SG-AS** Series AC Servo Drive

SERVOPACK with
Analog Voltage/Pulse Train References
Product Manual
Model: SG-AS
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 Application Function 5.9 Selecting Torque Limits . . . . . . . . . . . . . . . . . 68-73
5.9.1 Internal Torque Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . .68

5.9.2 External Torque Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . .68

I/O Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . 42-46
5.9.3 Limiting Torque with an Analog Reference . . . . . . . . . . . . . .. . . . . .70
5.1.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 42-43
5.9.4 Limiting Torque with an External Torque Limit and an Analog Voltage
5.1.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . 44 Reference . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71

5.1.3 ALM (Servo Alarm) Signal . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . 45 5.9.5 /CLT (Torque Limit Detection) Signal . .. . . . . . . . . . . . . . . . . . . . . .73

5.1.4 /TGON (Rotation Detection) Signal . . . . . . . .. . . . . . . . . . .. . . . . . . .. . . . 46

5.10 Absolute Encoders . . . . . . . . . . . . . . . . . . . . 74-77
5.1.5 /S-RDY (Servo Ready) Signal . . . . . . . . . . . . .. . . . . . . . . . . . . . . . .. . . 46
5.10.1 SEN Signal Connection. . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

5.10.2 Option Of Absolute Encoder Encoder . . . . . . . . . . . . . . . . . . . . . . 74

Operation for Momentary Power Interruptions . . . . . . . . . . 47 5.10.3 Battery Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

5.10.4 Send And Receive Sequence Of Absolute Data . .. . . . . .. . . . . . . 75

Speed Control . . . . . . . . . . . . . . . . . . . . . .. . . . . . 58-64
5.3.1 Basic Settings for Speed Control . . .. . . . . . . . . . . . . . . .. . . . . . . . . . . . 48

5.3.2 Soft Start Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . 51

5.3.3 Speed Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

6
5.3.4 Zero Clamping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52
6.1 79-80
5.3.5 /V-CMP (Speed Coincidence Detection) Signal . . . . . . . . . .. . . . . . . . . . . 54
79
79
5.4 Position Control . . . . . . . . . . . . .. . . . . . . .. . . . . . . . . . . 55-58 79
5.4.1 Basic Settings for Position Control . . . . . . .. . . . . . . . . . . . . . . . . . . . . . .55
6.2 81-87
5.4.2 CLR (Position Deviation Clear) Signal Function and Settings . . . . . . . . . .56
6.2.1 81
5.4.3 Smoothing Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57
6.2.2 82
5.4.4 /COIN (Positioning Completion) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . .58 6.2.3 87
5.4.5 Reference Pulse Inhibition Function . . . . . . . . . . . . . . . . . . . . . . . . . . . .58 6.2.4 87

6.3 88-94
5.5 Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 59-61
5.5.1 Basic Settings for Torque Control . . . . . . . . . . . . . . . . . . . . . . . .. . . .59

5.5.2 Adjusting the Torque Reference Offset . . . . .. . . . . . . . . . . . . . . .. . . .60

5.5.3 Speed Limit during Torque Control . . . . . . . . . ... . . . . . . . .. . . . . . . . .61

7
7.1 96-97
5.6 Encoder Divided Pulse Output . . . . . . . . . .. . . . 62-63 7.1.1 96
5.6.1 Encoder Divided Pulse Output Signals . . . . . .. . . . . . . ... . . . . . . . . .62 7.1.2 96
7.1.3 97
5.6.2 Setting for the Encoder Divided Pulse Output . .. . . . . . . ... . . . . . . 63
7.2 98-99
5.7 Internal Set Speed Control . . . . . . . . . . . . . . . . 62-65 7.2.1 98
5.7.1 Input Signals for Internal Set Speed Control . . . . . . . . . . . . . . . . . .64 7.2.2 99

5.7.2 Setting the Control Method to Internal Set Speed Control . . . . . . . . .64 7.3 100-102
5.7.3 Settings for Internal Set Speed Control . . . . . . . . . . . . . . . . . . . . . . .65 7.3.1 100
5.7.4 Changing Internal Set Speeds with Input Signals . . .. . . . . . . . .. . . ...65 7.3.2 101
7.3.3 102
5.8 Selecting Combined Control Methods .. . . . . . . 66-67
5.8.1 Setting Pn000 = n.X (Control Method Selection) to 4, 5, or 6. . . . . . 67
 7.4 103-109
7.4.1 103
7.4.2 104
7.4.3 104
7.4.4 105
7.4.5 105
7.4.6 106
7.4.7 s 106
7.4.8 s 107
7.4.9 107

8
8.1 109-118
8.1.1 109
8.1.2 110

9 02

9.1 120 02

9.2 120 03

9.3 121-128 04

9.4 128-129 04-05

06-07
10
Internal position control mode parameter 131-150

01
 1.3 Model Designations

SG-A/B-S/D-30-A-F
Model
F:Incremental
A:Three phase 220V M:Absolute
B:Three phase 380V

S:Single axis A:Pulse

B: Analog
D: Double axis
C:com open

Module current M2:M2Bus

M3:M3 Bus

02 03
 Communication Protocol MODBUS
1.5 1.5 SpecificatioaTable RS-485
Up to N =127 stations possible
Communications 1: N Communication
Axis Address Setting Set with parameters.

Control mode Communication Protocol CANOpen（DS301+ DS402guild regulations）

Position control,JOGGING,and so on. CAN
Incremental encoder: 2500PPR Standard incremental type,2500PPR Communications 1: N Communication Up to N = 127 stations possible
Encoder feedback Saving line incremental Axis Address Setting Set with parameters.
17 17
Serial encoder:

2
/bit
Incremental

encoder,2

/216 bit Absolute


encoder

Displays/Indicators CHARGE indicator and five-digit seven-segmentdisplay
Surrounding Air Temperature Surrounding Air Temperature：0~+50℃，Storage Humidity：-20~+85℃ Regenerative Processing Built-inregenerative resistor or external regenerative resistor (Selection)
/Storage Temperature
Stopping witt dynamic brake, deceleration to a stop, or coasting to a stop for the P-
Overtravel (OT) Prevention
Environmental Surrounding Air Temperature OT (Forward Drive Protibit) or N-OT (Reverse Drive Protibit) signal
90%RH relative tumidity max.(with no freezing or condensation)
Conditions /Storage Humidity
Protective Functions Overcurrent, overvoltage, low voltage, overload, overspeed,regeneration error,
Vibration Resistance encoder feedback error etc.
. 6m/s 2
4. 9m/s 2/19
/Shock Resistance
Monitoring Functions Speed, Current position,reference pulse accumulate,position deviation,motor Current,
Structure Base-mountedtype running,station,I/O signal etc.
1:10000(At the rated torque,the lower limit of the speed controlrange Gain adjustment, alarm history, jogging, origin search, inertia
Speed Control Range Utility Functions
must not cause the Servomotor to stop.) detection,etP.

Performance Speed response Intelligent function Built-ingain auto-tuning funPtion

1KHz
Coefficient of Speed Applicative loading inertia Lower than motor inertia 5 times
±0.01%
of rated speed max.(for aload fluctuation of 0%
to100%)
Fluctuation(Load Change) Feedback Compensation 0～100 %
（ Set Unit 1%）
Coefficient of Speed Sign + pulse train, CW+ CCW pulse trains, and two-phasepulse trains with 90°
Rated voltage±10%：0%(for rated speed) Input Pulse Type
Fluctuation(Voltage Change)
phase differential
Coefficient of Speed
25±25℃:±0.1%
of rated speed max. Position Input Pulse Form Line driver or open Collector
Fluctuation(Temperature
Control
Change) • Line Driver
Sign + pulse train or CW+ CCW pulse
Analog Speed Reference Voltage DC±10V trains: 500Kpps
Reference Input Input Impedance About20KΩ Two-phase(Aphaseand B phase) pulse
Circuit Time Constant 47μs phase differential: 500K pps
Max.Input Pulse Frequency trains with 90°

Reference Voltage DC±10V • OpenCollector

Analog Torque Sign + pulse train or CW +CCWpulse
Reference Input Input Impedance About20KΩ trains: 200 kpps
Circuit Time Constant 47μs Two-phase(Aphase and B phase) pulse
trains with 90°phase differential: 200 kpps
Number of input points 8p oints

·/ S-ON(Servo ON)signal
Input Signals That Can ·/P-CON(Proportional Control)Signal
Sequence Input Be Allocated ·P-OT(Forward Drive Prohibit)andN-OT(Reverse Drive Prohibit)signals
Signals ·/ALM-RST(Alarm Reset)signal
·/P-CL(Forward External TorqueLimit)and/N-CL(Reverse External Torque Limit)signals
·/CLR Position Deviation Clear Signal
·Internal Set Speed Selection Signal
A signal Can be allocated and the positive and negative logic Can be Changed.

Number of output points 6 points

• / ALM-RST(Alarm Reset)signal
Sequence Input Signals That Can
Output Signals • /COIN(Positioning Completion)Signal
Be Allocated
• /V-CMP(Speed Coincidence Detection)Signal
• /TGON(Rotation Detection)Signal
• /S-RDY(Servo Ready)signal
• /CLT(Torque Limit Detection)Signal
• /BK(Brake)signal
• PGC Encoder Zero output Signal
A signal Can be allocated and the positive and negative logic Can be Changed.

Encoder Divided Pulse Output PhaseA,phaseB,phaseC:Line-driver output Number of divided output pulses:Any
setting is allowed.

04 05
 　 SG-AS30** Current：30A Output Power：1KW-2.6KW
Three phase AC 380V

65mm 180mm
Φ5mm

CHARGE

One phase/Three phase AC 220V SG-AS15** Current:15A Output Power:200W-400W C

N
1

C
N
2

210mm
203mm

210mm
C
N
3

C
N
4

53mm

Three phase AC SG-AS50**/AS75** Current:50A/75A Output Power: 2.0KW-5.5KW

Three phase AC 220V SG-AS15** Current:15A Output Power:400W-1000W

187
Three phase AC 220V SG-AS30** Current:30A Output Power:1.0KW-2.6KW
167

167

SG-AS50**/AS75**, Current:50A/75A,
400 400 6 Output Power: 2.0KW-5.5KW

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 For SG-AD** series

For SG-AS** series

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 5.7 ,QWHUQDO6HW6SHHG&RQWURO  62-65
5.7.1 Input Signals for Internal Set Speed Control . . . . . . . . . . . . . . . . . .64
5.7.2 Setting the Control Method to Internal Set Speed Control . . . . . . . . .64
5.7.3 Settings for Internal Set Speed Control . . . . . . . . . . . . . . . . . . . . . . .65

Application 5.7.4 Changing Internal Set Speeds with Input Signals . . .. . . . . . . . .. . . ...65

5.8 Selecting Combined Control Methods .. . . . . . . 66-67

Functions
5 5.9
5.8.1 Setting Pn000 = n.X (Control Method Selection) to 4, 5, or 6. . . . . . 67

Selecting Torque Limits . . . . . . . . . . . . . . . . . 68-73

5.9.1 Internal Torque Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . .68

5.9.2 External Torque Limits . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . .68

5.9.3 Limiting Torque with an Analog Reference . . . . . . . . . . . . . .. . . . . .70

5.9.4 Limiting Torque with an External Torque Limit and an Analog Voltage
This chapter describes the a pplication functions that you Reference . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .71
can set before you start servo system operation. It also 5.9.5 /CLT (Torque Limit Detection) Signal . .. . . . . . . . . . . . . . . . . . . . . .73
describes the setting methods.
5.10 Absolute Encoders . . . .  74-77
I/O Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . 42-46 5.10.1 SEN Signal Connection. . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 74

5.1.1 Input Signal Allocations . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .. 42-43 5.10.2 Option Of Absolute Encoder Encoder . . . . . . . . . . . . . . . . . . . . . . 74

5.1.2 Output Signal Allocations . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . . . 44 5.10.3 Battery Usage . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 75

5.1.3 ALM (Servo Alarm) Signal . . . . . . . . .. . . . . . . . . . . . . . . . . . . . . . . . . . . 45 5.10.4 Send And Receive Sequence Of Absolute Data . .. . . . . .. . . . . . . 75

5.1.4 /TGON (Rotation Detection) Signal . . . . . . . .. . . . . . . . . . .. . . . . . . .. . . . 46

5.1.5 /S-RDY (Servo Ready) Signal . . . . . . . . . . . . .. . . . . . . . . . . . . . . . .. . . 46

Operation for Momentary Power Interruptions . . . . . . . . . . 47

Speed Control . . . . . . . . . . . . . . . . . . . . . .. . . . . . 58-64

5.3.1 Basic Settings for Speed Control . . .. . . . . . . . . . . . . . . .. . . . . . . . . . . . 48

5.3.2 Soft Start Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . .. . . . . . . . . . . . . . . 51

5.3.3 Speed Reference Filter . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 51

5.3.4 Zero Clamping . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . 52

5.3.5 /V-CMP (Speed Coincidence Detection) Signal . . . . . . . . . .. . . . . . . . . . . 54

5.4 Position Control . . . . . . . . . . . . .. . . . . . . .. . . . . . . . . . . 55-58

5.4.1 Basic Settings for Position Control . . . . . . .. . . . . . . . . . . . . . . . . . . . . . .55

5.4.2 CLR (Position Deviation Clear) Signal Function and Settings . . . . . . . . . .56

5.4.3 Smoothing Settings . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .57

5.4.4 /COIN (Positioning Completion) Signal . . . . . . . . . . . . . . . . . . . . . . . . . . .58

5.4.5 Reference Pulse Inhibition Function . . . . . . . . . . . . . . . . . . . . . . . . . . . .58

5.5 Torque Control . . . . . . . . . . . . . . . . . . . . . . . . . . . 59-61

5.5.1 Basic Settings for Torque Control . . . . . . . . . . . . . . . . . . . . . . . .. . . .59

5.5.2 Adjusting the Torque Reference Offset . . . . .. . . . . . . . . . . . . . . .. . . .60

5.5.3 Speed Limit during Torque Control . . . . . . . . . ... . . . . . . . .. . . . . . . . .61

5.6 Encoder Divided Pulse Output . . . . . . . . . .. . . . 62-63

5.6.1 Encoder Divided Pulse Output Signals . . . . . .. . . . . . . ... . . . . . . . . .62

5.6.2 Setting for the Encoder Divided Pulse Output . .. . . . . . . ... . . . . . . 63

40 41
5.1 I/O Signal Allocations 5.1 I/O Signal Allocations
5.1.1 Input Signal Allocations 5.1.1 Input Signal Allocations

5.1 I/O Signal Allocations Changing Input Signal Allocations

? If you change the default polarity settings for the /S-ON (Servo ON), P-OT (Forward Drive Pro-
Functions are allocated to th e pins on the I/O signal connector (CN3) in advance. You can hibit), or N-OT (Reverse Drive Prohibit) signal, the main circuit power supply will not be turned
change the allocations and the polarity for some of the connector pins. Function allocations OFF and the overtravel function will not operate if there are si gnal line disconnections or other
and polarity sett ings are made with parameters. Important problems. If you must change the polarity of one of these signals, verify operation and make
sure that no safety problems will exist.
This section describes the I/O signal allocations. ? If you allocate two or more signals to the same in put circuit, a logical OR of the inputs will be
used and all of the allocated signals will oper ate accordingly. This may result in unexpected
operation.

5.1.1 Input Signal Allocations

The input signals that you can allocate to the pins on the I/O signal connector (CN1) and the
Although you can use the input signals with the default settings, you can also allocate the related parameters are given in the following table.
desired input signals on the I/O signal connector (CN3). Input Signal Input Signal Name Parameter
Specify the allocation method to use in Pn50A = n. X (Input Signal Allocation Mode).
/S-ON Servo ON Pn50A = n. X
Parameter Description When Enabled Classi cation /P-CON Proportional Control Pn50A = n. X
n.0 P-OT Forward Drive Prohibit Pn50A = n.X 
Use the sequence input signal terminals with
(default set-
the default allocations. N-OT Reverse Drive Prohibit Pn50B = n. X
Pn50A ting) After startup Setup
/ARM-RST Alarm Reset Pn50B = n. X
Change the individual sequence input signal
n.1 /P-CL Forward External Torque Limit Pn50B = n. X
allocations.
/N-CL Reverse External Torque Limit Pn50B = n.X 

Using the Default Settings

The default settings for signal allocati ons are given in the following table.
If you change the control method that is set in Pn000 = n. X, the signals will be allocated
as required for the speci ed control me thod, as given in the following table.  Relationship between Parameter Settings, Allocated Pins, and Polari-
If the control method is set to internal set speed control with contact commands (Pn000 = 
ties
3), the /P-CON signal (CN3-8) will be allocated as the /SPD-D signal, the /P-CL signal The following table shows the relationship betw een the input signal parameter settings, the
(CN3-40) as the /SPD-A signal, and the /N-CL signal (CN3-26) as the /SPD-B signal. pins on the I/O signal connector (CN3), and polarities.

Pn000 = CN3 Pin No. Parameter

Control Method Selection Pin No. Description
n.X Setting
7 8 9 39 25 40 26
0 7
0 Speed control
1 8 +24 V
1 Position control /P-CON /P-CL /N-CL
2 Torque control
2 9
3 39 A reverse signal (a signal with “/” before the signal abbrevia tion, such as the /
3 Internal set speed control
4 25 S-ON signal) is active when the contacts are ON (closed).
Switching between internal set A signal that does not have “/” before the signal abbreviation (such as the P-
4 speed control and speed con- 5 40 OT signal) is active when the contacts are OFF (open).
trol with analog references 6 26
Switching between internal set /SPD-D /SPD-A /SPD-B The input signal is not allocated to a connector pin and it is always active.
5 speed control and position 7 –
If the signal is processed on a signal edge, then it is always inactive.
control
The input signal is not allocated to a co nnector pin and it is always inactive.
Switching between internal set 8 –
Set the parameter to 8 if the signal is not used.
6 speed control and torque con-
trol 9 7
/S- /ALM-
P-OT N-OT A 8 +24 V
Switching between position ON RST
7
control and speed control B 9
Switching between position C 39 A reverse signal (a signal with “/” before the signal abbrevia tion, such as the /
8 /C-SEL
control and torque control D S-ON signal) is active when the contacts are OFF (open).
25
Switching between torque A signal that does not have “/” before the signal abbreviation (such as the P-
9 E 40 OT signal) is active when the contacts are ON (closed).
control and speed control
F 26
Switching between speed /P-CL /N-CL
control with analog references
A /ZCLAMP
and speed control with zero
clamping
Switching between normal
position control and position
B /INHIBIT
control with reference pulse
inhibition

42 43
5.1 I/O Signal Allocations 5.1 I/O Signal Allocations

5.1.1 Input Signal Allocations 5.1.2 Output Signal Allocations

CN3 Pin No.

Output Signal Name Output Disabled
Example of Changing Input Signal Allocations and Parameter Signal 5,20 6,21 22,37 23,38 34,33 36,35 (Not Used)
The following example shows reversing the P-OT (Forward Drive Prohibit) signal allocated Servo Alarm
to CN3-9 and the /P-CL (External Tor que Limit) signal allocated to CN3-40. /ALM 1 2 3 4 5 6 0
Pn50E = n.X

Positioning Completion
/COIN 1 2 3 4 5 6 0
Pn50A = n.20 Pn50B = n.5 Before change Pn50E = n.X

Rotation Detection
↓ ↓ /TGON 1 2 3 4 5 6 0
Pn50E = n.X
Pn50A = n.51 Pn50B = n.2 After change Servo Ready
/S-RDY 1 2 3 4 5 6 0
Pn50E = n.X
Torque Limit Detection
/CLT 1 2 3 4 5 6 0
Pn50F = n.X
Brake
/BK 1 2 3 4 5 6 0
Pn50F = n.X
Con rming Input Signals Encoder origin
/PGC 1 2 3 4 5 6 0
Pn50F = n.X
You can con rm the status of input signals on th e I/O signal monitor. Re fer to the following sec-
tion for information on the I/O signal monitor. Pn512 = n.1
Reverse polarity for
CN1-5 and CN1-20
9.2.3 I/O Signal Monitor on 6.3.2

Pn512 = n.1 Reverse polarity for CN3-6

and CN3-21

Pn512 = n.1 Reverse polarity for CN3-22 and CN3-37 0

（ ）
The polarity
5.1.2 Output Signal Allocations is not reversed
in the default
Pn512 = n.1 Reverse polarity for CN3-23 and CN3-38 settings.
You can allocate the desired output signals on the I/O signal con-nector (CN3). You set the
allocations in the following parameters: Pn50E, Pn50F, Pn512, Pn513. Pn513 = n.1 Reverse polarity for CN3-34 and CN3-33

Pn513 = n.1 Reverse polarity for CN3-36 and CN3-35

? The signals that are not detected are considered to be OFF. For exampl e, the /COIN (Position-
ing Completion) signal is considered to be OFF during speed control.
? Reversing the polarity of the /BK (Brake) signal, i. e., changing it to positive logic, will prevent
Important the holding brake from operating if its signal lin e is disconnected. If you must change the polar- Example of Changing Ou
tput Signal Allocations
ity of this signal, verify operation and make sure that no safety problems will exist. The following example shows disabling the / ALM (Servo Alarm) signal allocated to CN3-5 and
? If you allocate more than one signal to the same output circuit, a logical OR of the signals will allocating the /PGC (Encoder Original) signal.
be output.
Pn50E = n.1 Pn50F = n.0 Before change
Output signals are allocated as shown in the following table.
↓ ↓
Refer to Interpreting the Output Signal Allocation Tables and change the allocations accord-
ingly. Pn50E = n.0 Pn50F = n.1 After change
Interpreting the Output Signal Allocation Tables

These columns give the parameter settings to use. Signals Checking Output Signal Status
are allocated to CN1 pins according to the settings.
: Default settings.
You can con rm the status of output signals on the I/O signal monitor. Refer to the following
section for information on the I/O signal monitor.
7.3.3 I/O Signal Monitor on page 112

CN3 Pin No.

Output Signal Name
and Parameter
Output
Signal 5, 20 6,21 22,37 23,38 34,33 36,35
Disabled
(Not Used)
5.1.3 ALM (Servo Alarm) Signal
Positioning
Completion /COIN 1 2 3 4 5 6 0 This signal is output when the SERVOPACK detects an error.
Pn50E = n.X

Con gure an external circuit so that this alarm output turns OFF the main circuit power supply to
the SERVOPACK whenever an error occurs.
Important

Type Signal Connector Pin No. Signal Status Meaning

CN3-5 and ON (closed) Normal SERVOPACK status
Output ALM
CN3-20 OFF (open) SERVOPACK alarm

44 45
 5.1 I/O Signal Allocations 5.2 Operation for Momentary Power Interruptions
5.1.4 /TGON (Rotation Detection) Signal

5.1. 4 /TGON (Rotation Detection) Signal 5.2 Operation for Momentary Power Interruptions
The /TGON signal indicates that the Servomotor is operating.
This signal is output when th e shaft of the Servomotor rotates at thesetting of Pn502 (Rotation Even if the main power supply to the SERVOPACK is interrupted momentarily, power supply to
Detection Level) or faster. the motor (servo ON status) will be maintained for the time set in Pn509 (Momentary Power
Interruption Hold Time).
The /TGON signal is allocated to CN3-2 2 and CN3-37 by default.
Momentary Power Interruption Hold Time Speed Position Torque
Type Signal Connector Pin No. Signal Status Servomotor Meaning
Pn509 Setting Range Setting Unit Default Setting When Enabled Classi cation
The Servomotor is
operating at the setting 20 to 50,000 1 ms 20 Immediately Setup
ON (closed) Rotary Servomotors
of Pn502 or faster. If the momentary power interruptio n time is equal to or less th an the setting of Pn509, power
Output /TGON CN3-22 and
CN3- 37 (default The Servomotor operat- supply to the motor will be continued. If it is lo nger than the setting, power supply to the motor
setting) ing at a speed that is will be stopped. Power will be supplied to the motor again when the main circuit power supply
OFF (open) Rotary Servomotors
slower than the setting recovers.
of Pn502.
Setting of Pn509 ≥ Momentary power interruption time Setting of Pn509 < Momentary power interruption time
Note: Use Pn50E = n. X (/TGON (Rotation Detection Output) Signal Allocation) to al locate the /TGON signal to Momentary power interruption Momentary power interruption
another connector pin.
Main circuit Main circuit
power supply Momentary power power supply Momentary power
interruption ≤ Pn509 interruption > Pn509

Setting the Rotation Detection Level Setting of Setting of

Pn509 Pn509
Use the following parameter to set the speed dete ction level at which to output the /TGON sig- Pn509
Pn509
nal. Power not
Power supply
supplied.
? Rotary Servomotors Motor power continued.
Power supplied. Motor power Power supplied.
status status
Rotation Detection Level Speed Position Torque Power shut OFF.
Pn502 Setting Range Setting Unit Default Setting When Enabled Classi cation Momentary power interruption Momentary power interruption
1 to 10,000 1 min -1 20 Immediately Setup
1. If the momentary power interruption time excee ds the setting of Pn509, the /S-RDY (Servo
Information
Ready) signal will turn OFF.
2. If uninterruptible power supplies are used for the control power supply and main circuit
power supply, the SERVOPACK can withstand a po wer interruption that lasts longer than
50,000 ms.
5.1. 5 /S-RDY (Servo Ready) Signal 3. The holding time of the SERVOPACK control power supply is approximately 100 ms. If
control operations become impossible during a momentary po wer interruption of the con-
The /S-RDY (Servo Ready) signal turns ON wh en the SERVOPACK is ready to accept the /S- trol power supply, the setting of Pn509 will be ignored and the same operation will be per-
ON (Servo ON) input signal. formed as for when the power su pply is turned OFF normally.
The /S-RDY signal is turned ON under the following conditions.
? Main circuit power supply is ON.
? There is no hard wire base block state. The holding time of the main circuit power suppl y depends on the output from the SERVOPACK.
If the load on the Servomotor is large and an A.410 alarm (Under voltage) occurs, the setting of
? There are no alarms.
Important Pn509 will be ignored.
? If an absolute encoder is used, the SEN (Absol ute Data Request) signal is ON (high level).
? If an absolute encoder is used, the SERVOPACK must be ready to accept the /S-ON (Servo
ON) signal and, if the SEN signal is ON (high level), the output of the position data from the
absolute encoder to the host controller must have been completed.

The /S-RDY signal is allocated to CN3-23 and CN3-38 by default.

Type Signal Connector Pin No. Signal Status Meaning
ON (closed) Ready to receive the /S-ON (Servo ON) signal.
CN3-23 and
Output /S-RDY CN3- 38 (default Not ready to receive th e /S-ON (Servo ON) sig-
OFF (open)
setting) nal.
Note: 1. Use Pn50E = n.X  (/S-RDY (Servo Ready) Signal Allocation) to allocate the /S-RDY signal to another
connector pin.

46 47
5.3 Speed Control 5.3 Speed Control
5.3.1 Basic Settings for Speed Control 5.3.1 Basic Settings for Spee d Control

5.3 Speed Control Relation between the /SPD-D (M otor Direction Input) Signal
and V-REF (Speed Reference Input) Signal
There are two types of speed control: speed control with an analog voltage reference and The following graphs show the relationship betw een the V-REF (Speed Reference Input) signal
speed control with internal set speeds. This section describes speed control with an analog and the speed reference depending on whet her the /SPD-D signal is ON or OFF.
voltage reference.
You input a speed reference into the SERVOPACK with an analog voltage to operate the Servo- Motor speed [min-1] Motor speed [min-1]
motor at the reference speed. Refer to the follo wing section for information on speed control
with internal set speeds.
5.7 In ternal Set Speed Control on page 64
? If you create a position loop in the host co ntroller, you use the SERVOPACK for speed con-
trol. Speed reference Speed reference
? If you need to control only the speed of th e Servomotor, you use the SERVOPACK for speed voltage [V] voltage [V]
control. - 12 0 +10 - 12 0 +10
You set the control method in Pn000 = n. X (Control Method Selection).
Set Pn000 to n.0 to set the control method to speed control.
Parameter Meaning When Enabled Classi cation
n.0
Pn000 Speed control with analog references After restart Setup
(default setting)

/SPD-D (Motor Direction Input) Signal: OF F /SPD-D (Motor Direction Input) Signal: ON
5.3.1 Basic Settings for Speed Control
Example Speed Reference Input Example
This section describes the use of the V-REF (S peed Reference Input) Signal, /SPD-D (Motor If Pn300 is set to 300, the motor would operate at the rated speed for 10 V.
Direction Input) Signal, speed reference input gain, and speed reference offset adjustment in
speed control with analog voltages. ? For Rotary Servomotors
Speed Ref- /SPD-D Rotation Motor
Servo motor
V-REF (Speed Reference Input) Signal erence Input Signal Direction Speed
Rated
ON Reverse -3000 min -1
Input the V-REF (Speed Reference Input) signal to the SERVOPACK to operate the Servomotor +10 V motor
at a speed that is proportion al to the input voltage. OFF Forward speed 3000 min -1
ON Forward 1/2 of rated 1500 min -1
Type Signal Connector Pin No. Meaning
-5 V motor
V-REF CN3-5 Speed reference input signal OFF Reverse speed -1500 min -1
Input
SG CN3-6 Signal ground for speed reference input signal ON Reverse 1/10 of r ated -300 min -1
+1 V motor
Maximum input voltage: ±10 VDC OFF Forward speed 300 min -1
If you will use a host controller, such as a progr ammable controller, for position control, connect
the above output pins to the speed reference output terminals on the host controller.
SERVOPACK
Host controller CN3

V-REF
Setting the Speed Reference Input Gain (Pn300)
1
D/A The reference voltage for the r ated motor speed is set for the speed reference input gain
SG 16 Approx. 14 k (Pn300) to de ne the relationsh ip between the position refere nce voltage and the motor speed.

0V Speed Reference Input Gain Speed Position Torque

Setting Range Setting Unit Default Setting When Enabled Classi cation
Pn300
Note: Always use twisted-pair cables to control noise.
150 to 3,000 (r/min)/v 150 Immediately Setup

/SPD-D (Motor Direction Input) Signal

You can turn the /SPD-D signal ON and OFF to change the direction of the Servomotor.
Classi cation Signal Connector Pin No. Description
Input /SPD-D CN3-8 Changes the Servomotor direction.
Note: In this control mode,/P-CON signal can be as /SPD-D signal to use .

48 49
5.3 Speed Control 5.3 Speed Control
5.3.1 Basic Settings for Speed Control 5.5.2 Soft Start Settings

Adjusting the Speed Reference Offset

With speed control, the Servomotor may sometimes rotate at a very low speed for a speed ref- 5.3.2 Soft Start Settings
erence of 0 V (with a reference speed of 0 or when the speed reference is stopped). This
occurs because the internal reference in the SERVOPACK has a slight offset. The soft start function takes a stepwise speed reference input and applies the speci ed accel-
If the Servomotor moves at a very low speed, th e offset needs to be eliminated by adjusting the eration/deceleration rates to convert it to a trapezoidal speed reference.
offset. You specify the acceleration/deceleration rates in Pn305 (Soft Start Acceleration Time) and
You can adjust the speed reference offset either automatically or manually. Pn306 (Soft Start Deceleration Time).

Motor speed Motor speed Meaning

Offset The offset is adjusted in the

SERVOPACK. When Enabled

Speed Speed Offset adjustment range:

reference Offset reference 15,000 (speed reference: 879 mV) Use this function to perform smoother speed co ntrol (including internal set speed control).
voltage adjustment voltage
Soft Start Acceleration Time Speed
Offset setting unit: 8 Pn305 Setting Range Setting Unit Default Setting When Enabled Classi cation
(speed reference: 0.47 mV)
0 to 10,000 1 ms 0 Immediately Setup
 Automatically Adjusting the Speed Reference Offset Soft Start Deceleration Time Speed
To automatically adjust the speed reference offs et, the amount of offset is measured and the Pn306 Setting Range Setting Unit Default Setting When Enabled Classi cation
speed reference voltage is adjusted automatically. 0 to 10,000 1 ms 0 Immediately Setup
The measured offset is saved in the SERVOPACK. Pn305: The time required for the Servomotor to accelerate from a stopped state to the maxi-
The offset does not use a parameter, so it will not change even if th e parameter settings are mum motor speed.
Information
initialized.
Pn306: The time required for the Servomotor to decelerate from the maximum motor speed to
a stopped state.
 Preparations
You can calculate the actual acceleration/deceleration times with the following formulas.
The following conditions must be met to automatically adjust the reference offset.
Target speed
? The servo must be OFF. Actual acceleration time = × Soft start acceleration time (Pn305)
Maximum speed
? There must not be a position loop in the host controller.
Target speed
 Applicable Tools Actual deceleration time = × Soft start deceleration time (Pn306)
Maximum speed
The following table lists the tools that you can use to automatically adjust the speed reference
offset and the applicable tool functions. Maximum speed

Tool Function Operating Procedure Reference

Panel Operator Fn009 Autotune Analog (Speed/Torque) Reference

Target speed
Offset (Fn009)

 Manually Adjusting the Speed Reference Offset

You can directly input a speed reference offset to adjust the speed reference. The offset is
adjusted manually in the following cases. Actual Actual
acceleration deceleration
? When a position loop is created with the host computer and the position deviation when the time time
Servomotor is stopped by a servo lock is to be set to 0
? To intentionally set the offset to a desired value Pn305 Pn306
? To check an offset that was set automatically
The offset does not use a parameter, so it will not change even if the parameter settings are
Information
initialized.

 Preparations
5. 3 .3 Speed Reference Filter
The following conditions must be met to manually adjust the reference offset. The speed reference lter is a rst order lag l ter that is applied to the V-REF (Speed Reference
? The servo must be in ready status. Input) signal.
You set the speed reference lter in Pn307 (Speed Reference Filter Time Constant).
 Applicable Tools
It is normally not necessary to change this parameter. If the sett ing is too high, the response to
The following table lists the tools that you can us e to manually adjust the speed reference offset the speed reference may be slowed down. Monito r the response to the speed reference as you
and the applicable tool functions. set this parameter.
Tool Function Operating Procedure Reference Speed Reference Filter Time Constant Speed Position Torque
Panel Operator Fn00A Manually Adjust Speed Reference Offset Pn307 Setting Range Setting Unit Default Setting When Enabled Classi cation
(Fn00A)
0 to 65,535 0.01 ms 40 Immediately Setup

50 51
5.3 Speed Control 5.3 Speed Control
5.3.4 Zero Clamping 5.3.4 Zero Clamping

Enabling Zero Clamping

5.3.4 Zero Clamping To enable using zero clamping, set the control method (Pn000 = n. X) to 0, 7, 9 or A. You
can use zero clamping only for operation with speed control.
Zero clamping is used to lock the servo when the input voltage of the V-REF (Speed
Reference Input) signal is equal to or lowe r than the speed set for the zero clamping level If Pn000 = n.X is set to 5, 6, 7, or 9, zero clam ping will be disabled when the control
(Pn501) while the /ZCLAMP (Zero Clamping) signal is ON. The SERVOPACK internally forms a method is changed to any meth od other than speed control.
position loop, ignoring the speed reference.
If you set the parameter to keep the /ZCLAMP always active (Pn50D = n. 7) for speed con-
Zero clamping is used for speed control in system s in which the host controller does not form a Information
trol, zero clamping will be applied whenever th e speed reference is equal to or lower than the
position loop. speed set for the zero clamping level. In this case, using the /ZCLAMP signal is not necessary.
The Servomotor is clamped within one pulse of the position wher e zero clamping was applied,
and will return to the zero clamping position even if it is moved by an external force. When
Parameter Control Method Used Input Signals Classi cation
Enabled
SERVOPACK
n.0 Speed control /ZCLAMP
V-REF (S peed
Switching between position con-
Host Reference Input) n.7 /ZCLAMP, C-SEL
controller Signal trol and speed control
Pn000 Switching between torque control After restart Setup
Held in n.9 /ZCLAMP, C-SEL
place. and speed control
/ZCLAMP (Zero
Clamping) signal Switching between speed control
n.A with analog references and speed /ZCLAMP
control with zero clamping

Speed
V-REF (Speed Reference Input) signal
 Related Parameters
You set the speed at which to apply zero clamping as the zero clamping level (Pn501). If
Zero clamping level
you set a value that exceeds the maximum speed of the Servomotor, the actual speed
(setting of Pn501 or will be limited to the maximum speed of the Servomotor.
Time
Pn580) ? Rotary Servomotors
Zero Clamping Level Speed
/ZCLAMP ON OFF
(Zero Clamping) signal Pn501 Setting Range Setting Unit Default Setting When Enabled Classi cation
0 to 10,000 1 min -1 10 Immediately Setup
Zero clamping Applied Released Applied Released

Adjust Pn102 (Position Loop Gain) if the Servom otor oscillates during zero clamping. If gain
selection is used, you must also adjust Pn106 (Second Position Loop Gain).

/ZCLAMP (Zero Clamping) Signal

Use the /ZCLAMP signal to enable zero clamping. (Note:In this control mode,/P-CON signal
can be as /ZCLAMP signal to use)
 When Using the Default Input Signal Allocations (Pn50A = n. 0)
The /ZCLAMP signal is allocated to pin CN3- 8 on the I/O signal connector by default.
Type Signal Connector Pin No. Signal Status Meaning
Zero clamping is applied if the input voltage of the
V-REF (Speed Reference Input) signal is equal to or
ON (closed)
Input /ZCLAMP CN3-8 lower than the speed set for tzheero clamping
level (Pn501).
OFF (open) Zero clamping is disabled.

52

53
5.3 Speed Control 5.4 Position Control
5.3.5 /V-CMP (Speed Coincidence Detection) Signal

5.4 Position Control

5.3.5 /V-CMP (Speed Coincidence Detection) Signal
Position control is used to in put a pulse train reference from the host controller to the SERVO-
The /V-CMP (Speed Coincidence Output) signal is output when the Servomotor speed is the PACK to move to a target position. The position is controlled with the number of input pulses,
same as the reference speed. This signal is used, for example, to interlock the SERVOPACK and the speed is controlled with the input pulse frequency. Use position control when position-
and the host controller. You can use this output signal only during speed control. ing is required.
The /V-CMP signal is described in the following table. You set the control method to position control in Pn000 = n. X (Control Method Selection).
Type Signal Connector Pin No. Signal Status Meaning Parameter Meaning When Enabled Classi cation
CN3-6 and CN3-21 ON (closed) The speed coincides. Pn000 n.1 Position Control After restart Setup
Output /V-CMP
(default setting) OFF (open) The speed does not coincide. The control block diagrams for posi tion control are provided below.
Note: You can use Pn50E = n. X (/V-CMP (Speed Coincidence Detection Output) Signal Allocation) to allocate SERVOPACK
the /V-CMP signal to different output connector pins. Refer to the following section for details on allocations. Torque
In this control mode,/COIN signal can be as /V-CMP signal to use. reference
Speed
reference
Pn109 Pn10A
You can set the speed detection width for the /V-CMP signal in Pn503 (Speed Coincidence Feedforward
Detection Signal Output Width) for a Rotary Servomotor. Feedforward lter time
con stant Servomotor
Refer- Elec-
Position ence tronic Smo- Current Power M
gear Speed
? Rotary Servomotors reference pulse othing Deviation control control ampli er
form B counter section
Pn000 section Pn000
A
Po s ition = n.X = n.X
Speed Coincidence Detection Signal Output Width Speed Pn200 Pn20E Pn216 controlsection
Clear = n.X Pn210
Pn503 Setting Range Setting Unit Default Setting When Enabled Classi cation signal input Current feedback

0 to 100 1 min -1 10 Immediately Setup Speed

conversion
Pn522 (Positioning
The signal is output when the difference be tween the reference speed and motor speed is Encoder Completed Width)
divided pul es Position
equal or less than the setting. output feedback Speed feedback
Divider ENC
If Pn503 is set to 100 and the speed reference is 2,000 min -1, the signal would be output
Example Pn212
when the motor speed is between 1,900 and 2,100 min -1.
Motor speed COIN

Pn503
5.4.1 Basic Settings for Position Control
Speed reference This section describes the referen ce pulse forms and input lters.

Reference Pulse Forms

The /V-CMP signal is output when the motor speed is in
the area between the dotted lines. To perform speed control, you must specify how the reference is input from the host controller
(i.e., the reference pulse form). You set the refe rence pulse form in Pn200 (Position Control Ref-
erence Form Selections).
Input
Reference Pulse
Parameter Pulse Forward Reference Reverse Reference
Form
Multiplier
PULS PULS
n. 0 Sign and pulse train, (CN1-7) (CN1-7)
−
(default setting) positive logic. SIGN SIGN Low level
(CN1-11) High level (CN1-11)

CW Low level CW
CW and CCW pulse (CN1-7) (CN1-7)
n.1 −
Pn200 trains, positive logic CCW CCW Low level
(CN1-11) (CN1-11)

n.2 ×1 90 90

Phase A
n.3 90° phase-differen- ×2 Phase A (CN1-7)
tial pulses Phase B
n.4 ×4 Phase B (CN1-11)

Selecting an Input Filter

Parameter Meaning When Enabled Classi cation
n.0 Use the reference input lter 1 for a line-
(default setting) driver signal. (1 Mpps max.)
Pn200 After restart Setup
Use the reference input lter for an open-col-
n.1
lector signal. (200 kpps max.)
54 55
5.4 Position Control 5.4 Position Control
5.4.1 Basic Settings for Position Control 5.4.2 CLR (Position Deviation Clear) Signal Function and Settings

Electrical Speci. cations for Pulse Train Reference CLR (Position Deviation Clear) Signal
The following table describes the forms for pulse train references. Type Signal Connector Pin No. Name
Pulse Train Reference Form Electrical Speci cations Remarks CLR CN3-24
Input Position deviation clear input
Sign and pulse train /CLR CN3-41
t1 t2
(SIGN and PLUS signals) SIGN
t7 SIGN is high for
Maximum reference
t3 t1, t2, t3, t7 ≤0.025 µs
a forward refer-
frequency: 4 Mpps
PULS
t4  t5 t6
t4, t5, t6 ≥0.5 µs
τ≥0.125 µs
ence and low for Setting the Form of the CLR (Position Deviation Clear) Sig-
(maximum reference
frequency for open-collector
T

Forward reference
Reverse
reference
T- τ≥0.125 µs
a reverse refer-
ence.
nal
output: 200 kpps) You set the CLR signal form to use to clear the deviation counter in Pn200 = n. X (Clear
Signal Form).
CW and CCW pulse trains t1
T When
Maximum reference t1, t2 ≤0.025 µs Parameter Reference Form Clear Timing Classi cation
Enabled
frequency: 4 Mpps t3 ≥0.5 µs
CCW – Clear position deviation
(maximum reference t2
 τ≥0.125 µs n.0 CLR ON
frequency for open-collector T- τ≥0.125 µs when the signal is at high Cleared.
CW t3
Reverse
(default setting) level.
(CN1-15)
output: 200 kpps) Forward reference reference

t1 t2
Not clear position
Two-phase pulse trains with Pn200 n. 1 deviation when the After restart Setup
90° phase differential (phases signal is at low level.
Phase A
A and B) t1 ≤0.1 µs
Maximum reference Phase B t2 ≤0.1 µs Clear position deviation CLR OFF
– n. 2 when the signal is at low
frequency: 1 Mpps *  τ≥0.5 µs (CN1-15) Cleared.
(maximum reference
T
Reverse T- τ≥0.5 µs level.
Forward reference reference
frequency for open-collector Phase B leads Pha se B lags
output: 200 kpps) phase A by 90. pha se A by 90.

* The maximum reference frequency for the multiplie rs before multiplication are as follows:
×1 multiplier: 1 Mpps
5.4.3 Smoothing Settings
×2 multiplier: 1 Mpps
×4 multiplier: 1 Mpps Smoothing allows you to apply a lter to the position referen ce to produce smoother Servomo-
tor operation. Smoothing is eff ective in the following cases.
Timing Example for Pulse Train References ? When the host controller that outputs the refere nces cannot perform acceleration or deceler-
ation
The following example shows the timing of inputting the pulse train reference after the servo turns ON when
a signal and pulse train are used. ? When the reference pulse frequency is very low
Servo ON ON Note: Smoothing does not affect the travel dist ance (i.e., the number of reference pulses).
The following parameters are related to smoothing.
Released t1≤36 ms
t2≤6 ms
Change the settings while there is no reference pulse input and the Servomotor is stopped.
Base block t1 t2
(If Pn506 is set to 0.) Position
H Position Reference Acceleration/Deceleration Time Constant
t3≥40 ms
Setting Range Setting Unit Default Setting When Enabled Classi cation
CN3-18 Pn216
Sign and Immediately after
pulse train H L 0 to 65,535 0.1 ms 0* Setup
t3 the motor stops
CN3-19
The interval (t3) between when the serv o is turned ON until the pulse train reference is input must be at least * *The lter is disabled if you set the parameter to 0
40 ms. If the reference is input in less than 40 ms, the reference pulses may not be received by the SERVO-
Changes to the settings in Pn216 are not applied while the Servomotor is operat-
PACK. Information
ing. The changes will be en abled the next time the Servomotor comes to a stop.

5.4.2 CLR (Position Deviation Clear) Signal Function and Set- The difference between the position reference ac celeration/deceleration time constant (Pn216)
is shown below.
tings
Position Reference Acceleration/Deceleration Filter
The CLR (Position Deviation Clear) signal is used to clear the deviation counter in the SERVO- Reference pulse Before lter
frequency
PACK. After lter
As long as the CLR signal is ON, the deviation co unter will be 0, so a position loop will not be 100%
formed. 63.2%
36.8%
Deviation counter
The deviation counter counts the deviation between the reference input pulses and the feedback Time
Term
pulses from the encoder (i.e., the accumulated pulses).
Pn216 Pn216

56 57
5.4 Position Control 5.5 Torque Control
5.4.4 /COIN (Positioning Completion) Signal 5.5.1 Basic Settings for Torq ue Control

5.4.4 /COIN (Positioning Completion) Signal 5.5 Torque Control

The /COIN (Positioning Completion) signal in dicates that Servomotor positioning has been Torque control is performed by in putting a torque reference with an analog voltage reference to
completed during position control. the SERVOPACK to control the Servomotor with a torque that is proportional to the input volt-
The /COIN signal is output when the difference between the reference position output by the age.
host controller and the current position of the Se rvomotor (i.e., the position deviation as given
Torque control is set by setting Pn000 = n. X (Control Method Selection) to 2 (Torque con-
by the value of the deviation counter) is equal to or less than the setting of the positioning com-
trol).
pleted width (Pn522).
Use this signal to check the completion of positioning from the host controller. Parameter Meaning When Enabled Classi cation
Pn000 n.2 Torque control After restart Setup
Type Signal Connector Pin No. Signal Status Meaning
CN3-6 an d CN3-21 ON (closed) Positioning has been completed.
Output /COIN
(default setting) OFF (open) Positioning has not been completed.
Note: Use Pn50E = n.X (/COIN (Positioning Completion Output) Signal Allocation) to allocate the /COI N
5.5.1 Basic Settings for Torque Control
signal to other connector pins.
This section describes the torque reference in put signal and torque reference input gain.

Setting the Positioning Completed Width T-REF (Torque Reference Input) Signal
The /COIN signal is output when the difference between the reference position and the current
position (i.e., the position deviation as given by the value of the de viation counter) is equal to or The T-REF signal is describe d in the following table.
less than the setting of the po sitioning completed width (Pn522). Type Signal Connector Pin No. Name
Positioning Completed Width Position T-REF CN3-2 Torque reference input
Input
Pn522 Setting Range Setting Unit Default Setting When Enabled Classi cation SG CN3-17 Signal ground for torque reference input
0 to 65535 1 reference unit 10 Immediately Setup Maximum input voltage: 12 VDC
The setting of the positioning completed width has no effect on nal positioning accuracy. Input Circuit Example
Example
Reference Pn400 (Torque Reference Input Gain) is se t to 30 (setting unit: 0.1V) by default.
Speed Motor speed
Torque Reference Rotation
Torque
Input Direction
Time +3 V Forward Rated torque
Pn522
Position
+1 V Forward 1/3 rated torque
deviation
Time –1.5 V Reverse 1/2 rated torque

/COIN signal (Active when ON (closed).) If you will use a host controller, such as a pr ogrammable controller, for torque control, con-
Time nect the above output pins to the analog reference output terminals on the host controller .
Always use twisted-pair cables to control noise.
Note: If the parameter is set to a value that is too large, the /COIN signal may be output when the position deviation
SERVOPACK
is low during a low-speed operation. If that occurs, re duce the setting until the si gnal is no longer output.
Host controller CN3

T-REF 1
5.4.5 Reference Pulse Inhibition Function D/A
SG 17
Approx. 14 k

You can stop the SERVOPACK from counting the reference input pulses during position con-
0V
trol. When this function is enabled, the SERVOPACK will ignore the reference pulse input.

/INHIBIT (Reference Pulse Inhibit) Signal

If you set the control method to switch between normal position control and position
Setting the Torque Reference Input Gain (Pn400)
control with reference pulse inhibition (Pn000 = n.B), the /INHIBIT signal is used as The torque of the Servomotor is controlled in proportion to an analog voltage reference.
the Refer- ence Pulse Inhibit signal (Note:In this control mode,/P-CON signal is as /INHIBIT The reference voltage for the rated motor torque is set in Pn400 (Torque Reference Input Gain)
signal to use). to de ne the relationship between the analog voltage reference and the motor output torque.
 When Using the Default Input Signal Allocations (Pn50A = n. 0) Torque Reference Input Gain Speed Position Torque
Type Signal Connector Pin No. Signal Status Meaning Setting Range Setting Unit Default Setting When Enabled Classi cation
Pn400
CN1-41 ON (closed) Counting the reference pulses is stopped. 30
Input /INHIBIT 10 to 100 0.1 V Immediately Setup
(default setting) OFF (open) The reference pulses are counted. (rated torque at 3.0 V)

58 59
5.5 Torque Control 5.5 Torque Control

5.5.1 Basic Settings for Torq ue Control 5.5.2 Adjusting the Torque Reference Offset

 Applicable Tools
Output torque (%)
The following table lists the tool s that you can use to automatically adjust the torque reference
300 offset and the applicable tool functions.
200 Tool Function Operating Procedure Reference
Panel Operator Fn009 Autotune Analog (Speed/Torque) Reference Off-set
100 (Rated torque)

-12 -10 -3 0
Default Setting 1 3 10 12
Torque reference voltage (V)
Manually Adjusting the Torque Reference Offset
-100 You can directly input a torque reference offset to adjust the torque reference. The offset is
adjusted manually in the following cases.
-200
? To intentionally set the offset to a desired value
-300 ? To check an offset that was set automatically
Setting range The offset does not use a parameter, so it will not change even if th e parameter settings are
(1.0 V to 10.0 V) Information
initialized.
Input voltage range (0 to  12 V)
 Preparations
Note: You can input a torque reference that exceeds the ra ted torque, but A.710 (Instantaneous Overload) or A.720 The following conditions must be met to manually adjust the reference offset.
(Continuous Overload) alarms may occur if the reference is maintained for a long time or the motor outputs
a torque that exceeds the rated torque. ? The servo must be in ready status.

 Applicable Tools
The following table lists the tool s that you can use to manually adjust the torque reference off-
set and the applicable tool functions.
5.5.2 Adjusting the Torque Reference Offset
Tool Function Operating Procedure Reference
With torque control, the Servomotor may someti mes operate at a very low speed for a torque 13.4.10 Manually Adjust Torque Reference Offset
Panel Operator Fn00B (Fn00B) on page 13-19
reference of 0 V. This occurs because the intern al reference in the SERVOPACK has a slight off-
set of a few millivolts.
If the Servomotor moves at a very low speed, th e offset needs to be eliminated by adjusting the
offset. 5.5.3 Speed Limit during Torque Control
You can adjust the torque reference offset either automatically or manually. You can limit the speed of the Serv omotor to protect the machine.
Output torque Output torque When you use a Servomotor for torque control, the Servomotor is controlled to output the
speci ed torque, but the motor speed is not controlled. Therefore, if a reference torque is input
that is larger than the machine to rque, the speed of the Servomotor may increase greatly. If that
may occur, use this function to limit the speed.
Offset The off set i s adju sted in the SERVOPACK.
Offs et adju stment range: −127 to +127 Note: The actual limit of motor speed depends on the load conditions on the Servomotor.
Torque Torque
reference reference (Torque reference: −1,905 to 1,905 mV,
Offset adjustment Offset s etting unit: 15.0 mV) With No Speed Limit With a Speed Limit
voltage voltage
Danger of damage due Speed
to hazardous speed.
Speed Safe operation
Maximum speed with speed limit.
Speed limit
Automatically Adjusting the Torque Reference Offset
To automatically adjust the torque reference offs et, the amount of offset is measured and the Time Time
torque reference voltage is adjusted automatically.
The measured offset is saved in the SERVOPACK.
The offset does not use a parameter, so it will not change even if th e parameter settings are
Information
initialized.  Speed Limiting
Speed limiting, set the speed limit for the motor in Pn407 (Speed Limit during Torque
Control).
 Preparations Speed Limit during Torque Control Torque
The following conditions must be met to automatically adjust the reference offset. Pn407 Setting Range Setting Unit Default Setting When Enabled Classi cation
? The parameters must not be write prohibited. 0 to 10,000 1 min -1 10000 Immediately Setup
? The servo must be OFF.
? There must not be a positi on loop or speed loop in the host controller.

60 61
5.6 Encoder Divided Pulse Output 5.6 Encoder Divided Pulse Output
5.6.1 Encoder Divided Pulse Output Signals 5.6.2 Setting for the Encoder Divided Pulse Output

5.6 Encoder Divided Pulse Output 5. 6 .2 Setting for the Encoder Divided Pulse Output
The encoder divided pulse output is a signal that is output from the encoder and processed This section describes the setting for the encode r divided pulse output for a Rotary Servomotor
inside the SERVOPACK. It is then output exter nally in the form of two phase pulse signals or Linear Servomotor.
(phases A and B) with a 90  phase differential. At the host cont roller, it is used as the position
feedback.
Encoder Divided Pulse Output When Using a Rotary
The following table describes the signals and output phase forms.
Servomotor
If you will use a Rotary Servomotor, set th e number of encoder output pulses (Pn212).

5.6.1 Encoder Divided Pulse Output Signals Number of Encoder Output Pulses Speed Position Torque
Pn212 Setting Range Setting Unit Default Setting When Enabled Classi cation
16 to 32768 1 P/Rev 2500 After restart Setup
Type Signal Connector Pin No. Name Remarks
PAO CN3-10 These encoder divided pulse
Encoder Divided Pulse Output, output pins output the number of
Phase A The number of pulses from the encoder per rotation are processed inside the SERVOPACK,
/PAO CN3-11 pulses per motor resolution that is
divided by the setting of Pn212, and then output.
set in Pn212 (Number of Encoder
PBO CN3-12 Encoder Divided Pulse Output, Output Pulses). The phase Set the number of encoder divide d output pulses according to th e system speci cations of the
Output difference between phase A and
Phase B machine or host controller.
/PBO CN3-13 phase B is an electric angle of 90.
PCO CN3-14 Output example: An output example is given below for the PAO (Encoder Pulse Output Phase
Encoder Divided Pulse Output, These pins output one pulse
A) signal and the PBO (Encoder Pulse Output Ph ase B) signal when Pn 212 is set to 16 (16
Phase C * every motor rotation.
/PCO CN3-15 pulses output per revolution).
Setting: 16

SERVOPACK Ho st controller 1 2 3 4 5 6 7 8 9 10 11 12 1 3 14 15 16
CN2 CN1 PAO signal

Serial PAO PBO signal

data Conversion of Dividing
ENC
serial data to circuit PBO
pulses (Pn212) 1 revolution
PCO

Output Phase Forms

Forward rotation or movement Reverse rotation or movement
(phase B leads by 90 ) (phase A leads by 90)
90 90

Phase A Phase A

Phase B Phase B

Phase C Phase C
t t

Note: The pulse width of the origin with in one encoder rotation depends on the setting of number of encoder output
pulses (Pn212). It is the same as the width of phase A. Even for reverse operation (Pn000 = n.
1), the output phase form is the same as shown above.

If you use the SERVOPACK’s phase-C pulse output for an origin return, rotate the Servomotor
two or more rotations before you start an origin return. If the Servomotor cannot be rotated two
or more times, perform an origin return operation at a motor speed of 600 min -1 or lower. If the
Important motor speed is higher than 600 min -1, the phase-C pulse may no t be output correctly.

62 63
5.7
SpeeInternal Setd Control 5.7 Internal Set Speed Control
5.7.1 Input Signals for Internal Set Speed Control 5.7.3 Setting the Control Method to Internal Set Speed Control

5.7.3 Settings for Internal Set Speed Control

5.7 Internal Set Speed Control Speed
Internal Set Speed 1
Pn301 Setting Range Setting Unit * Default Setting When Enabled Classi cation
You can set motor speeds in three parameters in the SERVOPACK and then perform sp eed
0 to 10,000 1 min -1 100 Immediately Setup
control by using external input signals to se lect the motor speed and direction. Because the
speed is controlled with parameters in the SERVOPACK, an external pulse generator or a refer- Internal Set Speed 2 Speed
ence generator is not required to control the speed. Pn302 Setting Range Setting Unit * Default Setting When Enabled Classi cation
0 to 10,000 1 min -1 200 Immediately Setup
SERVOPACK
Internal Set Speed 3 Speed
Parameter sfor Internal S
et Speed s
CN3 Pn303 Setting Range Setting Unit * Default Setting When Enabled Classi cation
Motor direction (forward/rever e) s
/SPD-D signal 8 Servomotor 0 to 10,000 1 min -1 300 Immediately Setup
(P-CON) Pn301 Speed
Contact reference
/SPD-A signal 40 Pn302 M
5.7.4 Changing Internal Set Speeds with Input Signals
inputs (/P-CL)
Pn303
/SPD-B signal 26
(/N-CL) Stop (internal speed of 0) You can select the internal set speed and direction with the ON/OFF combinations of the /SPD-
D (Motor Direction) signal and the /SPD-A and /SPD-B (Internal Set Speed Selection) signals.
Input Signals Motor
Motor Speed
5.7.1 Input Signals for Internal Set Speed Control /SPD-D /SPD-A /SPD-B Direction
OFF OFF Stops the motor with an internal speed of 0.
The following input signals are used to change the speed. Operates the motor with internal set speed 1, which
OFF ON
is set in Pn301.
OFF Forward Operates the motor with internal set speed 2, which
When Using the Default Input Signal Allocations ON ON
is set in Pn302.
(Pn50A = n.0) ON OFF
Operates the motor with internal set speed 3, which
.
is set in Pn303.
Type Signal Connector Pin No. Meaning OFF OFF Stops the motor with an internal speed of 0.
/SPD-D CN3-8 Changes the Servomotor direction. Operates the motor with internal set speed 1, which
OFF ON
is set in Pn301.
Input /SPD-A CN3-40 Used to select the internal set speed.
ON Reverse Operates the motor with internal set speed 2, which
/SPD-B CN3-26 Used to select the internal set speed. ON ON
is set in Pn302.
Operates the motor with internal set speed 3, which
ON OFF
When Changing Input Signal Allocations (Pn50A = n. 1) is set in Pn303.

Type Signal Connector Pin No. Meaning

An operating example of speed control with the in ternal set speeds is given below. This exam-
/SPD-D Changes the Servomotor direction. ple combines speed control with the internal set speeds with the soft start function. The shock
Input /SPD-A Must be allocated. Used to select the internal set speed. that results from speed changes is redu ced by using the soft start function.
/SPD-B Used to select the internal set speed. Motor speed
Note: You must allocate the /SPD-D, /SPD-A, and /SPD-B signals to use them. You can use the following parame- Speed 3
+SPEED3
ters to allocate the signal to a terminal. The acceleration/deceleration rates
? Pn50A = n.X (/SPD-D (Motor Direction) Signal Allocation) Speed 2 are set in Pn305 and Pn306.
? Pn50B = n.X (/SPD-A (Internal Set Speed Selection Input) Signal Allocation) +SPEED2
? Pn50B = n.X (/SPD-B (Internal Set Speed Selection Input) Signal Allocation) Speed 1
+SPEED1
Stopped Stopped
0

5.7.2 Setting the Control Method to Internal Set Speed Con-

Stopped

trol
-SPEED1
Speed 1

-SPEED2
Speed 2
Set Pn000 to n.X (Control Method Selection) to 3 to specify internal set speed control.
-SPEED3
Speed 3
Parameter Meaning When Enabled Classi cation
Pn000 n.3 Internal set speed control with co ntact commands After restart Setup
/SPD-A signal OFF ON ON OFF OFF ON ON OFF
OFF

/SPD-B signal
OFF ON ON OFF OFF ON ON OFF OFF

/SPD-D signal
OFF OFF OFF OFF ON ON ON ON

64 65
 5.8 Selecting Combined Control Methods 5.8 Selecting Combined Control Methods
5.8.1 Setting Pn000 = n. X (Control Method Selection) to 4, 5, or 6 5.8.1 Setting Pn000 = n.X (Control Method Selection) to 4, 5, or 6

5.8 Selecting Combined Control Methods An example of operation for Pn000 = n. 5 (Switching between internal set speed control
and position control) is given below. This exam ple combines speed control with the internal set
speeds with the soft start function. The shock that results from speed changes is reduced by
You can specify switching the SERVOPACK between two control methods. To combine control using the soft start function.
methods, set Pn000 = n. X (Control Method Selection) to between 4 and B. This section Motor speed
describes how to switch between the methods and the switching conditions.
+SPEED3
Parameter Combined Control Methods When Enabled Classi cation Decelerating to a stop
Internal set speed Speed control with +SPEED2
n.4 ⇔
control external references
+SPEED1
Internal set speed
n.5 ⇔ Position control
control
0
Internal set speed
n.6 ⇔ Torque control
control -SPEED1
Speed control with
n.7 Position control ⇔ -SPEED2
external references
Pn000 After restart Setup
n.8 Position control ⇔ Torque control
-SPEED3
Speed control with
n.9 Torque control ⇔
external references

㨪
㨪
/COIN signal
Speed control with Speed control with
n.A ⇔
external references zero clamping

㨪
㨪
Reference pulses
Position control with t1
Normal position con-
n.B ⇔ reference pulse inhibi- /SPD-A signal
trol OFF ON ON OFF OFF OFF
tion
/SPD-B signal
ON ON OFF OFF OFF ON

SettingPn000 = n.X (Control Method Selection) to 4,

Speed 1 Speed 2 Speed 3 Switching Pulses Speed 1

5.8.1
Reference
Internal set
5, or 6 Internal set speed control Position control speed control

The conditions for switching between internal set speed control and another control method Note: 1. Set t1 so that it is greater th an 2 ms. The value of t1 is not affected by whether the soft start function is
are given below. used.
2. A maximum delay of 2 ms occurs in reading the /SPD-A and /SPD-B signals.
3. The speed is decelerated wi th the deceleration time set in Pn306 (S oft Start Deceleration Time), and inter-
When Using the Default Input Signal Allocations (Pn50A = nal set speed control is changed to position control after the Servomotor comes to a stop.
The pulse train reference is received af ter the switch to position control. Always wait until after position
n.0) control is started before you input th e pulse train reference from the host computer. After position control is
started, the /COIN (Positioning Completion) signal is output. Use the /COIN signal to con rm that the con-
You can use the /SPD-A and /SPD-B (Internal Se t Speed Selection) signals to change the con- trol method has changed.
trol method and select the internal set speed.
You can switch between speed control, position control, or torque control and internal set
speed control even while the Servomotor is operating.
Input Pins Operation for Setting of Pn000 = n. X
Motor
/SPD-D /SPD-A /SPD-B Direction n.4 n.5 n.6
(CN3-8) (CN3-40) (CN3-26)
OFF OFF Speed control Position control Torque control
Operates the motor with internal set speed 1, which is set
OFF ON
in Pn301.
OFF Forward Operates the motor with internal set speed 2, which is set
ON ON
in Pn302.
Operates the motor with internal set speed 3, which is set
ON OFF
in Pn303.
OFF OFF Speed control Position control Torque control
Operates the motor with internal set speed 1, which is set
OFF ON
in Pn301.
ON Reverse Operates the motor with internal set speed 2, which is set
ON ON
in Pn302.
Operates the motor with internal set speed 3, which is set
ON OFF
in Pn303.

66 67
5.9 Selecting Torque Limits 5.9 Selecting Torque Limits
5.9.1 Internal Torque Limits 5.9.2 External Torque Limits

5.9 Selecting Torque Limits External Torque Limit Reference Signals

The /P-CL (Forward External Torque Limit) and /N-CL (Reverse External Torque Limit) signals
are used as the external torque limit reference si gnals. The /P-CL signal is used for the forward
You can limit the torque that is output by the Servomotor. torque limit and the /N-CL signal is used for the reverse torque limit.
There are four different ways to limit the torq ue. These are described in the following table.
Type Signal Connector Pin No. Signal Status Meaning
Limit Method Outline Control Method Applies the forward external torque limit.
The torque is always limited with the setting of a ON (closed) The torque is limited to the smaller of the
Internal Torque Limits Speed control, position CN3-40 set-tings of Pn402 and Pn404.
parameter. Input /P-CL
control, or torque control (default setting)
The torque is limited with an input signal from the Cancels the forward external torque limit. The
External Torque Limits OFF (open)
host computer. torque is limited to the setting of Pn402.
Limiting Torque with an An analog reference is used to set the required Speed control or Applies the reverse external torque limit.
Analog Reference torque limits. position control ON (closed) The torque is limited to the smaller of the
Limiting Torque with an The torque is limited by combining torque limits for Input /N-CL CN3-26 set-tings of Pn403 and Pn405.
External Torque Limit and an external input signal and torque limits for an Speed control or (default setting)
position control Cancels the reverse external torque limit. The
an Analog Reference analog reference. OFF (open)
torque is limited to the setting of Pn403.
Note: If you set a value that exceeds the maximum torque of the Servomotor, the torque wi ll be limited to the maxi-
mum torque of the Servomotor. Note: You ca n use the following parameters to allocate the /P-CL and /N-CL signals to other
terminals.

? Pn50B = n.X (/P-CL (Forward External Torque Limit Input) Signal Allocation)
5.9.1 Internal Torque Limits ? Pn50B = n.X  (/N-CL (Reverse External Torque Limit Input) Signal Allocation)

If you use internal torque limits, the maximum outp ut torque will always be limited to the speci-
ed forward torque limit (Pn402) and reverse torque limit (Pn403). Setting the Torque Limits
The parameters that are related to setting the torque limits are given below.
Forward Torque Limit Speed Position Torque
If the setting of Pn402 (Forward Torque Limit) , Pn403 (ReverseTorque Limit), Pn404
Pn402 Setting Range Setting Unit Default Setting When Enabled Classi cation
(Forward External Torque Limit), or Pn405 (Reverse External Torque Limit) is too low, the
0 to 300 1%* 300 Immediately Setup torque may be insuf cient for acceleration or deceleration of the Servomotor.
Reverse Torque Limit Speed Position Torque
Pn403 Setting Range Setting Unit Default Setting When Enabled Classi cation Forward Torque Limit Speed Position Torque
0 to 300 1%* 300 Immediately Setup Pn402 Setting Range Setting Unit Default Setting When Enabled Classi cation
* Set a percentage of the rated motor torque. 0 to 300 1%* 300 Immediately Setup
Note: If the setting of Pn402 or Pn403 is too low, the torque may be insuf cient for acceleration or deceleration of Reverse Torque Limit Speed Position Torque
the Servomotor.
Pn403 Setting Range Setting Unit Default Setting When Enabled Classi cation
Without Internal Torque Limits 0 to 300 1%* 300 Immediately Setup
(Output to the maximum torque is possible.) With Internal Torque Limits
Forward External Torque Limit Speed Position Torque
Pn404 Setting Range Setting Unit Default Setting When Enabled Classi cation
Maximum torque Torque limit
Speed Speed 0 to 300 1%* 100 Immediately Setup
Pn402 Reverse External Torque Limit Speed Position Torque
Pn405 Setting Range Setting Unit Default Setting When Enabled Classi cation
t t
Pn403 0 to 300 1%* 100 Immediately Setup
* Set a percentage of the rated motor torque.

5.9.2 External Torque Limits

You can limit the torque only when required by the operating conditions of the machine by turn-
ing a signal ON and OFF.
You can use this for applications such as stopping on physical contact, or holding a workpiece
with a robot.

68 69
5.9 Selecting Torque Limits 5.9 Selecting Torque Limits
5.9.2 External Torque Limits 5.9.3 Limiting Torque with an Analog Reference

Changes in the Output Torque for External Torque Limits Setting the External Torque Limit
The following table shows the changes in the output torque when the internal torque limit is
set to 300%. You must set Pn002 to n. 1 (Use T-REF as an external torque limit input) to use T-REF
(CN1-9 and CN1-10) as the torque limit input.
? Rotary Servomotors
Parameter Meaning When Enabled Classi cation
In this example, the Servomotor direction is set to Pn000 = n. 0 (Use CCW as the forward
Pn002 n.1 Use T-REF as an external torque limit input. After restart Setup
direction).
/P-CL signal
OFF ON Settings Related to Limiting To rque with an Analog Voltage
Pn402 Pn402 Reference
Speed Speed
Pn404 The parameters that are related to limiting torq ue with an analog voltage reference include
parameters to set the input gain of the analog voltage reference, a reference lter time con-
OFF 0 0
stant, and the internal torque limits.

Torque Torque Torque Reference Input Gain Speed Position Torque

Pn403 Pn403 Setting Range Setting Unit Default Setting When Enabled Classi cation
Pn400
/N-CL signal 30
Pn402 Pn402 10 to 100 0.1 V Immediately Setup
Speed Speed (rated torque at 3.0 V)
Pn404 Forward Torque Limit Speed Position Torque
Pn402 Setting Range Setting Unit Default Setting When Enabled Classi cation
ON 0 0
0 to 300 1%* 300 Immediately Setup
Pn405 Pn405
Torque Reverse Torque Limit Speed Position Torque
Torque
Pn403 Setting Range Setting Unit Default Setting When Enabled Classi cation
Pn403 Pn403
0 to 300 1%* 300 Immediately Setup

* Set a percentage of the motor rated torque.

5.9.3 Limiting Torque with an Analog Reference

The analog voltage on the T-RE F terminals (CN3-2 and CN3-17) is used to limit the torque
5.9.4 Limiting Torque with an External Torque Limit and an
with an analog reference. Analog Voltage Reference
The smallest of the analog reference torque reference and the torque limits for Pn402 and
Pn403 is used. The torque is limited by combining torque limits for an external input signal and torque limits for
The block diagrams for limitin g the torque during speed control are provided below. an analog voltage reference.
When the /P-CL (Forward External Torque Limit) or /N-CL (Reverse External Torque Limit) signal
SERVOPACK
is ON, the torque will be limited by the smaller of the torq ue limit for the analog voltage refer-
Pn402
T-REF
Pn400
Forward Torque
ence or the setting of Pn404 or Pn405.
Torque limit Torque Reference Input Gain
Limit The following block diagram shows limiting the torq ue with an external torque limit and an ana-
Pn100 log voltage reference.
Pn300 Speed
V-REF + +
Speed Speed Reference loop gain Torque
reference input – + reference SERVOPACK
Input Gain Pn101
Speed Loop Integral Pn402
Time Con tant
s /P-CL signal Forward Torque Limit
Pn403
Speed feedback Reverse Torque Limit /N-CL signal Pn404
Pn400 Forward External
Torque limit T-REF Torque Reference Input Gain Torque Limit
There is no polarity for the input voltage of th e analog voltage reference for the torque limit.
Information (/P-CL signal: ON
The absolute value of a positive or negative vo ltage is input, and a to rque limit that corre-
sponds to that absolute value is applie d in the forward and reverse directions. Pn300 Pn100
V-REF Speed Reference + + Speed
T-REF (Torque Reference Input) Signal Speed
reference input
Input Gain
- Pn101
+ loop gain Torque
reference
The input signal that is used for torque limits with an analog voltage reference is described Speed Loop Integral
below. Time Con tants Pn405 Pn403
Reverse Torque Limit
Reverse External Torque Limit
Type Signal Connector Pin No. Name Speed feedback (Refer to 6.11.1.)
(/N-CL signal: ON) (Refer to 6.11.1.)
T-REF CN3-2 Torque reference input
Input
SG CN3-17 Signal ground for torque reference input Note: You cannot use the torque limit of the analog voltage reference during torque control because the analog volt-
age is input with the T-REF (Torque Reference Input) signal.
70 71
5.9 Selecting Torque Limits 5.9 Selecting Torque Limits
5.9.4 Limiting Torque with an External Torque Limit and an An alog Vo ltage Reference 5.9.4 Limiting Torque with an External Torque Limit and an An alog Vo ltage Reference

/P-CL (Forward External Torque Limit) Signal, /N-CL Torque Reference Input Gain Speed Position Torque

(Reverse External Torque Limi t) Signal, and T-REF (Torque Pn400

Setting Range Setting Unit Default Setting
30
When Enabled Classi cation

Reference Input) Signal 10 to 100 0.1 V

(rated torque at 3.0 V)
Immediately Setup

The input signals that are used for torque limits with an external torque limit and an analog volt- Forward Torque Limit Speed Position Torque
age reference are described below. Pn402 Setting Range Setting Unit Default Setting When Enabled Classi cation
0 to 300 1%* 300 Immediately Setup
 T-REF (Torque Reference Input) Signal Reverse Torque Limit Speed Position Torque
Type Signal Connector Pin No. Name Pn403 Setting Range Setting Unit Default Setting When Enabled Classi cation
T-REF CN3-2 Torque reference input 0 to 300 1%* 300 Immediately Setup
Input
SG CN3-17 Signal ground for torque reference input Forward External Torque Limit Speed Position Torque
Pn404 Setting Range Setting Unit Default Setting When Enabled Classi cation
 /P-CL (Forward External Torque Limit) Signal and /N-CL (Reverse 0 to 300 1%* 100 Immediately Setup
External Torque Limit) Signal Reverse External Torque Limit Speed Position Torque
Type Signal Connector Pin No. Signal Status Meaning Pn405 Setting Range Setting Unit Default Setting When Enabled Classi cation
Applies the forward external torque limit. 0 to 300 1%* 100 Immediately Setup
ON (closed) The torque is limited to the smallest of the ana-
Input /P-CL CN3-40 log reference or the setting of Pn402 or Pn404. * Set a percentage of the motor rated torque.
(default setting) Cancels the forward external torque limit.
OFF (open)
The torque is limited to the setting of Pn402.
Applies the reverse external torque limit.
CN3-26
ON (closed) The torque is limited to the smallest of the ana- 5.9.5 /CLT (Torque Limit Detection) Signal
Input /N-CL log reference or the setting of Pn403 or Pn405.
(default setting) Cancels the reverse external torque limit. This section describes the /CLT signal, which in dicates the status of limiting the motor output
OFF (open)
The torque is limited to the setting of Pn403. torque.
Type Signal Connector Pin No. Signal Status Meaning

Setting the Torque Limit with the External Torque Limit and ON (closed)
The motor output torque is being
limited.
an Analog Voltage Reference Output /CLT CN3-34,CN3-33
The motor output torque is not being
OFF (open)
To limit the torque with an external input sign al and an analog voltage reference, you must set limited.
Pn002 to n.3 (Use T-REF or /N_CL as the torque limit when /P_CL or /N_CL is active). Note: You must allocate the /CLT signal to use it. Use Pn50F = n.X (/CLT (Torque Limit Detection Output) Sig-
nal Allocation) to allocate the signal to a connector pin.
Parameter Description When Enabled Classi cation
Use T-REF as the torque limit when /P_CL or
Pn002 n.3 After restart Setup
/N_CL is active.

Related Parameters
The parameters that are related to torque limits wi th an external torque limit and an analog volt-
age reference are described below.
With the internal torque limits, the torque is always limited. To disable to internal torque limits,
you must set the related parameters (Pn402, Pn403) to the maximum val- ues.

72 73
5.10 Absolute Encoders 5.10 Absolute Encoders
5.10.3 Battery Usage

5.10 Absolute Encoders 5.10. 3 Battery Usage

The absolute encoder records the current position of the stop position even when the power supply is Recommended lithium battery specication: ER36V
OFF.
With a system that uses an absolute encoder, the host controller can monitor the current position.
Therefore, it is not necessary to perform an origin return operation when the power supply to the sys- Change Battery Step
tem is turned ON.
1. Please change the battery in the state of keeping servo unit control power supply as ON.
Absolute encoder 2. After change battery, please clear absolute encoder alarm by auxiliary function Fn013 to
Multi-rotation dataoutput range Motion when exceed limit value
resolution 3.Restart servo driver power supply,if no abnormal action,it means change battery nish.
Multi-rotation data will change to +32768 when exceed
131072 pulses/circle upper limit value (-32767) of forward direction. ■ Note:
-32768 ~ +32767
(As sample of 17 bits) Take off the servo driver's control power supply and take remove the battery.(Andn
Multi-rotation data will change to -32768 when
exceed upper limit value (+32767) of forward direction. including dismantling encoder cable),absolute encoder data will lost.Now, must do
absolute encoder setting operation.
5.10.1 SEN Signal Connection
Types Signal Name Connector Pin No. Set meaning 5.10.4 Send And Receive Sequence Of Absolute Data
OFF= L Electrical level When power on Servo driver receives the output signal from absolute encoder,then send absolute data to command
Input SEN CN3-30
ON = H Electrical level Require absolute data controller.Refer to the following details.

Ifoutputabsolutedatafromservodriver,mustusethisinputsignal.PleasesetSEN
signalasHelectricallevelafterpoweron 3seconds.
Absolute Signal Summary
Absolute encoder's serial data (output from servo driver) and pulse output by "PAO,PBO.PCO".
IfSENsignaldoswitchfromLelectricalleveltoHelectricallevel,output
Signal Status Signal Contents
multicircuitdataandinitialincrementalpulse.
Serial data
PAO First signal
Before nish these motions,eventhough sevo ON signal(/S-ON) is ON state,servo Origina incremental pulse
motor is not power on.Operation pannel shows "OFF". During normal operation Incremental pulses
First signal Original incremental pulse
■ Note: PBO
During normal operation Incremental pulses
SetSENsignal(inONstate)toOFF,andsettoONagain.Refertothefollowingsection PCO Always Origin pulse
for details.Do after H electrical level (keep 1.3 seconds)

Send Sequence And Content Of Absolute Data Summary

1. Set SEN signal to H electrical level.
2. Enter into status of sending and waiting for serial datas after 100ms. Reversible counter(use
for incremental pulse counter) do zero clearing.
3.Receive 8bytes serial data.
4.After receive last serial data and pass about 25ms,become usual incremental action status.

5.10.2 SENSignal
Connection
Absolute encoder also can be as incremental encoder to use.
Parameter Meaning
Use the encoder as absolute encoder.Let absolute data serial output. (PG
n.0
frequency division PAO port)
n.1 Use the encoder as an incremental encoder.
Pn002
n.2 Use the encoder as absolute encoder.Not let absolute data serial output.
(PG frequency division PAO port)
? TAs incremental encoder,no need SEN signal and battery.
? Must restart to set valid aer change parameter.
74 75
5.10 Absolute Encoders 5.10 Absolute Encoders
5.10.4 Send And Receive Sequence Of Absolute Data 5.10.4 Send And Receive Sequence Of Absolute Data

Serial Data
Mean motor shaft's location after rotate some circles from reference position (setting value).

Original Incremental Pulse

Mean motor shaft's location after rotate some circles from reference position (setting value).

Origin (reference position) Current position

-1 0 +1 +2 +3
Machine coordinate

-1 ±0 +1 +2
M Value
M×R PO

PS PE PM
2. Rotation amount range:+32767 ~ -32768
The current position P M in the machine coordinate system is calculated as follows:
If exceed this range,data will change to "+32767" when at "-32768".When
PE = M × R + P0
at "-32768",data will chang to "+32767".
PM = PE - PS

Note: Inversion model (Pn000.0=1) as follows:

PE =- M × R + P0
PM = PE - PS

Symbol Meaning

PE Position data for the current position of the absolute encoder

M Current position of the multiturn data of the absolute encoder

PO Original incremental pulse count.

PS Original incremental pulse account which read on the set position.(This value is kept and managed
by upper computer )
PM Required current position data in customer's system

R Number of encoder pulses per revolution

Signal Detailed Specication

1. PAO Serial data specication.
Output 5 digits rotation value.

Transmission Mode Start-stop synchronization (ASYNC)

Baud Rate 9,600 bps
Start Bits 1 bit
Stop Bits 1 bit
Parity Even
Character Code ASCII, 7 bits
Data Format 5 Digits,as following details.

76 77
 6.1
6.1.1

6.1

6.1.1

6 6.1.2

6.1 79
6.1.1 79
6.1.2 79
6.1.3 79

6.2 81-87
6.2.1 81
6.2.2 82
6.2.3 87
6.2.4 87

6.3 88-94

6.1.3

78 79
6.1 6.2
6.1.3 6.2.1

6.2

6.2.1

80 81
 6.2 6.2
6.2.2 6.2.2

6.2.2

82 83
 6.2 6.2
6.2.2 6.2.2

84 85
6.2 6.2
6.2.2 6.2.3

6.2.3

6.2.4

86 87
6.3 6.3

6.3

88 89
6.3 6.3

90 91
6.3 6.3

92 93
6.3

7
7.1 96-97
7.1.1 96
7.1.2 96
7.1.3 97

7.2 98-99
7.2.1 98
7.2.2 99

7.3 100-102
7.3.1 100
7.3.2 101
7.3.3 102

7.4 103-109
7.4.1 103
7.4.2 104
7.4.3 104
7.4.4 105
7.4.5 105
7.4.6 106
7.4.7 106
7.4.8 107
7.4.9 107

94 95
7.1 7.1
7.1.1 7.1.3

7.1 7.1.3

7.1.1

7.1.2

Power on

96 97
7.2 7.2
7.2.1 7.2.2

7.2 7.2.2

7.2.1

98 99
7.3 7.3
7.3.1 7.3.2 Input Signal Monitor(Un005)

7.3 7.3.2

7.3.1

CLR

100 101
7.3 7.4 Utility Function(Fn )Operations on the Panel Operator

7.3.3 Output Signal Monitor(Un006) 7.4.1 Display Alarm History(Fn000)

7.3.3
7.4

7.4.1

102 103
7.4 7.4
7.4.2 7.4.4

7.4.2 7.4.4

7.4.5

7.4.3

104 105
7.4 7.4
7.4.6 7.4.8 Displany Software Version(Fn012)

7.4.6 7.4.8

7.4.9

7.4.7

106 107
 8.1
8.1.1

8.1

8.1.1

8
8.1 109-118
8.1.1 109
8.1.2 110

108 109
8.1 8.1
8.1.2 8.1.2

8.1.2

110 111
8.1 8.1
8.1.2 8.1.2

112 113
8.1 8.1
8.1.2 8.1.2

114 115
8.1 8.1
8.1.2 8.1.2

40
26

40
26

40

26

40

26

116 117
8.1
8.1.2

9
9.1 120

9.2 120

9.3 121-128

9.4 128-129

118 119
9.1 Communication wiring 9.3

Communication

9.3 MODBUS Commuocation Protocol

9.1 Communication wiring
Signal name and functions of communication connector are as follows:
For SG-AD** series

GND RS485-
GND RS485-

For SG-AS** series

RS485- GND
RS485- GND

9.2 User Parameter

Effective after
power on again

RS-485 Communication Effective after

Setrange 0~1000 Unit 100ms
overtime parameter power on again

120 121
9.3 9.3

Commuocation data structure

...

includes 2

122 123
9.3 9.3

124 125
9.3 9.3
Steps for calculation of CRC detection error value are as follows:

④
④

End1,End0(communication detection completed)

126 127
9.3 9.4

9.4

128 129
 10 Internal Position Control Mode Parameter

Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
Pn A40 Type of data set 8 0~2 — 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion

10
Pn A41 Low byte value of Cata Set8 -9999~+9999 1-reference pulse 0 Y
PnA42 10000-reference
High byte value of Cata Set 8 -9999~+9999 0 Y
pulse
Pn A43 Speed of data set 8 0 ~ 6000 rpm 100 Y
Pn A44 Step change attribute in Cata Set 8 —






— 0000 Y
Internal position control mode parameter Bit 3 Bit 2 Bit 1 Bit 0

H
Data set step change chnditihn 1 type
0 No condition
1 Celay
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)

Data set step change chnditihn 2 type

0 No condition
1 Celay
2 Pulse edge of signal input (/POS-POS0)
3 Level of signal input (/POS-POS0)

Lhgic between step change chnditihn 1 and 2

0 No conjunction
1 ANC
2 OR

Step change transitihnal manner

0 Aborting
1 Standard
2 Buffered
3 BlendingLow
4 BlendingPrevious
5 BlendingNext
6 BlendingHigh

Pn A45 Step change condition value 1 in

0 ~ 65535 — 0 Y
data set 8
-Unconditional: no transitional condition value
- Celay: value 0 ~ 65535: latency time 0 ~ 65535, unit: ms

130 131
10 Internal Position Control Mode Parameter 10 Internal Position Control Mode Parameter

Parame Power
Name Setting range Setting unit Factory setting Remarks Parame Power
ter No. reboot Name Setting range Setting unit Factory setting Remarks
ter No. reboot
- Pulse edge required for step change:
Value 0: rising edge
Pn A4C Step change condition value 1 in
Value 1: falling edge 0 ~ 65535 — 0 Y
data set 9
Value 2: rising edge or falling edge
- Unconditional: no transitional condition value
- Level required for step change:
- Celay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
Value 3: 1 level
- Pulse edge required for step change:
Value 4: 0 level
Value 0: rising edge
Pn A46 Step change condition value 2 in
0 ~ 65535 — 0 Y Value 1: falling edge
data set 8
Value 2: rising edge or falling edge
Citto
- Level required for step change:
Pn A47 Follow-up data set number of data
0 ~ 14


—
9 Y Value 3: 1 level
set 8
Value 4: 0 level
Pn A48 Type of data set 9 0~2 — 0 Y
Pn A4E Step change condition value 2 in
0: data set is null 0 ~ 65535 — 0 Y
data set 9
1: data set is in absolute motion
Citto
2: data set is in relative motion
Pn A4F Follow-up data set number of data
Pn A49 Low byte value of Cata Set 9 -9999~+9999 1-reference pulse 0 Y 0 ~ 14 — 10 Y
set 9
PnA4A 10000-reference
High byte value of Cata Set 9 -9999~+9999 0 Y Pn A50 Type of data set 10 0~2 — 0 Y
pulse
0: data set is null
Pn A4B Speed of data set 9 0 ~ 6000 rpm 100 Y
1: data set is in absolute motion
Pn A4C Step change attributein Cata Set 9 —

































— 0000 Y
2: data set is in relative motion
Bit 3 Bit 2 Bit 1 Bit 0

H Pn A51 Low byte value of Cata Set 10 -9999~+9999 1-reference pulse 0 Y

PnA52 10000-reference
Data set step change chnditihn 1 type High byte value of Cata Set 10 -9999~+9999 0 Y
pulse
0 No condition
1 Celay Pn A53 Speed of data set 10 0 ~ 6000 rpm 100 Y
2 Pulse edge of signal input (/POS-STEP) Pn A54 Step change attribute in Cata Set
3 Level of signal input (/POS-STEP) — — 0000 Y
10
Data set step change chnditihn 2 type
0 No condition
1 Celay
2 Pulse edge of signal input (/POS-POS0)
3 Level of signal input (/POS-POS0)

Lhgic between step change chnditihn 1 and 2

0 No conjunction
1 ANC
2 OR

Step change transitihnal manner

0 Aborting
1 Standard
2 Buffered
3 BlendingLow
4 BlendingPrevious
5 BlendingNext
6 BlendingHigh

132 133
 10 Internal Position Control Mode Parameter 10 Internal Position Control Mode Parameter

Parame Power Parame Power

Name Setting range Setting unit Factory setting Remarks Name Setting range Setting unit Factory setting Remarks
ter No. reboot ter No. reboot
Bit 3 Bit 2 Bit 1 Bit 0 PnA5A 10000-reference
H High byte value of Cata Set 11 -9999~+9999
pulse
0 Y

Data set step change chnditihn 1 type Pn A5B Speed of data set 11 0 ~ 6000 rpm 100 Y
0 No condition
Pn A5C Step change attribute in Cata Set
1 Celay ― ― 0000 Y
2 Pulse edge of signal input (/POS-STEP) 11
3 Level of signal input (/POS-STEP) Bit 3 Bit 2 Bit 1 Bit 0

Data set step change chnditihn 2 type H

0 No condition
Data set step change chnditihn 1 type
1 Celay
0 No condition
2 Pulse edge of signal input (/POS-POS0)
1 Celay
3 Level of signal input (/POS-POS0)
2 Pulse edge of signal input (/POS-STEP)
Lhgic between step change chnditihn 1 and 2 3 Level of signal input (/POS-STEP)
0 No conjunction
Data set step change chnditihn 2 type
1 ANC
0 No condition
2 OR
1 Celay
Step change transitihnal manner 2 Pulse edge of signal input (/POS-POS0)
0 Aborting 3 Level of signal input (/POS-POS0)
1 Standard
2 Buffered
Lhgic between step change chnditihn 1 and 2
3 BlendingLow 0 No conjunction
4 BlendingPrevious 1 ANC
5 BlendingNext 2 OR
6 BlendingHigh
Step change transitihnal manner
Pn A55 Step change condition value 1 in 0 Aborting
0 ~ 65535 — 0 Y 1 Standard
data set 10
2 Buffered
- Unconditional: no transitional condition value 3 BlendingLow
- Celay: value 0 ~ 65535: latency time 0 ~ 65535, unit: ms 4 BlendingPrevious
- Pulse edge required for step change: 5 BlendingNext
6 BlendingHigh
Value 0: rising edge
Value 1: falling edge Pn A5C Step change condition value 1 in
0 ~ 65535 ― 0 Y
Value 2: rising edge or falling edge data set 11
- Level required for step change: - Unconditional: no transitional condition value
Value 3: 1 level - Celay: value 0 ~ 65535: latency time 0 ~ 65535, unit: ms
Value 4: 0 level - Pulse edge required for step change:
Pn A56 Step change condition value 2 in Value 0: rising edge
0 ~ 65535 ― 0 Y
data set 10 Value 1: falling edge
Citto Value 2: rising edge or falling edge
Pn A57 Follow-up data set number of data - Level required for step change:
0 ~ 14 ― 11 Y
set 10 Value 3: 1 level
Pn A58 Type of data set 11 0~2 ― 0 Y Value 4: 0 level
0: data set is null Pn A5E Step change condition value 2 in
0 ~ 65535 ― 0 Y
1: data set is in absolute motion data set 11
2: data set is in relative motion Citto
Pn A59 Low byte value of Cata Set 11 -9999~+9999 1-reference pulse 0 Y Pn A5F Follow-up data set number of data
0 ~ 14 ― 12 Y
set 11

134 135
10 Internal Position Control Mode Parameter 10 Internal Position Control Mode Parameter

Parame Power Parame Power

Name Setting range Setting unit Factory setting Remarks Name Setting range Setting unit Factory setting Remarks
ter No. reboot ter No. reboot
Pn A60 Type of data set 12 0~2 ― 0 Y Pn A66 Step change condition value 2 in
0 ~ 65535 ― 0 Y
0: data set is null data set 12
1: data set is in absolute motion Citto
2: data set is in relative motion Pn A67 Follow-up data set number of data
0 ~ 14 ― 13 Y
Pn A61 Low byte value of Cata Set 12 -9999~+9999 1-reference pulse 0 Y set 12
PnA62 10000-reference Pn A68 Type of data set 13 0~2 ― 0 Y
High byte value of Cata Set 12 -9999~+9999 0 Y
pulse 0: data set is null
Pn A63 Speed of data set 12 0 ~ 6000 rpm 100 Y 1: data set is in absolute motion
Pn A64 Step change attribute in Cata Set 2: data set is in relative motion
― ― 0000 Y
12 Pn A69 Low byte value of Cata Set 13 -9999~+9999 1-reference pulse 0 Y
Bit 3 Bit 2 Bit 1 Bit 0 PnA6A 10000-reference
H High byte value of Cata Set 13 -9999~+9999
pulse
0 Y

Data set step change chnditihn 1 type Pn A6B Speed of data set 13 0 ~ 600 rpm 100 Y
0 No condition Pn A6C Step change attribute in Cata Set
1 Celay ― ― 0000 Y
13
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP) Bit 3 Bit 2 Bit 1 Bit 0

Data set step change chnditihn 2 type

H
0 No condition Data set step change chnditihn 1 type
1 Celay 0 No condition
2 Pulse edge of signal input (/POS-POS0) 1 Celay
3 Level of signal input (/POS-POS0) 2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)
Lhgic between step change chnditihn 1 and 2
0 No conjunction Data set step change chnditihn 2 type
1 ANC 0 No condition
2 OR 1 Celay
2 Pulse edge of signal input (/POS-POS0)
Step change transitihnal manner
3 Level of signal input (/POS-POS0)
0 Aborting
1 Standard Lhgic between step change chnditihn 1 and 2
2 Buffered 0 No conjunction
3 BlendingLow 1 ANC
4 BlendingPrevious 2 OR
5 BlendingNext
Step change transitihnal manner
6 BlendingHigh
0 Aborting
Pn A65 Step change condition value 1 in 1 Standard
0 ~ 65535 ― 0 Y 2 Buffered
data set 12
3 BlendingLow
- Unconditional: no transitional condition value
4 BlendingPrevious
- Celay: value 0 ~ 65535: latency time 0 ~ 65535, unit: ms 5 BlendingNext
- Pulse edge required for step change: 6 BlendingHigh

Value 0: rising edge Pn A6C Step change condition value 1 in

0 ~ 65535 ― 0 Y
Value 1: falling edge data set 13
Value 2: rising edge or falling edge - Unconditional: no transitional condition value
- Level required for step change: - Celay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
Value 3: 1 level - Pulse edge required for step change:
Value 4: 0 level Value 0: rising edge

136 137
10 Internal Position Control Mode Parameter 10 Internal Position Control Mode Parameter

Parame Power
Name Setting range Setting unit Factory setting Remarks Parame Power
ter No. reboot Name Setting range Setting unit Factory setting Remarks
ter No. reboot
Value 1: falling edge
data set 14
Value 2: rising edge or falling edge
- Unconditional: no transitional condition value
- Level required for step change:
- Celay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
Value 3: 1 level
- Pulse edge required for step change:
Value 4: 0 level
Value 0: rising edge
Pn A6E Step change condition value 2 in
0 ~ 65535 ― 0 Y Value 1: falling edge
data set 13
Value 2: rising edge or falling edge
Citto
- Level required for step change:
Pn A6F Follow-up data set number of data
0 ~ 14 ― 14 Y Value 3: 1 level
set 13
Value 4: 0 level
Pn A70 Type of data set 14 0~2 ― 0 Y
Pn A76 Step change condition value 2 in
0: data set is null 0 ~ 65535 ― 0 Y
data set 14
1: data set is in absolute motion
Citto
2: data set is in relative motion
Pn A77 Follow-up data set number of data
Pn A71 Low byte value of Cata Set 14 -9999~+9999 1-reference pulse 0 Y 0 ~ 14 ― 0 Y
set 14
PnA72 10000-reference
High byte value of Cata Set 14 -9999~+9999 0 Y Pn A00 Type of data set 0 0~2 ― 0 Y
pulse
0: data set is null
Pn A73 Speed of data set 14 0 ~ 6000 rpm 100 Y
1: data set is in absolute motion
Pn A74 Step change attribute in Cata Set
― ― 0000 Y 2: data set is in relative motion
14
Pn A01 Low byte value of Cata Set 0 -9999~+9999 1-reference pulse 0 Y
Bit 3 Bit 2 Bit 1 Bit 0

H PnA02
High byte value of Cata Set 0 -9999~+9999
10000-reference
0 Y
pulse
Data set step change chnditihn 1 type
Pn A03 Speed of data set 0 0 ~ 6000 rpm 100 Y
0 No condition
1 Celay Pn A04 Step change attribute in Cata Set 0 ― ― 0000 Y
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP)

Data set step change chnditihn 2 type

0 No condition
1 Celay
2 Pulse edge of signal input (/POS-POS0)
3 Level of signal input (/POS-POS0)

Lhgic between step change chnditihn 1 and 2

0 No conjunction
1 ANC
2 OR

Step change transitihnal manner

0 Aborting
1 Standard
2 Buffered
3 BlendingLow
4 BlendingPrevious
5 BlendingNext
6 BlendingHigh

Pn A75 Step change condition value 1 in 0 ~ 65535 ― 0 Y

138 139
10 Internal Position Control Mode Parameter 10 Internal Position Control Mode Parameter

Parame Power Parame Power

Name Setting range Setting unit Factory setting Remarks Name Setting range Setting unit Factory setting Remarks
ter No. reboot ter No. reboot
Bit 3 Bit 2 Bit 1 Bit 0 PnA0A 10000-reference
H High byte value of Cata Set 1 -9999~+9999
pulse
0 Y

Data set step change chnditihn 1 type Pn A0B Speed of data set 1 0 ~ 6000 rpm 100 Y
0 No condition Pn A0C Step change attributein Cata Set 1 ― ― 0000 Y
1 Celay
Bit 3 Bit 2 Bit 1 Bit 0
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP) H
Data set step change chnditihn 2 type Data set step change chnditihn 1 type
0 No condition 0 No condition
1 Celay 1 Celay
2 Pulse edge of signal input (/POS-POS0) 2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-POS0) 3 Level of signal input (/POS-STEP)

Lhgic between step change chnditihn 1 and 2 Data set step change chnditihn 2 type
0 No conjunction 0 No condition
1 ANC 1 Celay
2 OR 2 Pulse edge of signal input (/POS-POS0)
3 Level of signal input (/POS-POS0)
Step change transitihnal manner
0 Aborting Lhgic between step change chnditihn 1 and 2
1 Standard 0 No conjunction
2 Buffered 1 ANC
3 BlendingLow 2 OR
4 BlendingPrevious Step change transitihnal manner
5 BlendingNext 0 Aborting
6 BlendingHigh 1 Standard
Pn A05 Step change condition value 1 in 2 Buffered
0 ~ 65535 ― 0 Y 3 BlendingLow
data set 0
4 BlendingPrevious
- Unconditional: no transitional condition value 5 BlendingNext
- Celay: value 0 ~ 65535: latency time 0 ~ 65535, unit: ms 6 BlendingHigh

- Pulse edge required for step change: PnA0C Step change condition value 1 in
0 ~ 65535 ― 0 Y
Value 0: rising edge data set 1
Value 1: falling edge - Unconditional: no transitional condition value
Value 2: rising edge or falling edge - Celay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
- Level required for step change: - Pulse edge required for step change:
Value 3: 1 level Value 0: rising edge
Value 4: 0 level Value 1: falling edge
Pn A06 Step change condition value 2 in Value 2: rising edge or falling edge
0 ~ 65535 ― 0 Y
data set 0 - Level required for step change:
Citto Value 3: 1 level
Pn A07 Follow-up data set number of data Value 4: 0 level
0 ~ 14 ― 1 Y
set 0 Pn A0E Step change condition value 2 in
0 ~ 65535 ― 0 Y
Pn A08 Type of data set 1 0~2 ― 0 Y data set 1
0: data set is null Citto
1: data set is in absolute motion Pn A0F Follow-up data set number of data
0 ~ 14 ― 2 Y
2: data set is in relative motion set 1
Pn A09 Low byte value of Cata Set 1 -9999~+9999 1-reference pulse 0 Y Pn A10 Type of data set 2 0~2 ― 0 Y

140 141
10 Internal Position Control Mode Parameter 10 Internal Position Control Mode Parameter

Parame Power Parame Power

Name Setting range Setting unit Factory setting Remarks Name Setting range Setting unit Factory setting Remarks
ter No. reboot ter No. reboot
0: data set is null Citto
1: data set is in absolute motion Pn A17 Follow-up data set number of data
0 ~ 14 ― 3 Y
2: data set is in relative motion set 2
Pn A11 Low byte value of Cata Set 2 -9999~+9999 1-reference pulse 0 Y Pn A18 Type of data set 3 0~2 ― 0 Y
PnA12 10000-reference 0: data set is null
High byte value of Cata Set 2 -9999~+9999 0 Y
pulse 1: data set is in absolute motion
Pn A13 Speed of data set 2 0 ~ 6000 rpm 100 Y 2: data set is in relative motion
Pn A14 Step change attribute in Cata Set 2 ― ― 0000 Y Pn A19 Low byte value of Cata Set 3 -9999~+9999 1-reference pulse 0 Y
Bit 3 Bit 2 Bit 1 Bit 0 PnA1A 10000-reference
H High byte value of Cata Set 3 -9999~+9999
pulse
0 Y

Data set step change chnditihn 1 type Pn A1B Speed of data set 3 0 ~ 6000 rpm 100 Y
0 No condition Pn A1C Step change attribute in Cata Set 3 ― ― 0000 Y
1 Celay
Bit 3 Bit 2 Bit 1 Bit 0
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP) H
Data set step change chnditihn 2 type Data set step change chnditihn 1 type
0 No condition 0 No condition
1 Celay 1 Celay
2 Pulse edge of signal input (/POS-POS0) 2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-POS0) 3 Level of signal input (/POS-STEP)

Lhgic between step change chnditihn 1 and 2 Data set step change chnditihn 2 type
0 No conjunction 0 No condition
1 ANC 1 Celay
2 OR 2 Pulse edge of signal input (/POS-POS0)
3 Level of signal input (/POS-POS0)
Step change transitihnal manner
0 Aborting Lhgic between step change chnditihn 1 and 2
1 Standard 0 No conjunction
2 Buffered 1 ANC
3 BlendingLow 2 OR
4 BlendingPrevious Step change transitihnal manner
5 BlendingNext 0 Aborting
6 BlendingHigh 1 Standard
Pn A15 Step change condition value 1 in 2 Buffered
0 ~ 65535 ― 0 Y 3 BlendingLow
data set 2
4 BlendingPrevious
- Unconditional: no transitional condition value 5 BlendingNext
- Celay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms 6 BlendingHigh

- Pulse edge required for step change: Pn A1C Step change condition value 1 in
0 ~ 65535 ― 0 Y
Value 0: rising edge data set 3
Value 1: falling edge - Unconditional: no transitional condition value
Value 2: rising edge or falling edge - Celay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
- Level required for step change: - Pulse edge required for step change:
Value 3: 1 level Value 0: rising edge
Value 4: 0 level Value 1: falling edge
Pn A16 Step change condition value 2 in Value 2: rising edge or falling edge
0 ~ 65535 ― 0 Y
data set 2 - Level required for step change:

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Parame Power
Name Setting range Setting unit Factory setting Remarks Parame Power
ter No. reboot Name Setting range Setting unit Factory setting Remarks
ter No. reboot
Value 3: 1 level
Value 0: rising edge
Value 4: 0 level
Value 1: falling edge
Pn A1E Step change condition value 2 in
0 ~ 65535 ― 0 Y Value 2: rising edge or falling edge
data set 3
- Level required for step change:
Citto Value 3: 1 level
Pn A1F Follow-up data set number of data Value 4: 0 level
0 ~ 14 ― 4 Y
set 3 Pn A26 Step change condition value 2 in
Pn A20 Type of data set 4 0~2 ― 0 Y 0 ~ 65535 ― 0 Y
data set 4
0: data set is null Citto
1: data set is in absolute motion Pn A27 Follow-up data set number of data
2: data set is in relative motion 0 ~ 14 ― 5 Y
set 4
Pn A21 Low byte value of Cata Set 4 -9999~+9999 1-reference pulse 0 Y Pn A28 Type of data set 5 0~2 ― 0 Y
PnA22 10000-reference 0: data set is null
High byte value of Cata Set 4 -9999~+9999 0 Y
pulse 1: data set is in absolute motion
Pn A23 Speed of data set 4 0 ~ 6000 rpm 100 Y 2: data set is in relative motion
Pn A24 Step change attribute in Cata Set 4 ― ― 0000 Y Pn A29 Low byte value of Cata Set 5 -9999~+9999 1-reference pulse 0 Y
Bit 3 Bit 2 Bit 1 Bit 0
PnA2A 10000-reference
H High byte value of Cata Set 5 -9999~+9999
pulse
0 Y

Data set step change chnditihn 1 type Pn A2B Speed of data set 5 0 ~ 6000 rpm 100 Y
0 No condition
Pn A2C Step change attributein Cata Set 5 ― ― 0000 Y
1 Celay
2 Pulse edge of signal input (/POS-STEP) Bit 3 Bit 2 Bit 1 Bit 0

3 Level of signal input (/POS-STEP) H

Data set step change chnditihn 2 type Data set step change chnditihn 1 type
0 No condition 0 No condition
1 Celay 1 Celay
2 Pulse edge of signal input (/POS-POS0) 2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-POS0) 3 Level of signal input (/POS-STEP)

Lhgic between step change chnditihn 1 and 2 Data set step change chnditihn 2 type
0 No conjunction 0 No condition
1 ANC 1 Celay
2 OR 2 Pulse edge of signal input (/POS-POS0)
3 Level of signal input (/POS-POS0)
Step change transitihnal manner
0 Aborting Lhgic between step change chnditihn 1 and 2
1 Standard 0 No conjunction
2 Buffered 1 ANC
3 BlendingLow 2 OR
4 BlendingPrevious
Step change transitihnal manner
5 BlendingNext
0 Aborting
6 BlendingHigh
1 Standard
Pn A25 Step change condition value 1 in 2 Buffered
0 ~ 65535 ― 0 Y
data set 4 3 BlendingLow
4 BlendingPrevious
- Unconditional: no transitional condition value 5 BlendingNext
- Celay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms 6 BlendingHigh
- Pulse edge required for step change: ―
Pn A2C Step change condition value 1 in 0 ~ 65535 0 Y

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Parame Power Parame Power

Name Setting range Setting unit Factory setting Remarks Name Setting range Setting unit Factory setting Remarks
ter No. reboot ter No. reboot
data set 5 Bit 3 Bit 2 Bit 1 Bit 0

- Unconditional: no transitional condition value H

- Celay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms Data set step change chnditihn 1 type
- Pulse edge required for step change: 0 No condition
1 Celay
Value 0: rising edge
2 Pulse edge of signal input (/POS-STEP)
Value 1: falling edge 3 Level of signal input (/POS-STEP)
Value 2: rising edge or falling edge
Data set step change chnditihn 2 type
- Level required for step change: 0 No condition
Value 3: 1 level 1 Celay
Value 4: 0 level 2 Pulse edge of signal input (/POS-POS0)
3 Level of signal input (/POS-POS0)
Pn A2E Step change condition value 2 in
0 ~ 65535 ― 0 Y Lhgic between step change chnditihn 1 and 2
data set 5
0 No conjunction
Citto 1 ANC
Pn A2F Follow-up data set number of data 2 OR
0 ~ 14 ― 6 Y
set 5 Step change transitihnal manner
Pn A30 Type of data set 6 0~2 ― 0 Y 0 Aborting
1 Standard
0: data set is null
2 Buffered
1: data set is in absolute motion 3 BlendingLow
2: data set is in relative motion 4 BlendingPrevious
Pn A31 Low byte value of Cata Set 6 -9999~+9999 1-reference pulse 0 Y 5 BlendingNext
6 BlendingHigh
PnA32 10000-reference
High byte value of Cata Set 6 -9999~+9999 0 Y Pn A35 Step change condition value 1 in
pulse 0 ~ 65535 ― 0 Y
Pn A33 Speed of data set 6 0 ~ 6000 rpm 100 Y data set 6

Pn A34 Step change attribute in Cata Set 6 ― ― 0000 Y - Unconditional: no transitional condition value
- Celay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms
- Pulse edge required for step change:
Value 0: rising edge
Value 1: falling edge
Value 2: rising edge or falling edge
- Level required for step change:
Value 3: 1 level
Value 4: 0 level
Pn A36 Step change condition value 2 in
0 ~ 65535 ― 0 Y
data set 6
Citto
Pn A37 Follow-up data set number of data
0 ~ 14 ― 7 Y
set 6
Pn A38 Type of data set 7 0~2 ― 0 Y
0: data set is null
1: data set is in absolute motion
2: data set is in relative motion
Pn A39 Low byte value of Cata Set 7 -9999~+9999 1-reference pulse 0 Y

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10 Internal Position Control Mode Parameter 10 Internal Position Control Mode Parameter

Parame Power Parame Power

Name Setting range Setting unit Factory setting Remarks Name Setting range Setting unit Factory setting Remarks
ter No. reboot ter No. reboot
PnA3A 10000-reference 0: internal method (single data set method)
High byte value of Cata Set 7 -9999~+9999 0 Y
pulse 1: task mode (data set sequence)
Pn A3B Speed of data set 7 0 ~ 6000 rpm 100 Y Pn AB1 Acceleration of data set 0 ~ 60000 10 rpm/s 10000 Y
Pn A3C Step change attributein Cata Set 7 ― ― 0000 Y Pn AB2 Ceceleration of data set 0 ~ 60000 10 rpm/s 10000 Y
Bit 3 Bit 2 Bit 1 Bit 0 Pn AB3 Emergency deceleration of data set 0 ~ 60000 10 rpm/s 60000 Y
H Pn AB4 Cata set position electronic gear
1 ~ 65535 ― 1 Y
Data set step change chnditihn 1 type ratio (numerator)
0 No condition Pn AB5 Cata set position electronic gear
1 Celay 1 ~ 65535 ― 1 Y
ratio (denominator)
2 Pulse edge of signal input (/POS-STEP)
3 Level of signal input (/POS-STEP) Pn AB6 Zero returning method selection
― ― 0000 Y
switch
Data set step change chnditihn 2 type
0 No condition Bit 3 Bit 2 Bit 1 Bit 0
1 Celay H
2 Pulse edge of signal input (/POS-POS0)
3 Level of signal input (/POS-POS0) Zerh returning methhd setting
0 CS402 METHOC 35 (set current position as zero point)
Lhgic between step change chnditihn 1 and 2 CS402 METHOC 1 (for on-off operation of seeking for NOT switch in the
0 No conjunction 1
reverse direction, C pulse is required)
1 ANC CS402 METHOC 2 (for on-off operation of seeking for POT switch in the
2 OR 2
forward direction, C pulse is required)
CS402 METHOC 3 (for on-off operation of seeking for reference point switch in
Step change transitihnal manner 3
the forward direction, C pulse is required)
0 Aborting
CS402 METHOC 4 (for on-off operation of seeking for reference point switch in
1 Standard 4
the forward direction, C pulse is required)
2 Buffered
CS402 METHOC 5 (for on-off operation of seeking for reference point switch in
3 BlendingLow 5
the reverse direction, C pulse is required)
4 BlendingPrevious
CS402 METHOC 6 (for on-off operation of seeking for reference point switch in
5 BlendingNext 6
the reverse direction, C pulse is required)
6 BlendingHigh
CS402 METHOC 17 (for on-off operation of seeking for NOT switch in the
7
Pn A3C Step change condition value 1 in reverse direction, C pulse is not required)
0 ~ 65535 ― 0 Y CS402 METHOC 18 (for on-off operation of seeking for POT switch in the
data set 7 8
forward direction, C pulse is not required)
- Unconditional: no transitional condition value CS402 METHOC 19 (for on-off operation of seeking for reference point switch
9
- Celay: value 0 ~ 65535: latency time0 ~ 65535, unit: ms in the forward direction, C pulse is not required)
- Pulse edge required for step change: CS402 METHOC 20 (for on-off operation of seeking for reference point switch
10
in the forward direction, C pulse is not required)
Value 0: rising edge
CS402 METHOC 21 (for on-off operation of seeking for reference point switch
11
Value 1: falling edge in the reverse direction, C pulse is not required)
Value 2: rising edge or falling edge CS402 METHOC 22 (for on-off operation of seeking for reference point switch
12
in the reverse direction, C pulse is not required)
- Level required for step change:
Value 3: 1 level Reserved

Value 4: 0 level Reserved

Pn A3E Step change condition value 2 in Enable back zerh switch when phwering hn
0 ~ 65535 ― 0 Y
data set 7 0 C o not switch on back zero when powering on
1 Switch on back zero automatically after the first SON when powering on
Citto
Pn A3F Follow-up data set number of data Pn AB7 On-off speed to meet reference
0 ~ 14f ― 0 Y 0 ~ 6000 rpm 100 Y
set 7 point
Pn AB0 Cata set start method 0~1 ― 0 Y Pn AB8 On-off speed to leave reference 0 ~ 6000 rpm 30 Y

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10 Internal Position Control Mode Parameter

Parame Power
Name Setting range Setting unit Factory setting Remarks
ter No. reboot
point
Pn AB9 Low byte of speed/position
0 ~ 9999 1-reference pulse 0 N
switching reference point
Pn ABA High byte of speed/position 10000-reference
0 ~ 9999 0 N
switching reference point pulse

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