

parameter Mode 1 on page 12) within 300 msec.

4 • It is possible to make commands ineffective (forced zero) for 300 msec after SON by

setting Func1 bit5 to "0" when setting parameters. In case of the position control type,
however, the command pulse remains as a deviation for 300 msec.

• It is possible to make commands effective immediately after SON by setting Func1 bit5 to

"1" when setting parameters. However, the sequence current limit value is applied when
switching from SON to SOFF and is not applied when switching from SOFF to SON.

5 • It is possible to output the command effectiveness from CN1-39 and 40 pins by using

parameter Func4.

6 • The time period from main circuit power ON to SRDY is approx. 1 sec. However, in case

of single phase power of Amplifier with 50A capacity, that will be approx. 1.5 sec.

Contact

open

Start ready ON
(external switch)

Emergency stop
(EMR)

Main circuit power
supply (R, S, T)

Amplifier ready
output (RDY)

Dynamic brae

Internal abnormality
(ALM)

Servo ON
(SON)

Holding brake
excitation timing
output (HBON)

Start ready
complete output

(

SRDY)

Motor excitation

Command
effectiveness
output ( 5)

( 1)

OFF

OFF

OFF

(holding brake operation)

ON (operating)

OFF

ON

Command ineffective

(forced zero)

OFF

OFF

OFF

300 mSec

( 2)

ON

Effective

ON

ON

ON

t3

ON

ON

ON

ON

( 4)

( 2)

6. OPERATION

6－5

6.1.3 Servo OFF Sequence

6.1.3.1 When holding brake timing THB is set at 300 msec (standard)

6.1.3.2 When holding brake timing THB is set at 0 msec ( 1)

1 • The current is limited by the sequence current limit value (standard value 120%,

which is changed in Parameter Mode 1 on Page 12) for 300 mSec.

2 • It is possible to make commands ineffective (forced zero) for 300 msec after SON by

setting Func1 bit5 to "0" when setting parameters. In case of the position control
type, however, the command pulse remains as a deviation for 300 msec.

• It is possible to make commands effective immediately after SON by setting Func1

bit5 to "1" when setting parameters. However, the sequence current limit value is
applied when switching from SON to SOFF and is not applied when switching from
SOFF to SON.

3 • It is possible to output the command effectiveness from CN1-39 and 40 pins by using

parameter Func4.

1 This setting cannot prevent a self-weight fall by using "holding brake excitation timing

output". Secure command input timing that does not hold off braking.

2 It is possible to make commands effective immediately after SON regardless of THB

setting, by setting Func1 bit5 to "1" when setting parameters.

ON
( 2)

ON
Effective

Start ready
complete output (SRDY)

Servo ON (SON)

Holding brake excitation
timing output (HBON)

Motor excitation

Command effectiveness
output ( 3)

12 mSec or less

OFF

(

holding brake operation

)

300 mSec ( 1)

300 mSec or less

12 mSec or less

ON
(release)

ON

ON

ON

Command ineffective

(forced zero) OFF

OFF

ON

ON

OFF

OFF

ON

ON
Effective

Start ready
complete output (SRDY)

Servo ON (SON)

Motor excitation

Command effectiveness
out

p

ut

12 mSec or less ( 2)

12 mSec or less

ON

ON

ON

Command ineffective

(forced zero) OFF

OFF

ON

ON

OFF

OFF

OFF

ON

4 mSec

6. OPERATION

6－6

6.1.4 Alarm Reset Sequence

40 mSec or more

ON OFF

Output

Not output

ON

OFF

Display/alarm output clear

Reset input CN1-30
(23: common)
(RST)

Alarm code output or
alarm bit output
(ALM)

Amplifier ready
output (RDY)

1 Regarding the upper controller, turn off "reset input" after checking that no alarm occurs

by watching the alarm output.

2 When the alarm status continues in spite of "reset input", the alarm output is not cleared.

It is necessary to set a time-out period of 40 mSec or more to return "reset input" to the
original status.

3 Sensor error (DE), servo processor error (DSPE), memory error (MEME) and CPU error

(CPUE) cannot be reset unless the control power supply is turned off.

4 The battery alarm (AEE) output will not be cleared unless "encoder clear" is operated.

When turning the control power on or off to reset an alarm, allow a sufficient control power
off time. If the time is too short, another alarm may be issued.

6. OPERATION

6－7

6.1.5 Overtravel Sequence

ON

Forward revolution
side overtravel
(PROT)

OFF

Backward revolution
side overtravel
(NROT)

Input command

Internal command

Backward revolution
command

Forward revolution
command

Input command
effective

Input command
effective

Current limit

Normal limit

Normal limit

12 mSec or less 12 mSec or less

OFF

OFF

Command ineffective
(forced zero)

Sequence current limit
value ( 2)

ON

OFF

OFF

OFF

Forward revolution
side overtravel
(PROT)

Backward revolution
side overtravel
(NROT)

Input command

Internal command

Current limit

12 mSec or less 12 mSec or less

Normal limit

Normal limit

Sequence current limit
value ( 2)

Input command
effective

Input command
effective

Command ineffective
(forced zero)

Forward revolution
command

Backward revolution
command

1 Operation of command invalidation (forced zero) differs between the position and

velocity control types. For the position control type, command pulses are inhibited, and
for the velocity control type, the velocity command becomes zero (VCMD = 0).
These settings are validated when the acceleration/deceleration time (Tvac, Tvde) or
low pass filter (VLPF) parameter is set.

2 Sequence current limit value can be changed by SILM in the Parameter Mode 1 on

Page 12.

6. OPERATION

6－8

6.2 Display

The Servo Amplifier status and alarms are displayed by LED and 7-segment LED.

6.2.1 Status Display

Table 6-1 Status Display

Display Explanation of status

LED POWER ON

The control power supply of +5 V is set up.

7-segment LED

The control power supply (r, t) is set up and the
"amplifier ready output (RDY)" signal is ON.

7-segment LED

The main power supply (R, S, T) is being turned on
or set up but the "start ready complete" signal is
OFF.

7-segment LED

The main power supply (R, S, T) is set up and the
start ready complete" signal is ON.

7-segment LED

Rotates in the form of the figure 8.

The "Servo ON" signal is ON.

7-segment LED

This indicates a battery warning status due to the
lowering of the external battery power when an
absolute encoder is used.
(Replace the external battery.)

7-segment LED

In the position/velocity control type, the forward
revolution side is in an overtravel status.

7-segment LED

In the position/velocity control type, the backward
revolution side is in an overtravel status.

LED CHARGE ON

The smoothing capacitor of the main power supply
is being charged.
<While this LED is ON, be careful about a high
voltage.>

6.2.2 Alarm Display

For alarm display, refer to the paragraph pertaining to troubleshooing in "Maintenance".

When the alarm history is displayed by 7-segment LED, the battery warning "." is not
displayed.

6. OPERATION

6－9

6.3 Be Sure to Check the Functioning at First

6.3.1 Minimum Wiring

1 Wire 200 VAC to terminals r and t of connector CNA of the Servo Amplifier

(hereinafter referred to "amplifier").

2 Wire 200 VAC to terminals R, S and T of amplifier connector CNA.

Ground the PE (protective earth ) terminal of the amplifier.

3 Wire the motor power lines to the U, V and W terminals as well as to the PE ( ) terminals of the

amplifier connector CNB. (For amplifiers having 15 A or 30 A capacity, connect an external
regenerative resistor between the P and Y (or COM) terminals of the connector CND.)

4 Wire the encoder cable to amplifier connector CN2.

5 Connect the remote operator to the amplifier connector OP.

6 When a brake is fitted with the motor, apply a specified voltage to the brake cable and release the

brake.

The parameter setting at the first power ON is assumed to be a standard setting.
In taking a runaway into consideration, be sure to fasten the motor to a fixing table or the
like, and also do not apply any load to its shaft side.
Wire the power supply so that it can be immediately cut off in case of an emergency.

Remote operator

⑤

④

U
V

W

P
Y

CN2

OP

R
S

T

r

t

①

Regenerative

resistor

90 VDC or

24 V

③

②

200 VAC

200 VAC

Servo Amplifier

Holding brake power supply

Servomotor

6. OPERATION

6－10

6.3.2 Jog Operation

7 Turn ON the 200 VAC of r-t (① wires).
→ The servo amplifier POWER and the right-hand

figure portion of 7-segment LED are lighted.

→ When the 7-segment LED displays "U", proceed to

section 6.4.

→ The remote operator screen display becomes the

[Push Mode Key] screen as shown on the right and
a "beep" sound is emitted.

Push〔MODE〕ke

y

8 Change the remote operator setting and reset the

OT (over travel) signal.
The procedure is as follows:

Repeat pushing , and or

keys

until the right screen appears.

Push the , key twice and the key

once so that the right screen will appear.

Push the key so that the right screen will

appear.

＊Para. Set3 1

Func0　: 00000000

＊Para. Set3 1

Func0　: 00100000

WR

Completed　　 1

Func0　:　00100000

9 Make the JOG operation function effective using

the remote operator.

Push the key a few times until the right

screen appears.

Push the and keys in that order so that

the right screen will appear.

＊Para. Set3 7

Func6　: 00000000

＊Para. Set3 7

Func6　: 01000000

１

2

1

6. OPERATION

6－11

Push the key so that the right screen will

appear.
(Func6 bit6 “1” described above returns to “0” by
turning the power on again.)

WR

Completed　　 7

Func6　:　01000000

10 Turn on the 200 VAC (② wires) of R-S-T.

The 7-segment LED is light as shown in the right

figure.

11 Start the JOG operation.

Push the and keys so that the

right screen will appear.

Push the , and keys so that the

right screen will appear.

The 7-segment LED draws a figure of 8.

Continue pushing the key until the right

screen appears.

The remote operator keeps sounding "beep, beep"

and the motor rotates counterclockwise (CCW) in
10 min

−

1

when viewed from its shaft side.

Then continue pushing the key until the right

screen appears.
In this mode, the motor rotates clockwise (CW) in
10 min

−

1

.

＊Test

0

JOG　Set min

-1

WR

＊Test

0

JOG Set 10min

-1

＊Test

0

JOG Fwd Running

＊Test

　10

JOG Rvs Running

7

1

6. OPERATION

6－12

12 Return to original mode.

Push the and keys so that the

right screen will appear.

The key in the 7-segment LED flickers.

By this, the JOG operation ends.

＊

Mode select 　

＊

Push〔0〕to

〔７〕

ke

y

6.3.3 Resetting and Turning the Power Off

13 Change the remote operator setting and reset the

OT.
Then, operate the remote operator according to the
following procedure.

Repeat pushing the , and

or keys until the right screen appears.

Push the , and keys so that the

right screen will appear.

Push the key so that the right screen will

appear, completing operation.

＊Para.　Set3　　 1

Func0　:　00100000

＊Para.　Set3　　 1

Func0　:　00000000

WR

　 Completed　 　1

Func0　:　00000000

14 Turn off the 200 VAC of R-S-T.

15 Turn off the 200 VAC of r-t.

16 If the brake is fitted with the motor, turn off the brake

power.

d

０

2

0

6. OPERATION

6－13

6.4 Encoder Clear Using Remote Operator
(When Absolute Encoder is Used)

1 Make the test mode effective.

Press the key and the key, then

select Func6 and set the bit6 to "1".

Press the key.

2 Perform ECLR.

Press the key and the key, then

select ELCR on page 4.

Press the key, and press the key

down for 4 seconds or more.

Press the key and the key to

terminate the test mode.

3 Turn on the power again.

The alarm "U" will be cleared.

WR

＊

Para.　Set3　　 4

Func6　:　01000000

WR

＊Test

4

ECLR Clear　〔WR

〕

３

＊Test

4

ECLR Rdy Y=3,N=0

2

7

3

0

When the power is first turned on after the amplifier and the motor are wired, the alarm "U"
(battery alarm) may come on even though a lithium battery is connected. This is because,
when an absolute encoder is used, the absolute position is not fixed inside the encoder if the
battery backup is less than 20 hours, causing an alarm to be output. The encoder can be
cleared without wiring for CN1 encoder clear signal by executing ECLR (mode 7, page 4)
using the remote operator and turning the power on again, which releases the battery alarm.

1 Our recommendation: Use a Toshiba lithium battery (ER6V: 3.6 V, 2,000 mAh).

The battery life is estimated at approximately 6 years.

2 On the ABS-E absolute encoder, alarm "8" (sensor error) may be issued after the power

is turned on for the first time after the amplifier or motor is wired. This is because the
voltage to be supplied to the sensor is lowered due to charging to the capacitor in the
encoder. The alarm can be reset by turning the control power on again.

In case of use without connecting retium battery in an application not using multiple
rotational data for wiring-saved absolute sensor (ABS-E.S1), set Func6, bit5 to “1” before
turning control power ON again. Thus, alarm “U” (battery alarm) shall not be detected
when turning control power ON again.

7. EXPLANATION OF PARAMETERS

7－1

EXPLANATION OF PARAMETERS

7.1 Remote Operator (Optional) ........................................................ 7-2

7.1.1 Outline of Remote Operator .............................................. 7-2

7.1.2 Function Table .................................................................. 7-3

7.1.3 Basic Operation Procedure ...............................................7-4

7.1.4 Parameter Setting Mode

(Screen Mode 0 to 2 and 8) .............................................. 7-5

7.1.5 Parameter Increment/Decrement Mode

(Screen Mode 3) ............................................................... 7-8

7.1.6 Parameter Select Mode (Screen Mode 4)......................... 7-10

7.1.7 Monitor Mode (Screen Mode 5)......................................... 7-12

7.1.8 Alarm Trace Mode (Screen Mode 6) ................................. 7-14

7.1.9 Test Mode (Screen Mode 7).............................................. 7-17

7.1.9.1 JOG Operation .................................................. 7-18

7.1.9.2 Offline Automatic Tuning Function .................... 7-20

7.1.9.3 Automatic Notch Filter Tuning Function ............ 7-22

7.1.9.4 Automatic Offset Function................................. 7-24

7.2 Description of Parameters ........................................................... 7-26

7.2.1 Block Diagram of Position Control Type Parameters ........ 7-26

7.2.2 Parameter Summary Table ............................................... 7-27

7.2.3 Parameter List................................................................... 7-30

7. EXPLANATION OF PARAMETERS

7－2

7.1 Remote Operator (Optional)

This section explains the basic operation of the remote operator. By using the remote operator, parameter
change, monitoring of velocity and current, alarm trace and various tests are possible.

7.1.1 Outline of Remote Operator

The following figure shows the remote operator.

Fig. 7-1 Remote Operator

Table 7-1 Specifications of Remote Operator

Item Specification

Power supply Supplied from the Servo Amplifier

Connection method Connector connection using an exclusive cable

(cable length: 2 m)

Ambient temperature During operation status

0°C to +50°C (32°F to 122°F)

During storage

−20°C to +65°C (-4°F to 149°F)

Working atmosphere Free from oil mist, corrosive gas and dust

Hand Band

Liquid crystal panel
(16 characters × 2 lines)

Operation keys

Connector to
the amplifier Check pin

Brightness
adjusting control

Since the liquid crystal panel may be broken if the remote operator is dropped, handle it with
care.

7. EXPLANATION OF PARAMETERS

7－3

7.1.2 Function Table

Table 7-2 Functions of Remote Operator

Mode Screen

No.

Function

Setting mode 0 Directly enters user parameters by key-in operation.

1 Directly enters user parameters by key-in operation.
2 Directly enters user parameters by key-in operation.

Up/down mode 3 Allows values to be incremented or decremented using the "1"

(increment) and "0" (decrement) keys.

Select mode 4 Allows user parameters to be selected from the screen display.

Monitor mode 5 Displays various monitors on the screen.

• Status monitor

• Input monitor

• Output monitor

• Velocity command

• Velocity

• Current command

• Current

• Position deviation counter value

• U-phase electric angle

• Position command frequency

• Absolute value

• Position free-run counter value

• Estimated effective torque value

• Position loop gain

• Velocity loop proportional gain

• Velocity loop integral time constant

• Current command low pass filter setting value

• Built-in regenerative resistor absorbed power

Alarm trace mode 6 Display 8 alarms (the current one plus the past seven alarms)

Test mode 7 Allows various test modes to be operated:

• JOG operation

• Offline automatic tuning

• Automatic offset (velocity and torque commands)

• Encoder clear

• Automatic notch filter tuning

8 Allows user parameters to be entered directly from the key pad. Setting mode
9 Allows user parameters to be entered directly from the key pad.

Table 7-3 Functions of Remote Operator Check Pin

Name Description

VCMD Monitors the velocity command (CN1 - 21 pin input).

M1 Monitors the same as the amplifier monitor 1 output.
M2 Monitors the same as the amplifier monitor 2 output.

SG Signal ground. (Common to amplifier SG)

DM1 Outputs the internal status to the monitor (motor excitation). (It goes high when the

motor is excited.)

DM2 Outputs the internal status to the monitor (alarm). (High when the alarm is on.)

7. EXPLANATION OF PARAMETERS

7－4

If a no-operation status continues for about 3 minutes, the liquid crystal display disappears.

To re-start, press the key.

7.1.3 Basic Operation Procedure

Fig. 7-2 Basic Operation of Remote Operator

Powering on

Communication

status

Communication

ready complete

Initial screen

Mode select screen

Selected screen
appears

Remote Operator
＜Ver. #. ##＞

*Mode Select *
Push[0]to[7]Key

*Para. Set. 1

―――――――――

*Para. Set. 3

―――――――――

*Para. Select.－

―――――――――

*Alarm ―――

―――――――――

*Para. Set. 4

―――――――――

*Para. Set. 2

―――――――――

*P.UP=1,Down=0

―――――――――

*Monitor －

―――――――――

*Test ―――

―――――――――

*###-##-#-0#-##*
Push [MODE] Key

(3-phase 200 V
power supply specification)

キー入力画

Key-in

screen

キー入力画

Key-in
screen

キー入力画

Key-in
screen

キー入力画

Increment/

decrement screen

キー入力画

Select
screen

キー入力画

Alarm trace

screen

キー入力画

Test

screen

キー入力画

Key-in

screen

キー入力画

Monito

r

screen

8

7 6 5

4

32 1 0

Moto

r

code

AMP

capacityTYPE

CPU

version

DSP

version

Peep

7. EXPLANATION OF PARAMETERS

7－5

7.1.4 Parameter Setting Mode (Screen Mode 0 to 2 and 8)

Various Servo Amplifier parameters can be directly set in this mode from the keys.

Fig. 7-3 Parameter Setting Mode Screen

Table 7-4 Parameters for Screen Mode 0

Page No. Abbreviation Name Setting range Unit

0 KpM Monitors position loop gain - rad/S

1 KffM Monitors feed forward gain - %

2 KvpM Monitors velocity loop proportional gain - Hz

3 TviM Monitors velocity loop integral time constant - mSec

4 FLPM Monitors feed forward LPF - Hz

5 VLPM Monitors velocity command LPF - Hz

6 ILPM Monitors current command LPF - Hz

7 BFAM Monitors current command BEFA - Hz

8 BFBM Monitors current command BEFB - Hz

9 Tpcm Position command LPF time constant 0 to 4000 mSec

10 Tvac Velocity command acceleration time 0 to 9999 mSec

11 Tvde Velocity command deceleration time 0 to 9999 mSec

12 KvpA Velocity loop proportional gain addition value 0 to 255 Hz

Table 7-5 Parameters for Screen Mode 1 (1/2)

Page No. Abbreviation Name Setting range Unit

0 INP Positioning complete signal width 1 to 32767 P (+/−)
1 OVF Excess deviation over value 1 to 32767 ×256P

2 EGER Electronic gear ratio 1/32767 to 32767/1

3 PMUL Command pulse multiplier 1 to 63

4 ENCR Output pulse dividing ratio 1 to 8192

5 LTG Low speed 0 to 32767 min-1

6 HTG High speed 0 to 32767 min-1

7 SPE Speed matching width 0 to 32767 min-1

8 VCI1 Internal velocity command value 1 0 to 32767 min-1

＊Para. Set #

#### #########

Screen page

(Any number from
1 to 4 is entered in “$”.)

Set parameter

value

Abbreviated

p

arameter name