Parker Hannifin Dynaserv G2 User Manual

p/n 88-020389-01 A  
Automation  
Dynaserv G2 Drive  
User Guide  
Effective: March 1, 2002  
Introduction  
Thank you very much for your purchase of the DD servo actuator DYNASERV. The DYNASERV is an outer rotor type  
servo actuator that has achieved high torque, high speed, and high precision. It can be used in a wide range of  
applications in the FA device-related fields, such as industrial robotics and indexing.  
This technical manual explains the DYNASERV DM/SR series motors as well as its combinations with the DrvGII  
drivers. Please refer to this technical manual thoroughly when you use the product.  
Precautions for Using this Technical Manual  
1. Please make sure that this manual is handed out to the end user.  
2. Please read this manual thoroughly and understand the contents fully before proceeding to the operation of the  
product.  
3. Please note that the safety protection may be lost and the proper safety may not be guaranteed if the product is  
not used according to the instructions described in this manual.  
4. Always make sure that this manual is handy for the operator when using this product. If it is stained or lost, we  
will distribute copies upon request, subject to charge.  
5. This manual explains details of the features included in the product and does not guarantee to meet the specific  
purpose of the customers.  
6. No part of this manual may be reprinted or reproduced in any form without permission.  
7. The information in this document is subject to change without notice.  
8. The information contained in this document is believed to be accurate at the time of publication, but if you notice  
any inaccuracies, errors, or omissions, please contact our sales or service staff.  
-1-  
Regarding the safe usage of this device  
Warnings  
! This product has been marked with  
and  
signs so that it can be used safely. Ignoring precautions and  
!
!
prohibitions related to these signs and using this product in an incorrect way may cause danger to the life and body  
of the operator. Always follow the precautions and observe the prohibitions explained below.  
! Please make sure to understand the information given below completely before you start reading the technical  
manual.  
! Please keep the technical manual and this sheet handy while using the product. In addition, make sure that they are  
handed out to the operator of the product.  
!
Warnings  
! Warning about rotation:  
The motor periphery part of this device rotates at a high speed. People and objects should not be placed within the  
rotational radius when a load is attached to the motor.  
! Warning about electric shock:  
Make sure to connect the device to ground to avoid electric shock.  
Make sure to turn the power off when connecting cables to the driver part.  
Make sure to turn the power off when removing the cover of the driver part while performing adjustment  
operations, etc.  
! Fire and electric shock warning:  
If any abnormalities such as abnormal noise, bad smell, or release of fumes that coming from the device are  
detected while it is in operation, turn the power off immediately, pull out the power supply plug, and contact us.  
If the device is dropped or given a strong impact, stop the operation immediately, turn the power off, and contact  
us.  
Do not operate at power supply voltages other than the one indicated on the device.  
! Fire and electric shock warning:  
Avoid dropping or inserting metal shards or combustible materials, or allowing water to get into the opening parts  
of the device (e.g., the clearance between the rotor and stator of the motor part, or the air vent of the driver part).  
In such an eventuality, turn the power off immediately and contact us.  
The cables coming out from the motor part or the bottom of the index part should not be forcibly bent, twisted,  
pulled, heated, or placed under a heavy object.  
Never try to remodel or repair the device by yourself.  
-2-  
Precautions  
!
!
! This product has been marked with  
and  
signs so that it can be used safely. Ignoring precautions and  
prohibitions related to these signs and using this product in an incorrect way may cause danger to the life and body  
of the operator. Always follow the precautions and observe the prohibitions explained below.  
! Please make sure to understand the information given below completely before you start reading the technical  
manual.  
! Please keep the technical manual and this sheet handy while using the product. In addition, make sure that they are  
handed out to the operator of the product.  
Precautions  
!
! Make sure to read the technical manual before using the device.  
Operational mistakes and faulty wiring may result in damages and failure of the device.  
! Make sure to check the wiring once more before turning the power on.  
Faulty wiring may result in fire, electric shock, or damage of the device.  
! Confirm that the proper combination of motor and driver parts is used. Using the device with an incorrect  
configuration may result in failure. (Be sure to confirm the model--MODEL--on the rating nameplates.)  
! Make sure the conditions of temperature, humidity, dust, etc. are as specified for the installation and storage  
environments.  
! Do not block the air vent of the device. Keep the specified open space around the device as well. Poor ventilation  
may cause overheating, leading to failure.  
! Some of the motor parts are very heavy; please pay sufficient attention to this when carrying and installing the  
parts. If the weight is more than 10kg (22.04 lbs), carrying or lifting tools should be used as much as possible.  
! Both the motor and driver parts should be installed in the specified orientation.  
! Keep the protection cover (transparent plastic plate) attached on the power supply terminal part of the driver. It is  
provided to prevent inadvertent electric shock accidents.  
-3-  
Handling Precautions  
1. Do not install the motor in reverse direction in such a way that the rotor of the motor is fixed and the stator rotates.  
2. Make sure to turn the power off before removing the side panel of the driver to set jumpers, etc. Touching the high  
voltage part inside the driver is dangerous.  
3. This motor rotates at a high speed and with a high torque. Take the rotation radius into consideration and pay  
special attention to the prevention of any dangerous situations that may occur during the operation when a load is  
attached to the motor.  
4. Make sure to ground the ground terminal to earth.  
5. When attached a load to the rotor, make sure to keep a clearance of 1 mm or more between the load and the upper  
surface of the motor in order to maintain the surface precision. Furthermore, never push or squeeze an object into  
the shaft hole. (See the figure below.)  
When feeding an object through the shaft  
Attached part  
hole, make sure to secure a clearance of  
at least 1mm on one side.  
Shaft hole  
Rotor  
6. Do not touch the bolts (indicated by the arrow) that fix the  
bottom part of the rotor (see the figure to the right). If these bolts  
are loosened or tightened, the commutation angle will become  
inaccurate, which may result in uneven rotation (this applies only  
to the DM series).  
DM series motor  
7. The motor surface is magnetized; do not place things that can be affected by magnetism close to it.  
8. The motor part shown in the figure to the right includes a  
magnetic resolver. Strong force, impacts, or magnetic fields  
should not be applied to the motor part (this applies only to the  
DR series).  
Bottom cap  
Magnetic  
resolver  
9. Make sure to use load attachment screws that are shorter than the  
effective depth of the thread in the motor part. Depending on the  
model, if a screw exceeds the effective thread depth, the function  
may be impaired (this applies only to the DR series).  
DR series motor  
10. The motor is neither dust-, drip- nor water (oil)-proof; the motor should be installed in carefully chosen  
environments.  
11. If the motor will be oscillating or rotating at small angles (50° or less), it should be allowed to oscillate at an angle  
of 90° or more for approximately 10 times (running-in operation) each time it has made 10,000 small-angle  
oscillations in order to prevent poor lubrication of the bearing.  
12. In order for the motor and driver to be compatible with each other, they must be of the same model.  
-4-  
13. Never attempt to disassemble or remodel the motor and driver. If such service is necessary, please contact us. We  
assume no responsibility for products that have been disassembled or remodeled without permission.  
14. For the DYNASERV DR series motors, a coating has been applied on the load attachment surface of the upper  
surface of the motor and the stator on the lower surface in order to prevent rust. When starting to use the product,  
wipe off the coating completely with cloth or paper soaked in a petroleum or chlorine solvent before assembling. If  
any of the coating remains, it may affect the mechanical precision.  
Rust-proof  
coated  
surface  
15. Do not place the motor on the floor and other surface in the manner shown in the figure below when carrying and  
installing the DYNASERV. The cables are crushed by the motor’s own weight and the copper wires may be broken  
inside the cables. If it cannot be avoided to place the motor in such a manner, a support bench should always be  
placed so that the cables are lifted. Furthermore, if the cables need to be bent when installed in a device, etc., the  
minimum bending radius should be 50 mm or more. The cables are not strong enough to live up to robot cable  
specifications, so they should not be bent repeatedly.  
The minimum  
bending radius  
should be  
50mm or more.  
An example of a DM series motor  
The minimum  
bending radius  
should be  
50mm or more.  
An example of a DM series motor  
-5-  
16. Do not perform a withstanding voltage test on this device. If such a test is performed without discretion, the  
circuits may be damaged. If such test must be conducted, make sure to contact us.  
17. When connecting the motor with a load, the centerlines of both cores should be aligned to a sufficient degree.  
Please note that if the deviation between the two cores becomes 10 µm or more, the bearings inside the motor may  
be damaged.  
The core deviation should  
be 10  
µmm or less.  
-6-  
Table of Contents  
Introduction..........................................................................................................................1  
Chapter 1 Overview of the Product  
1-1  
1.1  
1.2  
1.3  
1.4  
1.5  
1.6  
About the DYNASERV DM/DR Series ................................................................... 1-2  
About the DrvGII Type Driver ................................................................................. 1-3  
Product Configuration .............................................................................................. 1-4  
Model Names and Codes.......................................................................................... 1-5  
Name and Function of Each Part.............................................................................. 1-6  
System Configuration Diagram .............................................................................. 1-10  
Chapter 2 Installation  
2-1  
2.1  
2.2  
Installation of the Motor........................................................................................... 2-2  
Installation of the Driver........................................................................................... 2-3  
Chapter 3 Connection and Wiring  
3-1  
3.1  
3.2  
3.3  
3.4  
3.5  
3.6  
3.7  
3.8  
Diagram of Overall Connection................................................................................ 3-2  
Cable Specification List............................................................................................ 3-3  
Connection between Motor and Driver .................................................................... 3-4  
Wiring of Motor, AC Power Supply, and Ground Cable.......................................... 3-6  
Wiring of Encoder Cable .......................................................................................... 3-8  
Wiring of Controller Cable....................................................................................... 3-9  
Wiring of Sensor Brake Terminal........................................................................... 3-10  
Wiring of Regenerative Alarm Contact <CNA>  
(For 500W Level Drive Only) ................................................................................ 3-11  
Chapter 4 Basic Settings for Operating the Motor  
4-1  
4.1  
4.2  
4.3  
Procedure (Flowchart) .............................................................................................. 4-2  
Preoperation check.................................................................................................... 4-3  
Installing the PC Utility on the PC ........................................................................... 4-6  
4.3.1 Procedure .......................................................................................................................................4-6  
4.3.2 Startup............................................................................................................................................4-8  
4.4  
Preparation................................................................................................................ 4-9  
4.4.1 Selecting Communication Port ......................................................................................................4-9  
4.4.2 Selecting Channels.........................................................................................................................4-9  
4.4.3 Displaying Communication Strings.............................................................................................4-10  
4.4.4 Main Menu...................................................................................................................................4-11  
4.5  
4.6  
4.7  
Setting the Status to Servo ON............................................................................... 4-12  
Auto-tuning............................................................................................................. 4-14  
Performing Homing Operation............................................................................... 4-16  
-i-  
4.8  
Performing the Basic Settings of Pulse Commands ............................................... 4-18  
4.8.1 About Position Command Pulse Input.........................................................................................4-18  
4.8.2 Example of Operation..................................................................................................................4-19  
Chapter 5 Functions  
5-1  
5.1  
Parameters and Monitors .......................................................................................... 5-2  
5.1.1 General Parameters ........................................................................................................................5-2  
5.1.2 Mechanical Setting Parameters......................................................................................................5-2  
5.1.3 Monitors.........................................................................................................................................5-2  
5.2  
Operation Functions.................................................................................................. 5-3  
5.2.1 Jog Move........................................................................................................................................5-3  
5.2.2 Test Operation................................................................................................................................5-4  
5.2.3 Auto-Tuning Operation..................................................................................................................5-4  
5.2.4 Homing Move................................................................................................................................5-5  
5.2.5 Mechanical Setting Mode ..............................................................................................................5-9  
5.3  
5.4  
Coordinate System.................................................................................................... 5-9  
5.3.1 Coordinate System.........................................................................................................................5-9  
5.3.2 Switching Position Command Pulse Weights ................................................................................5-9  
Control System ....................................................................................................... 5-10  
5.4.1 Velocity Control Part....................................................................................................................5-11  
5.4.2 Position Control Part....................................................................................................................5-12  
5.4.3 Feed Forward ...............................................................................................................................5-12  
5.4.4 Servo Stiffness Parameter ............................................................................................................5-13  
5.5  
5.6  
Acceleration/Deceleration Function ....................................................................... 5-14  
5.5.1 Velocity Override Function..........................................................................................................5-14  
5.5.2 Velocity Profile ............................................................................................................................5-15  
Other Functions ...................................................................................................... 5-17  
5.6.1 Settling Wait, Position Settling Status, and Positioning Status....................................................5-17  
5.6.2 Velocity Monitor and Analog Monitor.........................................................................................5-18  
5.6.3 Brake Signal.................................................................................................................................5-18  
5.7  
Special Parameter Processing................................................................................. 5-19  
5.7.1 Internal Generation of Parameter Initial Values...........................................................................5-19  
5.7.2 Limiting and Checking Maximum Velocity When Changing Simplified Scaling  
Weighted Data and Maximum Velocity Parameters.....................................................................5-19  
5.7.3 Auto Conversion and Clear Functions When Changing Simplified Scaling Weighted Data.......5-20  
5.7.4 Limiting the Maximum Parameter Values ...................................................................................5-20  
Chapter 6 Control Interfaces  
6-1  
6.1  
Terminal Function..................................................................................................... 6-2  
6.1.1 Connection, Setting, and I/O Mapping ..........................................................................................6-2  
6.1.2 Explanation of Terminals...............................................................................................................6-3  
6.1.3 Electrical specifications .................................................................................................................6-4  
6.1.4 I/O logic setting..............................................................................................................................6-5  
6.2  
6.3  
6.4  
Position Command Pulse Input ................................................................................ 6-6  
Encoder Pulse Output ............................................................................................... 6-6  
Operations................................................................................................................. 6-7  
6.4.1 Starting an Operation.....................................................................................................................6-7  
6.4.2 Aborting an Operation ...................................................................................................................6-7  
6.4.3 Timing Charts ................................................................................................................................6-8  
-ii-  
6.5  
Other Inputs .............................................................................................................. 6-9  
6.5.1 Pulse Weight Selection PLS_DIRECT ..........................................................................................6-9  
6.5.2 Position Control Bandwidth Selection FN.....................................................................................6-9  
6.5.3 Velocity Control Bandwidth Selection GAIN................................................................................6-9  
6.5.4 Settling Width Selection POSW [1..0]...........................................................................................6-9  
6.5.5 Disable Position Control Integral Operation PACT.......................................................................6-9  
6.5.6 Error reset (ERR_RESET).............................................................................................................6-9  
6.5.7 Servo ON SERVO........................................................................................................................6-10  
6.5.8 Current Limit Input......................................................................................................................6-10  
Chapter 7 RS232C Interfaces  
7-1  
7.1  
7.2  
7.3  
7.4  
Overview .................................................................................................................. 7-2  
Connection and Setting ............................................................................................ 7-2  
Communication Specifications ................................................................................ 7-4  
@ Commands ........................................................................................................... 7-6  
7.4.1 Start @3: Field 0.........................................................................................................................7-6  
7.4.2 Stop @2 ......................................................................................................................................7-6  
7.4.3 Abort @1 ....................................................................................................................................7-6  
7.4.4 Error reset @4.............................................................................................................................7-6  
7.4.5 Homing offset position setting @10 ...........................................................................................7-7  
7.4.6 Jog move command @11: Field 0...............................................................................................7-7  
7.4.7 Other convenient commands..........................................................................................................7-7  
7.5  
Parameter Commands............................................................................................... 7-8  
Chapter 8 DrvGII PC Utility  
8-1  
8.1  
Overview .................................................................................................................. 8-2  
8.1.1 Overview of the Operation Menu ..................................................................................................8-2  
8.1.2 Overview of the Action Menu........................................................................................................8-2  
8.1.3 Overview of the Data Management Menu.....................................................................................8-2  
8.2  
8.3  
Installation ................................................................................................................ 8-3  
8.2.1 Installation under Windows 95/98/98SE/Me/NT4.0/2000.............................................................8-3  
8.2.2 Starting the PC Utility....................................................................................................................8-5  
Preparation................................................................................................................ 8-6  
8.3.1 Selecting a Communication Port....................................................................................................8-6  
8.3.2 Selecting Channels.........................................................................................................................8-6  
8.3.3 Displaying Communication Strings...............................................................................................8-7  
8.3.4 Main Menu.....................................................................................................................................8-8  
8.4  
8.5  
8.6  
Operation Menu........................................................................................................ 8-9  
8.4.1 Terminal.........................................................................................................................................8-9  
8.4.2 Servo Tuning................................................................................................................................8-14  
8.4.3 Oscilloscope.................................................................................................................................8-16  
Action Menu ........................................................................................................... 8-19  
8.5.1 Homing ........................................................................................................................................8-20  
8.5.2 Jog Move......................................................................................................................................8-22  
8.5.3 Test Operation..............................................................................................................................8-23  
Data Management Menus....................................................................................... 8-24  
8.6.1 Parameter Manager ......................................................................................................................8-24  
8.6.2 I/O Set..........................................................................................................................................8-27  
8.6.3 Pulse Set.......................................................................................................................................8-30  
-iii-  
Chapter 9 Operation Display Pendant ........................................................................... 9-1  
9.1  
9.2  
9.3  
9.4  
9.5  
9.6  
9.7  
9.8  
Overview................................................................................................................... 9-2  
Features and Part Names .......................................................................................... 9-2  
Switching Displays................................................................................................... 9-3  
Terminal Mode Display ............................................................................................ 9-4  
Parameter Monitor Display....................................................................................... 9-5  
Parameter Settings Display....................................................................................... 9-6  
I/O Monitor Display.................................................................................................. 9-7  
Special Command Display........................................................................................ 9-8  
Chapter 10 Maintenance and Inspection ....................................................................... 10-1  
10.1 Maintenance and Inspection of the Motor Part....................................................... 10-2  
10.2 Maintenance and Inspection of the Driver Part ...................................................... 10-2  
10.3 Replacing the Battery for Memory Backup............................................................ 10-2  
10.4 Backup and Restore Operations of Driver Memory Contents................................ 10-3  
10.4.1 Backup Operation ........................................................................................................................10-3  
10.4.2 Restore Operation ........................................................................................................................10-4  
10.5 Motor Problems and Corrective Actions ................................................................ 10-5  
Chapter 11 Specifications...............................................................................................11-1  
11.1 Standard Specifications ...........................................................................................11-2  
11.2 Torque - Speed Characteristics ................................................................................11-8  
11.3 External Dimensions (Unit: mm).............................................................................11-9  
11.4 Restrictive Conditions for the Frequency of  
Repeated Operations (DR5000B Series Only)......................................................11-13  
-iv-  
Chapter 1  
Overview of the Product  
1.1  
1.2  
1.3  
1.4  
1.5  
1.6  
About the DYNASERV DM/DR Series  
About the DrvGII Type Driver  
Product Configuration  
Model Names and Codes  
Name and Function of Each Part  
System Configuration Diagram  
1-1  
Overveiw of the Product  
1
1.1 About the DYNASERV DM/DR Series  
The DYNASERV servo motor, is a high speed, high torque, and high precision outer rotor type direct drive motor.  
The DM series motors are contained in an aluminum chassis and have a built-in optical encoder. There are four  
models in the A series with output torques of 50 to 200Nm and five models in the B series with torques of 15 to  
75Nm. The outside diameters are 264 mm for the A series and 160 mm for the B series. Each has a shaft hole of  
58 mm and 25 mm in diameter at the center, respectively.  
The outer shapes of the small-diameter and flat type DM series motors have successfully been made flatter and  
smaller in diameter based on the basic performance of the conventional DM/SD series. An outer diameter of 116  
mm and a height (thickness) of 45 mm, respectively, are achieved for the DM small-diameter type and the DM  
flat type.  
Both types are equipped with an optical encoder, which is characteristic of the DM series, and have the added  
features of high resolution and high mechanical precision. They are actuators with excellent output-to-space  
ratios and the best available option for servos for semi-conductor manufacturing devices, precision test devices,  
etc. They can be used in various applications.  
The DYNASERV DR series is a series of operational direct drive motors that was developed based on the field-  
proven DM series to satisfy new demands. There are six A type models (50 to 400Nm) with an outer diameter  
of 264 mm (10 inches), seven E type models (30 to 250Nm) with an outer diameter of 205 mm (8 inches), and  
five B type models (8 to 60Nm) with an outer diameter of 150 mm (6 inches). In addition, there is a 5000B/E  
type (consisting of five high-speed type models).  
Moreover, in addition to the above standard models, several special type models are also available, such as light-  
weight types, types with flanges, types with brakes, and high mechanical precision installation surface types.  
1-2  
1.2 About the DrvGII Type Driver  
The DrvGII type driver is a digital servo driver with a RS232 communication, developed as the successor to the  
conventional SD/SR/TM type driver. Not only have the functions been improved, but also the driver box volume  
has been made smaller, and it can support the DYNASERV rotation type motors, as well as the LINEARSERV  
series motors that are of the direct drive type.  
The features include the following:  
(1) The size of the driver is reduced to approximately half of the previous size (comparison within our  
company).  
(2) The internal resolution is increased by a factor of four for the DM series and a factor of two for the DR  
series.  
(3) It can now support most of the models of the DYNASERV and LINEARSERV series.  
(4) A sophisticated utility is now available and an oscilloscope function has been included as well.  
1
1-3  
Overveiw of the Product  
1
1.3 Product Configuration  
The following shows the configuration of this product. Upon unpacking, please check the model name and code  
of the product’s main unit, whether or not all the standard accessories are included, and also the quantity  
supplied.  
Part name  
Motor part  
Number  
1
Notes  
The external appearance varies depending on the model  
name/code.  
Main body  
The external appearance varies depending on the model  
name/code.  
Driver part  
1
1
1
1
1
1
Connector for  
driver CN2  
Connector for  
driver CN4  
Connector for  
driver CN5*  
Terminal for  
driver CNA**  
Regenerative  
resistor **  
Made by Honda Tsushin Kogyo  
(connector) PCR-S20FS  
(cover) PCR-LS20LA1  
(connector) PCR-S50FS  
(cover) PCR-LS50LA  
Made by Honda Tsushin Kogyo  
Standard  
accessory  
Made by Phoenix Contact MC1, 5/6-ST-3, 81  
Made by Phoenix Contact MC1, 5/2-ST-5, 08  
80W 60Ω (for 100V) or 80W 200Ω (for 200V)  
*
**  
Supplied for drivers whose interface type is the I/O contact type.  
Supplied only for 500W level drivers with regenerative terminals  
Motor part/DM series  
Motor part/DM1004B  
Motor part/DM1004C  
Motor part/  
DR series  
Driver part (2kW level)  
With regenerative unit  
Connector for CN4  
Regenerative  
terminal  
Connecto for CN2  
Connector for CNA  
Driver part  
(500W level)  
Note: The exact shape varies depending on the model you ordered. Refer to the figure showing the outer  
dimensions for more details.  
1-4  
1.4 Model Names and Codes  
There are restrictions on the combination of specifications. Please check with our sales staff before determining  
the specification.  
(1) Motor  
□□□□□□□□□-□*  
1
!Motor series name  
(DM or DR)  
!Design version  
(1: standard/5: high-speed)  
!Maximum output torque  
(N-m, three-digit number)  
!Motor type/outer diameter (A:φ264/B:φ160/C:φ116/E:φ205)  
!Destination  
(0: domestic)  
!Motor part special shape  
(0: standard/B: light-weight/C: with flange/  
D: with mechanical brake/F: with base)  
!
Mechanical precision - only for models requiring mechanical precision.  
Omitted if it is not required  
(-1: mechanical precision of 5 mm or less/-2: mechanical precision of 10 mm or less/  
µm  
-3: mechanical precision of 20 mm or less)  
!With compatibility function  
(2) Driver  
□□□□□□□□□□-□□□_  
1
!
Driver series name (UD for DM and UR for DR)  
Motor type/  
!
(four-digit number of the motor, one line of alphabet letters)  
!Box type/  
(first digit 0: domestic standard/second digit A: 500W level without regenerative  
terminal, B: 500W level with regenerative terminal, K: 2kW level with built-in  
regenerative unit, L: 2kW level without regenerative unit)  
!Current/  
(A: 5A-DM small-diameter/B: 6A-DM flat/C: 15A-DMB type, DRB type, DR5000B type /  
D: 20A-DMA type, DRA type, DRE type, DR5000E type)  
!Voltage/1: 100V system, 2: 200V system  
Interface/(first digit/S: pulse train position command,  
!
second digit/A: contact I/O voltage 12 to 24V + position command input;  
differential, B: contact I/O voltage 5V + position command input; differential)  
!Option/0: none, N: with notch filter  
!CE marking/no mark: no CE specification, *C: with CE mark specification*  
Note: 1. Compatibility between the motor and driver is valid only between the same models.  
This means that, for the standard models, the motor and driver are compatible only when the designations  
of the five digits in motor type (DR""""") and driver type (UR""""") are the same.  
2. Separate selection is required for the driver without 2 kW class regenerative unit.  
1-5  
Overveiw of the Product  
1
1.5 Name and Function of Each Part  
(1) Motor Part  
Encoder cable  
Load installation screw  
Shaft hole  
Motor cable  
Rotor  
Stator installation  
screw  
Stator  
Bottom cap  
Rating  
nameplate  
DM  
series  
(Bottom surface)  
(Upper surface)  
Load installation  
screw  
Load installation  
surface  
Load installation  
surface  
Shaft hole  
Shaft hole  
Rotor  
Base part  
(stator)  
Rating  
nameplate  
Motor cable  
Encoder cable  
(DM1004B)  
(DM1004C)  
Motor cable  
Load installation screw  
Shaft hole  
Encoder cable  
Stator installation  
screw  
Rating  
nameplate  
Rotor  
Stator  
Bottom  
cap  
DR  
series  
1-6  
(2) Driver part  
! 500W level  
(A model with regenerative terminal is shown)  
Mounting bracket  
<CN1>RS232C  
connnector  
Setting switch  
and status LED  
display part  
<TB2> Sensor brake  
terminal  
<TB1>  
Connection of power  
supply and motor cable  
<CN4> Contact I/O connector 1  
<CN3> Analog monitor connector  
Mounting bracket  
<CN2> Encoder resolver connector  
1
! 2kW level  
(A model with a regenerative terminal is shown)  
Heat sink  
Regenerative unit  
1-7  
Overveiw of the Product  
1
(3) Details of the Front Panel of the Driver  
!
500W level  
!
500W level  
(with regenerative terminal)  
(without regenerative terminal)  
Regenerative  
terminal  
Power supply  
terminal  
Power supply  
ground terminal  
Motor cable  
phase A terminal  
Motor cable  
phase B terminal  
Motor cable  
phase C terminal  
Motor cable  
ground terminal  
<CNA>  
Regenerative error  
connector  
!
2kW level  
Signal ground  
terminal  
ZERO signal  
terminal  
Settling signal  
terminal  
Note: (1) All the items shown are of the contact I/O type.  
(2) The power supply ground terminal and the motor cable ground terminal are connected within the driver  
chassis.  
1-8  
[Details of Setting Switches and Status Display LEDs]  
Status display LEDs  
CRDY CPU ready  
Indicates that the driver finished its initial  
processing and went into its normal status.  
SRDY Servo ready  
ERR  
Error status  
BUSY Busy  
Indicates that the driver is currently  
operating.  
AXIS  
COIN  
Axis is operating Indicates that the axis is currently operating  
(dwell operation)  
Settling status  
Indicates that the axis is in its position  
settling status.  
0
CRDY  
SRDY  
ERR  
RS-ID Rotary switch  
RS ID  
5
The communication method of the RS232C interface is set according  
to the status of this switch when the power is turned on.  
0
Single channel communication  
Multi-channel communication. The value corresponds to  
the ID of the slave station.  
SRV DS  
1 to 9  
BUSY  
AXIS  
1
1
SRV-DS Servo disable switch  
COIN  
SW1  
The servo is turned off for as long as this switch is pressed, regardless  
of the command status of the RS232C interface and PLC interface.  
4
ON  
SW1 Slide switch  
When the power is turned on, the operation status of the driver is  
determined by the status of these switches.  
bit1 Reset all  
7
If this bit is on when the power is turned on, all driver  
information is reset to the default status at shipping.  
bit2 Reserved  
COIN  
ZERO  
bit3 Reserved  
GND  
bit4 Maintenance operation setting  
If this bit is on when the power is turned on, the driver is set  
in maintenance operation status. Normally, this bit should be  
set to off.  
200-  
230VAC  
RS EN  
TEST  
LINE  
Check terminal  
COIN  
ZERO  
GND  
Settling  
Indicates that the axis is in its position settling  
status.  
1
Zero signal status  
(LED display indicates the Zero signal status.)  
Digital ground  
GND  
MOTOR  
PSW1  
bit1  
Piano switch  
V
V
V
A
B
C
Test operation  
Starts test operation when the lever is up.  
Ends test operation when the lever is down.  
bit2  
RS-232C operation enable  
Enables or disables the following  
commands from the RS-232C interface  
depending on the status when the power is  
turned on.  
Commands to be disabled: @1 Abort  
GND  
@2 Stop  
@3 Stop  
@11 Jog  
TB1  
Lever up:  
Enable  
Lever down: Disable  
Error display LED  
Displays an error code when an error occurs.  
When resetting:  
When operating:  
"0" (lit)  
"." (flashing)  
CN4  
Controller interface connector  
1-9  
Overveiw of the Product  
1
1.6 System Configuration Diagram  
PC utility floppy disk  
<Utility>  
(PLC)  
Operation display pendant  
(PC)  
I/O monitor  
board  
LINEARSERV motor part  
<LM series>  
DYNASERV motor part  
<DM/DR series>  
DrvGII type driver  
(Home position  
sensor)  
(Over travel sensor)  
(Over travel sensor)  
Note: The allowable combinations between the DYNASERV motors and the DrvGII drivers are as follows.  
(1) The 500W level driver can only be used with the DM1004B/1004C.  
(2) All other DM and DR series should be used with the 2kW level driver. Note that they cannot be used  
with the 500W level driver.  
1-10  
Chapter 2  
Installation  
2.1  
2.2  
Installation of the Motor  
Installation of the Driver  
2-1  
Installation  
2
When you receive the product, verify the model name and code of the product’s main unit, whether all the  
standard accessories are included, and that the combination of a motor and a driver is correct before you begin  
installation and wiring.  
2.1 Installation of the Motor  
The motor part can be installed and used in either a horizontal or a vertical position. However, if installed in a  
wrong way or position, the life of the motor may be shortened or the motor may fail. Always follow the  
instructions explained below.  
(1) Installation Position  
The motor part is designed based on the assumption that it is used indoors. Therefore, choose the location of  
installation so that it satisfies the following conditions:  
! It should be indoors and not in a place where it can be exposed to corrosive and/or volatile gases.  
! The ambient air temperature should be from 0 to 45 °C.  
! There should not be too much dust or particles, the ventilation should be good, and the humidity should  
be low.  
Note: The DYNASERV is not drip- or water (oil)-proof. If it is used in such an environment, a proper drip- or  
water (oil)-proof cover should be applied.  
(2) Mechanical Installation  
! When installing a load on the rotor of the motor, make sure to secure a clearance of 1 mm or more  
between the upper surface of the motor and the installed part in order to maintain the surface accuracy.  
! The clamping torque of the screws used to install the rotor and stator of the motor should be equal to or  
less than the value indicated below.  
! The surface flatness where the motor is fixed should be 0.01 mm or less.  
Rotor mounting screw  
Clamping torque (maximum)  
A/E type: 21N-m (210kgf-cm)  
B type: 11N-m (110kgf-cm)  
DM1004B/1004C: 2N-m (20kgf-cm)  
Motor  
Stator mounting screw  
Clamping torque (maximum)  
A/E type: 21N-m (210kgf-cm)  
B type: 11N-m (110kgf-cm)  
DM1004B/1004C: 2N-m (20kgf-cm)  
Flatness of fixing  
surface: 0.01mm  
Note: When tightening the screws, make sure to apply a screw lock using Loctite 601 or equivalent product.  
2-2  
2.2 Installation of the Driver  
The standard installation method for the driver is either to mount it on a rack or a wall.  
(1) Installation Position  
! If there is a heating source near by, the temperature should be prevented from increasing by installing a  
shielding cover, etc.; the temperature around the driver should not exceed 50 °C (Note 1).  
! If there is a source of vibration near by, the rack should be installed via a vibration absorption material.  
! In addition to the above, it should be avoided to install the driver in surroundings that are high in  
temperature and humidity, filled with dust, metal powder, corrosive gas, etc.  
(2) Installation Method  
! The standard way of installation is to install the driver on a rack, aligning the top and bottom with the  
front panel in the front. Do not put the panel surface into a sideways position or upside down (see the  
figure below).  
! The driver box employs a natural air ventilation system. Make sure to secure space for ventilation above  
and below (25 mm or more) and right and left (25 mm or more) (see the figure below).  
! Make sure to use the installation holes (four places) of the upper and lower brackets at installation.  
25 mm  
Should not be installed in a  
sideways position.  
2
Should not be  
installed  
upside down.  
25 mm  
(Note: 1) 2 kW level drivers, but not other types, will have the current characteristics shown in the graph below as a  
function of the ambient air temperature during operation. Therefore, it is recommended to use the driver in an  
ambient air temperature of 40 °C or less in order to prolong its life.  
Current derating curve  
50%  
45%  
40%  
30%  
25%  
20%  
10%  
0%  
40  
50℃  
60℃  
0℃  
10℃  
20℃  
30℃  
Ambient air temperature during operation  
2-3  
Chapter 3  
Connection and Wiring  
3.1  
3.2  
3.3  
3.4  
3.5  
3.6  
3.7  
3.8  
Diagram of Overall Connection  
Cable Specification List  
Connection between Motor and Driver  
Wiring of Motor, AC Power Supply, and Ground Cable  
Wiring of Encoder Cable  
Wiring of Controller Cable  
Wiring of Sensor Brake Terminal  
Wiring of Regenerative Alarm Contact <CNA>  
(For 500W Level Drive Only)  
3-1  
Connection and Wiring  
3
3.1 Diagram of Overall Connection  
* Operation display pendant  
(including 1.5 m cable)  
[PM000AT]  
PC  
* PC Utility  
1) * AC  
power supply  
cable  
<DrvGII> type drive  
The figure shows a 2kW level.  
[KC 601A  
(Japanese)]  
[KC 602A  
(English)]  
Line  
filter  
5) * RS232C communication  
cable  
[CP7675S-020 (for DOSV, 2m)]  
[CP7577S-020 (for PC98, 2m)]  
*
4) Sensor brake cable  
Sensor  
7) Jumper  
cable  
Programmable controller  
2) Ground cable  
9) Controller cable  
[CP4202G-ooo]  
8) * Analog monitor card  
(with cable connector)  
* Regenerative resistance  
(with lead wire)  
6) * Encoder cable  
3) * Motor cable  
Motor part  
(DM/DR series)  
* Optional parts (see separate wiring section for motor and encoder cables.)  
3-2  
3.2 Cable Specification List  
Cable name  
Electric cable size  
Driver Current (A)  
AC power supply  
cable  
Ground cable (power  
supply)  
*
1)  
2)  
2.0 mm2 or more, 30 m or less in length  
2.0 mm2 or more  
TB1  
*
TB1  
3) Motor cable  
2.0 mm2 or more, 30 m or less in length  
0.3 to 0.75 mm2  
TB1  
*
4) Sensor brake cable  
TB2  
CN1  
RS232C  
5)  
Dedicated cable is required.  
communication cable  
0.2mm2 twisted pair, batch shielded cable, outer  
diameter φ 14 mm or less, 10 m or less in length  
Maximum  
CN2  
Encoder resolver  
cable  
6)  
100 mA DC  
2.0 mm2 or more  
TB1  
*
7) Jumper cable  
Dedicated cable is required. [R7033YB] (cable  
with connector)  
8) Analog monitor card  
CN3  
0.2 to 0.5mm2, batch shielded cable, outer  
diameter φ 9 mm or less, 3 m or less in length  
Maximum  
CN4  
9) Controller cable  
500 mA DC  
*
20A for the A (φ 264mm) and E (φ 205mm) types for both the DM and DR series  
15A for the B (φ 160mm) type, and 10A for the DM1004B/1004C motors  
3
3-3  
Connection and Wiring  
3
3.3 Connection between Motor and Driver  
Note: Shielding should be applied to each wire.  
(1) DM Series (DM1004B/1004C) motors  
Driver part  
Motor part  
Motor cable  
TB1>  
VA  
Red  
V
V
B
White  
Black  
Green  
C
GND  
Shielded cable  
CN2>  
+10V/ 1  
Red  
GND/12  
θSIG0/3  
GND/14  
Black  
Blue  
Blue and white  
Brown  
θSIG1/5  
GND/16  
Brown and white  
ECLK+/ 7  
ECLK-/18  
Orange  
Orange and white  
Chassis ground  
Encoder cable  
(2) DM Series motors (models other than the above)  
Driver part  
Motor part  
Motor cable  
TB1>  
V
V
V
A
B
C
Red  
White  
Black  
Green  
GND  
Shielded  
cable  
Encoder cable  
CN2>  
Red  
+10V/ 1  
GND/12  
Black  
Blue  
θSIG0/3  
GND/14  
Blue and white  
Brown  
θSIG1/5  
GND/16  
Brown and white  
Green  
ZERO+/ 9  
ZERO-/19  
ECLK+/ 4  
Green and white  
Orange  
Orange and white  
ECLK-/13  
Chassis ground  
Shielded twisted  
pair cable  
3-4  
(3) DR Series motors  
Driver part  
Motor part  
Motor cable  
TB1>  
VA  
VB  
Red  
White  
Black  
Green  
VC  
GND  
Encoder cable  
CN2>  
+S0/ 2  
+S180/11  
-S0/6  
Brown and white  
Green and white  
Brown  
-S180/15  
+C0/10  
Green  
Orange and white  
Blue and white  
Orange  
+C180/20  
-C0/ 8  
-C180/17  
Blue  
Black  
Chassis ground  
3
3-5  
Connection and Wiring  
3
3.4 Wiring of Motor, AC Power Supply, and Ground Cable  
(1) For the DM1004B/1004C motors (in connection with a 500W level driver)  
* In the case shown, a regenerative resistance is required.  
P
Regenerative  
resistance*  
N
100-  
115VAC  
AC  
AC  
LINE  
AC power  
supply cable  
GND  
MOTOR  
VA  
GND  
VA  
VB  
(Red)  
VB  
VC  
Ground cable  
Motor cable  
(White)  
(Black)  
(Green)  
VC  
GND  
GND  
TB1  
Japan Solderless Terminal  
type (N1.25-M4)  
Driver side  
(500W level)  
(2) For other DM/DR series (other than above) (in connection with 2kW level driver)  
Jumper  
cable  
AC  
AC  
Power supply  
cable  
GND  
Ground cable  
(Red)  
(White)  
(Black)  
(Green)  
Motor cable  
Driver side  
(2KW level)  
Japan Solderless  
Terminal type (N2-M4)  
3-6  
Specification  
Cable  
DM1004B/1004C  
Other DM/DR series  
! 0.5 mm2 or more, 30 m or less in length  
! Clamping torque of terminal: 12[kgf-cm2](1.18[Nm])  
(terminal screw: M4x0.7)  
! 2.0 mm2 or more, 30 m or less in length  
AC power  
supply cable  
! Power supply filter, recommended part: Tokin Corporation #LF-200 series  
! 0.5 mm2 or more, 15 m or less in length  
! 2.0 mm2 or more, 30 m or less in length  
! Optional cable: CM300M-""" or  
CM0300R-"""  
! Optional cable: CM6000C-"""  
Motor cable  
! 2.0 mm2 or more (use as thick cable as  
possible)  
! 0.5 mm2 or more (use as thick cable as possible)  
Ground cable  
! Third grade ground (ground resistance 100or less)  
Jumper wire  
Regenerative  
resistance*  
! 2.0 mm2 or more  
For 100V: 80W 60Ω  
For 200V: 80W 200Ω  
*
Only for models with regenerative resistance (500W level)  
3
3-7  
Connection and Wiring  
3
3.5 Wiring of Encoder Cable  
(2) DM series motor  
(other than the one described to the left)  
(1) DM1004B/C motor  
(3) DR series motor  
Signal  
Pin #  
Signal  
name  
-
GND  
-
GND  
-
GND  
-
Signal  
name  
+ 10 V  
Signal  
name  
-
Signal  
Pin #  
Signal  
name  
Pin #  
Pin #  
Pin #  
11  
12  
Pin #  
name  
name  
1
2
3
4
5
6
7
8
9
+ 10 V  
11  
12  
13  
14  
15  
16  
17  
1
2
3
4
5
6
7
8
9
1
2
3
4
5
6
7
8
9
-
11 +S180  
-
-
GND  
13 ECLK-  
+S0  
-
-
-
-S0  
-
12  
13  
14  
-
-
-
θSIG 0  
θSIG 0  
ECLK+  
θSIG 1  
-
14  
15  
16  
17  
18  
GND  
-
GND  
-
-
15 -S180  
16  
17 -C180  
θ SIG 1  
-
-
-
-
-
ECLK+  
-
-
-
18 ECLK-  
19  
20  
-C0  
-
18  
19  
-
-
-
-
ZERO+  
-
19 ZERO-  
20  
10  
10  
-
10  
+C0  
20 +C180  
FG  
Chassis Shielded  
ground cable  
Chassis Shielded  
ground cable  
Chassis  
ground  
Shielded  
cable  
Terminal for <CN2>  
11  
20  
Insertion  
surface  
Made by Honda Tsushin Kogyo  
Connector: PCR-S2OF  
Housing: PCR-LS20LA1  
1
10  
Chassis ground  
(shielded cable)  
1
2 3  
Soldering  
surface  
11 12 13  
20  
Electric wire  
specification  
! 0.2 mm2 multiple-core twisted pair batch shielded cable, 30 m or  
less in length*  
Optional cable  
DM series motor  
DM1004B/C  
(other than the ones  
described to the left)  
DR series motor  
CE7900C-"""  
CE7900M-"""  
CE7900R-"""  
* Within 10 m only for small-diameter/flat types (DM1004B/C).  
3-8  
3.6 Wiring of Controller Cable  
<CN4> terminal  
Pin #  
Signal name  
Pin #  
Signal name  
Pin #  
Signal name  
Pin #  
Signal name  
1 COMP1  
10 UA_OUT-  
19 IN_ERR_RESET  
20 IN_SERVO  
21 IN_MODE_START  
22 IN_ABORT  
28 IN_FN  
2 COMN1  
11 DB_OUT+  
12 DB_OUT-  
13 Z_OUT+  
14 Z_OUT-  
15 PUA_IN+  
16 PUA_IN-  
17 SDB_IN+  
18 SDB_IN-  
29 IN_PLS_DIRECT  
30 IN_PACT  
31 (NC)  
3 OUT_DRDY  
4 OUT_SRDY  
5 OUT_BUSY  
6 OUT_XOVL  
7 OUT_OVER  
8 OUT_COIN  
9 UA_OUT+  
23 IN_MODE.0  
24 IN_MODE.1  
25 IN_POSW.0  
26 IN_POSW.1  
27 IN_GAIN  
32 (NC)  
33 CRNT_LMT_IN+  
34 CRNT_LMT_IN-  
35 (NC)  
36 (NC)  
Terminal for <CN4>  
Made by Honda Tsushin Kogyo  
Connector: PCR-S36FS  
Housing: PCR-LS36LA  
19  
36  
1
18  
18  
Insertion surface  
Soldering surface  
Chassis ground  
(shielded cable)  
1 2 3  
3
19 20 21  
36  
Electric wire  
specification  
!
!
0.2 to 0.5 mm2 or more, multiple-core batch shielded cable, 3 m or  
less in length  
Optional cable: CP4202G-"""  
3-9  
Connection and Wiring  
3
3.7 Wiring of Sensor Brake Terminal  
Pin #  
Signal name  
1 COMP0  
Electric wire  
specification  
!
!
0.3 to 0.75 mm2, electric wire coating with 10 mm of the core  
exposed at the tip  
If a twisted wire is used, the diameter of the strand should be  
2 XORG  
3 XOTD  
4 XOTU  
5 (NC)  
φ 0.18 or larger.  
See the panel surface of the driver for the pin numbers.  
<TB2> Made by Sato Parts (ML1900H)  
6 XBRKP  
7 XBRKN  
1) Push down the lever with  
a screwdriver.  
3) Push up the lever  
(until you hear the click)  
2) Insert the wire deeply.  
10mm  
Example of sensor connection (sensor: EE-SX670 manufactured by Omron)  
The recommended sensor logic is B contact.  
Set the sensor to OFF when the light is shielded. The sensor described above will be set to OFF when the light is shielded  
by the following result.  
Signal  
Pin #  
[Electrical specifications]  
name  
1
2
3
4
COMP0  
1
2
3
4
5
6
7
Input specifications  
Home position sensor  
(-) Over travel  
Rated voltage  
1224VDC (±10%)  
XORG  
XOTD  
XOTU  
(NC)  
Rated input  
current  
4.1 mA/point (at 12 VDC)  
8.5 mA/point (at 24 VDC)  
1
2
3
4
Input  
impedance  
3.0kΩ  
At OFF: 3.0 VDC or less  
At ON: 9.0 VDC or more  
Operating voltage  
(relative to COMP*)  
1
2
3
4
(+) Over travel  
OFF is guaranteed at 1.0  
mA or less.  
Allowable  
XBRKP  
XBRKN  
leakage current  
+
Vcc  
DC power  
supply  
-
100kΩ  
COMP0  
10kΩ  
470Ω  
XORG  
XOTD  
XOTU  
0.01μF  
2.7kΩ  
PS2805  
3-10  
3.8 Wiring of Regenerative Alarm Contact <CNA>  
(For 500W Level Drive Only)  
This driver (with regenerative terminal) is equipped with a regenerative circuit failure detection circuit. When  
connecting the regenerative circuit, build a sequence circuit as shown in the figure below in order to prevent  
burnout incidents.  
Note: Build a sequence circuit so that it will turn off the power supply at alarm operation.  
Driver  
MC  
<TB1>  
L
LINE  
MC  
N
OFF  
ON  
MC  
MC  
Regenerative  
alarm  
250 V AC 0.1 A  
30 V DC 1 A  
<CNA>  
<CNA>  
Made by Phoenix Contact  
(plug: MC1, 5/2-ST-5, 08)  
Blade point of the driver used  
Thickness 0.4mm, width 2.5mm  
(clamping torque: 0.22 to 0.25 [N-m]  
3
7 mm  
Direction of  
insertion  
3-11  
Chapter 4 Basic Settings for Operating  
the Motor  
This chapter describes "Basic Settings," which should be used as the  
first step in understanding the "motor/driver/PC utility." The information  
is provided progressively, focusing on motor tuning, homing operation,  
and its setting method.  
Make sure to perform the operations described in this chapter as a  
preliminary step before commencing device production.  
4.1  
4.2  
4.3  
Procedure (Flowchart)  
Preoperation check  
Installing the PC Utility on the PC  
4.3.1  
4.3.2  
Procedure  
Startup  
4.4  
Preparation  
4.4.1  
4.4.2  
4.4.3  
4.4.4  
Selecting Communication Port  
Selecting Channels  
Displaying Communication Strings  
Main Menu  
4.5  
4.6  
4.7  
4.8  
Setting the Status to Servo ON  
Auto-tuning  
Performing Homing Operation  
Performing the Basic Settings of Pulse Commands  
4.8.1  
4.8.2  
About Position Command Pulse Input  
Example of Operation  
4-1  
Basic Settings for Operating the Motor  
4
4.1 Procedure (Flowchart)  
In this section, we will operate the motor according to the procedure below.  
START  
Preoperation check  
Install the PC utility.  
Check the installation of the motor, wiring etc.  
Install the software PC utility on your PC.  
Set the status of the motor to "Servo ON."  
Set the status to  
"Servo ON."  
!
Operation using the PC utility (RS-232C).  
Adjust the servo (gain adjustment).  
Operation using the PC utility (RS-232C).  
Auto-tuning  
!
Perform homing operation.  
Homing operation  
!
The case where the home position proximity  
sensor is input in the driver is explained.  
Basic settings of  
pulse commands  
Perform the basic settings required for pulse  
input.  
Perform the settings and pulse input required for  
operation from the user's controller.  
Operate (pulse input)  
END  
4-2  
4.2 Preoperation check  
(1) Items to prepare  
Motor unit/driver/sensor/DC power supply  
PC utility (floppy disk)  
Level block for fixing the motor  
PC (with Windows 95/98/98SE/Me/NT4.0/2000 installed)  
Various cables  
(2) Installation and Wiring  
Positioning  
controller  
PC utility (software)  
24V DC  
power supply  
6) Sensor wiring  
(prepared bycustomers)  
(prepared by customers)  
Motor part  
(main body)  
TB 2  
PC  
(prepared by customers)  
CN 1  
CN 4  
Sensor  
DrvGII  
type  
driver  
7) RS232C cable  
(dedicated)  
CP7576(77)S-020  
Level block  
4) Motor cable  
CM0300M(R) -ooo  
TB 1  
CN 2  
1) Level block  
(prepared by customers)  
3) Power supply line  
5) Encoder cable  
CE7800M(R)-ooo  
(3) Items to be checked  
Check  
4
1) Is the main body fixed on the level block?  
2) Is the motor not interfering with peripherals?  
"
"
"
"
"
"
3) Is the power supply line wired properly? (LINE, GND)  
4) Is the motor cable wired properly? (VA, VB, VC. GND)  
5) Is the encoder cable wired properly?  
6) Is the sensor wired properly?  
(Home position, OT sensor: driver (or positioning controller))  
7) Is the RS232C cable wired properly?  
"
"
8) Is RS-232C operation enabled?  
(Is bit 2 of PSW1 is on?)  
9) Is the wiring with the positioning controller done properly?  
(See a connection example on the following page.)  
"
4-3  
Basic Settings for Operating the Motor  
4
DrvGII (CN4) I/O 24V Specification  
Controller  
12 to 24 VDC  
01  
19  
20  
21  
22  
COMP1  
PS2805 or equivalent  
470  
Photocoupler, contact, etc.  
IN_ERR_RESET  
2.7K  
IN_SERVO  
IN_MODE_START  
IN_ABORT  
IN_MODE.0  
IN_MODE.1  
IN_POSW.0  
IN_POSW.1  
23  
24  
25  
26  
IN_GAIN  
27  
28  
29  
30  
IN_FN  
IN_PLS_DIRECT  
IN_PACT  
MA8330 or equivalent  
Photocoupler,  
contact, etc.  
12 to 24 VDC  
PS2805 or equivalent  
MA8330 or  
equivalent  
OUT_DRDY  
03  
2AD1820A or  
equivalent  
OUT_SRDY  
OUT_BUSY  
OUT_XOVL  
04  
05  
06  
07  
OUT_OVER  
OUT_COIN  
COMN1  
08  
02  
AM26LS31 or equivalent  
TLP115A or equivalent  
PUA_IN+  
PUA_IN-  
SDB_IN+  
SDB_IN-  
33  
15  
16  
17  
18  
+
91  
-
+
-
AM26LS32 or equivalent  
AM26LS31 or equivalent  
09  
10  
UA_OUT+  
UA_OUT-  
DB_OUT+  
DB_OUT-  
Z_OUT+  
+
+
-
-
11  
12  
+
-
+
-
13  
14  
+
-
+
-
Z_OUT-  
CRNT_LMT_IN+  
CRNT_LMT_IN-  
200K  
33  
34  
-
LMIT  
+
200K  
Connect the shield with the shell of  
the connector.  
4-4  
DrvGII (CN4) I/O 5V Specification  
Controller  
5VDC  
01  
19  
20  
21  
22  
COMP1  
PS2805 or equivalent  
470  
1K  
7407 or equivalent  
IN_ERR_RESET  
IN_SERVO  
IN_MODE_START  
IN_ABORT  
IN_MODE.0  
IN_MODE.1  
IN_POSW.0  
IN_POSW.1  
23  
24  
25  
26  
IN_GAIN  
27  
28  
29  
30  
IN_FN  
IN_PLS_DIRECT  
IN_PACT  
MA8330 or equivalent  
74LS244 or  
equivalent  
5VDC  
PS2805 or equivalent  
MA8330 or  
1K  
OUT_DRDY  
equivalent  
03  
04  
05  
06  
2AD1820A or  
equivalent  
OUT_SRDY  
OUT_BUSY  
OUT_XOVL  
OUT_OVER  
07  
OUT_COIN  
COMN1  
08  
02  
4
AM26LS31 or equivalent  
PUA_IN+  
PUA_IN-  
SDB_IN+  
SDB_IN-  
TLP115A or equivalent  
15  
33  
+
91  
-
16  
17  
+
-
18  
AM26LS32 or equivalent  
AM26LS31 or equivalent  
09  
10  
11  
12  
13  
14  
UA_OUT+  
UA_OUT-  
DB_OUT+  
DB_OUT-  
Z_OUT+  
+
+
-
-
+
-
+
-
+
-
+
-
Z_OUT-  
33  
34  
CRNT_LMT_IN+  
CRNT_LMT_IN-  
200K  
-
LMIT  
+
200K  
Connect the shield with the shell of  
the connector.  
4-5  
Basic Settings for Operating the Motor  
4
4.3 Installing the PC Utility on the PC  
4.3.1 Procedure  
Installation under Windows 95/98/98SE/Me/NT4.0/2000  
The G2 PC utility (hereinafter referred to as the “PC utility”) runs on Windows 95, 98, 98SE, Me,  
WindowsNT4.0 and 2000. It can be installed via “Add/Remove Programs” under the “Control Panel” in  
Windows. If an older version of the PC utility is present, delete it first and then install the new version.  
Display the “Properties of Adding/Removing Programs” dialog box and click Set Up (1).” Then proceed  
according to the instructions displayed on the screen. The PC utility setup program starts up.  
Proceed with the setup according to the instructions on the screen. A dialog box for determining the directory in  
which to install the PC utility appears (see Figure 4.3.1).  
Figure 4.3.1  
“Choose Destination Location” dialog box  
Click Browseto display the “Select Directory” dialog box and select the desired drive and directory. Click  
Nextto display “Select Program Folder” (see Figure 4.3.2).  
4-6  
Figure 4.3.2  
“Select Program Folder” dialog box  
Select a program folder and click Next.” The installation begins. Follow the instructions on the screen and  
change disks. When the setup is completed, the “Setup Complete” dialog box appear (see Figure 4.3.3).  
4
Figure 4.3.3  
“Setup Complete” dialog box  
To start the program, select “Launch the program file” and click Finish.” If you do not want to start the program,  
just click Finish.” If you are prompted to restart the computer, simply follow the message and restart it.  
Note: Remove the floppy disk before restarting the computer.  
4-7  
Basic Settings for Operating the Motor  
4
4.3.2 Startup  
1) To start the PC utility, click “Start,” “Program (P),” “YOKOGAWA_E” and then “DrvGII.”  
Figure 4.3.4  
“Startup”  
2) An Version Information” dialog box is displayed for several seconds and then the PC utility starts up.  
Version of PC utility  
Figure 4.3.5  
“Version Information” dialog box  
Figure 4.3.6  
After starting up the PC utility  
4-8  
4.4 Preparation  
Connect the serial port of the PC with the serial port of the driver with a dedicated cable.  
(Do not use any of commercially available cables. Since 5V power is being output from the driver as the power  
supply for the operation display pendant, a breakdown may occur in the PC if such cable is used.)  
4.4.1 Selecting Communication Port  
When you start the PC utility, the “ComPortSelect” dialog box appears in the left side of the screen (see Figure  
4.4.1). Change the setting according to the communication port of the connected PC.  
Figure 4.4.1  
“ComPortSelect” dialog box  
Note: Settings made in the “ComPortSelect” dialog box are stored in a file. It is not necessary to make settings  
from the next time you start the PC utility. Change the setting as necessary.  
4.4.2 Selecting Channels  
When you start the PC utility, the “Communication mode” dialog box appears in the upper left corner of the  
screen (see Figure 4.4.2). If you are using one driver, select a single channel, and if you are using multiple  
drivers, select multi-channel addresses. (See Chapter 6 for how to make setting on the driver side.)  
4
Figure 4.4.2  
“Communication mode” dialog box  
Note: The settings made in the “Communication mode” dialog box are not stored. When the PC utility is started up,  
a single channel is always set.  
4-9  
Basic Settings for Operating the Motor  
4
4.4.3 Displaying Communication Strings  
When you start the PC utility, the “Communication string” dialog box appears in the upper right corner of the  
screen. (See Figure 4.4.3.) Any strings that the PC utility sends to the driver as well as any strings received from  
the driver are displayed regardless of the menu.  
-> [String sent]  
<- [String received]  
Figure 4.4.3  
“Communication string” dialog box  
4-10  
4.4.4 Main Menu  
When you start the PC utility, the “MainMenu” dialog box appears (see Figure 4.4.4). See the following chapters  
for how to start the actual operation.  
Figure 4.4.4  
“MainMenu” dialog box  
4
4-11  
Basic Settings for Operating the Motor  
4
4.5 Setting the Status to Servo ON  
The driver can be put into Servo On status through the following operation.  
(1) Click the “I/O Config (I)” button in the “MainMenu” and then the “I/O config (L)” button.  
Click the I/O Config (I)  
button.  
Click the I/O Config  
(L) button.  
(2) Enable Servo ON. Click the checkmark of “1” under DI and then click the Set (S) button.  
Set Servo ON (DI-1) to “no  
check.” (Negative setting)  
Set button  
Make sure to click the “Set” button after finishing the setting (the status will become  
Caution  
!
Servo ON). Verify that the “S-RDY” LED on the front panel is turned on.  
4-12  
(3) Reset the driver according to the message in the dialog box.  
Click OK.  
(4) Verify that the driver is reset and the “SRDY” LED on the front panel is turned on.  
4
4-13  
Basic Settings for Operating the Motor  
4
4.6 Auto-tuning  
The auto-tuning can be performed according to the following procedure.  
(1) Checking the rotation direction  
Check the rotation direction (CW/CCW) of the motor.  
Load  
installation  
surface  
CW  
CCW  
Look carefully from both sides of the load installation surface to check the CW/CCW  
movement. When started, the motor operates in the CCW direction. Take extra care to  
ensure that there is no mechanical interference with the rotor, which is currently in the  
stop position.  
Caution  
!
(2) Click the “Servo Cntl (S)” button on the “MainMenu.”  
Click the Servo Cntl  
button  
4-14  
(3) Click Auto Tuning Start (tuning starts).  
(4) Follow the message on the dialog box and click “OK” to start the auto-tuning operation.  
Click the Auto Tuning  
Start button  
After the auto-tuning is  
performed, the set values  
are displayed.  
The rotor rotates a maximum of 30º (seven times of reciprocating operation) in the CW  
direction. The operation width varies depending on the velocity rating of the motor.  
Take extra care not to cause any mechanical interference around the rotor.  
<How to calculate the operation width>  
!
Caution  
Operation width (degree) = motor velocity rating [rps] x 0.02 x 360  
(5) Each parameter setting value is displayed and the auto-tuning is automatically terminated.  
4
4-15  
Basic Settings for Operating the Motor  
4
4.7 Performing Homing Operation  
A homing operation can be performed according to the following procedure.  
(1) Checking the rotation direction  
Check the rotation direction (CW/CCW) of the motor.  
Load  
installation  
surface  
CW  
CCW  
Look carefully from both sides of the load installation surface to check the CW/CCW  
movement. When started, the motor operates in the CCW direction. Take extra care to  
ensure that there is no mechanical interference with the rotor.  
!
Caution  
(2) Check the setting of the homing direction through the PC utility.  
Click “Drive” in the Main Menu, then “Homing.”  
Click “Drive.”  
Click “Homing.”  
MainMenu  
DriveMenu  
4-16  
(3) Set the “homing direction” in the “Homing” dialog box.  
1) The current setting values are displayed in the  
Setting value box by clicking grid “#20.”  
2) Enter 1 in the Setting Value box.  
Make sure to press the return key;  
otherwise the entry is not made valid.  
The current setting values for the “homing  
related” parameters are displayed.  
3) Click the “Set” button.  
The initial value that should be set depends on the homing direction. Enter “#20 = 1” if  
the homing direction is CW and “#20 = 0” if it is CCW.  
!
Caution  
(4) Click the “Start” button to start the homing operation.  
Click “Start.”  
4
1) The homing operation finishes automatically after the operation is completed.  
In the event of  
The homing operation does not finish, and  
The motor does not stop even when the home position sensor is detected,  
!
Caution  
Click “Abort (A)” to stop the motor, then check “wiring” and “auto-tuning” again.  
2) If a homing abnormality message is displayed, follow the message to adjust the  
flag position using the limit value as a guideline. If an error occurs, press “ErrReset”  
as well.  
4-17  
Basic Settings for Operating the Motor  
4
4.8 Performing the Basic Settings of Pulse Commands  
4.8.1 About Position Command Pulse Input  
Perform input (pulses) required for operation according to the explanation in Section 6.2, “Position Command  
Pulse Input” in Chapter 6, “Controller Interface.” Prior to performing pulse input, be sure to perform required  
settings according to the explanation in Section 6.1, “Terminal Function.”  
The position command value instructed from the controller interface is given to the driver by any pair of the  
(PLS, SIGN), (UP, DOWN) and (A, B) signals, which is then reflected in the command unit command value.  
Which pair of the signals will be used to give a command is set with the #204 Command pulse type  
parameter.  
(PLS, SIGN)  
+ direction - direction  
(UP, DOWN)  
+ direction - direction  
(A, B)  
+ direction  
- direction  
150ns min  
150ns min  
PLS  
UP  
A
B
PUA_IN  
±
SIGN DOWN  
3
µ
s min  
3
µ
s min  
300ns min  
SDB_IN  
±
6
µs min  
The signal should be H when active  
(status for flowing current to the  
Caution driver photocoupler).  
As for the PLS, it should be L when  
normal.  
The signal should be H when active  
(status for flowing current to the  
driver photocoupler).  
As for both the UP and DOWN, they  
should be L when normal.  
The signal should be H when active  
(status for flowing current to the  
driver photocoupler).  
The position command value instructed from the controller interface can change the weight of a single pulse on  
the interface by the input signal “PLS_DIRECT.” When the status of the input signal “PLS_DIRECT” is 0, a  
single pulse on the interface becomes the value set with the #207 Simplified scaling weighted data parameter.  
While the status of the input signal “PLS_DIRECT” is 1, a single pulse on the interface is independent of the  
value set with the #207 Simplified scaling weighted data parameter, and becomes a single pulse inside the  
driver.  
However, do not change the status of any of the (PLS, SIGN), (UP, DOWN) and (A, B) signals for 2 msec each  
before and after switching the input signal “PLS_DIRECT” (off on, on off).  
Status 1  
PLS_DIRECT  
Status 0  
PUA_IN  
±
±
Unchanged  
Unchanged  
Unchanged  
Unchanged  
SDB_IN  
2 msec 2 msec  
or more or more  
2 msec 2 msec  
or more or more  
4-18  
4.8.2 Example of Operation  
The following shows an example of operation. Input pulses from the positioning controller according to the  
velocity pattern shown below.  
Upper surface of the motor  
(load installation surface side)  
Home position  
sensor  
Homing  
position  
The rotor moves 50 degrees away  
from the homing position, then  
back again.  
CW direction -> stops for one  
second -> CCW direction -> finish  
<Velocity pattern : Example of operation>  
Velocity  
[mm/sec]  
50  
Moving distance  
(positive direction)  
50 degrees  
Stop time  
4
0
Moving distance  
(negative direction)  
Time  
50 degrees  
[sec]  
50  
1.0sec  
Setting value of  
acceleration time  
Setting value of  
deceleration time  
Setting value of  
acceleration time  
Setting value of  
deceleration time  
4-19  
Chapter 5  
Functions  
5.1  
Parameters and Monitors  
5.1.1  
5.1.2  
5.1.3  
General Parameters  
Mechanical Setting Parameters  
Monitors  
5.2  
Operation Functions  
5.2.1  
5.2.2  
5.2.3  
5.2.4  
5.2.5  
Jog Move  
Test Operation  
Auto-Tuning Operation  
Homing Move  
Mechanical Setting Mode  
5.3  
5.4  
Coordinate System  
5.3.1  
5.3.2  
Coordinate System  
Switching Position Command Pulse Weights  
Control System  
5.4.1  
5.4.2  
5.4.3  
5.4.4  
Velocity Control Part  
Position Control Part  
Feed Forward  
Servo Stiffness Parameter  
5.5  
5.6  
Acceleration/Deceleration Function  
5.5.1  
5.5.2  
Velocity Override Function  
Velocity Profile  
Other Functions  
5.6.1  
5.6.2  
5.6.3  
Settling Wait, Position Settling Status, and Positioning Status  
Velocity Monitor and Analog Monitor  
Brake Signal  
5.7  
Special Parameter Processing  
5.7.1  
Internal Generation of Parameter Initial Values  
Limiting and Checking Maximum Velocity When Changing Simplified Scaling  
Weighted Data and Maximum Velocity Parameters  
Auto Conversion and Clear Functions When Changing Simplified Scaling  
Weighted Data  
5.7.2  
5.7.3  
5.7.4  
Limiting the Maximum Parameter Values  
5-1  
Functions  
5
5.1 Parameters and Monitors  
The group of variables expressed by #*** is called parameters and monitors. Parameters/monitors are  
classified according to their numbers as follows.  
Parameter No.  
0 to 199  
Parameter type  
General parameters  
Mechanical setting  
parameters  
Backup  
Stored  
Comments  
Always possible to read and write.  
Reading is always possible, but writing is possible only  
when operating in mechanical setting mode.  
Read only. Reading is always possible, but writing is not  
possible at any time.  
200 to 299  
300 to 399  
Stored  
-
Monitors  
By expressing all parameters/monitors by #***, their values can be referenced (read). It is also possible to  
change (write) the values within the range allowed for each parameter/monitor.  
5.1.1 General Parameters  
These parameters can be read and written at all times and an operational meaning is assigned to each. The details  
of each parameter will be explained separately.  
Note that these parameters are stored in the driver; they will not be deleted even if the power is turned off.  
5.1.2 Mechanical Setting Parameters  
It is always possible to read these parameters, but writing is possible only when operating in mechanical setting  
mode. These parameters are set only once when the device is started up. An operational meaning is assigned to  
each. The details of each parameter will be explained separately.  
Note that these parameters are stored in the driver; they will not be deleted even if the power is turned off.  
Note: If these parameters are changed during execution in mechanical setting mode, the changes made to the  
values will not be reflected until the power is turned on again. Therefore, please note that if you try to read a  
parameter value after you change the parameter, the value before the change is read until you turn the  
power off and on again.  
5.1.3 Monitors  
These variables are used to display the driver's status. Only reading is allowed at all times and each has an  
operational meaning. The details of each parameter will be explained separately.  
5-2  
5.2 Operation Functions  
Idle status  
Controller interface position command follow-up  
Jog move  
Operating status  
Test operation  
Auto-tuning operation  
Homing move  
Mechanical setting mode  
The status in which no operation is performed is called the idle status; jog moves can be performed in this  
status. If no jog move is being performed in the idle status, the driver follows the position command from the  
controller interface.  
This driver is equipped with the operation functions listed below. Use them as needed.  
The start, end, and stop actions of these operations can be controlled from either the controller interface side or  
the RS232C interface side. Refer to the related chapters (Chapter 6, "Controller Interface" and Chapter 7,  
"RS232C Interface") for operation methods.  
The methods used to end each operation can be classified into three categories: the self-end type that ends  
automatically when the operation is complete, the non-self-end type that cannot end the action by itself, and the  
non-end type that cannot be stopped once started. An appropriate end or stop action must be performed for each  
type.  
Operation  
Name  
Comment  
Ending type  
Non-self-end  
Self-end  
No.  
Generates a 2.5Hz square wave position command signal for  
adjustment of the control part.  
Makes the rotor oscillate, measures load inertia and load mass, and  
sets the parameters for the control part automatically.  
0
Test operation  
Auto-tuning  
operation  
(Reserved)  
1
2
Finds the home position using the hardware over-travel signal,  
homing sensor, and motor Zero signal to establish the coordinate  
system.  
3
Homing move  
Self-end  
Non-end  
4 to 14  
15  
(Reserved)  
Mechanical  
setting mode  
Special mode for changing mechanical setting parameters.  
5.2.1 Jog Move  
The rotor can be moved in the positive (+) or negative (-) direction by issuing a jog move command while in idle  
status.  
5
There are three types of jog move commands: (+) direction move, (-) direction move, and stop. Refer to the  
sections about the RS232C interface and PLC interface for how to issue a command.  
The move can only be trapezoidal but it is possible to set the acceleration and deceleration profile. In addition,  
the velocity override does function in real time. The velocity in the jog move is determined by the value in the  
#10 Jog Velocity parameter.  
If operation is started while the jog move is in progress, the operation is executed as soon as the jog move stops.  
The settling wait function is not performed at the end of the jog move.  
[Related parameter]  
#10  
Jog velocity  
5-3  
Functions  
5
5.2.2 Test Operation  
This operation generates a 2.5Hz square wave and uses it as position command signal for adjustment of the  
control part. Set the analog monitor to test operation response to measure the response waveform on the  
oscilloscope.  
The position feed forward, velocity feed forward, and acceleration feed forward are set to 0 internally during the  
test operation.  
The settling wait function is not performed at the end of the test operation.  
[Related parameters]  
#31  
#50  
#48  
#51  
#49  
#53  
#70  
#72  
Operation width under testing mode  
Position control bandwidth 1  
Position control bandwidth 2  
Velocity control bandwidth 1  
Velocity control bandwidth 2  
Position integral limiting value  
Analog monitor selection  
Test operation monitoring gain (analog monitor)  
Obtain the fastest possible rise time of the response waveform and make adjustments so that  
overshoot will not occur.  
The closer the position control bandwidth and velocity control bandwidth are, the more the waveform  
will oscillate.  
!
Caution  
If the inertia and weight of the load are large, the oscillations may be eliminated by setting the  
position integral limiting value to a small value.  
Make adjustments until this waveform  
is reached  
If the velocity control bandwidth cannot  
be increased any further, the position  
control bandwidth should be decreased  
Increase the position control bandwidth.  
5.2.3 Auto-Tuning Operation  
This operation makes the rotor oscillate, measures the inertia and weight of the load, and automatically sets the  
parameters for the control part.  
It accelerates/decelerates with half the rated torque and rated thrust of the motor, and measures the inertia and  
weight of the load from the velocity changes at that time. The result of the measurement is written to the #155  
Load inertia/load mass parameter.  
From the measured inertia and weight of the load, it adjusts the position control bandwidth, velocity control  
bandwidth, and position integral limiting value according to the setting value of the #38 Servo stiffness  
settings parameter. For the position control bandwidth and the velocity control bandwidth, the results are  
reflected in the parameters on the side selected by the controller interface (see Section 6.5.2, “Position Control  
Bandwidth Selection FN” and Section 6.5.3, “Velocity Control Bandwidth Selection GAIN). It does not adjust  
position feed forward, velocity feed forward, and acceleration feed forward.  
The settling wait function is not performed at the end of the auto-tuning operation.  
[Related parameters]  
[Auto-set parameters]  
#32  
#33  
#34  
Operation width under Auto-tuning  
#50  
#48  
#51  
#49  
#53  
Position control bandwidth 1  
Maximum deceleration under Auto-tuning  
Initializing the deceleration time while under Auto-  
tuning  
Auto-tuning repeat count  
Servo stiffness settings  
Position control bandwidth 2  
Velocity control bandwidth 1  
Velocity control bandwidth 2  
Position integral limiting value  
#37  
#38  
#155 Load inertia/load mass  
5-4  
5.2.4 Homing Move  
In this operation the rotor is moved according to a preset home position search method in order to establish a  
coordinate system. After first moving to the home position determined by the proximity signal and motor Zero  
signal, it continues to move an amount further given in the #29 Offset distance from the Home position  
parameter's setting value. It then sets the drive coordinate command value to the value set in the #30 Homing  
complete operation command value parameter.  
There are two ways to generate motor Zero signals (hardware and software Zero signals). The method used  
varies depending on the motor. See the explanation given below.  
The homing operation is processed in the following order.  
The move can only be trapezoidal but it is possible to set the acceleration and deceleration profile. In addition,  
the velocity override does function in real time.  
The settling wait function is performed at each point during the homing operation.  
[Hardware Zero signal]  
[Related parameters]  
Applicable motor:  
DYNASERV  
DMA and DMB series  
#11  
#12  
Over-travel search velocity during a homing move  
Homing operation: Home sensor proximity signal  
search velocity  
[Software Zero signal]  
Applicable motor:  
DYNASERV  
#13  
#15  
#20  
#21  
Homing operation: Home sensing feed velocity 1  
Homing operation: Origin position offset feed velocity  
Homing direction  
Enable/Disable the over-travel signal under the  
homing mode  
Homing operation: Origin inside selection  
Enabling the proximity signal during OT search under  
the homing mode  
Flat motor (DM1004B)  
Small-diameter motor (DM1004C)  
Standard DRA, DRB and DRE series  
High-speed DRB and DRE series  
#25  
#26  
#27  
#29  
#30  
Enabling the homing flag position error  
Offset distance from the Home position  
Homing complete operation command value  
#202 Coordinates (+) direction setting  
(1) OT search move  
The rotor moves until it finds an over-travel (OT) signal in the opposite side of the homing direction and in the  
opposite direction of homing direction. It is executed only when the OT signal search move is enabled in #21  
Enable/Disable the over-travel signal under the homing mode parameter.  
If the proximity signal during OT search move is enabled in the #26 Enabling the proximity signal during OT  
search under the homing mode parameter, and an home position proximity signal is detected during an OT  
search move, the rotor stops the OT search move, and then proceeds to (2) or (3) below.  
The moving velocity is set to the value in #11 Over-travel search velocity during a homing move parameter.  
(2) Homing search move  
5
The rotor moves until it finds a homing sensor in the homing direction.  
The moving velocity is set to the value in #12 Homing operation: Home sensor proximity signal search  
velocity parameter.  
(3) Moving to outside of home position proximity area  
This is executed only if #25 = 1. If #202 = 1, the rotor moves in (+) direction until it leaves the home position  
proximity area. If #202 = 0, the rotor moves in (-) direction until it leaves the home position proximity area.  
The moving velocity is set to the value in the #13 Homing operation: Home sensing feed velocity 1  
parameter.  
5-5  
Functions  
5
(4) First home sensing move  
With the #25 Homing operation: Origin inside selection parameter, it is possible to select and set either the  
inside Zero signal or outside Zero signal of the home position proximity signal as the home position. If #25 = 1,  
the inside Zero signal is set as the home position; if #25 = 0, the outside Zero signal is set as the home position.  
If #202 = 1, the rotor moves to search the home position proximity signal in (-) direction. If #25 = 1, the rotor  
recognizes the first Zero signal edge as the home position upon entering the area, and then stops. If #25 = 0, the  
rotor recognizes the first Zero signal edge as the home position upon leaving the area, and then stops.  
If #202 = 0, the rotor moves to search the home position proximity signal in (+) direction. If #25 = 1, the rotor  
recognizes the first Zero signal edge as the home position upon entering the area, and then stops. If #25 = 0, the  
rotor recognizes the first Zero signal edge as the home position upon leaving the area, and then stops.  
The moving velocity is set to the value in the #13 Homing operation: Home sensing feed velocity 1  
parameter.  
(5) Second home sensing move  
The second home sensing move is executed in two steps.  
1) Preparation move  
The rotor moves as far as diametrically opposite the Zero signal edge in the opposite direction of the Zero  
signal edge search direction that was used in the first home sensing move.  
The moving velocity is set to the value in the #13 Homing operation: Home sensing feed velocity 1  
parameter.  
2) Zero signal edge search move  
The rotor moves until it finds the Zero signal edge in the Zero signal edge search direction that was used in  
the first home sensing move.  
The moving velocity is set to the value in the #13 Homing operation: Home sensing feed velocity 1  
parameter.  
(6) Home position move  
The home position is moved to the detected Zero signal edge position. Motors that use software Zero signals  
further perform a second corrective move.  
The moving velocity is determined internally by the driver.  
(7) Home position offset move  
The home position is moved for the distance given by the value set in #29 Offset distance from the Home  
position parameter, after which the operation coordination command value is set to the value given in #30  
Homing complete operation command value parameter.  
The moving velocity is set to the value in #15 Homing operation: Origin position offset feed velocity  
parameter.  
For the homing move to be completed normally, the distance between the home position proximity area and the  
Zero signal edge must be within a specific range based on the value of #358 Z-phase signal pulse interval  
monitor. The reference value differs depending on the method by which the Zero signal (hardware or software  
Zero signal) is generated.  
At the first home sensing move, the distance to the first Zero signal edge after passing through the home position  
proximity area (pulse amount) has been measured and written in #318 Homing operation: The measured  
value monitor. If this value does not satisfy the equations below, an error or warning will occur. In that case, the  
home position proximity dog should be adjusted and the homing move should be performed again. Repeat these  
steps until the operation is completed normally.  
5-6  
[Hardware zero signal type]  
318 value  
318 value  
318 value  
318 value  
318 value  
0.05*358 value  
0.1 *358 value  
0.7 *358 value  
0.75*358 value  
error  
0.05*358 value  
0.1 *358 value  
0.7 *358 value  
0.75*358 value  
warning  
normal  
warning  
error  
[Software zero signal type]  
318 value  
318 value  
318 value  
318 value  
318 value  
0.05*358 value  
0.1 *358 value  
0.4 *358 value  
0.45*358 value  
error  
0.05*358 value  
0.1 *358 value  
0.4 *358 value  
0.45*358 value  
warning  
normal  
warning  
error  
5
5-7  
Functions  
5
#20 = 0  
#21 = 0  
Homing direction  
(-) direction  
Not used  
Enable/disable the over-travel  
signal under the homing mode  
Homing operation:  
Origin inside selection  
Enabling the proximity signal  
during OT search under  
the homing mode  
- Operation example 1 -  
#25 = 1  
#26 = 0  
Inside  
Invalid  
(2)  
(4)  
(3)  
Homing from  
(5)-1  
outside of the  
proximity area #29 = 0  
(5)-2  
Offset distance from the Home  
position  
0
(6)  
#202 = 1 Coordinate (+) direction setting  
Home position  
proximity signal  
(+) direction  
(Initial value setting)  
Zero signal  
#20 = 0  
#21 = 0  
Homing direction  
Enable/disable the over-travel Used  
signal under the homing mode  
(+) direction  
(3)  
#25 = 1  
#26 = 0  
Homing operation:  
Origin inside selection  
Enabling the proximity signal Invalid  
during OT search under  
Inside  
(4)  
Homing from  
outside of the  
proximity area  
(5)-1  
(5)-2  
(6)  
the homing mode  
#29 = positive value  
Offset distance from the Home  
- Operation example 2 -  
position  
#202 = 1  
Coordinate (+) direction  
setting  
(1)  
(2)  
(3)  
(5)-1  
(4)  
(6)  
(-) direction over  
travel signal  
(7)  
Home position  
proximity signal  
(+) direction  
Zero signal  
#20 = 0  
#21 = 0  
Homing direction  
Enable/disable the over-travel Not used  
signal under the homing mode  
(-) direction  
#25 = 1  
#26 = 0  
Homing operation:  
Origin inside selection  
Enabling the proximity signal Invalid  
during OT search under  
Inside  
- Operation example 3 -  
the homing mode  
#29 = negative value  
Offset distance from the Home  
(2)  
(3)  
(5)-1  
(6)  
(4)  
(5)-2  
position  
Coordinate (+) direction setting  
#202 = 1  
(7)  
Home position  
proximity signal  
(+) direction  
Zero signal  
- Operation example 4 -  
(4)  
(2)  
(3)  
(5)-1  
(5)-2  
(6)  
Home position  
proximity signal  
(+) direction  
Zero signal inside  
Zero signal outside  
#20 = 0  
#21 = 0  
Homing direction  
(-) direction  
Not used  
Enable/disable the over-travel  
signal under the homing mode  
Homing operation:  
Origin inside selection  
Enabling the proximity signal  
during OT search under  
the homing mode  
#25 = 0  
#26 = 0  
Outside  
Invalid  
#29 = 0  
Offset distance from the Home  
position  
0
#202 = 1 Coordinate (+) direction setting  
5-8  
5.2.5 Mechanical Setting Mode  
This is a special mode for changing parameters related to the mechanical settings. Parameters #200 to #299 can  
be changed only when this operation is being executed. In addition, once started, this operation cannot be  
stopped. After you finish changing the necessary parameters, turn the power to the driver off and on again.  
Note that if you change these parameters, the changed values are not reflected until after the power is turned on  
again. Therefore, please note that if you try to read a parameter value after you change the parameter, the value  
before the change is read until you turn the power off and on again.  
5.3 Coordinate System  
5.3.1 Coordinate System  
The driver controls the position of the motor by three coordinate systems with different units: a command unit  
coordinate system, and a pulse coordinate system.  
The pulse coordinate system manages the coordinate values in units of pulses that can be detected by the encoder  
resolver. The position control part of the driver controls the motor based on these coordinate values. It has a  
command value and a current value, and they are always updated and displayed in the #320 Pulse position  
command value monitor and #321 Pulse position current value monitor, respectively.  
The command unit coordinate system manages coordinate values in the amount of pulses on the controller  
interface. The position command values that occur in the driver itself (test operation, auto-tuning operation,  
homing operation, jog move operation) are also processed based on these coordinate values. The command unit  
coordinate system has command values and current values, each of which are constantly updated and displayed  
in the #323 Command unit command value monitor and the #370 Command unit current value monitor,  
respectively.  
5.3.2 Switching Position Command Pulse Weights  
The position command value instructed from the controller interface is given to the driver by any pair of the  
(PLS, SIGN), (UP, DOWN) and (A, B) signals, which is then reflected in the command unit command value.  
Normally, the pulse position command value inside the driver for a single pulse on the controller interface  
becomes the value set with the #207 Simplified scaling weighted data parameter. For example, if the setting  
value is 4, a single pulse on the controller interface will be equivalent to 4 pulses inside the driver.  
In addition, the command unit current value is output from the driver by either the (UP, DOWN) or (A, B) signal.  
The pulse position current value inside the driver for a single pulse on the controller interface always becomes  
the value set with the #207 Simplified scaling weighted data parameter. For example, if the setting value is 4,  
a single pulse on the controller interface will be equivalent to 4 pulses inside the driver.  
While the input signal “PLS_DIRECT” is on, the position command value instructed from the controller  
interface is independent of the value set with the #207 Simplified scaling weighted data parameter; a single  
pulse on the controller interface will be a single pulse inside the driver, instead. However, do not change the  
status of any of the (PLS, SIGN), (UP, DOWN) and (A, B) signals for 2 msec each before and after switching the  
input signal “PLS_DIRECT” (off on, on off).  
5
[Related parameters]  
#207 Simplified scaling weighted data  
5-9  
Functions  
5
5.4 Control System  
In this section, the position control part, velocity control part, and feed forward of the driver are explained.  
The block diagram of the control system is shown below.  
Position  
control part  
Velocity  
control part  
Feed forward  
56  
Acceleration  
feed forward  
364  
Velocity  
command value  
after filtering  
(digital)  
55  
Velocity feed  
forward  
Integral main  
switch  
365  
Velocity error  
(digital)  
363  
Velocity value  
(digital)  
54  
Position feed  
forward  
50  
48  
155  
361←#51  
49  
Velocity  
proportional  
gain  
153,#154  
360  
Motor  
position  
152  
387  
Motor linear  
coordinate  
command  
value  
221  
Proportio  
nal  
control  
Velocity  
First order delay  
compensation  
device setting  
Motor  
mechanical  
system  
Notch  
filter 2Ch  
command  
filter  
53  
Position  
integral  
366  
Velocity current  
value  
Integral  
control  
Velocity  
feedback filter  
Velocity  
sensor  
365  
Velocity current value  
limiting value  
after filtering  
219,#220  
356  
Differential  
feedback  
389  
388  
Motor linear  
Motor linear coordinate  
355  
coordinate  
deviation  
current position  
Position  
sensor  
321  
203  
59  
Position  
current  
Pulse position current value  
value filter  
384  
320  
Motor linear coordinate  
current value after filtering  
Pulse position command value  
322  
Pulse position deviation  
5-10  
5.4.1 Velocity Control Part  
For the velocity control bandwidth, either the value set with the #51 Velocity control bandwidth 1 parameter or  
the #49 Velocity control bandwidth 2 parameter is selected, according to the status of the controller interface  
input signal IN_GAIN. The selected value is displayed in the #376 Velocity control bandwidth monitor.  
The velocity control part calculates the #361 Velocity proportional gain monitor value from the #155 Load  
inertia/load mass parameter value, which is either measured and set by an auto-tuning operation or entered  
directly as a numerical value, according to the velocity control bandwidth value. During this process, the  
frequency characteristics of neither the velocity feedback filter nor the notch filter are considered but only the  
frequency characteristic of the first order delay compensation device is considered to calculate the velocity  
proportional gain.  
The first order compensation device can be set in four ways via the #152 First order delay compensation  
device setting parameter. The first order delay compensation device has the effect that it improves the gain  
characteristics of the velocity control part. The frequency characteristics for each setting of the first order  
compensation device is shown below. Note that there is no frequency dependency when the first order  
compensation is not set.  
There are two channels available for the notch filter (optional). The central frequency value can be set  
independently for each channel via the #153 Notch filter: Frequency selection 1 and #154 Notch filter:  
Frequency selection 2 parameters. The notch filter has the effect that it improves the gain characteristics of  
mechanical systems that tend to resonate.  
The velocity feedback filter can be enabled or disabled by setting the #219 Enable/Disable velocity feedback  
filter parameter. When enabled, the filter bandwidth can be set in the #220 Velocity feedback filter bandwidth  
parameter. The velocity feedback filter is effective in eliminating noise at motor operation, but with a small  
bandwidth the velocity control part tends to oscillate.  
The filter bandwidth of the velocity command filter can be set in the #221 Velocity command filter bandwidth  
parameter. The velocity command filter helps achieving smoother acceleration/deceleration, but with a small  
bandwidth the position control part tends to oscillate.  
[Related parameters]  
#51  
Velocity control bandwidth  
#152 First order delay compensation device setting  
#153 Notch filter: Frequency selection 1  
#154 Notch filter: Frequency selection 2  
#155 Load inertia/load mass  
20Hz/80Hz  
30Hz/120Hz  
40Hz/160Hz  
#219 Enable/Disable velocity feedback filter  
#220 Velocity feedback filter bandwidth  
#221 Velocity command filter bandwidth  
20Hz/80Hz  
30Hz/120Hz  
40Hz/160Hz  
5
[Frequency characteristics of the first order  
delay compensation device]  
5-11  
Functions  
5
5.4.2 Position Control Part  
For the position control bandwidth, either the value set with the #50 Position control bandwidth 1 parameter or  
the #48 Position control bandwidth 2 parameter is selected, according to the status of the controller interface  
input signal IN_FN. The selected value is displayed in the #375 Position control bandwidth monitor.  
The position control part calculates the proportional control gain, integral control gain, and differential feedback  
gain, according to the position control bandwidth value.  
The position integral limiter set by the #53 Position integral limiting value parameter is effective in suppressing  
integrator windup due to motor torque and thrust saturation. Decrease the value in order to suppress windup  
further. On the other hand, if you set the value too small, the motor torque and thrust are limited; set a value as  
large as possible in the range where windup does not occur.  
The integral operation of the position control part can also be set either to be active (allow) or inactive (prohibit).  
If you clamp the motor with an external device when the motor is stopped, the integral operation should be  
prohibited after clamping in order to prevent overloading the controller. Refer to Chapter 6 “Controller  
Interface” and Chaper 7 “RS232C Interface” for details of the operation.  
The position current value filter outputs the result obtained by filtering the position current value to the #384  
Motor linear coordinate current value after filtering monitor. The filter bandwidth is set with the #59  
Position current value filter frequency parameter. The position control part outputs a value before or after  
being filtered to the #321 Pulse position current value monitor, according to the setting status of the #203  
Using position current value filter parameter. It also calculates the value of the #322 Pulse position  
deviation monitor, using the current value before or after being filtered, according to the setting status of the  
#203 parameter.  
[Related parameters]  
#50  
#48  
#53  
#59  
Position control bandwidth 1  
Position control bandwidth 2  
Position integral limiting value  
Position deviation filter frequency  
#203 Using position current value filter  
5.4.3 Feed Forward  
Three types of feed forward functions are available: position feed forward, velocity feed forward, and  
acceleration feed forward. Feed forward function is effective for quick positioning.  
The position feed forward can be set by percentage in the #54 Position feed forward percentage parameter.  
The position feed forward makes the position deviation at equal velocity move smaller and helps to achieve a  
smooth settling at acceleration/deceleration.  
The velocity feed forward can be set by percentage in the #55 Velocity feed forward percentage parameter.  
The acceleration feed forward calculates the acceleration feed forward gain from the #155 Load inertia/load  
mass parameter values, which are measured and set by the auto-tuning operation or set directly by numerical  
values, based on the #56 Acceleration feed forward gain parameter. #56 parameter is given as a percentage.  
[Related parameters]  
#54  
#55  
#56  
Position feed forward percentage  
Velocity feed forward percentage  
Acceleration feed forward percentage  
#155 Load inertia/load mass  
5-12  
5.4.4 Servo Stiffness Parameter  
The #38 Servo stiffness settings parameter is for general settings for the control system. The control  
parameters are set based on this parameter after measuring the load inertia/load mass in the auto-tuning  
operation.  
If #38 is changed, either one of the position control bandwidth parameters (#50, #48) selected by IN_FN and  
either one of the velocity control bandwidth parameters (#51, #49) selected by IN_GAIN are set. In addition, the  
gain of the control system is set automatically, and the position integral limiting value parameter (#53) is also  
automatically set to the minimum position integral limiting value that can generate the maximum torque and the  
maximum thrust in the motor lock status. It is not necessary to set parameters related to feed forward and filters  
again.  
[Related parameters]  
#38  
#50  
#48  
#51  
#49  
#53  
Servo stiffness settings  
Position control bandwidth 1  
Position control bandwidth 2  
Velocity control bandwidth 1  
Velocity control bandwidth 2  
Position integral limiting value  
5
5-13  
Functions  
5
5.5 Acceleration/Deceleration Function  
This driver performs trapezoidal moves during jog moves and homing moves, and uses the  
acceleration/deceleration function described in this section.  
In addition, it has a velocity override function for switching velocity during a move, which works in real time  
even during the move (real time velocity override function).  
The maximum velocity of the motor is defined in #213 Maximum velocity, but is limited by the maximum  
velocity defined within the driver. The limited value is displayed in the #357 Maximum velocity monitor.  
5.5.1 Velocity Override Function  
The velocity override value is set with the #16 Velocity override percentage 1 parameter.  
The velocity override value can be set in increments of 0.01% from 0 to 200%. Please note that if a value greater  
than 100% is set, the velocity during the move may exceed the maximum velocity, which may cause an error.  
How the velocity override is applied differs for the trapezoidal move and cam profile move.  
[Related parameters]  
#16  
Velocity override percentage 1  
5-14  
5.5.2 Velocity Profile  
In a trapezoidal motion, the acceleration of the moving part follows the acceleration type set by the #4 Selecting  
acceleration type parameter until it reaches the feed velocity. Hereafter, the move is continued with the feed  
velocity, then decelerates and stops according to the deceleration type set by the #5 Selecting deceleration  
type parameter. The feed velocity varies depending on the operation.  
The acceleration and deceleration types can be selected separately. There are two options for acceleration and  
deceleration: a constant acceleration type and an S-shaped type (where the acceleration/deceleration follows  
a second order spline). Generally, the S-shaped type can limit vibrations in the machine better, but the peak  
torque or peak thrust at acceleration/deceleration become greater and a correspondingly larger motor torque or  
motor thrust will be required.  
The acceleration/deceleration time can also be selected separately. The values of the #7 Acceleration time  
during a trapezoidal move and #8 Deceleration time during a trapezoidal move parameters are set to  
values equivalent to the maximum velocity shown in the #357 Maximum velocity monitor. The actual  
acceleration/deceleration time becomes the value obtained by multiplying the maximum velocity by the velocity  
ratio during a trapezoidal move. By doing so, the same acceleration can be maintained without changing #7 and  
#8 even when the feed velocity setting is changed.  
Waiting for trigger  
Waiting for trigger  
200ms/div  
200ms/div  
NORM:5kS/s  
NORM:5kS/s  
#8 Deceleration time during a  
trapezoidal move  
#7 Acceleration time during a  
trapezoidal move  
Maximum velocity  
Maximum velocity  
Feeding Velocity  
Actual acceleration time  
Actual deceleration time  
[Constant  
acceleration]  
Feeding Velocity  
[Acceleration]  
[Deceleration]  
Waiting for trigger  
Waiting for trigger  
200ms/div  
NORM:5kS/s  
200ms/div  
NORM:5kS/s  
#7 Acceleration time during a  
trapezoidal move  
#8 Deceleration time during a  
trapezoidal move  
Maximum velocity  
Maximum velocity  
Feeding Velocity  
Actual acceleration time  
Actual deceleration time  
[S-shaped]  
5
Feeding Velocity  
[Acceleration]  
[Deceleration]  
5-15  
Functions  
5
The feed velocity during a move becomes the commanded velocity multiplied by the velocity override value.  
If the velocity override value is changed during a move, the moving part is accelerated at the same acceleration  
profile and acceleration as the normal acceleration time when the velocity override value is increased. In the  
same way, the moving part is decelerated at the same deceleration profile and deceleration as the normal  
deceleration time when the velocity override value is decreased.  
Waiting for trigger  
Waiting for trigger  
500ms/div  
500ms/div  
NORM:2kS/s  
NORM:2kS/s  
150%  
150%  
100%  
100%  
0%  
0%  
[Acceleration: s-shaped, deceleration: constant acceleration]  
[Related parameters]  
#3  
#4  
#5  
#7  
#8  
Selecting the type of cam profile move  
Selecting the acceleration type  
Selecting the deceleration type  
Acceleration time during a trapezoidal move  
Deceleration time during a trapezoidal move  
5-16  
5.6 Other Functions  
5.6.1 Settling Wait, Position Settling Status, and Positioning Status  
Position settling status refers to the status where the position deviation (pulse coordinates) is within the  
specified range in the pulse coordinate system. The specified range is set with the #58 Position settling pulse  
width 1, #45 Position settling pulse width 2, #46 Position settling pulse width 3, and #47 Position settling  
pulse width 4 parameters in pulse units, which are selected by the controller interface input signal  
IN_POSW[1..0]. The selected value is then displayed in the #377 Position settling width monitor. The #322  
Pulse position deviation monitor is used for the position deviation to be evaluated. The position settling status  
is set when the absolute value of position deviation becomes shorter than the position settling width for the  
duration set with the #61 Position settling signal chattering processing count parameter. The check cycle is  
2 msec. If chattering occurs in a “COIN” due to an overshoot during position settling, depending on the load  
status, the settling condition can be obtained without fail by increasing the chattering processing count. The  
position settling status is displayed in the #328 Position settling status monitor. It is also displayed with the  
“COIN” LED on the front panel: it turns on to indicate the position settling status. Furthermore, it is output to the  
“COIN” of the CN3 analog monitor interface by a digital signal.  
Positioning status is the status where an acceleration/deceleration command for a move is completed and in  
position settling status. The positioning settling status is displayed in the #329 Positioning status monitor.  
Settling wait is a function invoked to keep on waiting until the positioning status is reached at the end of a move.  
Settling wait can be made in two ways depending on the operation: never perform settling wait or always  
perform settling wait.  
Operation  
Never perform  
Always perform  
Jog move, test operation, auto-tuning operation  
Homing move  
[Related parameters]  
#58  
#45  
#46  
#47  
#61  
Positioning settling width 1  
Positioning settling width 2  
Positioning settling width 3  
Positioning settling width 4  
Position setting signal chattering processing count  
#203 Using position current value filter  
5
5-17  
Functions  
5
5.6.2 Velocity Monitor and Analog Monitor  
The current velocity value of the motor is output to “VEL” of the CN3 analog monitor interface as the velocity  
monitor signal.  
The signal sensitivity of the velocity monitor ([V/rps] in case of a rotating DYNASERV motor and [V/mps] in  
case of a linear LINEARSERV motor) can be obtained by multiplying the #69 Velocity monitor gain parameter  
setting by the #356 Digital velocity sensitivity monitor value. For example, if the setting of #69 is 6.55V/8192  
digits and the value of #356 is 4800 [digit/rps] in a rotating motor, the signal sensitivity of the velocity monitor is  
3.84 [V/rps]. The velocity monitor signal is output in the range of ± 6.55V.  
Moreover, it is possible to output only the AC element of the current velocity value of the motor via the setting  
of the #75 Velocity monitor selection parameter.  
One of the data items below is output to “AMON” of the CN3 analog monitor interface as an analog monitor  
signal.  
The content of the analog monitor can be selected by the #70 Analog monitor selection parameter. Depending  
on the selected content, the signal sensitivity is adjusted using the corresponding monitor gains #71 to 74. The  
analog monitor signals are output in the range of ± 6.55V.  
Analog monitor selection  
Position deviation  
Test operation response  
Position command value  
Position current value  
Unit  
Pulse  
Pulse  
Pulse  
Pulse  
pps  
Monitor gain  
#71 Positioning error monitoring gain (Analog monitor)  
#72 Test operation monitoring gain (Analog monitor)  
#73 Position monitoring gain (Analog monitor)  
Position command differential value  
Position current differential value  
#74 Position differential value monitor gain (Analog  
monitor)  
pps  
[Related parameters]  
#69  
#70  
#71  
#72  
#73  
#74  
Velocity monitoring gain  
Analog monitor selection  
Positioning error monitoring gain (Analog monitor)  
Test operation monitoring gain (Analog monitor)  
Position monitoring gain (Analog monitor)  
Position difference value monitor gain (Analog  
monitor) #74  
#75  
Velocity monitor selection  
5.6.3 Brake Signal  
BRK+ and BRK- are output to the TB2 external sensor interface as brake signal outputs that operate linked to  
the Servo ON status. The brake signal is a relay contact output. The contact opens when the brake should be  
applied such as when the power is disconnected or the driver is in Servo OFF status, and the contact short  
circuits when the brake should be released.  
The Servo ON status and the brake signal operate according to the timing diagram shown below via the #89  
Brake turn OFF delay time upon Servo ON and #90 Advanced brake turn ON before Servo OFF  
parameters.  
ON  
Servo ON status  
OFF  
Open-circuit  
Brake signal  
Short-circuit  
#89  
#90  
[Related parameters]  
#89  
#90  
Brake turn OFF delay time upon Servo ON  
Advanced Brake turn ON before Servo OFF  
5-18  
5.7 Special Parameter Processing  
The setting values of the parameters listed below are automatically changed inside the driver by the operation of  
the driver.  
5.7.1 Internal Generation of Parameter Initial Values  
The initial values of all of the following parameters when they are reset will be generated internally by the  
motor:  
[Related parameters]  
#9  
Feeding velocity  
Value obtained by converting the motor rating velocity  
into command units.  
#10  
#11  
#12  
#13  
#15  
#31  
#32  
Jog velocity  
Value obtained by converting the motor rating velocity  
into command units.  
Value obtained by converting the motor rating  
velocity0.1 into command units.  
Value obtained by converting the motor rating  
velocity0.1 into command units.  
Value obtained by converting the motor rating  
velocity0.05 into command units.  
Value obtained by converting the motor rating  
velocity0.1 into command units.  
Value obtained by converting the motor rating  
velocity0.002 into command units.  
Value obtained by converting the motor rating  
velocity0.02 into command units.  
Value obtained by converting the motor rating velocity  
into command units.  
Over-travel search velocity during a homing  
move  
Homing operation: Home sensor proximity  
signal search velocity  
Homing operation: Home sensing feed  
velocity 1  
Homing operation: Origin position offset  
move feed velocity  
Operation width under testing mode  
Operation width under Auto-tuning  
#213 Maximum velocity  
#207 Simplified scaling weighted data  
DM: 4  
DR: 2  
#58  
Positioning setting width  
1: Pulse width equivalent to command unit * 1  
2: Pulse width equivalent to command unit * 5  
3: Pulse width equivalent to command unit * 20  
4: Pulse width equivalent to command unit * 100  
5.7.2 Limiting and Checking Maximum Velocity When Changing Simplified Scaling  
Weighted Data and Maximum Velocity Parameters  
The following maximum velocity limiting and checking are performed during processing when the power is  
turned ON after simplified scaling weighted data is changed.  
Limit item 1) A limit is set when the maximum velocity in command units [unit/s] exceeds 9999999.  
2) A data checksum error is generated when the maximum velocity in pulse units [pls/s] exceeds  
8000000.  
5
5-19  
Functions  
5
5.7.3 Auto Conversion and Clear Functions When Changing Simplified Scaling  
Weighted Data  
When simplified scaling weighted data is changed, the following parameters are automatically converted:  
[Related parameters]  
#9  
Feeding velocity  
#10  
#11  
#12  
#13  
#15  
#29  
#31  
#32  
#58  
#45  
#46  
#47  
Jog velocity  
Over-travel search velocity during a homing move  
Homing operation: Home sensor proximity signal search velocity  
Homing operation: Home sensing feed velocity 1  
Homing operation: Origin position offset move feed velocity  
Offset distance from the Home position  
Operation width under testing mode  
Operation width under Auto-tuning  
Positioning setting width  
Positioning setting width2  
Positioning setting width3  
Positioning setting width4  
#213 Maximum velocity  
5.7.4 Limiting the Maximum Parameter Values  
Limit processing is performed for the following parameters related to velocity at the time of parameter entry and  
when the power is turned ON.  
[Related parameters]  
#9  
Feeding velocity  
#10  
#11  
#12  
#13  
#15  
Jog velocity  
Over-travel search velocity during a homing move  
Homing operation: Home sensor proximity signal search velocity  
Homing operation: Home sensing feed velocity1  
Homing operation: Origin position offset move feed velocity  
[At the time of parameter entry]  
If a parameter value exceeds #357 Maximum velocity monitor value when it is set by the user, it will be  
processed as out of range data. However, limit processing is not performed in the hold-on state (while  
downloading parameters), when changing the simplified scaling weighted data, or when changing the maximum  
velocity data.  
[When the power is turned ON]  
During processing when the power is turned ON after simplified scaling weighted data or maximum velocity  
data is changed, a limit is applied using the value equivalent to the #357 Maximum velocity monitor that is  
successively initialized.  
5-20  
Chapter 6  
Control Interfaces  
6.1  
Terminal Function  
6.1.1  
Connection, Setting, and I/O Mapping  
Explanation of Terminals  
Electrical specifications  
I/O logic setting  
6.1.2  
6.1.3  
6.1.4  
6.2  
6.3  
6.4  
Position Command Pulse Input  
Encoder Pulse Output  
Operations  
6.4.1  
6.4.2  
6.4.3  
Starting an Operation  
Aborting an Operation  
Timing Charts  
6.5  
Other Inputs  
6.5.1  
6.5.2  
6.5.3  
6.5.4  
6.5.5  
6.5.6  
6.5.7  
6.5.8  
Pulse Weight Selection PLS_DIRECT  
Position Control Bandwidth Selection FN  
Velocity Control Bandwidth Selection GAIN  
Settling Width Selection POSW [1..0]  
Disable Position Control Integral Operation PACT  
Error reset (ERR_RESET)  
Servo ON SERVO  
Current Limit Input  
6-1  
Control Interfaces  
6
6.1 Terminal Function  
6.1.1 Connection, Setting, and I/O Mapping  
CN4  
Made by Honda Tsushin Kogyo  
Connector PCR-S36FS  
Cover  
PCR-LS36LA  
19 IN_ERR_RESET  
01  
02  
03  
04  
05  
06  
07  
08  
09  
10  
11  
12  
13  
14  
15  
16  
17  
18  
COMP1  
20  
21  
22  
23  
24  
25  
26  
27  
28  
29  
30  
31  
32  
33  
34  
35  
36  
IN_SERVO  
IN_MODE_START  
IN_ABORT  
IN_MODE. 0  
IN_MODE. 1  
IN_POSW. 0  
IN_POSW. 1  
IN_GAIN  
COMN1  
OUT_DRDY  
OUT_SRDY  
OUT_BUSY  
OUT_XOVL  
OUT_OVER  
OUT_COIN  
UA_OUT+  
UA_OUT-  
DB_OUT+  
DB_OUT-  
Z_OUT+  
IN_FN  
IN_PLS_DIRECT  
IN_PACT  
(NC)  
(NC)  
Z_OUT-  
CRNT_LMT_IN+  
CRNT_LMT_IN-  
(NC)  
PUA_IN+  
PUA_IN-  
SDB_IN+  
SDB_IN-  
Note) Do not connect any terminal with NCs.  
(NC)  
6-2  
6.1.2 Explanation of Terminals  
Signal name  
Description  
Contact input signals Total 12 points  
Starts operation when setting from  
OFF to ON.  
Stops operation when setting from  
OFF to ON.  
IN_MODE_START  
IN_ABORT  
1
1
Operation start command  
Operation abort command  
IN_MODE1, 0  
2
1
Operation mode number  
Pulse weight selection  
IN_PLS_DIRECT  
Changes the position control  
bandwidth.  
IN_FN  
1
Position control bandwidth selection  
Changes the velocity control  
bandwidth.  
Switches the settling width.  
IN_GAIN  
1
2
1
Velocity control bandwidth selection  
Settling width selection  
IN_POSW1, 0  
IN_PACT  
Position control integral operation  
disabled  
Disables the integral operation by  
turning ON.  
Executes error status reset when  
setting from OFF to ON.  
IN_ERR_RESET  
1
1
Error reset  
Servo ON  
IN_SERVO  
Servo ON by turning ON.  
Contact output signals Total 6 points  
Turns ON when it is not in the error  
status.  
Turns ON when it is in the servo ready  
status.  
OUT_DRDY  
OUT_SEDY  
1
1
Driver ready  
Servo ready  
Turns ON when position deviation  
overflow or excessive velocity occurs.  
OUT_OVER  
OUT_XOVL  
OUT_COIN  
1
1
1
Over signal  
Overload signal  
Position settling signal  
Turns OFF when overload occurs.  
Turns ON when the position deviation  
is within the settling width.  
The status where operation cannot be  
performed according to the pulse train  
position command.  
OUT_BUSY  
1
Busy  
Position command pulse input signals  
Total 2 pairs  
PLS, UP, or A, depending on the  
setting  
SIGN, DOWN, or B, depending on the  
setting  
1
1
Position command pulse 1  
Position command pulse 2  
PUA_IN ±  
SDB_IN ±  
Position current pulse output signals  
Total 3 pairs  
1
1
1
Position current pulse 1  
Position current pulse 2  
Origin pulse  
UP or A, depending on the setting  
UA_OUT ±  
DB_OUT ±  
Z_OUT ±  
DOWN or B, depending on the setting  
Analog input Total 1 pair  
1
Current limit  
0V: 0% to 10V: 100%  
CRNT_LMT_IN ±  
6
6-3  
Control Interfaces  
6
6.1.3 Electrical specifications  
[Interface power supply inputs] COMP1, COMN1  
Input the interface power supply for contact inputs and contact outputs.  
Interface type name  
Rated voltage  
SA  
SB  
12 to 24 VDC (±10%)  
50VCD (±10%)  
[Contact inputs]  
IN_ERR_RESET, IN_SERVO, IN_MODE_START, IN_ABORT, IN_MODE.0, IN_MODE.1,  
IN_POSW.0, IN_POSR.1, IN_GAIN, IN_FN, IN_PLS_DIRECT, IN_PACT  
Vcc  
Interface type name  
Rated voltage  
SA  
SB  
100k  
12 to 24 VDC  
(
±
10%  
)
5 VDC  
(±  
10%)  
COMP1  
4.1 mA/point (at 12 VDC)  
8.5 mA/point (at 24 VDC)  
4.0 mA/point (at 5 VDC)  
Rated input current  
Input impedance  
1k  
470  
0.1  
µF  
IN_*  
3.0kΩ  
1.0kΩ  
SA:2.7k  
PS2805  
SB:1kΩ  
Operation voltage  
(relative to COMP*)  
At OFF 3.0VDC or less  
At ON 9.0VDC or more  
At OFF 1.0VDC or less  
At ON 4.0VDC or more  
Input is ON while current flows into the photocoupler.  
Allowable leak current  
OFF is guaranteed at 1.0 mA or less  
[Contact outputs] OUT_DRDY, OUT_SRDY, OUT_BUSY, OUT_XOVL, OUT_OVER, OUT_COIN  
Vcc  
Interface type name  
Rated voltage  
SA  
SB  
MA8330  
MA8330  
12 to 24 VDC  
(±  
10%  
)
5 VDC  
(±  
10%)  
COMP1  
OUT_*  
1.5k  
Maximum load current  
ON voltage  
0.1A/point, 0.5 A/common  
0.5VDC or less  
2SD1820A  
Leak current at OFF  
0.1mA or less  
SA:8.2k  
PS2805  
COMN1  
SB:1kΩ  
10k  
Output is ON while the output transistor is ON.  
[Position command pulse inputs] PUA_IN ±, SDB_IN ±  
Connect a differential type line driver conforming to the RS422A standard, which is equivalent to AM26LS31.  
(There is also an open collector specification. Please contact our sales department for more details.)  
Vcc  
+
470  
33  
Input is ON when the (+) terminal has a  
higher voltage than the (-) terminal, and  
current flows into the photocoupler  
91  
-
Equivalent to  
AM26LS31  
TLP115A  
470pF  
Controller  
[Position current pulse outputs]  
UA_OUT ±, DB_OUT ±, Z_OUT ±  
Connect a differential type line receiver conforming to the RS422A standard, which is equivalent to AM26LS32.  
+
-
Output is ON when the (+) terminal has  
a higher voltage than the (-) terminal  
Equivalent to  
AM26LS32  
AM26LS31  
Controller  
6-4  
[Current limit analog input] CRNT_LMT_IN ±  
Current 100% at 10 VDC  
Current 0% at 0 VDC  
200k  
200k  
CRNT_LMT_IN+  
CRNT_LMT_IN-  
-
0 to 10VDC  
+
Controller  
6.1.4 I/O logic setting  
For the contact input and contact output signals, it is possible to set the physical I/O status and the logical  
relationship of the driver’s internal signal status in both contact and bit units.  
The input signals IN*** are processed via the I/O logical conversion and are then expressed as a logical input  
signal ***. If the signal status is reached, it is expressed as 1 and if the status is not reached, expressed as 0.  
A logical output signal *** is expressed as 1 if the status is reached and 0 if the status is not reached. After  
conversion via the I/O logical setting, it becomes an output signal OUT_***.  
The I/O logical settings at the time of shipment from the factory are set to positive logic for all input and output  
signals. In other words, the internal input and output signals are set to 1 when the corresponding contact points  
are turned ON. By setting the I/O logical setting for IN_SERVO to negative logic using the PC utility, it is  
possible to connect a PLC interface in the same state as it was shipped from the factory. As a result, an RS232C  
interface can be used to confirm basic operations.  
Refer to Chapter 8 “DrvGII PC Utility” for a description of how to set the I/O logic.  
Driver's internal  
processing  
Logic setting  
Bit I/O status  
Logic signal  
Processing  
by logic  
setting  
Logical input  
signal (***)  
Bit input  
(IN_***)  
0
1
0
1
Status 0  
Status 1  
Status 1  
Status 0  
Positive logic  
setting  
Processing  
by logic  
setting  
Logical  
output signal  
(***)  
Bit output  
(OUT_***)  
Negative logic  
setting  
6
6-5  
Control Interfaces  
6
6.2 Position Command Pulse Input  
The position command value instructed from the controller interface is given to the driver by any pair of the  
(PLS, SIGN), (UP, DOWN) and (A, B) signals, which is then reflected in the command unit command value.  
Which pair of the signals will be used to give a command is set with the #204 Command pulse type  
parameter.  
(PLS, SIGN)  
+ direction - direction  
(UP, DOWN)  
+ direction - direction  
(A, B)  
+ direction  
- direction  
150ns min  
150ns min  
PLS  
UP  
A
B
PUA_IN  
±
SIGN DOWN  
3
µ
s min  
3
µ
s min  
300µs min  
SDB_IN  
±
6
µs min  
The signal should be H when active  
(status for flowing current to the  
Caution driver photocoupler).  
As for the PLS, it should be L when  
normal.  
The signal should be H when active  
(status for flowing current to the  
driver photocoupler).  
As for both the UP and DOWN, they  
should be L when normal.  
The signal should be H when active  
(status for flowing current to the  
driver photocoupler).  
The position command value instructed from the controller interface can change the weight of a single pulse on  
the interface by the input signal “PLS_DIRECT.” When the status of the input signal “PLS_DIRECT” is 0, a  
single pulse on the interface becomes the value set with the #207 Simplified scaling weighted data parameter.  
While the status of the input signal “PLS_DIRECT” is 1, a single pulse on the interface is independent of the  
value set with the #207 Simplified scaling weighted data parameter, and becomes a single pulse inside the  
driver.  
However, do not change the status of any of the (PLS, SIGN), (UP, DOWN) and (A, B) signals for 2 msec each  
before and after switching the input signal “PLS_DIRECT” (off on, on off).  
Status 1  
PLS_DIRECT  
Status 0  
PUA_IN  
±
±
Unchanged  
Unchanged  
Unchanged  
Unchanged  
SDB_IN  
2 msec 2 msec  
or more or more  
2 msec 2 msec  
or more or more  
6.3 Encoder Pulse Output  
The position current value is output from the driver via the controller interface by either pair of the (UP, DOWN)  
or (A, B) signals. Which pair of the signals will be used to output is set with the #205 Monitor pulse type  
parameter.  
The encoder origin signal is independent of this setting.  
(UP, DOWN)  
+ direction - direction  
(A, B)  
+ direction  
- direction  
3MHz max  
UP  
A
B
UA_OUT  
±
750kHz max  
DOWN  
DB_OUT  
±
6-6  
6.4 Operations  
6.4.1 Starting an Operation  
The operation start command via MODE_START instructs the start of operations other than jog moves.  
The operation start command is issued when the status is 1.  
MODE[1..0] must set the number of the operation to be performed when the operation start command is issued  
via MODE_START. See the table below.  
In addition, the value set by MODE[1..1] is read and processed 10ms after the operation start command is issued.  
Therefore, if deviation in time between outputs by the controller is within several msec, the motor can be started  
normally by setting the time earlier than the time of the operation start command issuance via MODE_START.  
However, note that the dead time for issuing the operation start command will be added to this duration (10ms).  
The total dead time until the motor starts operating is thus 10ms (scan time) + 10ms (read delay) + internal delay  
time.  
The BUSY output retains the executing status even when an operation ends while MODE_START is giving a  
command (while in status 1) after an operation is started.  
No.  
0
1
Name  
Test operation  
Auto-tuning operation  
(Reserved)  
End type  
Non-self-end  
Self-end  
2
3
Homing move  
Self-end  
6.4.2 Aborting an Operation  
The operation abort command via MODE_ABORT stops operations other than jog moves.  
The operation abort command is issued when the status is 1.  
The motor immediately decelerates even during an operation involving a move, and ends the operation.  
6
6-7  
Control Interfaces  
6
6.4.3 Timing Charts  
[Self-end type] In case of self-end  
STATUS1  
MODE_START  
STATUS0  
Not necessary  
to consider  
Not necessary  
to consider  
Not necessary  
to consider  
MODE[1..0]  
STATUS1  
BUSY  
STATUS0  
0 or more  
At the end of  
processing  
[Self-end type] In case of end by the operation abort command  
[Non-self-end type]  
STATUS1  
MODE_START  
STATUS0  
Not necessary  
to consider  
Not necessary  
to consider  
Not necessary  
to consider  
MODE[1..0]  
MODE_ABORT  
STATUS1  
STATUS0  
STATUS1  
STATUS0  
BUSY  
0 or more  
0 or more  
[Non-end type]  
MODE_STARTSTATUS1  
STATUS0  
Not necessary  
to consider  
Not necessary  
to consider  
MODE[1..0]  
BUSY  
STATUS1  
STATUS0  
0 or more  
6-8  
6.5 Other Inputs  
6.5.1 Pulse Weight Selection PLS_DIRECT  
When the status of the PLS_DIRECT pulse weight selection input signal is 1, it is independent of the #207  
Simplified scaling weighted data parameter; the position command pulse that is input is directly used as the  
internal position command pulse. For more details, see Section 5.3.2, “Switching Position Command Pulse  
Weights” and Section 6.2, “Position Command Pulse Input.”  
6.5.2 Position Control Bandwidth Selection FN  
The FN position control bandwidth selection signal selects to use either #50 Position control bandwidth 1  
parameter or the #48 Position control bandwidth 2 parameter for the position control bandwidth value.  
Position control bandwidth 2 is selected with status 1, and position control bandwidth 1 is selected with status 0.  
6.5.3 Velocity Control Bandwidth Selection GAIN  
The GAIN velocity control bandwidth selection signal selects to use either #51 Velocity control bandwidth 1  
parameter or the #49 Velocity control bandwidth 2 parameter for the velocity control bandwidth value.  
Velocity control bandwidth 2 is selected with status 1, and velocity control bandwidth 1 is selected with status 0.  
6.5.4 Settling Width Selection POSW [1..0]  
The POSW [1..0] settling width selection signal selects to use either one of #58 and #45 to #47 Position  
settling width pulse 1 to 4 parameters for the settling width used as the specified range for generating settling  
signals.  
POSW [1..0]  
Settling width value  
1
0
Status 0  
Status 0  
Status 1  
Status 1  
Status 0  
Status 1  
Status 0  
Status 1  
#58 Position settling width pulse 1  
#45 Position settling width pulse 2  
#46 Position settling width pulse 3  
#47 Position settling width pulse 4  
6.5.5 Disable Position Control Integral Operation PACT  
The PACT disable position control integral operation signal disables the integral operation of the position control  
part.  
Integral operation is disabled with status 1, and integral operation is enabled with status 0.  
6.5.6 Error reset (ERR_RESET)  
6
The error reset command, ERR_RESET, cancels an error status in the driver. It functions irrespectively of the  
operation mode. It can only be executed while in the idle status.  
The error reset command is issued as the status 1.  
Depending on the error content, there are errors that cannot be canceled or errors that cause identical errors  
immediately after canceling. Avoid creating a program that maintains ERR_RESET and waits until ERR, the  
error status output, is canceled.  
50 ms or more  
Status 1  
ERR_RESET  
Status 0  
6-9  
Control Interfaces  
6
6.5.7 Servo ON SERVO  
The SERVO servo ON input signal is set to servo ON when the status is 1. In addition to this instruction, the  
actual Servo ON/OFF status is affected by the setting of the SRV DS Servo ON disable switch on the front panel.  
See the table below.  
Servo ON/OFF  
SERVO  
SRV DS Servo ON  
disable on the front panel  
Actual servo status  
Disabled  
Enabled  
Disabled  
Enabled  
Status 0  
Status 1  
Servo OFF  
Servo ON  
6.5.8 Current Limit Input  
The current limit analog input signal gives a current limit from 0 to 100%, in proportion to a voltage input of 0 to  
10V given by the external source. To enable this function, enable the #206 Enabling current limit external  
input parameter. This parameter has been disabled by factory default setting.  
6-10  
Chapter 7  
RS232C Interfaces  
7.1  
7.2  
7.3  
7.4  
Overview  
Connection and Setting  
Communication Specifications  
@ Commands  
7.4.1  
Start @3: Field 0  
7.4.2  
7.4.3  
7.4.4  
7.4.5  
7.4.6  
7.4.7  
Stop @2  
Abort @1  
Error reset @4  
Homing offset position setting @10  
Jog move command @11: Field 0  
Other convenient commands  
7.5  
Parameter Commands  
7-1  
RS232C Interfaces  
7
7.1 Overview  
The CN1 RS232C communication connector is provided in order to make connection with host devices such as  
PCs and PLCs via the RS232C. The operation display pendant (abbreviated as TBX, optional device) can also  
be connected to this connector. Refer to Chapter 9, “Operation Display Pendant” for a description of how to use  
the operation display pendant. This chapter explains how to connect the CN1 RS232C communication connector  
to devices other than the operation display pendant.  
In the RS232C interface, two communication modes are available. The first is a single channel  
communication where the connection is made 1:1 with the host device, and the other is a multi-channel  
communication where 1:N communication can be performed by connecting one host device with several of  
these drivers (a maximum of nine). Please note that the connection and operation methods are different for each  
communication mode.  
In addition, the PC utility (optional) running under Windows can also be connected to the drivers via the  
RS232C interface in order to support setting, operation, and maintenance work on the drivers. Refer to Chapter 8,  
“DrvGII PC Utility” for a description of how to use the PC utility.  
7.2 Connection and Setting  
[Connectors and terminal assignment]  
Made by Japan Aviation Electronics  
DELC-J9SAF13L6 (9 pins)  
01  
02  
03  
04  
05  
FG  
06  
07  
08  
XTBXON  
XTBXEMG  
+5V  
Do not use these connections,  
since they are used for the  
operation display pendant.  
RxD  
TxD  
(NC)  
SG  
09 SG  
[Single channel]  
The connection cables (optional) are available according to the PC to be connected (DOS/V, NEC PC98).  
Driver  
DOS/V  
PC  
RxD 02  
SG 05  
TxD 03  
SG 09  
03 TxD  
05 SG  
02 RxD  
Option cable  
CP7576S-020 (2 m)  
D-sub 9-pin male  
Driver  
D-sub 9-pin female  
PC98  
PC  
RxD 02  
SG 05  
TxD 03  
SG 09  
02 TxD  
07 SG  
03 RxD  
04 RTS  
05 CTS  
Option cable  
CP7577S-020 (2 m)  
D-sub 9-pin male  
D-sub 25-pin male  
In order to set the communication mode to the single channel mode, the rotary switch RS-ID on the front panel  
should be turned to “0.” This setting should be made before turning the power on.  
7-2  
[Multi-channel]  
When preparing for multi-channel communication, connect the host device and a maximum of nine drives in a  
loop shape as shown in the figure below.  
PC  
Driver 1  
TxD 03  
SG 05  
RxD 02  
02  
05  
03  
09  
RxD  
SG  
TxD  
SG  
D-sub 9-pin male  
Driver 2  
D-sub 9-pin female  
02  
05  
03  
09  
RxD  
SG  
DOS/V  
TxD  
SG  
D-sub 9-pin male  
Driver 9  
02 RxD  
05 SG  
03 TxD  
09 SG  
D-sub 9-pin male  
Driver 1  
PC  
TxD 02  
SG 07  
RxD 03  
RTS 04  
CTS 05  
02 RxD  
05 SG  
03 TxD  
09 SG  
D-sub 9-pin male  
Driver 2  
02 RxD  
05 SG  
03 TxD  
09 SG  
D-sub 25-pin male  
PC98  
D-sub 9-pin male  
Driver 9  
02 RxD  
05  
SG  
03 TxD  
09 SG  
D-sub 9-pin male  
In multi-channel communication, the host device is assigned to host ID “0.” The drivers should be set as slave  
stations and the IDs should be set for each driver from “1” to “9” in such a way that the station numbers do not  
overlap, using the rotary switch RS-ID on each driver’s front panel. The order of the IDs does not need to be the  
same as the order of connection. This setting should also be made before turning the power on.  
7
7-3  
RS232C Interfaces  
7
7.3 Communication Specifications  
[Communication parameters]  
Communication method  
Communication speed  
Stop bit  
Start-stop system, text communication  
9600 bps  
1 bit  
Data length  
8 bits  
Parity  
None  
Terminate  
Flow control  
CR (both transmission and reception)  
None  
[Single channel and multi-channel]  
Single channel  
Cross  
Unnecessary  
Multi-channel  
Topology  
ID  
Ring  
Host device 0  
Drivers 1 to 9  
Destination specification Unnecessary  
Add the destination ID at the beginning of the packets  
From the host device to drivers: n****CR (n: slave station ID)  
From drivers to the host device: 0n****CR (n: slave station ID)  
[Transmission from the host device to drivers]  
The number of characters to be transmitted should be 128 letters or less, including the slave station ID,  
recognition key, transmission character string, and CR.  
Recognition  
Transmission character string  
Transmission character string  
CR  
CR  
Single channel  
Multi-channel  
key  
Slave  
station ID  
Recognition  
key  
[Response from drivers to the host device]  
The number of response characters should be 128 letters or less, including 0, slave station ID, recognition key,  
transmission character string, and CR.  
Recognition  
Response character string  
Response character string  
CR  
CR  
Single channel  
Multi-channel  
key  
Slave  
station ID  
Recognition  
key  
0
[Recognition key]  
The recognition key is a function provided so that the host device can recognize that a response is a reply to a  
specific transmission by the host device. A maximum of 15 “!” characters can be included in the recognition key  
part. If more than 15 are added, the remainder of the number divided by 16 is processed as the actual recognition  
key number.  
When the host device transmits a message to a driver and attaches N recognition keys to the transmission  
character string, the driver will send a response message back in which it attaches N recognition keys to that  
transmission character string. If, for instance, the host device issues a transmission character string to a driver  
that does not generate an immediate response, the host device may issue the next transmission character string  
before the response is returned. In such cases, it becomes difficult for the host device to recognize to which  
transmission character string the response character string returned afterward is issued. In this case, by issuing  
transmission character strings with different recognition key numbers, it becomes possible to judge to which  
transmission character string a particular response corresponds, simply by obtaining the recognition key number  
as the response is received.  
7-4  
[Transmission character string]  
Transmission character strings are classified as follows. The details about the @ commands and parameter  
commands will be explained separately in Section 7.4, “@ Commands” and Section 7.5, “Parameter  
Commands.”  
Explanation  
Receivable status  
Receivable status changes  
depending on the command.  
Receivable status changes  
depending on the parameter.  
@ commands  
Commands for operating the driver  
Parameter  
commands  
Commands for setting parameters and  
reading parameter/monitor values.  
[Response character string]  
A response character string is structured as follows.  
Response  
Header  
Prompt  
: Field 1  
: Field 2  
: Field 3  
...  
character string  
Space, one character  
Response character strings are classified as follows.  
Header  
structure  
! part  
" part  
Explanation  
Normal response character strings to a  
Number of  
fields  
For the field expression transmission character string.  
General R!"  
method; see the note.  
The number of fields changes depending on  
the content of the response.  
Error  
ERR!!."  
Response character string to a transmission  
character string at error and alarm.  
Fields never exists.  
Error/alarm  
code (main)  
Error/alarm code (sub)  
Alarm  
ALM!!."  
Note: In case of a general response the " part of the field is expressed in one of the following ways:  
0: In case there is no field  
D: Character string expressed in decimal  
B: Binary expression (8, 16, 32 digits)  
H: Hexadecimal expression (2, 4, 8 digits)  
S: Character string  
Z: Other than above (character string, etc.)  
The following shows some examples of response character strings.  
R00  
R1D Position control bandwidth: 12  
R1B Sensor group signal status: 00010000  
ERR30.0 Servo not ready  
ALM60.0  
Cannot interpret command  
7
7-5  
RS232C Interfaces  
7
7.4 @ Commands  
Command  
number  
Command format  
: Field 0  
: Field 1  
: Field 2  
...  
Response at  
normal operation  
Command name  
Command No.  
No. of fields  
Abort  
1
2
0
0
1
0
0
1
Stop  
Start  
3
R00  
Error reset  
4
Homing offset position setting  
Jog move command  
10  
11  
7.4.1 Start @3: Field 0  
Start commands begin operating actions other than jog moves. For argument 0, set a numeric value  
corresponding to the content of the operation to be performed.  
A response is issued when the corresponding operation is complete. In case of operations that do not end by  
themselves, such as test operations, perform the next operation without waiting for the response.  
Operating action name  
Test operation  
Command  
No. of fields  
@3:0  
@3:1  
@3:3  
@3:15  
1
Auto-tuning operation  
Homing move  
1
1
1
Mechanical setting mode  
7.4.2 Stop @2  
Stop commands are used to end operating actions other than jog moves. They can be issued via the RS232C  
interface when the setting of the operation mode has given the main operation authority to the RS232C interface.  
The driver’s response to stop commands varies depending on the current operating action. Refer to the table  
below.  
The response is issued immediately.  
Operating action name  
Test operation  
Auto-tuning operation  
Driver response  
Ends the operation when the motor returns to the start position.  
Ends the operation when the oscillation command to the motor is  
completed.  
Homing move  
Mechanical setting mode  
Immediately decelerate and stop the move, and ends the operation.  
Invalid because this operation cannot be completed (ignored).  
7.4.3 Abort @1  
The abort command stops operating actions other than jog moves. It functions irrespectively of the operation  
mode.  
Unlike with the stop commands, the motor immediately decelerates and stops, and the operating action is ended  
even during an operation that involves movement. When the M function is being executed, the abort command  
stops the execution and ends the operating action.  
The response is issued immediately.  
7.4.4 Error reset @4  
The error reset command cancels error statuses of the driver. It functions irrespectively of the operation mode. It  
can only be run while in the idle status.  
Depending on the error content, there are errors that cannot be canceled or errors that cause the same errors again  
immediately after being canceled.  
The response is issued immediately.  
7-6  
7.4.5 Homing offset position setting @10  
The homing offset position setting command instructs the #29 Offset distance from the home position  
parameter to auto-set so that the current motor position will become the position after homing is completed from  
the next time. It functions irrespectively of the operation mode. It can only be run while in the idle status.  
When the command is issued, the current command unit command value and the value of the #29 parameter at  
that point are added. This value is temporality stored in the #29 parameter.  
The response is issued immediately.  
7.4.6 Jog move command @11: Field 0  
The jog move command is for performing jog operations. This command can be executed in the idle status when  
the #217 Jog move operation: RS232C selection parameter is set so that operations are performed via the  
RS232C interface.  
When field 0 contains “1” a move in the + direction is commanded, when it contains “-1” a move in the -  
direction is commanded, and when it contains “0,” a stop command is issued.  
In the idle status, a jog move is performed as commanded by this command. If a start command is issued during  
a jog move, the move is immediately decelerated and stopped, after which the operation is started. If the  
operation is ended after that, the motor remains stopped regardless of the jog move status before starting the  
operation.  
The response is issued immediately.  
7.4.7 Other convenient commands  
Response at  
normal operation  
Command name  
Command No.  
Number of fields  
Status request  
0
1
0
R3H  
Software driver reset  
96  
None  
[Status request] @0:0  
This command notifies the status of the driver. It functions irrespectively of the operation mode. The response is  
issued immediately.  
Response character string: R3H:driver status:execution program number:execution block number  
Driver status  
Value  
Bit No.  
Content  
0
1
0
1
2
3
Operation mode  
PLC  
RS232C  
Servo ready  
Not ready  
Not being executed  
Ready  
Operation is being executed  
Being executed  
Being executed  
Axis operation is being executed Not being executed  
Mechanical setting mode is  
Not being executed  
being executed  
9
Being executed  
16  
17  
Error status  
Alarm status  
(Reserved)  
Not in error status  
Not in alarm status  
Error status  
Alarm status  
7
Others  
[Software driver reset] @96  
This command is software equivalent to turning the power to the driver off and on.  
There is no response.  
7-7  
RS232C Interfaces  
7
7.5 Parameter Commands  
Through the use of parameter commands, it is possible to refer to values of parameters and monitor (reference  
commands), assign numerical values and variables to parameters (simple setting commands), and assigning  
results of arithmetic operations on numerical values and variables to parameters (calculation result setting  
commands). The response is issued immediately.  
A reference command issues a transmission character string simply containing a variable given directly by #***.  
At normal operation, if a response is generated, a response character string that begins from “R1!” and one data  
is returned.  
In simple setting commands and calculation result setting commands, the left-hand side must be variables  
expressed by #***. The right-hand side can be direct numerical values, or it can contain variables such as a  
parameter/monitor referred to by #***. The response at normal operation is “R00.”  
[Reference commands]  
#!  
Reads the value of parameter #!  
Response character string: R1D ! : !  
Response character string: R1B ! : 00010000  
#!  
Reads the value of monitor #!  
[Simple setting commands]  
#400=!  
Sets ! to variable #400.  
#400=#!  
Sets the value stored in #! to variable #!.  
[Calculation result setting commands]  
The following operands can be used:  
+
-
Addition  
Subtraction  
*
/
Multiplication  
Division  
%
Remainder at integer division  
#! = ! + !  
#! = #! - !  
#! = ! * #!  
#! = #! / #!  
Sets the result of adding ! and ! to variable #!.  
Sets the value obtained by subtracting ! from the value stored in #! to variable #!.  
Sets the result of multiplication of ! and the value stored in #! to variable #!.  
Sets the value obtained by dividing the value stored in #! by the value stored in #! to  
variable #!.  
#! = !%!  
Sets the remainder of ! divided by ! to variable #!.  
7-8  
Chapter 8  
DrvGII PC Utility  
8.1 Overview  
8.1.1 Overview of the Operation Menu  
8.1.2 Overview of the Action Menu  
8.1.3 Overview of the Data Management Menu  
8.2 Installation  
8.2.1 Installation under Windows 95/98/98SE/Me/NT4.0/2000  
8.2.2 Starting the PC Utility  
8.3 Preparation  
8.3.1 Selecting a Communication Port  
8.3.2 Selecting Channels  
8.3.3 Displaying Communication Strings  
8.3.4 Main Menu  
8.4 Operation Menu  
8.4.1 Terminal  
8.4.2 Servo Tuning  
8.4.3 Oscilloscope  
8.5 Action Menu  
8.5.1 Homing  
8.5.2 Jog Move  
8.5.3 Test Operation  
8.6 Data Management Menus  
8.6.1 Parameter Manager  
8.6.2 I/O Set  
8.6.3 Pulse Set  
8-1  
DrvGII PC Utility  
8
8.1 Overview  
The DrvGII PC Utility consists of three components that are accessed from the following menus: “operation  
menu,” “action menu,” and “data management menu.”  
8.1.1 Overview of the Operation Menu  
The operation menu contains the following three functions  
Terminal:  
This menu allows you to send and receive character strings to/from the G2 driver (hereinafter referred to as  
the “driver”), monitor parameters/monitors as well as errors/alarms, and use parameter/command help.  
Servo control:  
This menu allows you to adjust the servo parameters of the motor through auto-tuning and manual tuning. It  
also allows you to adjust various compensation filters.  
Oscilloscope:  
This function displays graphs of time-series of parameter/monitor values.  
8.1.2 Overview of the Action Menu  
In the action menu, you can set and display parameters, display monitors, and start or stop actions related to the  
operations listed below.  
“Homing move,” “jog move,” and “Test operation.”  
8.1.3 Overview of the Data Management Menu  
The data management menu contains the following seven functions:  
Parameter:  
This function allows you to save all the parameters to files and register them from files. It also allows you to  
edit the machine setting parameters.  
I/O set:  
This function allows you to set the logical setting of I/O points.  
Pulse setting:  
This function allows you to perform various parameter settings related to pulses.  
Absolute precision compensation:  
This function allows you to edit, register, and save absolute precision compensation data.  
(This setting is valid if the absolute precision option is set to “yes,” with which the absolute precision of the  
motor is compensated for the entire circumference.)  
8-2  
8.2 Installation  
8.2.1 Installation under Windows 95/98/98SE/Me/NT4.0/2000  
The DrvGII utility (hereinafter referred to as the “PC utility”) runs on Windows 95, 98, 98SE, Me, NT4.0 and  
2000. It can be installed via “Add/Remove Programs” under the “Control Panel” in Windows. If an older version  
of the PC utility is present, delete it first and then install the new version.  
Display the “Properties of Adding/Removing Programs” dialog box and click Set Up (1).” Then proceed  
according to the instructions displayed on the screen. The PC utility setup program starts up.  
Proceed with the setup according to the instructions on the screen. A dialog box for determining the directory in  
which to install the PC utility appears (see Figure 8.1).  
Figure 8.1  
“Choose Destination Location” dialog box  
Click Browseto display the “Select Directory” dialog box and select the desired drive and directory. Click  
Nextto display “Select Program Folder” (see Figure 8.2).  
8
8-3  
DrvGII PC Utility  
8
Figure 8.2  
“Select Program Folder” dialog box  
Select a program folder and click Next.” The installation begins. Follow the instructions on the screen and  
change disks. When the setup is completed, the “Setup Complete” dialog box appear (see Figure 8.3).  
Figure 8.3  
“Setup Complete” dialog box  
To start the program, select “Launch program file” and click Finish.” If you do not want to start the program,  
just click Finish.” If you are prompted to restart the computer, simply follow the message and restart it.  
8-4  
8.2.2 Starting the PC Utility  
In order to start the PC utility under Windows, click the “Start” button, “Program,” “Specified program folder,”  
and then “YOKOGAWA_E” The “Version Information” dialog box (see Figure 8.4) is displayed for several  
seconds, and the PC utility starts up. (By default, the specified program folder is “YOKOGAWA_E”)  
Version of the PC utility  
Figure 8.4  
“Version Information” dialog box  
8
8-5  
DrvGII PC Utility  
8
8.3 Preparation  
Connect the serial port of the PC with the serial port of the driver with a dedicated cable.  
(Do not use any of commercially available cables. Since 5V power is being output from the driver as the power  
supply for the operation display pendant, a breakdown may occur in the PC if such cable is used.)  
8.3.1 Selecting a Communication Port  
When you start the PC utility, the “ComPortSelect” dialog box appears in the left side of the screen (see Figure  
8.5). Change the setting according to the communication port of the connected PC.  
Figure 8.5  
“ComPortSelect” dialog box  
Note: Settings made in the “ComPortSelect” dialog box are stored in a file. It is not necessary to make settings  
from the next time you start the PC utility. Change the setting as necessary.  
8.3.2 Selecting Channels  
When you start the PC utility, the “Communication mode” dialog box appears in the upper left corner of the  
screen (see Figure 8.6). If you are using one driver, select a single channel, and if you are using multiple drivers,  
select multi-channel addresses. (See Chapter 7 for how to make setting on the driver side.)  
Figure 8.6  
“Communication mode” dialog box  
Note: The settings made in the “Communication mode” dialog box are not stored. When the PC utility is started up,  
a single channel is always set.  
8-6  
8.3.3 Displaying Communication Strings  
When you start the PC utility, the “Communication string” dialog box appears in the upper right corner of the  
screen. (See Figure 8.7.) Any strings that the PC utility sends to the driver as well as any strings received from  
the driver are displayed regardless of the menu.  
-> [String sent]  
<- [String received]  
Figure 8.7  
“Communication string” dialog box  
8
8-7  
DrvGII PC Utility  
8
8.3.4 Main Menu  
When you start the PC utility, the “MainMenu” dialog box appears (see Figure 8.8). See the following chapters  
for how to start the actual operation.  
Figure 8.8  
“MainMenu” dialog box  
8-8  
8.4 Operation Menu  
8.4.1 Terminal  
Using this menu, you can send and receive character strings to/from the driver, monitor parameters/monitors as  
well as errors/alarms, and use parameter/command help.  
Click Terminal (T)” under “MainMenu” to display the “Terminal” dialog box (see Figure 8.9).  
Input text field  
Display text area  
Figure 8.9  
Terminal” dialog box  
[Sending/receiving character strings]  
1) Enter a character string in the input text field and press the Enter (Return) key. The character string is sent to  
the driver and, at the same time, displayed in the display text area.  
2) When a character string is received from the driver, it is displayed in the display text area.  
3) If you click “Resend (R),” the character string transmitted last time is sent again.  
4) If you click “Re-edit (P),” the character string transmitted last time is displayed in the input text field.  
5) It is possible to display a maximum of ten transmitted character strings in the order of transmission in the  
input text field by pressing the arrow key on the PC keyboard. By pressing the arrow key, the character  
strings displayed by pressing the arrow key can be displayed in the reverse order.  
8
8-9  
DrvGII PC Utility  
8
(1) Parameter/monitor  
In the “Terminal” menu, click “Parameter/Monitor (M)” under “Monitor” to display the “Parameter/Monitor”  
dialog box (see Figure 8.10).  
If the number of a parameter/monitor you want to monitor is entered in the parameter/monitor number text field,  
the contents and values of the corresponding parameters are displayed. Up to five parameters/monitors can be  
monitored, and they can be switched on and off by clicking their respective switch check boxes (the update cycle  
of the parameter/monitor values can be shortened by decreasing the number of parameters to be monitored).  
Parameter/monitor number text field  
Parameter/monitor  
value  
Contents of  
parameter/monitor  
Figure 8.10  
“Parameter Monitor” dialog box  
8-10  
(2) I/O monitor  
In the “Terminal” menu, click “I/O Monitor (I)” under “Monitor” to display the “I/O Monitor” dialog box (see  
Figure 8.11).  
With the “I/O Monitor” dialog box, it is possible to monitor the on/off status of DI and DO points. It displays the  
status of electrical I/O signals regardless of the I/O logic setting. For reference of DI and DO numbers and signal  
names, see Chapter 6.  
DI status  
Red: on  
Black: off  
Gray: nonexistent  
I/O point  
DO status  
Select DI/DO points to display  
Red: on  
Black: off  
Gray: nonexistent  
I/O point  
Figure 8.11  
“I/O Monitor” dialog box  
8
8-11  
DrvGII PC Utility  
8
(3) Axis signal status display  
In the “Terminal” menu, click “Axis signal status (A)” under “Monitor” to display the “Axis signal status”  
dialog box (see Figure 8.12).  
Via the “Axis signal status” dialog box, it is possible to monitor the axis status, etc. of the driver.  
Green:  
Red:  
on  
off  
Gray:  
nonexistent signal  
Figure 8.12  
“Axis signal status” dialog box  
(4) Error or alarm monitor  
In the “Terminal,” click “Error or Alarm (S)” under “Monitor” to display the “Error or Alarm” dialog box (see  
figure 8.13).  
When an error occurs, this dialog box displays “error message” and shows the error history in the display text  
area. When an alarm occurs, it displays “alarm message” and shows the alarm history in the display text area. In  
the display text area, the error history is displayed first, and a maximum of 16 errors/alarms is displayed.  
Error message  
Alarm message  
Display text area  
Figure 8.13  
“Error or Alarm” dialog box  
8-12  
(5) Parameter/monitor help  
In the “Terminal” menu, click “Parameter/Monitor help (H)” under “List” to display the “Parameter/Monitor  
help” dialog box (see Figure 8.14).  
The Parameter/Monitor help can display the contents of a maximum of ten parameters/monitors. If you click  
“Prev (P),” parameters/monitors with smaller numbers than the currently displayed parameters/monitors are  
displayed. If you click “Next (N),” parameters/monitors with larger numbers than the currently displayed  
parameters/monitors are displayed.  
Figure 8.14  
“Parameter/Monitor help” dialog box  
(6) Command help  
In the “Terminal” menu, click “Command Help (C)” under “List” to display the “Command Help” dialog box  
(see Figure 8.15).  
The Command Help can display the contents of a maximum of ten commands. If you click “Prev (P),”  
commands with smaller numbers than the currently displayed commands are displayed. If you click “Next (N),”  
commands with larger numbers than the currently displayed commands are displayed.  
8
Figure 8.15  
“Command Help” dialog box  
8-13  
DrvGII PC Utility  
8
8.4.2 Servo Tuning  
This menu allows you to adjust the servo parameters of the motor through auto-tuning and manual tuning in  
addition to adjust various compensation filters  
Click “Servo Cntl (S)” on “MainMenu” to display the “Servo Tuning” dialog box.  
Figure 8.16  
“Servo Tuning” dialog box  
(1) Auto-tuning  
1) Set the operation mode to the RS232C operation enable mode, and then turn on the power (see Chapter 5).  
2) Set the motor to Servo ON (the operations until this point must be made before opening the “Servo Tuning”  
dialog box.)  
3) Click “Auto Tuning (A)” to start the auto-tuning.  
Note: The motor performs reciprocating movements in order to estimate the inertia and weight of the load (the  
operation width of the reciprocating movement can be changed in parameter <#32>). Please make sure  
that there are no interfering objects within the range of the operation width.  
4) After performing reciprocating movement for several times, the estimation of the inertia and weight is  
completed and reflected in the parameter for inertia/weight.  
*
By changing the servo stiffness setting parameter, three parameters – the velocity control bandwidth, position  
control bandwidth, and position control integral limiter – are changed and thus the servo stiffness changes.  
(2) Manual tuning  
1) Set the operation mode to the RS232C operation enable mode, and then turn on the power (see Chapter 5).  
2) Set the motor to Servo ON (the operations until this point must be made before opening the “Servo Tuning”  
dialog box.)  
3) Click Test Mode (T)” to enter the test mode.  
Note: The motor performs small width reciprocating movements (the operation width of the reciprocating  
movement can be changed in parameter <#32>). Please make sure that there are no interfering objects in  
the range of the operation width.  
4) In the test mode, the driver monitors the waveform of the motor position by oscilloscope, etc., and  
manipulates three parameters – the velocity control bandwidth, position control bandwidth, and position  
control integral limiter – to tune the servo (see Chapter 5 for more details).  
8-14  
[Other parameters]  
*
The three parameters – position feed forward, velocity feed forward, and acceleration feed forward – have no  
relation with servo stiffness. They are parameters for adjusting the settling time decrease.  
The torque limiter parameter should be changed when limiting the motor torque.  
*
(3) Filter setting  
Click “Filter (F)” under “Servo Tuning” to display the “Filter” dialog box (see Figure 8.17).  
The filter setting is divided into two sections, a first order delay filter setting and a notch filter setting.  
1) To set the first order delay filter: Select one from None, 20/80, 30/120, and 40/160.  
2) To set the notch filter: Manipulate the frequency setting scroll bar and set.  
Clicking the arrows at either end:  
Clicking between the slider bar and an arrow:  
Dragging the slider bar:  
The frequency changes in steps of one.  
The frequency changes in steps of ten.  
The frequency is set to the value at the position to which  
the slider bar is moved.  
*
Refer to Chapter 5 for how to use the filters.  
Slider bar  
Frequency setting  
scroll bar  
Figure 8.17  
“Filter” dialog box  
8
8-15  
DrvGII PC Utility  
8
8.4.3 Oscilloscope  
The oscilloscope displays time-series of parameter/monitor values.  
Click “Oscilloscope (O)” under “MainMenu” to display the “Oscilloscope” dialog box.  
Note: The parameter/monitor information is obtained automatically from the driver when the “Oscilloscope” dialog  
is started. Please wait for a while until it becomes ready for use. (This operation is required only once for the  
initial use.)  
12) Vertical axis range  
Simplified terminal  
selection  
13) Data load  
13) Data save  
12) Vertical axis range  
selection  
12) Auto  
Figure 8.18  
“Oscilloscope” dialog box  
8-16  
[How to use the oscilloscope]  
(1) Click “Log Start” on the “Oscilloscope” dialog box to display the “SetCondition/ELogStart” dialog box  
(see Figure 8.19).  
2) Source selection choice box  
5) Trigger source  
3) Trigger mode  
6) Trigger level  
7) Trigger position  
8) Time  
4) Trigger edge  
9) Set/Start  
Figure 8.19  
“SetCondition/ELogStart” dialog box  
(2) Click the to select the parameters/monitors you want to display in the “source selection choice box.”  
(CH1 to CH4)  
(3) Select a trigger mode.  
Free: Obtains data immediately without using the trigger.  
Single: Obtains data when the trigger conditions are met.  
(4) Select a trigger edge. (Valid when the trigger mode is Single.)  
(5) Click the to select a trigger source. (Valid when the trigger mode is Single.)  
(6) Enter a trigger level. (Valid when the trigger mode is Single.)  
(7) Click the to select a trigger position. (Valid when the trigger mode is Single.)  
(8) Click the to select a time (horizontal axis). (The unit is msec.)  
(9) Click “Set/Start” to return to the “Oscilloscope” dialog box and wait for the completion of data acquisition.  
(10) When the data is obtained, “Start Acquisition” becomes active.  
(11) Click “Start Acquisition” to extract data from the driver and display it in the “Oscilloscope” dialog box.  
Note: If the set trigger conditions are not satisfied and “Start Acquisition” does not become active, click “Log  
Stop” and set the trigger conditions again.  
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(12) The displayed waveform can be reshaped using “Display position selection” and “Vertical axis range  
selection” in the "Oscilloscope" dialog box.  
When "Auto" is clicked at this time, the "Display position selection" value is changed to "5," and the  
"Vertical axis range selection" value is changed automatically to a value that enables to display the entire  
waveform as much as possible without cutting any part of the waveform.  
(13) When "Condition and display" under "Data save" is clicked, the status set in the  
"SetCondition/ELogStart" dialog box as well as the values set by "Display position selection" and "Vertical  
axis range selection" can be saved by assigning a file name.  
In addition, when "Graph" under "Data save" is clicked, the waveform currently being displayed, the status  
set in the "SetCondition/ELogStart" dialog box, and the values set by "Display position selection" and  
"Vertical axis range selection" can be saved by assigning a file name.  
The status set in the "SetCondition/ELogStart" dialog box as well as the values set by "Display position  
selection" and "Vertical axis range selection" are automatically saved in the "oscscope.cnd" file when the  
"Oscilloscope" dialog box is closed. When the dialog box is opened next time, it displays the previous setting  
values.  
(14) When "Condition and display" under "Data load" is clicked, the setting status of the  
"SetCondition/ELogStart" dialog box as well as the values set by "Display position selection" and "Vertical  
axis range selection" are loaded from files, and then displayed. The waveform is cleared at this time and all  
values are set to 0.  
In addition, when "Graph" under "Data save" is clicked, the waveform data, the setting status in the  
"SetCondition/ELogStart" dialog box, and the values set by "Display position selection" and "Vertical axis  
range selection" are loaded from files, and then a waveform is displayed.  
Note: If the trigger condition that has been set cannot be established and "Start acquisition" cannot be activated,  
click "Log stop" and set a new trigger condition again.  
The simplified terminal function is provided in the "Oscilloscope" dialog box. Use this function in order to  
change parameter values or to start an operation.  
8-18  
8.5 Action Menu  
In the operation menu, you can set and display parameters, display monitors, and start or stop actions related to  
the operations listed below.  
“Homing move,” “jog move,” and “Test operation.”  
Click “Drive (D)” under “MainMenu” to display the “DriveMenu” dialog box (see Figure 8.20).  
Figure 8.20  
“DriveMenu” dialog box  
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8.5.1 Homing  
Click “Homing (O)” in the “DriveMenu” dialog box to display the “Homing” dialog box (see Figure 8.21). If the  
connection with the driver is established, the current values of the related parameters are read and can be edited.  
Parameter number  
cell  
2)  
Changed value text  
field  
1)  
Parameter content  
cell  
Parameter value cell  
Figure 8.21  
“Homing” dialog box  
(1) Editing parameters  
1) Click the parameter content cell of the parameter to be changed. The current value is displayed in the  
changed value text field.  
2) Enter a value in the changed value text field and click the Enter (Return) key or click another cell to make the  
new parameter value valid.  
3) Repeat steps 1) and 2) as necessary and click “Set (S)” to set the changed values in the driver. If there is an  
error in the set value, a warning message is displayed and the parameter is read again. Parameters whose  
setting values are erroneous will not be changed; therefore the changed parameters should be verified.  
8-20  
(2) Operation  
The motor can be operated when the operation mode is set to the RS232C operation enable mode (see Chapter 5).  
(When the RS232C operation disable mode is set, some buttons are disabled.)  
[Start]  
1) Set the motor to Servo ON (see Chapter 5).  
2) Click “Start (D).”  
The measured value of the homing is displayed after the homing operation is finished.  
[Abort]  
1) Click “Abort (A).”  
The motor decelerates and stops.  
[Error Reset]  
1) Click “ErrReset (R).”  
Errors that can be recovered are canceled.  
[Simplified terminal]  
1) Click Terminal (T).”  
2) Send or receive character strings.  
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8.5.2 Jog Move  
Click “Jog (J)” in the “DriveMenu” dialog box to display the “JogMove” dialog box (see Figure 8.22). If the  
connection with the driver is established, the current values of the related parameters are read and can be edited.  
Parameter number  
cell  
Changed value text  
field  
Parameter content  
cell  
Parameter value cell  
Figure 8.22  
“JogMove” dialog box  
(1) Editing parameters  
1) Click the parameter value cell of the parameter to be changed. The current value is displayed in the changed  
value text field.  
2) Enter a value in the changed value text field and click the Enter (Return) key or click another cell to make the  
new parameter value valid.  
3) Repeat steps 1) and 2) as necessary and click “Set (S)” to set the changed values in the driver. If there is an  
error in the set value, a warning message is displayed and the parameter is read again. Parameters whose  
setting values are erroneous will not be changed; therefore the changed parameters should be verified.  
8-22  
(2) Operation  
The following operation can be performed when jog move is selected via the RS232C interface (see Chapter 5).  
(When the main operation mode is set to the PLC main operation mode, some buttons are disabled.)  
[Jog move in positive direction]  
1) Set the motor to Servo ON (see Chapter 5).  
2) Click “Start + (P).”  
[Jog move in negative direction]  
1) Set the motor to Servo ON (see Chapter 5).  
2) Click “Start – (M).”  
[Jog stop]  
1) Click “Stop (S).”  
[Error Reset]  
1) Click “ErrReset (R).”  
Recoverable errors are canceled.  
[Simplified terminal]  
1) Click Terminal (T).”  
2) Send or receive character strings.  
8.5.3 Test Operation  
To start a test operation, click “TestMode (T)” under “DriveMenu.” This function is the same as the ‘test  
operation’ of servo tuning.  
Note: The motor performs reciprocating motions with fine width. (The operating width of reciprocating motions can  
be changed with the parameter <#31>.) Be sure that there are no obstacles within the range of the  
operating width.  
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8.6 Data Management Menus  
8.6.1 Parameter Manager  
This menu allows you to save all the parameters to files and register them from files in addition to edit the  
machine setting parameters.  
Click “Parameter (M)” under “MainMenu” to display the “Parameter Manager” dialog box (see Figure 8.23).  
Figure 8.23  
“Parameter Manager” dialog box  
8-24  
(1) Editing machine parameters  
Click “Machine Parameter Edit (M)” in the “Parameter Manager” dialog box to display the  
“MachineParameterEdit” dialog box (see Figure 8.24). If the connection with the driver is established, the  
current values of the machine parameters are read and can be edited.  
Changed value text  
field  
Parameter content  
cell  
Parameter number  
cell  
Parameter value cell  
Figure 8.24  
[Editing]  
“MachineParameterEdit” dialog box  
1) Click the parameter value cell of the parameter to be changed. The current value is displayed in the changed  
value text field.  
2) Enter a value in the changed value text field and click the Enter (Return) key or click another cell to make the  
new parameter value valid.  
3) Repeat steps 1) and 2) as necessary and click “Set (S)” to start downloading to the driver. (If you click “Exit  
(X),” the parameter values are not changed.)  
4) When the downloading is finished, follow the message and reset the driver.  
Note: If any erroneous data are set, the parameters that could not be downloaded are displayed. In this case,  
reset the driver once and set the parameters again.  
Note: In the case of the machine setting parameters, the changed values cannot be updated until you reset the  
driver.  
(2) Uploading (from the driver to a file)  
1) Click “Upload (U)” in the “Parameter Manager” dialog box.  
2) Enter the name of the file to which parameters are to be saved. Do not enter a file extension (*.prm); it is  
added automatically.  
3) Click “Save (S)” to start uploading. If you wish to stop the uploading, click “Cancel.”  
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(3) Downloading (from a file to the driver)  
1) Click “Download (D)” in the “Parameter Manager” dialog box.  
2) Enter the name of the file to be downloaded to the driver. Do not enter a file extension (*.prm); it is added  
automatically.  
3) Click “Open (O)” to start downloading. If you wish to stop the downloading, click “Cancel.”  
4) When the downloading is finished, follow the message and reset the driver.  
(4) Displaying the file contents  
1) Click “View file (V)” in the “Parameter Manager” dialog box.  
2) Enter the name of the file you want to display. Do not enter a file extension (*.prm); it is added automatically.  
3) Click “Open (O)” to begin displaying the file contents in the “Parameter file display” dialog box (see Figure  
8.25).  
4) If you want to print the file, click “Print (P).”  
5) Click “Exit (X)” and return to the “Parameter Manager” dialog box.  
Upload information  
Uploaded  
parameter value  
Figure 8.25  
“Parameter file display” dialog box  
(5) Resetting the communication  
If the communication with the driver finishes abnormally, click “Reset Com (R)” in the “Parameter Manager”  
dialog box to return to the normal status.  
8-26  
8.6.2 I/O Set  
In this menu, you can set the logical setting of DI/DO points (For reference of DI and DO numbers and signal  
names, see Chapter 6.).  
Click “I/O set (I)” under “MainMenu” to display the “I/O configuration” dialog box (see Figure 8.26).  
Figure 8.26  
“I/O configuration” dialog box  
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(1) Logical setting  
1) Click “I/O config (L)” in the “I/O configuration” dialog box.  
2) The “Discrete configuration” dialog box is displayed and the current setting status is read. (The maximum  
number of setting statuses that can be displayed at once is 32 points for both DI and DO.)  
Selection text field  
Figure 8.27  
“Discrete configuration” dialog box  
3) Click a number you want to display from the selection text field in order to display the logical setting of that  
number.  
4) Click the check boxes of the I/O points to change the logical setting.  
Note: An I/O point with a check mark is set to positive logic (A contact) and an I/O without a check mark is set to  
negative logic (B contact).  
5) Click “Set (S).”  
6) When the setting is completed, follow the message and reset the driver.  
(2) Uploading (from the driver to a file)  
1) Click “Upload (U)” in the “I/O configuration” dialog box.  
2) Enter the name of the file to which I/O configuration is to be saved. Do not enter a file extension (*.ioc); it is  
added automatically.  
3) Click “Save (S)” to start uploading. If you wish to stop the uploading, click “Cancel.”  
8-28  
(3) Downloading (from a file to the driver)  
1) Click “Download (D)” in the “I/O configuration” dialog box.  
2) Enter the name of the file to be downloaded to the driver. Do not enter a file extension (*.ioc); it is added  
automatically.  
3) Click “Open (O)” to start downloading. If you wish to stop the downloading, click “Cancel.”  
4) When the downloading is finished, follow the message and reset the driver.  
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8.6.3 Pulse Set  
(1) Pulse setting  
1) Click “Puls Config (P)” in the “Main Menu” dialog box.  
2) The “Puls configuration” dialog box is displayed and the current setting status is read.  
Figure 8.28  
“Puls configuration” dialog box  
3) Select the parameter from the combobox.  
4) Click Set (S)” to start downloading the selected parameter to the driver.  
5) When the downloading is finished, follow the message and reset the driver.  
8-30  
Chapter 9  
Operation Display Pendant  
9.1  
9.2  
9.3  
9.4  
9.5  
9.6  
9.7  
9.8  
Overview  
Features and Part Names  
Switching Displays  
Terminal Mode Display  
Parameter Monitor Display  
Parameter Settings Display  
I/O Monitor Display  
Special Command Display  
9-1  
Operation Display Pendant  
9
9.1 Overview  
The operation display pendant (abbreviated as TBX, optional device) should be connected to the CN1 RS232C  
communication connector. It is set to the same status as the single channel communication in the RS232C  
interface, regardless of the setting status of the rotary switch RS-ID on the front panel.  
The following functions are provided for the operation display pendant.  
Terminal mode display:  
In this display, you can send @ commands and parameter commands in the same way as with the RS232C  
interface and display response character strings.  
Parameter monitor display:  
In this display the updated contents of parameters/monitors referred to by #*** can be displayed repeatedly.  
Parameter settings display:  
In this display, you can make changes to parameters referred to by #***, if they can be written to.  
I/O monitor display:  
In this display the updated I/O status of the PLC interface and the signal status of the TB2 sensor/break can  
be displayed repeatedly.  
Special command display:  
In this display, you can issue common commands in a simple manner.  
Program menu display:  
In this display, you can edit, copy, and delete programs.  
9.2 Features and Part Names  
Display area  
Upper row: input, display  
Lower row: function key  
content display  
f 0  
f 4  
f 1  
f 5  
f 2  
f 6  
f 3  
f 7  
Emergency stop  
↑↓ : Scroll keys  
EMG    
 STOP  
←→ : Cursor keys  
INS : Insert key  
Function keys  
DEL : Delete key  
BS : Backspace key  
f 0 f 1 f 2 f 3  
f 4 f 5 f 6 f 7  
-
*
/
: Minus sign, subtraction operator key  
: Multiplication operator key  
: Division operator key  
Numeric keypad  
7   8   9   0   
 ↑  ↓  ←  →  
Shift key  
5    
 DEL  
4    
 INS  
6    
 BS  
SHIFT  
If you press another key while  
holding down this key, that key  
will have the meaning indicated  
on the lower part of the key.  
1   2  3   
 -  *  /  
Return key  
Command input, execution  
YOKOGAWA  
9-2  
9.3 Switching Displays  
Each display shifts in the order shown in the figure below. When the power is turned on and the operation  
display pendant is connected, the initial screen shows the terminal mode display.  
Each display of the program menu display can be accessed by selecting edit (EDT), copy (CPY), or delete  
(DEL).  
N/P (Next/Prev) functions are assigned  
to the f3/f7 keys in each display.  
f3 N: To the next display  
N
P
f7 P: To the previous display  
Terminal mode display  
Parameter monitor display  
Parameter settings display  
I/O monitor display  
_
<#> S/+ =/: N/P  
N
P
#001:+HOT_ErrEn  
-Mon- DATA N/P  
N
P
#001:+HOT_ErrEn  
-Set- DATA N/P  
N
P
PLC I00:xxxxxxxx  
-I/O- SEL N/P  
N
P
Special command display  
CMD:Abort  
-Spc- SEL N/P  
N
P
9
9-3  
Operation Display Pendant  
9
9.4 Terminal Mode Display  
The terminal mode display allows you to send a character string entered from the keypad to the driver and  
display the response character string in the display.  
In the example below, “#50” is input in display 2) and the response character string “R1D position  
bandwidth:12” is shown in display 3).  
In the response character string display, the header part of a response character string (e.g., R00, ALM**, *) is  
not displayed. Even though the cursor is not displayed, hidden parts can be horizontally scrolled through and  
displayed by pressing the and keys.  
The cursor is displayed by pressing the input key (a key that allows character input when pressed), or the and  
keys. Once it is displayed, you can enter character strings.  
f0 < >:  
f1 S:  
Character selection (positive direction)  
The character in < > changes at every key press.  
Inputs the selected character.  
The character in < > is input by pressing this key.  
Inputs =.  
1) Initial display  
_
<#> S/+ =/: N/P  
f2 =:  
f3 N:  
f4 < >:  
To the next display  
Character selection (opposite direction)  
The character in < > changes at every key press.  
Inputs +.  
Inputs :.  
To the previous display  
2) During character string input  
#50_  
<#> S/+ =/: N/P  
f5 +:  
f6:  
f7 P:  
3) Displaying a response character string  
0 to 9:  
-, *, /  
Each character is input.  
Position bandwidth: 12  
<#> S/+ =/: N/P  
INS key:  
DEL key:  
BS key:  
Shifts the character string one character after the cursor  
position and insert a space at the cursor position.  
Deletes the character immediately before the cursor. The  
cursor does not move the position.  
Deletes the character immediately before the cursor and  
move the cursor to the position one character before.  
Sends the entered character string to the controller.  
Characters in < >:  
#, @, %, G, X,  
F, f, A, a, M, P, +  
Return key:  
and keys: Moves the cursor on the input character string to the left or  
right.  
and keys:  
Moves up and down in the input character string buffer.  
Input character string and  
response character string  
display area  
_
< # > S / + = / :  
N / P  
Function key content  
display area  
Input character  
string buffer  
16 characters  
Display part  
64 characters  
9-4  
9.5 Parameter Monitor Display  
The current values of parameters/monitors with the numbers input from the keypad are displayed periodically. It  
is not necessary to press the Return in order to set a number.  
In the previous example of display 2), parameter number “50” is entered to display the prompt character string of  
that parameter/monitor. When the f2 DATA key is pressed here, display 3) appears and displays the current value  
of the parameter/monitor.  
If a nonexistent number is entered, both the data and comment displays show the comment in display 4).  
f2 DATA:  
CMNT:  
f3 N:  
Switches display; to the data display  
To the comment (prompt) display  
To the next display  
1) Initial display  
#001:+HOT_ErrEn  
-Mon- DATA N/P  
f7 P:  
To the previous display  
Cursor  
0 to 9:  
Each character is entered.  
2) Displaying comment  
#050: Position bandwidth  
and keys: Moves the cursor on the parameter/monitor  
number to the left or right.  
-Mon- DATA N/P  
and keys:  
Increases/decreases the numeric value of  
the digit indicated with the cursor.  
3) Displaying data  
#050:  
12  
-Mon- CMNT N/P  
4) Displaying comment (when a number does not exist)  
#000:-----------  
-Mon- DATA N/P  
(CMNT)  
Parameter/monitor  
number setting area  
Data display area  
Comment display area  
:
# 0 0 1 + H O T _ E r r E n  
- M o n -  
D A T A N / P  
Function key content  
display area  
9
9-5  
Operation Display Pendant  
9
9.6 Parameter Settings Display  
This display is for changing the values of parameters.  
When you input a parameter number from the keypad, the display shows a prompt for the parameter when  
comments are being displayed, and the current value of the parameter when data is being displayed.  
When data is being displayed, it is possible to move the cursor to the data setting area using the and keys.  
In the data setting area (sign part), it is possible to reverse the sigh by pressing the – key. In the data setting area  
(absolute value part), the setting value can be set using the numeric keys as well as the and keys. When you  
press the Return key, the entered data is set as the parameter value of the parameter number (the Return key is  
accepted only when data is being displayed).  
When the data is set, the setting result is displayed. If it is set normally, the display shows “OK!” If it failed to  
set, the display shows “NG! [ERROR ALARM CODE]”. When you press the f2 DATA key, the display switches  
to the data display; when you press the numeric keys or the and keys, it switches to the comment display.  
In the previous example of display 2), the parameter number “50” is entered to display the prompt character  
string of that parameter/monitor. If the f2 DATA key is pressed here, display 3) appears and displays the current  
value of the parameter/monitor. Display 4) shows the status in which the cursor is moved and data is input from  
the keypad. When the Return key is pressed here, the setting result is displayed as in display 5).  
If a nonexistent number is entered, both the data and comment displays show the comment in display 6). In  
addition, if you input a parameter that exists but cannot be written to, the data display (but not the comment  
display) changes similarly to display 6).  
1) Initial display  
5) Displaying setting result  
#001:+HOT_ErrEn  
-Set- DATA N/P  
#050:NG![ALM62.0  
-Set- DATA N/P  
Cursor  
2) Displaying comment  
6) Displaying comment (when a number does not exist)  
#000:-----------  
#050: Position bandwidth  
-Set- DATA N/P  
-Set- DATA N/P  
(CMNT)  
3) Displaying data  
f2 DATA:  
CMNT:  
f3 N:  
Switches display; to the data display  
To the comment (prompt) display  
To the next display  
#050: 0000000012  
-Set- CMNT N/P  
f7 P:  
To the previous display  
0 to 9:  
-:  
Each character is entered.  
The sign of the data value is reversed if pressed while the  
cursor is at the data setting area (sign part).  
4) Setting data  
#050:-0000000018  
-Set- CMNT N/P  
Return key:  
Sets the input data to the driver.  
and key: Moves the cursor in the parameter number setting area and  
data setting area (absolute value part) to the left or right.  
and key:  
Increases/decreases the numeric value of the digit  
indicated by the cursor.  
Parameter number  
setting area  
Comment display area  
# 0 0 1 : + H O T _ E r r E n  
- S e t -  
D A T A N / P  
Function key content  
display area  
Parameter number  
setting area  
Data setting area  
(sign part)  
Data setting area  
(absolute value part)  
# 0 0 1 : 0 0 0 0 0 0 0 0 0 8  
- S e t -  
C M N T N / P  
Function key content  
display area  
9-6  
9.7 I/O Monitor Display  
The I/O signal status of the blocks with numbers input from the keypad for the selected I/O type is displayed  
periodically. It is not necessary to press the Return key in order to set a number.  
There are three types of I/O that can be selected: “Ctl I,” “Ctl 0,” and “Drv I.” You can switch among them by  
pressing the f2/f6 SEL key.  
In the previous example of display 2), block number “1” is entered to display the signal status of Ctl DI block 1.  
If the f2/f6 SEL key is pressed here, the display changes similarly to display 3) and switches to the Ctl DO  
display.  
f2 SEL:  
f3 N:  
f6 SEL:  
f7 P:  
Switches I/O signal type (positive direction).  
To the next display  
Switches I/O signal type (opposite direction).  
To the previous display  
1) Initial display  
Ctl I00:xxxxxxxx  
-I/O- SEL N/P  
0 to 9:  
Each character is entered.  
and key: Moves the cursor in the I/O signal block  
Cursor  
number setting area to the left or right.  
2) Displaying Ctl DI  
and key:  
Increases/decreases the numeric value of the  
digit indicated by the cursor.  
Ctl I01:xxxxxxxx  
-I/O- SEL N/P  
Ctl I  
Block number 0: DI07 to DI00  
1: DI15 to DI08  
3) Displaying Ctl DO  
Ctl 0  
Ctl 000:xxxxxxxx  
-I/O- SEL N/P  
Block number 0: DO07 to DO00  
1: DO15 to DO08  
Drv I (Driver input signal status)  
Block number 0: DI07 to DI00  
1: DI15 to DI08  
Signal status display area  
 O: On  
 x: Off  
I/O signal block  
number setting area  
7 0  
The signal numbers on a block  
increase from the right end  
toward the left: +0, +1, ..... +7.  
P L C I 0 0 : x x x x x x o x  
- I / O -  
S E L  
N / P  
I/O signal type  
display area  
Function key content  
display area  
Driver input signal status  
DI00: (Reserved)  
DI01: (Reserved)  
DI02: (Reserved)  
DI03: (Reserved)  
DI04: Homing detection  
DI05: (+) direction over-travel detection  
DI06: (-) direction over-travel detection  
DI07: (Reserved)  
DI08: (Reserved)  
DI09: (Reserved)  
DI10: (Reserved)  
DI11: (Reserved)  
DI12: (Reserved)  
DI13: (Reserved)  
DI14: (Reserved)  
DI15: (Reserved)  
9
9-7  
Operation Display Pendant  
9
9.8 Special Command Display  
In this display, you can transmit selected commands to the controller.  
The selection of the commands you can choose from depends on the main operation mode. They can be switched  
by pressing the f2/f6 SEL key.  
When you select a command from the list and press the Return key, it is transmitted to the controller and the  
result of the command is shown in the display. By pressing the f2/f6 SEL key, it is switched to the command  
content display.  
In the previous example of display 2), command “toMode15” is selected. When you press the Return key, this  
command is transmitted to the controller and the result of the command is displayed in display 3).  
Command  
Display  
CMD:Abort  
Abort  
Error reset  
Servo ON  
Servo OFF  
CMD:RstErr  
CMD:SrvOn  
CMD:SrvOff  
Mechanical setting operation start CMD:toMode15  
Software driver reset  
Motor type request  
ROM version request  
Error status request/refresh  
CMD:RstDrive  
CMD:MotorType  
CMD:ROM Version  
CMD:RefErrSts  
1) Initial display  
f2 SEL:  
f3 N:  
f6 SEL:  
f7 P:  
Switches command (positive).  
To the next display  
Switches command (opposite).  
To the previous display  
CMD:Abort  
-Spc- SEL N/P  
Return key:  
Transmits the selected command to the driver.  
2) Displaying command  
CMD:toMode15  
-Spc- SEL N/P  
3) Displaying command result  
Mode15 Exec!  
-Spc- SEL N/P  
Command display area  
C M D : R e f E r r S t s  
- S p c -  
S E L  
N / P  
Function key content  
display area  
Command result  
display area  
N o E r r o r  
- S p c -  
S E L  
N / P  
Function key content  
display area  
9-8  
Chapter 10  
Maintenance and Inspection  
10.1  
10.2  
10.3  
10.4  
Maintenance and Inspection of the Motor Part  
Maintenance and Inspection of the Driver Part  
Replacing the Battery for Memory Backup  
Backup and Restore Operations of Driver Memory Contents  
10.4.1 Backup Operation  
10.4.2 Restore Operation  
10.5  
Motor Problems and Corrective Actions  
10-1  
Maintenance and Inspection  
10  
10.1 Maintenance and Inspection of the Motor Part  
Simple daily checks need to be performed on the motor part. Check the motor for excessive noise or abnormal  
vibration.  
Do not dismount the motor.  
If the motor operates abnormally after 20,000 hours of operation or five years since installation, depending on  
the environment and conditions used, replace the motor, and the servo driver if necessary.  
10.2 Maintenance and Inspection of the Driver Part  
There is no need for a daily maintenance and inspection of the driver part. However, it is prudent to clean the  
driver unit periodically to protect it from dust or particles since they may damage insulation.  
10.3 Replacing the Battery for Memory Backup  
A lithium battery is provided inside the driver in order to store parameter data in memory. The life span of the  
lithium battery is normally 20,000 hours.  
When the battery reaches the end of its life, an alarm signal will be displayed. When this happens, replace the  
battery as soon as possible.  
The following describes the procedure used to replace the battery:  
1) Back up parameters, programs, cam data and other important data stored in memory to flash ROM before replacing the  
battery. (For details on memory backup, see Section 10.4.)  
2) Turn OFF the power.  
3) Remove the six screws located on the side panel of the driver. (See the figure below.)  
4) Replace the battery quickly (within 10 seconds).  
5) Check the connection and turn ON the power. If no error is displayed, the battery has been replaced correctly.  
Note 1: If a battery error is displayed, it is necessary to reset the system after replacing the battery. In this case,  
parameters and other data must be set again.  
Note 2: Be sure to use <CR2032> 3V or equivalent battery. Be careful on the front and back orientation of the  
battery.  
10-2  
10.4 Backup and Restore Operations of Driver Memory  
Contents  
Be sure to back up the driver memory contents in case of the occurrence of problems. If a problem occurs in the  
driver memory contents, it may become necessary to initialize (all reset) the driver to the same settings at the  
time of shipment from the factory. If the driver memory contents have been backed up in such a case, the driver  
memory contents can easily be restored to the factory settings.  
10.4.1 Backup Operation  
It is recommended to back up the driver memory contents to a file using the PC utility as well as to back up the  
driver memory contents to the driver’s built-in flash ROM.  
[Backup to a file using the PC utility]  
Using the PC utility, back up the driver memory contents to an electronic file in the personal computer. Perform  
the following backup operation using the PC utility:  
Parameters upload  
Programs upload (batch)  
Index equal division compensation upload (batch)  
Index unequal division upload (batch)  
Parts upload (batch)  
I/O settings upload  
[Backup to the driver’s built-in flash ROM]  
Back up the driver memory contents to the on-board flash ROM by copying the driver memory contents to the  
driver’s built-in flash ROM in a batch operation.  
Set the slide switch on the front panel as shown in the figure below, and turn ON the power. When the CRDY  
lamp flashes after several seconds, the backup operation is completed.  
CRDY: LED that flashes when backup is properly completed.  
ERR: LED that flashes when backup is not properly completed.  
SW1 slide switch  
Only bit 1 and bit 4 are ON; bit 2 and bit 3 are OFF.  
10  
10-3  
Maintenance and Inspection  
10  
10.4.2 Restore Operation  
The restore operation uses either of the backup data that was copied to a file via the PC utility or that was copied  
to the driver’s built-in flash ROM. Perform either of the following restore operations:  
[Restore using the PC utility]  
Using the PC utility, restore the backed up driver memory contents to an electronic file in the personal computer  
to the driver. Perform the following restore operation using the PC utility:  
Parameters download  
Programs download (batch)  
Index equal division compensation download (batch)  
Index unequal division download (batch)  
Parts download (batch)  
I/O settings download  
[Restore from the driver’s built-in flash ROM]  
Restore the driver memory contents from the on-board flash ROM by copying the driver memory contents to the  
driver’s built-in flash ROM in a batch operation.  
Set the slide switch on the front panel as shown in the figure below, and turn ON the power. When the CRDY  
lamp flashes after several seconds, the restore operation is completed.  
CRDY: LED that flashes when backup is properly completed.  
ERR: LED that flashes when backup is not properly completed.  
SW1 slide switch  
Only bit 2 and bit 4 are ON; bit 1 and bit 3 are OFF.  
10-4  
10.5 Motor Problems and Corrective Actions  
When an abnormality occurs during motor operation, first check the LED display as well as the error display  
LED (7 segments) on the front panel of the driver.  
If the cause of the problem cannot be determined by the indication of the LED display, take an appropriate  
corrective action as provided below.  
If the driver is still not be able to return to a normal operating condition despite corrective actions taken, stop  
operating the drive and contact us.  
Problem  
Possible cause  
Item(s) to be inspected  
Corrective action  
!
!
No AC power is being supplied. Check the wiring.  
Turn on the power.  
The servo ON terminal is set to  
Inspect.  
Set to L.  
H.  
!
!
The Servo ON disable (SRVDS)  
button is being pressed.  
Position control bandwidth,  
The motor does not  
servo-lock.  
Inspect.  
Release the button.  
velocity control bandwidth,  
and/or position integral limiting  
Adjust to the proper value(s)  
or perform auto-tuning.  
Inspect.  
value are too small.  
Check to see if the  
Reduce the load or replace  
!
Motor is overloaded.  
motor operates without a motor with higher torque if  
any load.  
the motor starts.  
Refer to the connection  
diagram and connect  
correctly.  
The motor does not  
start.  
!
!
Incorrect external wiring  
Inspect the wiring.  
Position control bandwidth,  
velocity control bandwidth,  
and/or position integral limiting  
value are too small.  
Adjust to the proper value(s)  
or perform auto-tuning.  
Inspect.  
Check the motor  
Refer to the connection  
!
!
Improper connections  
connections in phases diagram and connect  
A, B, C, and GND.  
correctly.  
The motor rotation  
is unstable.  
Check the model  
If the combination is  
Incorrect motor/driver model  
combination  
numbers on the rating incorrect, change to the  
nameplates.  
correct combination.  
Check if the ambient  
temperature is above  
45°C.  
Lower the ambient  
temperature to 45or less.  
!
Ambient temperature is too high.  
The motor  
overheats.  
Check to see if the  
Reduce the load or replace  
!
!
!
Motor is overloaded.  
Improper mounting  
Bearing problem  
motor operates without a motor with higher torque if  
any load.  
the motor starts.  
Mounting screws are  
loosened.  
Tighten the screws.  
Check for abnormal  
sound and vibration  
from the bearings.  
Check the mounting  
base.  
Abnormal sounds  
are generated.  
Motor replacement is  
necessary. (Contact us.)  
Reinforce the mounting  
base.  
!
!
Mounting base vibration  
Check the model  
numbers on rating  
nameplates.  
Check the OVL error  
signal.  
If the combination is  
incorrect, change it to the  
correct combination.  
Review the operation.  
Reduce the load.  
Incorrect motor/driver model  
combination  
Motor torque is too  
small.  
!
!
Motor is overloaded.  
Position control bandwidth,  
velocity control bandwidth,  
and/or position integral limiting  
value are too small.  
Adjust to the proper value(s)  
or perform auto-tuning.  
Inspect.  
Check the model  
numbers on rating  
nameplates.  
Check the  
motor/encoder  
connections  
If the combination is  
incorrect, change it to the  
correct combination.  
Refer to the connection  
diagram and connect  
correctly.  
!
!
Incorrect motor/driver model  
combination  
Motor runs out of  
control.  
Improper connections  
10  
10-5  
Chapter 11  
Specifications  
11.1 Standard Specifications  
11.2 Torque - Speed Characteristics  
11.3 External Dimensions (Unit: mm)  
11.4 Restrictive Conditions for the Frequency of  
Repeated Operations (DR5000B Series Only)  
11-1  
Specifications  
11  
11.1 Standard Specifications  
(1) DM Series Motor  
A Series  
Item  
Unit  
DM1200A DM1150A DM1100A DM1050A  
00*1  
00*1  
00*1  
00*1  
Maximum output torque  
Rated number of revolutions  
(100/200V)  
200 (20)  
150 (15)  
100 (10)  
50 (5.0)  
Nm (kgfm)  
rps  
0.5/1.0  
1.0/1.0  
Motor  
+
driver  
Encoder resolution  
Repeatability accuracy  
Absolute accuracy  
Rotor inertia  
p/rev  
Sec  
Sec  
kgm2  
4,096,000  
Rotational  
positioning  
±1  
±15  
167 x 10-3 142 x 10-3 119 x 10-3 96 x 10 -3  
4 x 104 (4 x 103)  
Positive  
Allowable axial  
N (kgf)  
Negative  
2 x 104 (2 x 103)  
load  
Allowable moment load  
400 (40)  
Nm (kgfm)  
mm/N  
(mm/kgf)  
Positive  
2 x 10-6 (2 x 10-5)  
Axial displacement  
Motor  
Negative  
3 x 10-6 (3 x 10-5)  
rigidity  
rad/ Nm  
(rad/kgfm)  
kg  
4 x 10-7  
Moment displacement rigidity  
(4 x 10-6)  
Mass  
29  
24  
19  
14.5  
113  
Height (refer to dimension diagram)  
mm  
188  
163  
138  
B Series  
Item  
Unit  
DM1075B DM1060B DM1045B DM1030B DM1015B  
00*1  
00*1  
00*1  
00*1  
00*1  
Maximum output torque  
Rated number of revolutions  
(100/200V)  
75 (7.5)  
60 (6.0)  
45 (4.5)  
30 (3.0)  
15 (1.5)  
Nm (kgfm)  
rps  
1.0/2.0  
1.0/1.5  
1.0/2.0  
2,621,440  
±1  
1.5/2.0  
2.0/2.0  
Motor  
+
driver  
Encoder  
resolution  
p/rev  
Sec  
Rotational  
positioning  
Repeatability  
accuracy  
Absolute  
accuracy  
Sec  
±15  
12 x 10-3  
kgm2  
Rotor inertia  
27 x 10-3  
23 x 10-3  
19 x 10-3  
3 x 104 (3 x 103)  
1 x 104 (1 x 103)  
200 (20)  
15 x 10-3  
Positive  
Negative  
Allowable moment load  
Allowable axial  
load  
N (kgf)  
Nm (kgfm)  
mm/N  
(mm/kgf)  
Positive  
Negative  
2.5 x 10-6 (2.5 x 10-5)  
3 x 10-6 (3 x 10-5)  
Axial displacement  
rigidity  
Motor  
rad/ Nm  
(rad/kgfm)  
kg  
1 x 10-6  
Moment displacement rigidity  
(1 x 10-5)  
Mass  
14  
12  
9.5  
7.5  
5.5  
Height (refer to dimension diagram)  
mm  
194  
168  
143  
118  
92.5  
11-2  
Motor model name  
DM1004B0F-2!*1 DM1004C0F-2!*1  
4
2.5  
2,621,440  
Note  
±3  
Maximum torque (Nm)  
Maximum number of revolutions (rps)  
Encoder resolution (p/rev)  
Absolute accuracy (sec)  
Repeatability accuracy (sec)  
Axial rotational deflection (µm)p-p  
Radial rotational deflection (µm)p-p  
Rotor inertia (kgm2)  
10  
10  
5.5 x 10-3  
3
2.5 x 10-3  
3
Withstand load (N)  
Mass (kg)  
50  
Note: : A/Absolute accuracy ±20 sec, B/Absolute accuracy ±60 sec  
11  
11-3  
Specifications  
(2) DR Series Motor  
Item  
11  
A Series  
Unit  
DR1400 DR1300 DR1200 DR1150 DR1100 DR1050  
A00*1  
A00*1  
A00*1  
A00*1  
A00*1  
A00*1  
Maximum output torque  
Rated number of revolutions  
(100/200V)  
Encoder resolution  
Rotational Repeatability  
positioning accuracy  
400 (40) 300 (30) 200 (20) 150 (15) 100 (10) 50 (5.0)  
Nm (kgfm)  
rps  
0.25/0.5  
0.5/1.0  
1,638,400  
±3  
1.0/1.0  
1.5/1.5  
Motor  
+
driver  
p/rev  
Sec  
Absolute accuracy  
Sec  
kgm2  
±30  
Rotor inertia  
400x10-3 340x10-3 285x10-3 230x10-3 200x10-3 180x10-3  
Positive  
4 x 104 (4 x 103)  
2 x 104 (2 x 103)  
400 (40)  
2 x 10-6 (2 x 10-5)  
3 x 10-6 (3 x 10-5)  
Allowable axial  
load  
N (kgf)  
Negative  
Allowable moment load  
Axial  
displacement  
rigidity  
Nm (kgfm)  
Positive  
mm/N  
(mm/kgf)  
Motor  
Negative  
rad/ Nm  
(rad/kgfm)  
kg  
4 x 10-7  
Moment displacement rigidity  
(4 x 10-6)  
Mass  
65  
55  
45  
36  
31  
26  
Height (refer to dimension  
diagram)  
mm  
358  
304  
250  
212  
185  
158  
B Series  
Item  
Unit  
DR1060 DR1045 DR1030 DR1015 DR1008  
B00*1  
B00*1  
B00*1  
B00*1  
B00*1  
Maximum output torque  
Rated number of revolutions  
(100/200V)  
60 (6.0) 45 (4.5) 30 (3.0) 15 (1.5)  
8 (0.8)  
Nm (kgfm)  
rps  
1.0/1.5  
1.0/2.0  
1.5/2.0  
1,015,808  
±3  
2.0/2.0  
Motor  
+
driver  
Encoder resolution  
p/rev  
Rotational Repeatability  
positioning accuracy  
Absolute accuracy  
Sec  
Sec  
kgm2  
±45  
Rotor inertia  
33 x 10-3 26 x 10-3 24 x 10-3 21 x 10-3 15 x 10-3  
Positive  
3 x 104 (3 x 103)  
1 x 104 (1 x 103)  
200 (20)  
3 x 10-6 (3 x 10-5)  
4 x 10-6 (4 x 10-5)  
Allowable axial  
N (kgf)  
load  
Negative  
Allowable moment load  
Nm (kgfm)  
Axial  
Positive  
mm/N  
(mm/kgf)  
displacement  
Motor  
Negative  
rigidity  
rad/ Nm  
(rad/kgfm)  
kg  
2 x 10-6  
Moment displacement rigidity  
(2 x 10-5)  
Mass  
15.5  
207  
13.0  
179  
11.0  
9.0  
6.0  
85  
Height (refer to dimension  
diagram)  
mm  
151  
123  
11-4  
E Series  
Item  
Unit  
DR1250E DR1220E DR1160E DR1130E DR1100E  
00*1  
00*1  
00*1  
00*1  
00*1  
Maximum output torque  
Rated number of revolutions  
(100/200V)  
250 (25)  
220 (22)  
160 (16)  
130 (13)  
100 (10)  
Nm (kgfm)  
rps  
0.5/1.0  
1.0/1.5  
Motor  
+
driver  
Encoder resolution  
Repeatability  
p/rev  
1,228,800  
±3  
Rotational  
positioning  
Sec  
accuracy  
Absolute accuracy  
Sec  
±45  
kgm2  
Rotor inertia  
185 x 10-3 170 x 10-3 140 x 10-3 125 x 10-3 100 x 10-3  
Positive  
Negative  
Allowable moment load  
4 x 104 (4 x 103)  
2 x 104 (2 x 103)  
400 (40)  
Allowable axial  
load  
N (kgf)  
Nm (kgfm)  
mm/N  
(mm/kgf)  
Positive  
Negative  
2 x 10-6 (2 x 10-5)  
3 x 10-6 (3 x 10-5)  
Axial displacement  
rigidity  
Motor  
rad/ Nm  
(rad/kgfm)  
kg  
4 x 10-7  
Moment displacement rigidity  
(4 x 10-6)  
Mass  
48  
44  
36  
32  
26  
Height (refer to dimension diagram)  
mm  
355  
327  
271  
243  
210  
E Series  
DR1070E DR1030E  
Item  
Unit  
00*1  
00*1  
Maximum output torque  
Rated number of revolutions  
(100/200V)  
70 (7.0)  
30 (3.0)  
Nm (kgfm)  
rps  
1.5/2.0  
1.5/2.0  
Motor  
+
Encoder resolution  
p/rev  
1,228,800  
driver  
Rotational  
positioning  
Repeatability  
accuracy  
Sec  
±3  
Absolute accuracy  
Sec  
±45  
kgm2  
Rotor inertia  
85 x 10-3  
72 x 10-3  
Positive  
Negative  
Allowable moment load  
4 x 104 (4 x 103)  
2 x 104 (2 x 103)  
400 (40)  
Allowable axial  
load  
N (kgf)  
Nm (kgfm)  
mm/N  
(mm/kgf)  
Positive  
Negative  
2 x 10-6 (2 x 10-5)  
2 x 10-6 (3 x 10-5)  
Axial displacement  
rigidity  
Motor  
rad/ Nm  
(rad/kgfm)  
kg  
4 x 10-7  
Moment displacement rigidity  
(4 x 10-6)  
Mass  
22  
18  
Height (refer to dimension diagram)  
mm  
183  
156  
11  
11-5  
Specifications  
(3) DR/5000 Series Motor  
Item  
11  
5000 E Series  
5000 B Series  
Unit  
DR5100E DR5070E DR5070B DR5050B DR5030B  
00*1  
00*1  
00*1  
00*1  
00*1  
Maximum output torque  
Rated number of revolutions  
(100/200V)  
100 (10)  
70 (7.0)  
70 (7.0)  
50 (5.0)  
30 (3.0)  
Nm (kgfm)  
rps  
/2.0  
/4.0  
557.056  
±5  
Motor  
+
driver  
Encoder resolution  
Repeatability  
accuracy  
p/rev  
638,976  
±4  
Rotational  
positioning  
Sec  
Absolute accuracy  
Sec  
±90  
±90  
kgm2  
Rotor inertia  
125 x 10-3 100 x 10-3 37 x 10-3  
4 x 1044 (4 x 103)  
2 x 104 (2 x 103)  
34 x 10-3  
27 x 10-3  
Positive  
Negative  
Allowable moment load  
3 x 104 (3 x 103)  
1 x 104 (1 x 103)  
200 (20)  
Allowable axial  
load  
N (kgf)  
400 (40)  
Nm (kgfm)  
mm/N  
(mm/kgf)  
Positive  
Negative  
2 x 10-6 (2 x 10-5)  
3 x 10-6 (3 x 10-5)  
3 x 10-6 (3 x 10-5)  
4 x 10-6 (4 x 10-5)  
Axial displacement  
rigidity  
Motor  
rad/ Nm  
(rad/kgfm)  
kg  
4 x 10-7  
2 x 10-6  
Moment displacement rigidity  
(4 x 10-6)  
(2 x 10-5)  
Mass  
32  
26  
18.0  
240  
16.0  
212  
13.5  
184  
Height (refer to dimension diagram)  
mm  
243  
210  
(4) Motor Environment Specification  
Motor  
Current derating curve  
(2kW driver only)  
Comment  
50%  
45%  
Temperature  
Ambient  
operating  
conditions  
0 to 45°C  
20 to 85%  
R.H  
Should have no  
condensation.  
Humidity  
40%  
Temperature  
Humidity  
Ambient  
storage  
conditions  
-20 to 85°C  
20 to 85%  
R.H  
Should have no  
condensation.  
30%  
No corrosive gases and dust  
should be present.  
25%  
20%  
Operating environment  
10%  
0%  
0  
10℃  
20℃  
30℃  
40℃  
50℃  
60℃  
Ambient operating air temperature  
(5) Driver Part (General Specifications)  
Type  
Model name  
500W type  
U!!!!!!!A!-*!!_  
U!!!!!!!B!-*!!_  
2kW type  
U!!!!!!!K!-*!!_ U!!!!!!!L!-*!!_  
100 to 115V 200 to 230V 100 to 115V 200 to 230V 100 to 115V 200 to 230V  
AC AC AC AC AC AC  
+ 10%, -15% + 10%, -15% + 10%, -15% + 10%, -15% + 10%, -15% + 10%, -15%  
50Hz/60Hz 50Hz/60Hz 50Hz/60Hz 50Hz/60Hz 50Hz/60Hz 50Hz/60Hz  
Input power supply voltage  
Maximum current  
consumption (KVA)  
0.8  
3.4  
3.4  
Ambient operating air  
temperature and humidity  
Ambient storage air  
0 to 50°C, 20 to 90% RH, without condensation  
-20 to 85°C, 20 to 90% RH, without condensation  
temperature and humidity  
Operating environment  
Mass (kg)  
No corrosive gases and dust should be present.  
3.6  
1.7  
3.2  
*
Input voltage 100 to 115V AC: 1, 200 to 230V AC: 2  
Note: The 20A-type driver requires the derating as indicated in the figure above for the current square duty,  
depending on the ambient temperature during operation. (For motors of DM1000A series, DR1000A series,  
DR1000E series, and DR5000E series)  
11-6  
(6) Driver Function Specifications  
Item  
Specifications  
RS232C interface (single channel communication, multi-channel communication)  
Controller interface (pulse train position command)  
Higher interface  
Mechanical input  
signal  
Homing signal, (+) direction hardware over-travel signal, (-) direction hardware over-travel  
signal, emergency stop input signal  
Mechanical input  
signal  
Brake signal (can be switched between clamp and dynamic brake applications with a  
parameter)  
Rotating type  
DM1000A series ; 4096000 pls/rev (1024000 pls/rev)  
DM1000B series ; 2621000 pls/rev (655360 pls/rev)  
DM1004B/C ; 2621000 pls/rev (655360 pls/rev)  
DR1000A series ; 1638400 pls/rev (819200 pls/rev)  
DR1000B series ; 1015808 pls/rev (507904 pls/rev)  
DM1000E series ; 1228800 pls/rev (614400 pls/rev)  
DR5000B series ; 557056 plc/rev (278528 pls/rev)  
DR5000E series ; 638976 pls/rev (319488 pls/rev) stiffness series: 0.5 µm,  
LM1/2 ; 0.25 µm (0.25 µm)  
Encoder resolution  
(position command  
resolution when  
shipped)  
Linear  
LM3/5 ; 0.5 µm (1.0 µm)  
I-PD position control (position: integral proportional control, velocity: proportional control)  
Various feed forward functions (position, velocity, acceleration)  
Various standard filters (velocity command filter, velocity feedback filter, first order delay filter)  
Optional filter (notch filter 2 channels)  
Method  
Position control bandwidth:1 Hz to 32Hz, velocity control loop width: 5Hz to 200Hz  
Position integral limiter setting  
Various feed forward percentages (position, velocity, acceleration)  
Various standard filter settings (velocity command filter bandwidth, velocity feedback filter  
enable/disable, bandwidth, first order delay filter setting)  
Control  
part  
Optional filter setting (notch filter bandwidth)  
Adjustment  
*1) Calculates proportional gain and acceleration feed forward gain of the velocity control part  
automatically based on measurement by the auto-tuning operation or manual setting of  
the load inertia/weight with respect to the settings of velocity control bandwidth and  
acceleration feed forward percentage.  
*2) Calculates position control bandwidth, velocity control loop bandwidth, and position  
integral limiting value automatically during execution of the auto-tuning operation or by  
manual setting of the servo stiffness  
Trapezoidal move: Acceleration curve and deceleration curve can be selected individually.  
Acceleration time or deceleration time can be selected individually (with respect to the  
maximum velocity).  
Acceleration/decelerat  
ion control  
*3) Real time override possible, interlock possible  
Follows the position command from the controller interface when none of the operations listed  
below is being performed.  
Pulse train  
Operation  
Controller interface  
RS232C interface  
Operation function  
Homing operation  
Test operation  
Auto-tuning  
×
Jog move  
Encoder/resolver error, power module error (over-voltage and over current), main power  
supply error, overload, maximum velocity, excessive position deviation, hardware over-travel,  
software over-travel (only for linear coordinate)  
Support software PC utility running under Windows (optional)  
Possible to connect the operation display pendant (optional)  
Analogue signal monitor (velocity, general, torque/thrust command)  
For general monitoring, what is shown by the monitor can be selected by setting (position error,  
test operation response, position command value, current position value, position command  
differential value)  
Protection functions  
Others  
Monitor  
Digital signal monitor (settling signal)  
Monitoring internal information by higher interface  
Error and alarm display on a 7-segment LED  
11  
11-7  
Specifications  
11  
11.2 Torque - Speed Characteristics  
(1) DM Series  
200-230 VAC power supply  
100-115 VAC power supply  
1) Type A  
2) Type B  
No. of revolutions (rps)  
3) DM1004B/C  
No. of revolutions (rps)  
DM1004B/C  
No. of revolutions (rps)  
(2) DR Series  
200-230 VAC power supply  
100-115 VAC power supply  
1) Type B  
2) Type A  
No. of revolutions (rps)  
No. of revolutions (rps)  
3) Type E  
4) Type 5000B/E  
No. of revolutions (rps)  
No. of revolutions (rps)  
11-8  
11.3 External Dimensions (Unit: mm)  
(1) DM Series Motor  
1) Type A  
L (Refer to standard specification)  
6-M8 screw depth 10  
(Equal circular division)  
6-M6 screw depth 15  
Stator  
(Through hole)  
Encoder cable  
Motor cable  
Rotor  
2) Type B  
Stator  
6-M8 screw depth 8  
(Equal circular division)  
L (Refer to standard  
specification)  
6-M6 screw depth 8  
(Equal circular division)  
Encoder cable  
Motor cable  
Rotor  
3) DM1004B/C  
<DM1004C>  
<DM1004B>  
6-M4 screw depth 6  
(Equal circular division)  
φ
4- 7 hole  
6- 4.5 hole  
φ
6-M4 screw depth 6  
φ
8 depth of counter bore 5  
(Equal circular division)  
Herisert effective screw  
Length 4 (Equal circular  
division)  
Encoder cable  
Motor cable  
2-M4 through  
Motor cable  
Encoder cable  
11  
11-9  
Specifications  
11  
(2) DR Series Motor  
1) Type A  
Stator  
Rotor  
Motor cable ( 3.2 x 4)  
φ
6-M8 screw depth 12 (Equal circular division)  
L (Refer to standard specification)  
6-M8 screw depth 12  
(Equal circular division)  
Encoder cable  
Rotor  
2) Type E  
6-M8 screw depth 12  
(Equal circular division)  
6-M8 screw depth 12 (Equal circular division)  
Motor cable  
Stator  
L (Refer to standard specification)  
Encoder cable  
Rotor  
3) Type B  
Stator  
6-M6 screw depth 9  
(Equal circular division)  
L (Refer to standard specification)  
Motor cable  
6-M6 screw depth 12  
(Equal circular division)  
Encoder cable  
4) Type B (DR1008B only)  
6-M5 maximum depth 5  
(Equal circular division)  
Stator  
6-M6 maximum depth 12  
(Equal circular division)  
Motor cable  
Encoder cable  
Rotor  
11-10  
(3) Driver Section  
1) U!!!!!!!A/B  
(500W, Type B is shown in the figure.)  
2) U!!!!!!!L  
(2kW level without regenerative unit)  
11  
11-11  
Specifications  
11  
3) U!!!!!!!K  
(2kW level with regenerative unit)  
11-12  
11.4 Restrictive Conditions for the Frequency of Repeated  
Operations (DR5000B Series Only)  
When running and stop operations are performed repeatedly on DYNASERV DR5000B series (DR5030B,  
5050B, 5070B) because of a high number of rated revolution, some restrictions may apply based on the  
characteristic of the motor and the driver with respect to the frequency of repeated running and stop operations.  
Consider those restrictions carefully when using the motor.  
(1) Restrictions on the motor  
The operating conditions under which the motor rotates and stops repeatedly are set assuming that the motor is  
mounted on a metal stand, and the ambient temperature is 45°C.  
When the motor is operated repeatedly with a cycle of acceleration, uniform speed, deceleration and stop, if the  
load conditions and the operation time are set as shown in Figure 11.1, it is necessary to satisfy the equations  
below.  
In addition, if either the average speed (number of revolutions) or the current duty is known, the other can simply  
be obtained from the graph shown in Figure 11.2.  
The motor, current and speed can actually be measured by the oscilloscope function (see Chapter 8) of the PC  
utility. Verify them with the monitor numbers listed below.  
#365 Present velocity value  
#369 Present current value (A/D)  
ηB = Velocity duty  
NR  
2
1
ηB =  
(t1+2t2+t3) × 5tCY × 100 Equation (1)  
ηB = Current duty  
1
I1, I2, I3 = Current (A)  
NR = No. of revolutions (rps)  
tCY = Cycle time (msec)  
t1, t2, t3 = Time (msec)  
ηC = (t1I21+t2I22+t3I32) × 5tCY × 100 Equation (2)  
ηB + 2.6 ⋅ ηC < 103  
Equation (3)  
Average velocity/current duty  
simplified graph  
(Figure 11.1)  
(Figure 11.2)  
Current duty ηC (%)  
11  
11-13  
Specifications  
11  
<Example>  
NR = 4 (rps)  
I1 = I3 = 9 (A)  
I2 = 3 (A)  
t1 = t2 = t3 = 1/4tCY  
When calculating from the above setting example,  
4
2
1
4
2
4
1
4
1
5tCY  
B
η =  
tCY  
tCY  
tCY ×  
× 100  
(
+
+
)
2
5
=
× 100 = 40  
81  
tCY  
9
4
81  
4
1
C
η =  
tCY  
tCY ×  
× 100  
(
+
+
)
4
225tCY  
17100  
900  
=
= 19  
When substituting the above into equation (3),  
40 + 2.6 ×19 = 98 < 103  
Therefore, the result satisfies the equation, and the setting is deemed to be correct.  
(2) Restrictions on the driver  
The repeat frequency caused by the driver is restricted by the heat generation of the driver’s built-in regenerative  
resistor. If a repeated operation is performed using the pattern as shown in Figure 11.3, the repeat frequency, as  
shown in Figure 11.4, is restricted by the load inertia using the number of revolutions as a parameter.  
If the load inertia exceeds 1 kgm2, or if it is necessary to use on DYNASERV DR5000B series (DR5030B,  
5050B, 5070B) outside of the limits, please contact Compumotor's Applications Dept.  
(Figure 11.4)  
(Figure 11.3)  
Maximum velocity  
Time  
[times/min]  
60  
tCY  
Repeat frequency =  
Load inertia [kgm2]  
11-14  
STD1  
Parameter List  
Parameter No.  
Parameter name  
Minimum value  
Maximum value  
Initial value  
Unit  
Possible to change  
Always  
1
Enables the over-travel error function in the  
+ direction  
Enables the over-travel error function in the  
- direction  
0
1
0
0
None  
None  
2
0
1
Always  
4
5
7
Selecting the acceleration type  
Selecting the deceleration type  
Acceleration time during a trapezoidal  
move  
0
0
1
1
1
9999  
0
0
1000  
None  
None  
msec  
Always  
Always  
Always  
8
Deceleration time during a trapezoidal  
move  
Feeding Velocity  
1
0
0
1
1
0
1
9999  
1000  
msec  
Always  
Always  
Always  
Always  
Always  
Always  
Always  
9
16000000  
16000000  
16000000  
16000000  
16000000  
16000000  
Motor dependent  
Motor dependent  
Motor dependent  
Motor dependent  
Motor dependent  
Motor dependent  
Axis command  
unit/sec  
Axis command  
unit/sec  
Axis command  
unit/sec  
Axis command  
unit/sec  
Axis command  
unit/sec  
Axis command  
unit/sec  
10  
11  
12  
13  
15  
Jog Velocity  
Over-travel search velocity during a  
homing move  
Homing operation: Home sensor proximity  
signal search velocity  
Homing operation: Home sensing feed  
velocity 1  
Homing operation: Origin position offset  
move feed velocity  
16  
20  
21  
Velocity override percentage 1  
Homing direction  
Enable/disable the over-travel signal under  
the homing mode  
0
0
0
20000  
1
1
10000  
0
0
1/100 %  
None  
None  
Always  
Always  
Always  
25  
27  
29  
31  
32  
33  
Homing operation: Origin inside selection  
Enabling the homing flag position error  
Offset distance from the Home position  
Operation width under testing mode  
Operation width under Auto-tuning  
Maximum acceleration/deceleration under  
Auto-tuning  
0
0
1
1
1
1
0
None  
None  
Axis command unit  
Axis command unit  
Axis command unit  
msec  
Always  
Always  
Always  
Always  
Always  
Always  
-9999999  
0
1
100  
9999999  
9999999  
9999999  
9999  
Motor dependent  
Motor dependent  
9999  
34  
Initializing the acceleration/deceleration  
time while under Auto-tuning  
Servo stiffness settings  
Position settling pulse width 2  
Position settling pulse width 3  
Position settling pulse width 4  
Position control bandwidth 2  
Velocity control bandwidth 2  
100  
9999  
1000  
msec  
Always  
38  
45  
46  
47  
48  
49  
1
0
0
0
1
5
5
3
None  
pulse  
pulse  
pulse  
Hz  
Always  
Always  
Always  
Always  
Always  
Always  
32767  
32767  
32767  
32  
Motor dependent  
Motor dependent  
Motor dependent  
1
200  
20  
Hz  
Parameter No.  
50  
Parameter name  
Minimum value  
Maximum value  
32  
200  
4999999  
126  
126  
200  
32767  
200  
100  
Initial value  
Unit  
Possible to change  
Position control bandwidth 1  
Velocity control bandwidth 1  
Position integral limiting value  
Position feed forward percentage  
Velocity feed forward percentage  
Acceleration feed forward gain  
Position settling pulse width 1  
Position current value filter frequency  
Position settling signal chattering  
processing count  
1
1
20  
Hz  
Hz  
None  
%
%
%
pulse  
Hz  
Always  
Always  
Always  
Always  
Always  
Always  
Always  
Always  
Always  
51  
53  
54  
55  
56  
58  
59  
61  
5
0
0
0
0
0
1
1
10000  
90  
100  
0
1
10  
1
None  
65  
66  
Value causing an error detection in the (+)  
or CW direction  
Value causing an error detection in the (-)  
or CCW direction  
1
999999  
-1  
999999  
-999999  
pulse  
pulse  
Always  
Always  
-999999  
68  
69  
Torque limit percentage  
Axis velocity monitoring gain (digital  
monitor)  
0
0
10000  
8
10000  
0
1/100 %  
None  
Always  
Always  
70  
71  
Analog monitor selection  
Axis positioning error monitoring gain  
(analog monitor)  
0
0
5
8
4
0
None  
None  
Always  
Always  
72  
Test operation monitoring gain (analog  
monitor)  
0
8
0
None  
Always  
73  
74  
Position monitoring gain (analog monitor)  
Position differential value monitoring gain  
(analog monitor)  
0
0
14  
7
0
0
None  
None  
Always  
Always  
75  
89  
90  
Velocity monitor selection (digital monitor)  
Brake turn OFF delay time upon Servo ON  
Advanced Brake turn ON before Servo  
OFF  
0
0
0
1
0
0
0
None  
msec  
msec  
Always  
Always  
Always  
2000  
2000  
91  
93  
94  
TBX_EMG Servo status  
IFB_EMG Servo status  
0
0
0
2
2
5
0
0
1
None  
None  
None  
Always  
Always  
Always  
Position command differential value  
excessive error processing type  
Over-travel error function in the + direction  
processing type  
Over-travel error function in the - direction  
processing type  
Emmergency stopping deceleration time  
during a trapezoidal move  
Settling wait enable  
95  
0
0
1
0
5
1
1
1
0
None  
None  
msec  
None  
Always  
Always  
Always  
Always  
96  
5
98  
9999  
1
106  
Parameter No.  
152  
153  
154  
155  
Parameter name  
Minimum value  
Maximum value  
Initial value  
Unit  
Possible to change  
First order delay compensator setting  
Notch filter: Frequency 1 selection  
Notch filter: Frequency 2 selection  
Load inertial/load mass  
0
3
0
None  
Hz  
Hz  
Always  
Always  
Always  
Always  
50  
50  
0
1500  
1500  
200000  
1500  
1500  
0
1/1000kgm2 or  
1/1000kg  
None  
201  
202  
203  
204  
205  
206  
207  
213  
218  
219  
220  
221  
222  
224  
227  
228  
229  
Selection of English/Japanese display  
Coordinate (+) direction setting  
Using position current value filter  
Command pulse type  
0
1
0
While in machine  
setting mode  
While in machine  
setting mode  
While in machine  
setting mode  
While in machine  
setting mode  
0
1
1
None  
None  
None  
None  
None  
None  
0
1
Motor dependent  
0
2
2
Monitor pulse type  
0
1
1
While in machine  
setting mode  
Enabling current limit external input  
Simplified scaling weighted data  
Maximum velocity  
0
1
0
While in machine  
setting mode  
While in machine  
setting mode  
While in machine  
setting mode  
1
64  
4
1
16000000  
Motor dependent  
Axis command  
unit/sec  
Enables error when over-load occurs  
Velocity feedback filter use  
0
1
1
None  
While in machine  
setting mode  
While in machine  
setting mode  
While in machine  
setting mode  
While in machine  
setting mode  
While in machine  
setting mode  
While in machine  
setting mode  
While in machine  
setting mode  
While in machine  
setting mode  
0
1
0
None  
Hz  
Velocity feedback filter bandwidth  
Velocity command filter bandwidth  
Enables error when over-speed occurs  
50  
50  
0
1000  
1000  
1000  
1000  
Hz  
1
1
2
2
2
1
1
1
1
1
None  
None  
None  
None  
None  
Enables error when excessive position  
deviation occurs  
Over-speed error processing type  
0
0
Over-load error processing type  
0
Excessive position deviation error  
processing type  
0
While in machine  
setting mode  
STD1  
Parameter details  
1
Enables the over-travel error function in the + direction  
Always  
Minimum value:  
Maximum value: 1  
Initial value:  
Unit:  
0
Long:  
Short:  
+HOT_ErrorEnable  
+HOT_ErrEn  
0
None  
Specify whether or not to enable an error when the over-travel signal in the + direction is detected while commanding to  
move the axis in the + direction.  
0: Does not enable an error.  
1: Enables an error.  
2
Enables the over-travel error function in the - direction  
Minimum value:  
Maximum value: 1  
Always  
0
Long:  
Short:  
-HOT_ErrorEnable  
-HOT_ErrEn  
Initial value:  
Unit:  
0
None  
Specify whether or not to enable an error when the over-travel signal in the - direction is detected while commanding to  
move the axis in the - direction.  
0: Does not enable an error.  
1: Enables an error.  
4
Selecting the acceleration type  
Minimum value:  
Maximum value: 1  
Always  
AccProfeel  
AccProfeel  
0
Long:  
Short:  
Initial value:  
Unit:  
0
None  
Select the acceleration type during trapezoidal move.  
0: Constant acceleration  
1: S shaped  
5
Selecting the deceleration type  
Minimum value:  
Maximum value: 1  
Always  
0
Long:  
Short:  
DecProfeel  
DecProfeel  
Initial value:  
Unit:  
0
None  
Select the deceleration type during trapezoidal move.  
0: Constant deceleration  
1: S shaped  
7
Acceleration time during a trapezoidal move  
Minimum value:  
Maximum value: 9999  
Always  
TaccTrapezoid  
TaccTrapez  
1
Long:  
Short:  
Initial value:  
Unit:  
1000  
msec  
Specify the acceleration time required for velocity change for the maximum velocity during trapezoidal move.  
8
Deceleration time during a trapezoidal move  
Minimum value:  
Maximum value: 9999  
Always  
TdecTrapezoid  
TdecTrapez  
1
Long:  
Short:  
Initial value:  
Unit:  
1000  
msec  
Specify the deceleration time required for velocity change for the maximum velocity during trapezoidal move.  
9
Feeding Velocity  
Minimum value:  
Maximum value: 16000000  
Always  
FeedVelocity  
FeedVel  
0
Long:  
Short:  
Initial value:  
Unit:  
Motor dependent  
Axis command unit/sec  
Specify the feeding velocity.  
For trapezoidal move: Specify the feeding velocity.  
For cam move: Specify the feeding velocity (peak velocity).  
10  
Jog Velocity  
Minimum value:  
Maximum value: 16000000  
Initial value:  
Unit:  
Always  
JogVelocity  
JogVel  
0
Long:  
Short:  
Motor dependent  
Axis command unit/sec  
Specify the feeding velocity in jog mode.  
11  
Over-travel search velocity during a homing move  
Minimum value:  
Maximum value: 16000000  
Always  
1
Long:  
Short:  
ORG-OT_SearchVel  
ORG-OT-Vel  
Initial value:  
Unit:  
Motor dependent  
Axis command unit/sec  
Specify the velocity when executing over-travel signal search move in homing mode. This parameter is invalid if the  
over-travel signal search is not executed.  
12  
Homing operation: Home sensor proximity signal search  
velocity  
Always  
Minimum value:  
Maximum value: 16000000  
Initial value:  
Unit:  
1
Long:  
Short:  
ORG-ORG_SearchVel  
ORG-ORGVel  
Motor dependent  
Axis command unit/sec  
Specify the velocity to search the home proximity signal in homing mode. This parameter is invalid if the origin  
proximity signal is not used.  
13  
Homing operation: Home sensing feed velocity 1  
Minimum value:  
Maximum value: 16000000  
Always  
ORG-Z_Vel1  
ORG-Z_Vel1  
1
Long:  
Short:  
Initial value:  
Unit:  
Motor dependent  
Axis command unit/sec  
Specify the velocity when performing the first home sensing move in homing mode. The velocity set here is also used  
as the feed velocity when performing the following moves in addition to performing the first home sensing move.  
Excessive move for the second home sensing move  
Excessive move for home sensing after a home sensing move  
Homing move after a home sensing move  
15  
Homing operation: Origin position offset feed velocity  
Minimum value:  
Maximum value: 16000000  
Always  
ORG-OffsetVel  
ORG-OffVel  
1
Long:  
Short:  
Initial value:  
Unit:  
Motor dependent  
Axis command unit/sec  
Specify the velocity when executing origin offset move in homing mode. This parameter is invalid if the origin offset is  
0.  
16  
Velocity override percentage 1  
Minimum value:  
Maximum value: 20000  
Always  
VelOverride1  
VelOvrrid1  
0
Long:  
Short:  
Initial value:  
Unit:  
10000  
1/100 %  
Specify override 1 for feeding velocity.  
20  
Homing direction  
Minimum value:  
Maximum value: 1  
Always  
ORG-Direction  
O-OrgDir  
0
Long:  
Short:  
Initial value:  
Unit:  
0
None  
Specify the homing direction (origin proximity signal search direction) in homing mode.  
0: - direction  
1: + direction  
21  
Enable/Disable the over-travel signal under the homing  
mode  
Always  
Minimum value:  
Maximum value: 1  
Initial value:  
Unit:  
0
Long:  
Short:  
ORG-OT_SignalUse  
O-OT_Use  
0
None  
Specify whether or not to execute the over-travel signal search in homing mode.  
0: Disables the over-travel signal search.  
1: Enables the over-travel signal search.  
25  
Homing operation: Origin inside selection  
Minimum value:  
Maximum value: 1  
Always  
ORG-InsideSelect  
O-Inside  
0
Long:  
Short:  
Initial value:  
Unit:  
1
None  
If the home sensor proximity signal is used in homing mode, specify whether the Z signal inside the home sensor  
proximity signal is used as the origin or the Z signal outside the home sensor proximity signal is used as the origin.  
0: The Z signal outside the home sensor proximity signal is used as the origin.  
1: The Z signal inside the home sensor proximity signal is used as the origin.  
27  
Enabling the homing flag position error  
Minimum value:  
Maximum value: 1  
Always  
0
Long:  
Short:  
ORG-DogErrorEnable  
O-DogErrEn  
Initial value:  
Unit:  
1
None  
When the homing mode is completed, an error or warning is generated when the relationship between the origin flag  
position and motor Z-phase position is as follows.  
0: Valid  
1: Invalid  
29  
Offset distance from the Home position  
Minimum value: -9999999  
Maximum value: 9999999  
Always  
ORG-Offset  
O-Offset  
Long:  
Short:  
Initial value:  
Unit:  
0
Axis command unit  
Specify the origin offset amount in homing mode.  
31  
Operation width under testing mode  
Minimum value:  
Maximum value: 9999999  
Always  
TestWidth  
TestWidth  
0
Long:  
Short:  
Initial value:  
Unit:  
Motor dependent  
Axis command unit  
Specify the operation width in test mode.  
32  
Operation width under Auto-tuning  
Minimum value:  
Maximum value: 9999999  
Always  
1
Long:  
Short:  
A-TUNE-Width  
AT-Width  
Initial value:  
Unit:  
Motor dependent  
Axis command unit  
Specify the operating range in auto-tuning mode.  
33  
Maximum acceleration/deceleration under Auto-tuning  
Minimum value: 100  
Maximum value: 9999  
Always  
Long:  
Short:  
A-TUNE_TaccMax  
AT_TaccMax  
Initial value:  
Unit:  
9999  
msec  
Specify the maximum value of acceleration/deceleration time in auto-tuning mode.  
34  
Initializing the acceleration/deceleration time while under  
Auto-tuning  
Always  
Minimum value: 100  
Maximum value: 9999  
Long:  
Short:  
A-TUNE_TaccIni  
AT_TaccIni  
Initial value:  
Unit:  
1000  
msec  
Specify the initial value of acceleration/deceleration time in auto-tuning mode.  
38  
Servo stiffness settings  
Minimum value: -3  
Maximum value: 5  
Always  
ServoRigidity  
ServoRigit  
Long:  
Short:  
Initial value:  
Unit:  
3
None  
Specify the servo stiffness. (The larger the number is specified, the stronger the servo stiffness becomes. However, the  
motor vibrates more.)  
1: Velocity control width: 30Hz Position control width: 7Hz  
2: Velocity control width: 40Hz Position control width: 10Hz  
3: Velocity control width: 50Hz Position control width: 12Hz  
4: Velocity control width: 60Hz Position control width: 15Hz  
5: Velocity control width: 70Hz Position control width: 17Hz  
45  
Position settling pulse width 2  
Minimum value:  
Maximum value: 32767  
Always  
CoinWidth Pls2  
CoinWidth P2  
0
Long:  
Short:  
Initial value:  
Unit:  
Motor dependent  
pulse  
Specify the setting width to be used for position settling check and position settling wait in the axis position control  
section.  
This parameter is used when the position settling width 2 has been selected.  
46  
Position settling pulse width 3  
Minimum value:  
Maximum value: 32767  
Always  
CoinWidth Pls3  
CoinWidth P3  
0
Long:  
Short:  
Initial value:  
Unit:  
Motor dependent  
pulse  
Specify the setting width to be used for position settling check and position settling wait in the axis position control  
section.  
This parameter is used when the position settling width 3 has been selected.  
47  
Position settling pulse width 4  
Minimum value:  
Maximum value: 32767  
Always  
CoinWidth Pls4  
CoinWidth P4  
0
Long:  
Short:  
Initial value:  
Unit:  
Motor dependent  
pulse  
Specify the setting width to be used for position settling check and position settling wait in the axis position control  
section.  
This parameter is used when the position settling width 4 has been selected.  
48  
Position control bandwidth 2  
Minimum value:  
Maximum value: 32  
Always  
PosControlFreq2  
PosFreq2  
1
Long:  
Short:  
Initial value:  
Unit:  
2
Hz  
Specify the position control bandwidth of the axis position control section. This parameter is set automatically by either  
executing auto-tuning operation or changing the "servo stiffness settings" parameter.  
This parameter is used when the position control bandwidth 2 has been selected.  
49  
Velocity control bandwidth 2  
Minimum value:  
Maximum value: 200  
Always  
VelControlFreq2  
VelFreq2  
5
Long:  
Short:  
Initial value:  
Unit:  
30  
Hz  
Specify the control bandwidth of the velocity control section. This parameter is set automatically by either executing  
auto-tuning operation or changing the "servo stiffness settings" parameter.  
This parameter is used when the velocity control bandwidth 2 has been selected.  
50  
Position control bandwidth 1  
Minimum value:  
Maximum value: 32  
Always  
PosControlFreq1  
PosFreq1  
1
Long:  
Short:  
Initial value:  
Unit:  
1
Hz  
Specify the position control bandwidth of the axis position control section. This parameter is set automatically by either  
executing auto-tuning operation or changing the "servo stiffness settings" parameter.  
This parameter is used when the position control bandwidth 1 has been selected.  
51  
Velocity control bandwidth 1  
Minimum value:  
Maximum value: 200  
Always  
VelControlFreq1  
VelFreq1  
5
Long:  
Short:  
Initial value:  
Unit:  
20  
Hz  
Specify the control bandwidth of the velocity control section. This parameter is set automatically by either executing  
auto-tuning operation or changing the "servo stiffness settings" parameter.  
This parameter is used when the velocity control bandwidth 1 has been selected.  
53  
Position integral limiting value  
Minimum value:  
Maximum value: 4999999  
Always  
PosIntegralLimit  
PosIntLim  
0
Long:  
Short:  
Initial value:  
Unit:  
10000  
None  
Specify the limiter value of the position error integrator in the axis position control section. Specify a smaller value  
when a wind-up condition occurs during axis operation. This parameter is set automatically by either executing auto-  
tuning operation or changing the "servo stiffness settings" parameter.  
54  
Position feed forward percentage  
Minimum value:  
Maximum value: 126  
Always  
Position_FF_%  
Inch_FF%  
0
Long:  
Short:  
Initial value:  
Unit:  
90  
%
Specify the position feed forward of the axis control section.  
55  
Velocity feed forward percentage  
Minimum value:  
Maximum value: 126  
Always  
Velocity_FF_%  
Vel_FF%  
0
Long:  
Short:  
Initial value:  
Unit:  
100  
%
Specify the velocity feed forward.  
56  
Acceleration feed forward gain  
Minimum value:  
Maximum value: 200  
Always  
Accelaration_FF_%  
Acc_FF%  
0
Long:  
Short:  
Initial value:  
Unit:  
0
%
Specify the acceleration feed forward. This parameter calculates the internal gain based on the load inertia/load mass.  
58  
Positioning settling pulse width 1  
Minimum value:  
Maximum value: 32767  
Always  
CoinWidth Pls1  
Coin_widthP1  
0
Long:  
Short:  
Initial value:  
Unit:  
1
pulse  
Specify the settling width to be used for position settling check and position settling wait in the axis position control  
section.  
This parameter is used when the position settling width 1 has been selected.  
59  
Position current value filter frequency  
Minimum value:  
Maximum value: 200  
Always  
PfbMonFilteFreq  
PfbFilFrq  
1
Long:  
Short:  
Initial value:  
Unit:  
10  
Hz  
Specify the position current value filter frequency. The position current value filter functions when the Using position  
current value filter parameter is set to “Use.” This filter does not function for the position information that is fed back to  
the position control part.  
61  
Position settling signal chattering processing count  
Minimum value:  
Maximum value: 100  
Always  
1
Long:  
Short:  
COIN_ChatterVolume  
COIN_Vol  
Initial value:  
Unit:  
1
None  
Specify the chattering count when a position settling signal is generated. If the absolute values of position deviations  
(values after being filtered in case a position deviation filter is used) continue to be shorter than the position settling  
width for the specified number of times, a position settling signal will be formed. Once any of the absolute values  
becomes out of such range, a position settling signal will not be formed.  
The check cycle is 2 msec.  
65  
Value causing an error detection in the (+) or CW direction  
Minimum value:  
Maximum value: 999999  
Always  
PosDevErrLimit+  
PerrLim+  
1
Long:  
Short:  
Initial value:  
Unit:  
999999  
pulse  
Specify the + direction detection value when an excessive position deviation error occurs.  
66  
Value causing an error detection in the (-) or CCW  
direction  
Always  
Minimum value: -999999  
Maximum value: -1  
Long:  
Short:  
PosDevErrLimit-  
PerrLim-  
Initial value:  
Unit:  
-999999  
pulse  
Specify the - direction detection value when an excessive position deviation error occurs.  
68  
Torque limit percentage  
Minimum value:  
Maximum value: 10000  
Always  
TorqLimit_%  
TorqLimit%  
0
Long:  
Short:  
Initial value:  
Unit:  
10000  
1/100 %  
This parameter can limit the torque or thrust.  
69  
Axis velocity monitoring gain (digital monitor)  
Minimum value:  
Maximum value: 8  
Always  
0
Long:  
Short:  
VelMonitorGain(Dig)  
VdigMon_G  
Initial value:  
Unit:  
0
None  
Specify the axis velocity monitoring gain of the velocity monitor when controlling the digital velocity.  
0: 6.55V / 32768 digits at digital detection velocity  
1: 6.55V / 16384 digits  
2: 6.55V / 8192 digits  
3: 6.55V / 4096 digits  
4: 6.55V / 2048 digits  
5: 6.55V / 1024 digits  
6: 6.55V / 512 digits  
7: 6.55V / 256 digits  
8: 6.55V/ 128 digits  
70  
Analog monitor selection  
Minimum value:  
Maximum value: 5  
Always  
0
Long:  
Short:  
AnalogMonitorSelect  
A_MonSel  
Initial value:  
Unit:  
4
None  
Select the content to be output to the analog monitor.  
0: Position deviation [pulse]  
1: Test operation response [pulse]  
2: Position command value [pulse]  
3: Current position value [pulse]  
4: Position command differential value (command velocity) [pps]  
5: Current position differential value (current velocity) [pps]  
71  
Axis positioning error monitoring gain (analog monitor)  
Minimum value:  
Maximum value: 8  
Always  
PerrMonitorGain  
PerrMon_G  
0
Long:  
Short:  
Initial value:  
Unit:  
0
None  
Specify the position deviation monitoring gain of the analog monitor.  
0: 6.55V / 32768 pulses  
1: 6.55V / 16384 pulses  
2: 6.55V / 8192 pulses  
3: 6.55V / 4096 pulses  
4: 6.55V / 2048 pulses  
5: 6.55V / 1024 pulses  
6: 6.55V / 512 pulses  
7: 6.55V / 256 pulses  
8: 6.55V/ 128 pulses  
72  
Test operation monitoring gain (analog monitor)  
Minimum value:  
Maximum value: 8  
Always  
0
Long:  
Short:  
TestMonitorGain  
PerrMon_G  
Initial value:  
Unit:  
0
None  
Specify the test operation response monitoring gain of the analog monitor.  
0: 6.55V / 32768 pulses  
1: 6.55V / 16384 pulses  
2: 6.55V / 8192 pulses  
3: 6.55V / 4096 pulses  
4: 6.55V / 2048 pulses  
5: 6.55V / 1024 pulses  
6: 6.55V / 512 pulses  
7: 6.55V / 256 pulses  
8: 6.55V/ 128 pulses  
73  
Position monitoring gain (analog monitor)  
Minimum value:  
Maximum value: 14  
Always  
0
Long:  
Short:  
PosMonitorGain  
PosMon_G  
Initial value:  
Unit:  
0
None  
Specify the position monitoring (position command value and current position value) gain of the analog monitor.  
0: 6.55V / 4194304 pulses  
1: 6.55V / 2097152 pulses  
2: 6.55V / 1048576 pulses  
3: 6.55V / 524288 pulses  
4: 6.55V / 262144 pulses  
5: 6.55V / 131072 pulses  
6: 6.55V / 65536 pulses  
7: 6.55V / 32768 pulses  
8: 6.55V / 16384 pulses  
9: 6.55V / 8192 pulses  
10:6.55V / 4096 pulses  
11:6.55V / 1024 pulses  
12:6.55V / 512 pulses  
13:6.55V / 256 pulses  
14:6.55V/ 128 pulses  
74  
Position differential value monitoring gain (analog  
monitor)  
Always  
Minimum value:  
Maximum value: 7  
Initial value:  
Unit:  
0
Long:  
Short:  
VelMonitorGain  
VelMon_G  
0
None  
Specify the position differential value monitoring (position command differential value and current position differential  
value) gain of the analog monitor.  
0: 6.55V / 8192000 pulses  
1: 6.55V / 4096000 pulses  
2: 6.55V / 2048000 pulses  
3: 6.55V / 1024000 pulses  
4: 6.55V / 512000 pulses  
5: 6.55V / 256000 pulses  
6: 6.55V / 128000 pulses  
7: 6.55V / 64000 pulses  
75  
Velocity monitor selection (digital monitor)  
Minimum value:  
Maximum value: 1  
Always  
0
Long:  
Short:  
VelMonSel(Digital)  
VelMonSelD  
Initial value:  
Unit:  
0
None  
This parameter switches the velocity monitoring output content when controlling the digital velocity.  
0: Velocity monitor  
1: Velocity monitor AC  
89  
Brake turn OFF delay time upon Servo ON  
Minimum value:  
Maximum value: 2000  
Always  
0
Long:  
Short:  
TimeSrvOn_toBrkOff  
TimeBrkOff  
Initial value:  
Unit:  
0
msec  
Specify the delay time from servo ON to brake OFF.  
90  
Advanced Brake turn ON before Servo OFF  
Minimum value:  
Maximum value: 000  
Always  
0
Long:  
Short:  
TimeBrkOn_toSrvOff  
TimeBrkOn  
Initial value:  
Unit:  
0
msec  
Specify the advanced time for brake ON before servo OFF.  
91  
TBX_EMG Servo status  
Minimum value:  
Maximum value: 5  
Always  
0
Long:  
Short:  
TbxEmgServoCondition  
TbxEmgServ  
Initial value:  
Unit:  
0
None  
Specify the servo status of the motor when EMG from TBX is executed.  
When operating the built-in controller axis:  
0: Maintains the servo status after the axis operation stops (low level).  
1: Turns the servo OFF after the axis operation stops (low level).  
2: Stops the axis operation (low level) and turns the servo OFF immediately.  
3: Maintains the servo status after the axis operation stops (high level).  
4: Turns the servo OFF after the axis operation stops (high level).  
5: Stops the axis operation (high level) and turns the servo OFF immediately.  
When performing the higher controller follow-up:  
0: Switches to the built-in controller, and maintains the servo status after a deceleration stop.  
1: Switches to the built-in controller, and turns the servo OFF after a deceleration stop.  
2: Switches to the built-in controller, performs a deceleration stop, and turns the servo OFF immediately.  
3: Switches to the built-in controller, and maintains the servo status after an immediate stop.  
4: Switches to the built-in controller, and turns the servo OFF after an immediate stop.  
5: Switches to the built-in controller, performs an immediate stop, and turns the servo OFF immediately.  
93  
IFB_EMG Servo status  
Minimum value:  
Maximum value: 5  
Always  
0
Long:  
Short:  
IfbEmgServoCondition  
IfbEmgServ  
Initial value:  
Unit:  
0
None  
Specify the servo status of the motor when executing EMG from the interface board.  
When operating the built-in controller axis:  
0: Maintains the servo status after the axis operation stops (low level).  
1: Turns the servo OFF after the axis operation stops (low level).  
2: Stops the axis operation (low level) and turns the servo OFF immediately.  
3: Maintains the servo status after the axis operation stops (high level).  
4: Turns the servo OFF after the axis operation stops (high level).  
5: Stops the axis operation (high level) and turns the servo OFF immediately.  
When performing the higher controller follow-up:  
0: Switches to the built-in controller, and maintains the servo status after a deceleration stop.  
1: Switches to the built-in controller, and turns the servo OFF after a deceleration stop.  
2: Switches to the built-in controller, performs a deceleration stop, and turns the servo OFF immediately.  
3: Switches to the built-in controller, and maintains the servo status after an immediate stop.  
4: Switches to the built-in controller, and turns the servo OFF after an immediate stop.  
5: Switches to the built-in controller, performs an immediate stop, and turns the servo OFF immediately.  
94  
Position command differential value excessive error  
processing type  
Always  
Minimum value:  
Maximum value: 5  
Initial value:  
Unit:  
0
Long:  
Short:  
Over_dScmdErrorType  
OVP_ErrTyp  
1
None  
Specify the processing type when a position command differential value excessive error occurs.  
When operating the built-in controller axis:  
0: Maintains the servo status after the axis operation stops (low level).  
1: Turns the servo OFF after the axis operation stops (low level).  
2: Stops the axis operation (low level) and turns the servo OFF immediately.  
3: Maintains the servo status after the axis operation stops (high level).  
4: Turns the servo OFF after the axis operation stops (high level).  
5: Stops the axis operation (high level) and turns the servo OFF immediately.  
When performing the higher controller follow-up:  
0: Switches to the built-in controller, and maintains the servo status after a deceleration stop.  
1: Switches to the built-in controller, and turns the servo OFF after a deceleration stop.  
2: Switches to the built-in controller, performs a deceleration stop, and turns the servo OFF immediately.  
3: Switches to the built-in controller, and maintains the servo status after an immediate stop.  
4: Switches to the built-in controller, and turns the servo OFF after an immediate stop.  
5: Switches to the built-in controller, performs an immediate stop, and turns the servo OFF immediately.  
95  
Over-travel error function in the + direction processing  
type  
Always  
Minimum value:  
Maximum value: 5  
Initial value:  
Unit:  
0
Long:  
Short:  
+Hot_ErrorType  
+Hot_ErrTyp  
1
None  
Specify the processing type when an over-travel error in the + direction occurs.  
When operating the built-in controller axis:  
0: Maintains the servo status after the axis operation stops (low level).  
1: Turns the servo OFF after the axis operation stops (low level).  
2: Stops the axis operation (low level) and turns the servo OFF immediately.  
3: Maintains the servo status after the axis operation stops (high level).  
4: Turns the servo OFF after the axis operation stops (high level).  
5: Stops the axis operation (high level) and turns the servo OFF immediately.  
When performing the higher controller follow-up:  
0: Switches to the built-in controller, and maintains the servo status after a deceleration stop.  
1: Switches to the built-in controller, and turns the servo OFF after a deceleration stop.  
2: Switches to the built-in controller, performs a deceleration stop, and turns the servo OFF immediately.  
3: Switches to the built-in controller, and maintains the servo status after an immediate stop.  
4: Switches to the built-in controller, and turns the servo OFF after an immediate stop.  
5: Switches to the built-in controller, performs an immediate stop, and turns the servo OFF immediately.  
96  
Over-travel error function in the - direction processing  
type  
Always  
Minimum value:  
Maximum value: 5  
Initial value:  
Unit:  
0
Long:  
Short:  
-Hot_ErrorType  
-Hot_ErrTyp  
1
None  
Specify the processing type when an over-travel error in the - direction occurs.  
When operating the built-in controller axis:  
0: Maintains the servo status after the axis operation stops (low level).  
1: Turns the servo OFF after the axis operation stops (low level).  
2: Stops the axis operation (low level) and turns the servo OFF immediately.  
3: Maintains the servo status after the axis operation stops (high level).  
4: Turns the servo OFF after the axis operation stops (high level).  
5: Stops the axis operation (high level) and turns the servo OFF immediately.  
When performing the higher controller follow-up:  
0: Switches to the built-in controller, and maintains the servo status after a deceleration stop.  
1: Switches to the built-in controller, and turns the servo OFF after a deceleration stop.  
2: Switches to the built-in controller, performs a deceleration stop, and turns the servo OFF immediately.  
3: Switches to the built-in controller, and maintains the servo status after an immediate stop.  
4: Switches to the built-in controller, and turns the servo OFF after an immediate stop.  
5: Switches to the built-in controller, performs an immediate stop, and turns the servo OFF immediately.  
Always  
98  
Deceleration time for immediate stop during trapezoidal  
move  
Long:  
Short:  
Minimum value:  
Maximum value: 9999  
Initial value:  
Unit:  
1
TdecTrapezHighAbort  
TdecT_High  
1
msec  
Specify the deceleration time required to change the velocity from the maximum velocity when stopping immediately  
during a trapezoidal move.  
106 Settling wait enable  
Minimum value:  
Maximum value: 1  
Always  
CoinEnable  
CoinEnable  
0
Long:  
Short:  
Initial value:  
Unit:  
1
None  
Specify whether or not to execute a settling wait for the move followed by positioning when the axis move operation is  
completed. For the move that is not followed by positioning, the settling wait is not executed regardless of this  
parameter setting. The settling wait is executed in homing mode regardless of this parameter setting.  
0: Does not execute settling wait.  
1: Executes settling wait.  
152 First order delay compensator setting  
Minimum value:  
Maximum value: 3  
Always  
CompFilterSel  
FilterSel  
0
Long:  
Short:  
Initial value:  
Unit:  
0
None  
Specify the first order delay compensator.  
0: No first order delay compensator  
1: 20Hz/80Hz  
2: 30Hz/120Hz  
3: 40Hz/160Hz  
153 Notch filter: Frequency 1 selection  
Minimum value: 50  
Always  
NotchFilterFreq1  
NotchFreq1  
Long:  
Short:  
Maximum value: 1500  
Initial value:  
Unit:  
1500  
Hz  
Specify the frequency of notch filter channel 1 for the driver equipped with the notch filter option. This parameter is no  
valid for the driver without the notch filter option.  
154 Notch filter: Frequency 2 selection  
Minimum value: 50  
Always  
NotchFilterFreq2  
NotchFreq2  
Long:  
Short:  
Maximum value: 1500  
Initial value:  
Unit:  
1500  
Hz  
Specify the frequency of notch filter channel 2 for the driver equipped with the notch filter option. This parameter is no  
valid for the driver without the notch filter option.  
155 Load inertia/load mass  
Minimum value:  
Maximum value: 200000  
Always  
Load_J_or_M  
LoadJ_or_M  
0
Long:  
Short:  
Initial value:  
Unit:  
0
1/1000kgm2 or 1/1000kg  
Specify the load inertia or load mass mounted on the motor. If an auto-tuning operation is executed, the measured value  
will be set automatically.  
201 Selection of English/Japanese display  
Minimum value:  
Maximum value: 1  
While in machine setting mode  
Long:  
0
EnglishDisplay  
Initial value:  
Unit:  
0
Short:  
None  
EnglishDsp  
Specify whether English display or Japanese display is used.  
0: Japanese display  
1: English display  
202 Coordinate (+) direction setting  
While in machine setting mode  
Long:  
Minimum value:  
0
Maximum value: 1  
AxisCoordinateDir  
Initial value:  
Unit:  
1
Short:  
None  
AxCoordDir  
Specify the coordinate system direction.  
0:  
1:  
203 Using position current value filter  
While in machine setting mode  
Long:  
Minimum value:  
0
Maximum value: 1  
UsePfbMonFilter  
Initial value:  
Unit:  
Motor dependent  
None  
Short:  
UsePfbFil  
Specify whether or not to use a filter to generate the position current value. However, the filter will not function for the  
position information that is fed back to the position control part, regardless of the setting of this parameter.  
0: Do not use.  
1: Use.  
204 Command pulse type  
Minimum value:  
Maximum value: 2  
While in machine setting mode  
Long:  
0
CmdPlsType  
Initial value:  
Unit:  
2
Short:  
None  
CmdPlsType  
Specify the position command pulse type.  
0: PUA_IN:UP, SDB_IN:DOWN  
1: PUA_IN:A, SDB_IN:B  
2: PUA_IN:PLS, SDB_IN:SIGN  
205 Monitor pulse type  
While in machine setting mode  
Long:  
Minimum value:  
0
Maximum value: 1  
MonPlsType  
Initial value:  
Unit:  
1
Short:  
None  
MonPlsType  
Specify the position monitor command pulse type.  
0: UA_OUT:UP, DB_OUT:DOWN  
1: UA_OUT:A, DB_OUT:B  
206 Enabling current limit external input  
While in machine setting mode  
Long:  
Minimum value:  
0
Maximum value: 1  
ExtCurLmtEn  
Initial value:  
Unit:  
0
Short:  
None  
ExCurLmtEn  
Specify whether or not to perform a current limit according to the current limit external input signal.  
0: Do not perform.  
1: Perform.  
207 Simplified scaling weighted data  
Minimum value:  
Maximum value: 64  
While in machine setting mode  
Long:  
1
CmdWeight  
CmdWeight  
Initial value:  
Unit:  
4
Short:  
None  
Specify how many pulses a single command unit equals to during a simplified scaling operation. Specify in a power of  
2 (e.g., 1, 2, 4, 8, …).  
213 Axis maximum velocity  
Minimum value:  
Maximum value: 16000000  
While in machine setting mode  
Long:  
1
Vmax  
Initial value:  
Unit:  
Motor dependent  
Axis command unit/sec  
Short:  
Vmax  
Specify the maximum velocity during operation. The actual maximum velocity is determined by the smaller value of  
this parameter or the maximum velocity [axis command unit/sec] converted from the maximum velocity [rps, mps]  
determined by the motor and driver. This maximum velocity value is displayed on the monitor.  
218 Enables error when over-load occurs  
Minimum value:  
Maximum value: 1  
While in machine setting mode  
Long:  
0
OverloadErrorEn  
Initial value:  
Unit:  
1
Short:  
None  
OVL_ErrEn  
Specify whether or not to process as an error when over-load occurs.  
0: Does not process as an error.  
1: Processes as an error.  
219 Velocity feedback filter use  
Minimum value:  
Maximum value: 1  
While in machine setting mode  
Long:  
0
UseVfbFilter  
Initial value:  
Unit:  
0
Short:  
None  
UseVfbFil  
Specify whether or not to use a filter for the velocity information that is fed back to the velocity control part.  
0: Do not use.  
1: Use.  
220 Velocity feedback filter bandwidth  
Minimum value: 50  
While in machine setting mode  
Long:  
Maximum value: 1000  
VfbFilterFreq  
VfbFilFreq  
Initial value:  
Unit:  
1000  
Hz  
Short:  
Specify the bandwidth of a filter to be applied to the velocity information that is fed back to the velocity control part.  
The velocity feedback filter functions when the Using velocity feedback filter parameter is set to "Use. "  
221 Velocity command filter bandwidth  
Minimum value: 50  
While in machine setting mode  
Long:  
Maximum value: 1000  
VcmdFilterFreq  
Initial value:  
Unit:  
1000  
Hz  
Short:  
VcmdFilFrq  
Specify the bandwidth of a filter to be applied to the velocity command value that is an output from the position control  
part.  
222 Enables error when over-speed occurs  
Minimum value:  
Maximum value: 1  
While in machine setting mode  
Long:  
0
OverSpeedErrorEn  
Initial value:  
Unit:  
1
Short:  
None  
OVS_ErrEn  
Specify whether or not to process as an error when over-speed occurs.  
0: Does not process as an error.  
1: Processes as an error.  
224 Enables error when excessive position deviation occurs  
While in machine setting mode  
Long:  
Minimum value:  
0
Maximum value: 1  
OverPerrErrorEn  
Initial value:  
Unit:  
1
Short:  
None  
OVPe_ErrEn  
Specify whether or not to process as an error when an excessive position deviation occurs.  
0: Does not process as an error.  
1: Processes as an error.  
227 Over-speed error processing type  
Minimum value:  
Maximum value: 5  
While in machine setting mode  
Long:  
0
OverSpeedErrorType  
Initial value:  
Unit:  
1
Short:  
None  
OVS_ErrTyp  
Specify the processing type when an over-speed error occurs.  
When operating the built-in controller axis:  
0: Maintains the servo status after the axis operation stops (low level).  
1: Turns the servo OFF after the axis operation stops (low level).  
2: Stops the axis operation (low level) and turns the servo OFF immediately.  
3: Maintains the servo status after the axis operation stops (high level).  
4: Turns the servo OFF after the axis operation stops (high level).  
5: Stops the axis operation (high level) and turns the servo OFF immediately.  
When performing the higher controller follow-up:  
0: Switches to the built-in controller, and maintains the servo status after a deceleration stop.  
1: Switches to the built-in controller, and turns the servo OFF after a deceleration stop.  
2: Switches to the built-in controller, performs a deceleration stop, and turns the servo OFF immediately.  
3: Switches to the built-in controller, and maintains the servo status after an immediate stop.  
4: Switches to the built-in controller, and turns the servo OFF after an immediate stop.  
5: Switches to the built-in controller, performs an immediate stop, and turns the servo OFF immediately.  
228 Over-load error processing type  
Minimum value:  
Maximum value: 5  
While in machine setting mode  
Long:  
0
OverloadErrorType  
Initial value:  
Unit:  
1
Short:  
None  
OVL_ErrTyp  
Specify the processing type when an over-load error occurs.  
When operating the built-in controller axis:  
0: Maintains the servo status after the axis operation stops (low level).  
1: Turns the servo OFF after the axis operation stops (low level).  
2: Stops the axis operation (low level) and turns the servo OFF immediately.  
3: Maintains the servo status after the axis operation stops (high level).  
4: Turns the servo OFF after the axis operation stops (high level).  
5: Stops the axis operation (high level) and turns the servo OFF immediately.  
When performing the higher controller follow-up:  
0: Switches to the built-in controller, and maintains the servo status after a deceleration stop.  
1: Switches to the built-in controller, and turns the servo OFF after a deceleration stop.  
2: Switches to the built-in controller, performs a deceleration stop, and turns the servo OFF immediately.  
3: Switches to the built-in controller, and maintains the servo status after an immediate stop.  
4: Switches to the built-in controller, and turns the servo OFF after an immediate stop.  
5: Switches to the built-in controller, performs an immediate stop, and turns the servo OFF immediately.  
229 Excessive position deviation error processing type  
Minimum value:  
Maximum value: 5  
While in machine setting mode  
Long:  
0
OverSpeedErrorType  
Initial value:  
Unit:  
1
Short:  
None  
OVPeErrTyp  
Specify the processing type when an excessive position deviation error occurs.  
When operating the built-in controller axis:  
0: Maintains the servo status after the axis operation stops (low level).  
1: Turns the servo OFF after the axis operation stops (low level).  
2: Stops the axis operation (low level) and turns the servo OFF immediately.  
3: Maintains the servo status after the axis operation stops (high level).  
4: Turns the servo OFF after the axis operation stops (high level).  
5: Stops the axis operation (high level) and turns the servo OFF immediately.  
When performing the higher controller follow-up:  
0: Switches to the built-in controller, and maintains the servo status after a deceleration stop.  
1: Switches to the built-in controller, and turns the servo OFF after a deceleration stop.  
2: Switches to the built-in controller, performs a deceleration stop, and turns the servo OFF immediately.  
3: Switches to the built-in controller, and maintains the servo status after an immediate stop.  
4: Switches to the built-in controller, and turns the servo OFF after an immediate stop.  
5: Switches to the built-in controller, performs an immediate stop, and turns the servo OFF immediately.  
STD1  
Monitor List  
Monitor No.  
300  
Monitor name  
Currently under operation  
Unit  
None  
None  
None  
None  
None  
None  
None  
None  
pulse  
pulse  
pulse  
pulse  
301  
302  
303  
304  
305  
310  
317  
318  
320  
321  
322  
323  
324  
325  
328  
335  
337  
338  
339  
340  
341  
342  
343  
345  
346  
347  
348  
349  
354  
Axis is under operation  
Error status  
Alarm status  
Driver ready  
Servo ready  
Display of program number under execution  
Completion of homing status display  
Homing operation: The measured value  
Pulse position command value  
Pulse position current value  
Pulse position deviation  
Command unit command value  
Scaling data (command unit side)  
Scaling data (pulse side)  
Position settling status  
Axis command unit  
Axis command unit  
pulse  
None  
Interface ready  
None  
Overload status  
None  
Zero signal status  
None  
Sensor group signal status  
Excessive position deviation status  
Excessive velocity status  
Braking OFF  
None  
None  
None  
None  
Position control integral main switch status  
Error code (main)  
None  
None  
Error code (sub)  
None  
Operation mode number  
Multi-channel communication status  
Multi-channel communication slave code  
Maximum motor pulse velocity  
None  
None  
None  
pulse/sec  
Monitor No.  
355  
Monitor name  
Unit  
pulse/rev, pulse/m  
digit/rps, digit/mps  
Axis command unit/sec  
pulse/rev, pulse/m  
x 1/100  
Monitor resolution  
356  
357  
358  
360  
361  
363  
364  
365  
366  
367  
368  
369  
370  
371  
372  
373  
374  
375  
376  
377  
384  
390  
391  
392  
393  
396  
398  
399  
Digital velocity sensitivity  
Maximum velocity  
Z-phase signal pulse interval  
Load ratio  
Velocity ratio gain  
x 1/100  
Velocity command value (digital)  
Post-filter velocity command value (digital)  
Present velocity value  
1/16 digit  
1/16 digit  
1/16 digit  
Present post-filter velocity value  
Velocity deviation (digital)  
Current command value (D/A)  
Present current value (A/D)  
Present command unit value  
Command unit deviation  
Present velocity value DC  
1/16 digit  
1/16 digit  
digit  
digit  
Axis command unit  
Axis command unit  
1/16 digit  
Motor linear coordinate command second-order differential value pulse/T2  
Acceleration feed forward command value  
Position control bandwidth  
digit  
Hz  
Velocity control bandwidth  
Hz  
Position settling width  
pulse  
pulse  
pulse/T  
pulse/T  
digit  
Motor linear coordinate current value after filtering  
Motor linear coordinate command differential value  
Present motor linear coordinate differential value  
Pre-filter current square duty  
Post-filter current square duty  
Driver code  
digit  
None  
None  
msec  
Motor code  
Time after power ON [msec]  
STD1  
Monitor detail  
300 Currently under operation  
Unit:  
None  
Indicates that an operation is being performed.  
301 Axis is under operation  
Unit:  
None  
Indicates that an axis operation is being performed.  
302 Error status  
Unit:  
None  
Indicates the error status.  
303 Alarm status  
Unit:  
None  
Indicates the alarm status.  
304 Driver ready  
Unit:  
None  
Indicates that the driver is ready.  
305 Servo ready  
Unit:  
None  
Indicates that the servo is ready.  
310 Display of program number under execution  
Unit:  
None  
Indicates the program number during execution or after execution.  
317 Completion of homing status display  
Unit:  
None  
Indicates whether a homing operation has been completed after the power is turned on.  
318 Homing operation: The measured value  
Unit:  
pulse  
Indicates the distance between the neighboring signal and origin that is measured during homing operation.  
320 Pulse position command value  
Unit: pulse  
Displays the pulse position command value.  
321 Pulse position current value  
Unit:  
pulse  
Displays the current pulse position value.  
322 Pulse position deviation  
Unit:  
pulse  
Displays the pulse position deviation.  
323 Command unit command value  
Unit:  
Axis command unit  
Displays the command unit command value.  
324 Scaling data (command unit side)  
Unit:  
Axis command unit  
Displays the axis scaling data (command unit side) that is actually used.  
325 Scaling data (pulse side)  
Unit:  
pulse  
Displays the axis scaling data (pulse side) that is actually used.  
328 Position settling status  
Unit:  
None  
Indicates that the axis position deviation is within the specified range.  
335 Interface ready  
Unit:  
None  
Indicates that the PLC interface is ready.  
337 Overload status  
Unit:  
None  
Displays the overload status.  
338 Zero signal status  
Unit: None  
Displays the zero signal status.  
339 Sensor group signal status  
Unit:  
None  
Displays the sensor group signal status. Each bit in binary notation corresponds as follows:  
bit0: (Reserved)  
bit1: (Reserved)  
bit2: (Reserved)  
bit3: (Reserved)  
bit4: ORG Origin neighboring signal  
bit5: OTU + direction hardware over-travel signal  
bit6: OTD - direction hardware over-travel signal  
bit7: (Reserved)  
340 Excessive position deviation status  
Unit:  
None  
Displays the excessive position deviation status.  
341 Excessive velocity status  
Unit:  
None  
Displays the excessive velocity status.  
342 Braking OFF  
Unit:  
None  
Indicates that the brake signal is OFF.  
343 Position control integral main switch status  
Unit:  
None  
Displays the position control integral main switch status (0: OFF-disable, 1: ON-enable).  
345 Error code (main)  
Unit:  
None  
Displays the error code (main code).  
346 Error code (sub)  
Unit:  
None  
Displays the error code (subcode).  
347 Operation mode number  
Unit: None  
Indicates the operation mode number during or after operation.  
348 Multi-channel communication status  
Unit:  
None  
Indicates that the multi-channel communication status has been set.  
0: Single channel communication status  
1: multi-channel communication status  
349 Multi-channel communication slave code  
Unit:  
None  
Indicates the slave station (self-station) code in multi-channel communication.  
354 Maximum motor pulse velocity  
Unit:  
pulse/sec  
Displays the maximum velocity defined for the motor/driver.  
355 Monitor resolution  
Unit:  
pulse/rev, pulse/m  
Displays the monitor resolution.  
356 Digital velocity sensitivity  
Unit:  
digit/rps, digit/mps  
Displays the digital velocity sensitivity.  
357 Maximum velocity  
Unit:  
Axis command unit/sec  
This parameter is defined by the smaller value of the maximum velocity [axis command unit/sec] set by the user and the  
maximum velocity [axis command unit/sec] converted from the maximum velocity [rps, mps] set by the motor and  
driver. The position command velocity is restricted by this value. In addition, for trapezoidal (constant  
acceleration/deceleration) move, the inclination of acceleration/deceleration is calculated from the  
acceleration/deceleration time parameter, feed velocity parameter in operation mode, and this parameter value.  
358 Z-phase signal pulse interval  
Unit:  
pulse/rev, pulse/m  
Displays the Z-phase signal pulse interval.  
360 Load ratio  
Unit:  
x 1/100  
Displays the load inertia/self-inertia and load mass/self-mass.  
361 Velocity ratio gain  
Unit: x 1/100  
Displays the velocity loop ratio gain.  
363 Velocity command value (digital)  
Unit:  
1/16 digit  
Displays the velocity command value when controlling the digital velocity. (1msec sample)  
364 Post-filter velocity command value (digital)  
Unit:  
1/16 digit  
Displays the post-filter velocity command value when controlling the digital velocity. (1msec sample)  
365 Present velocity current value  
Unit:  
1/16 digit  
Displays the present velocity value. (1msec sample)  
366 Present post-filter velocity value  
Unit:  
1/16 digit  
Displays the present post-filter velocity value. (1msec sample)  
367 Velocity deviation (digital)  
Unit:  
1/16 digit  
Displays the velocity deviation. (1msec sample)  
368 Current command value (D/A)  
Unit:  
digit  
Displays the current command value D/A output value. The conversion rate is as follows:  
1 digit = 0.0036%  
27853 digits:  
0 digits:  
+100%  
0%  
-27853 digits:  
-100%  
369 Present current value (A/D)  
Unit: digit  
Displays the A/D input value of the present current command value.(1msec sample) The conversion rate is as follows:  
1 digit = 0.0036%  
27840digits:  
0 digits:  
+100%  
0%  
-27840 digits:  
-100%  
370 Present command unit value  
Unit: Axis command unit  
Displays the present command unit value.  
371 Command unit deviation  
Unit:  
Axis command unit  
Displays the command unit deviation.  
372 Present velocity value DC  
Unit:  
1/16 digit  
Displays the present velocity value DC. (10msec sample)  
373 Motor linear coordinate command second-order differential value  
Unit:  
pulse/ΔT2  
Displays the second-order differential value of the motor linear coordinate command value (example: 2 msec).  
374 Acceleration feed forward command value  
Unit:  
digit  
Displays the acceleration feed command value.  
375 Position control bandwidth  
Unit:  
Hz  
Displays the position control bandwidth.  
376 Velocity control bandwidth  
Unit:  
Hz  
Displays the velocity control bandwidth.  
377 Position settling width  
Unit:  
pulse  
Displays the position settling width.  
384 Motor linear coordinate current value after filtering  
Unit:  
pulse  
Displays the eccentricity-compensated motor linear coordinate current value after position current value filter  
processing.  
390 Motor linear coordinate command differential value  
Unit: pulse/T  
Displays the differential value of the motor linear coordinate command value. (2msec sample)  
391 Present motor linear coordinate differential value  
Unit:  
pulse/T  
Displays the differential value of the present motor linear coordinate value. (2msec sample)  
392 Pre-filter current square duty  
Unit:  
digit  
Displays the pre-filter current square duty (decimal point 15 bits).  
393 Post-filter current square duty  
Unit:  
digit  
Displays the post-filter current square duty (decimal point 15 bits)  
396 Driver code  
Unit:  
None  
Displays the driver code.  
398 Motor code  
Unit:  
None  
Displays the motor code.  
399 Time after power ON [msec]  
Unit:  
msec  
Indicates the time after the power has been turned on.  
STD1  
Error/Alarm List  
Error No.  
Name  
Type  
Measures  
1
Memory error  
[KIND_POR] Start-up error  
[KIND_POR] Start-up error  
[KIND_ELS] Others  
[TYPE_POR] Do not start up.  
[TYPE_POR] Do not start up.  
[TYPE_ELS] Others  
2
Interface board error  
Battery alarm  
3
4
Watchdog error  
Kernel error  
[KIND_SYS] System error  
[KIND_SYS] System error  
[KIND_POR] Start-up error  
[KIND_POR] Start-up error  
[KIND_SYS] System error  
[KIND_SYS] System error  
[KIND_ERRALM2]  
[TYPE_ELS] Others  
5
[TYPE_ELS] Others  
10  
11  
15  
16  
17  
Data sum error  
Data error  
[TYPE_POR] Do not start up.  
[TYPE_POR] Do not start up.  
[TYPE_SRV] Servo OFF  
[TYPE_SRV] Servo OFF  
[TYPE_E2] Stop deceleration.  
Encoder error  
Coordinate error A  
Coordinate error B  
Error/operation alarm  
18  
19  
20  
21  
22  
23  
24  
30  
31  
Monitor pulse output error  
Slave drive error  
[KIND_SYS] System error  
[KIND_RGR] Always error  
[KIND_RGR] Always error  
[KIND_SRV] Servo error  
[KIND_RGR] Always error  
[KIND_SRV] Servo error  
[KIND_RGR] Always error  
[KIND_ERR] error  
[TYPE_SRV] Servo OFF  
[TYPE_SRV] Servo OFF  
[TYPE_SRV] Servo OFF  
[TYPE_SRV] Servo OFF  
[TYPE_ELS] Others  
Power module error  
AC power error  
Over load  
Excessive position deviation  
Over speed  
[TYPE_ELS] Others  
[TYPE_ELS] Others  
Servo not ready  
[TYPE_E2] Stop deceleration.  
[TYPE_ELS] Others  
Excessive position command differential  
value  
[KIND_ERR] error  
42  
43  
44  
45  
46  
49  
+ direction hardware over-travel  
- direction hardware over-travel  
+ direction software over-travel  
- direction software over-travel  
Emergency stop  
[KIND_ERR] error  
[KIND_ERR] error  
[KIND_ERR] error  
[KIND_ERR] error  
[KIND_RGR] Always error  
[KIND_ERRALM1]  
Error/operation alarm  
[KIND_ERRALM2]  
Error/operation alarm  
[KIND_ERRALM2]  
Error/operation alarm  
[KIND_ERRALM1]  
Error/operation alarm  
[KIND_ERRALM1]  
Error/operation alarm  
[KIND_ERRALM2]  
Error/operation alarm  
[KIND_ERRALM2]  
Error/operation alarm  
[KIND_ERRALM2]  
Error/operation alarm  
[TYPE_ELS] Others  
[TYPE_ELS] Others  
[TYPE_E2] Stop deceleration.  
[TYPE_E2] Stop deceleration.  
[TYPE_ELS] Others  
Homing error  
[TYPE_E2] Stop deceleration.  
50  
51  
52  
53  
60  
61  
62  
Cannot execute  
Data not ready  
[TYPE_E2] Stop deceleration.  
[TYPE_E2] Stop deceleration.  
[TYPE_E2] Stop deceleration.  
[TYPE_E2] Stop deceleration.  
[TYPE_E2] Stop deceleration.  
[TYPE_E2] Stop deceleration.  
[TYPE_E2] Stop deceleration.  
Timeout  
Cannot calculate  
Cannot interpret  
Command format error  
Data is out of range  
63  
65  
Operation error  
[KIND_ALM] Operation alarm [TYPE_E2] Stop deceleration.  
Illegal parameter and monitor number  
[KIND_ERRALM2]  
[TYPE_E2] Stop deceleration.  
Error/operation alarm  
66  
67  
Illegal device  
[KIND_ALM] Operation alarm [TYPE_E2] Stop deceleration.  
Write protected  
[KIND_ERRALM2]  
[TYPE_E2] Stop deceleration.  
Error/operation alarm  
80  
81  
82  
85  
No such command  
Not registered  
[KIND_ALM] Operation alarm [TYPE_E2] Stop deceleration.  
[KIND_ALM] Operation alarm [TYPE_E2] Stop deceleration.  
[KIND_ALM] Operation alarm [TYPE_E2] Stop deceleration.  
[KIND_ALM] Operation alarm [TYPE_E2] Stop deceleration.  
Out of memory  
Device conflict  
Error/Alarm Details  
Error number  
1
Memory error  
Long:  
Short:  
MemoryError  
MemoryErr  
Error type:  
Measures:  
Main cause:  
[KIND_POR] Start-up error  
[TYPE_POR] Do not start up.  
An error is detected during memory check when the power is turned on.  
[Subcode]  
1: CPU built-in ROM sum error  
2: RAM error  
3: Flash ROM sum error  
Action to take: Contact us.  
Error number  
2
Interface board error  
Long:  
Short:  
InterfaceBoardError  
IFB_Err  
Error type:  
Measures:  
Main cause:  
[KIND_POR] Start-up error  
[TYPE_POR] Do not start up.  
Failed to initialize the interface board.  
Action to take: Contact us.  
Error number  
3
Battery alarm  
Long:  
Short:  
BatteryAlarm  
BatteryAlm  
Error type:  
Measures:  
Main cause:  
[KIND_ELS] Others  
[TYPE_ELS] Others  
Battery voltage for memory backup is low.  
Action to take: Replace with a new lithium battery.  
Error number  
4
Watchdog error  
Long:  
Short:  
WatchdogError  
Watchdog  
Error type:  
Measures:  
Main cause:  
[KIND_SYS] System error  
[TYPE_ELS] Others  
A watchdog timer error occurred. The driver will be set in the reset status.  
Action to take: Contact us.  
Error number  
5
Kernel error  
Long:  
Short:  
KernelError  
KernelErr  
Error type:  
Measures:  
Main cause:  
[KIND_SYS] System error  
[TYPE_ELS] Others  
An error that should have not occurred in driver software has occurred.  
[Subcode]  
1: Axis operation handshake error  
2: System program error  
Action to take: Contact us.  
Error number  
10  
Data sum error  
Long:  
Short:  
DataSumError  
DataSumErr  
Error type:  
Measures:  
Main cause:  
[KIND_POR] Start-up error  
[TYPE_POR] Do not start up.  
Destroyed data was detected during data check when the power was turned on.  
[Subcode]  
1: Parameter file  
2: Parts data file  
3: Program file  
4: Index correction file  
5: I/O logic setting file  
6: Index file Type B  
7: Absolute accuracy compensation file  
Action to take: Perform the Reset All operation, and download all backup data.  
Error number  
11  
Data error  
Long:  
Short:  
DataError  
DataError  
Error type:  
Measures:  
Main cause:  
[KIND_POR] Start-up error  
[TYPE_POR] Do not start up.  
Data that cannot be processed was detected when the power was turned on.  
[Subcode]  
1: Basic data and adjustment data problem  
2: Servo constant problem  
Action to take: Contact us.  
Error number  
15  
Encoder error  
Long:  
Short:  
EncoderError  
EncoderErr  
Error type:  
Measures:  
Main cause:  
[KIND_SYS] System error  
[TYPE_SRV] Servo OFF  
An encoder and revolver signal problem was detected.  
[Subcode]  
1: No SIG0 signal edge  
2: No SIG1 signal edge  
3: SIG0 signal cycle problem  
4: SIG1 signal cycle problem  
Action to take: Contact us.  
Error number  
16  
Coordinate error A  
Long:  
Short:  
CoordinateErrorA  
CoordiErrA  
Error type:  
Measures:  
Main cause:  
[KIND_SYS] System error  
[TYPE_SRV] Servo OFF  
An error occurred during coordinate processing.  
[Subcode]  
1: Eccentricity compensation computation problem  
2: Conversion problem from the command unit to pulses  
Action to take:  
Error number  
17  
Coordinate error B  
Long:  
Short:  
CoordinateErrorB  
CoordiErrB  
Error type:  
Measures:  
Main cause:  
[KIND_ERRALM2] Error/operation alarm  
[TYPE_E2] Stop deceleration.  
An error occurred during coordinate processing.  
[Subcode]  
1: Executed the process that was prohibited in the coordinate non-settling status.  
2: Out of the command coordinate area  
3: Executed a process using the setting that is prohibited.  
Action to take:  
Error number  
18  
Monitor pulse output error  
Long:  
Short:  
MonitorPulseError  
MonPlsErr  
Error type:  
[KIND_SYS] System error  
[TYPE_SRV] Servo OFF  
Monitor pulses cannot be output.  
Measures:  
Main cause:  
Action to take:  
Error number  
19  
Slave drive error  
Long:  
Short:  
SlaveDriveError  
SlvDrvErr  
Error type:  
Measures:  
Main cause:  
[KIND_RGR] Always error  
[TYPE_SRV] Servo OFF  
A tandem slave driver error occurred.  
Action to take: Check the error code of the tandem slave driver, and take measures against the tandem slave driver  
problem. This error occurs only if the driver is the tandem master driver.  
Error number  
20  
Power module error  
Long:  
Short:  
PowerModuleError  
PwrMdlErr  
Error type:  
Measures:  
Main cause:  
[KIND_RGR] Always error  
[TYPE_SRV] Servo OFF  
A power module error in the driver was detected.  
[Subcode]  
1: Over-voltage (over-voltage of main power supply)  
2: Over-current (over-current detected, 1 PM fault)  
Action to take:  
Error number  
21  
AC power error  
Long:  
Short:  
AC_PowerError  
AC_PwrErr  
Error type:  
Measures:  
Main cause:  
[KIND_SRV] Servo error  
[TYPE_SRV] Servo OFF  
Either the main power supply is not input or the input voltage has not reached the rating level.  
Action to take: Verify the main power supply.  
Error number  
22  
Over load  
Long:  
Short:  
Overload  
Overload  
Error type:  
Measures:  
Main cause:  
[KIND_RGR] Always error  
[TYPE_ELS] Others  
The motor use is overloaded.  
[Subcode]  
1: The motor is overheated.  
2: The power module heat sink is overheated.  
Action to take:  
Error number  
23  
Excessive position deviation  
Long:  
Short:  
OverPerr  
OverPerr  
Error type:  
Measures:  
Main cause:  
[KIND_SRV] Servo error  
[TYPE_ELS] Others  
The position deviation was greater than the tolerance.  
Action to take: Perform the servo adjustment again. If an error still occurs, extend the tolerance.  
Error number  
24  
Over speed  
Long:  
Short:  
OverSpeed  
OverSpeed  
Error type:  
[KIND_RGR] Always error  
Measures:  
[TYPE_ELS] Others  
Main cause:  
Action to take:  
The velocity was higher than the maximum velocity.  
Error number  
30  
Servo not ready  
Long:  
Short:  
ServoNotReady  
SrvNotRdy  
Error type:  
Measures:  
Main cause:  
[KIND_ERR] error  
[TYPE_E2] Stop deceleration.  
The servo was not ready for the process that requires the servo to be ON.  
Action to take: Perform an error reset operation, turn ON the servo, and execute again.  
Error number  
31  
Excessive position command differential value  
Long:  
OverDiffPcmd  
Error type:  
Measures:  
Main cause:  
[KIND_ERR] error  
[TYPE_ELS] Others  
Short:  
OverDPcmd  
The position command with the variation rate that was greater than the maximum velocity was given.  
Action to take: The velocity override may be 100% or more. Verify it.  
Error number  
42  
+ direction hardware over-travel  
Long:  
Short:  
Hard_OT_+_direction  
+_Hard_OT  
Error type:  
Measures:  
Main cause:  
[KIND_ERR] error  
[TYPE_ELS] Others  
The + direction hardware over-travel signal was detected while moving to the + direction.  
Action to take: Perform an error reset operation, then move to the - direction.  
Error number  
43  
- direction hardware over-travel  
Long:  
Short:  
Hard_OT_-_direction  
-_Hard_OT  
Error type:  
Measures:  
Main cause:  
[KIND_ERR] error  
[TYPE_ELS] Others  
The - direction hardware over-travel signal was detected while moving to the - direction.  
Action to take: Perform an error reset operation, then move to the + direction.  
Error number  
44  
+ direction software over-travel  
Long:  
Short:  
Soft_OT_+_direction  
+_Soft_OT  
Error type:  
Measures:  
Main cause:  
[KIND_ERR] error  
[TYPE_E2] Stop deceleration.  
Attempted to move to outside of the + direction area via positioning move, but the command unit  
command value was outside of the + direction area.  
Action to take: Perform an error reset operation. If the command unit command value is outside of the area, move to  
the - direction. This error occurs only for the linear coordinates.  
Error number  
45  
- direction software over-travel  
Long:  
Short:  
Soft_OT_-_direction  
-_Soft_OT  
Error type:  
Measures:  
Main cause:  
[KIND_ERR] error  
[TYPE_E2] Stop deceleration.  
Attempted to move to outside of the - direction area via positioning move, but the command unit  
command value was outside of the - direction area.  
Action to take: Perform an error reset operation. If the command unit command value is outside of the area, move to  
the + direction. This error occurs only for the linear coordinates.  
Error number  
46  
Emergency stop  
Long:  
Short:  
EmergencyStop  
EMG_Stop  
Error type:  
Measures:  
Main cause:  
[KIND_RGR] Always error  
[TYPE_E2] Stop deceleration.  
An emergency stop instruction was entered.  
Action to take: Reset the error.  
Error number  
49  
Homing error  
Long:  
Short:  
OriginError  
OriginErr  
Error type:  
Measures:  
Main cause:  
[KIND_ERRALM1] Error/operation alarm  
[TYPE_E2] Stop deceleration.  
An error occurred during homing operation.  
[Subcode]  
1: Locating fixture position problem  
Action to take:  
Error number  
50  
Cannot execute  
Long:  
Short:  
CantExec  
CantExec  
Error type:  
Measures:  
Main cause:  
[KIND_ERRALM2] Error/operation alarm  
[TYPE_E2] Stop deceleration.  
Cannot execute.  
[Subcode]  
1: Prohibited command  
2: Execution in progress  
3: Error status  
4: Data is being used.  
5: Invalid data  
6: Access timing  
7: Driver mode  
8: Invalid program file  
9: Nesting overflow  
Action to take:  
Error number  
51  
Data not ready  
Long:  
Short:  
DataNotReady  
DataNotRdy  
Error type:  
Measures:  
Main cause:  
[KIND_ERRALM2] Error/operation alarm  
[TYPE_E2] Stop deceleration.  
Data is not ready.  
[Subcode]  
2: Part data  
3: Program file  
4: Index A correction file  
6: Index B file  
Action to take:  
Error number  
52  
Timeout  
Long:  
Short:  
TimeOut  
TimeOut  
Error type:  
Measures:  
Main cause:  
[KIND_ERRALM1] Error/operation alarm  
[TYPE_E2] Stop deceleration.  
A timeout occurred during internal processing.  
Action to take: Contact us.  
Error number  
53  
Cannot calculate  
Long:  
Short:  
CantCalc  
CantCalc  
Error type:  
Measures:  
Main cause:  
[KIND_ERRALM1] Error/operation alarm  
[TYPE_E2] Stop deceleration.  
The condition that cannot be calculated occurred during internal processing.  
[Subcode]  
1: Auto tuning  
Action to take: Contact us.  
Error number  
60  
Cannot interpret  
Long:  
Short:  
CantInterpret  
CantIntp  
Error type:  
[KIND_ERRALM2] Error/operation alarm  
[TYPE_E2] Stop deceleration.  
Measures:  
Main cause:  
Action to take:  
The command cannot be interpreted.  
Error number  
61  
Command format error  
Long:  
Short:  
FormatError  
FormatErr  
Error type:  
[KIND_ERRALM2] Error/operation alarm  
[TYPE_E2] Stop deceleration.  
Measures:  
Main cause:  
Action to take:  
A command format error occurred.  
Error number  
62  
Data is out of range  
Long:  
Short:  
Out_ofRange  
OutOfRange  
Error type:  
[KIND_ERRALM2] Error/operation alarm  
[TYPE_E2] Stop deceleration.  
The data is out of range.  
Measures:  
Main cause:  
Action to take:  
Error number  
63  
Operation error  
Long:  
Short:  
OperationError  
OperateErr  
Error type:  
Measures:  
Main cause:  
[KIND_ALM] Operation alarm  
[TYPE_E2] Stop deceleration.  
An operation error occurred.  
[Subcode]  
1: Prohibited operation in machine setting mode  
2: Prohibited operation while holding an operation  
Action to take:  
Error number  
65  
Illegal parameter and monitor number  
Long:  
IllegalNo  
IllegalNo  
Error type:  
[KIND_ERRALM2] Error/operation alarm  
[TYPE_E2] Stop deceleration.  
Short:  
Measures:  
Main cause:  
Action to take:  
The parameter and monitor of a non-existent number was specified.  
Error number  
66  
Illegal device  
Long:  
Short:  
IllegalDevice  
IlgDevice  
Error type:  
[KIND_ALM] Operation alarm  
[TYPE_E2] Stop deceleration.  
Measures:  
Main cause:  
Action to take:  
An operation was attempted using a device whose operation was prohibited.  
Error number  
67  
Write protected  
Long:  
Short:  
WriteProtected  
WrtProtect  
Error type:  
[KIND_ERRALM2] Error/operation alarm  
[TYPE_E2] Stop deceleration.  
Measures:  
Main cause:  
Action to take:  
A write access was attempted to an area that is prohibited to be written.  
Error number  
80  
No such command  
Long:  
Short:  
NoSuchCommand  
NoSuchCmd  
Error type:  
[KIND_ALM] Operation alarm  
[TYPE_E2] Stop deceleration.  
Measures:  
Main cause:  
Action to take:  
A non-existent command was specified.  
Error number  
81  
Not registered  
Long:  
Short:  
NotRegistered  
NotRegistd  
Error type:  
[KIND_ALM] Operation alarm  
[TYPE_E2] Stop deceleration.  
Measures:  
Main cause:  
Action to take:  
Registration did not complete normally.  
Error number  
82  
Out of memory  
Long:  
Short:  
Out_ofMemory  
MemoryLow  
Error type:  
[KIND_ALM] Operation alarm  
[TYPE_E2] Stop deceleration.  
Insufficient memory  
Measures:  
Main cause:  
Action to take:  
Error number  
85  
Device conflict  
Long:  
Short:  
DeviceConflict  
DevConflic  
Error type:  
[KIND_ALM] Operation alarm  
[TYPE_E2] Stop deceleration.  
Measures:  
Main cause:  
Action to take:  
An operation was attempted by another device while other device was being operated.  

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