Servo Drive PDF

M0007912B
TYPE R
Pulse Input Type
For Rotary Motor
Instruction Manual
No Text on This Page.
Preface
Shipping the product

This product in this instruction manual corresponds with the shipping regulations given in the
Export Trade Control Ordinance (Table 1, item 16). When these products are exported by
customers, it is recommended to fulfill the requirements of export procedure with the relevant
authorities, as well as “Information Requirements” and “Objective Requirements” according to the
Catch-all regurations.
Feature outline
This manual outlines the functions, wiring, installation, operations, maintenance, specifications,
etc. of the AC servo amplifier “SANMOTION R” Series, Type R (multi-axis servo system). The
“R” Series Type R AC servo system is compatible with a wide variety of various applications
requiring multi-functions, high efficiency, reduced footprint, and excellent cost performance.
This product was developed to offer a series of servo motors that are easy to use and offer
excellent functionality in an AC servo motor. It fulfills various needs, such as the downsizing of
the control panel, and offers compatability for a wide range of applications requiring a servo
motor.
Precautions related to this Instruction Manual

・ In order to fully understand the functions of AC servo amplifier “R” Series Type R, please read
this instruction manual thoroughly before use.
・ After reading this manual thoroughly, please keep it handy for reference.
・ Please contact the dealre or sales representative if there are defects such as nonconsecutive
pages, missing pages or if the manual is lost or damaged.
・ Carefully and completely follow the safety instructions outlined in this manual. Please note
that safety is not guaranteed for usage methods other than those specified in this manual or
usage methods intended for the original product.
・ The contents of this manual may be modified without prior notice, as revisions or additions are
made in the usage method of this product. Modifications are performed per the revisions of
this manual.
・ Permission is granted to reproduce or omit part of the attached figures (as abstracts) for use.
・ Although the manufacturer has taken all possible measures to ensure the veracity of the
contents of this manual, if you should notice any error or ommission, please notify the dealer
or sales office of the finding.
Terminology
Within this Instruction Manual:
“AC servo motor” is abbreviated as “servo motor” or “motor”;
“AC servo amplifier” is abbreviated as “servo amplifier” or “amplifier”;
“Wire-saving increment encoder” is abbreviated as “incre”, “wire-saving incre” or “INC-E”;
“Absolute encoder with incre” is abbreviated as “Abso with incre” or “ABS-E”;
“Optical wire-saving absolute encoder ” is abbreviated as “PA035”;
“Resolver wire-saving absolute encoder ” is abbreviated as “RA062”.
Table of Contents
1. Safety precautions 6. Operations
1.1 Introduction 1-2 6.1 Power ON/OFF sequence 6-2

1.2 Location of warning labels on the unit 1-2 6.1.1 Power ON -> Servo ON sequence 6-2
1.3 Interpretation of the warning labels 1-3 6.1.2 Servo OFF - Power OFF sequence 6-3
1.3.1 Label description 1-3 6.1.3 Sequence when power is turned OFF when servo is ON 6-3
1.3.2 Precaution levels 1-3 6.2 Sequence-related functions 6-4
1.3.3 Graphic symbols 1-3 6.2.1 Forced electric discharge selection 6-4
1.4 Safety Precautions 1-4 6.2.2 Holding brake excitation function and sequence 6-4
6.2.3 Brake function and sequence 6-5
2. Prior to use 6.2.4 Forced stop function and sequence 6-8
6.2.5 Brake operation start time 6-10
2.1 Package opening 2-2 6.3 Alarm sequence 6-13
2.2 Product verification 2-2 6.3.1 Sequence during dynamic brake 6-13
2.3 Precautions related to use 2-3 6.3.2 Sequence during servo brake 6-14
2.4 Interpretation of the model number 2-6 6.3.3 Alarm reset sequence 6-15
2.4.1 Q / R series Servo motor model number 2-6 6.4 Display on the Amplifier Unit 6-16
2.4.2 Servo system model number 2-7 6.5 Digital operator 6-17
2.5 Combinations list 2-9 6.5.1 Names of each part 6-17
2.5.1Applicable motor list 2-9 6.5.2 Various modes 6-18
2.5.2Applicable encoder list 2-10 6.5.3 How to change the modes 6-19
2.6 Restrictions for the multi-axis servo system 2-11 6.5.4 Status display mode 6-20
6.5.5 General parameter mode 6-21
3. Servo System Configuration 6.5.6 Auto-adjustment mode 6-24
6.5.7 Test run mode 6-25
3. 1 Block Diagram 3-2 6.5.8 System parameter mode 6-28
3. 2 External Wiring Diagram 3-3 6.5.9 Alarm trace / CPU version mode 6-29
3. 2. 1 External Wiring Diagram 3-3 6.5.10 Monitor mode 6-30
3. 2. 2 Peripherals 3-4
3. 3 Part Names for Each Unit 3-5 7. Description of Parameters
3.3.1 Amplifier Unit 3-5
3.3.2 Power Supply Unit 3-6 7. 1 List of Parameters 7-2
3.3.3 Mother Board 3-7 7. 2 Generic parameters Group0 7-7
7. 3 Generic parameters Group1 7-7
4. Wiring 7. 4 Generic parameters Group2 7-9
7. 5 Generic parameters Group3 7-10
4. 1 Electric Wire Size 4-2 7. 6 Generic parameters Group4 7-12
4. 2 Connector Specifications 4-3 7. 7 Generic parameters Group8 7-13
4. 3 External Wiring Diagram 4-4 7. 8 Generic parameters Group9 7-16
4. 3. 1 External Wiring Example 4-4 7. 9 Generic parameters GroupA 7-19
4. 3. 2 Input/Output Signal Connectors 4-6 7. 10 Generic parameters GroupB 7-22
4. 3. 3 Encoder Wiring Diagram 4-12 7. 11 Generic parameters GroupC 7-25
4. 4 Wiring Precautions 4-15 7. 12 System parameters 7-27
4. 5 Shielding Method 4-16
8. Adjustment & Functions
5. Installation
8.1 Servo Gain Tuning 8-2
5.1 How to assemble the servo system 5-2 8.2 Functions of Group8 8-8
5.2 Servo system installation 5-3 8.3 Functions of Group9 8-18
5.2.1 Installation environment 5-3 8.4 Functions of GroupB 8-22
5.2.2 Mounting method 5-4 8.5 Functions of GroupC 8-26
5.3 Servo motor installation 5-6 8.6 Functions of analog monitor 8-29
5.3.1 Installation environment 5-6
5.3.2 Mounting method 5-6
5.3.3 Waterproofing and dust proofing 5-7
5.3.4 Protective cover installation 5-7
5.3.5 Gear installation 5-8
5.3.6 Integration with the target machinery 5-8
5.3.7 Allowable bearing load 5-10
5.3.8 Cable installation considerations 5-11
9. Maintenance 11. Selection Details
9. 1 During an Alarm 9-2 11. 1 Time of Acceleration and Deceleration 11-2

9. 1. 1 Alarm Reset 9-2 11. 1. 1 Calculation of Acceleration/Deceleration Time 11-2
9. 1. 2 Alarm/Warning List 9-2 11. 2 Permitted Repetitions 11-3
9. 2 Troubleshooting the Alarm 9-6 11. 2. 1 When the motor repeats continuous speed status
9. 3 Corrective actions for Operational Problems 9-28 and stop status 11-3
9. 4 Maintenance 9-29 11. 2. 2 When the motor repeats acceleration, deceleration
9. 5 Parts Overhaul 9-30 and stop status 11-4
11. 2. 3 When the motor repeats acceleration, constant speed
10. Specifications operation and deceleration status 11-4
11. 3 Loading Precautions 11-5
10. 1 Servo amplifier 10-2 11. 3. 1 Negative Load 11-5
10. 1. 1 General specifications 10-2 11. 3. 2 Load Inertia(JL) 11-5
10. 1. 2 Power capacity and applicable load 10-4 11. 4 Dynamic Brake 11-5
10. 1. 3 Servo system/motor current leakage 10-6 11. 4. 1 Slowing Down the Revolution by the Dynamic Brake 11-5
10. 1. 4 Calorific value 10-7 11. 4. 2 Instantaneous Tolerance of Dynamic Brake 11-6
10. 1. 5 Position command input 10-8 11. 5 Regeneration Process 11-7
10. 1. 6 Generic output 10-8 11. 5. 1 Calculation Method of Regeneration Power PM 11-7
10. 1. 7 Alarm output 10-8 11. 5. 2 Confirmation of Regeneration Power PM in Actual
10. 1. 8 Generic input 10-9 Operations 11-9
10. 1. 9 Position signal output 10-10 11. 5. 3 Selection Judgment between Built-in/External
10. 2 Servo motor 10-24 Regenerative Resistor 11-9
10. 2. 1 General specifications 10-24 11. 5. 4 Combined Regenerative Resistor 11-10
10. 2. 2 Rotation direction specifications 10-24
10. 2. 3 Mechanical specifications of the motor 10-25 12. International Standards
10. 2. 4 Holding brake specifications 10-27
10. 3 Motor data sheet 10-29 12.1 International Standards Conformity 12-2
10. 3. 1 Q1 motor data sheet 10-29 12.2 Compliance with EC Directives 12-4
10. 3. 2 Q2 motor data sheet 10-30 12.3 Installation of Noise Filter/Servo Amplifier 12-6
10. 3. 3 R2 Motor data sheet 10-31 12.4 Recommended Parts of Countermeasures 12-7
10. 3. 4 Motor torque rotation characteristics 10-32 12.5 Implementation of Check Test 12-7
10. 4 External appearance diagrams 10-37
10. 4. 1 Servo amplifier unit external appearance 10-37
10. 4. 2 Power supply unit external appearance 10-39
10. 4. 3 Mother board external appearance 10-40
10. 4. 4 External appearance when combining each unit 10-41
10. 4. 5 Servo motor external appearance diagrams 10-42
1. Safety Precautions
This document is a summary of the safety
precautions regarding the use of the
R-series R-type Servo System.
Please read it carefully prior to use.
1.1 Introduction ･･･････････････････ 1-2

1.2 Location of warning labels on the unit ･･･････････････････ 1-2
1.3 Interpretation of the warning labels ･･･････････････････ 1-3
1.3.1 Label description ･･･････････････････ 1-3
1.3.2 Precaution levels ･･･････････････････ 1-3
1.3.3 Graphic symbols ･･･････････････････ 1-3
1.4 Safety Precautions ･･･････････････････ 1-4
1-1
1.1 Introduction
The R-series servo amplifiers and servo motors were designed for use with general industrial
equipment. The following instructions should be followed:
・ Read the User Manual carefully before any installation or assembly work, and to ensure
proper use.
・ Do not perform any retrofitting or modification of the product.
・ Consult with your sales representative or a trained, professional technician regarding the
installation and maintenance of these devices.
・ Special consideration, such as redundant services or an emergency generator, is required
when operating, maintaining and controlling devices in certain applications related to human
safety or public functions. Contact your distributor or sales office if you intend to use these
devices in applications such as:
1. In medical instruments or systems used for life support;
2. With control systems for trains or elevators, the failure of which could cause bodily injury;
3. In computer systems of social or public importance;
4. In other equipment or systems related to human safety or public infrastructure.
・ Additionally, please contact your distributor or sales office if the device is to be used in an
environment where vibration is present, such as in-vehicle or transport applications.
Before installing, operating, performing maintenance or inspecting this device, read this entire manual
carefully to ensure proper use. Use this device only after learning about its operation, safety
information, and the precautions related to its use. After reading the User Manual, keep it in a
location where it is always available to the user for easy reference.
1.2 Location of warning labels on the product

Warning labels are located on the front panel of the servo amplifier.
RR1A01AA RR1A01AA RR1A01AA RR1A01AA

C C C C
N N N N
6 6 6 6
MODE WR/
C C C C
N N N N
2 2 2 2
CNA POWER
C C C C
r N N N N
1 1 1 1
t
P ADDR ADDR ADDR ADDR
R
C C
S N POW M1 POW M1 POW M1 POW M1
5 ALM M2 ALM M2 ALM M2 ALM M2
T
STA SG STA SG STA SG STA SG
CHARGE P P P P
C C C C
CNB
RB2 C C
N N
RB1 1 1
B A U U U U
P
V C V C V C V C
DL2 N N N N
DL1
W C W C W C W C
○
－ ○ ○ ○ ○
RRPAA00_* XXXXXXXX_* XXXXXXXX_* XXXXXXXX_* XXXXXXXX_*
○ ○
1-2
1.3 Interpretation of the warning labels
This documentation uses the following annotation.
Read “1.4 Safety precautions” after you understand the meanings of the warning labels.
1.3.1 Label description

Section 1.4 uses the following annotation.
1 1 : Safety precaution level

Danger
2 : Graphic symbol
1. Do not use this ... 3 : Details of the graphic symbol.
2 3
2. Inside the amplifier ...
1.3.2 Precaution levels

There are four different precaution levels.
1. Denotes immediate hazards which WILL probably cause

Danger severe bodily injury or death as a result of incorrect operation.
2. Denotes hazards which COULD cause bodily injury and

Caution product or property damage as a result of incorrect operation.
In addition, even those hazards denoted by Caution could lead to a serious accident, so
the instructions should be strictly followed.
3. Indicates actions that must be carried out (mandatory

Mandatory
actions).
4. Indicates actions that must not be allowed to occur

Prohibited prohibited actions).
1.3.3 Graphic symbols

There are eight different graphic symbols.
Symbol Type Sample symbols
Danger symbols
Danger/Injury Electric shock
Caution symbols
Caution Fire Burn
Prohibition symbols
Prohibited Disassembly prohibited
Mandatory symbol
Mandatory
1-3
1.4 Safety Precautions
Danger
<General>
1. Do not use this device in explosive environment.

Injury or fire could otherwise result.
2. Do not touch the inside of the amplifier.

Electric shock could otherwise result.
3. Do not perform any wiring, maintenance or inspection when

the device is hot-wired.
After switching the power off, wait at least 5 minutes before
performing these tasks.
4. Only technically qualified personnel should transport, install, wire,

operate, or perform maintenance and inspection on this device.
Electric shock, injury or fire could otherwise result.
<Wiring>
5. The protective ground terminal ( ) should always be grounded.

The ground terminal of the motor should always be connected to
the protective ground terminal ( ) of the amplifier.
6. Do not damage the cable, do not apply unreasonable stress to it,

do not place heavy items on it, and do not insert it in between
objects.
7. Wiring should be done based on the wiring diagram or the user

manual.
Electric shock or fire could otherwise result.
<Operation>
8. Do not touch the rotating part of the motor during operation.

Bodily injury could otherwise result.
9. Do not touch or get close to the terminal while the device is

powered up.
10. Do not unplug the connector while the device is powered up.
1-4
Caution
<General>
1. Please read the User Manual carefully before installation, operation, maintenance or
inspection, and perform these tasks according to the instructions. Electric shock,
injury or fire could otherwise result.
2. Do not use the amplifier or the motor outside their specifications.

Electric shock, injury or damage to the device could otherwise result.
3. Do not use a defective amplifier or motor. Injury or fire could otherwise result.
4. Use the amplifier and motor together in the specified combination.

Fire or damage to the device could otherwise result.
5. Be careful of the high temperatures generated by the amplifier/motor and the peripherals.
Burn could otherwise result.
<Package opening>
6. Open the box only after checking its top and bottom location.
7. Verify that the products correspond to the order sheet/packing list.

If the wrong product is installed, injury or damage could result.
8. Keep the motor’s encoder terminals away from static electricity.

Damage to the device could otherwise result.
9. Do not measure the insulation resistance and the pressure resistance. Damage to the device
could otherwise result. Contact your dealer or our sales office if you wish to perform such
testing.
10. Wiring should follow electric equipment technical standards and indoor wiring regulations.
An electrical short or fire could otherwise result.
11. Wiring connections must be secure. Motor interruption or bodily injury could otherwise result.
12. Keep static electricity and high voltage away from the encoder terminals of the
motor. Damage to the device could otherwise result.
<Installation>
13. Do not stand on the device or place heavy objects on top of it.
14. Do not obstruct the air intake and exhaust vents, and keep them free of debris and
foreign matter. Fire could otherwise result.
15. Make sure the mounting orientation is correct.

16. Consult the User Manual regarding the required distance between the amplifier,
the control panel interior, and other devices.
17. Do not subject the device to excessive shock or vibration. Damage to the device could
otherwise result.
18. Secure the device against falling, overturning, or shifting inadvertently during
installation.
Use the hardware supplied with the motor (if applicable).
19. Do not expose the device to water, corrosive or flammable gases, or any flammable
material.
Fire or damage to the device could otherwise result.
20. Install the device on a metal or other non-flammable support.

Fire could otherwise result.
1-5
Caution
<Operation>
21. There is no safeguard on the motor. Use an over-voltage safeguard, short-circuit breaker,
overheating safeguard, and emergency stop to ensure safe operation.
Injury or fire could otherwise result.
22. Do not touch the radiation fin of the amplifier, the regenerative resistor, or the motor while the
device is powered up, or immediately after switching the power off, as these parts generate
excessive heat.
23. In the case of any irregular operation, stop the device immediately.
Electric shock, injury or fire could otherwise result.
24. Do not perform extensive adjustments to the device as they may result in unstable operation.
25. Trial runs should be performed with the motor in a fixed position, separated from the
mechanism. After verifying successful operation, install the motor on the mechanism.
26. The holding brake is not to be used as a safety stop for the mechanism.
Install a safety stop device on the mechanism. Bodily injury could otherwise result.
27. In the case of an alarm, first remove the cause of the alarm, and then verify safety. Next,
reset the alarm and restart the device. Bodily injury could otherwise result.
28. Avoid getting close to the device, as a momentary power outage could cause it to suddenly
restart (although it is designed to be safe even in the case of a sudden restart).
29. Verify that the power specifications are normal.

30. Standard specification servo amplifiers have a dynamic brake resistor. Do not rotate the
motor continuously from the outside when the amplifier is not powered on, because the
dynamic brake resistor will heat up, and can be dangerous.
<Maintenance>
31. Be careful during maintenance and inspection, as the body of the amplifier becomes hot.
32. It is recommended to replace the electrolytic capacitors in the amplifier after 5 years, if used
at an average temperature of 40°C year round.
33. Please contact your distributor or sales office if repairs are necessary.
Disassembly could render the device inoperative.
<Transportation>
34. Make sure the device does not fall, overturn, or move inadvertently during transportation.
35. Do not hold the device by the cables or the shaft while handling it.
Damage to the device or bodily injury could otherwise result.
<Disposal>
36. If the amplifier or the motor is no longer in use, it should be discarded as general industrial
waste.
1-6
Prohibited
<Storage>
1. Do not store the device where it could be exposed to rain, water, toxic gases or other
liquids. Damage to the device could otherwise result.
<Operation>
2. The built-in brake is intended to secure the motor; do not use it for regular control.
Damage to the brake could otherwise result.
<Maintenance>
3. Do not overhaul the device.

Fire or electric shock could otherwise result.
<General>
4. Do not remove the nameplate cover attached to the device.
Mandatory
<Storage>
1. Store the device where it is not exposed to direct sunlight,

and within the specified temperature and humidity ranges
{ - 20°C to + 65°C，below 90% RH (non-condensing)}.
2. Please contact our office if the amplifier is to be stored for a period of 3 years or
longer. The capacity of the electrolytic capacitors decreases during long-term
storage, and could cause damage to the device.
<Operation>
3. Install an external emergency stop circuit that can stop the device and cut off the
power instantaneously. Install an external protective circuit to the amplifier to cut off
the power from the main circuit in the case of an alarm. Motor interruption, bodily
injury, burnout, fire and secondary damages could otherwise result.
4. Operate within the specified temperature and humidity range

{Amplifier: Temperature 0°C to 40°C (Natural cooling), 0°C to 55°C (Forcible cooling)
Humidity below 90% RH (non-condensing); Motor: Temperature 0°C to 40°C,
Humidity below 90% RH (non-condensing)}.
<Transportation>
5. Follow the directions written on the outside box.

Excess stacking could result in collapse.
6. The motor angling bolts are used for transporting the motor itself;
do not use them for transporting the machinery, etc.
1-7
1-8
2. Prior to Use
2. Prior to Use
2.1 Package opening ･････････････････ 2-2

2.2 Product verification ･････････････････ 2-2
2.3 Precautions related to use ･････････････････ 2-3
2.4 Interpretation of the model number ･････････････････ 2-6
2.4.1 Q / R series Servo motor model number ･････････････････ 2-6
2.4.2 Servo system model number ･････････････････ 2-7
2.5 Combinations list ･････････････････ 2-9
2.5.1Applicable motor list ･････････････････ 2-9
2.5.2Applicable encoder list ･････････････････ 2-10
2.6 Restrictions for the multi-axis servo system ･････････････････ 2-11
2-1
2. Prior to Use
The instructions listed below should be followed when using the product. Incorrect use could
result in accidents or damage to the device.
2. 1 Package opening
The instructions below should be followed when opening the package and removing the product from
the box.
Be careful to not drop the product when removing it from the box.
Be especially careful with motors, as they can be very heavy.
2.2 Product verification
Verify the following when the product arrives. If you find any discrepancy, contact your distributor or
sales office.
x Verify that the model numbers of the servo motor and those of each unit of the servo system
are the same as ordered. (The model number is located on the main name plate, following
the word “MODEL”. )
x Verify that there are no abnormalities, such as damages to the exterior of the device, or
missing accessories.
x Verify that there are no loose screws on the servo motor or servo amplifier.
Servo motor Servo motor main nameplate
AC SERVO SYSTEMS
Ｑ
MODEL Q2AA04006DXS21
60W AC200V 0.53A Model No.
3000min-1 3φ－・ CI.F IP40
SER No.090206001 2002
Serial No.
Interpretation of the serial number

Month (2 digits) + Year (2 digits) + Day (2 digits)+
Serial number (4 digits) + Revision ("A" is omitted)
Servo amplifier
Nameplate of Servo Amplifier
RR1A01AE
C
N
6
Model No.
Amp model No.
C
N
2
C
N
1
ADDR Serial No.
POW M1
ALM M2
STA SG
Serial No.
P
C
U
V C
N
W C
○
2-2 XXXXXXXX X
2. Prior to Use
2.3 Precautions related to use
Use the product with the following precautions in mind:
・ Do not subject the servo motor and the units of the servo amplifier to shock
during installation; damage to the device could otherwise result. Be especially
careful when handling the servo motor as it has a encoder attached.
Fault !
Fault !
Always use the specified range for electric power.

AC 200V input type: AC200 - 230V (+10%, -15%) 50/60Hz
If the power does not meet these specifications, an accident could result.
・ If there are surges on the power line, use a surge protector between the power
source and the device, as a malfunction or accident could otherwise result.
・ When doing maintenance or inspection, switch the power on or off only after
verifying safety concerns, such as the status of the load device. If the power is
switched ON/OFF with the load connected, accident or damage to the device
could result.
・ Never use this product in the proximity of corrosive (acid, alkali, etc.),
flammable, explosive liquids or gases, as these could damage the device.
・ Never use the product where flammable or explosive liquids or gases are
present, as these can catch fire.
Fault ! Fault !
Gas
Explosives
Acid/Alkali
Fault !
Fault !
2-3
2. Prior to Use
・ Use the device within the specified operating temperature of 0-40°C (0-55°C for
amplifiers) and relative humidity below 90%.
・ Prevent water, cutting fluid or rain from contacting the servo motor or servo
amplifier; a short circuit or electric shock could otherwise result.
104°F
32°F
Fault ! Fault !
・ For safety, verify that the protective ground terminal connection ( ) of the
servo amplifier is at least D-type (Class 3 (Max 100Ω)). The ground terminal of
the servo motor should always be connected to the protective ground terminal
( ) of the servo amplifier.
・ Never perform a withstand voltage test or a Megger-test on the servo motor or

servo amplifier. This product uses capacitor grounding between the 0V and
the main unit. If you wish to perform such testing, please contact the distributor
or sales office.
Fault !
Fault !
2-4
2. Prior to Use
・ Wiring should be performed after reading “5. Wiring” to ensure correct
connections. Incorrect wiring could result in damage to the device, or fire.
・ The servo motor is not an induction motor. Therefore, reversing the phases of
the motor will not result in reverse rotation.
Fault !
・ Apply a surge protector to coils such as relays, electromagnetic contacts,

induction motors and brake solenoids, etc.
・ Connect power at the specified range to the r, t, R, S, and T terminals of the

servo amplifier. If the power is out of the specified range, use a transformer. If
commercial power is applied to the U, V, W terminals of the servo amplifier, it
will cause damage to the device.
Fault !
Commercial power
2-5
2. Prior to Use
2.4 Interpretation of the model number
2.4.1 Q-, R-series servo motor model number
Q A A {{{ 00
1 2 3 4 5 6 7 8 9 10 11 12
1. Series name: Q: Q-series Servo Motor

R: R-series Servo Motor
2. Motor type: 1:Low inertia

2: Medium inertia
3. Voltage: A: AC200V input

E: AC100V input
4. Motor form: A: Standard flange
5. Flange angle dimensions

04: 40 or 42mm; 05: 54mm; 06: 60mm; 07: 76mm; 08: 80mm or 86mm;
10: 100mm; 12: 120mm; 13: 130mm; 18: 180mm; 22: 220mm
6. Rated output
{{{ = {{{ × 10W Example･･･200: 200×10W = 2kW
7. Maximum rotation speed

S: 1000 min-1 M: 1500 min-1 B: 2000 min-1
-1
R: 2500 min H: 3000 or 3500 min-1 D: 5000 min-1 F: 6000 min-1
8. Existence of a holding brake

X: No brake; B: 90 V brake; C: 24V brake
9. Detector type
S: Wire-saving incremental encoder
D: Incremental/absolute encoder
P: Wire-saving absolute encoder (optical type, 3 provided) (PA035C)
W: Wire-saving absolute encoder (resolver type, 2 provided) (RA062M)
10. Specification identification

00: Standard product
11. Additional specification identification

E: CE mark supported; U: UL supported; M: CE mark + UL supported
12. Special specification

No indication…Standard product * Gear identification shall be coded if provided.
2-6
2. Prior to Use
2.4.2 Servo system model number
2.4.2.1 Amplifier unit model number
RR1 A 01 A A A 00
1 2 3 4 5 6 7
1. RR1: R-series, type R, Amplifier unit (R series, Type R servo system, amplifier unit)
2. Power input, power part description

A … Specification of 280VDC input
3. Amplifier description:
01: 15A; 03: 30A;
4. Motor structure type:

A: Rotary motor
5. Specification of Servo System I/F

A: Pulse Row I/F Specification
6. Combined Encoder :
A: Wire-saving incremental encoder
B: PA035C (RA-062C), half duplicate ABS encoder
H: Resolver type, ABS encoder with request signal (RA-062M)
7. Individual specification
2.4.2.2 Power unit model number
RRP A A 00
1 2 3 4
1. RRP: R-series, type R, power unit (R series, Type R servo system, power unit)

A … Specification of 200VAC input
3. Specification of Servo System I/F

A: Pulse Row I/F Specification
2-7
2. Prior to Use
2.4.2.3 Mother board model number
RRM A 4 00
1 2 3 4
1. RRM: R-series, type R, Mother Board (R series, Type R servo system, mother board)

A … Specification of 200VAC input
3. Mother board slot description:

4: 4 Slots; 6: 6 Slots; 8: 8 Slots;
1. The number of amplifier units that can be connected is determined by Slot specification.
1 slot is only possible for the amplifier unit with a capacity of 15A.
2 slots is only possible for the amplifier unit with a capacity of 30A.
2. A maximum of 6 amplifier units can be connected. Please note it is impossible to install
8 amplifier units with a capacity of 15A to the mother board with 8 slots.
3. There are other restrictions by the combined motor, regardless of the slot number or capacity
of the combined amplifier. Refer to 10.1.2 “Power Capacity” for details.
2-8
2. Prior to Use
2.5 Combinations list
2.5.1 Applicable motor list
Table 2-1 Q-, R-series motor and servo amplifier combinations (200VAC input type)
Motor Amp. capacity Motor Amp. capacity
Series Motor code Series Motor code
combination RR1A{{AA combination RR1A{{AA
Q1AA04003D 01(15A) 31 Q2AA04006D 01(15A) 41
Q1AA04005D 01(15A) 32 Q2AA04010D 01(15A) 42
Q1AA04010D 01(15A) 33 Q2AA05005D 01(15A) 43
Q1
Q1AA06020D 01(15A) 34 Q2AA05010D 01(15A) 44
Q1AA06040D 03(30A) 35 Q2AA05020D 01(15A) 45
Q1AA07075D 03(30A) 36 Q2 Q2AA07020D 01(15A) 46
Q2AA07030D 01(15A) 47
Q2AA07040D 03(30A) 48
Q2AA07050D 03(30A) 49
Q2AA08050D 03(30A) 4A
Q2AA13050H 03(30A) 4F
Motor Amp. capacity

Series Motor code
combination RR1A{{AA
R2AA04003F 01(15A) D1
R2AA04005F 01(15A) D2
R2AA04010F 01(15A) D3
R2 R2AA06010F 01(15A) D4
R2AA06020F 01(15A) D5
R2AA06040F 03(30A) D6
R2AA08075F 03(30A) D7
Table 2-2 Q-series motor and servo amplifier combinations (100VAC input type)
Motor Amp. capacity Motor Amp. capacity
Series Motor code Series Motor code
combination RR1A{{AA combination RR1A{{AA
Q1EA04003D 01(15A) 3S Q2EA04006D 01(15A) 4V
Q1EA04005D 01(15A) 3T Q2EA04010D 01(15A) 4W
Q1
Q1EA04010D 01(15A) 3U Q2EA05005D 01(15A) 4X
Q2
Q1EA06020D 03(30A) 3V Q2EA05010D 01(15A) 4Y
Q2EA05020D 03(30A) 4Z
Q2EA07020D 03(30A) 71
2-9
2. Prior to Use
2.5.2 Applicable encoder list
See the list of applicable encoders for the R-series type R servo system as follows:
Table 2-2 Applicable encoder list for R-series type R servo system
Encoder type Combined amplifier type
Wire-saving incremental encoder A
PA035 Start-stop synchronization 2.5Mbps Half duplex B
RA062 Start-stop synchronization 2.5Mbps Half duplex B
RA062 Manchester 1Mbps Full duplex H
See the model number of the combined servo amplifier at 6 “2.4.2.1 Servo amplifier model number.”
2-10
2. Prior to Use
2. 6 Restrictions for the multi-axis servo systems.
R series Type R is the multi-axis servo system designed on the basis of R series single-axis servo amplifier. You must
read and make sure the following restrictions for your systems before using this product.
(1). Physical limitation of the number of axis (Eight-slot motherboard)

Eight-slot motherboard can accommodate maximum Six-axis modules due to internal circuit limitation.
(2). Current limitation of the number of axis

In the R series multi-axis servo system, the summation of the rated watts by combined motors is limited due
to the amplifier’s current capacity.
1. The summation of the rated output by combined motors should be 2000W or less at AC 200V input, 800W or less at
AC 100V input.
2. When the value of the total effective load delivered by the operation pattern is less than the specified value (See
10.1.2.), that is, that can be used when the value meets the above conditions 1. And 2.
(3). Encoder output signals in the multi-axis servo system

In the multi-axis servo system, if the absolute types of encoders or the absolute encoders for the incremental
systems are used, the encoder output connector CN6 is disabled to accept spurious incremental signals
(A, B, C signals).
Therefore, use PS signal (serial output), or if spurious signal (A, B, C signals) are needed in your system,
use the incremental encoders.
(4). Position command pulse input

In the R series multi-axis servo systems, position command pulses would be taken maximum 500μsec to
reach the each of axis. (It may take maximum 500μ to start up the motors from the time of the command
pulses are input.) when highly-responsive system is required, make sure whether this system would be meet
your purpose or not, before use.
(5). Restrictions for Heat radiation in the multi-axis servo systems

The R series type multi-axis servo system is provided without internal cooling fan motors.
In use by natural air-cooling, keep the ambient temperature around the servo system in the 40-centigrade
range.
Apply external cooling fan motors as arranged to force air-cooling at high load operation or high temperature
environment. (For details on air-cooling fan motors, see Chapter 5.2)
2-11
2. Prior to Use
2-12
3. Servo System Configuration
3. 1 Block Diagram ･････････････････ 3-2

3. 2 External Wiring Diagram ･････････････････ 3-3
3. 2. 1 External Wiring Diagram ･････････････････ 3-3
3. 2. 2 Peripherals ･････････････････ 3-4
3. 3 Part Names for Each Unit ･････････････････ 3-5
3.3.1 Amplifier Unit ･････････････････ 3-5
3.3.2 Power Supply Unit ･････････････････ 3-6
3.3.3 Mother Board ･････････････････ 3-7
3-1
3. 1 Block Diagram
AC200V/230V＋10％，-15％
50/60Hz DC reactor Regenerative resistor
DL1 DL2 P RB1 RB2

CNB
Mother board
Noise filter
CNA
R
S CHARGE
r
DC/DC
t Conversion
Voltagedetection Drive Drive

PC
ＣＰＵ
CN1A
7segment
LED
key input Ｉ／ＦＬＳＩ
Generic I/O
CN1B
Command pulse
Power Supply Unit
PC
LED display
CN1 Rotary switch
Generic I/O
CN2
Enc CPU ＆ control circuit
Current Voltage
Drive detection Gate drive detection
CNC
U
V
Mot
W
Amplifier Unit
Fig. 3-1 Block Diagram
3-2
3. 2 External Wiring Diagram
3. 2. 1 External Wiring Diagram

The following diagram shows the external wiring.
3φ AC200 - 230V +10%, -15% 50/60Hz

1φ AC200 - 230V +10%, -15% 50/60Hz
1. Circuit breaker 7. Setup software

R-Setup
2. Noise filter
3. Electromagnetic
contacts PC
S
Seeerrrvvvo
S o sssyyysssttteeem
o m
m
T
S
R
t RR1A01AA RR1A01AA RR1A01AA RR1A01AA
r C C C C
N N N N
6 6 6 6
8. DC reactor
MODE WR/
C C C C
N N N N
2 2 2 2
DL1 CNA POWER
C C C C
DL2 r N
1
N
1
N
1
N
1
Protectivecircui
t
R
C C
T
RB1
RB2 CHARGE
CNB
P
C
P
C
P
C
P
C
RB2 C C
N N
RB1 1 1
W P
B A U U U U
C C C C
V DL2
V
W
N
V
W
N
V
W
N
V
W
N
C C C C
U DL1
○ ○ ○ ○
○
－
E
5. External RRPAA00_* XXXXXXXX_* XXXXXXXX_* XXXXXXXX_* XXXXXXXX_*
regenerative resistor
○ ○
CN2 (encoder)
Your can use the servo

amplifier system abnormal
4. Motor holding brake release power output (CN1, CN1A, CN1B)
for the system abnormality
timing, or create your own
You can use the servo amplifier circuit.
holding brake timing output
(CN1, CN1A, CN1B) for the
holding rake excitation timing, or Fig.3-2 External wiring diagram
create your own circuit.
S
Seeerrrvvvo
S om
o mo
moottto
orrr
o
3-3
3. 2. 2 Peripherals
Standard peripherals connected to the R-series type R products are shown below:
1. Circuit breaker 2. Noise Filter
Will cut off the power to protect the Used to protect the power line
power line in case of an overload or from external noise and from
significant leakage current. the noise generated by the
servo amplifier.
3. Electromagnetic Contacts 4. Motor holding brake release power
Switch the main circuit power If the servo motor has a brake,
ON/OFF; require installation of a this power is used to release
surge protector. It is recommended to the brake.
install the protective circuit shown in
Chapter 4 to the excitation circuit.
5. External regenerative resistor 6. DC Reactor

A full capacity DC reactor can
If the capacity of the internal be connected to the R-series
regenerative resistor is insufficient, servo amplifier to protect
remove the wires for the internal other devices from the effects
regenerative resister connected to of harmonics. Connect it
RB1-RB2, and connect an external between DL-1 and DL-2 terminals.
one between the RB1-RB2
terminals.
7. Setup software R-Setup
Connect the PC using the RS-232C port to perform

various monitoring on PC.
Setup software
R-Setup
3-4
3. 3 Part Names for Each Unit
3.3.1 Amplifier Unit
1. Amplifier unit mounting hole

1 A (φ5) hole to install the servo unit on the mother board. Use a M4 screw.
RR1A01AA
RR1A03AA
2. Encoder output connector (CN6)
C
N 2 Connector for encoder signal output.
6
C
N 3
3. Encoder signal connector (CN2)
2 Connect the encoder signal from the servo motor.
C
N 4 4.Generic input/output connector (CN1)
1
Connector for input/output signal between amplifier unit and host controller, etc.
ADDR 5
POW M1 5. Axis address setting rotary switch (ADDR)
ALM M2 6 Set the axis address of the amplifier unit. The same axis number cannot be set on
STA SG
7 one mother board. Set from “1” to “6” according to the number of connected axes.
P
C 8 6. Check terminals for analog monitor (M1,M2,SG)
Check terminals for analog monitor. M1 and M2 are monitor terminals and SG is
ground terminal.
U
V C 7. Status display LED (POW,ALM,STA)
W
N 9 LED display showing the status of amplifier unit.
C
○ POW : Indicates establishment of control power supply of 5V.
ALM : Turns ON when alarm occurs.
XXXXXXXX_*
STA : Displays the amplifier unit status with lighting or blinking.
8. Connector for communication with PC (PC)

Fig. 3-3 Amplifier unit front view This connector is used to connect the setup software (R-Setup) to use the functions
of “Status display”, “Monitoring”, Tests/Adjustments”, “Parameter editing”, “Alarm
1 display” and “Wave form display”.
9. Servo motor power connector (CNC)

Attach the power connector of the servo motor.
10 10. Control signal, control power input/output connector

Connector for input/output of amplifier unit control signal, and for input of control
power supply. Connected to the mother board.
11. Main circuit power input connector

11 Connector for amplifier unit main circuit power input.
Fig. 3-4 Amplifier unit rear view
3-5
3.3.2 Power Supply Unit
1 1. Power supply unit mounting hole

Holes of (φ5) to mount the power supply unit to the mother board.
Use M4 screws.
2 2. 7 segment LED display

MODE WR/ Shows the system status.
3
3. Push button switch
CNA POWER Use these for setting the power supply unit or selection of the servo
r 4 amplifier status monitor.
t
R
P 5 4. Control power set-up LED (POWER, green)
C C
S N Shows that the control power (r,t) is supplied and 5V control power
5 6
T
7 is on, when this turns on.
CHARGE
8 5. Connector for communication with PC (PC)
CNB This connector is used to connect the setup software (R-Setup) to
RB2 C
N
C
N
use the functions of “Status display”, “Monitoring”,
RB1 1 1 9 Tests/Adjustments”, Parameter editing”, “Alarm display” and Wave
B A
P form display”.
DL2
DL1 6. Connector for battery input (CN5)
○
－ 10 Back up power input connector for ABS encoder.
RRPAA00_*
7. Connector for control power/main circuit input (CNA)
Control power is connected to (r, t) and main circuit power is
to (R, S, T).
Fig.3-5 Power supply unit front view
8. Main circuit power charge LED (CHARGE, red)
Shows that the smoothing capacitor of the main circuit is charged,
1
when this turns on.
9. Interface connector (CN1A,CN1B)

Connector for input/output signals for the servo amplifier and the
host controller.
11
10. External regenerative resistor,
DC reactor connector (CNB)
Connect the external regenerative resistor to (RB1,RB2), and the
DC reactor to (DL1, DL2). If the DC reactor is not used, always short
the DL1-DL2 terminals.
12
11. Control signal, control power input/output connector
Connector for input/output of amplifier unit control signal, and for
input of control power supply. Connected to the mother board.
12. Connector for control power/main power supply

Connector for control power and main power supply of the power
unit. Connected to the mother board.
Fig. 3-6 Power supply unit rear view
3-6
3.3.3 Mother Board Unit
1 2
5
4
3 ○
Fig.3-7 Mother board front view
1. Mother board mounting notch/hole

Notches and holes to mount the mother board on the customer’s equipment. Use the M5 screws.
2. Amplifier unit & power supply / Interface unit mounting holes

Tapped holes for the screws to mount amplifier unit and power supply･interface unit. Use the M4 screws for fixing each
unit.
3. Protective grounding terminal

Connect the protective ground. Use D-type (Class 3) grounding.
4. Connector for power supply / Interface unit

Connect the power supply and interface unit.
5. Connector for amplifier unit

Connect the amplifier unit.
3-7
3-8
4. Wiring
4. Wiring
4. 1 Electric Wire Size ･･･････････････････ 4-2

4. 2 Connector Specifications ･･･････････････････ 4-3
4. 3 External Wiring Diagram ･･･････････････････ 4-4
4. 3. 1 External Wiring Example ･･･････････････････ 4-4
4. 3. 2 Input/Output Signal Connectors ･･･････････････････ 4-6
4. 3. 3 Encoder Wiring Diagram ･･･････････････････ 4-12
4. 4 Wiring Precautions ･･･････････････････ 4-15
4. 5 Shielding Method ･･･････････････････ 4-16
4-1
4. Wiring
4.1 Electric Wire Size
・ The following table shows the electric wire sizes used with the external connectors of the servo amplifier.
・ The electric wire and its size should be selected based on the wiring distances, environment and the current
capacity.
・ The information in Table 4-1 assumes an ambient temperature of 40°C, 3 lead coil wires and rated current.
Table 4-1 Electric Wire Sizes

Type Electric wire size examples
External connector
name Power supply unit Amplifier unit Amplifier unit Mother board
Connector RRPA RR1A01A RR1A03A RRMA
marking
Main circuit
CNA AWG14
power input - - -
(R, S, T) Equivalent
connector
Main circuit / Control circuit
Control power
CNA AWG16
input - - -
(r, t) Equivalent
connector
Motor
CNC AWG16 AWG14
connector - -
(U, V, W) Equivalent Equivalent
(power line)
Safeguard
AWG14
connector - - -
Equivalent
( )
Regenerative
CNB AWG16
resistor input - - -
(RB1, RB2) Equivalent
connector
Input/output
CN1A At least AWG24
signal
CN1B (Partially use the single shied twisted pair wire.)
connector
Signal circuit
Encoder
signal CN2 Single shield twisted pair wire, at least AWG24
connector
Encoder
signal output CN6 Single shield twisted pair wire, at least AWG24
connector
1. If you bundle the wires or insert them into a wire duct, consider the acceptable current reduction
ratio.
2. Wires may deteriorate by heat in high ambient temperature, resulting in shorter service life. To
avoid this, use heat-resistant vinyl wires.
3. Depending on the capacity of the motor or the loading conditions, smaller sized electric wires than
indicated above can be used.
4-2
4. Wiring
4.2 Connector Specifications
Please see the manufacturers (specifications) of the servo system connectors as follows.
Connectors are not provided with the servo amplifier, and customers are required to source them.
Table 4-2 Connector list

Connector Connector model number (Manufacturer)
Unit
Code Cable side Substrate side Manufacturer
Solderless type receptacle
Japan
housing:F32FSS-05V-KX
Solderless
Contact:SF3F-71GF-P2.0(reel)
Terminal
CNA LF3F3F-71GF-P2.0(loose) S05B-F32SK-GGXR
Mfg. Co.,
or
Ltd.
Electric wire type receptacle:05JFAT-SBXGF-1
(JST)
Open tool: J-FAT-OT
Power supply Solderless type receptacle
Japan
unit housing:F32FSS-06V-KX
Solderless
Terminal
CNB LF3F3F-71GF-P2.0(loose) S06B-F32SK-GGXR
Mfg. Co.,
or
Ltd.
(JST)
Open tool: J-FAT-OT
CN1A Shell kit:10350-52A0-008 Sumitomo
10150-52A2JL
CN1B Receptacle:10150-3000-PE 3M
Solderless type receptacle
Japan
housing:F32FSS-04V-KX
Solderless
Terminal
CNC LF3F3F-71GF-P2.0(loose) S04B-F32SK-GGXR
Mfg. Co.,
or
Ltd.
Amplifier unit (JST)
Open tool: J-FAT-OT
CN1 55100-0670 53460-0629 Molex
Shell kit: 36310-3200-008
CN2 Receptacle: 36210-0100PL Sumitomo
36110-2220PE
CN6 or 3M
Set of the above two items: 36810-2000PL
4-3
4. Wiring
4.3 External Wiring Diagram
4.3.1 External wiring example
CNA
User's device r
t
R
AC power 3φ
200～230Ｖ S
T
MC
CNB
RB2
RB1
P
DL2
DL1
MC
CN1A Line receiver CN1B

26C32 Equivalency
FWD.pulse FWD.pulse
(first axis) (fourth axis)
REV.pulse REV.pulse
(first axis) (fourth axis)
FWD.pulse FWD.pulse
(second axis) (fifth axis)
Position command
pulse input Position command
pulse input
REV.pulse
REV.pulse
(second axis) (fifth axis)
FWD.pulse FWD.pulse
(third axis) (sixth axis)
REV.pulse
(third axis) REV.pulse
(sixth axis)
～
～
Generic input output Generic input output

～
～
Battery input Battery input
Plug：10150-3000PE
Shell：10350-52A0-008
CN5
Battery input
CNC Relay for holding

MON1 CH1 U Red brake release
V White
Monitor output MON2 CH2
SG SG W Black
Green
CN6 SG
CN2
Encoder division Plug：36320-0100PL

signal output Shell：36310-3200-008
CN1
Note 8）
Generic input output DC12V～24V
4-4
4. Wiring
1. Use a twisted pair cable with external shield. The shield is connected to the ground at the connecting parts of the user
device and of the servo amplifier.
2. The regenerative resistor is connected between RB1 – RB2 terminals, CNB of the power supply unit. If an external
regenerative resistor is used, first remove the internal resistor wires connected to RB1 and RB2 terminals, then connect the
external regenerative resistor between RB1 – RB2 terminals.
3. The DL2 - DL2 terminals, CNB of the power supply unit, are for connecting a DC reactor. If a DC reactor is not used,
connect the DL1 and DL2 terminals using the short bar supplied.
4. The terminal and the P terminal are for maintenance. Do not connect anything to these terminals. Take care, because
these terminals are connected to high-voltage circuit.
5. Refer to section 4.5 for shielding method.
6. Connection at the motor side varies depending on the specification of the motor. Description of colors - red, white, black,
green, and orange - is for the lead type motor power line and brake line. For the cannon plug type, connect the wires to “U,
V, W, and E terminal” according to the motor specification.
7. Connection of CN2 encoder connector of the amplifier unit varies depending on the specification of the encoder in use.
Refer to the encoder connection diagram in 4.3.3. and onward for encoder connection.
8. Customers are requested to source the external power for CN1 of the amplifier unit and CN1A and CN1B of the power unit.
9. CNA and CNB of the power unit and CNC of the amplifier unit are high-voltage circuit. All other lines are low-voltage.
Ensure sufficient distance between the high- and low-voltage circuits, and avoid wiring them in parallel considering noise
resistance.
10. It is recommended to use a ground fault interrupter conforming to the UL, IEC and EN standards for power input section.
11. Do not connect S-phase terminal in the usage of the single phase input.
12. Do not connect S phase for the single phase amplifier.
13. Make sure to connect SG (signal ground) between the system when difference input signal is used.
14. Battery power is for common use in the unit. When connected, connect it with either one of CN1A, CN1B or CN5 of the
power unit.
4-5
4. Wiring
4.3.2 Input/output signal connector
4.3.2.1 Amplifier unit
(1)CN1 Terminal layout
Terminal
Signals
number
1 OUT1
Generic output
2 OUT2
3 IN1
Generic input
4 IN2
5 COM Common for generic
input/output
6 NC Not connected
(2) Connection example
z Generic input circuit
Host device Amplifier unit

x Connected to the relay or open collector
transistor circuit. CONT1 2.2kΩ
3
4.7kΩ
x Power voltage range:DC12V - 24V ±10%
CONT2
x Serial resistance of 2.2kΩ is connected inside 4
the amplifier unit.
COM
5
z Generic output circuit
Amplifier unit Host device

x Connected to the photo coupler or relay circuit.
x Specification of input circuit power

Power voltage range: DC12V ±10%
Power voltage range: DC24V ±10% OUT1
1
The maximum output current is 20mA (max.).
OUT2
2
COM
5
4-6
4. Wiring
(3) CN6 terminal layout
Terminal
Signal
number
1 SG Common
2 SG Common
3 A A phase position signal output
4 A A phase position signal output
5 B B phase position signal output
6 B B phase position signal output
7 Z Z phase position signal output
8 Z Z phase position signal output
9 PS Position data output
10 PS Position data output
z Incremental pulse output circuit
Incremental pulse output - Host device line receiver input

x Connected to the line receiver. Amplifier unit Host device
x Applicable line receiver: RS422 standard
conforming products.
HD26C31equival
A
3
x Make sure to connect SG. If not, malfunction or
breakage due to noise may be caused. A
4
x These are output signals of incremental B

5
encoder A phase and B phase pulses and of
return-zero Z phase pulse. B
6
x When absolute encoder and absolute encoder Z

7
are used, incremental pulse is not output.
Z
(Note that quasi-incremental signal when using 8
absolute encoder is not output. )
Twisted pair
SG
1
SG
2
z Absolute position data output circuit
Absolute position data output - Host device line receiver input

x Connected to the line receiver. Amplifier unit Host device
x Applicable line receiver: RS422 standard
conforming products.
HD26C31equivql
PS
9
x Make sure to connect SG. If not connected,
malfunction or breakage due to noise may be PS
10
caused.
x These are position data output of absolute Twisted pair

SG
encoder and absolute encoder. 1
SG
2
4-7
4. Wiring
4.3.2.2 Power supply unit
(1) CN1A、CN1B terminal layout
CN1A terminal layout

24 22 20 18 16 14 12 10 8 6 4 2
BATN
OUT6 OUT4 OUT2 SG SG R - PC6 F - PC6 R - PC5 F - PC5 R - PC4 F - PC4 -1
25 23 21 19 17 15 13 11 9 7 5 3 1
BATP
ALM1 OUT5 OUT3 OUT1 SG SG R - PC6 F - PC6 R - PC5 F - PC5 R - PC4 F - PC4
-1
49 47 45 43 41 39 37 35 33 31 29 27
OUT CONT CONT OUT CONT CONT CONT CONT CONT CONT CONT
SG
-PWR -COM -COM -COM 14 12 10 8 6 4 2
50 48 46 44 42 40 38 36 34 32 30 28 26
OUT OUT CONT OUT OUT CONT CONT CONT CONT CONT CONT CONT CONT
-PWR -PWR -COM -COM -COM 15 13 11 9 7 5 3 1
CN1A terminal layout
Terminal Terminal
Signal Definition Signal Definition
number number
1 BATP-１ Battery plus 26 CONT1
2 BATN-１ Battery minus 27 CONT2
3 F - PC1 28 CONT3
4 F - PC1 st
29 CONT4
1 axis command pulse input
5 R - PC1 30 CONT5
6 R - PC1 31 CONT6
7 F - PC2 32 CONT7
8 F - PC2 nd
33 CONT8 Generic input
9 R - PC2 34 CONT9
10 R - PC2 35 CONT10
11 F - PC3 36 CONT11
12 F - PC3 rd
37 CONT12
13 R - PC3 38 CONT13
14 R - PC3 39 CONT14
15 40 CONT15
16 41 SG Common for command pulse
SG Common for command pulse
17 42
18 43 OUT-COM Common for generic output
19 OUT1 st 44
1 axis generic output
20 OUT2 45
21 OUT3 nd 46 CONT-COM Common for generic input
22 OUT4 47
23 OUT5 rd 48
24 OUT6 49 OUT-PWR Power for generic output
25 ALM1 Alarm output 1 50
“1” in “1st axis……” in the above table indicates the scale in the axis address setting rotary switch on
the front of the amplifier unit. In the RR servo system, for the multiple amplifier units to be connected, set
the rotary switch from “1” to “6”, and connect the signal to an appropriate input/output pin.
4-8
4. Wiring
CN1B terminal layout
24 22 20 18 16 14 12 10 8 6 4 2
BATN
OUT12 OUT10 OUT8 SG SG R - PC6 F - PC6 R - PC5 F - PC5 R - PC4 F - PC4 -2
25 23 21 19 17 15 13 11 9 7 5 3 1
BATP
ALM2 OUT 11 OUT9 OUT7 SG SG R - PC6 F - PC6 R - PC5 F - PC5 R - PC4 F - PC4
-2
49 47 45 43 41 39 37 35 33 31 29 27
OUT CONT CONT OUT CONT CONT CONT CONT CONT CONT CONT
SG
-PWR -COM -COM -COM 29 27 25 23 21 19 17
50 48 46 44 42 40 38 36 34 32 30 28 26
OUT OUT CONT OUT OUT CONT CONT CONT CONT CONT CONT CONT CONT
-PWR -PWR -COM -COM -COM 30 28 26 24 22 20 18 16
CN1B terminal name
Terminal Terminal
Signal Signal
number number
1 BATP-2 Battery plus 26 CONT16
2 BATN-2 Battery minus 27 CONT17
3 F - PC4 28 CONT18
4 F - PC4 th
29 CONT19
4 axis Command pulse input
5 R - PC4 30 CONT20
6 R - PC4 31 CONT21
7 F - PC5 32 CONT22
8 F - PC5 th
33 CONT23 Generic input
9 R - PC5 34 CONT24
10 R - PC5 35 CONT25
11 F - PC6 36 CONT26
12 F - PC6 th
37 CONT27
13 R - PC6 38 CONT28
14 R - PC6 39 CONT29
15 40 CONT30
16 41 SG Common for command pulse
SG Common for command pulse
17 42
18 43 OUT-COM Common for generic output
19 OUT7 th 44
20 OUT8 45
21 OUT9 th 46 CONT-COM Common for generic input
22 OUT10 47
23 OUT11 th 48
24 OUT12 49 OUT-PWR Power for generic output
25 ALM2 Alarm output 2 50
“4” in “4th axis……” in the above table indicates the scale in the axis address setting rotary switch on
the front of the amplifier unit. In the RR servo system, for the multiple amplifier units to be connected, set
the rotary switch from “1” to “6”, and connect the signal to an appropriate input/output pin.
4-9
4. Wiring
z Position Command pulse input circuit
Command pulse input - Host device line driver output

x Connected with the line driver. Host device Power unit
x Applicable line driver: RS422 standard or
equivalent. 1.0kΩ 1.5kΩ
F-PC1 1.0kΩ
3
x Position command input is by command pulse. 150Ω
―― ―― 1.0kΩ
x Three types of command input pulse. 4 F - PC1
[Forward pulse+ Reverse pulse]
1.0kΩ
Max. 5M pulse/second 15 SG
[Code + pulse train] HD26C32equival
Max. 5M pulse/second Twisted pair
[90°phase difference 2 phase pulse train]
R-PC1
Max. 2.5M pulse/second 5
― ― ――
R - PC1
6
x Make sure to connect SG(pins 15 - 18 and 41).
If not connected, malfunction or breakage due 16 SG
to noise may be caused.
Twisted pair
Command pulse input - Host device open collector output

Host device Power unit
x Connected with the open collector transistor
circuit.
x Position command input is by command pulse. F-PC1
3
x Three types of command input pulse.
[Forward pulse+ reverse pulse]
[Code + pulse train] HD26C32equival
[90°phase difference 2 phase pulse train] 15 SG
x Maximum pulse frequency:150kHz Twisted pair
R-PC1
5
16 SG
Twisted pair
Note) For the host device side of the command pulse input circuit, line driver output is recommended to prevent
malfunction due to noise from occurring.
When open collector output is used, there are only 5 SG terminals for 6 pulse command input terminals.
For this, connect 2 signals in 1 terminal.
z Battery input circuit
Power Amplifier
x Connected with back-up battery when absolute
Host dev ice unit unit
encoder and absolute encoder are used.
Servo motor
Battery CN2
x If the battery is connected to CN5, there is no
need to connect here. 1
Twisted pair
4-10
4. Wiring
z Generic input circuit
Host device Power unit

x Connected with the relay or open collector
transistor circuit. 45
CONT-COM
x Power voltage range:DC5V - 24V ±10% 46
2.2kΩ
47
x Serial resistance of 2.2kΩ is connected inside CONT1 4.7kΩ

26
the amplifier unit.
27 CONT2
CONT3
28
･
･
･･
･
･ CONT14
39
CONT15
40
z Generic output circuit
x Connected with the photo coupler or relay Power unit Host device
circuit.
OUT-PWR
x OUT-PWR (outer power) specification 48
Power voltage range: DC5V ±5%, OUT-PWR
49
DC12V - 24V ±10%
Minimum current: 20mA OUT-PWR 50
OUT1
x Input circuit power specification 19
Power voltage range: DC5V ±5%
Power voltage range: DC12V - 15V ±10%
OUT2
Power voltage range: DC24V ±10% 20
Maximum current : DC5V･･･････････10mA

OUT3
Maximum current : DC12V - 15V････30mA 21
Maximum current : DC24V･･････････50mA
OUT4 22
OUT5
23
OUT6 24
ALM1
25
OUT-COM 42
OUT-COM
43
OUT-COM
44
4-11
4. Wiring
4.3.3 Encoder wiring diagram
(3) Absolute encoder PA035C, RA062C (2.5Mbps Star-stop synchronous absolute encoder)
SERVO AMPLIFIER
1 red(H)
+5V black(G)
2
0V
3
+5V
4
0V
5
N.C.
6 En
N.C. brown(E)
7
ES+ Blue(F)
8
ES- Pink(T)
9
EBAT+ Purple(S)
Note5) 10
EBAT-
Note2) Note1) Note3)
Note1) Use a twisted pair cable with external shield.
Note2) External shielded wire should be connected to the metal case (ground) at CN2 side and to the ground at the
encoder side.
Note3) Colors at the encoder side in the figure above show that the lead wire type encoder is used, and codes in
parentheses show that the canon plug type encoder is used.
Note4) Possible connection distance between the amplifier - encoder depends on the wire diameter (impedance).
Power voltage specification of the encoder is 5V± 5%. If the cable is long, encoder side voltage of 5V
decreases. Measure the voltage at the encoder side and select appropriate cables and their number to
make the voltage within the specified range.
Note5) As for RA062C, connection with EBAT+ and EBAT- is not necessary.
4-12
4. Wiring
(2) Wire-saving Incremental Encoder
SERVO AMPLIFIER
1 Red(J)
+5V
2 Black(N)
0V
3
+5V
4
0V Green(B)
5
B+ Purple(E)
6 En
B- Blue(A)
7
A+ Brown (D)
8
A- White(F)
9
C+ Yellow(G)
10
C-
Note2) Note1) Note3)
Note2) External shielded wire should be connected to the metal case (ground) at CN2 side and to the ground at
the encoder side.
Power voltage specification of the encoder is 5V ±5%. If the cable is long, encoder side voltage of 5V
decreases. Measure the voltage at the encoder side and select appropriate cables and their quantity to
4-13
4. Wiring
(3) Absolute encoder RA062M(with request signals, 1Mbps Manchester serial transmission method absolute encoder)
SERVO AMPLIFIER
1 Red(H)
+5V
2 Black(G)
0V
3
+5V
4
0V Brown (E)
5
PS+ Blue(F)
6 En
PS- Orange (N)
7
REQ+ Green(P)
8
REQ- White(R)
9
ECLR Yellow(S)
10
0V
Note1) Note3)
Note2)
Note2) External shielded wire should be connected to the metal case (ground) at CN2 side and to the ground at the
encoder side.
Power voltage specification of the encoder is 5V ±5%. If the cable is long, encoder side voltage of 5V
decreases. Measure the voltage at the encoder side and select appropriate cables and their quantity to
4-14
4. Wiring
4.4 Wiring Precautions
The servo system is a control device processing the signals under a few millivolts. Therefore, observe the following
instructions when wiring:
1. Input/output signal line, encoder signal line

Use the twisted pair and multi-core single shield twisted pair cables for the input/output signal line and the encoder
signal line. Perform wiring with the following precautions in mind:
・ Wire using the shortest distance.
・ Separate the main circuit lines and the signal lines.
・ Do not wire the main circuit lines near the side of the amplifier.
・ If it is necessary to have an insulation distance between the main circuit wires and between the main circuit
and the signal circuit wires, pole terminals with insulation sleeves should be used. (These cannot be used for
AWG12.)
2. Grounding
Abide by the following rules of grounding:
・ One-point grounding using 2.0mm2 diameter wire.
・ Use D-type (Class 3) grounding (ground resistance max. 100Ω).
・ The frame (ground terminal, ground line) of the servo motor should always be connected to the protective
ground terminal ( ) of the servo amplifier.
・ The protective ground terminal ( ) of the servo amplifier should always be connected to the PE (Protective
Earth) terminal of the control panel. Always use single-point grounding.
3. Noise protection
Follow the instructions below to prevent malfunctions due to noise.
・ The noise filter, servo amplifier, and the host controller should be separated by a short distance.
・ Apply a surge absorber circuit to coils such as relays, electromagnetic contacts, induction motors and brake
solenoids, etc.
・ Do not pass the main circuit lines and the signal lines through the same wire conduit; do not overlap them in
any way.
・ If there are large noise sources such as electric welding machines or electric discharge machines nearby,
apply a noise filter for the power line and the input circuit.
・ Do not bundle the primary and secondary wiring of the noise filter together.
・ Do not use a long grounding line.
The servo amplifier uses the power element for the PWM control. Incorrect grounding can cause switching noise, due
to di/dt and dv/dt during switching of the power element. Correct wiring and grounding is required for noise protection.
The servo amplifier power noise tolerance (normal, common noise) is 1500V, 1μsec, within 30 minutes. If larger
voltage than this is to be applied for a noise test, insert a noise filter at the power input section. Do not perform noise
testing longer than 30 minutes.
4. RF interference countermeasures
The servo amplifier is an industrial machine; therefore it does not include RF interference countermeasures.
If RF interference is a problem, insert a line filter to the power line input.
5. Faulty wiring
Take care to ensure that all wiring is correct, as faulty wiring can cause damage to the device.
Make sure to confirm correct wiring before turning ON the power.
6. Leakage current
Since the servo amplifier and the servo motor are controlled by switching the power element (inverter control), high
frequency leakage current will flow via floating capacity of the amplifier, motor or wirings. The leakage current may
cause malfunctions of the leakage current breaker or the leakage current protection relay. To avoid these
malfunctions, use a leakage current breaker that can be applied to an inverter.
7. Lightning surge
If there is a possibility that the servo amplifier is subject to lightning surges in excess of 2KV, insert a lightning surge
protector to the control board input. If you wish to insert a surge protector at the servo system power input, we
recommend R･A･V-781BXZ-2A (manufactured by Okaya Electric Industry Co., Ltd.).
4-15
4. Wiring
4.5 Shielding Method
The following diagram shows the shielding on the CN1A and CN1B connectors.
There are two shielding methods: by using a clamp, or by soldering.
● Using a clamp
1 Remove the external layer of the cable.
Attach a tape or a compression insert.
2
The tape or compression insert must be
on top of the external layer of the cable.
3 Fold back the drain line.
Tighten the cable clamp from the top of

the drain line.
4
Attach it about 1 mm from the tape or the
compression insert.
Attach the compression insert before soldering the cable to the connector.
4-16
4. Wiring
● Soldering
Item 1 and 2 are identical to using a clamp.
4-17
4. Wiring
4-18
5. Installation
5. Installation
5.1 How to assemble the servo system ･･･････････････････ 5-2

5.2 Servo system installation ･･･････････････････ 5-3
5.2.1 Installation environment ･･･････････････････ 5-3
5.2.2 Mounting method ･･･････････････････ 5-4
5.3 Servo motor installation ･･･････････････････ 5-6
5.3.1 Installation environment ･･･････････････････ 5-6
5.3.2 Mounting method ･･･････････････････ 5-6
5.3.3 Waterproofing and dust proofing ･･･････････････････ 5-7
5.3.4 Protective cover installation ･･･････････････････ 5-7
5.3.5 Gear installation ･･･････････････････ 5-8
5.3.6 Integration with the target machinery ･･･････････････････ 5-8
5.3.7 Allowable bearing load ･･･････････････････ 5-10
5.3.8 Cable installation considerations ･･･････････････････ 5-11
5-1
5. Installation
5.1 How to assemble the servo system
The R series, type R servo system includes 3 units; the amplifier unit, power supply unit and the mother board unit.
See below for how to assemble (install) these units.
Fig. 5-1 How to assemble each unit of the servo system
1. Insert the mounting claw on the resin cover of the amplifier unit (power supply unit) to the
metal notch of the mother board.
2. Diagonally insert the amplifier unit (power supply unit) thoroughly to the mother board using the
point of claw (already joined in 1) as a fulcrum.
3. In the end, insert the M4 screw through the hole on the amplifier unit (power supply unit) to the tap on
the mother board and tighten it. The number of screws is 1 for 15A amplifier unit and
2 for 30A amplifier unit and power supply unit.
The M4 screws (M4×14) are not provided with the product, so customers are required to source them.
5-2
5. Installation
5. 2 Servo system (servo amplifier) installation
5. 2. 1 Installation environment
Environment Conditions
Ambient temperature 0°C - 40°C (with natural cooling) 0°C to 55°C (with forcible cooling) (No freezing)
Ambient humidity 90%RH or lower (No condensation)
Storage temperature -20°C to 65°C (No freezing)
Storage humidity B e l o w 90%RH (No condensation)
Altitude Below 1000m from the sea level
Vibration Less than 0.5G
Shock at storage Less than1.0G
Well-ventilated, without corrosive or inflammable gas, without oil mist or dust.
Atmosphere
Places easy to inspect and clean.
Install the servo amplifier in compliance with the following precautions.

Issue Precautions
z The device should be installed on non-flammable surfaces
only. Installation on or near flammable materials can
cause fire.
z Do not stand, put or drop heavy items on the servo
amplifier.
z Operate the device within the specified environmental
conditions.
Various precautions
z Make sure no screws or other conductive or flammable
materials get inside the servo amplifier.
z Do not drop the device or subject it to excessive shock.
z Do not install or operate a damaged device, or one with
damaged parts; return it for repair.
z Contact your distributor or sales office if the servo amplifier
was stored or out of use for an extended period of time.
z The temperature inside the cabinet can exceed the
external temperature depending on the power
consumption of the device and the size of the cabinet.
Consider the cabinet size, cooling, and placement, and
If enclosed in a cabinet
make sure the temperature around the servo amplifier
does not exceed 55°C. For longevity and reliability
purposes it is recommended to keep the temperature
below 40°C.
If there is a vibration source z Protect the servo amplifier from vibration by installing it on
nearby a base with a shock absorber.
z If the ambient temperature may increase due to convection

If there is a heat generator
or radiation, make sure the temperature near the servo
nearby
amplifier does not exceed 55°C.
zLong-term use may cause contact failure on the connectors
and connecting parts.
If corrosive gas is present
Never use the device where it may be exposed to
corrosive gas.
z Never use the device where explosive or combustible gas

If explosive or is present. The device’s relays and contacts, regenerative
combustible gas is present resistors and other parts can arc (spark) and can cause
fire or explosion.
z The device cannot be used where dust or oil mist is

present. If dust or oil mist accumulates on the device, it
If dust or oil mist is present
can cause insulation deterioration or leakage between
the conductive parts, and damage the servo amplifier.
z If inductive noise enters the input signals or the power

circuit, it can cause a malfunction. If there is a possibility
If a large noise source is
of noise, inspect the line wiring and take appropriate
present
noise prevention measures. A noise filter should be
installed to protect the servo amplifier.
5-3
5. Installation
5. 2. 2 Mounting Method
z Mounting direction and location
Mounting hardware
M5 screw
M5 screw
Ventilation
Fig. 5-2 Servo system mounting
Mount the servo system (servo amplifier) standing upright as shown in Fig. 5-2.
5-4
5. Installation
● Arrangement within the machine
Front view Side view
Ventilation
50mm min. 50mm min.

C C C C
N N N N
6 6 6 6
MODE WR/
C C C C
N N N N
2 2 2 2
CNA POWER
C C C C
r N N N N
1 1 1 1
t
R
C C
T
CHARGE P P P P
C C C C
CNB
RB2 C C
N N
RB1 1 1
B A U U U U
P
V C V C V C V C
DL2 N N N N
DL1
W C W C W C W C
○
－ ○ ○ ○ ○
RRPAA00_* XXXXXXXX_* XXXXXXXX_* XXXXXXXX_* XXXXXXXX_*
○ 主銘板 ○
50mm min. 50mm min.

10mm min. Ventilation
FAN FAN
Fig. 5-3 Arrangement within the machine
1. Fig. 5-3 shows an example of the arrangement within the machine.

2. Leave at least 50 mm space above and below the servo system, and at least 10mm space on
both sides to ensure unobstructed airflow from inside the servo system (servo amplifier) and the
radiator.
3. Make sure to have insulation holes at both the lower and upper sections of the box to ensure
airflow.
4. Fig. 5-3 shows an image when there is forcible air flown to the servo system from the fan
motors installed at the amplifier bottom. Forcible cooling by air flowing of about 2m/s will
make the ambient usage temperature of the servo system 0 - 55℃. If forcible cooling is not
used, make sure to keep the ambient usage temperature at 0 - 40℃. Please note that even
at natural cooling, spaces for air flow are necessary.
5. For the six or more slot systems at AC100V input power supply needs forcible air-cooling.
6. Fig. 5-3 shows an image of forcible air flowing from the bottom to the top by fan motors.
However, reverse air flowing, from the top to the bottom, can also be possible depending on
the environment such as usage in a clean room.
7. Please use the recommended fan motors as follows:
Manufactured by SANYO DENKI Co. Ltd. : DC San Ace Series, 60 angle / 80 angle
type(general types)
Manufactured by SANYO DENKI Co. Ltd. : San Ace L series 60 angle･80 angle
type(long life type)
5-5
5. Installation
5. 3 Servo motor installation
5. 3. 1 Installation environment
The servo motor is designed for indoor use.
Please note the following regarding the installation location and mounting method for the servo motor.
Environment Conditions
Ambient temperature 0°C to 40°C(No freezing)
Ambient humidity Below 20 - 90%RH
Storage temperature -20°C to 65°C(No freezing)
Storage humidity Below 20 - 90%RH (No condensation)
Altitude Below 1000m from the sea level
Vibration Less than 0.5G
Shock at storage Less than 1.0G
x Well-ventilated places.
x No corrosive or inflammable gases present.
x Where there is no splash of water, oil or cut liquid at any time.
x Do not use the device in locations where the oil seal lip is continuously exposed to
Atmosphere
oil, or where the device is exposed to large quantities of water, oil drops or cutting
fluid. Do not put any pressure on it.
The servo motor is designed to withstand only small amounts of moisture spray.
x Easy access for inspection and cleaning.
5. 3. 2 Mounting Method
Please note the following points regarding the installation location and mounting method:
1. Mounting in several orientations - horizontal, or with the shaft on top or bottom- is acceptable.
2. If the output shaft is used in reduction devices that use grease, oil, or other lubricants, or in
mechanisms exposed to liquids, the motor should be installed in a perfectly horizontal or downward
position. In some models, there is an oil-seal attached to the output shaft. If the shaft is facing
upwards and the seal lip is continuously exposed to oil, oil can enter inside the motor and cause
damage, as a result of wear and degradation of the oil seal. In such cases an oil-seal should be
used on the load-side as well. Contact your distributor or sales office if the device is to be used in
such conditions.
3. The motor connector and cable outlet should be installed facing downwards, as nearly vertical as possible.
4. In vertical installation, create a cable trap to prevent oily water from getting into the motor.
Cable trap
Lead wire
Fig. 5-4 Motor mounting direction
5-6
5. Installation
5. 3. 3 Waterproofing and dust proofing
1. The protection inside the motor conforms to IEC standards (IEC34-5). However, such protection is
suitable only for short-term use. For regular use, additional sealing measures are required.
Be sure to handle the connector carefully, as damage to the exterior of the connector (painted
surface) can reduce its waterproofing capability.
2. The motor waterproofing is of IPX 7 class level, but still requires careful handling. If the motor is
continuously wet, due to the respiratory effect of the motor, liquid may penetrate inside the
motor.
3. Install a protective cover to prevent corrosion of the coating and the seal material, which can be
caused by certain types of coolants (especially water soluble types).
4. The canon plug type motors are applicable to IP67 or equivalent when waterproof connectors
and/or conduits are used on the matching canon connectors.
5. Q1-series motors (with all flange sizes) except cannon plug type and Q2-series motors (with the
42mm flange size) are IP40 rated, but IP67 rated waterproofing is also available as an option.
Q2-series motors with flange sizes of 54mm, 76mm and 86mm have IP67 rated waterproofing.
R2 series motors have IP67 rated water proofing, except for shaft inserting part and cable tips.
5. 3. 4 Protective cover installation
1. Install a protective cover (as described below) for motors continuously subjected to liquids.
2. Turn the connectors (lead outlets) downwards within the angle range shown in the picture below.
3. Install the cover on the side where the water or oil would drip.
4. Install the cover at an angle (for runoff), to prevent water or oil from collecting.
5. Make sure that the cable does not get soaked in water or oil.
6. Create a sag in the cable outside the cover, to make sure water or oil does not penetrate to the motor.
Seal this portion with sheet packing.
Cover
50°max 50°max
Water (Oil)pool.
Fig. 5-5 Protective cover and motor installation angle
5-7
5. Installation
7. If it is not possible to install the connectors (lead outlets) facing downwards, create a sag in the
cable to prevent water or oil from entering the motor.
External diameter of the shaft

Gear
Motor
Slackness
Oil level
Oil seal lip

Fig. 5-6 Cable sag Fig. 5-7 Oil level
5. 3. 5 Gear installation
Install the gear based on Fig. 5-6 and the following precautions.
1. The oil level of the gear box should be below the oil seal lip, for a slight spraying effect on the lip.
2. Create a hole to prevent pressure build-up inside the gear box, as pressure can cause water or oil
to penetrate the oil seal and enter inside the motor.
3. If the motor is used with the shaft facing upwards, an oil seal should be used on the opposite side
of the mechanism as well. In addition, install a drain to expel the water or oil that may penetrate
through this oil seal.
5. 3. 6 Integration with the target machinery
1. Use Fig, 5-7 as a reference for correct centering of the motor shaft and the target machinery.
Please note when using a rigid coupling that even a slight mistake in centering can damage the
output shaft.
Measured at all 4 locations, the

difference between the maximum
and the minimum should not
exceed 3/100mm
(coupling rotates jointly)
Fig. 5-8 Centering
5-8
5. Installation
2. Do not subject the motor shaft to shock, as the precision encoder is directly connected to it. If it
is inevitable to hit the motor for position adjustment or other reasons, use a rubber or plastic
hammer and hit the front flange area.
Correct!
Incorrect!
3. If mounting to a machine, create enough mounting holes for smooth coupling of the motor flange
rabbet.
The mounting surface should be flat, otherwise damage to the shaft or the load may occur.
4. Use the screw at the end of the shaft for installing parts such as the gear, pulley, or coupling, to avoid
shock.
Correct! Incorrect!
Bolt
Pulley Plate Pulley
5.Tapered motor shafts transmit the torque via the tapered surface. Make sure the key fits without
rattling. The tapered surface contact should be no less than 70%.
6. Use a special tool for removing the gear, pulley, etc.
Correct! Incorrect!
Taper
Extracting tool
7. If a belt-drive is used, verify that the gear reduction value of the belt tension does not exceed the
tolerance values listed in Tables 5-1 and 5-2.
5-9
5. Installation
5. 3. 7 Allowable bearing load
1. Tables 5-1 shows the allowable bearing load of the servo motors. Maximum thrust load and radial
load values should not be exceeded.
The thrust load and radial load tolerance values assume individual application to the shaft.
Table 5-1 Q-series radial load and thrust load tolerances (200VAC input type)
Assembly Operation
Model Radial load(N) Thrust load(N) Radial load(N) Thrust load(N)
FR F direction F 1 direction FR F direction F1 direction
Q1AA04003 98 78 78 49 29 29
Q1AA04005 150 98 98 98 29 29
Q1 Q1AA04010 150 98 98 98 29 29
Q1AA06020 390 200 200 200 78 78
Q1AA06040 390 200 200 250 98 98
Q1AA07075 590 390 390 340 200 200
Q2AA04006 150 98 98 98 29 29
Q2AA04010 150 98 98 98 29 29
Q2AA05005 200 200 150 150 78 78
Q2AA05010 200 200 150 150 78 78
Q2AA05020 250 200 150 200 78 78
Q2 Q2AA07020 250 490 200 200 98 98
Q2AA07030 250 490 200 200 98 98
Q2AA07040 250 490 200 250 98 98
Q2AA07050 250 490 200 250 98 98
Q2AA08050 590 780 290 340 200 200
Q2AA13050 1700 1300 1300 490 290 290
R2AA04003 98 78 78 49 29 29
R2AA04005 150 98 98 98 29 29
R2AA04010 150 98 98 98 29 29
R2 R2AA06010 150 98 98 98 29 29
R2AA06020 390 200 200 200 68 68
R2AA06040 390 200 200 250 68 68
R2AA08075 590 390 390 340 200 200
Table 5-2 Q-series radial load and thrust load tolerances (100VAC input type)
Assembly Operation
Model Radial load(N) Thrust load(N) Radial load(N) Thrust load(N)
FR F direction F 1 direction FR F direction F1 direction
Q1EA04003 98 78 78 49 29 29
Q1 Q1EA04005 150 98 98 98 29 29
Q1EA04010 150 98 98 98 29 29
Q1EA06020 390 200 200 200 78 78
Q2EA04006 150 98 98 98 29 29
Q2EA04010 150 98 98 98 29 29
Q2EA05005 200 200 150 150 78 78
Q2
Q2EA05010 200 200 150 150 78 78
Q2EA05020 250 200 150 200 78 78
Q2EA07020 250 490 200 200 98 98
LR
LR/3
x The radial load tolerance value is
the maximum load that can be Thrust load
applied at the point measuring 1/3 F direction
of the distance from the tip of the
output shaft. F1 direction
(Refer to Fig. 5-9.)
Point load FR
Fig. 5-9 Radial load position
5-10
5. Installation
5. 3. 8 Cable installation considerations
1. Make sure that no stress is applied to the cable and that it is undamaged.
2. If the servo motor is installed in a moving location, make sure that no excessive stress is applied
to the cable, by allowing a large bending radius.
3. Avoid pulling the cable over sharp objects such as cutting scrap that can damage its exterior.
Make sure the cable is not touching any machinery, and that it is out of the path of people and
machines.
4. Prevent bending or additional weight stress on the cable connection by clamping the cable to the
machinery.
5. In applications where the motor or the cable is moving using a cable bear, the bending radius
should be based on the required cable-life and the type of cable used.
6. Install the cables of moving parts in a manner that permits easy regular replacement. Consult
with your distributor or sales office for recommendations, if you use cables for moving parts.
5-11
5. Installation
5-12
6. Operations
6. Operations
6.1 Power ON/OFF sequence ････････････････ 6-2

6.1.1 Power ON -> Servo ON sequence ････････････････ 6-2
6.1.2 Servo OFF - Power OFF sequence ････････････････ 6-3
6.1.3 Sequence when power is turned OFF when servo is ON ････････････････ 6-3
6.2 Sequence-related functions ････････････････ 6-4
6.2.1 Forced electric discharge selection ････････････････ 6-4
6.2.2 Holding brake excitation function and sequence ････････････････ 6-4
6.2.3 Brake function and sequence ････････････････ 6-5
6.2.4 Forced stop function and sequence ････････････････ 6-8
6.2.5 Brake operation start time ････････････････ 6-10
6.3 Alarm sequence ････････････････ 6-13
6.3.1 Sequence during dynamic brake ････････････････ 6-13
6.3.2 Sequence during servo brake ････････････････ 6-14
6.3.3 Alarm reset sequence ････････････････ 6-15
6.4 Display on the Amplifier Unit ････････････････ 6-16
6.5 Digital operator ････････････････ 6-17
6.5.1 Names of each part ････････････････ 6-17
6.5.2 Various modes ････････････････ 6-18
6.5.3 How to change the modes ････････････････ 6-19
6.5.4 Status display mode ････････････････ 6-20
6.5.5 General parameter mode ････････････････ 6-21
6.5.6 Auto-adjustment mode ････････････････ 6-24
6.5.7 Test run mode ････････････････ 6-25
6.5.8 System parameter mode ････････････････ 6-28
6.5.9 Alarm trace / CPU version mode ････････････････ 6-29
6.5.10 Monitor mode ････････････････ 6-30
6-1
6. Operations
6. 1 Power ON/OFF sequence
Various sequences can be managed by setting various parameters in the R series amplifier. Read this section referring
to Chapter 7 “Parameters”, in which various parameters are described.
6. 1. 1 Power ON -> Servo ON sequence
Control source ON
Control source input
( r, t )
Power ON permission signal Max 20 sec

*1.(generic output)
Min 0 msec
Main power supply input Can be turned on
(R, S, T)*2 simultaneously
Rush current
prevention
time EMR signal input release status
2sec
EMR signal input EMR signal input status
Min 0 msec
Operation setup completion signal
*3. Max 100 ms
Dynamic brake operation Dynamic brake OFF

（ DBOFF ）
Servo ON signal
Servo ON
*4 ( SON )
Motor excitation
Command acceptance permission Command acceptance

Holding brake release delay time set value
signal (BOFFDLY) permission
Motor speed Motor rotation
*1 Power ON permission signal is output from generic output when selecting power ON permission signal
output at amplifier unit GroupA. This signal need not be used depending on the system configuration.
*2 The frequency of the power ON/OFF of the servo amplifier must be less than 5 times/hour and less than
30times/day. => Refer to 6.2.1.
*3 During initialization of the servo amplifier or in alarm status or EMR input status, operation setup
completion signal is not output.
*4 Servo ON signal must be input while the motor stops. If being input during motor rotation, an alarm
(servo ON error: 28H) is detected.
6-2
6. Operations
6. 1. 2 Servo OFF - Power OFF sequence
Control source
( r, t ) Control source OFF
Min 0 sec
Power ON permission signal
Can be turned off
simultaneously.
*1
Main power supply
(R, S, T) Main circuit power OFF
EMR signal input

Operation ready
OFF
Operation setup completion signal
Dynamic brake operation Dynamic brake ON

( DBON )
Servo ON signal
Servo OFF
( SOFF )
Motor excitation Holding brake delay time set value

(BONDLY) Motor free
Command acceptance permission
output
Command acceptance
Motor speed prohibition
Motor stop
6. 1. 3 Sequence when power is turned OFF when servo is ON
Control power Min 0 sec Control power OFF

( r, t ) *1
Power ON permission signal
Main power supply input

(R, S, T) Main circuit power
OFF
Operation setup completion signal Operation setup
completion output
OFF( Low )
Dynamic brake operation Dynamic brake ON

( DBON )
Servo ON signal input

Servo ON
( SON )
Motor excitation Holding brake delay time set value

(BONDLY) Motor free

output
Command acceptance
prohibition
Motor speed
Motor stops.
*1 Control power must be shut off at the same time or after the main circuit power shut off.
6-3
6. Operations
6. 2 Sequence related functions
In the R series servo amplifiers, sequence timing or operations can be managed and changed by setting various
parameters.
6. 2. 1 Forced electric discharge selection
If the frequency of the power ON/OFF of the servo amplifier is less than 5 times/hour and less than 30 times/day,
the forced electric discharge funtion will attempt to compensate.
To raise the frequency of the main power supply ON / OFF sequence, set the parameter so that the main power
supply is OFF in such a way that the discharge process is not performed.
Take care in this case, however, since electricity is being charged at the main circuit capacitor even if the main circuit
is shut off.
Forced electric discharge selection: Power unit, Group0 Page1
Standard setting is ”01H”, which means function enable. Set to ”00H”, function disabled, if forced discharge is not
desired.
While the main power supply is OFF, repeated “ON / OFF” cycling of the main power supply by the
discharge function at frequent intervals during operational status may cause burning of the
amplifier and power input circumference circuit, and eventual failure.
6. 2. 2 Holding brake excitation function and sequence
When using a holding brake with the servo motor, it is possible to change the excitation time of the servo motor during
the operation and release of the brake. Set this function with the following parameters:
Holding brake operation delay time (BONDLY): Amplifier unit, GroupB Page13
Holding brake operation release delay time: Amplifier unit, GroupB Page14
When the input value is 0msec, the command becomes invalid within 4msec after SON.
Servo ON (SON)
Servo OFF (SOFF)
Motor Excitation (GATE ON)
Motor Excitation Motor Excitation OFF (GATE OFF)

Holding brake release
Holding brake Holding brake hold

Excitation signal
Command permission

output Command acceptance prohibited
Holding brake release delay time set value Holding brake delay time set value
（BOFFDLY）（BONDLY）
6-4
6. Operations
6. 2. 3 Brake function and sequence
This function is valid from the start of operation (Servo ON status), until a Servo OFF signal is received.
The method for stopping the servo motor (free run operation / dynamic brake operation / servo brake operation) is selected when
specifying the Servo OFF signal. The servo motor status after stopping (motor free / dynamic brake status) is also determined in the
same way. Select these combined conditions from the dynamic brake operation parameters listed below.
It is possible to set the conditions for stopping the motor (motor speed) with the parameter zero speed range (ZV). IF the motor
speed is within the set range, it will be detected as zero speed status.
Dynamic brake operation : Amplifier unit, GroupB Page10

Zero speed range (ZV) : Amplifier unit, Group8 Page42
Set value at Group B Motor operation

Sequence
Page10 When servo is OFF After stopping the motor
00H Free run operation Motor free operation 6. 2. 3. 1
01H Free run operation Dynamic brake operation 6. 2. 3. 2
02H Dynamic brake operation Motor free operation 6. 2. 3. 3
03H Dynamic brake operation Dynamic brake operation 6. 2. 3. 4
04H Servo brake operation Motor free operation 6. 2. 3. 5
05H Servo brake operation Dynamic brake operation 6. 2. 3. 6
● Operation description
Free run operation Motor status: current is not passed, not excited. Motor stops due to friction of the machine.
Dynamic brake operation Motor status: short circuit in the electric circuit of servo motor; motor is stopped at once.
Servo brake operation Motor status: speed command is forcibly set to “zero speed”, output torque is controlled and
stopped. Possible to change the limit value of output torque with the following parameters:
Torque limit value during sequence operation: Amplifier unit, Group 8 Page37
Motor free operation Motor status: current is not passed, not excited. Motor stops due to machine friction.
6. 2. 3. 1 Servo OFF: Free run operation + After motor stop: Motor free operation
After stopping the When servo is ON

When servo is ON. When servo is OFF
motor
Servo ON (SON)
Servo OFF (SOFF)
Motor excitation (GATE ON)
Motor excitation
Motor excitation OFF (GATE OFF) Holding brake release delay time set value
(BOFFDLY)
Command acceptance Command
permission output Command acceptance prohibition permission
Dynamic brake operation Dynamic brake OFF

(DBOFF)
Motor rotation
Motor operation
Motor free
6-5
6. Operations
6. 2. 3. 2 Servo OFF: Free run operation+After motor stop: Dynamic brake operation
When servo is ON. When servo is OFF. After stopping the When servo is ON
motor
Servo ON (SON)
Servo OFF (SOFF)
100ms Motor excitation (GATE ON)

Motor excitation Motor excitation OFF Holding brake release delay time set value
(GATE OFF) (BOFFDLY)
Command
Command acceptance permission output Command acceptance prohibition permission
Dynamic brake operation (DBON)

Dynamic brake operation
Dynamic brake OFF (DBOFF)
DBOFF delay time
Max100ms
Motor operation Motor rotation
Motor free
Holding brake operation delay time set value
(BONDLY)
6. 2. 3. 3 Servo OFF: Dynamic brake operation+After motor stop: Motor free operation
After stopping the When servo is ON.

When Servo is ON. When Servo is OFF. motor
Servo ON signal input Servo ON (SON)

Servo OFF (SOFF)

Motor excitation Motor excitation OFF (GATE OFF) Holding brake release delay time set value
(BOFFDLY)
Command (DBON) Command permission
acceptance
prohibition

Holding brake operation
delay time set value(BONDLY)
Motor rotation
Motor operation
Motor free
Zero velocity range

*1
6. 2. 3. 4 Servo OFF: Dynamic brake operation + After motor stop: Dynamic brake operation
When servo is ON. When servo is OFF. After stopping the motor When servo is ON.
Servo ON (SON)
Servo OFF (SOFF)
100ms Motor excitation (GATE ON)

Motor excitation Motor excitation OFF (GATE OFF) Holding brake release delay time set value
(BOFFDLY)
Command permission
Command acceptance permission output Command acceptance prohibition
Dynamic brake operation Dynamic brake operation(DBON)

DBOFF delay time
Max100ms
Motor free
6-6
6. Operations
6. 2. 3. 5 Servo OFF: Servo brake operation+After motor stop: Motor free operation
When servo is ON. When servo is OFF. After stopping the motor When servo is ON.
Servo ON (SON)
Servo OFF (SOFF)
Motor excitation Holding brake release delay time set value

Motor excitation OFF (BOFFDLY)
(GATE OFF) Command permission
Command acceptance
permission output Command acceptance
prohibition

Dynamic brake OFF （DBOFF）
Motor rotation
Motor operation
Holding brake operation Motor free

delay time set value(BONDLY) Zero velocity range
*1
6. 2. 3. 6 Servo OFF: Servo brake operation+After motor stop: Dynamic brake operation
When Servo is ON When Servo is OFF After Motor stop When Servo is ON
Servo ON (SON)
Servo OFF (SOFF)
Motor Excitation (GATE ON)
Motor Excitation
Motor Excitation OFF Holding brake release delay time ser value
(GATE OFF) (BOFFDLY)
Command acceptance Command permission
permission output Command acceptance
prohibited
Dynamic brake
operation(DBON) Dynamic brake OFF (DBOFF)
DBOFF delay time

Motor operation Max100ms Motor rotation
Motor free
Holding brake operation
Zero velocity range
delay time set value(BONDLY)
*1
*1 Judgment for motor stoppage to start the dynamic brake operation is made by zero velocity range (ZV)
set value of the generic parameters. (Amplifier unit Group 8 Page 42, Zero velocity range set value)
Therefore, after confirming it within the ZV range, dynamic brake is turned ON or delay counter starts to
set the holding brake operation delay time and to turn ON the dynamic brake.
6-7
6. Operations
6. 2. 4 Forced stop (Power OFF / EMR input ) function and sequence
This function is valid from Servo ON status (operating) until the main circuit power supply is disconnected and when EMR signal is
input from the host device.
When the main circuit power is disconnected or when an emergency stop (EMR) signal is input , the operation method for stopping
the servo motor (servo brake stop or dynamic brake stop) is selected.
Make selection from the following parameters:
Forced stop operation:Amplifier unit, GroupB Page12
Set value at Group B Forced stop operation

Forced stop selection Sequence
page 12
Main circuit power OFF 6. 2. 4. 1
00H Servo brake
Emergency stop (EMR) 6. 2. 4. 2
Main circuit power OFF 6. 2. 4. 3
01H Dynamic brake
Emergency stop (EMR) 6. 2. 4. 4
When dynamic brake is selected and an alarm for a servo brake stop is detected, bring the servo motor to a stop with the dynamic
brake. (Refer to “Chapter 6. 3.”)
● Operation description
Servo brake operation In this operation, the speed command is forcibly set to “Zero speed”, the output torque is
controlled, and the motor is stopped. It is possible to change the limit value of output torque with
the following parameters:
Torque limit value during sequence: Amplifier unit, Group 8 Page 37
Dynamic brake operation In this operation, there is a short in the electric circuit of the servo motor and the motor is
stopped at once.
6. 2. 4. 1 Servo brake forced stop operation (when main circuit power OFF)
Main circuit power input Main circuit

power supplied Main circuit power shut OFF
Command acceptance
permission output
1.5 cycles Command acceptance prohibited

Servo ON (SON)
Holding brake operation delay time set value
(BONDLY)
Motor Excitation Motor Excitation
(GATE ON) Motor Excitation OFF (GATE OFF)
Dynamic brake OFF Dynamic brake ON (DBON)

Dynamic brake operation (DBOFF)

Motor stop
Motor free
Zero velocity range
*1
6-8
6. Operations
6. 2. 4. 2 Servo brake forced stop operation (Emergency stop by EMR input))
EMR input EMR signal input EMR signal input status

being released
Command acceptance
Command
permission output permission Command acceptance prohibited

Servo ON
(SON) Holding brake operation delay time set value
(BONDLY)
Motor Excitation Motor Excitation
(GATE ON) Motor Excitation OFF (GATE OFF)

Dynamic brake operation （DBOFF）
Motor rotation
Motor operation
Motor stop
Motor free
Zero velocity range
*1
6. 2. 4. 3 Dynamic brake forced stop operation (when main circuit power OFF)
Main circuit
Main circuit power power supplied Main circuit power shut OFF
Command acceptance
permission output
1.5 cycles Command acceptance prohibited
Servo ON signal Servo ON (SON)
Motor Excitation
Motor Excitation (GATE ON) Motor Excitation OFF (GATE OFF)

Dynamic brake operation (DBOFF)
Motor rotation
Motor operation Motor stop
Motor free
6. 2. 4. 4 Dynamic brake forced stop operation (emergency stop by EMR input)
EMR input EMR signal input EMR signal input status

Being released
Command acceptance
Command
permission output permission Command acceptance prohibited
Servo ON signal input Servo ON (SON)
Motor Excitation
Motor Excitation (GATE ON) Motor Excitation OFF (GATE OFF)
Dynamic brake Dynamic brake ON (DBON)

Dynamic brake operation OFF(DBOFF)
Motor rotation
Motor free
6-9
6. Operations
6. 2. 5 Brake operation start time (BONBGN)
This function is used to control the gravitational axis (vertical axis).
Brake operation start time : Amplifier unit, GroupB Page15

Setting range : 0 - 65535 msec ( “0” msec function is invalid.)
Zero velocity range (ZV) : Amplifier unit Group8 Page42

-1
Setting range : 50 - 500 min
If the motor does not stop within the set time of brake operation start time, from Servo ON status to Servo OFF status (where
motor speed has not reached below the value of “Zero velocity range [ZV]”), stop the motor with both the holding brake and
dynamic brake. In this situation, the motor is stopped with both holding brake and dynamic brake (6.2.5.1) regardless of the
selected operation for motor stop during servo OFF signal input/setting of brake selection after stopping the motor. Only the
holding brake operates when the servo is OFF and dynamic brake is ON (6.2.5.2).
Group B Page10 (Selection of dynamic brake operation)

Input Sequence
Set value Contents
00H / 01H Free run operation when servo is OFF
Servo brake operation when servo is 6. 2. 5. 1
04H / 05H
Servo OFF OFF
Dynamic brake operation when servo is
02H / 03H 6. 2. 5. 2
OFF
When the motor s tops within the selected value of brake operation (when the motor speed is below the setting value of “Zero
velocity range [ZV]”), this setting will not function per the normal status. Refer to the sequence 6.2.3.
When the motor brake operation start time has been set, and power is interrupted to stop the motor during motor operations
(“motor not stopped“ status), this sequence changes per the conditions (servo brake operation/dynamic brake operation) of
“Forced stop operation: Amplifier unit, GroupB Page12”.
Group B Page12 (Selection of forced stop operation)

Input Sequence
Set value Contents
00H Servo brake 6. 2. 5. 3
Power shut-off
01H Dynamic brake 6. 2. 5. 4
6. 2. 5. 1 If free run or servo brake operation are selected, when servo is off and motor does not stop within brake
operation start time.

input Servo OFF (SOFF)
Command Command brake start time set value

permission (BONBGN)
acceptance Command
permission output acceptance
prohibited
Holding brake
release Holding brake hold
Holding brake
Excitation signal Dynamic brake ON (DBON)
Dynamic brake OFF(DBOFF) Stop by DB
Dynamic
Brake operation Motor rotation
Motor stop
Motor operation
Zero velocity range
Holding brakes may be damaged if the brake operation start time (BONBGN) is extended, as the holding
brakes are continuously applied.
6-10
6. Operations
6. 2. 5. 2 If dynamic brake operations are selected, when servo is off and motor does not stop within brake
operations start time
Servo ON signal
input
Servo OFF (SOFF)
Servo ON (SON)
Command
acceptance Brake start time set value
permission output Command permission Command acceptance (BONBGN)
prohibited
Holding brake Holding brake release

Holding brake hold
excitation signal
Dynamic brake Dynamic brake ON (DBON)

operation Dynamic brake OFF (DBOFF)
Motor stop
Motor rotation
Motor operation
Zero velocity range
6. 2. 5. 3 If servo brake operations are selected, when main circuit power is shut off and motor does not stop within
brake operation start time
Main circuit power

Main circuit power supplied Main circuit power shut OFF
input
Servo ON (SON)
Servo ON signal
input
Command Brake start time set value

permission (BONBGN)
Command Command acceptance
1.5 cycles
prohibited
acceptance
permission output
Holding brake hold
Holding brake Dynamic brake ON (DBON)

excitation signal Dynamic brake OFF (DBOFF)
Stop by DB
Dynamic brake
operation Motor rotation
Motor stop
Motor operation Zero velocity range
6-11
6. Operations
6. 2. 5. 4 If dynamic brake operations are selected, when main circuit power is shut off and motor does not stop
within brake operation start time
Main circuit power

input Main circuit power
supplied Main circuit power shut OFF
Servo ON signal
Servo ON (SON)
input
Command Command Brake start time set value

acceptance permission
Command acceptance (BONBGN)
permission output 1.5 cycles
prohibited

Holding brake hold
Holding brake
excitation signal
Dynamic brake ON (DBON)
Dynamic brake OFF(DBOFF)
Dynamic brake
operation
Motor rotation
Motor stop
Motor operation
Zero velocity range
6-12
6. Operations
6. 3 Alarm sequence
There are 2 different sequences for stop operation (DB, SB) available at the time of alarm detection. As the stop operation
differs per the alarm type,
confirm the selected stop operation in “Chapter 9, Maintenance, List of Operations at the Time of Alarm Detection”.
・ DB operation : Slows down and stops the servo motor with the dynamic brake upon alarm. (Sequence 6. 3. 1)
・ SB operation : lows down and stops the servo motor with a sequence current limiting value. (Sequence 6. 3. 2)
When dynamic brake operation is selected as a forcible stop operation, alarm detection will initiate dynamic brake operations to
slow down and stop the servo motor.
Related parameter : Amplifier unit, GroupB Page12
Install a safety circuit, as shown in the following figure, so that the main power supply can be cut off immediately when the
alarm rings.
Check the alarm status on the unit’s front LED display and proceed according to “Chapter 9, In Case of Alarm”. Failure to
follow the procedures outlined in “Chapter 9, In Case of Alarm” may lead to failure of the external amplifier and/or peripheral
device, and fire.
6. 3. 1 Sequence during dynamic brake
Inner status Normal

(Alarm) operration Alarm status
Servo ON (SON)
Servo ON signal
input
Command
Command permission Command acceptance prohibited
acceptance
permission output
Motor excitation
(GATE ON) Motor excitation OFF (GATE OFF) Motor free
Motor excitation
Dynamic brake Dynamic brake OFF(DBOFF)
operation

Holding brake Holding brake hold
excitation signal

Motor stop
6-13
6. Operations
6. 3. 2 Sequence during servo brake
Inner status Normal

(Alarm) operation Alarm status

input
Command
Command permission Command acceptance prohibited
acceptance
permission output
Motor excitation
（GATE ON） Motor excitation OFF (GATE OFF) Motor free
Motor excitation
Dynamic brake
operation Holding brake delay time set value
(BONDLY)
Holding brake Holding brake release

excitation signal Holding brake hold
Motor rotation
Zero velocity range
6-14
6. Operations
6. 3. 3 Alarm reset sequence
The procedure to reset an alarm by the alarm reset signal input will follow the sequence described in the figure below. The
alarm cannot be reset unless the power is switched ON, following a power OFF based on the conditions of the alarm. For more
detailed explanation, see “Chapter 9, Maintenance, Alarm Clear in Alarm List”.
20msec or longer
Alarm reset signal

Alarm release
Inside status
(Alarm) Alarm status
servo ON (SON)
Servo ON signal
Servo OFF (SOFF)
6-15
6. Operations
6. 4 Display on the Amplifier Unit
The LED display on the front of the amplifier unit tells its status.
Table 6-1 LED Display on the amplifier unit

LED display Status
POW LED (green) When this is on, amplifier unit control power of +5V is established.
ALM LED (red) When this is on, alarm is issued at the amplifier unit.
STA LED (green) Quick blinking (at frequency of 128msec): Communication not established.
Slow blinking (at frequency of 256msec): Communication established. Initial bank not received.
Slower blinking (at frequency of 512msec): Servo amplifier initialization is in process.
When this is ON: Servo amplifier initialization completed.
Blinking at frequency of 1024msec: Motor excitation ON.
6-16
6. Operations
6. 5 Digital Operator
The power supply unit has an internal digital operator which has 5 digit 7 segment LED and 4 keys. It is possible to
set and change the parameters of the power supply unit, to perform test run, to display the status, and to monitor and
trace the alarms. Adjustment, test run, status display and monitoring of the amplifier unit are also possible.
6.5.1 Names of each part
[▲]Up key
7 segment LED display
[▼]Down key
[MODE] [WR] / [►]
MODE switch key WR Cursor movement, decision, and write key
MODE
MODE WR/
Display Function Input time

Digital display Displays monitor value or parameter setting value in 5 digits. ―――
WR To input MODE selections and save the edited data. 1 second or longer
MODE Changes the MODE. Within 1 second
► Cursor key. Changes the cursor position. Within 1 second
▲▼ To change pages and edit the data. Within 1 second
Displays by Cursor key and U/Down key

● Up and Down from “1 to 9”
Press the Up key, and the blinking numeric value of LED display will increase. Press the Down key, and the
numeric value decreases.
● Up from “9”
Press the Up key, and the numeric value at cursor position increases and shifts to the left digit.
● Down from “0”

Press the Down key, and the numeric value at cursor position decreases and the numeric values in the left of
cursor position shift to the right. If there is no numeric value in the left of cursor position, all the left digits from
cursor position show 9 with a right shift.
6-17
6. Operations
6.5.2 Various modes
It is possible to display the status, to set the parameters, to confirm test operation, alarm trace and monitor
display with the built-in digital operator.
Mode Contents
D i s p l a y s t h e e s t a b l i s h m e n t o f c o n t r o l o r m a i n p o we r s u p p l y , S e r v o
Status display
O N , o v e r - t r a v e l , wa r n i n g a n d a l a r m s t a t u s .
P a r a m e t e r s r e l a t e d t o p o we r s u p p l y u n i t c a n b e s e t .
Classified into 2 groups according to the contents.
[Gr] Group Description of Group

Generic parameter Group0 Settings related to sequence
Group1 S e t t i n g s r e l a t e d t o s e t u p s o f t wa r e .
Torque command notch filter A and vibration suppressing

[Au] frequency can be automatically adjusted.
Auto-adjustment
[Ad]
Enables alarm reset and alarm trace clear.
Test operation
[Sy]
S e t s t h e p a r a m e t e r s r e l a t e d t o p o we r s u p p l y u n i t s p e c i f i c a t i o n s .
System parameter
[AL]
D i s p l a y s t h e l a t e s t 7 a l a r m e v e n t s , a s we l l a s t h e p o we r s u p p l y
Alarm trace
u n i t C P U s o f t wa r e v e r s i o n .
CPU version
D i s p l a y s t h e s e r v o a m p l i f i e r i n n e r s t a t u s s u c h a s v e l o c i t y, t o r q u e
[ob]
command, position deviation, absolute position, and alarms
Monitor
issued in the amplifier unit.
6-18
6. Operations
6.5.3 How to change the modes
Change the modes in the order as shown below by pressing the MODE key.
Power supply ON
Status display Monitor Alarm trace/CPU_Ver

MODE MODE
☜ ☜
MODE
☞
System parameter
MODE
☞
MODE
☞
General parameter Auto-adjustment Test run
MODE MODE
☞ ☞
6-19
6. Operations
6.5.4 Status display mode
In the status display mode, various conditions of the servo amplifier are displayed as shown below.
Servo amplifier status Marking

Control power supply established. 2nd digit (axis No.) blinking
Control power supply (r, t) has been setup. (Amplifier unit not connected.)
Control power supply established.
Control power supply (r, t) has been setup.
Main power supply being established.
Main power supply (R,S,T) has been setup.
Main power supply established.
Main power supply (R,S,T) has been setup, and operation ready
completion signal is “ON”.
Servo ON status.
Rotates in the shape of “8”.
Over-travel status at normal rotation
Forward rotation Is in over-travel status.
Over-travel status at reverse rotation
Reverse rotation is in Over-travel status.
Regenerative operation in process.
Regenerative operation is in process.
Overload warning status.
If operation is kept on, alarm may occur.
Regenerative overload warning status
If operation is kept on, alarm may occur.
Battery warning status
Replace the battery.
Over-current warning status at power supply unit
If kept operating, the power supply unit may break.
Alarm display
When an alarm rings, the 4th digit shows the axis number where the alarm occurs
(L is for the power supply unit), and the 1st and 2nd digits show the alarm code.
To get rid of the alarm status, take corrective actions as instructed in Chapter 9,
Maintenance.
6.5.4.1 Operation method
Step Input key Description Display status

After the control power has been supplied, the axis number will blink
1 ―― in the 2nd digit until the communication with the amplifier unit is
setup.
1
When communication with the connected amplifier unit is setup, the
2 ―― nd st
2 digit will turn ON with the 1 digit showing the status. 1-
Pressing the Up key makes the axis number increase, and the Down
key decrease.
▲▼
Selection from 1 to 6 is possible. 2-
3 When the connected axis number is selected, the status turns ON.
When the un-connected one is selected, the axis number blinks and 3
the status display disappears.
6-20
6. Operations
6.5.5 Generic parameter mode
Generic parameter mode is classified into the following 2 pages and can be used for setting the parameters related to
the power supply unit.
(Use the setup software to edit the parameters of the amplifier unit.)
Group Description of group
Group0 Settings related to sequence
Group1 Settings related to setup software
1 MODE Press the MODE key to display generic parameter mode. Gr

Displays the page automatically. After the power supply is turned ON,
“Group0” “Page00” is displayed. Then, the previously displayed page is Gr0 .00
―― displayed. Group No. is displayed here.
2
Parameter page No. is displayed here.
Press the cursor key, and the blinking LED moves. Move the blinking
3 ►
LED to the desired group or page to be changed. Gr0 .00
Pressing the Up key increases the blinking numeric value LED and the
4 ▲▼
Down key decreases. Gr0 .00
On the group or page to be changed, press the WR key to display the
5 WR
data. 00
Press the cursor key, and the blinking LED moves. Move the blinking
6 ►
LED to the desired numeric value to be changed. 00
Pressing the Up key increases the blinking numeric value LED, and the
7 ▲▼
Down key decreases. 10
Press the WR key, and the LED blinks 3 times and the data is saved. If
8 WR
not saved, the setting is out of range. Check the setting value. 10
9 MODE Pressing the MODE key returns to step 2. Gr0 .00
10 MODE Pressing the MODE key again displays auto-adjustment mode. Au
Note) If the setting is for groups or pages not supported, it means invalid and no reaction to the WR key.
6-21
6. Operations
6.5.5.2 Parameter list
Standard set
Page Name Unit Setting range Level
value
Group 0[Settings related to sequence]
00 Power failure detection delay time 32 ms 20 - 1000 Ad
01 Selection enabling forcible discharge function 01H ― 00H - 01H Ba
02 ALM1 output polarity selection 01H 00H - 01H Ba
03 ALM 2 output polarity selection 01H 00H - 01H Ba
Group 1[Settings related to Setup software]
00 Setup software communication axis number 01H:_#1 ― 01H - 0FH Ba
01 Setup software communication baud rate 02H:_38400bps ― 00H - 02H Ba
6.5.5.3 Details of parameters
Group 0 [Settings related to sequence]

Page Contents
Power failure detection delay time [PFDDLY]
Standard set Sets the delay time from turning off the control power supply to
Setting range Unit
value detection of the control power supply error. Larger set value means
20 - 1000 ms 32 slower detection.
(Larger set value will only result in slower detection of error. In case
of power failure of the internal logic circuit, the operation is the same
00 as when the control power is turned ON again. In case of energy
shortage of the main circuit power, other errors such as the main
circuit power loss may be detected.)
In this setting, actual detection delay time varies by 12ms and +6ms.
* The selected value is enabled after control power is turned ON

again.
Selection enabling forcible discharge function [DISCHARGE]

Selection for Enable / Disabled of the main circuit capacitor
Setting range Standard set value discharge function.
00H - 01H 01H:_Enable
* The selected value is enabled after control power is turned ON
again.
01
Selection
00H:_Disabled(No discharge)
01H:_Enable(Discharge if permitted.)
ALM1 output polarity selection [ALM1POL]

Polarity of ALM1 output terminal is selected.
Setting range Standard set value
01H:_Output OFF
00H - 01H
02 during alarm.
Selection
00H:_Output ON during alarm.
01H:_Output OFF during alarm.
ALM2 output polarity selection [ALM2POL]
Polarity of ALM2 output terminal is selected.
Setting range Standard set value
01H:_Output OFF
00H - 01H
during alarm.
03
Selection
00H:_Output ON during alarm.
01H:_Output OFF during alarm.
6-22
6. Operations
Group 1[Settings related to setup software]
Page Contents
Setup software communication axis number [COMAXIS]
Select the axis number for communication with PC from the
Setting contents below:
Standard set value
range
01H - 0FH 01H:_#1 * Enabled after turning ON the control power supply again.
00
Selection Selection Selection Selection Selection Selection Selection Selection
01H:_#1 03H:_#3 05H:_#5 07H:_#7 09H:_#9 0BH:_#B 0DH:_#D 0FH:_#F
02H:_#2 04H:_#4 06H:_#6 08H:_#8 0AH:_#A 0CH:_#C 0EH:_#E
Setup software communication baud rate [COMBAUD]
Setting Baud rate for communication with PC is selected from the

Standard set value
range contents below:
00H - 02H 02H:_38400bps
* The selected value is enabled after control power is turned
ON again.
01
Selection
00H:_9600bps
01H:_19200bps
02H:_38400bps
6-23
6. Operations
6.5.6 Auto-adjustment mode
Auto-notch frequency tuning and auto-vibration suppressing frequency tuning can be executed.
MODE Page Name
0 Execution of auto-notch frequency tuning
Au Execution of auto-vibration suppressing frequency
1
tuning.
Step Input key Description Status display
1 MODE Press the MODE key to display the auto-adjustment mode. Au

nd
Axis number is automatically displayed in the 2 digit, page number
is in the 1st digit.
2 ―― st
After the power is supplied, [1 axis, Page0] is displayed. Au 1 .0
Then the previously displayed axis and page numbers are displayed.
Pressing the cursor key makes the blinking LED move. Move the
3 ►
blinking LED to the desired page to be changed. Au 1 .0
▲▼
Pressing the UP key increases the blinking LED numeric value and
the Down key decreases.
Au 1 .1
4
Selection from 1 to 6 is possible. Au 2 .1
On the page to be changed, press the WR key, and confirmation of
5 WR
execution will appear. _y _ n_
▲ For execution, press the ▲ key. Proceed to step 7.
6
▼ For cancellation, press the ▼ key, and return to step 2. Au 1 .1
If possible for execution, “rdy” will appear. Proceed to step 8.
---
Note1) rdy
7
If not possible for execution, “no.rdy” will appear. Press the MODE
---
key to return to step 2. no .rdy
Press the MODE key to abort the auto-adjustment operation and
MODE
proceed to step 11.
8
WR Press the WR key for execution. r.u.n. . 8
If terminated normally, “-End-” will appear. - End -
9 If abnormally terminated, “-Err-” will appear.
- Err -
10 MODE Press the MODE key to return to step 7. rdy
11 MODE Terminate with the display of “AL_dF”. AL dF
Note) When un-supported axis number and page are set, it is invalid, and there is no reaction to the WR key.
If pressing the MODE key while auto-vibration suppressing is in process (step 8), the operation will abort
and proceed to step 11.
Note1) If the main circuit power supply is shut off during tuning operation, turn ON again the main power or
control power.
6-24
6. Operations
6.5.7 Test run mode
Executions are possible for alarm resetting and alarm trace clear of the power supply unit, and JOG operation, alarm
resetting,, encoder clear, alarm trace clear and auto-tuning result writing of the amplifier unit.
MODE Page Name Power Amplifier
0 JOG operation ~
1 Alarm resetting execution ~ ~
Ad 2 Auto-tuning result writing ~
3 Encoder clear ~
4 Alarm trace clear execution ~ ~
1 MODE Press the MODE key to display test run mode. Ad

nd
Axis number is automatically displayed in the 2 digit and page is in
st
the 1 digit.
After the power is supplied, [Power supply unit, Page0] is displayed.
2 ――
Then, the previously displayed axis number and page will appear. Ad P .0
“P” in axis number indicates the power supply unit, and “1” to “6”
indicate the amplifier unit.
Press the cursor key to move the blinking LED.
3 ►
Move the blinking LED to the page to be changed. Ad P .0
▲▼
Pressing the UP key makes the blinking LED numeric value
increase, and the DOWN key decrease.
Ad P .1
4
Selection from 1 to 6 + power supply unit is possible. Ad 1 .1
On the page to be executed, press the WR key, and confirmation of
5 WR
execution will appear. _y _ n_
▲ For execution, press the ▲ key. Proceed to step 7.
6
▼ For cancellation, press the ▼ key to return to step 2. Ad 1 .0
If execution is possible, “rdy” will appear. Proceed to step 8.
---
Note 1) rdy
7
If not possible, “no.rdy” will appear. Press the MODE key to return to
---
step 2. no .rdy
Note) On and after step 8, the display and operations differ depending on the function in use.
See the following pages for separate descriptions of each function.
6-25
6. Operations
Method for JOG Operation
MODE Press the MODE key for cancellation and to proceed to step 10. AL dF
8
Pressing the WR key displays a number of “8” in servo ON status.
WR
Note 2) 8
Press the ▲ key, and the motor shaft rotates to CCW direction.
▲
(Dot moves.) Note 2) r.u.n. . 8
9
Press the ▲ key, and the motor shaft rotates to CW direction.
▼
(Dot moves.) Note 2) r.u.n. . 8
Note) Command speed at the time of JOG operation shall be set at “GroupB Page00 of each amplifier
unit”.
-1
If not changed, the rotation will be “50min ” , which was set at the time of shipment.
Press the MODE key, and JOG operation will end.
10 MODE
The display shows “AL_dF”, which is not an error. AL dF
Note1) Maintain servo OFF status while executing JOG operation.
Note2) If the main circuit power is shut OFF during JOG operation, turn ON again the main power supply or
control power supply.
Note3) While the power supply unit is selected, function is invalid.
Alarm resetting method

MODE For cancellation, press the MODE key to return to step 2. Ad 1 .1

8
WR
Press the WR key to reset the alarm, and “-End-” will be displayed.
While “-Err-” is displayed, alarm cause is not yet eliminated. Take
- End -
the corrective actions as instructed in “Chapter 9, Maintenance”. - Err -
9 MODE Press the MODE key to return to step 2. Ad 1 .1
Method for auto-tuning result writing

MODE Press the MODE key for cancellation and to return to step 2. Ad 1 .2
Press the WR key, and the auto-tuning result is saved with the
8
WR
display of “-End-”. If “-Err-” is displayed, there may be a low control - End -
power alarm. Eliminate the alarm cause as instructed in “Chapter 9,
Maintenance. - Err -
6-26
6. Operations
Method for encoder clear
8
WR
If abnormally terminated, “-Err-” will appear.
- Err -
Method for alarm trace clear

8
WR
If abnormally terminated, “-Err-” will appear.
- Err -
6-27
6. Operations
6.5.8 System parameter mode
Set the system parameters related to the power supply unit.

MODE Page Name Setting range
00 Main circuit power supply input type 2 ways(1 way)
Sy
01 Regenerative resistor selection 3 ways
1 MODE Press the MODE key to display the system parameter mode. Sy
Page is automatically displayed. After the power source is turned
2 ―― ON, “Page 00” is displayed then the previously displayed page is
displayed.
Sy 00
3 ► blinking LED to the page to be changed. Sy 00
Pressing the UP key increases the blinking numeric value and the
4 ▲▼
DOWN key decreases. Sy 01
5 WR On the page to be changed, press the WR key to display the data. 01
6 ► blinking LED to the page to be changed. 01
Pressing the UP key increases the blinking numeric value and the
7 ▲▼
DOWN key decreases. 01
Press the WR key, and the display will blink 3 times to write the data.
8 WR If writing is impossible, the numeric value is out of the setting range.
Check the setting value again.
02
9 MODE Press the MODE key to returns to step 2. Sy 01
Press the MODE key, and alarm trace/CPU version mode is
10 MODE
displayed. AL
Note) When un-supported page is set, it is invalid, and there is no reaction to the WR key.
6.5.8.2 Details of system parameters
Page Contents
Selection of the input power type supplied to the main
circuit.
Main circuit power source input type Depending on the hardware type, the setting range varies.
* Enabled after the control power source is turned ON.

00
Set value Contents
3 phase AC power is supplied to the
00:_AC_3-phase
main circuit.
Single phase AC power is supplied to
01:_AC_Single-phase
the main circuit.
Selection of regenerative resistor to be connected.
Regenerative resistor selection
* Enabled after the control power source is turned ON.
0B Set value Contents

00:_Not_connect Regenerative resistor not connected.
01:_Built-in_R Built-in regenerative resistor is used.
02:_External_R External regenerative resistor is used.
6-28
6. Operations
6.5.9 Alarm trace/CPU version mode
It is possible to check the latest 7 alarms issued in the power supply unit and the CPU software version.
ＭＯＤＥ Page Name
n Current alarm
st
1 1 latest alarm
nd
2 2 latest alarm
rd
3 3 latest alarm
th
AL 4 4 latest alarm
th
5 5 latest alarm
6 6the latest alarm
7 7the latest alarm
CPU software version
1 MODE Press the MODE key to display the alarm trace mode. AL
Page is automatically displayed. After the power source is turned
2 ―― ON, “Current alarm” is displayed, then the previously displayed page
is displayed.
Aln .61
AL1 .71
3 ▲▼ Alarm trace from n to 7, and CPU version will be displayed in turn. AL7 .71
P * .** .*
4 MODE Press the MODE again to display the monitor mode. Ob
6-29
6. Operations
6.5.10 Monitor mode
6.5.9.1 Monitor data list

Display
Page Name Contents Unit
form
00 Servo Amplifier Status 1 Displays the status of amplifier unit. ---
01 Servo Amplifier Status 2 Displays the status of amplifier unit. ---
Bit
02 Warning Status 1 Displays warning status. ---
03 Warning Status 2 Displays warning status. ---
04 CPU version Displays the CPU software version of amplifier unit. ---
Code
05 Alarm Code Displays the alarm code issued in amplifier unit. ---
06 Velocity Monitor Display number of motor rotations. min-1
Torque Command Decimal
07 Displays torque command value. %
Monitor
08 Position Deviation Monitor Displays position deviation value. Pulse
Incremental encoder in use:Displays 48 bit free run counter
assumed that the position at the time of control power Hexadeci
09 Absolute position monitor turn-ON is origin. Pulse mal
Absolute encoder in use:Displays position data of absolute
encoder.
Regenerative resistor
0A Displays run rate of regenerative resistor. %
operation percentage
Main circuit DC power
0B Displays DC power voltage of main circuit. V
voltage
Decimal
Position command pulse
0C The command pulse frequency being input is displayed. k Pulse/s
input frequency
Estimated input current Displays the output current form diode module in the power
0D %
percentage supply unit.
6.5.10. 2 Operation method

Step Input key Description Display form
1 MODE Press the MODE key to display monitor mode. ob

Displays automatically the axis number blinking. After the power supply is
turned ON, “Axis number 01” is displayed. Then the previously displayed
2 ――
axis number is displayed. ob 00 .
The dot in lower right indicates the screen for axis number selection.
Pressing the UP key increases the axis number, and the DOWN key
3 ▲▼ decreases.
Selection from 1 to 6 is possible.
ob 01 .
On the axis number to be monitored, press the WR key to display the Page
4 WR number. After the power supply is turned ON, “Page 00” is displayed. Then
the previously displayed page is displayed.
ob 00
Pressing the cursor key makes the blinking LED move. Move the blinking
5 ►
LED to the desired digit to be changed. ob 00
Pressing the UP key increases the blinking numeric value and the Down key
6 ▲▼
decreases. ob 01
Refer to display
7 WR On the page to be monitored, press the WR key to display the data.
form.
8 MODE Pressing the MODE key returns to step 5. ob 01

9 MODE Pressing the MODE key again returns to step 2. ob 01 .
10 MODE Pressing the MODE key again returns to status display.
Note) When unconnected axis number or unsupported pages are set, it means disabled and no reaction to the WR key.
6-30
6. Operations
6.5.10.3 Monitor data display form
Page Name Display form

00 Status 1
Display
01 Status 2
LED 1 from right on the front
02 Warning 1 Status1 4 3 2 1 ←[LED] ↑State established
Status2 ╹ ╻ ╹ ╻ ╹ ╻ ╹ ╻ ↓State not established
03 Warning 2
7 6 5 4 3 2 1 0 bit
LED 1 from right on the front
Warning state1 4 3 2 1 ←[LED] ↑With warning
Warning state2 ╹ ╻ ╹ ╻ ╹ ╻ ╹ ╻ ↓Without warning
7 6 5 4 3 2 1 0 bit
04 CPU version P*. **. * CPU software version of the amplifier unit is displayed.
05 Alarm code AL ** In case of normal state, alarm code is “00”.
06 Velocity monitor
Torque command Display of “2 decimal
07 Display of “-” data Display of “+”data
monitor places”
Regenerative resistor -9999 9999 099.99
08
run rate
0B Display range
voltage monitor Name Unit
Position command Maximum Minimum
0C Velocity monitor ±9999 0 min
-1
pulse input frequency
Estimated input current Torque Command
0D ±499 0 %
percentage monitor
Regenerative resistor
99.99 0.00 %
run rate
1000 0 V
voltage monitor
Position command pulse
±6000 0 k Pulse/S
input frequency
Estimated input current
999.99 0.00 %
percentage
* The “+”data is displayed without the mark “+” on LED.
Position deviation Display of 32 bit data
08
monitor Bit data display“31”-“16” Bit data display“15”-“0”
Absolute position ¯.0000 ¯.0000
09
monitor
Display of 48 bit data.
Bit data display “47”-“32” Bit data display “31”-“16” Bit data display“15”-“0”
¯.0000 -.0000 ¯.0000
Display range
Name Unit
Maximum Minimum
Position deviation monitor 7FFF-FFFF 8000-0000 Pulse
Absolute position monitor 7FFF-FFFF-FFFF 8000-0000-0000 Pulse
* Pressing the ▲ key displays upper data, and the ▼ key displays lower data.
Table of corresponding bit data display

Name Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Holding
Torque
Emergency Positioning Low battery Servo ON brake Servo During
Status 1 being
stop state complete warning state being ready state alarm
limited
released
Velocity
loop Near Velocity Velocity Low
Status 2 --- --- Zero velocity
proportional range matching reach velocity
control
Over Velocity Torque Regenerative Ambient
Warning Overload
deviation --- being being overload --- temperature
state 1 warning
warning limited limited warning warning
Over-input Reverser Forward Main circuit
Warning Low battery
current --- --- rotation rotation --- being
state 2 warning
warning over-travel over-travel charged
6-31
6. Operations
6-32
7.Parameters
7. Parameters
7. 1 List of Parameters ･･････････････････ 7-2

7. 2 Generic parameters Group0 ･･････････････････ 7-7
7. 9 Generic parameters GroupA ･･････････････････ 7-19
7. 10 Generic parameters GroupB ･･････････････････ 7-22
7. 11 Generic parameters GroupC ･･････････････････ 7-25
7. 12 System parameters ･･････････････････ 7-27
7-1
7.Parameters
7.1 List of Parameters
The following is the parameter list of the amplifier unit.

■ Generic parameters Group 0[Auto-tuning setting]
Reference
Page Name Standard Value Unit Display Range Level
Page
00 Tuning mode 00:_AutoTun - 00 - 02 7-7 Ba
01 Auto-tuning characteristics 00:_Positioning1 - 00 - 04 7-7 Ad
02 Auto-tuning response 5 - 1 - 30 7-7 Ba
03 Auto-saving of auto-tuning parameters 00:_Auto_Saving - 00 - 01 7-7 Ad
Torque command value of auto-notch filter
10 50 % 10 - 100 7-7 Ad
tuning
Torque command value of auto-vibration
20 25 % 10 - 100 7-7 Ad
suppressing frequency tuning
Friction torque compensation of
21 auto-vibration suppressing frequency 5 % 0 - 50 7-7 Ad
tuning
■ Generic parameters Group 1［Setting of basic control parameters］

Standard Reference
Page Name Unit Display Range Level
Value Page
01 Position command filter 0.0 ms 0.0 - 2000.0 7-7 Ba
02 Position loop proportional gain１ 30 1/s 1 - 3000 7-7 Ad
03 Position loop integral time constant１ 1000.0 ms 0.5 - 1000.0 7-7 Ad
Higher follow-up control position
04 0 % 0 - 100 7-8 Ad
compensation gain
05 Feed forward gain 0 % 0 - 100 7-8 Ad
08 Feed forward filter 2000 Hz 1 - 2000 7-8 Ad
10 Velocity command filter 2000 Hz 1 - 2000 7-8 Ad
12 Velocity feed back filter 1500 Hz 1 - 2000 7-8 Ad
13 Velocity loop proportional gain1 50 Hz 1 - 2000 7-8 Ad
14 Velocity loop integral time constant1 20.0 ms 0.5 - 1000.0 7-8 Ad
Load inertia moment ratio
15 100 % 0 - 15000 7-8 Ad
(load mass ratio)1
Higher follow-up control velocity
16 0 % 0 - 100 7-8 Ad
compensation gain
17 Acceleration feed back gain 0.0 % -100.0 to 100.0 7-8 Ad
18 Acceleration feed back filter 500 Hz 1 - 2000 7-8 Ad
20 Torque command filter １ 600 Hz 1 - 2000 7-8 Ad
21 Torque command filter order 2 Order 1-3 7-8 Ad
* To make the same status as the Q series standard characteristics by way of manual tuning, set 100% at “16Page:Higher follow-up
control velocity compensation gain”.
■ Generic parameters Group 2 [Settings of Vibration suppressing control/Notch filter/Disturbance observer]

Standard Reference
Value Page
00 Vibration suppressing frequency1 500 Hz 5 - 500 7-9 Ad
01 Vibration suppressing control level selection 00 - 00 - 03 7-9 Ad
10 Velocity command notch filter 500 Hz 50 - 500 7-9 Ad
20 Torque command notch filterA 2000 Hz 100 - 2000 7-9 Ad
Torque command notch filterA low
21 00 - 00 - 02 7-9 Ad
frequency phase delay improvement
22 Torque command notch filterB 2000 Hz 100 - 2000 7-9 Ad
23 Torque command notch filterB depth selection 00 - 00 - 03 7-9 Ad
24 Torque command notch filterC 2000 Hz 100 - 2000 7-9 Ad
25 Torque command notch filterC depth selection 00 - 00 - 03 7-9 Ad
26 Torque command notch filterD 2000 Hz 100 - 2000 7-9 Ad
27 Torque command notch filterD depth selection 00 - 00 - 03 7-10 Ad
30 Observer characteristics 00:_Low - 00 - 01 7-10 Ad
31 Observer compensation gain 0 % 0 - 100 7-10 Ad
32 Observer output low pass filter 50 Hz 1 - 2000 7-10 Ad
33 Observer output notch filter 2000 Hz 100 - 2000 7-10 Ad
7-2
7.Parameters
■ Generic parameters Group 3 [ Settings for Gain switch over control/Vibration suppressing frequency switch- over]
Standard Reference
Value Page
00 Position loop proportional gain2 30 1/s 1 - 3000 7-10 Ad
01 Position loop integral time constant2 1000.0 ms 0.5 - 1000.0 7-10 Ad
04 Load inertia moment比(load mass ratio)2 100 % 0 - 15000 7-10 Ad
05 Torque command filter2 600 Hz 1 - 2000 7-10 Ad
Load inertia moment ratio
14 100 % 0 - 15000 7-11 Ad
(load mass ratio)3
24 Load inertia moment比(load mass ratio)4 100 % 0 - 15000 7-11 Ad
30 Gain switch over low pass filter 0 ms 0 - 100 7-11 Ad
■ Generic parameters Group 4 [To set high setting control]

Standard Reference
Value Page
00 Command velocity low pass filter 1000 Hz 1 - 2000 7-12 Ad
-1
01 Command velocity threshold 20 min 0 - 65535 7-12 Ad
02 Acceleration compensation 0 ×50 Pulse -9999 to +9999 7-12 Ad
03 Deceleration compensation 0 ×50 Pulse -9999 to +9999 7-12 Ad
7-3
7.Parameters
■ Generic parameters Group 8 [Control system setting]
Reference
Page
11 Position command pulse selection 00:_F-PC_R-PC - 00 - 02 7-13 Ad
12 Position command pulse count polarity 00:_Type1 - 00 - 03 7-13 Ad
13 Position command pulse digital filter 00:_834nsec - 00 - 07 7-14 Ad
14 Position command pulse multiplier 1 - 1 - 63 7-14 Ad
15 Electric gear 1 1/1 - 1/32767 - 32767/1 7-14 Ba
16 Electric gear 2 1/1 - 1/32767 - 32767/1 7-14 Ad
17 Positioning method 00:_Pulse_Interval - 00 - 01 7-14 Ad
Positioning complete signal/
18 00:_After_Filter - 00 - 01 7-14 Ad
Position deviation monitor
19 Deviation clear selection 00_Type1 - 00 - 03 7-14 Ad
-1
24 Preset velocity addition command 0 min -9999 to +9999 7-15 Ad
Velocity command acceleration time
26 0 ms 0 - 16000 7-15 Ad
constant
Velocity command deceleration time
27 0 ms 0 - 16000 7-15 Ad
constant
-1
28 Velocity limit command 65535 min 1 - 65535 7-15 Ad
31 Preset torque addition command1 0 % -500 to 500 7-16 Ad
32 Preset torque addition command2 0 % -500 to 500 7-16 Ad
36 Preset torque limit value 100 % 10 - 500 7-16 Ad
37 Torque limit at sequence operation 120 % 10 - 500 7-16 Ad
40 Near range 500 Pulse 1 - 65535 7-17 Ad
41 Positioning complete range 100 Pulse 1 - 65535 7-17 Ba
-1
42 Zero Velocity range 50 min 50 - 500 7-17 Ad
-1
43 Low Velocity range 50 min 0 - 65535 7-17 Ad
-1
44 Velocity match range 50 min 0 - 65535 7-17 Ad
Velocity reach setting -1
45 1000 min 0 - 65535 7-17 Ad
(high velocity setting)
7-4
7.Parameters
■ Generic parameters Group 9 [Function enabling condition setting]
Reference
Page Name Standard Value Display Range Level
Page
00 Positive over-travel function 3B:_PS_CONT6_OFF 00 - 6B 7-18,19 Ba
01 Negative over-travel function 39:_PS_CONT5_OFF 00 - 6B 7-18,19 Ba
02 Alarm reset function 3E:_PS_CONT8_ON 00 - 6B 7-18,19 Ba
03 Absolute encoder clear function 34:_PS_CONT3_ON 00 - 6B 7-18,19 Ba
04 Deviation clear function 36:_PS_CONT4_ON 00 - 6B 7-18,19 Ba
05 Servo ON function 30:_PS_CONT1_ON 00 - 6B 7-18,19 Ba
Position command pulse prohibition
11 00:_Always_ Disable 00 - 6B 7-18,19 Ad
function･Velocity zero stop function
12 Electric gear switch-over function 00:_Always_ Disable 00 - 6B 7-18,19 Ad
13 Gain switch-over condition 1 00:_Always_ Disable 00 - 6B 7-18,19 Ad
14 Gain switch-over condition 2 00:_Always_ Disable 00 - 6B 7-18,19 Ad
Vibration suppressing
frequency selection input 1
Vibration suppressing
frequency selection input 2
Position loop proportional
17 01:_Always_ Enable 00 - 6B 7-18,19 Ad
control switch-over function
Velocity loop proportional
26 32:_PS_CONT2_ON 00 - 6B 7-18,19 Ba
control switch-over function
27 Velocity addition function 00:_Always_ Disable 00 - 6B 7-18,19 Ad
30 Torque addition function1 00:_Always_ Disable 00 - 6B 7-18,19 Ad
31 Torque addition function2 00:_Always_ Disable 00 - 6B 7-18,19 Ad
32 Torque limit function 3C:_PS_CONT7_ON 00 - 6B 7-18,19 Ba
33 Disturbance observer function 00: Always_ Disable 00 - 6B 7-18,19 Ad
40 External trip input function 00:_Always_ Disable 00 - 6B 7-18,19 Ad
42 Emergency stop function 00:_Always_ Disable 00 - 6B 7-18,19 Ad
■ Generic parameters Group A [Settings for general output terminal output condition /monitor output selection/set-up software]
Reference
Page Name Standard Value Display Range Level
Page
00 Generic output 1 18:_INP_ON 00 - 5B 7-20,21 Ad
01 Generic output 2 0C:_TLC_ON 00 - 5B 7-20,21 Ad
02 Generic output 3 02:_S-RDY_ON 00 - 5B 7-20,21 Ad
03 Generic output 4 0A:_MBR_ON 00 - 5B 7-20,21 Ad
-1
11 Analog monitor output 1 selection 05:VMON_2mV/ min 00 - 15 7-20 Ad
12 Analog monitor output 2 selection 02:TCMON_2V/TR 00 - 15 7-20 Ad
13 Analog monitor output polarity 00:_MON1+_MON2+ 00 - 08 7-22 Ad
Setup software communication
20 01:_#1 01 - 0F 7-22 Ba
axis number
21 Setup software communication baud rate 05:_38400bps 00 - 05 7-22 Ba
7-5
7.Parameters
■ Generic parameters Group B [Settings related to sequence/alarms]
Reference
Page
-1
00 JOGVelocity command 50 min 0 - 32767 7-23 Ba
10 Dynamic brake action 04:_SB__Free - 00 - 05 7-23 Ad
11 Over-travel action 00:_CMDINH_SB_SON - 00 - 06 7-23 Ad
12 Emergency stop operation 00:_SERVO-BRAKE - 00 - 01 7-23 Ad
Delay time of engaging holding brake
13 300 ms 0 - 1000 7-24 Ad
(Holding brake holding delay time)
Delay time of releasing holding brake
14 300 ms 0 - 1000 7-24 Ad
(Holding brake release delay time)
15 Brake operation beginning time 0 ms 0 - 65535 7-24 Ad
16 Power failure detection delay time 32 ms 20 - 1000 7-24 Ad
X1024
20 Over-deviation warning Level 65535 1 - 65535 7-24 Ad
pulse
X1024
21 Deviation counter over-flow value 500 1 - 65535 7-24 Ad
pulse
22 Over-load warning level 90 % 20 - 100 7-25 Ad
Velocity feed back error (ALM_C3)
23 01:_Enabled - 00 - 01 7-25 Ad
detection
Velocity control error (ALM_C2)
24 00:_Disabled - 00 - 01 7-25 Ad
detection
■ Generic parameters Group C [Encoder related setting]

Reference Leve
Page Name Standard Value Unit Display Range
Page l
00 Position detection system selection 00:_Absolute -- 00 - 01 7-26 Ad
Motor incremental encoder
01 01:_220nsec - 00 - 07 7-26 Ad
digital filter
05 Encoder output pulse, divide ratio 1/1 - 1/8192 - 1/1 7-27 Ba
06 Encoder pulse divide output polarity 00:_Type1 - 00 - 03 7-27 Ad
07 Encoder signal output (PS) format 00:_Binary - 00 - 02 7-27 Ad
08 Absolute encoder clear function selection 00:_Status_MultiTurn - 00 - 01 7-27 Ad
■ System parameters[for Setup software - R-Setup]

Reference
Page Name Display Range
Page
00 Main power input type 2 ways ( depending on the hardware) 7-28
01 Motor encoder type 2 ways ( depending on the hardware) 7-28
02 Incremental encoder function selection 1 way ( depending on the hardware) 7-28
03 Incremental encode resolution 500P/R - 65535P/R 7-28
04 Absolute encoder function selection 6 ways ( depending on the hardware) 7-28
05 Absolute encoder resolution 11 ways 7-28
06 Model number of combined motor - 7-29
08 Control mode 1 way 7-29
09 Position loop control / Position loop encoder selection 1 way 7-29
0A External encoder resolution -
0B Regenerative resistor selection -
7-6
7. Parameters
7.2 Generic parameters Group0 [Auto-tuning setting]
Page Contents
Tuning mode [TUNMODE]
Standard Selection Contents

Display Range Unit 00:_AutoTun Auto-tuning
Value
00
00 - 02 - 00:_AutoTun Auto-tuning
01:_AutoTun_JRAT-Fix
[JRAT manual setting]
02:_ManualTun Manual tuning
Auto-tuning characteristics [ATCHA]
Display Selection Contents

Unit Standard Value
Range 00:_Positioning1 Positioning control 1(for general)
01 00 - 04 - 00:_Positioning1 01:_Positioning2 Positioning control 2(for high response)
Positioning control 3(for high response,
02:_Positioning3
horizontal axis only)
03:_Trajectory1 Trajectory control
04:_Trajectory2 Trajectory control (Kp manual setting)
Auto-tuning response [ATRES]

Sets the auto-tuning response. The larger the set value,
02 Display Range Unit
Standard the higher the response. Make the setting suitable for
Value rigidity of the device.
1 - 30 - 5
Auto-tuning parameters saving [ATSAVE]

The parameter (JRAT) obtained from auto-tuning result is
Display
Unit Standard Value
automatically saved.
03 Range Selection Contents
00 - 01 - 00:_Auto_Saving 00:_Auto_Saving Save parameter automatically in JRAT1.
01:_No_Saving Automatic saving is invalid.
Torque command value for auto-notch filter tuning [ANFILTC]

Sets the torque command value applied to the motor at the
Display Range Unit
Standard time of auto-notch filter tuning.
10 Value Larger value makes the tuning more accurate; however,
10 - 100 % 50 note that it also makes the move of the machine larger.
Torque command value at auto-vibration suppressing frequency tuning[ASUPTC]

Sets the torque command value applied to the motor at the
Standard time of auto-vibration suppressing frequency tuning. Larger
Value value makes the tuning more accurate; however, note that
10 - 100 % 25 it also makes the move of the machine larger.
Friction torque compensation at auto-vibration suppressing frequency tuning [ASUPFC]

Sets the friction torque compensation added to the motor
Standard torque at the time of auto-vibration suppressing frequency
Value tuning. Set this value close to actual friction torque, and
0 - 50 % 5 vibration suppressing frequency tuning will be more
accurate.
7.3 Generic parameters Group1 [Basic control parameter setting]
Page Contents
Position command filter [PCFIL]
Parameter to put primary low pass filter to the position
Standard command pulse. Time constant of the filter is set. Filter is
Value disabled with the set value of 0.0ms.
0.0 - 2000.0 ms 0.0
Position loop proportional gain1 [KP1]

Proportional gain for position controller.
02 Display Range Unit Standard When auto-tuning result saving is executed, the tuning
Value result is automatically saved in this parameter.
1 - 3000 1/s 30
Position loop integral time constant1 [TPI1]

Integral time constant for position controller.
Display Range Unit Standard When position loop proportional control switching function
03 Value is disabled, this setting becomes enabled.
0.5 - 1000.0 ms 1000.0 Integral term (proportional control) is disabled with the set
value of 1000.0ms.
7-7
7. Parameters
Page Contents
Higher follow-up control, position compensation gain [TRCPGN]
Parameter to enhance following-up performance.
Display Range Unit Standard Value The larger value can make the following-up performance
04
0 - 100 % 0 higher. When the value other than 0% is set, position
command filter and feed forward gain are automatically
set.
Feed forward gain [FFGN]
Feed forward compensation gain at the time of position
05 Display Range Unit Standard Value control.
0 - 100 % 0
Feed forward filter [FFFIL]

Parameter to put primary low pass filter to feed forward
08 Display Range Unit Standard Value command. Sets the cut-off frequency. Filter is disabled with
1 - 2000 Hz 2000 the set value of 2000Hz.
Velocity command filter [VCFIL]

Parameter to put primary low pass filter to velocity
10 Display Range Unit Standard Value command. Sets the cut-off frequency. Filter is disabled with
1 - 2000 Hz 2000 the set value of 2000Hz.
Velocity feed back filter [VDFIL]

Parameter to put low pass filter to velocity feed back.
12 Display Range Unit Standard Value Sets the cut-off frequency. Filter is disabled with the set
1 - 2000 Hz 1500 value of 2000Hz.
Velocity loop proportional gain １ [KVP1]

Proportional gain of velocity controller.
13 Display Range Unit Standard Value When auto-tuning result saving is executed, the tuning
1 - 2000 Hz 50 result is automatically saved in this parameter.
Velocity loop integral time constant1 [TVI1]

Integral time constant of velocity controller. When velocity
Display Range Unit Standard Value loop proportional control switch - over function is disabled,
14 0.5 - 1000.0 ms 20.0 this value is enabled.
Integral term (proportional control) is disabled with the set
value of 1000.0ms. When auto-tuning result saving is
executed, the tuning result is automatically saved in this
parameter.
Load inertia moment ratio (load mass ratio)1 [JRAT1]
Set inertia moment of the loading device to the motor
Display Range Unit Standard Value inertia moment. Set value = JL/JM×100%
15 0 - 15000 % 100 JL: load inertia moment
JM: motor inertia moment
When auto-tuning result saving is executed, the tuning
result is automatically saved in this parameter.
Higher follow-up control velocity compensation gain [TRCVGN]
Parameter to enhance following-up performance. The
16 Display Range Unit Standard Value larger value can make the following-up performance
0 - 100 % 0 higher. When velocity loop proportional control switching
function is used, set this to 0%.
Acceleration velocity feed back gain [AFBK]
Compensation function to make the velocity loop stable.
17 Display Range Unit Standard Value Multiply this gain with the detected acceleration to
-100.0 to 100.0 % 0.0 compensate torque command. Setting unit is 0.1%.
Acceleration feed back filter [AFBFIL]

Parameter to put primary low pass filter to acceleration
18 Display Range Unit Standard Value feedback compensation. Sets the cut-off frequency. Filter
1 - 2000 Hz 500 is disabled with the set value of 2000Hz.
Torque command filter1 [TCFIL1]

Parameter to put primary low pass filter to torque
20 Display Range Unit Standard Value command. Sets the cut-off frequency. When auto-tuning
1 - 2000 Hz 600 result saving is executed, the tuning result is automatically
saved in this parameter.
Torque command filter order [TCFILOR]
Parameter to set the ordinal number of torque command
21 Display Range Unit Standard Value filter.
1-3 Order 2
7-8
7. Parameters
7.4 Generic parameters Group2 [Settings of Vibration suppressing control / notch filter / Disturbance observer]
Page Contents
Vibration suppressing frequency1 [SUPFRQ1]
Parameter to set the frequency of restricting vibration.
Display Range Unit Standard Value Inside the servo amplifier, vibration suppressing frequency
5 - 500 Hz 500 from 5 - 99Hz is treated by 1HzUnit, and that from 100 -
500Hz is by 10HzUnit. Even when set by lower unit than
00 these, operations do not change.
Vibration suppressing control is disabled with the set value
of 500Hz.
When auto-vibration suppressing frequency tuning is
executed, the tuning result is automatically saved in this
parameter. Change this while the motor stops.
Vibration suppressing control level selection [SUPLV]
Parameter to set the size of vibration suppressing control
01 Display Range Unit Standard Value effect, The smaller the value is, the greater the effect will
00 - 03 - 00 be. Change this while the motor stops.
Velocity command notch filter [VCNFIL]
Parameter to set notch filter to velocity command. Sets the
Display Range Unit Standard Value center frequency.
50 - 500 Hz 500 Inside the servo amplifier, the center frequency from 50 -
10
99Hz is treated by 1HzUnit, and that from 100 - 500Hz is by
10HzUnit. Even when set by lower unit than these,
operations do not change.
Filter is disabled with the set value of 500Hz.
Torque command notch filterA [TCNFILA]
Parameter to set notch filter to torque command. Sets the
100 - 2000 Hz 2000 Inside the servo amplifier, the center frequency is treated by
20 10HzUnit. Even when set by 1HzUnit, operations do not
change.
When auto-notch filter tuning is executed, the tuning result
is automatically saved in this parameter.
Torque command notch filterA, low frequency phase delay improvement [TCNFPA]
Parameter to improve the phase delay at lower frequency
Display Range Unit Standard Value than the center frequency of torque command notch filter A.
21 The larger the value is, the greater the effect is.
00 - 02 - 00
Same characteristics as the standard notch filter with the
set value of 0.
Torque command notch filterB [TCNFILB]
22 100 - 2000 Hz 2000 Inside the servo amplifier, the center frequency is treated by
10HzUnit. Even when set by 1HzUnit, operations do not
change.
Torque command notch filterB depth selection [TCNFDB]
Parameter to set the depth of torque command notch filter
23 Display Range Unit Standard Value B. The larger the value is, the shallower.
00 - 03 - 00
Torque command notch filterC [TCNFILC]
24 100 - 2000 Hz 2000 Inside the servo amplifier the center frequency is treated by
change.
Torque command notch filterC depth selection [TCNFDC]
Parameter to set the depth of torque command notch filter
25 Display Range Unit Standard Value C. The larger the value is, the shallower.
00 - 03 - 00
Torque command notch filterD [TCNFILD]

26 100 - 2000 Hz 2000 Inside the servo amplifier, the center frequency is treated by
change.
7-9
7. Parameters
Page Contents
Torque command notch filterD depth selection [TCNFDD]
Parameter to set the depth of torque command notch
27 Display Range Unit Standard Value filterD. The greater the value is, the shallower the depth
00 - 03 - 00 will be.
Observer characteristics [OBCHA]

Selects the observer characteristics.
Display Range Unit Standard Value Selection Contents
30
00 - 01 - 00:_Low 00:_Low For low cycle
01:_Middle For middle cycle
Observer compensation gain [OBG]

Observer compensation gain. The larger the value is, the
31 Display Range Unit Standard Value higher the suppression characteristics will be. However, if
0 - 100 % 0 this is too large, oscillation may sometimes occur.
Observer output low pass filter [OBLPF]

Sets the cut off frequency of observer output low pass
Display Range Unit Standard Value filter.
32
1 - 2000 Hz 50 Filter is disabled with the set value of 2000Hz.
When the observer characteristics is “for middle cycle”, the
function is disabled.
Observer output notch filter [OBNFIL]
Sets the center frequency of observer output notch filter.
Display Range Unit Standard Value Inside the servo amplifier, the center frequency is treated
33 100 - 2000 Hz 2000 by 10HzUnit. Even when set by 1HzUnit, operations do not
change.
7.5 Generic parameters Group [Settings of gain switch-over control / Vibration suppressing frequency switch-over]
Page Contents
00 Display Range Unit Standard Value
1 - 3000 1/s 30

Display Range Unit Standard Value Integral term is disabled (proportional control) with the set
01 0.5 - 1000.0 ms 1000.0 value of 1000.0ms.
* Cannot be used when the position loop proportional
control switch-over function is enabled.
Velocity loop proportional gain2 [KVP2]

Proportional gain for velocity controller.
02 Display Range Unit Standard Value When load inertia is the one set by load inertia moment
1 - 2000 Hz 50 ratio (load mass ratio) 2, the response is this set value.

Integral time constant for velocity controller. Enabled when
Display Range Unit Standard Value velocity loop proportional control switch-over function is
03
0.5 - 1000.0 ms 20.0 disabled.
Integral term is disabled (proportional control) with the set
value of 1000.0ms.
Sets the inertia moment of load device to the motor inertia
04
Display Range Unit Standard Value moment; Set value = JL/JM×100%
0 - 15000 % 100 JL:load inertia moment
JM:motor inertia moment

Parameter to set low pass filter to torque command. Sets
05 Display Range Unit Standard Value the cut off frequency.
1 - 2000 Hz 600
7-10
7. Parameters
Page Contents
1 - 3000 1/s 30

Display Range Unit Standard Value Integral term is disabled (proportional control) with the set
11 0.5 - 1000.0 ms 1000.0 value of 1000.0ms.
* Cannot be used when position loop proportional control

switch-over function is enabled.

Integral time constant for velocity controller. This setting is
Display Range Unit Standard Value enabled when velocity loop proportional control switch-over
13
0.5 - 1000.0 ms 20.0 function is disabled.
value of 1000.0ms.
14 Display Range Unit Standard Value moment. Set value=JL/JM×100%

1 - 2000 % 600

1 - 3000 1/s 30

Display Range Unit Standard Value Integral term is disabled with the set value of 1000.0ms.
21 0.5 - 1000.0 ms 1000.0
* Cannot be used when position loop proportional control
switch-over function is enabled.


Integral time constant for velocity controller. This setting is
Display Range Unit Standard Value enabled when velocity loop proportional control switch-over
23
0.5 - 1000.0 ms 20.0 function is disabled.
value of 1000.0ms.
24 Display Range Unit Standard Value moment. Set value=JL/JM×100%

1 - 2000 % 600
Gain switch-over low pass filter [GCFIL]

Parameter to set time constant for gain switch-over.
30 Display Range Unit Standard Value The larger the value is, the gentler the switching is.
0 - 100 ms 0
7-11
7. Parameters
Page Contents
Parameter to set the frequency of vibration suppressor.
Display Range Unit Standard Value In the servo amplifier, the vibration suppressing frequency
5 - 500 Hz 500 from 5 - 99Hz is treated by 1HzUnit, and from 100 - 500Hz
40 is by 10HzUnit. Operations do not change if set by lower
unit than these.
Vibration suppressing control is disabled when the set
value is 500Hz.
* Change this while the motor stops.

Parameter to set the frequency of vibration suppressor.
is by 10HzUnit. Operations do not change if set by lower
41
unit than these.
value is 500Hz.

Parameter set the frequency of vibration suppressor.
42 is by 10HzUnit. Operations do not change if set by lower
unit than these.
value is 500Hz.
7.6 Generic parameters Group4 [Settings of high setting control]
Page Contents
Command Velocity, Low pass filter [CVFIL]
Sets the cut off frequency of low pass filter, when
00 Display Range Unit Standard Value command velocity is calculated. When the position
1 - 2000 Hz 1000 command resolution is low, lower the cut off frequency.
Filter is disable when the set value is 2000Hz.
Command velocity threshold [CVTH]
When the command velocity calculated from position
01 Display Range Unit Standard Value command is larger than this threshold, acceleration or
0 - 65535 min-1 20 deceleration compensation will be performed.
Acceleration compensation [ACCCO]

Compensation at acceleration.
×50 0
-9999 to +9999
Pulse
Deceleration compensation [DECCO]

Compensation at deceleration.
Display Range Unit Standard Value
03
×50
-9999 to +9999 0
Pulse
7-12
7. Parameters
7.7 Generic parameters Group8 [Settings of control system]
Page Contents
Position command pulse selection [PCPTYP]
Select the position command pulse type from the contents below:
00 - 02 - 00:_F-PC_R-PC 00:_F-PC_R-PC Positive move pulse+Negative move pulse
11 01:_2PhasePuls Two-phase pulse train of 90° phase difference
e
02:_CODE_PC Code+ pulse train
* The set value is enabled after control power is turned ON

again.
Position command pulse count polarity [PCPPOL]
Select the position command pulse count polarity from the
Display Range Unit Standard Value contents below:
00 - 03 - 00:_Type1
Selection Contents
12
00:_Type1 F-PC:Count at the rising edge / R-PC:Count at the rising edge
01:_Type2 F-PC:Count at the falling edge / R-PC:Count at the rising edge
02:_Type3 F-PC:Count at the rising edge / R-PC:Count at the falling edge
03:_Type4 F-PC:Count at the falling edge / R-PC:Count at the falling edge
* The set value is enabled after control power is turned ON again.
Position command pulse digital filter [PCPFIL]

Select the setting of position command pulse digital filter from the
Display Range Unit Standard Value contents below. When the timing for command direction
00 - 07 - 00:_834nsec switchover is 90°phase difference 2 phase pulse train command,
observe the specifications of position command.
Selection Contents
00:_834nsec Minimum pulse width=834nsec
13 01:_250nsec Minimum pulse width=250nsec
03:_1.8usec Minimum pulse width=1.8μsec
07:_83.4nsec Minimum pulse width=83.4nsec
Position command pulse multiplier [PCPMUL]

Parameter to multiply the command pulse by x1 - x63.
14 Display Range Unit Standard Value Values from 1 to 63 are set, which are always enabled.
1 - 63 - 1
Electric gear 1 [GER1]
15 Display Range Unit Standard Value Setting of electronic gear to position command pulse.
1/32767 - 32767/1 - 1/1
N(1 - 32767)
f1 f2( f2 = f1×N/D)
Electric gear 2 [GER2] D(1 - 32767)
1/32767<=N/D<=32767
1/32767 - 32767/1 - 1/1
Positioning method [EDGEPOS]

Select the encoder pulse positioning from the contents below;
00 - 01 - 00:_Pulse _Interval 00:_Pulse_Interval Specify pulse interval
17 01:_Pulse_Edge Specify pulse edge

again.
7-13
7. Parameters
Page Contents
In-position / Position deviation monitor [PDEVMON]
Select the positioning complete signal (INP) and position
Display Range Unit Standard Value deviation monitor from the contents below:
00 - 01 - 00:_After_Filter Selection Contents
18 Compare “Position command value

00:_After_Filter after filter passes by” with ”feedback
value”.
Compare “Position command value
01:_Before_Filter before filter passes by” with
“feedback value”.
Deviation clear selection [CLR]

Select the position deviation clearing method from the
Display Range Unit Standard Value contents below:
00 - 03 - 00:_Type1
Selection Contents
When SERVO-OFF -> deviation clear During SERVO-OFF, deviation clear is always executed.
19 00:_Type1 Deviation clear input =Level detection While deviation clear input is ON, deviation clear is always
executed.
When SERVO-OFF -> deviation clear At the edge of OFF -> ON of deviation clear input, deviation clear
01:_Type2
Deviation clear input =Edge detection is executed.
When SERVO-OFF -> Not deviation clear During SERVO-OFF, deviation clear is not executed.
02:_Type3 Deviation clear input =Level detection (After Servo ON, the motor may operate suddenly.)
When SERVO-OFF -> Not deviation clear During SERVO-OFF, deviation clear is not executed.
03:_Type4
Deviation clear input =Edge detection (After Servo ON, the motor may operate suddenly.)
Preset velocity addition command [VCOMP]

Parameter for using velocity addition command in a fixed
24 Display Range Unit Standard Value value when velocity addition function is used.
-9999 to +9999 min-1 0
Velocity command, Acceleration time constant [TVCACC]

Parameter for restricting acceleration of command; to
Display Range Unit Standard Value analog velocity command input, analog velocity addition
26
0 - 16000 ms 0 input, internal velocity command.
-1
Acceleration:0 min -> Positive / Negative
-1.
Sets the acceleration time for 1000 min
Velocity command deceleration time constant [TVCDEC]
Parameter for restricting deceleration of command; to
27 Display Range Unit Standard Value analog velocity command input, analog velocity addition
0 - 16000 ms 0 input, internal velocity command.
-1
Deceleration:Positive / Negative -> 0 min
-1.
Sets the deceleration time for 1000 min
Velocity limit command [VCLM]
Parameter for restricting the velocity command. Sets the
Display Range Unit Standard Value maximum value of velocity command. Velocity command is
1 - 65535 min-1 65535 restricted by this value at operations of position control and
28 velocity control.
When the set value is larger than 50000, velocity
command is restricted at (maximum speed×1.1). Set this
parameter when it is to be restricted at lower than (motor
rotation speed ×1.1). (Use the standard value usually.)
Preset torque addition command1 [TCOMP1]

Parameter for using torque addition command in a fixed
31 Display Range Unit Standard Value value, when torque addition function is used.
-500 to +500 % 0
Preset torque addition command2 [TCOMP2]

Parameter for using torque addition command in a fixed
32 Display Range Unit Standard Value value when torque addition function is used.
-500 to +500 % 0
Internal torque limit [TCLM]

Parameter to limit output torque. Torque limit value is
Display Range Unit Standard Value determined by comparing it with the rated output torque.
10 - 500 % 100 (100%=rated torque)
36
Output torque is limited at the internal torque limit set value
when the torque limit input signal is functioning.
Output torque is limited at TP if a value exceeding the peak
output torque TP is selected.
7-14
7. Parameters
Page Contents
Torque limit at sequence operation [SQTCLM]
Parameter for setting sequence operation torque limit
Display Range Unit Standard Value value (JOG operation, holding brake operation waiting, and
10 - 500 % 120 OT status, etc.) Torque limit value is determined by
comparing it with the rated output torque. (100%= rated
37 torque)
During sequence operation, output torque is restricted by
this set value.
Output torque is limited at TP if a value exceeding the peak
output torque TP is selected.
In-position near range [NEAR]
Parameter for setting the output range of near range signal
1 - 65535 Pulse 500
(near in-position complete).
40 Near range signal is output when the deviation counter is
lower than this set value.
Encoder pulse is standard irrespective of electronic gear and
command multiplication functions.
In-Position window [INP]
Parameter for setting output range of positioning complete
1 - 65535 Pulse 100
signal.
Positioning complete signal is output when the deviation
counter is lower than this set value.
Encoder pulse is standard irrespective of the electronic
41
gear function or command multiplication function.
Incremental encoder
-> Encoder pulse multiplied by 4 is standard.
Absolute encoder
(except for the ones with incremental signal)
-> Absolute value is standard.
Speed Zero range [ZV]
Set value for detecting zero-speed status (motor stop).
42 Display Range Unit Standard Value When the motor speed becomes lower than this value,
50 - 500 min-1 50 zero-speed status is detected.
Low speed range [LOWV]

Parameter for setting low-speed output range.
43 When the speed is lower than this value, low-speed range
0 - 65535 min-1 50
is output.
Speed matching width [VCMP]

Parameter for setting the range of speed matching. Speed
44 matching is output when the speed deviation (difference
0 - 65535 min-1 50
between speed command and actual speed) is within the
setting range.
High speed range (high speed setting) [VA]
Parameter for setting the value for speed attainment
0 - 65535 min-1 1000
output. When the speed exceeds this set value, velocity
attainment is output.
45 If the motor speed exceeds the selected value during
torque control operations, and when the control switching
function is enabled, the torque command is always set to
0. Control at a fixed speed is impossible. Avoid continuous
usage in this manner.
7-15
7. Parameters
7.8 Generic parameters Group9 [Condition setting for enabling various funtions]
Setting of input signals and conditions for enabling the functions of each page.
* Selection contents to be set are on the next page.
Page Contents Page Contents

Vibration suppressing frequency selection input 1
Positive over-travel function [F-OT]
[SUPFSEL1]
00 Display 15 Display Range Standard Value
Standard Value
Range 00 - 6B 00:_Always_Disable
00 - 6B 3B:_PS_CONT6_OFF
Vibration suppressing frequency selection input 2

Negative over-travel function [R-OT]
[SUPFSEL2]
Standard Value
00 - 6B 39:_PS_CONT5_OFF
Position loop proportional control switch-over
Alarm reset function [AL-RST]
function [PLPCON]
Standard Value
Range 00 - 6B 01:_Always_Enable
00 - 6B 3E:_PS_CONT8_ON
Velocity loop proportional control switch-over
Absolute encoder clear function [ECLR]
function [VLPCON]
03 Display
26
Standard Value Display Range Standard Value
Range 00 - 6B 32:_PS_CONT2_ON
00 - 6B 34:_PS_CONT3_ON
Deviation clear function [CLR] Velocity addition function [VCOMPS]

Standard Value
00 - 6B 36:_PS_CONT4_ON
Servo ON function [S-ON] Torque addition function1 [TCOMPS1]
05 Display
Standard Value 30 Display Range Standard Value
00 - 6B 30:_PS_CONT1_ON
Position command pulse prohibition function ・ Velocity
Torque addition function2 [TCOMPS2]
zero clamp function [INH/Z-STP]
Standard Value
00 - 6B 00:_Always_Disable
Electric gear switch-over function [GERS] Torque limit function [TL]

Standard Value
Range 00 - 6B 3C:_CONT7_ON
Gain switch-over condition 1 [GC1] Disturbance observer function [OBS]

Standard Value
Gain switch-over condition 2 [GC2] External trip input function [EXT-E]

14 Display
Standard Value 40 Display Range Standard Value
Emergency stop function [EMR]
42 Display Range Standard Value
7-16
7. Parameters
● Generic parameters Group 9 List of selection contents
When functions are to be always enabled or disabled.
Selection Contents
00:_Always_ Disable Always disable the function.
01:_Always_ Enable Always enable the function.
When functions are to be set with the conditions of the servo motor rotation speed.
Selection Contents
12:_LOWV_IN Function enabled in low velocity status (Velocity is less than LOWV).
13:_LOWV_OUT Function enabled while low velocity status (Velocity is less than LOWV ) is not kept.
14:_VA_IN Function enabled during velocity reach status (Velocity is more than VA ).
15:_VA_OUT Function enabled while velocity reach status (Velocity is more than VA) is not kept.
16:_VCMP_IN Function enabled during velocity matching status (Velocity deviation< VCMP ).
17:_VCMP_OUT Function enabled while velocity matching status (Velocity deviation< VCMP) is not kept.
18:_ZV_IN Function enabled during zero Velocity status (Velocity is less than ZV).
19:_ZV_OUT Function enabled while zero Velocity status (Velocity is less than ZV) is not kept.
When the functions are to be set with the conditions of positioning signals.
Selection Contents
20:_NEAR_IN Function enabled during NEAR status.
21:_NEAR_OUT Function enabled while NEAR status is not kept.
1A:_INP_IN Function enabled during In-Position status (Position deviation < INP).
1B:_INP_OUT Function enabled while In-Position status (Position deviation< INP) is not kept.
26:_INPZ_IN Function enabled during Position command= 0 and In-Position status. (Position deviation<INP)
27:_INPZ_OUT Function disabled during Position command=0 or In-Position status (Position deviation<INP).
When functions are to be set with the conditions of torque/speed limit.
Selection Contents
1C:_TLC_IN Function enabled during torque limiting.
1D:_TLC_OUT Function enabled while torque limiting is not performed.
1E:_VLC_IN Function enabled during velocity limiting.
1F:_VLC_OUT Function enabled while velocity limiting is not performed.
When functions are to be set with the servo motor rotation direction and stop status.
Selection Contents
22:_VMON_>_+LV Function enabled when rotation direction is positive. (VMON > LOWV)
23:_VMON_<=_+LV Function enabled when rotation direction is not positive. (VMON =< LOWV)
24:_VMON_<_-LV Function enabled when rotation direction is negative. (VMON < LOWV)
25:_VMON_>=_-LV Function enabled when rotation direction is not negative. (VMON >= LOWV)
7-17
7. Parameters
When using generic input signals.
Selection Contents
02:_CONT1_ON Function enabled while generic input CONT1 is ON.
03:_CONT1_OFF Function enabled while generic input CONT1 is OFF.
04:_CONT2_ON Function enabled while generic input CONT2 is ON.
05:_CONT2_OFF Function enabled while generic input CONT2 is OFF.
30:_PS_CONT1_ON Function enabled while generic input PS_CONT1 is ON.
31:_PS_CONT1_OFF Function enabled while generic input PS_CONT1 is OFF.
3A:_PS_CONT6_ON Function enabled while generic input PS_CONT6 is ON.
3B:_PS_CONT6_OFF Function enabled while generic input PS_CONT6 is OFF.
3C:_PS_CONT7_ON Function enabled while generic input PS_CONT7 is ON.
3D:_PS_CONT7_OFF Function enabled while generic input PS_CONT7 is OFF.
3E:_PS_CONT8_ON Function enabled while generic input PS_CONT8 is ON.
3F:_PS_CONT8_OFF Function enabled while generic input PS_CONT8 is OFF.
7-18
7. Parameters
7.9 Generic parameters GroupA [Settings of Generic output terminal output condition /Setup software]
Page Name and Contents

Generic output 1 [OUT1]

00 - 5B 18:_INP_ON
Generic output 2 [OUT2] Output signals for Generic output OUT1 - Generic output
Display Range Standard Value OUT4 are selected.
01
00 - 5B OC:_TLC_ON * Selection values to be set are on the next page.
Generic output 3 [OUT3] [OUT1], [OUT2] are the signals output from the amplifier
unit Generic output CN1.
02 Display Range Standard Value [OUT3], [OUT4] are the signals output from output pins
st th
00 - 5B 02:_S-RDY_ON OUT1 - OUT12 of the 1 axis to 6 axis generic output in
the power supply unit.
Generic output 4 [OUT4]

00 - 5B 0A:_MBR_ON
Analog monitor output 1 selection [MON1]

00 - 15 05:_VMON_1mV/min-1
Output signals for analog monitor output 1, 2 are selected
Analog monitor output 2 selection [MON2] from the followings.

00 - 15 02:_TCMON_0.5V/TR
00 Reserved
01:_TMON_0.5V/TR Torque(thrust) monitor 0.5V/ rated torque(thrust)
02:_TCMON_0.5V/TR Torque(thrust) command monitor 0.5V/ rated torque(thrust)
-1 -1
03:_VMON_0.2mV/ min Velocity monitor 0.2mV/ min
-1 -1
04:_VMON_0.5mV/ min Velocity monitor 0.5mV/ min
-1 -1
05:_VMON_1mV/ min Velocity monitor 1mV/ min
-1 -1
06:_VMON_2mV/ min Velocity monitor 2mV/ min
-1 -1
07:_VCMON_0.2mV/ min Velocity command monitor 0.2mV/ min
-1 -1
08:_VCMON_0.5mV/ min Velocity command monitor 0.5mV/ min
-1 -1
09:_VCMON_1mV/ min Velocity command monitor 1mV/ min
-1 -1
0A:_VCMON_2mV/ min Velocity command monitor 2mV/ min
0B:_PMON_0.1mV/P Position deviation counter monitor 0.1mV/ Pulse
0C:_PMON_1mV/P Position deviation counter monitor 1mV/ Pulse
0D:_PMON_10mV/P Position deviation counter monitor 10mV/ Pulse
0E:_PMON_20mV/P Position deviation counter monitor 20mV/ Pulse
0F:_PMON_50mV/P Position deviation counter monitor 50mV/Pulse
Position command pulse monitor
10:_FMON_2mV/kP/s
(Position command pulse input frequency) 2mV/kPulse/s
Position command pulse monitor
11:_FMON_10mV/kP/s
(Position command pulse input frequency) 10mV/kPulse/s
Load torque (thrust) monitor (estimated value) 0.5V/
12:_TLMON_EST_0.5V/TR
rated torque (thrust)
13:_Sine-U U phase electric angle Sin 2Vpeak
14:_VBUS_0.5V/DC100V Mai circuit DC voltage 0.5V/DC100V
15:_VBUS_0.5V/DC10V Main circuit DC voltage 0.5V/DC10V
7-19
7. Parameters
● Generic output OUT1 - Generic output OUT4, List of selection contents
When functions are to be always enabled or disabled.
Selection Contents
00:_Always_OFF The output is always OFF.
01:_Always_ON The output is always ON.
When generic input signal status is to be output.

Selection Contents Selection Contents
3A:_CONT1_ON The output is ON while generic input CONT1 is ON. 3C:_CONT2_ON The output is ON while generic input CONT2 is ON.
3B:_CONT1_OFF The output is OFF while generic input CONT1 is ON. 3D:_CONT2_OFF The output is OFF while generic input CONT2 is ON.
When servo amplifier inner status is to be output.

02:_S-RDY_ON The output is ON during Servo ready complete. 16:_ZV_ON The output is ON during zero velocity status.
03:_S-RDY_OFF The output is OFF during servo ready complete. 17:_ZV_OFF The output is OFF during zero velocity status.
58:_S-RDY2_ON The output terminal is ON during servo ready 1C:_CMD-ACK_ON The output is ON while command can be
complete. accepted.
59:_S-RDY2_OFF The output terminal is OFF during servo ready 1D:_CMD-ACK_OFF The output is OFF while command can be
complete. accepted.
04:_P-ON_ON The output is ON during power supply ON. 1E:_GC-ACK_ON The output is ON during gain switching status.
05:_P-ON_OFF The output is OFF during power supply ON. 1F:_GC-ACK_OFF The output is OFF during gain switching status.
06:_A-RDY_ON The output is ON during power supply on 20:_PCON-ACK_ON The output is ON during velocity loop proportional
permission. control switching.
07:_A-RDY_OFF The output is OFF during power supply ON 21:_PCON-ACK_OFF The output is OFF during velocity loop proportional
permission. control switching.
08:_S-ON_ON The output is ON during motor excitation. 22:_GERS-ACK_ON The output is ON during electric gear switching.
09:_S-ON_OFF The output is OFF during motor excitation. 23:_GERS-ACK_OFF The output is OFF during electric gear
switching.
0A:_MBR-ON_ON The output is ON during holding brake 24:_MS-ACK_ON The output is ON during control mode switching.
excitation signal output.
0B:_MBR-ON_OFF The output is OFF during holding brake 25:_MS-ACK_OFF The output is OFF during control mode
excitation signal output. switching.
0C:_TLC_ON The output is ON during torque limiting. 26:_F-OT_ON The output is ON during positive over-travel
status.
0D:_TLC_OFF The output is OFF during torque limiting. 27:_F-OT_OFF The output is OFF during positive over-travel
status.
0E:_VLC_ON The output is ON during velocity limiting. 28:_R-OT_ON The output is ON during negative over-travel
status.
0F:_VLC_OFF The output is OFF during velocity limiting. 29:_R-OT_OFF The output is OFF during negative over-travel
status.
10:_LOWV_ON The output is ON during low velocity status. 4A:_CHARGE_ON The output is ON while main power supply is
charging.
11:_LOWV_OFF The output is OFF during low velocity 4B:_CHARGE_OFF The output is OFF while main power supply is
operation. charging.
12:_VA_ON The output is ON during velocity reach status. 4C:_DB_OFF The output is OFF during dynamic braking.
13:_VA_OFF The output is OFF during velocity reach status. 4D:_DB_ON The output is ON during dynamic braking.
14:_VCMP_ON The output is ON during velocity matching
status.
15:_VCMP_OFF The output is OFF during velocity matching
status.
When positioning signal is to be output. When warning signal is to be output.

18:_INP_ON The output is ON during in-position 2A:_WNG-OFW_ON The output is ON during over-deviation warning status.
status. 2B:_WNG-OFW_OFF The output is OFF during over-deviation warning
19:_INP_OFF The output is OFF during in-position status.
status. 2C:_WNG-OLW_ON The output is ON during over-load warning status.
1A:_NEAR_ON The output is ON near range status. 2D:_WNG-OLW_OFF The output is OFF during over-load warning status.
1B:_NEAR_OFF The output is OFF during near range 2E:_WNG-ROLW_ON The output is ON during over-regenerative load
status. warning status.
5A:_INPZ_ON The output is ON during PCMD=0 and 2F:_WNG-ROLW_OFF The output is OFF during over-regenerative load
in-position status. warning status.
5B:_INPZ_OFF The output is OFF during PCMD=0 and 30:_WNG-BAT_ON The output is ON during battery warning status.
in-position status. 31:_WNG-BAT_OFF The output is OFF during battery warning status.
When alarm signals are to be output. When Alarm signals are to be compatible with PY.

32:_ALM5_ON Output alarm code bit 5 (Positive logic) 50:_PYALM1_ON Output PY compatible alarm code 1(Positive logic)
33:_ALM5_OFF Output alarm code bit 5 (Negative logic) 51:_PYALM1_OFF Output PY compatible alarm code 1 (Negative logic)
34:_ALM6_ON Output alarm code bit 6 (Positive logic) 52:_PYALM2_ON Output PY compatible alarm code 2 (Positive logic)
36:_ALM7_ON Output alarm code bit 7 (Positive logic) 54:_PYALM4_ON Output PY compatible alarm code 4 (Positive logic)
38:_ALM_ON The output is ON during alarm status. 56:_PYALM8_ON Output PY compatible alarm code 8 (Positive logic)
39:_ALM_OFF The output is OFF during alarm status. 57:_PYALM8_OFF Output PY compatible alarm code 8 (Negative logic)
7-20
7. Parameters
Page Contents
Analog monitor output polarity [MONPOL]
The output polarity of analog monitor output MON1 and
Display Range Standard Value MON2 is selected from the contents below.
00 - 08 00:_MON1+_MON2+
Selection Contents
MON1:Output the positive voltage at forward rotation (positive direction);
Output the positive/negative voltage.
00:_MON1+_MON2+
MON1:Output the negative voltage at forward rotation (positive direction);
01:_MON1-_MON2+
02:_MON1+_MON2-
03:_MON1-_MON2-
13 Output the positive/negative voltage.
MON1:Output the positive voltage at both forward rotation (positive direction) and
reverse rotation (reverse direction).
04:_MON1ABS_MON2+
05:_MON1ABS_MON2-
MON2: Output the negative voltage at forward rotation (positive direction);
06:_MON1+_MON2ABS
07:_MON1-_MON2ABS
08:_MON1ABS_MON2ABS
Setup software communication axis number [COMAXIS]

The axis number for communication with PC is selected
Display Range Standard Value from the contents below.
01 - 0F 01:_#1 * The selected value is enabled after turning ON the
control power again.
Selection Selection
20 01:_#1 09:_#9
02:_#2 0A:_#A
03:_#3 0B:_#B
04:_#4 0C:_#C
05:_#5 0D:_#D
06:_#6 0E:_#E
07:_#7 0F:_#F
08:_#8
Setup software communication baud rate [COMBAUD]

The baud rate for communication with PC is selected from
Display Range Standard Value the contents below.
00 - 05 05:_38400bps
* The selected value is enabled after turning ON the control
power again.
21 Selection
00:_1200bps
01:_2400bps
02:_4800bps
03:_9600bps
04:_19200bps
05:_38400bps
7-21
7. Parameters
7.10 Generic parameters GroupB [Settings related to sequence/alarm]
Page Contents
JOGVelocity command [JOGVC]
Sets the speed command value for test run and for
00 Display Range Unit Standard Value adjustment JOG operation.
0 - 32767 min-1 50
Dynamic brake action [DBOPE]

Dynamic brake action when shifted from Servo ON→Servo
Display Range Unit Standard Value OFF, and during servo OFF is selected from the contents
00 - 05 - 04:_SB__Free below.
* When the main circuit power is shut off, the dynamic
brake will operate irrespective of this setting.
10 Selection Contents
00:_Free_Free When SERVO-OFF, free run is operated. :After stop, motor free is operated.
01:_Free_DB When SERVO-OFF, free run is operated. :After stop, dynamic braking is performed.
02:_DB__Free When SERVO-OFF, Dynamic brake action:After stop, motor free is operated.
03:_DB__DB When SERVO-OFF, Dynamic brake action:After stop, dynamic brake action.
04:_SB__Free When SERVO-OFF, servo brake action. :After stop, motor free action.
05:_SB__DB When SERVO-OFF, servo brake action. :After stop, dynamic brake action｡
Over-travel action [ACTOT]

Operations at over-travel are selected from the contents
Display Range Unit Standard Value below.
00 - 06 - 00:_CMDINH_SB_SON
Selection Contents
At OT, command input is disabled and the motor stops by servo braking. After the motor stops, Servo
00:_CMDINH_SB_SON ON is operated.
(Command at OT side is disabled. = Velocity limit command=0)
At OT, command input is disabled, and the motor stops by dynamic braking. After the motor stops,
01:_CMDINH_DB_SON servo ON is operated.
(Command at OT side is disabled. =Velocity limit command=0)
At OT, command input is disabled, free run is operated.
11 02:_CMDINH_Free_SON After the motor stops, servo ON is operated.
(Command at OT side is disabled.=Velocity limit command=0)
At OT, command input is disabled, the motor stops by servo braking. After the motor stops, servo
03:_CMDINH_SB_SOFF OFF is operated.
At OT, command input is disabled, the motor stop by dynamic braking. After the motor stops, servo
04:_CMDINH_DB_SOFF OFF is operated.
At OT, command input is disabled, free run is operated.

05:_CMDINH_Free_SOFF After the motor stops, servo OFF is operated.
At OT, velocity limit command for OT side becomes 0.

06:_CMDACK_VCLM=0
Emergency stop operation [ACTEMR]

From the following contents, select operation at the time of
Display Range Unit Standard Value emergency stop (EMR, main power OFF).
00 - 01 00:_SERVO-BRAKE Besides, in usage by a vertical axis, please use it with standard
- setting (00:_SERVO-BRAKE).
12
Selection Contents
00:_SERVO-BRAKE When EMR is input, motor is stopped by servo brake operation.
01:_DINAMIC-BRAKE When EMR is input, motor is stopped by dynamic brake operation.
7-22
7. Parameters
Page Contents
Delay time of engaging holding brake (Holding brake holding delay time) [BONDLY]
Sets the holding brake operation delay time when shifted
13 0 - 1000 ms 300
from Servo ON to Servo OFF.
When shifted from servo ON to servo OFF, motor
excitation is kept by setting this command to zero.
Delay time of releasing holding brake (Holding brake release delay time [BOFFDLY]
Sets the delay time of holding brake release when shifted
14 0 - 1000 ms 300
from servo OFF to servo ON.
When shifted from servo OFF to servo ON, motor is
excited by setting this command to zero.
Brake operation beginning time [BONBGN]

Parameter for setting the motor free operation time,
0 - 65535 ms 0
dynamic brake operation time and servo brake operation
time.
After shifted from servo ON to servo OFF, holding brake
and dynamic brake start to operate in this set time.
When motor does not stop even after servo OFF at gravity
15
axis or else, motor is stopped by holding brake and
dynamic brake.
In the system where motor velocity becomes lower than
zero velocity within the set time, this setting does not
function.
If set to 0msec, brake operation start time is disabled
(=infinite).
Power failure detection delay time [PFDDLY]
The delay time from control power OFF to control power
20 - 1000 ms 32
error detection is set. The larger value makes the detection
of instantaneous stop slower. (Larger set value will only
result in slower detection of error. In case of power failure
of internal logic circuit, operation is the same as when
control power is turned ON again. In case of energy
16 shortage of main circuit power, other errors, such as main
circuit power loss, may be detected.)
In this setting, actual detection delay time varies by 12ms
and +6ms.
* The selected value is enabled after control power is

turned ON again.
Following error warning level [OFWLV]

20 Parameter to output warning before excessive position
Display Range Unit Standard
Value deviation alarm is output.
1 - 65535 ×1024 Pulse 65535
Following error limit [OFLV]

Parameter for setting the value to output position
21 Value excessive deviation alarm. Encoder pulse is the standard
1 - 65535 ×1024 Pulse 500 irrespective of electronic gear and command multiplication
function.
7-23
7. Parameters
Page Contents
Over load warning level [OLWLV]
Parameter for outputting warnings before overload alarm is
Value output. The possible level to be set is ranged form 20% -
20 - 100 % 90 99%, assuming that the overload alarm level is 100%.
When set to 100%, overload warning and overload alarm
are output at one time.
Overload detection is assumed and set as 75% of a rated
22
load when control power is turned ON (hot start).
Therefore, if this is set to below 75%, overload warning
may be output when control power is turned ON.

again.
Velocity feed back error (ALM_C3) detection [VFBALM]

Select either one from enabled or disabled of velocity feed
00 - 01 01:_Enabled
back error alarm detection.
-
23
Selection Contents
00:_Disabled Disabled
01:_Enabled Enabled
Velocity control error (ALM_C2) detection [VCALM]

Select either one from enabled or disabled of velocity
00 - 01 00:_Disabled
control error alarm detection.
-
24 In such an operation pattern as causing a motor overshoot
Selection Contents to the command, velocity control error may be detected by
00:_Disabled Disabled
mistake. For this, set this parameter to “Disabled”.
01:_Enabled Enabled
7-24
7. Parameters
7.11 Generic parameters GroupC [ Settings related to encoder]
Page Contents
Selection of Position detection system [ABS/INCSYS]
Position detection system is selected from the contents
below.
00 - 01 - 00:_Absolute
00 Selecting “Incremental system” enables the use similar to

Selection Contents incremental encoder without installing backup battery in
00:_Absolute Absolute System absolute encoder.
01:_Incremental Incremental System
Motor incremental encoder digital filter [ENFIL]

Settings for motor incremental encoder digital filter are
selected from the contents below.
00 - 07 - 01_220nsec
Selection Contents
00:_110nsec Minimum pulse width=110nsec (Minimum phase difference=37.5nsec)
01 01:_220nsec Minimum pulse width=220nsec
04:_75nsec Minimum pulse width=75nsec (Minimum phase difference=37.5nsec)
Encoder output pulse, divide ratio [ENRAT]

Parameter for setting division ratio of encoder pulse
Display Range Unit Standard Value dividing output. Division ratio is set.
05 1/1 - 1/64
2/3 - 2/64 - 1/1
1/8192 - 8191/8192
Encoder pulse divided output, Polarity [PULOUTPOL]

Encoder pulse dividing output polarity is selected from the
followings.
00 - 03 - 00:_Type1
Selection Contents
06 A phase signal/Not reversed
00:_Type1 Z phase signal logic/High active
A phase signal/Reversed
01:_Type2
Z phase signal logic/High active
A phase signal/Not reversed.
02:_Type3
Z phase signal logic/Low active
A phase signal/Reversed.
03:_Type4
Z phase signal logic/Low active
7-25
7. Parameters
Page Contents
Encoder signal output (PS) format [PSOFORM]
Signal format of encoder signal output (ＰＳ) is selected
from the followings.
00 - 02 - 00:_Binary

again.
07
Selection Contents
00:_Binary Binary code output
01:_Decimal Decimal ASCⅡ code output
02:_Encoder_Signal Encoder (sensor) signal direct output
Absolute encoder clear function selection [ECLRFUNC]

Used for clearing some absolute encoder warnings which
Display Unit Standard Value
are not automatically restored.
Range
00 - 01 - 00:_Status_MultiTurn
*Valid when wire-saving absolute encoder is used.
08
Selection Contents
00:_Status_MultiTurn Clear encoder status (alarm and warning) and multi-turn data.
01:_Status Clear encoder status (alarm and warning)
7-26
7. Parameters
7.12 System parameters
Page Contents
Main power input type Selects the input mode for power supplied to the main
circuit.
Setting range varies depending on the hardware type.
00
Setting value Contents
00:_AC_3-phase 3 phase AC power is supplied to the main circuit.
01:_AC_Single-phase Single phase AC power is supplied to the main circuit.
Motor encoder type Motor encoder type is selected.


01
00:_Inclemental_ENC Incremental encoder
01:_Absolute_ENC Absolute encoder
Incremental encoder type is selected when an incremental

Incremental encoder function selection encoder is used for the motor encoder.
02
Wire-saving incremental encoder
00:_Stanndard
[standard (4 pairs)]
Pulse number per motor shaft rotation is set when an

Incremental encoder resolution
incremental encoder is used for the motor encoder.
500 - 65535 P/R -
Absolute encoder type is selected when an absolute

encoder is used for the motor encoder.
Absolute encoder function selection Setting range varies depending on the hardware type.
Can only be selected when 01:_Absolute_ENC is selected
at Page01(motor encoder type).
Setting Contents
04 04:_PA035C-2.5MH_Manu PA035 Asynchronous 2.5Mbps Half duplex communication (manual setting)
05:_PA035C-4MH_Manu PA035 Asynchronous 4.0Mbps Half duplex communication (manual setting)
06:_RA062C-2.5MH_Manu RA062 Asynchronous 2.5Mbps Half duplex communication (manual setting)
07:_RA062C-4MH_Manu RA062 Asynchronous 4.0Mbps Half duplex communication (manual setting)
80:_RA062M-1MF RA062 Manchester 1Mbps Full duplex communication
81:_RA062M-2MF RA062 Manchester 2Mbps Full duplex communication
Divisions per motor shaft rotation are set when absolute

encoder is used for the motor encoder.
Absolute encoder resolution
Can only be selected when 01:_Absolute_ENC is selected
at Page01(motor encoder type).
Setting Contents
00:_2048_fmt 2048 divisions
05 03:_16384_fmt 16384 divisions
06:_131072_fmt 131072 divisions
07:_262144_fmt 262144 divisions
08:_524288_fmt 524288 divisions
09:_1048576_fmt 1048576 divisions
0a:_2097152_fmt 2097152 divisions
7-27
7. Parameters
Page Contents
In “The Setup software”, model number of combined motor
and their codes are show.
When combined motor is to be changed, change the motor
parameter setting of “The setup software”.
06 Combined motor model number Note1)
* Combined motor cannot be changed.
* Page contents are different for digital operator. Refer to
Note1)
Control mode Selects control mover.
08 Setting Contents
02:_Position Position control type
Position loop encoder is selected used for position loop

Position loop control / encoder selection control method and position loop control.
Display Range varies depending on the hardware type.
09
Setting Contents
00:_Motor_encoder Semi-closed control / motor encoder
Note1) For digital operator

Page Contents
06 Servo amplifier information This is for maker maintenance.
In the digital operator, motor codes of the selected servo

motor are displayed.
To change the combined motor, change the motor
07 Combined motor code parameter setting at “The Setup software”.
* Combined motor cannot be changed by the digital

operator.
7-28
8. Adjustment, Functions
8. Adjustment & Functions
8.1 Servo Gain Tuning ･････････････････ 8-2

8.2 Functions of Group8 ･････････････････ 8-8
8.3 Functions of Group9 ･････････････････ 8-18
8.4 Functions of GroupB ･････････････････ 8-22
8.5 Functions of GroupC ･････････････････ 8-26
8.6 Functions of analog monitor ･････････････････ 8-29
8-1
8．Adjustment･Functions
8.1 Servo Gain Tuning
■ Structure of tuning [General parameter Group0]
At “parameter Group0”, tuning structure of the R series servo amplifier is as follows.
[General parameter Group0]

Page Name
00 Tuning mode
01 Auto-tuning characteristics
00:_AutoTun Auto- tuning
02 Auto- tuning response
Auto- tuning
Auto-tuning 01:_AutoTun_JRAT-Fix
03 [JRAT manual setting]
parameter auto-saving 02:_ManualTun Manual tuning
00:_Positioning1 Positioning control 1(for generic purpose)

01:_Positioning2 Positioning control 2(for high response)
Positioning control 3
02:_Positioning3
(for high response and horizontal axis only)
03:_Trajectory1 track control
04:_Trajectory2 track control (Kp manual setting)
1 - 30 Auto- tuning response
00:_Auto_Saving Auto-saving at JRAT1

● Tuning mode [page00] 01:_No_Saving Without auto-saving
00:_AutoTun auto- tuning
The servo amplifier estimates the load inertia moment ratio of the machine and equipment at real time and
automatically tunes the servo gain so that it will become the best one. The parameters for the servo amplifier to
automatically tune vary depending on the selected auto-tuning characteristics.
* The servo amplifier estimates the load inertia moment ratio at the time of acceleration/deceleration. Therefore, for
operations with only excessively low acceleration/deceleration time constant or with only low torque with low velocity, this
mode cannot be used. Also, operations with large disturbance torque or with large mechanical clearance, this mode
cannot be used, either.
01:_AutoTun_JRAT-Fix Usage at Auto-tuning [JRAT manual setting].
01:_AutoTun_JRAT-Fix Auto-tuning [JRAT manual setting]

Based on the load inertia moment ratio (JRAT1)which was set, the servo amplifier automatically tunes and
makes the servo gain the best one. The parameters for the servo amplifier to automatically tune vary
depending on the selected auto-tuning characteristics.

This is used in order for adjusting the servo gain to the machine and equipment to ensure the maximum
response, and when characteristics in auto-tuning are insufficient.
● Auto- tuning characteristics [page 01]

Characteristics adjusted to machines and equipment are selected when Auto-tuning and
Auto-tuning [JRAT manual setting] are used.
When Manual tuning is used, this does not function.
● Auto- tuning response [page 02]

Set this when Auto- tuning and Auto- tuning [JRAT manual setting] are used. The larger set
value makes the response higher. Set this suitable for the equipment rigidity.
When Manual tuning is used, this does not function.
● Auto-tuning parameter auto-saving ［load inertia moment ratio］ [page 03]

The “load inertia moment ratio” obtained from auto-tuning is automatically saved in parameter JRAT1 at every
2 hours. The set value is enabled when auto-tuning is used.
When Auto-tuning [JRAT manual setting] and Manual tuning are used, this does not function.
8-2
■ Tuning method selecting procedure
Start tuning
* The flow chart in the left shows selecting method of
tuning mode and tuning characteristics.
Execute tuning mode
00:_AutoTun auto- tuning Settings for auto-tuning response are not indicated
here. Auto-tuning response shall be tuned at each
status.
Operation Yes
unstable?
Change tuning mode to
No 01:_AutoTun auto- tuning
_JRAT-Fix [JRAT manual setting]
Set JRAT1
Yes No problem with

characteristics？
No
Match the Yes

characteristics
between axes?
Use tracking Yes
control? No
No
Change to auto-tuning characteristics

auto-tuning characteristics track
03:_Trajectory1
Positioning control 2 control
01:_Positioning2
（for high response）
Yes No problem with

characteristics? Yes No problem with
characteristics?
No
No
No
Use with horizontal
axis?

Yes
track control
04:_Trajectory2
(Kp manual setting)

Positioning control 3 Set Kp1.
02:_Positioning3 （for high response,
horizontal axis only）
Yes No problem with

Yes No problem with
characteristics?
characteristics?
No
No
Change to tuning mode

Tuning complete. Manually tune the servo gain.
8-3
■ Monitoring servo gain adjustment parameter
The following parameters can be monitored when auto-tuning is used.
● R-SETUP
For how to operate these, refer to “R-SETUP Instruction Manual”.
■ Using auto-tuning result at manual tuning.

At manual tuning, auto-tuning result is saved as a batch or by selection using R-SETUP,
and can be used as controlling parameter.
For how to operate these, refer to “ R-SETUP Instruction Manual”.
Note)In the setting of TUNMODE=02:_ManualTun, parameter setting value is used in the control
loop. When auto-tuning result saving is executed, the gain parameter being used will change
(except during gain switch over). Therefore, the motor operation may change suddenly.
Execute auto-tuning result saving while servo OFF or motor stoppage.
8-4
■ Servo system structure
Servo system consists of 3 subsystems; the position loop, the velocity loop and the current loop. High
response is required for the internal loops. If this structure is compromised, it could result in instability, low
response, vibration or oscillation.
Position loop Velocity loop

Host device Current loop Servo motor
KP KVP TVI
JRAT
+ + + +
- + - -
Current loop
Velocity loop
Position loop Encoder
The response of the current loop is ensured internally in the servo amplifier, there is no need for the user to
make additional adjustments.
■ Servo adjustment parameters
Position command filter [PCFIL]

When the position command resolution is low, set this parameter to suppress the ripples contained in the position
command. The larger value of this will make the ripple suppressing effect greater, however, delay will be greater.
* When high tracking control position compensation gain is set to other than 0%, this parameter is automatically
set.
Position loop proportional gain [KP]

Set this equivalent to KP[1/S] = KVP[Hz] / 4･2π.
High tracking control position compensation gain [TRCPGN]

When tracking effect needs to be improved under high resolution of position command, increase this
parameter after adjustment of high tracking control velocity compensation gain.
Feed forward gain [FFGN]
Tracking effect of position command can be improved by increasing this gain.
Under positioning control, set this to approximately 30 - 40%.
* When high tracking control position compensation gain is set to other than 0%, this parameter is
automatically set.
Feed forward filter [FFFIL]

When position command resolution is low, set this parameter to suppress ripples.
Velocity command filter [VCFIL]

Under velocity control, when there is a big noise component contained in velocity command, set this
parameter to suppress the noise.
Velocity loop proportional gain [KVP]

Set this as high as possible within such a stable operation range as not to cause vibration or oscillation
of the machine. If JRAT is accurately set, the set value of KVP becomes the velocity loop response
zone.
8-5
Velocity loop integration time constant [TVI]
Set this equivalent to TVI [ms] = 1000 / (KVP[Hz]).
Load inertia moment ratio [JRAT]

Set the value calculated as shown below.
Motor axis converted load inertia moment [JL]

JRAT = ×100%
Motor inertia moment [JM]
High tracking control velocity compensation gain [TRCVGN]

Tracking effect can be improved by increasing compensation gain.
Adjust this so as to shorten the positioning setting time.
* Set the value of JRAT properly to use this function.
Torque command filter [TCFIL]

When rigidity of the mechanical device is high, set this value high and the velocity loop proportional
gain can be set to high. When rigidity of the mechanical device is low, set this value low and resonance
in high frequency zone and abnormal sound can be suppressed. For normal usage, set this below
1200Hz.
■ Adjustment method of vibration suppressing control

Set vibration suppressing frequency to suppress the low frequency vibration at the tip or the body
of the machine. Vibration suppressing frequency is obtained by executing auto-tuning of vibration
suppressing frequency or by calculating vibration frequency of vibrating point at positioning and
its reciprocal. When vibration does not stop with the vibration suppressing control, there is a
possibility that the gain for control system may be too high. In this case, lower the control system
gain. Also, when used together with high tracking control velocity compensation gain, vibration
suppressing effect may be greater.
* Vibration suppressing control function can be used together with auto-tuning.
■ Adjustment method of notch filter

Set the torque command notch filter to suppress high frequency resonance resulted from
coupling and rigidity of the device mechanism. Notch filter center frequency can be obtained by
executing auto-notch filter tuning or by system analysis.
* Torque command notch filter function can be used together with auto-tuning.
* When resonance of the device mechanism does not stop even after this parameter is set, there
may be two or more resonance points. In this case, insert notch filters B, C and D to suppress
each of them. If not yet suppressed, there is a possibility that auto-tuning response or control
gain is too high. If so, lower the auto-tuning response or control gain.
■ Adjustment method of disturbance observer

Set the disturbance observer to suppress the disturbance applied to the motor.
At first, use the low frequency observer characteristics. If not suppressed by that,
use that for medium frequency. Gradually increase the observer compensation gain.
The higher the observer compensation gain becomes, the more the disturbance suppressing
characteristics will be improved.
However, if it is excessively high, oscillation may result. Use this within the range not causing
oscillation.
* Disturbance observer cannot be used with auto-tuning.
8-6
■ Adjustment method of gain switch over
When tracking effect is insufficient even if basic parameters of high tracking control
position compensation gain and high tracking control velocity compensation gain are set,
set the gain switch over so that tracking effect can be improved.
(Example)Gain is increased near positioning compete.
NEAR
Gain 2 Gain1 Gain 2
The value of gain 2 shall be set to 1.2 times the value of gain 1.
* Gain switch over function cannot be used with auto-tuning.
■ Adjustment method of high setting control

When tracking effect is insufficient even after gain switch over, set the high setting
control parameter and in-position setting characteristics can be improved. When position
command resolution is low, set the value of command velocity calculation low pass filter
low. Set the acceleration compensation so that the position deviation near acceleration
conclusion becomes small. Set the deceleration compensation so that the position
deviation near deceleration conclusion (positioning complete) becomes small.
* This function cannot be used together with auto-tuning.
■ How to make R series control characteristics equal to Q series standard characteristics

Parameter change as follows can make the status equal to Q series standard characteristics.
Group Page Before change After change

0 00 Tuning mode 00:_AutoTun 02:ManualTun
1 16 High tracking control velocity 0% 100%
compensation gain
8-7
8. Adjustment / Functions
8.2 Functions of Group 8
[Group8] 11
Position command pulse selection [PCPTYP]
3 types of position command pulse can be selected; make this selection per the specifications of the
upper unit.
Selected value Contents

00:_F-PC_R-PC Forward (positive direction) pulse +reverse (reverse direction) pulse
01:_2PhasePulse 90°phase difference 2 phase pulse string
02:_CODE_PC Code + pulse string
There are 2 output types for the upper unit, the “Line driver output” and the “Open collector output”.
Using line driver output
Upper unit Twisted pair Servo amplifier

Forward pulse (F-PC) CN1A-3
CN1A-4
Forward pulse (F-PC)
CN1A-15
Forward pulse SG SG
CN1A-5
Reverse pulse (R-PC) CN1A-6
Reverse pulse (R-PC) CN1A-16 SG
Reverse pulse SG
Twisted pairs
* Always connect SG.

* Line Receiver : HD26C32 or equivalent
Using open collector output
Upper unit Twisted pair Servo amplifier

CN1A-3
Forward pulse (F-PC)
CN1A-15
Forward pulse SG SG
CN1A-5
Reverse pulse (R-PC)
CN1A-16
SG
Reverse pulse SG Twisted pair
* The above diagrams show a connection example of the 1st axis. The terminal numbers are different for the 2nd to 6th
axes.
* Always connect SG.
* Line Receiver : HD26C32 or equivalent
* For the upper unit, line driver output is recommended.
8-8
[Group8] 12
Position command pulse count polarity [PCPPOL]
Position command pulse count polarity can be selected form the following 4 types. Select the one suitable for the upper
device.

00:_Type1 F-PC:Count at leading edge. / R-PC:Count at leading edge.
01:_Type2 F-PC:Count at trailing edge. / R-PC:Count at leading edge.
02:_Type3 F-PC:Count at leading edge. / R-PC:Count at trailing edge
03:_Type4 F-PC:Count at trailing edge / R-PC:Count at trailing edge
[Group8] 13
Position command pulse digital filter [PCPFIL]
When the time for minimum pulse width at position command input maximum frequency is less than the digital
filter set value, alarm “AL D2” will be issued. Set the smaller value for digital filter than the time of minimum pulse
width at the time of position command input maximum frequency. Select the position command pulse digital filter
setting from the followings according to the command pulse type of the device in use.
Forward pulse string + Reverse pulse string
Selected value Minimum pulse width [t] Position command input maximum frequency[f]
00 t > 834 nsec f < 599 Kpps
01 t > 250 nsec f < 2.0 Mpps
02 t > 500 nsec f < 1.0 Mpps
03 t > 1.8 μsec f < 277 Kpps
04 t > 3.6 μsec f < 138 Kpps
05 t > 7.2 μsec f < 69 Kpps
06 t > 125 nsec f < 4 Mpps
07 t > 83.4 nsec f < 5.9 Mpps
90°phase difference2 phase pulse
Selected value A phase･B phase Position command input maximum frequency[f]

Minimum edge interval [t]
00 t > 834 nsec f < 599 Kpps
01 t > 250 nsec f < 2.0 Mpps
02 t > 500 nsec f < 1.0 Mpps
03 t > 1.8 μsec f < 277 Kpps
04 t > 3.6 μsec f < 138 Kpps
05 t > 7.2 μsec f < 69 Kpps
06 t > 164 nsec f < 1.5 Mpps
07 t > 164 nsec f < 1.5 Mpps
Code + pulse string
Selected value Minimum pulse width [t] Position command input maximum frequency[f]
00 t > 834 nsec f < 599 Kpps
01 t > 250 nsec f < 2.0 Mpps
02 t > 500 nsec f < 1.0 Mpps
03 t > 1.8 μsec f < 277 Kpps
04 t > 3.6 μsec f < 138 Kpps
05 t > 7.2 μsec f < 69 Kpps
06 t > 125 nsec f < 4 Mpps
07 t > 83.4 nsec f < 5.9 Mpps
8-9
Command
Command pulse timing
pulse
Forward
F-PC
rotation pulse (Reverse rotation pulse)
string
+ t1 t2 t3 ts1
T
Reverse
rotation pulse R-P
(Forward rotation pulse)
string
F-PC
(A phase)
t1 t2 t3
90°phase R-PC T
difference (B phase)
2 phase pulse t4 t5 t6 t7
Forward rotation Reverse rotation
B phase is ahead of A phase by 90°. A phase is ahead of B phase by 90°.
F-PC ts4
Forward rotation
(code) ts2 ts3 Reverse rotation
code t8 t9
+ R-PC
pulse string (pulse) t3
t1 t2 T
Forward rotation pulse Code

+ 90°phase difference +
Reverse rotation pulse 2 phase pulse pulse string
t1/t8 =<0.1 μs =<0.1 μs =<0.1 μs
t2/t9 =<0.1 μs =<0.1 μs =<0.1 μs
ts1/ts2
>T >T >T
ts3/ts4
t4/ t5/ t6/t 7 ―― >250ns ――
(t3/T)x100 50% 50% 50%
8-10
[Group8] 15, 16
Electronic gear* [GER*]
This function allows a distance setting on the servo motor in reference to the position command pulse
from the device.
Setting range Unit Standard set value
1/32767 - 32767/1 - 1/1
Electronic gear Servo motor
f1: Input command pulse N (1～32767) f2: Input command pulse after setting (f1×electronic gear)
Upper unit
D (1～32767)
1 N 32767
Electronic gear setting range: 32767 D 1
Refer to “Materials; Electronic Gear”.
[Group8] 17
Positioning method [EDGEPOS]
The position of positioning stop is selected; between encoder pulses or at edge.

00:_Pulse_Interval Positioning between pulses
01:_Pulse_Edge Positioning at edge
Positioning between pulses
A phase
B phase
Positioning at edge
[Group8] 18
Positioning complete signal/position deviation monitor [PDEVMON]
Positioning complete signal when the position control mode is used, and position command used for outputting position
deviation monitor can be selected from before or after the position command filter passes.

00:_After_Filter Compare “position command value” and “feedback value” after filter passes.
01:_Before_Filter Compare “position command value” and “feedback value” before filter passes.
+ Position deviation
- monitor
Position
Filter KP
command PMUL GER1
TPI
pulse
+
-
Position loop
encoder
8-11
[Group8] 19
Deviation clear selection [CLR]
This function is used for changing the position deviation counter in the servo amplifier from the upper
unit to zero.
Selection Description
* Deviation is always cleared when servo is off.
Servo ON signal Servo OFF Logic can be changed
Deviation clear
Servo OFF/deviation clear:
0H
Deviation clear input/level detection * Deviation is always cleared when deviation clear input is ON.
CLR signal CLR ON Logic cannot be changed
Deviation clear
* Deviation is always cleared when servo is off.
Deviation clear
Servo OFF/deviation clear: * Deviation is cleared in the edge when deviation clear input becomes
1H
Deviation clear input / edge detection OFF/ON.
CLR signal Logic can be changed
CLR is ON in edge
* Deviation is not cleared when servo is OFF.

* The motor may start suddenly after servo is turned ON with position
deviation detected.
Servo OFF/deviation not cleared: Deviation not cleared

2H
Deviation clear input/level detection
* Deviation is cleared in the edge when deviation clear input becomes
OFF/ON.
CLR signal CLR ON Logic cannot be changed
Deviation clear
* Deviation is not cleared when servo is OFF.

* The motor may start suddenly after servo is turned ON with position
deviation detected.
Deviation not cleared

Servo OFF/deviation not cleared:
3H
Deviation clear input / edge detection * Deviation is cleared in the edge when deviation clear input becomes
OFF/ON.
CLR signal Logic cannot be changed
CLR is ON in edge
Select the conditions for enabling deviation clear. Internal velocity command when conditions are
valid is selected.
Parameter Group9 page04 CLR : Deviation clear function
8-12
[Group8] 28
Speed limit command [VCLM]
An upper limit value can be locked in with the speed limit command.
This value cannot be set to exceed the speed capabilities of the adjoining motor.
Parameter Group8Page28 VCLM : Speed limit command 1 – 65535 min-1
Abnormal high speed value
Input command→
Speed limit setting value Speed command
[Group8] 31 - 32
Internal torque addition command 1 [TCOMP1]
Internal torque addition command 2 [TCOMP2]
The torque addition function is the fast-forward function of the torque control system. There are 2
types of settings for the torque addition command input function: the internal torque addition
command and the analog torque addition command. The internal torque addition command can be
used when using the torque addition command value as a fixed value. The analog torque addition
command can be used when setting the torque addition command input value from the upper unit.
1. Sets the internal torque addition command value.

Parameter Group8Page31 TCOMP:Internal torque addition command1 -500 to +500 %
Parameter Group8Page32 TCOMP:Internal torque addition command2 -500 to +500 %
2．Select and set the condition for enabling the torque addition function.
Parameter Group9Page30 TCOMPS1:Torque addition function1
Parameter Group9Page31 TCOMPS2:Torque addition function2
[Group8] 36
Internal torque limit value [TCLM]
The torque command can be limited by internal torque limit value.
Internal torque limit

1.Internal torque limit value setting
Parameter Group8 Page36 TCLM：Internal torque limit value 10 - 500%
2. Torque limit function enable

Parameter Group9 Page32 TL: Torque limit function
Conditions for enabling torque limit permission function are selected. When conditions are valid,
torque limit is permitted and operation starts.
* If the value is set higher than the maximum output torque (TP) of the servo
motor, it will be limited by (TP).
* Set this value after considering the acceleration time. Too low of a setting can
result in insufficient acceleration torque and poor control.
* The internal torque limit should be set higher than the acceleration torque.
* The internal torque limit is identical for forward and reverse rotation. Separate
torque limits cannot be set.
8-13
[Group8]37
Sequence operation torque limit value [SQTCLM]
During the sequence operation the output torque is limited. Limiting the output torque protects the
device mechanism.
The torque limits during sequence operation support the following sequence operations:
* JOG operation
* Over travel operation
* Holding brake standby time
* Servo brake operation
Sequence operation torque limit value setting

Parameter Group 8 Page37 SQTCLM：Sequence torque operation limit 10 - 500%
If this value is set higher than the maximum output torque (TP) of the servo motor,
it will be limited by (TP).
[Group8] 40
Near range [NEAR]
Outputs signal indicating proximity to position completion.
This is used together with positioning complete signal (INP) and near range of positioning complete is output.
Parameter Group8Page40 NEAR：near range 1 - 65535 Pulse
Parameter GroupAPage0* OUT*:general output*
1A NEAR_ON Output turns ON during near range status
1B NEAR_OFF Output turns OFF during near range status
Determine the logical status of the NEAR signal output, and to which output terminal to assign
the positioning completion signal output.
If set to a value greater than the positioning completion range settings, the upper unit receives
the NEAR signal before receiving the positioning completion signal (INP), and transition to the
positioning completion operations is enabled.
Speed command monitor→ ←Speed monitor
Position deviation monitor→
Amount of deviation 500Pulse
Positioning completion range setting value: 100Pulse Positioning signal: (INP_ON)
Near range setting value: 500Pulse Near signal: (NEAR_ON)
8-14
[Group8] 41
Positioning complete range [INP]
The positioning completion signal is output from the selected output terminal when servo motor
movement is completed (reaches the set deviation counter value) during position control mode.
Setting the positioning completion range
Parameter Group8Page41 INP: Positioning completion range 1 - 65535 Pulse
Set the deviation counter value with positioning completion signals. The encoder pulse is
standard, irrespective of the command pulse multiplication and electronic gear settings.
Incremental encoder: 4 times (4x) encoder pulses is standard.
Absolute encoder: absolute value is standard.
Setting the positioning completion signal

Parameter GroupA Page0* OUT*:general output*
18 INP_ON Output turns ON during positioning completion status.
19 INP_OFF Output turns OFF during positioning completion status.
Determine the logical status of the positioning completion signal output, and to which output
terminal to assign the positioning completion signal output.
Speed command monitor→ ←Speed monitor
Position deviation monitor→
Positioning completion range setting value: 100Pulse Positioning signal (INP_ON)
8-15
[Group8] 43 - 45
Low speed setting [LOWV] speed coincidence range [VCMP]
speed transport setting (High velocity setting)[VA]
This parameter affects settings for the speed output range. The signal can be output from general
output and used as a valid condition for all functions.
To direct signals to the upper unit, make assignments to the signals in parameter Group A. Use the
general output terminal of the connected CN1 or CN1A, CN1B.
Parameter GroupA Page0* OUT*:General output*
10 LOWV_ON Output turns ON during low speed status
11 LOWV_OFF Output turns OFF during low speed operation
12 VA_ON Output turns ON during speed transport status
13 VA_OFF Output turns OFF during speed transport status
14 VCMP_ON Output turns ON during speed coincidence status
15 VCMP_OFF Output turns OFF during speed coincidence status
Low speed range: Low speed signal is sent if speed goes below the set value.
Parameter Group8 Page43 LOWV: Low speed settings 0 - 65535min-1
V
Low speed setting value
Output【LOVW】【Output LOVW】
Speed coincidence range: Speed coincidence range signal is given if speed deviation reaches the
set range.
-1
Parameter Group8 Page44 VCMP: Speed coincidence range 0 - 65535min
V Output [VCMP] between this set width
Speed command
Speed transport settings: Speed transport signal is given if speed exceeds the set value.
-1
Parameter Group8 Page45 VA: Speed transport settings 0 - 65535min
V
Speed transport setting value
Output [VA]
8-16
Various functions can be made valid without output signals taken into the upper device when this is used together with
Group9 function enabling conditions (input signals).
12 LOWV_IN Function is enabled during low speed status (speed below LOWV set value).
13 LOWV_OUT Function is enabled when not in low speed status (speed below LOWV set value).
14 VA_IN Function is enabled during speed transport status (speed above VA set value).
15 VA_OUT Function is enabled when not in speed transport status (speed above VA set value).
16 VCMP_IN Function is enabled during speed coincidence status (speed deviation below VCMP set value).
17 VCMP_OUT Function is enabled when not in speed coincidence status (speed deviation below VCMP set value).
Low speed status [LOWV_IN]: Function is enabled during low speed status (speed below LOWV set value).
Low speed status [LOWV_OUT]: Function is enabled outside of low speed status (speed below LOWV set value).
V
Low speed setting value
[LOWV_IN] valid [LOWV_OUT] valid [LOWV_IN] valid
Speed coincidence status [VCMP_IN]: Function is enabled during speed coincidence status
(speed deviation below VCMP set value).
Speed coincidence status [VCMP_OUT]: Function is enabled outside of speed coincidence status
(speed deviation below VCMP set value).
V [VCMP_IN] valid
Speed command
[VCMP_OUT] valid
Speed transport status [VA_IN]: Function is enabled during speed transport status (speed above VA set value).
Speed transport status [VA_OUT]: Function is enabled outside of speed transport status (speed above VA set value).
V
Speed transport setting value
[VA_OUT] valid [VA_IN] valid [VA_OUT] valid
8-17
8.3 Functions of Group9
[Group9] 00 - 01
Forward over travel function [F-OT]
Reverse over travel function [R-OT]
The over travel function uses a limit switch to prevent damage to the device. It stops the device when
the movement range of the moving part is exceeded.
1. Allocate the over travel input signal to CONT1~CONT8.

Parameter Group9 Page00 F-OT:Forward over travel function
Parameter Group9 Page02 R-OT:Reverse over travel function
Forward Reverse
Limit switch Limit switch

R-OT
CONT1 - 8
F-OT
2. If the over travel function is used, select the operating conditions of “Position command input,
Servo motor stop operation and Servo ON signal” in the case of over travel.
Parameter GroupB Page11 ACTOT: Over travel operation

* If OT occurs, command input is disabled, the servo brake operates and the motor stops.
00:_CMDINH_SB_SON
* After the motor stops, the servo turns ON. (At OT, command disabled = velocity limit command = 0)
* If OT occurs, command input is disabled, the dynamic brake operates and the motor stops.
01:_CMDINH_DB_SON
* If OT occurs, command input is disabled, and the free-run operates.
02:_CMDINH_Free_SON
* If OT occurs, command input is disabled, the servo brake operates and the motor stops.
03:_CMDINH_SB_SOFF
* After the motor stops, the servo turns OFF.
* If OT occurs, command input is disabled, the dynamic brake operates and the motor stops.
04:_CMDINH_DB_SOFF
* If OT occurs, command input is disabled, and the free-run operates.
05:_CMDINH_Free_SOFF
06:_CMDACK_VCLM=0 * If OT occurs, OT occurrence velocity limit command becomes zero.
If “the motor is stopped by servo brake operation” [00:_CMDINH_SB_SON][ 03:_CMDINH_SB_SOFF] is selected

when over travel occurs, torque at the time of servo brake operation can be set at the sequence torque operation limit
value.
Parameter Group8 Page37 SQTCLM: Sequence torque operation limit 10 - 500%
If the value is set higher than the maximum output torque (TP) of the servo motor, it will
be limited by (TP).
8-18
[Group9] 02
Alarm reset function [AL-RST]
This function enables the sending of an alarm reset signal from the upper unit. An alarm is cleared by
enabling alarm reset function (AL-RST).
The conditions for enabling alarm reset function are assigned. The alarm is cleared if the AL-RST signal is valid.
Parameter Group9 Page02 AL-RST: Alarm reset function
The following circuit is created when valid conditions are assigned to PS-CONT2. The logic can also
be modified by the alposition of valid conditions.
Upper unit Servo Amplifier
CONT-COM
DC5V CN1A-45
to
24V CONT1
CN1A-27
Alarm reset signal
Shielding Wire
“Alarm status” “Cancel alarm”

Alarm signal
Alarm reset signal “Reset alarm”

Above 20msec
* Note that any alarm not cleared by simply turning OFF the control power supply cannot be cleared
with the alarm reset signal.
[Group9] 05
Servo ON function [S-ON]
This function enables the sending of a servo ON signal from the upper unit. The servo motor can
be set to “ready” status by enabling the servo ON function (SON).
The conditions for enabling the Servo ON function are assigned. The servo motor is set to “ready”
status when the SON signal is enabled.
Parameter Group9 Page05 S-ON: Servo ON function
The following circuit is created when valid conditions are assigned to CONT1.The logic can also be
modified by the alposition of valid conditions.
Upper unit Servo Amplifier

CN1A-45 CONT-COM
DC5V
to CONT1
24V CN1A-26
Servo ON signal
Shielding Wire
8-19
[Group9] 11
Position command pulse inhibit function [INH/Z-STP]
This can be used as position command pulse inhibit function (INHIBIT function).
When the function is enabled while servo motor is operating, input command is inhibited and the servo motor stops at
servo motor excitation status. Even if position command pulse is input, the input pulse is not counted in the servo
amplifier.
Conditions enabling position command pulse inhibit are allocated. When signals of INH/Z-STP are valid, this will
function.
Parameter Group9 Page11 INH/Z-STP: Position command pulse inhibit
[Group9] 13 - 14
Gain switch over condition 1 [GC1] Gain switch over condition 2 [GC2]
4 types of gains can be switched and used.
Conditions enabling gain switch over are allocated. When the signal of GC1 and GC2 combination is valid, the
set value of corresponding GAIN becomes enabled.
Parameter Group9 Page13 GC1: Gain switch over condition1
Parameter Group9 Page14 GC2: Gain switch over condition2
GC1:Gain switch over condition1 Invalid Valid Invalid Valid

GC2:Gain switch over condition 2 Invalid Invalid Valid Valid
↓ ↓ ↓ ↓
Gain to be enabled GAIN 1 GAIN 2 GAIN 3 GAIN4
[Group9] 15 - 16
Vibration suppressing frequency selection input1 [SUPFSEL1]
Vibration suppressing frequency selection input2 [SUPFSEL2]
4 types of vibration suppressing frequency can be switched and used.
Conditions for enabling vibration suppressing frequency selection input are allocated. When the signal of
SUPFSEL1 and SUPFSEL2 combination is valid, the set value of corresponding vibration frequency
becomes enabled.
Parameter Group9 Page15 SUPFSEL1:Vibration suppressing frequency selection input1
Parameter Group9 Page16 SUPFSEL2:Vibration suppressing frequency selection input2
SUPFSEL1:Vibration suppressing Invalid Valid Invalid Valid

frequency selection input1
SUPFSEL2:Vibration suppressing Invalid Invalid Valid Valid
frequency selection input2
↓ ↓ ↓ ↓
Vibration Vibration Vibration Vibration
Vibration suppressing frequency suppressing suppressing suppressing suppressing
to be enabled frequency 1 frequency 2 frequency 3 frequency4
Group2 Page 00 Group 3 Page 40 Group 3 Page 41 Group 3 Page 42
8-20
[Group9] 17
Position loop proportional control switch over function [PLPCON]
Switching between position loop PI control<- -> P control is possible. Switching is possible when position loop
proportional control switchover function (PPCON)is enabled.
Conditions for enabling position loop proportional control switchover function are allocated. Switches to
proportional control when the signal of PPCON is valid.
Parameter Group9 Page17 PLPCON: Position loop proportional control switchover function
PI control(proportional / integral control) …. Position loop proportional gain(KP) / Integral time constant(TPI)
P control (Proportional control) …. Position loop proportional gain(KP)
* Position loop integral time constant (TPI)is 1000.0ms at standard setting, therefore, integral function is invalid.
[Group9] 26
Speed loop comparison control switchover function [VLPCON]
Speed loop PI control / P control can be used alternatively. Activate switching by enabling the speed
loop comparison control switching function (PCON)
The conditions for enabling the speed loop comparison control switching function are assigned. Change the comparison control
when the PCON signal is valid.
Parameter Group9 Page26 VLPCON: Speed loop comparison control switchover function
PI control (comparison / integral control): Speed loop comparison gain (KVP) / Speed loop reset time constant (TVI)
P control (Comparison control): Speed loop comparison gain (KVP)
* When set to comparison control, servo gain is reduced and the servo system is made stable.
* When the speed loop reset time constant (TVI) is set to 1000.0ms, it is not necessary to use this function, since the reset time
constant in use is invalid (Comparison control)
[Group9] 40
External trip input function [EXT-E]
This function can output a contact input (such as external thermal) as an alarm (AL55H) in the servo
amplifier.
The conditions for enabling the external trip function are assigned. An alarm (AL55H) is given if the EXT-E signal is valid.
Parameter Group9 Page40 EXT-E: External trip function
[Group9]42
Emergency Stop Function [EMR]
This function enables an emergency stop of the servo motor after receiving an emergency stop
signal in the servo amplifier.
The conditions for enabling the unit emergency stop signal are assigned. The unit emergency stop
function is executed when the EMR signal is valid.
Parameter Group9 Page42 EMR: Emergency stop function
8-21
8.4 Functions of Group B
[GroupB] 10
Dynamic brake operation [DBOPE]
Conditions for stop at servo OFF can be selected from Servo brake/dynamic brake/free run.
Conditions after servo motor stop can be selected from dynamic brake/free run.
Parameter GroupB Page10 DBOPE: Dynamic brake operation
Selected value
00:_Free_Free Free run operation at servo OFF :Motor free operation after motor stop.
01:_Free_DB Free run operation at servo OFF :Dynamic brake operation after motor stop.
02:_DB__Free Dynamic brake operation at servo OFF :Motor free operation after motor stop.
03:_DB__DB Dynamic brake operation at servo OFF :Dynamic brake operation after motor stop.
04:_SB__Free Servo brake operation at servo OFF :Motor free operation after motor stop
05:_SB__DB Servo brake operation at servo OFF :Dynamic brake operation after motor stop
[GroupB] 12
Forced stop operation [ACTEMR]
When forced stop is executed by power shut off while servo motor is operating (servo motor is not stopped), conditions
for servo motor stop can be selected from servo brake/dynamic brake.
Parameter GroupB Page12 ACTEMR: Forced stop operation
00:_SERVO-BRAKE When EMR is input, motor is stopped by servo brake operation.
01:_DINAMIC-BRAKE When EMR is input, motor is stopped by dynamic brake operation.
8-22
[GroupB] 13
Holding brake operation delay function [BONDLY]
This function is enabled during servo brake operation at servo OFF. It is disabled for dynamic brake
and free-run.
Servo ON signal Servo ON Servo OFF
Holding brake exc. Signal Brake excitation off Brake excitation on
Command rec. perm. Signal Comm.-rec. perm
Motor excitation signal Motor excited Motor free
If the motor excitation is turned off here, any delay until the holding brake engages
can cause a weight-drop.
Set the delay time for the holding brake operation

Parameter GroupB Page13 BONDLY: Holding brake operation delay time 0 - 1000ms
Servo ON signal Servo ON Servo OFF
Holding brake exc. Signal Brake excitation of Brake excitation on
Command-rec. perm. Signal Comm.-rec. perm
Motor excitation signal Motor excited BONDLY Motor free
A delay in switching off the motor excitation can prevent weight-drop,

as the motor is excited until the holding brake turns ON.
*The setting increment is 4 msec. If the setting is 0 msec, the command is disabled (forced zero) for 4 msec after SON.
The holding brake excitation signal can be output through the generic outputs.
Parameter GroupA Page0* OUT*: Generic output *
0A:_MBR-ON_ON During holding brake excitation signal output, the output turns ON.
0B:_MBR-ON_OFF During holding brake excitation signal output, the output turns OFF.
8-23
[GroupB] 14
Holding brake release delay function [BOFFDLY]
Servo ON signal Servo OFF Servo ON
Holding brake exc. Signal Brake excitation off
Command-rec. perm. Signal Comm.-rec. perm
Motor excitation signal Motor excited
If there is a delay between the motor start and the holding brake release, the motor operates
with the holding brake on, and will damage the brake.
・Set the delay time for the holding brake release

Parameter GroupB Page14 BOFFDLY：Holding brake release delay time 0 - 1000ms
Servo ON signal Servo OFF Servo ON
Holding brake exc. Signal Brake excitation off
Command-rec. perm. signal Comm. rec. perm
Motor excitation signal Motor excited
BOFFDLY
Damage to the holding brake due to this delay can be prevented by lengthening
the time of the command-receive permission.
*The setting increment is 4 msec. If the setting is 0 msec, the command is disabled (forced zero) for 4 msec after SON.
The holding brake excitation signal can be output through the generic outputs .
Parameter Group9 Page0* OUT*:Generic output*
0A:_MBR-ON_ON During holding brake excitation signal output, the output turns ON.
0B:_MBR-ON_OFF During holding brake excitation signal output, the output turns OFF.
[GroupB] 15
Brake operation start time [BONBGN]
If the motor does not stop within the time frame set for the brake operation start (BONBGN)when the servo is turned
OFF, the holding brake and the dynamic brake force the motor to stop. The function can be disabled by setting the
value to “0”ms. The setting increment is 4msec; therefore, set the value to 4 msec or higher.
Parameter GroupB Page15 BONBGN: Brake operation start time 0 - 65535ms
* The term “motor does not stop” (above) means that the motor velocity does not fall below the zero velocity (ZV)
range.
* The stop sequence is different depending on the condition settings of the emergency stop operation.
* When the brake operation start time(BONBGN)passes, the servo motor will be forced to stop by both the dynamic
brake and the holding brake, which can cause damage to the holding brake. Therefore, use this function only after
considering the specifications and the sequence of the device.
8-24
[GroupB] 20
Excessive deviation warning function [OFWLV]
This function gives a warning before reaching excessive deviation alarm status.
Set the deviation excessive warning value.
Parameter GroupB Page20 OFWLV: Excessive deviation warning level 1 - 65535 × 1024 pulse
For sending the signals to the upper unit, assign the signals in parameter Group 9. Output from general output.
Parameter GroupA Page0* OUT*: Generic output*
2A:_WNG-OFW_ON Output turns ON during excessive deviation warning status
2B:_WNG-OFW_OFF Output turns OFF during excessive deviation warning status
[GroupB] 21
Deviation counter overflow [OFLV]
Parameter to set the value for outputting excessive position deviation alarm. Encoder pulse is the standard irrespective
of electronic gear or command multiplication functions.
Deviation counter overflow value is set.
Parameter GroupB Page21 OFLV:Deviation counter overflow 1 - 65535 × 1024 pulse
[GroupB] 22
Overload warning function [OLWLV]
This function will send a warning before reaching overload alarm status. Set the ratio corresponding to the overload alarm value to
100%. When set to 100%, the overload warning and overload alarm are given simultaneously.
Set the overload warning level.

Parameter GroupB Page22 OLWLV:Overload warning level 20 - 100 %
For sending the signals to the upper unit, assign the signals in parameter Group 9. Output from general output terminals.
Parameter GroupA Page0* OUT*: General output*
2C:_WNG-OLW_ON Output turns ON during overload warning status
2D:_WNG-OLW_OFF Output turns OFF during overload warning status
*The overload detection process is assumed to be 75% of the rated load at the time of starting the control power supply (hot start). At
this time, if the overload warning level is set below 75%, an overload warning is given after starting the control power supply.
8-25
8.5 Functions of Group C
[GroupC] 01
Motor incremental encoder digital filter [ENFIL]
You can set the digital filer value of the incremental pulse for the selected incremental encoder. When noise is
superimposed on the incremental encoder, the pulse below the set value is removed as noise. Set this value by
considering the frequency of pulses from the selected encoder and the maximum number of rotations of the
servo motor. If the input value is greater than the encoder frequency during the peak rotation of the servo motor,
the encoder pulse is removed and the servo motor will stop.
Selection for motor incremental encoder digital filter

Parameter GroupC Page01 ENFIL: Motor incremental encoder digital filter

00:_110nsec Minimum pulse width =110nsec (Minimum phase difference=37.5nsec)
01:_220nsec Minimum pulse width =220nsec
04:_75nsec Minimum pulse width =75nsec (Minimum phase difference=37.5nsec)
Minimum pulse width
A phase
B phase
Minimum phase difference

Minimum pulse width
Z phase
8-26
[GroupC] 05
Division ratio for encoder pulse divider output [ENRAT]
The encoder signals (Phase A/ Phase B) used in the host unit can be output according to a ratio formula. When
using in the host unit’s position loop control, input the result (obtained after dividing the number of encoder
pulses) as an integer. However, when using this function to monitor the host unit, input a ratio that is as close to
the setup value as possible.
The output of Z phase is not divided.
Division ratio for the encoder pulse divider output is set.
Parameter GroupC Page05 ENRAT: Ratio of the encoder pulse divider output 1/1 - 1/8192
The following settings are possible.
When numerator is “1” : 1/1 - 1/64, 1/8192 can be set.

When numerator is “2” : 2/3 - 2/64, 2/8192 can be set.
When denominator is “8192” : 1/8192 - 8191/8192 can be set.
Frequency division 1/1 (Forward rotation)

90°
A phase
B phase
Z phase

90°
A phase
B phase
Z phase

108° 90°is not possible.(Phase relation does not change.)
A phase
B phase
Z phase
* Destabilizes for 1 sec after control power is supplied.
8-27
[GroupC] 06
Encoder Pulse Divider Output polarity selection function [PULOUTPOL]
The polarity of the encoder pulse frequency output can be selected.
Parameter GroupC Page06 PULOUTPOL: Encoder pulse frequency output polarity
Selected Contents
value
A phase signal / not reversed
00:_Type1
Z phase signal logic / High active
A phase signal / reversed
01:_Type2
Z phase signal logic / High active
A phase signal / not reversed
02:_Type3
Z phase signal logic / Low active
A phase signal / reversed
03:_Type4
Z phase signal logic / Low active
Setting 0H (Frequency division ratio 1/1: with forward rotation) Setting 3H (Frequency division ratio 1/1: with forward rotation)
Using the incremental encoder Using the incremental encoder
90° 90°
A phase
B phase
Z phase
[GroupC] 08
Absolute encoder clear function [ECLRFUNC]
Select the conditions for enabling absolute encoder clear.
Parameter Group9 Page03 ECLR: Absolute encoder clear function
When using a wire-saving absolute encoder, you can select the contents to be cleared.
Clear “Warning + multiple rotation data”

Clear only “Warning”
Parameter GroupC Page08 ECLRFUNC: Select absolute encoder clear function

00:_Status_MultiTurn Clear encoder status (abnormal / warning) and multiple rotation data [standard setting]
01:_Status Clear only encoder status (abnormal / warning)
* These conditions are applicable only to the wire-saving absolute encoder.

* Do not input this while the servo motor is rotating. Confirm that the servo motor stops before inputting this.
8-28
8.6 Functions of analog monitor
[GroupA] 11 - 13
Analog monitor output polarity [MONPOL]
Analog monitor for use is selected.
Parameter GroupA Page11 MON1: Analog monitor output 1 selection
Parameter GroupA Page12 MON2: Analog monitor output 2 selection

00 Reserved
01:_TMON_0.5V/TR Torque (thrust) monitor 0.5V/ rated torque (thrust)
02:_TCMON_0.5V/TR Torque (thrust) command monitor 0.5V / rated torque (thrust)
-1 -1
03:_VMON_0.2mV/ min velocity monitor 0.2mV/ min
-1 -1
04:_VMON_0.5mV/ min velocity monitor 0.5Mv / min
-1 -1
05:_VMON_1mV/ min velocity monitor 1mV / min
-1 -1
06:_VMON_2mV/ min velocity monitor 2mV / min
-1 -1
07:_VCMON_0.2mV/ min velocity command monitor 0.2mV / min
-1 -1
08:_VCMON_0.5mV/ min velocity command monitor 0.5mV / min
-1 -1
09:_VCMON_1mV/ min velocity command monitor 1mV / min
-1 -1
0A:_VCMON_2mV/ min velocity command monitor 2mV / min
0B:_PMON_0.1mV/P position deviation counter monitor 0.1mV / Pulse
0C:_PMON_1mV/P position deviation counter monitor 1mV / Pulse
0D:_PMON_10mV/P position deviation counter monitor 10mV / Pulse
0E:_PMON_20mV/P position deviation counter monitor 20mV / Pulse
0F:_PMON_50mV/P position deviation counter monitor 50mV /Pulse
10:_FMON_2mV/kP/s position command pulse monitor(position command pulse input frequency)2mV/kPulse/s
11:_FMON_10mV/kP/s position command pulse monitor(position command pulse input frequency)10mV/kPulse/s
12:_TLMON_EST_0.5V/TR Load torque (thrust) monitor (estimated value) 0.5V/ rated torque (thrust)
13:_Sine-U U phase electric angle Sin 2Vpeak
14:_VBUS_0.5V/DC100V Main circuit DC voltage 0.5V / DC100V
15:_VBUS_0.5V/DC10V Main circuit DC voltage 0.5V / DC10V
Select this when polarity is to be changed.

Parameter GroupA Page12 MONPOL: Analog monitor output polarity

MON1: Positive voltage output in forward rotation; output pos and neg voltage.
00:_MON1+_MON2+
MON1: Negative voltage output in forward rotation; output pos and neg voltage.
01:_MON1-_MON2+
02:_MON1+_MON2-
03:_MON1-_MON2-
MON1: Positive voltage output together in forward and reverse rotation
04:_MON1ABS_MON2+
05:_MON1ABS_MON2- MON2: Negative voltage output in forward rotation; output pos and neg voltage.
06:_MON1+_MON2ABS
07:_MON1-_MON2ABS
08:_MON1ABS_MON2ABS
8-29
8-30
9．Maintenance
9. Maintenance
9. 1 During an Alarm ････････････････ 9-2

9. 1. 1 Alarm Reset ････････････････ 9-2
9. 1. 2 Alarm/Warning List ････････････････ 9-2
9. 2 Troubleshooting the Alarm ････････････････ 9-6
9. 3 Corrective actions for Operational Problems ････････････････ 9-28
9. 4 Maintenance ････････････････ 9-29
9. 5 Parts Overhaul ････････････････ 9-30
9-1
9．Maintenance
9. 1 During an Alarm
When an alarm is issued in the amplifier unit, the display of “ALM” on the front LED (red) turns ON and the 7 segment
LED shows the alarm code. If the alarm occurs in the shaft from 1 - 3, alarm signal is output from CN1A pin 25, and if it
occurs in the shaft from 4 - 6, alarm signal is output from CN1B pin 25.
When an alarm is issued in the power supply unit, the alarm code is shown on the 7 segment LED, and the alarm signal
is output from each pin 25 of CN1A and CN1B.
When an alarm rings, check the contents per the Alarm List (Section 9.1) eliminate the cause per the Corrective Action
List (Section 9.2) and resume operations after safety has been confirmed. Please note that for some alarms, it is very
dangerous to resume operations without eliminating the causes.
9. 1.1 Alarm Reset

See the followings for resetting the alarm.
1. Clear the alarm by enabling the alarm resetting function from generic input which has allocation of
alarm reset function.
2. Clear the alarm by resetting it via the R-SETUP setup software.
3. Cut off the control power and eliminate the alarm cause. Then turn ON the power again.
Always confirm that the main circuit power supply is turned off, and then reactivate.
4. Clear the alarm using the test run mode of the digital operator.
9. 1. 2 Alarm/Warning List
・ Detection operations: After alarm, “DB” will slow down and stop the servo motor.
・ Detection operations: “SB” slows down and stops the servo motor as per the sequence current limitation value.
However, when dynamic brake is selected in forced stop operation selection, the servo motor will slow down and
stop by dynamic brake operations
・ Detection operations: “-” is an alarm detected only in the initial process after turning ON the control power.
・ Alarm clear: Alarms represented by an “×” signify that unless the control power supply is disconnected and
reconnected, alarm clearing is not possible.
9-2
9．Maintenance
Table9-1 Alarm List (1/2)
Detection Detection Alarm
Alarm code Alarm title Alarm contents
unit operations clear
• Over current of drive module
Power device abnormality
21H • Drive power supply error AMP DB Yes
related to drive
(Over current)
Abnormality
• Overheating of drive module

22H Electric current abnormality 0 • Abnormality of current detection value AMP DB Yes
23H Electric current abnormality 1 • Abnormality of current detection circuit AMP DB Yes
• Abnormality in communication with
24H Electric current abnormality 2 AMP DB Yes
current detection circuit
28H Servo ON error • Servo ON is input during motor rotation AMP DB Yes
41H Overload 1 • Excessive effective torque AMP SB Yes
Abnormality related to load
42H Overload 2 • Stall overload AMP DB Yes

43H Regeneration abnormality • Regeneration load ratio exorbitance PS Note9) Yes
• Overheating detection of amplifier
51H Amplifier overheating AMP SB Yes
ambient temperature
• Overheating is detected at in-rush
52H In-rush prevention resistor overheating PS SB Yes
prevention resistor
• Overheating detection of internal
54H Internal overheating PS Note9) Yes
regeneration resistor
• Overheating detection of external
55H External overheating AMP Note9) Yes
regenerative resistor
56H Power element overheating • Overheating detection of power element AMP DB Yes
61H Excess voltage • DC excessive voltage of main circuit PS Note9) Yes
Abnormality in
power source
62H Main circuit under voltage Note3) • Main circuit low voltage PS Note9) Yes
• 1 phase of the 3 phase main circuit power
63H Main power supply line drop Note3) PS Note9) Yes
supply disconnected
Control power supply under voltage Yes
71H • Control power supply low voltage AMP/PS DB Note9)
Note1) Note2) Note5) Note4)
• Incremental encoder (A, B, Z) signal line
Encoder A phase/B phase pulse signal
81H break AMP DB No
abnormality 1
• Power supply break
82H Absolute signal wire breaks • Absolute encoder (PS) signal line break AMP DB Yes
Abnormality related to encoder wiring
Abnormality in communication between

84H • Encoder serial signal time out AMP DB Yes
encoder and amplifier
• Filed to read CS data of incremental
encoder
85H Encoder initialization abnormality • Abnormality in initial process of absolute AMP - No
encoder
• Cable break
87H CS disconnection • CS signal line break AMP DB No
• Mismatch of transmission command and
91H Encoder command abnormality AMP DB Yes
reception command
• Start, Stop bit abnormality
92H Encoder FORM abnormality AMP DB Yes
• Insufficient data length
・• Data cannot be received during the
93H Encoder SYNC abnormality prescribed time after the command is AMP DB Yes
sent.
• CRC generated from the received data
94H Encoder CRC abnormality AMP DB Yes
and sent CRC does not match.
9-3
9．Maintenance
Table 9-1 Alarm list (2/2)
Detection Detection Alarm
Alarm code Alarm name Alarm contents
unit operation clear
A1H Encoder abnormality 1 • Break down of encoder internal device AMP DB Note6)
A2H Absolute Encoder battery abnormality • Battery low voltage AMP DB Note6)
A3H Encoder overheating • Motor built-in encoder overheating AMP DB Note6)
• Generation error of multi-rotation data
A5H Encoder abnormality 3 • Abnormality in operations of temperature AMP DB Note6)
encoder
Abnormality in encoder main body
• Encoder internal EEPROM data is not set

A6H Encoder abnormality 4 AMP DB Note6)
• Overflow of multi-rotation data
• Resolver abnormality
• Light receiving abnormality in encoder
• Resolver disconnection
• Light receiving abnormality in encoder
A9H Encoder failure • Encoder failure AMP DB Note6)
B2H Encoder abnormality 2 • Position data incorrect AMP DB Note6)
Absolute encoder rotations counter • Detection of incorrect multiple rotations
B3H AMP DB Note6)
abnormality coefficient
Absolute encoder 1 rotation counter
B4H • Detection of incorrect 1 rotation coefficient AMP DB Note6)
abnormality
Exceeds the permitted speed while • Exceeds the permitted speed of motor rotation
B5H AMP DB Note6)
turning ON the absolute encoder power speed when the power is turned ON
B6H Internal memory error of encoder • Access error of encoder internal EEPROM AMP DB Note6)
• Exceeds the permitted speed for motor
B7H Acceleration error AMP DB Note6)
rotation
• Motor rotation speed is 120% more than
C1H Over speed AMP DB Yes
Control system abnormality
the highest speed limit

• Power command and acceleration codes
C2H Speed control abnormality AMP DB Yes
are mismatched.
C3H Speed feedback abnormality • Motor power disconnection Note8) AMP DB Yes
• Position deviation counter exceeds the
D1H Excessive position deviation AMP DB Yes
setup value.
Position command pulse frequency • Frequency of entered position command
D2H AMP SB Yes
abnormality 1 pulse is excessive.
Position command pulse frequency • Overflow of position command low-pass
D3H AMP SB Yes
abnormality 2 filter.
DFH Test mode end Note7) • Detection in “Test mode end” status. AMP DB Yes
E1H EEPROM abnormality • Abnormality of amplifier with built-in EEPROM. AMP/PS DB/ Note9) No
E2H EEPROM check sum abnormality Note9) • Error in check sum of EEPROM (entire area). AMP/PS - No
E3H Internal RAM abnormality • Access error in CPU built-in RAM. AMP/PS - No
Control system/memory system
E4H Process abnormality in CPU - ASIC • Access error in CPU - ASIC. AMP/PS - No
• Detection when non-corresponding or
E5H Parameter abnormality 1 undefined amplifier, motor, encoder code AMP/PS - No
are specified.
abnormality
• Abnormality in combining motor, encoder,

E6H Parameter abnormality 2 and/or amplifier code set from system AMP - No
parameter.
• Detected when the connected amplifier
E8H Parameter abnormality 3 axis number has been changed since the AMP - No
last turn ON of the control power supply.
F1H Task process abnormality • Abnormality in CPU interruption process. AMP DB No
• When initialization process does not end
F2H Initial time out AMP/PS - No
within the predetermined time.
F5H Internal processing error • Processing error inside the servo system AMP DB Yes
Note1) Normal operation is possible up to AC power supply 1.5 cycle pause.

Note2) Detection of control source abnormality or servo ready OFF is operated in 1.5 ~ 2 cycle pause.
Detection of control power abnormality and servo ready OFF can be delayed by setting larger value at PFDDLY
(GroupB Page 16).
Note3) When the main power voltage increases or decreases with a gentle slope, or when the voltage pauses
momentarily, main circuit short voltage or main power phase loss may be detected.
Note4) When the control power +5V drops due to momentary pause, the alarm cannot be cleared even ifcontrol power error is
detected after +5V does not drop thoroughly and returns. In this case, turn off the control power supply once.
Note5) When the control power pauses lasts long, it is regarded as a power shut-off and turning-on again, and the detected
control power error will not be recorded in the alarm history.
(If the pause lasts longer than 1 second, it is surely regarded as a power shut-off.)
Note6) Encoder clear may be needed in some cases due to faulty encoder main body.
Note7) An alarm that occurs at test mode termination is not recorded in the alarm history.
Note8) When the motor drops fast simultaneously with servo ON, motor power line disconnection may not be detected.
Note9) The setting of the amplifier unit determines stop operation.
Note10) Supporting function of alarm-reset depends on each of alarms activated.
9-4
9．Maintenance
Table 9-2 Warning list
Warning title Warning contents
Overload warning • When the effective torque exceeds the set torque.
Load system Regeneration overload warning • In case of overload of regeneration resistor.
• Ambient temperature of the amplifier is out of the
Amplifier overheating warning
set range.
Power supply system Main circuit is charging • Voltage of main circuit is above DC105V.
Encoder system Absolute encoder battery warning • Battery voltage is below 3.0V.
• While restricting the torque command by torque
Restricting torque command
restriction value.
• While restricting the speed command by speed limit
Control system Restricting speed command
value.
• When position deviation warning setup value is out
Excessive position deviation
of the set limits.
・ While warning is being detected, normal operation is possible. However, if the operation goes on, there is
a possibility that an alarm may occur. Before an alarm rings, customers are requested to review the
operational condition.
・ A warning is not latched at the time of detection. Without warning, it is automatically released.
・ Since the over load detection operation is estimated at 75% (Hot Start) when control power turns on, if the
overload warning level (GroupB Page22) is set to 75% or lower, overload warning may be detected at
control power turn-on.
9-5
9．Maintenance
9. 2 Troubleshooting when alarm occurs
When an alarm rings, take appropriate measures for each alarm according to the corrective actions as given below.
1. An “{” represents the cause number under “Status when the alarm occurs” in the
charts.
2. Take corrective actions for items where “{” is marked.
3. If the problem is not resolved, next take corrective actions for items where “U” is
marked.
4. If the problem persists, contact your dealer or sales office.
While investigating the cause of the problem, confirm the safety of the surrounding environment, including
the servo amplifier, motor and manufacturing system. Failure to ensure the safety could lead to dangerous
situation.
During troubleshooting, first study the conditions at the time of alarm occurrence to focus on the areas
relative to the malfunction, which will shorten the time needed for solution.
When replacing the servo motor and amplifier, confirm that the harmful condition has been eliminated, in
order to avoid repeat damage to the system.
If the problem is not resolved after referring to this explanation, contact your dealer or sales office for
assistance. Please refer to the back cover of this document for contact information.
9-6
9．Maintenance
Abnormality related to drive CODE: 21,22,23,24,28
● Alarm code 21H (Power device abnormality / Over current)
Cause
Status at the time of alarm
1 2 3 4
Issued when control power is turned ON. U { U
Issued at servo ON input. { { {
Issued while starting and stopping the motor. U U U
Issued after extended operating time. U U U {
Corrective actions
Cause Investigation and corrective actions
• U/ V/ W phase of the amplifier is short circuited due • Check the wiring between the amplifier and motor, and
1 to the wiring in amplifier and motor. confirm that there is no error. If some error is detected,
• U/ V/ W phases are grounded in the earth. modify or change the siring.
• Short circuit or fault in U/ V/ W phase on servo motor
2 • Replace the servo motor.
side.
• Defect in amplifier unit inner circuit.
3 • Replace the amplifier unit.
• Defect in power device.
• Confirm that the cooling fan motor for the servo amplifier is
working. If it is not working, replace the servo amplifier.
• Confirm that the temperature of the control panel (ambient
4 • Overheat is detected in power device(IPM). temperature of the servo amplifier) does not exceed 55°C. If
it exceeds 55°C, check the installation method of the servo
amplifier, and confirm that the cooling temperature of the
control panel is set to below 55°C.
● Alarm code 22H (Electric current abnormality 0)
Cause
1 2
Issued when the control power is turned ON. { U
Issued after the power is turned ON. U {
corrective actions
• Defect in amplifier unit inner circuit.
• Defect in power device.
• Confirm that the proper codes (per the specified motor
2 Servo amplifier and motor are not combined properly. codes) have been used for the servo motor.
It not, replace the servo motor.

Cause
1 2
Issued when the control power is turned ON. {
Issued during operation. U {
Corrective actions
1 • Defect in amplifier unit inner circuit. • Replace the amplifier unit.
• Confirm proper grounding of the amplifier.
2 • Malfunction due to noise.
• Add ferrite core or similar countermeasures against noise.
9-7
9．Maintenance
● Alarm code 28H (Servo ON error)
Cause
1 2
Issued when servo ON is input. U {
Corrective actions
2 • Servo ON is input during motor rotation. • Input servo ON while motor stops.
9-8
9．Maintenance
Abnormality related to load CODE: 41, 42, 43,51,52,54.55, 56
● Alarm code 41H (Over load 1)
Cause
1 2 3 4 5 6 7 8 9 10
Issued when control power is turned ON. {
After command input, issued without rotating the motor. { { { { {
After command input, issued after extended operating time. { { { U { {
Corrective actions
• Defect in amplifier unit inner circuit or power
element peripherals.
2 • Defect in encoder circuit of servo motor. • Replace the servo motor.
• Monitor the motor-generated torque in the effective torque estimated
value (Trms), and confirm that the effective torque exceeds the rated
torque.
3 • Effective torque exceeds the rated torque. • (Or,) calculate the effective torque of the motor from its loading and
operating conditions.
-> If the effective torque is excessive, review the operating or
loading, or replace it with large capacity motor.
• Check if the motor in use matches the motor type setting, and correct
4 • Defect in motor-amplifier combination.
the setting if it is improper.
• Check that the wiring and voltage of the holding brake are
5 • Holding brake of servo motor does not release. acceptable. If not, repair it.
->If the above are OK, replace the servo motor.
• Wirings of U・V・W phase between servo amplifier
6 • Check the wiring conditions and restore them if they are improper.
and motor do not match.
• One or all connections of U/ V/ W phase wiring of
servo amplifier / motor is disconnected.
8 • Machines collided. • Check the operating conditions and the limit switch.
• Encoder pulse number setting does not match with
9 • Match the encoder pulse number with the motor.
the motor.
10 • Voltage of main power supply input (R, S, T) is low. • Review the input voltage of main power supply.
While checking the alarm caused by conditions in alarm #3 (above), repetition of power OFF->ON could cause
burn. Once the cause of #3 has been eliminated, have sufficient time (30 minutes or longer) for cooling after
power turn-off, then resume operation.
9-9
9．Maintenance
● Alarm code 42H (Over load 2)
Cause
1 2 3 4 5 6 7 8 9
After command input, issued without motor rotation. { { { { {
After command input, issued after extended operating time. { { { U {
Corrective actions
• Defect in amplifier unit inner circuit or power
element peripherals.
2 • Defect in encoder circuit of servo motor. • Replace the servo motor.
• Check if the torque command exceeds twice the rated torque using
torque command monitor (TCMON).
-1
• Rotation is lower than 50m , and torque command • Calculate the effective torque of the motor from its loading and
3
exceeds twice the rated torque. operating conditions.
-> If it exceeds the effective torque, review the operating or loading
conditions, or replace it with larger capacity motor.
• Check if the motor in use matches the motor type setting, and correct
4 • Defect in motor-amplifier combination.
the setting if it is improper.
• Check that the wiring and voltage of the holding brake are
5 • Holding brake of servo motor does not release. acceptable. If not, repair it.
-> If the above are OK, replace the servo motor.
• Wirings of U/ V/ W phase between servo amplifier
and motor do not match.
• One or all connections of U/ V/ W phase wiring of
servo amplifier / motor is disconnected.
8 • Machines collided. • Check the operating conditions and the limit switch.
• Encoder pulse number setting does not match with
9 • Match the encoder pulse number with the motor.
the motor.
9-10
9．Maintenance
● Alarm code 43H (Regeneration abnormality)
Cause
1 2 3 4 5 6 7 8
Issued when power supply of main circuit is turned ON. { { {
Issued during operation. { { { { { U
Corrective actions
• Check the load inertia and operating pattern.
• Exceeded the permitted value of regenerating power in • Use an external regeneration resistor.
1 built-in regeneration resistance specifications. • Set the load inertia within the specified range.
• Excessive load inertia or tact time is short. • Increase the deceleration time.
• Increase the tact time.
• Regeneration resistor wiring conflicts with the
2 • Check the wiring and replace it if it is incorrect.
specifications of built-in regeneration resistor.
• Regeneration resistor wiring conflicts with the
3 • Check the wiring and replace it if it is incorrect.
specifications of external regeneration resistor.
• For built-in regeneration resistor specifications, replace the
servo amplifier.
4 • Regeneration resistor is disconnected.
• For external regeneration resistor specifications, replace the
regeneration resistor.
• Resistance value of external regeneration resistor is • Replace the current resistance value with a value matching
5
excessive. the specifications.
6 • Input power supply voltage exceeds the specified range. • Check the input power supply voltage level.
7 • Defect in power supply unit inner circuit. • Replace the power supply unit.
• When external regeneration resistance “02” is selected for
8 system parameter Page0B and external regeneration • Install the external regeneration resistor.
resistor is not installed.
If regeneration resistance (either internal or external) is not actually connected, a regeneration abnormality is
detected. Since a regeneration abnormality is not detected when regeneration resistance is connected but not
selected in the setup, there is a danger that the amplifier or circuit will burn out or incur damage.
9-11
9．Maintenance
● Alarm code 51H (Amplifier temperature abnormality)
Cause
1 2
Issued when power supply control is turned ON. U {
Corrective actions
1 • Defect in internal circuit of amplifier unit. • Replace the amplifier unit.
• Ambient temperature of amplifier unit is out of • Confirm that the cooling method maintains the temperature
2
specified range. of control panel between 0 - 55°C.
Abnormalities are detected in the internal temperature of the amplifier regardless of its ambient temperature.
When an amplifier ambient temperature warning is issued, please be sure to check the cooling method of the
control panel.
● Alarm code 52H (In-rush prevention resistor overheating)
Cause
1 2 3
Issued when power supply is turned ON. {
Issued when power supply of main circuit is turned ON. {
Issued during operation. {
Corrective actions
1 • Defect in internal circuit of power supply unit. • Replace the power supply unit.
• Power supply is turned ON and OFF too
2 • Reduce the frequency of turning the supply power ON/OFF.
frequently.
• If the servo amplifier has a cooling fan, check if it is properly
working. If not, replace the servo amplifier.
• Check the temperature inside the control panel (ambient
• Ambient temperature of amplifier unit is out of
3 temperature of the servo amplifier); If it exceeds 55°C,
specified range.
review the installing method of the servo amplifier and
cooling method of the control panel to make the temperature
lower than 55°C.
● Alarm code 54H (Internal overheating)
Cause
1 2 3
Issued during operation. U { {
Corrective actions
• Check the built-in regeneration resistor absorption power.
• Check the operating conditions, so that regenerating
2 • Regeneration power is excessive.
power is within permitted absorption power.
• Use an external regeneration resistor.
3 • Improper wiring of built-in regeneration resistor. • Check improper condition and repair if necessary.
Set “Built-in regenerative resistor” in the system parameter Page 0B [Regenerative resistor type] when
using one in the power unit. The overheat protection of the built-in regenerative resistor is monitored per this
setting. When “Regenerative resistor not connected” or “External regenerative resistor” is selected, overheating of
the built-in regenerative resistor will not be detected, which may lead to burn or damage to the built-in
regenerative resistor.
9-12
9．Maintenance
● Alarm code 55H (External error)
When output terminals for regenerative resistor thermal/host device are not connected.
Cause
1 2
Issued when power supply control is turned ON. { U
Corrective actions
• “Enable” is set at condition setting of external trip
1 • Set 00:_Always_Disable at Group9 40, when not using.
function.
• Defect in internal circuit of power supply unit and
2 • Replace the power supply unit/amplifier unit.
amplifier unit.
When external regeneration thermal is connected.

Cause
1 2 3
Issued after extended operation time. { U
Corrective actions
1 • Incorrect wiring of external regenerative resistor. • Check and repair the wiring conditions.
• External thermal terminal • Review the operation conditions.
2
(external regenerative resistor) is operated. • Make the regenerative resistor capacity greater.
3 • Replace the power supply unit/amplifier unit.
amplifier unit.
When output terminal of host device is connected.

Eliminate the alarm cause inside the host device.
● Alarm code 56H (Power element overheating)
Cause
1 2
Issued after extended operation time. U {
Corrective actions
• When there is a cooling fan motor for servo amplifier,
check it if it is working. If not, replace the fan motor.
• Check the temperature inside the control panel (ambient
• Power element over heating detection
2 temperature of the servo amplifier); If it exceeds 55°C,
(IPM) works.
review the installing method of the servo amplifier and
cooling method of the control panel to decrease the
temperature lower than 55°C.
9-13
9．Maintenance
Abnormality in power source CODE: 61, 62, 63, 71,
● Alarm code 61H (Over voltage)
Cause
1 2 3 4
Issued when power supply control is turned ON. {
Issued when power supply of main circuit is turned ON. { {
Issued at the time of motor start/stop. U { {
Corrective actions
1 • Defect in power supply unit inner circuit. • Replace the power supply unit.
• The power supply voltage of main circuit exceeds • Reduce the power supply voltage to within the specified
2
the rated value. range.
3 • Excessive load inertia. • Reduce the load inertia to within the specified range.
• If a built-in regeneration resistor is used, check the
connection of RB1, RB2.
• Built-in regeneration circuit is not functioning.
• If an external regeneration resistor is used, check the
4 • External regeneration resistor is not connected in
wiring and resistance value.
“RB1-RB2”.
• Replace the power supply unit if any abnormality remains
even after the above measures have been taken.
● Alarm code 62H (Main circuit under voltage)
Cause
1 2 3 4 5
Issued after power supply of main circuit is turned ON. { {
Issued during operation, alarm resetting is possible. U {
Issued during operation, alarm resetting is not possible. {
Corrective actions
• Power supply voltage is below the specified • Check the power supply and set it within the specified
1
range. range.
2 • Rectifier of the main circuit is broken. • Replace the power supply unit.
• Check the power supply and confirm that there is not
3 • Input voltage is reduced and/or blinking.
blinking or low voltage.
• Check the main circuit voltage. Confirm that there is not
• Low voltage outside the specified range is
4 external power supply to R/ S/ T when the main circuit is
supplied to the main circuit (R/ S/ T).
OFF.
5 • Defect in internal circuit of the power supply unit. • Replace the power supply unit.
9-14
9．Maintenance
● Alarm code 63H (Main power supply line-drop)
Cause
1 2 3
Issued when power supply control is turned ON. {
Issued when power supply of main circuit is turned ON. { {
Issued during motor operations. U
Alarm occurs in spite of the specifications for single phase power input. {
Corrective actions
1 • One out of 3 phases (R/ S/ T) is not inserted. • Check the wiring and repair if necessary.
• Check the power supply unit model number and its
• Specification for the power supply unit is not for specifications, and replace it with the one of single phase
3
single phase. power supply.
• Edit the parameter to make it single phase specification.
● Alarm code 71H (Under voltage of control power supply)
Cause
1 2 3
Corrective actions
• Defect in internal circuit of the power supply unit
1 • Replace the power supply unit and amplifier unit.
and amplifier unit.
• Confirm that the power supply is set within the specified
2 • Power supply voltage is below the specified range.
range.
• Confirm that the power supply is neither stopped nor
3 • Input voltage is fluctuating or stopped.
reduced.
9-15
9．Maintenance
Abnormality in encoder wiring CODE: 81, 82, 84, 85, 87, 91, 92, 93, 94
● Alarm code 81H (Pulse signal abnormality 1 A phase/B phase)

● Alarm code 82H (Disconnection of absolute signal)
● Alarm code 84H (Error in communication between encoder and amplifier)
● Alarm code 87H (CS disconnection)
Cause
1 2 3 4 5
Issued when power supply control is turned ON. { { { { {
Issued after servo is turned ON. { {
Issued during operation. U { {
Corrective actions
For encoder wiring;
• Improper wiring
• Check the wiring and repair any abnormality.
• Connector is removed.
1 • Confirm that the encoder power supply voltage of the
• Loose connection.
motor is above 4.75V. If it is below 4.75V, increase it.
• Encoder cable is too long.
• Encoder cable is too thin.
2 • Wrong amplifier encoder type is selected. • Select the correct encoder type.
• Motor encoder that does not match with the • Replace with the servo motor equipped with proper
3
amplifier encoder type is attached. encoder.
5 • Defect in servo motor encoder. • Replace the servo motor.
● Alarm code 85H (Abnormality in initial process of encoder)
Cause
1 2 3 4 5
Issued when power supply control is turned ON. { { { { U
Corrective actions
For encoder wiring:
• Improper wiring
• Check the wiring and repair any abnormality.
• Connector is removed.
1 • Confirm that the encoder power supply voltage of the
• Loose connection
motor is above 4.75V. If it is below 4.75V, increase it.
• Encoder cable is too long.
• Encoder cable is too thin.
2 • Wrong amplifier encoder type is selected. • Select the correct encoder type.
4 • Defect in servo motor encoder. • Replace the servo motor.
• Since the motor was rotating at 300min-1 or above
• Turn ON the power supply again while the motor stops.
5 when the power supply turned ON, initial setting of
(only when encoder PA035C is used.)
position data was impossible.
9-16
9．Maintenance
● Alarm code 91H (Encoder command abnormality)
● Alarm code 92H (Encoder FORM abnormality)
● Alarm code 93H (Encoder SYNC abnormality)
● Alarm code 94H (Encoder CRC abnormality)
These abnormalities are detected in the internal part of the absolute position detector for
the start-stop synchronization system. (PA035C, RA062C).
Cause
1 2 3
Issued when control power supply is turned ON. U { {
Corrective actions
1 • Defect in encoder. • Replace the servo motor.
2 • Malfunction due to noise. • Check the shielding of the encoder cable.
3 • Abnormality in encoder wiring. • Check wiring between the encoder and amplifier.
9-17
9．Maintenance
Abnormality in encoder main body CODE: A1,A2,A3,A5,A6,A7,A8,
A9, B2,B3,B4,B5,B6,B7
● Alarm code A1 (Abnormality of encoder internal parts)
Cause
1
Issued when control power supply is turned ON. U
Issued during motor operation. {
Corrective actions
• Turn the power supply ON again. If not restored, replace the
1 • Defect in encoder internal circuit.
motor.
● Alarm code A2H (Battery abnormality of absolute encoder)
Cause
1 2
Issued when control power supply is turned ON. { {
Issued during operation. {
Corrective actions
• Check the battery connection on the front cover of
1 • Loose connection of battery cable.
amplifier.
2 • Low voltage of battery • Confirm the battery voltage.
● Alarm code A3H (Encoder overheating)
These abnormalities are detected in the internal part of the absolute position detector for the start-stop synchronization system.
Cause
1 2 3
Issued when control power supply is turned ON. U {
Issued while stopping the motor. U {
Issued during motor operations. { {
Corrective actions
1 • Defect in internal circuit of encoder. • Replace the servo motor.
• Motor is not generating heat, but encoder ambient • Confirm that the cooling method keeps the encoder
2
temperature is high. ambient temperature below 80°C.
3 • Motor is overheated. • Confirm the cooling procedure of the servo motor.
● Alarm code A5 (Encoder abnormality 3)
These abnormalities are detected in the internal part of the absolute encoder (ABS-E).
Cause
1 2 3
Issued when control power supply is turned ON. U { {
Issued during motor operations. U {
Corrective actions
• Turn ON the power supply again. If not restored, replace the
1 • Defect in internal circuit of encoder.
motor.
• Add ferrite core or similar countermeasure against noise.
• Number of rotations exceeds the permitted
3 • Turn ON the power supply again, while motor is stopped.
number of rotations.
9-18
9．Maintenance
Cause
1 2 3
Issued during motor operations. { {
Corrective actions
motor.
• Review operation patterns and avoid continuous one-way
3 • Multi-rotation data overflowed.
operation.

● Alarm code A9 (Encoder failure)
Cause
1 2
Issued during motor operations. U {
Corrective actions
motor.
9-19
9．Maintenance
● Alarm code B2H (Encoder abnormality 2)
When abnormality is detected in the internal part of the absolute position detector (RA062M) of the Manchester system.
Cause
1 2
Corrective actions
• Turn ON the power supply again. If not restored, replace
the motor.
● Alarm code B3H (Absolute encoder multi-rotation counter abnormality)

● Alarm code B4H (Absolute encoder 1 rotation counter abnormality)
● Alarm code B6H (Encoder memory abnormality)
When abnormalities are detected in the internal part of the absolute position detector for the start-stop synchronization system.
Cause
1 2
Corrective actions
1 • Defect in internal circuit of encoder. • Replace the servo motor.
● Alarm code B5H (Over speed, multi rotation creation error)
Cause
1 2 3
Issued when control power supply is turned ON. { U
Issued while the motor stops. { {
Issued while rotating the motor. U { {
Corrective actions
1 • Detect in internal circuit of encoder.
motor.
• Number of motor rotations exceeds the permitted • Check the operation pattern and reduce the maximum
3
speed. number of rotations.
9-20
9．Maintenance
● Alarm code B7H (Acceleration abnormality)
Cause
1 2 3
Issued while stopping the motor. { {
Issued while rotating the motor. U { {
Corrective actions
1 • Detect in internal circuit of encoder.
motor.
• Number of motor rotations exceeds the permitted • Check the operation pattern and reduce the maximum
3
speed. number of rotations.
9-21
9．Maintenance
Control system abnormality CODE: C1,C2,C3,C4,D1,D2,D3,DF
● Alarm code C1H (Over speed)
Cause
1 2 3 4
Issued if command is entered after Servo ON. U {
Issued when the motor is started. { {
Issued other than operating and starting the motor. { {
Corrective actions
1 • Detect in amplifier unit inner circuit. • Replace the amplifier unit.
2 • Detect in the encoder of servo motor. • Replace the servo motor.
• Monitor speed with the analog monitor.
-> Adjust the servo parameters if overshoot is excessive.
3 • Excessive overshoot while starting. -> Simplify the acceleration and deceleration command
pattern.
-> Reduce the load inertia.
• Wiring of U/V/W –phase between servo amplifier
4 • Check the wiring and repair any irregularities.
and motor does not match.
● Alarm code C2H (Speed control abnormality)
Cause
1 2 3 4 5
Issued when control power supply is turned ON. {
Issued due to input of servo ON. { {
Issued when command is entered. { { {
Issued while starting and stopping the motor. {
Corrective actions
• Wiring of U/V/W –phase between servo amplifier
and motor does not match.
• Wiring of A, B phase of INC-E and ABS-E encoder
connection is incorrect.
• Adjust the servo parameters so that servo motor will not
3 • Motor is vibrating (oscillating).
vibrate (oscillate).
• Monitor the speed with the analog monitor.
• Adjust the servo parameters to reduce overshoot and
4 • Excessive overshoot and undershoot. undershoot.
• Increase acceleration and deceleration command time.
Mask the alarm.
5 • Abnormality in amplifier unit inner circuit. • Replace the amplifier unit.
For the speed control abnormality alarm, an alarm may occur while starting and stopping when load inertia
is excessive. For this reason, in the gravitational axis applications, “Do not detect.” is selected as
the standard setting. Contact your distributor or sales office if detection is necessary.
9-22
9．Maintenance
● Alarm code C3H (Speed feedback abnormality)
Cause
1 2 3
Issued when command is entered. { U {
Corrective actions
• Confirm that the power line is properly connected.
1 • Motor is not rotating.
• Replace the servo motor.
• Adjust the servo parameters so that servo motor will not
3 • The motor is vibrating (oscillating).
vibrate (oscillate).
● A larm code D1H（Excessive position deviation）
Cause
St a t u s a t t h e t i m e o f a l a r m
1 2 3 4 5 6 7 8 9 10 11 12
Issued when control power supply is turned
{
ON.
Issued while servo ON and stopping. { {
Issued immediately after entering the
{ U { { { { U { U
command.
Issued during starting or stopping at high
{ { { { { U {
speed.
Issued during the operations by lengthy
{ { U U
command.
Corrective actions
• Position command frequency is high or acceleration
1 • Correct the position command of the controller.
and deceleration time is short.
2 • Excessive load inertia or low motor capacity. • Correct the load condition or increase the motor capacity.
• Check the wiring and repair any abnormalities. If specified
3 • Holding brake is not released.
voltage is applied, replace the servo motor.
• Motor is mechanically locked or machine is
4 • Check the machinery system.
colliding.
• One or all phases of U/V/W-phase of the servo
5 • Check and repair the wiring connections.
amplifier and motor have been disconnected.
• Motor is being rotated by an external force (Gravity,
6 • Check the load, and/or increase the motor capacity.
etc.) during stopping (positioning completion).
• Valid current limit command is entered by the
controller, and the current limit setting is reduced. • Increase the current limit value or disable the current limit.
7
• Number of encoder pulses does not match the • Match the number of motor encoder pulses.
motor.
• Setting of servo parameters • Check the servo parameter settings. (Increase the position
8
(position loop gain, etc.) are not appropriate. loop gain, etc.)
9 • Excessive deviation setting value is reduced. • Set a greater value for excessive deviation.
11 • Servo motor encoder is detective. • Replace the servo motor.
12 • Power supply voltage is low. • Check the power supply voltage.
9-23
9．Maintenance
● Alarm code D2H(Position command pulse frequency abnormality1)
Cause
1
Issued after entering the position command pulse. {
Corrective actions
• Command exceeding the digital filter set value is • Decrease the command pulse input frequency.
1
input in the command pulse. • Increase the digital filter frequency.
● Alarm code D3H(Position command pulse frequency abnormality2)
Cause
1 2
Issued after entering the position command pulse. { {
Corrective actions
1 • Command pulse input frequency is too high. • Decrease the frequency of command pulse input.
2 • Electric gear set value is excessive. • Decrease the electric gear set value.
● Alarm code DFH(Test mode end)
Cause
1
Issued after executing test mode. ○
Corrective actions
• Reset the alarm and reactivate. (This is made to be an
1 • This is a normal operation. error, considering that the deviation remains in the
controller side after test mode.)
9-24
9．Maintenance
Control system / memory system abnormality CODE: E1,E2,E3,E4,E5,E6,E8,F1,F2,F5
● Alarm code E1H (EEPROM abnormality)
Cause
1 2
Issued during computer interface operation. {
Corrective actions
• Correct value was not read by CPU by nonvolatile
memory of built-in servo amplifier.
• Defect in inner circuit of power supply unit and
amplifier unit.
● Alarm code E2H (Abnormality in the internal data of EEPROM)

Cause
1 2
Issued when control power supply is turned ON. U {
Corrective actions
• Correct value was not read by CPU by nonvolatile
1 memory built-in the power supply unit and • Replace the power supply unit and amplifier unit.
amplifier unit.
• Change the optional parameters, turn ON the power
• Failed to write into the nonvolatile memory during supply again, and confirm that alarm has been cleared.
2
last power supply cutoff. -> If alarm remains, replace the power supply unit and
amplifier unit.
● Alarm code E3H (Internal RAM abnormality)

● Alarm code E4H (Abnormality in process between CPU and ASIC)
Cause
1
Corrective actions
1 • Replace the power supply unit and servo amplifier unit.
amplifier unit.
● Alarm code E5H (Parameter error1)

Cause
1 2
Issued when control power is turned ON. { {
Issued after changing any of system parameters. {
Corrective actions
• Check the model number of power supply unit and servo
amplifier unit.
• Selected value is outside the specified range for a • Confirm the selected values of system parameters and
1
system parameter. modify if necessary.
-> Turn ON the power again and confirm that alarm is
cleared.
amplifier unit.
9-25
9．Maintenance
● Alarm code E6H (Parameter error 2)
Cause
1 2
Issued when control power is turned ON. { {
Issued after changing any of system parameters. {
Corrective actions
• Confirm the model number of servo amplifier.
• Selected values of system parameters and actual
• Confirm the selected values of system parameters and
hardware do not match.
1 correct if necessary.
• Improper assembly of system parameters
-> Turn ON the power RG again and confirm that alarm is
settings.
cleared.
● Alarm code E8H (Parameter error 3)

Cause
1 2
Corrective actions
• Number of the axes does not match with the
previous one when control power was turned ON
last.
1 • Turn ON the power again.
• Setting of amplifier axis does not match with the
previous one when control power was turned ON
last.
amplifier unit.
● Alarm code F1H (Abnormality in task process)
Cause
1
Issued while operating. {
Corrective actions
1 • Abnormality in amplifier unit inner circuit. • Replace the amplifier unit.
● Alarm code F2H (Initial time out)
Cause
1 2
Corrective actions
amplifier unit.
9-26
9．Maintenance
● Alarm code F5H (Internal processing error)
Cause
1 2 3
Issued during operation. { { {
Corrective actions
• Defect in internal circuit of amplifier unit.
• Defect in internal circuit of power supply unit.
• Defective contact between amplifier unit and
mother board. • Check the connection between amplifier unit and mother
2
• Defective contact between power supply unit and board, power unit and mother board.
mother board.
9-27
9．Maintenance
9. 3 Corrective Actions for Problems During Operation
See as follows causes, investigation and corrective actions, when problems occurred and alarm is not displayed.
If problem is not resolved even after taking the corrective actions, contact our company.
Conducting investigations or corrective actions without turning the power OFF is dangerous, and could
lead to injury.
Table 9-3 Corrective Actions for problems during operation

No Problems Investigation Assumed causes and corrective actions
• If voltage is low, check the power supply.
1. Check the voltage at the power input
“≡” does not blink in • If there is no voltage, check that wires and screws are
terminal.
1 7-segment LED even if fastened properly.
main power is ON. 2. Check that the red “CHARGE” LED is • Internal power circuit of power supply unit is defective.
blinking. -> Replace the power supply unit.
1. Check that command is entered. • Reenter the previous command.
7 segment LED rotates in • Fasten the connecting screws, as power line of motor
2. Check that servo is locked.
the shape of “8”, (Servo is not connected.
2
ON status), but motor • As current limit is entered, motor cannot generate
does not rotate. 3. Check that current limit is entered. more torque than the load torque, so the motor does
not rotate.
1. Check that proportional control is
Rotations of servo motor • Stop the input of proportional control.
entered.
3 are unstable and less than
the specified command. 2. Check that current limit is entered.
• Stop the input of current limit.
1. Check motor power line. • A motor power line is not connected.
Servo motor rotates only
4 2. Check that encoder code (resolution)
once, and stops. • Change the settings and turn ON the power again.
settings are correct.
1. Check motor power line. • Phase order of motor power line does not match.
Servo motor is
5 • Wiring of A phase and B phase of the encoder is
accelerated. 2. Check the wiring of encoder cable.
incorrect.
• Reduce the loop gain speed.
Motor is vibrating with
6 - • Set the torque command low-pass filter and torque
frequency above 200Hz.
command notch filter.
• Adjust the servo tuning “responsiveness”.
Excessive • Reduce the loop gain speed.
7 overshoot/undershoot - • Increase the integral time constant.
during starting/stopping. • Simplify the acceleration and deceleration command.
• Use position command low-pass filter.
• Observe by rotating one motor.
1. Check that there is no defect in
• Pay attention while coupling and confirm that there is
mechanical installation.
no unbalance.
8 Abnormal sound occurs. • Confirm that the twisted pair and shield processing of
2. Check whether abnormal sound is encoder signal line are correct.
random or periodic while operating at • Confirm that the wiring for encoder line and power line
low speed. are not installed in the same port.
• Confirm that the power supply voltage is sufficient.
9-28
9．Maintenance
9. 4 Maintenance
For maintenance purposes, a daily inspection is typically sufficient. A summary and schedule of inspection are shown in the
following table.
1. As there is a possibility of damage during a megger test of the servo amplifier, a cable check (depending on
the test) is recommended.
2. Do not dismantle the servo amplifier and servo motor by removing the cover of servo motor detector.
Table 9-4 Inspection summary

Testing conditions
Inspection Solution when abnormality
During While Inspection items Inspection method
location Time is found.
operation stopping
Daily V Vibration Check for excessive vibration.
Check if there is not abnormal Contact our dealer/sales
office.
Daily V Sound sound compared with normal
sound.
Servo Clean with cloth or air.

motor
Periodic V Cleanliness Check for dirt and dust.
-> 1
Measured value of
Yearly V insulation resistance
5000 hours Contact our dealer or sale office.
Replacement of lie
V seal
-> 2
Check for dust accumulated in the Clean with air.
Servo
Periodic V Cleaning
accessories.
-> 1
amplifier
Yearly V Loose screws Check for loose connections. Fasten the screws properly.
Regularly
Confirm that battery voltage is
Battery V Battery voltage
more than DC3.6V.
Replace the battery.
-> 3
Set the ambient
Temperature Ambient temperature temperature within the limit.
Temperature On demand V measurement Motor frame temperature Check the load condition
pattern.
1. While cleaning with air, confirm that there is no oil content and/or moisture in the air.
2. This inspection and replacement period is when water- or oil-proof functions are required.
3. The life expectancy of the battery is approximately 2 years, when its power is OFF throughout the year. For
replacement, a lithium battery (ER3V: 3.6V, 1000mAh) manufactured by Toshiba Corp. is recommended.
9-29
9．Maintenance
9. 5 Parts Overhaul
Parts indicated in Table 9-5 may deteriorate over time. Perform periodic inspection for preventive maintenance.
Table 9-5 Periodic inspection of parts

Average years
No. Part name Treatment/Conditions of use
for replacement
Needs to be replaced with new part.
Load ratio: Less than 50% of rated output current
1 Smoothing capacitor of main circuit 5 years
of amplifier.
Conditions:Average temp. 40°C year round.
Lithium battery for absolute Needs to be replaced with new part.

2 ER3V 3 years
encoder
Needs to be replaced with new part.

Electrolysis capacitor (other than
3 5 years Conditions: Average temp. 40°C year round.
smoothing capacitor for main circuit)
Annual usage period is 4800 hours.
4 Fuse 10 years Needs to be replaced with new part.
1. Capacitor for smoothing the main circuit
• If the mother board unit is in use for more than 3 years, contact the dealer or sales office.
The capacity of the capacitor for smoothing the main circuit decreases due to the motor output current in use and
frequency of the power ON/OFF, which will cause damages.
• When the capacitor is used in an average temperature of 40°C throughout the year and exceeds 50% of the rated
output current of the servo amplifier, it is necessary to replace the capacitor with a new part every 5 years.
• If used in the application in which the power supply is turned ON/OFF more than 30 times/day, contact our dealer/sales office.
2. Lithium battery
• The standard replacement period recommended by our company is the life expectancy of lithium battery based on
normal usage conditions. However, if there is high frequency of turning the power ON/OFF, or the motor is not used
for a long period, the life of lithium battery is shorter.
Replace the battery with a new one if the power is less than 3.6V when inspected.
The parameters of an overhauled servo amplifier are shipped as is.

Make sure to confirm the parameters before use.
9-30
10. Specifications
10. Specifications
10. 1 Servo amplifier ･･･････････････････ 10-2

10. 1. 1 General specifications ･･･････････････････ 10-2
10. 1. 2 Power capacity and applicable load ･･･････････････････ 10-4
10. 1. 3 Servo system/motor current leakage ･･･････････････････ 10-6
10. 1. 4 Calorific value ･･･････････････････ 10-7
10. 1. 5 Position command input ･･･････････････････ 10-8
10. 1. 6 Generic output ･･･････････････････ 10-8
10. 1. 7 Alarm output ･･･････････････････ 10-8
10. 1. 8 Generic input ･･･････････････････ 10-9
10. 1. 9 Position signal output ･･･････････････････ 10-10
10. 2 Servo motor ･･･････････････････ 10-24
10. 2. 1 General specifications ･･･････････････････ 10-24
10. 2. 2 Rotation direction specifications ･･･････････････････ 10-24
10. 2. 3 Mechanical specifications of the motor ･･･････････････････ 10-25
10. 2. 4 Holding brake specifications ･･･････････････････ 10-27
10. 3 Motor data sheet ･･･････････････････ 10-29
10. 3. 1 Q1 motor data sheet ･･･････････････････ 10-29
10. 3. 2 Q2 motor data sheet ･･･････････････････ 10-30
10. 3. 3 R2 Motor data sheet ･･･････････････････ 10-31
10. 3. 4 Motor torque rotation characteristics ･･･････････････････ 10-32
10. 4 External appearance diagrams ･･･････････････････ 10-37
10. 4. 1 Servo amplifier unit external appearance ･･･････････････････ 10-37
10. 4. 2 Power supply unit external appearance ･･･････････････････ 10-39
10. 4. 3 Mother board external appearance ･･･････････････････ 10-40
10. 4. 4 External appearance when combining each unit ･･･････････････････ 10-41
10. 4. 5 Servo motor external appearance diagrams ･･･････････････････ 10-42
10-1
10. Specifications
10. 1 Servo system specifications
10. 1. 1 General specifications
● Amplifier unit specifications
Table 10-1 Amplifier unit specifications

Model number RR101AA RR103AA
Control function Position control
Control system IGBT-PWM control, Sinusoidal drive
Control circuit 5VDC±5%, 15VDC+10%, -2% (Supplied from the mother board)
Input power *1 280 - 326VDC. + 10%, -15% (Supplied from the mother board)
Basic specifications
Main circuit
141 - 163VDC. + 10%, -15% (Supplied from the mother board)
Ambient temperature *2 0 – 40°C (natural cooling), 0 – 55°C (forcible cooling)
Storage temperature -20 to +65°C
Operating/storage
Below 90%RH (No condensation)
humidity
Environment Elevation Below 1000 m
2
Acceleration:0.5G(4.9m/s )
Vibration
Frequency:10 - 55Hz, (Tested for 2H max. in each direction of X, Y, Z)
2
Shock 2G (19.6m/s )
Structure Rack mount type
Mass kg (±10%) 0.48 0.77
Frequency characteristics *3 600Hz (at J L= J m)
Speed control range 1:5000
Load variation
Performance / Function
For speed control ±0.015% or less / maximum rotation

(0 - 100%)
specification *3
Voltage variation
±0.05% or less / maximum rotation
(170V - 253V)
Applied load inertia Within the applied load inertia of combined servo motor
Over current, Current detection error, Overload, Over voltage, Low voltage, Encoder error,
Protective functions Over speed, Speed control error, Speed feedback error, CPU error, Built-in memory error,
Parameter error, etc.
LED display Control power supply setup (green), Alarm display (red), Amplifier status display (green)
Regeneration process Not built-in (Built in the power supply unit)
Dynamic brake Built-in
Encoder output signal *4 A phase, B phase, Z phase, PS signal
I/O signals
Input/output signals Generic input/output, input × 2, output × 2
2CH on the servo amplifier front

Analog monitor
(Precision: within ±10%, ±20% depending on the selected signal.)
*1 Power input is supplied from the mother board.

Main input power supply
AC200V Input type:280 - 326VDC. + 10%, -15%
AC100V Input type:141 - 163VDC. + 10%, -15%
*2 When stored in a box, make sure that the internal temperature does not exceed this temperature.
*3 This is defined according to the combination of power supply unit and mother board.
*4 Encoder output signals - A phase, B phase, Z phase and PS signals - can only be used when combined
with incremental encoder.
10-2
10. Specifications
● Power supply unit specifications
Table 10 - 2 Power supply unit specifications

Model number RRPAA (AC200V input type) RRPEA (AC100V input type)
Single phase 200VAC - 230V, Single phase 100VAC - 115V,
Control circuit
+10%,-15%,50/60Hz±3% +10%,-15%,50/60Hz±3%
Input power
3 phase 200VAC - 230V, Single phase 100VAC - 115V,
Min circuit
+10%,-15%,50/60Hz±3% +10%,-15%,50/60Hz±3%
Ambient temperature 0 - 40 (natural cooling),0 – 55°C (forcible cooling)
Operating/storage
Below 90%RH (no condensation)
humidity
Environment Elevation Below 1000m
2
Acceleration: 0.5G(4.9m/s )
Vibration
Frequency: 10 - 55Hz, (Tested for 2H max. in each direction of X, Y, Z)
2
Shock Acceleration: 2G(19.6m/s )
Structure Rack mount type
Mass kg(±10%) 0.55
Protective functions Over voltage, Low voltage, Regeneration error, Internal overheating, Memory error, etc.
LED display 7-segment LED×5 digits, main circuit charge(red),control power setup (green)
Regeneration process Built-in
Position command pulse input (for six axes)
Input/Output signal
Generic input/output (30 inputs, 12 outputs, 2 alarm outputs)
Number of amplifier units to be connected 6 maximum.
Below 2000W Below 800W
Connected motor output
(Sum of rated output of combined motor) (Sum of rated output of combined motor)
● Mother board specifications
Table 10 – 3 Mother board specifications

Model number RRMA4 RRMA6 RRMA8 RRME4 RRME6 RRME8
Ambient temperature 0 - 40°C (natural cooling), 0 - 55°C (forcible cooling)
Operating/storage
Below 90%RH (No condensation)
humidity
Environment Elevation Below 1000m
2
Acceleration: 0.5G (4.9m/s )
Vibration
Frequency: 10 - 55Hz, (Tested for 2H max. in each direction of X, Y, Z.)
2
Shock Acceleration : 2G(19.6m/s )
Structure Open frame type
Mass kg (±10%) 0.99 1.33 1.57 0.99 1.33 1.57
Number of amplifier units to be connected 4 6 6 4 6 6
Below 2000W Below 800W
Connected motor output
(Sum of rated output of combined motor) (Sum of rated output of combined motor)
● Notes for combining each unit
(1) In the R series type R, up to 6 amplifier units can be connected in the mother board. (Note that it is impossible to
connect 8 amplifier units of RR1A01AA(15A) in the RRMA8, 8-slot mother board.)
(2) In the R series type R servo system, the sum of the rated output of combined motor shall be below 2000W.
Do not combine any motors (amplifier units) greater than 2000W. Even below 2000W, combined motors cannot
operate due to effective torque in some cases. Refer to section 10.1.2 for power capacity and applicable load.
(3) In the R series multi axis servo system at AC100V input type, the summation of the rated output by combined
motors must be less than 800W, due to the amplifier’s current capacity. Do not combine the motors (in the amplifier
unit) that would exceed 800W. In exceptional case, the summation of the effective torque by the combined motors
may not be able to work according to the operation patterns. See 10.1.2. for details on “Power capacity and
applicable load”.
(4) In the R series type R servo system, cooling fan motor is not equipped. Apply forcible cooling from outside
according to using conditions (load or installation conditions). When using forcible cooling, keep air flowing around
the servo system at least 2m/s from outside. Ambient temperature when using forcible cooling is 0 – 55°C. In case
of no forcible cooling, keep the ambient temperature around the servo system below 40°C.
10-3
10. Specifications
10. 1. 2 Power capacity and applicable load
● Applicable load limit

In the R series type R servo system, there are restrictions in combination depending on the combined motor capacity
and operation pattern. Please observe the following restrictions.
1. Limit by total rated output of the motor
The summation of the rated output by combined motors should be below 2000W at AC 200V 3-phase input type,
1300W or less at AC 200V input single-phase input type and 800W or less at AC 100V input type.
2. Limit by total effective load rate
Depending on the operation pattern of customer’s device, there is a possibility that operation is impossible even when
total rated output of the motor (as in 1. above) is less than 2000W.
Please obtain the sum of the rated current ΣIR(permissible effective load current) using effective torque of each servo
motor and confirm that ΣIR is less than 10 Arms.
IR(1)×Trms(1) IR(2)×Trms(2) IR(n)×Trms(n)

ΣIR>= + +…
TR(1) TR(2) TR(n)
IR(1) : Rated current of the 1st servo motor [Arms]

TR(1) : Rated torque of the 1st servo motor [Nxm]
Trms(1) : Effective torque of the 1st servo motor [Nxm]
:
IR(n) : Rated current of n-th servo motor [Arms]
TR(n) : Rated torque ofn-th servo motor [Nxm]
Trms(n) : Effective torque of n-th servo motor [Nxm]
ΣIR : Permissible effective load current [Arms]
(1) With regard to servo motor rated current IR[Arms] and rated torque TR[Nxm], refer to the servo motor data sheet.
(2) To calculate effective torque [Trms], refer to Chapter 11, Selection Details. In actual operation, use the R-setup
software to monitor the effective torque.
1. Exceeding the limit of the total rated output of motors and the total effective load rate (See above
mentioned 1 and 2) may cause abnormal heat and reach dangerous temperatures in the servo
amplifier. Must be used within the defined range of that.
2. RR Servo System (AC200V input type) should be used at “AC200V, 3-phase” input in general
principle. If Single-phase is applied to that, consult our sales office before use.
Applicable load limit for Single-phase using;
The total rated output of motors should be below 1300W, the total effective load rate (ΣIR) should be
less than 6.6 Arms.
10-4
10. Specifications
● Power Capacity
The table 10-4 below shows input power capacity (per axis) for amplifier unit and the combined motor rated output
under load.
Table 10-4 Power capacity per amplifier unit
Main power supply Control power
Input Rated
Amplifier volume Motor model number during rating supply
voltage output(W)
(KVA) (VA)
Q1AA04003D 30 0.2
Q1AA04005D 50 0.2
Q1AA04010D 100 0.3
Q1AA06020D 200 0.8
Q2AA04006D 60 0.3
Q2AA04010D 100 0.4
Q2AA05005D 50 0.3
Q2AA05010D 100 0.4
RR101AA 40
Q2AA05020D 200 0.8
Q2AA07020D 200 0.8
Q2AA07030D 300 1.0
AC R2AA04003F 30 0.2
200V R2AA04005F 50 0.2
R2AA04010F 100 0.4
R2AA06010F 100 0.4
R2AA06020F 200 0.8
RR103AA Q1AA06040D 400 1.0
Q1AA07075D 750 1.7
Q2AA07040D 400 1.3
Q2AA07050D 500 1.5
40
Q2AA08050D 500 1.5
Q2AA13050H 500 1.4
R2AA06040F 400 1.0
R2AA08075F 750 1.7
Q1EA04003D 30 0.2
Q1EA04005D 50 0.3
Q1EA04010D 100 0.5
RR1E01AA Q2EA04006D 60 0.3 40
AC Q2EA04010D 100 0.5
100V Q2EA05005D 50 0.3
Q2EA05010D 100 0.5
Q1EA06020D 200 0.5
RR1E03AA Q2EA05020D 200 0.5 40
Q2EA07020D 200 0.5
Power capacity in the table 10-4 shows the one at the time of rated output. Note that 2 to 4
times as much more power may be needed than the above values when the motor accelerates.
● Wiring tool examples
Using the power capacity (kVA) in Table 10-4, obtain the total power capacity with the one for the combined amplifier
unit added and determine appropriate wiring tools (circuit breaker, noise filter and electromagnetic contactor).
See table 10-5 below for example of wiring tools suitable for the obtained total power capacity.
Table10-5 Wiring tool examples

Total power Noise filter(EMC Electromagnetic
Circuit breaker
capacity corresponding) contactor
NF30
2kVA or less shape10A(Manufactured
S-N10
by Mitsubishi Ltd.) RF3010-DLC
(Manufactured by
NF30 shape (Manufactured by RASMI)
Mitsubishi Ltd.)
4kVA or less 15A(Manufactured by
Mitsubishi Ltd.)
NF30 shape S-N18
RF3020-DLC
4kVA or more 30A(Manufactured by (Manufactured by
(Manufactured by RASMI)
Mitsubishi Ltd.) Mitsubishi Ltd.)
10-5
10. Specifications
● Incoming current
See table 10-6 below for incoming current at the time of power turn-on.
Table10-6 Incoming current
Control circuit Main circuit
Power supply unit model
(Maximum in 1ms after turn-on) *2 (Maximum in 1.2 second after turn-on)
RRPAA 40A(0-P) 18A(0-P) *1
RRPEA 20A(0-P) 9A(0-P) *1
*1 The incoming current value is the maximum when 230VAC is supplied.

*2 A thermistor is used as an incoming current prevention circuit of the control power.
When the power is turned ON again immediately after power shut-off, or when power turn-on
and shut-off are repeated in a short period, or when the ambient temperature is high, which
causes thermistor heating up, incoming current exceeding the above values may flow.
10. 1. 3 Servo system / motor leak current
Since the R series type R servo system drives the motor by PWM, high frequency leak current can flow through the
floating capacity of the motor winding, power cable or amplifier. This may cause a malfunction in the short circuit breaker
and the protective relay installed in the power supply electric circuit. Therefore, use the inverter as a leak breaker so as
to prevent any malfunction from occurring.
Table10-7 Leak current

Amplifier unit model number Leak current per motor
RR101, RR103 0.5 mA max.
1. When using multiple motors, leak current of each motor shall be added.
2. The above values are based on using the recommended captire 2m cable as a power line. Leak current
varies depending on the cable type in use and the length of wiring. Especially with long wiring between
amplifier unit and servo motor, larger leak current than the values in table 10-7 will flow.
3. Make sure to ground (D type, “III”) the machine to prevent dangerous voltage from affecting the machine
main body and the operational panel in case of leakage.
4. Value of the leak current is the one measured by 700Hz filter leak checker.
10-6
10. Specifications
10. 1. 4 Calorific value
See the calorific values in Table 10-8 below in the amplifier unit and the combined motor.
Table 10-8 Calorific value

Servo system total
Input voltage Amplifier capacity Motor model number
calorific value (W)
Q1AA04003D 11
Q1AA04005D 15
Q1AA04010D 18
Q1AA06020D 24
Q2AA04006D 12
Q2AA04010D 19
Q2AA05005D 16
Q2AA05010D 19
RR101AA
Q2AA05020D 26
Q2AA07020D 32
Q2AA07030D 32
R2AA04003F 11
AC200V
R2AA04005F 13
R2AA04010F 15
R2AA06010F 16
R2AA06020F 24
Q1AA06040D 44
Q1AA07075D 66
Q2AA07040D 45
Q2AA07050D 62
RR103AA
Q2AA08050D 55
Q2AA13050H 65
R2AA06040F 43
R2AA08075F 67
Q1EA04003D 16
Q1EA04005D 22
Q1EA04010D 27
RR1E01AA Q2EA04006D 21
Q2EA04010D 26
AC100V
Q2EA05005D 22
Q2EA05010D 31
Q1EA06020D 51
RR1E03AA Q1EA05020D 43
Q2EA07020D 49
1. Because heat generation of the built-in regenerative resistance is not included in the values in the table above, it is
necessary to add it.
2. When an external regenerative resistor is used, modify the addition of calorific value of the external regenerative
resistor according to where it is installed.
3. Strictly follow the installation method outlined in “Chapter 5, Installation”.
10-7
10. Specifications
10. 1. 5 Position command input
Position command pulse shall be input from CN1A and CN1B of the power supply unit.
See the input terminals for each axis in the table below.
T connector Forward pulse Reverse pulse
st
1 axis Pins 3,4 Pins 5,6
nd
rd CN1A
SG Pins 15,16,17,18,41
th
th
th CN1B
SG Pins 15,16,17,18,41
For wiring examples, see Chapter 4, “Wiring”.

To avoid malfunction due to noise, line driver output circuit is recommended for the host device on the command pulse
input circuit.
10. 1. 6 Generic output
Use the Setup software for setting. In this system, there are 2 output terminals with each amplifier unit (CN1) and 2
(CN1A and CN1B) with each amplifier in the power supply unit.
The output data from each output terminal is selected at the amplifier unit Group A.
Amplifier unit
Terminal
Connector Terminal name Setting
number
1 OUT1 GroupA Page 00 generic output1
CN1
Power supply unit (generic output terminal for each axis number is fixed.)
Terminal Axis
Connector Terminal name Setting
number number
19 OUT1 st GroupA Page 02 generic output3
1 axis
21 OUT3 nd GroupA Page 02 generic output3
CN1A 2 axis
23 OUT5 rd GroupA Page 02 generic output3
3 axis
19 OUT7 th GroupA Page 02 generic output3
4 axis
CN1B 5 axis
6 axis
10. 1. 7 Alarm output
Alarm signal is output from the pin 25 of each CN1A and CN1B in the power supply unit.
See the output conditions for each in the table below.
Connector Output condition
st rd
Alarm status in either one of the 1 axis - 3 axis amplifier unit or the power
CN1A
supply unit.
th th
Alarm status in either one of the 4 axis - 6 axis amplifier unit or the power
CN1B
supply unit.
Output logic can be selected at the power supply unit.
Alarm 1 output polarity selection : Power supply unit Group0 Page 2

Alarm 2 output polarity selection : Power supply unit Group0 Page 3
(For details, refer to 6.5 “Digital operator”.)
10-8
10. Specifications
10. 1. 8 Generic input
In this system, there are 2 input terminals with each amplifier unit (CN1) and 30 (CN1A, CN1B) with power supply unit.
Generic input can be selected as conditions enabling the functions of Group9 of the amplifier unit.
Use the Setup software for setting.
Selection value of function enabling conditions

Selection value Contents Selection value Contents
Function enabled when generic input Function enabled when generic input
02:_CONT1_ON 02:_CONT1_OFF
CONT1 is ON. CONT1 is OFF.
04:_CONT2_ON 04:_CONT2_OFF
CONT2 is ON. CONT2 is OFF.
. . . .
. . . .
. . . .
30:_PS_CONT1_ON 31:_PS_CONT1_OFF
PS_CONT1 is ON. PS_CONT1 is OFF.
3A:_PS_CONT6_ON 3B:_PS_CONT6_OFF
3C:_PS_CONT7_ON 3D:_PS_CONT7_OFF
3E:_PS_CONT8_ON 3F:_PS_CONT8_OFF
PS_CONT21 is ON. PS_CONT21 is OF.
Multiple functions of multiple axes can be allocated to each one input terminal of the 30 generic inputs
(PS_CONT1 - PS_CONT30) of the power supply unit.
For example, to control servo ON function for all the 6 axes from 1 input terminal (CONT1 of the power supply unit), set
Group9 Page05, servo ON function of the amplifier unit to “30:_PS_CONT1_ON” for all the amplifier units.
Turn ON the power supply unit CONT1, then all the axes become servo ON.
10-9
10. Specifications
10. 1. 9 Position signal output
10. 1. 9. 1 Pulse output

Outputs 90°phase difference 2 phase pulse (A phase, B phase) and original pulse (Z phase) from CN3-3~8.
<forward>
Control power Approx.1s
A phase Unstable
90°
B phase Unstable
Z phase Unstable
t
B phase is ahead of A phase by 90°.
● Destabilizes for 1 sec after control power is supplied.
● If an absolute encoder is used, pulses of A phase, B phase and Z phase are not output.
● If other values than 1/1 are set as a division ratio, A phase and B phase are divided,
but Z phase will be output with the original pulse width. In this case,
phase relation of Z phase and A/B phase is indefinite.
10-10
10. Specifications
10. 1. 9. 2 Serial output
Wire-saving absolute encoder

Encoder signal output (PS) format can be selected from 3 selections.
Select it from selections of [GroupC Page 07 encoder signal output(PS) format].
See the specifications below.
Selection value 00:_Binary Binary code output

Transmission method Synchronous
Baud rate 9600bps
Transfer frame 8 frames (11 bit/ frame)
Transfer format Refer to Page 9-6.
Transmission error check Even parity (1 bit)
Transfer time 9.2ms(Typ.)
Transfer cycle Approx. 11ms Refer to Page 9-10.
Increase method Increase at forward rotation.
Selection value 01:_Decimal Decimal ASCII code output

Baud rate 9600bps
Transfer frame 16 frame (10 bit/ frame)
Transmission error check (1 bit) Even parity
Transfer time 16.7ms(Typ.)
Transfer cycle Approx. 40ms Refer to Page 9-10.
Increase method Increase at forward rotation
Selection value 02:_Encoder_Signal Encoder signal direct output

Baud rate 2.5Mbps, 4.0Mbps
Transfer frame 3 or 4 frames (18 bit/ frame)
Transmission error check (8 bit) CRC error check
Transfer time 21.6μs or 28.8μs(Typ.) 2.5Mbps
13.5μs or 18.0μs(Typ.) 4.0Mbps
Transfer cycle 125μs Refer to Page 9-10.
● Forward rotation means anti-clockwise rotation when viewed from the motor shaft.
When the absolute value increases up to the maximum, it becomes the minimum (0).
10-11
10. Specifications
● Transfer format
Selection value 00:_Binary binary code output
Structure in 1 frame
1 frame (11bits)
↑ ↑ ↑
Start signal Position signal Address signal Parity Stop
(1bit) (5bits) (3bits) signal signal
(1bit) (1bit)
Structure of each frame

Start Address Parity Stop
signal Position signal signal signal signal
• 1st frame 0 D0 D1 D2 D3 D4 0 0 0 0/1 1
(LSB)
• 2nd frame 0 D5 D6 D7 D8 D9 1 0 0 0/1 1
rd
• 3 frame 0 D10 D11 D12 D13 D14 0 1 0 0/1 1
th
• 4 frame 0 D15 D16 D17 D18 D19 1 1 0 0/1 1
• 5th frame 0 D20 D21 D22 D23 D24 0 0 1 0/1 1

th
• 6 frame 0 D25 D26 D27 D28 D29 1 0 1 0/1 1
• 7th frame 0 D30 0/D31 0/D32 0 0 1 1 1 0/1 1

(MSB) (MSB)
• 8th frame 0 0 0 0 0 0 1 1 1 0/1 1
For PA035C
D0 - D16 … Absolute value for 1 turn
D17 - D32 … Absolute value for multi-turn
For RA062C
D0 - D16 … Absolute value for 1 turn
D17 - D30 … Absolute value for multi-turn
10-12
10. Specifications
Structure in 1 frame
1 frame (10bits)
0 D0 D1 D2 D3 D4 D5 D6 0/1 1
↑ ↑ ↑
Start signal Position signal Parity Stop
(1bit) (7bit) signalsignal
(1bit) (1bit)

Frame
Transmission character Data contents
number
Shows that the transmission
1 “P”(ASCII code 50H)
data is position data.
2 “+”(ASCII code 2BH) Code for multi-turn data.
3 “0”(ASCII code 30H)
4 Most significant
Multi-turn data
5
0000 - 8191 ( 5 digits)
6
7 Least significant
8 “,”(ASCII code 2CH) Delimiter
10 Most significant
11
Absolute value data within 1 turn
12
000000 - 131071 (7 digits)
13
14
15 Least significant
16 “CR”(ASCII code 0DH) Carriage turn
For PA035C 1turn data :000000 - 131071
Multi-turn data :00000 - 65535
For RA062C 1 turn data :000000 - 131071
Multi-turn data :00000 - 16383
10-13
10. Specifications
Selection value 02:_Encoder_Signal encoder signal direct output
Frame structure
3 - 4 frame
IF DF0 DF1 DF2
Information Data Data Data

field field0 field1 field2
Frame structure
Information field (IF)
1 frame (18bits)
CC CC CC CC CC ES ES ES ES
0 0 0 1 0 0 0 0 1
0 1 2 3 4 0 1 2 3
↑ ↑ ↑
Start Sink Stop
Encoder Address Command code Fixed Encoder status
signal code signal
(1bit) (3bits) (3bits) (5bits) (1bit) (4bits) (1bit)
001 fixed 000 fixed
Command code CC [4:0]

CC[4:0] Contents of command
00000 Request of absolute full-data
00011 Request of encoder status
01000 Request of status clear
01010 Request of status + multi-turn data clear
Encoder status ES [3:0]

ES[3:0] Contents of status
PA035C During encoder access, during memory access in the encoder
ES0
RA062C During memory action in the encoder
PA035C Battery warning
ES1
RA062C “0” fixed.
PA035C Encoder overheating., memory error, over speed.
ES2
RA062C Encoder overheating, memory error, over speed, encoder error.
PA035C Battery alarm, multi-turn counter error, 1-turn counter error.
ES3
RA062C Multi-turn counter error
10-14
10. Specifications
Data field (DF0 - DF2)
1 frame (18bits)
Dn Dn Dn Dn Dn Dn Dn Dn Dn Dn Dn Dn Dn Dn Dn Dn
0 1
0 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15
↑ ↑
Start Data field Stop
signal (LSB first) signal
(1bit) (15bit) (1bit)
Correlation between command and data

Command Data Frame
CC[4:0] DF0 D0[0:15] DF1 D1[0:15] DF2 D2[0:15] length
D2[0:7]=ABS[32:39]
00000 D0[0:15]=ABS[0:15] D1[0:15]=ABS[16:31] 4 frame
D2[8:15]=CRC[0:7]
00011
D1[0:7]=”00000000”
01000 D0[0:15]=ALM[0:15] - 3 frame
D2[8:15]=CRC[0:7]
01010
CRC[0:7] CRC creation formula P(X)=X8+X4+X3+X2+1

Can be applied to all the bits except Start and Stop bit of each frame.
ALM[0:15] The contents vary depending on the encoder type.

For details, refer to the encoder specifications.
10-15
10. Specifications
● Transfer cycle
Serial Transfer

Approx.11ms
Serial output
Unstable “H” 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8
PS, PS
1st frame 2nd frame 3rd frame 4th frame 5th frame 6th frame 7th frame 8th frame
Approx.1.1ms
Approx.9.2ms
Serial Transfer

Approx.40ms
Serial output
Unstable “H” 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 1
PS, PS
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame
Approx.1.04ms
Approx.16.7ms
Selection value 02:_Encoder_Signal encoder signal direct output
IF DF0 DF1 DF2 IF DF0 DF1 DF2
21.6μs or 13.5μs
28.8μs or 18μs
125μs
● Destabilizes for 1 sec after control power is supplied.

st
And even after 1s, communication does not always start from the 1 frame.
10-16
10.Specifications
Absolute encoder with request
There are 3 selections for encoder signal output (PS) format.
Select one from values of [GroupC Page 07 encoder signal output (PS) format].
See the specification below:
Selection value Binary code output

00:_Binary
Baud rate 9600bps
Transfer frame 8 frame (11bits/ frame)
Transfer format Refer to page 9-17.
Transmission error check (1 bit) even parity
Transfer time 9.2ms (Typ.)
Transfer cycle Approx. 11ms Refer to page 9-20.
Increase method Increase at forward rotation.
Selection value DecimalASCII code output

01:_Decimal
Baud rate 9600bps
Transfer frame 16 frame (10 bit / frame)
Transfer cycle Approx. 40ms Refer to page 9-20.
Selection value Encoder signal direct output

02:_Encoder_Signal
Transmission method Manchester coding synchronous
Baud rate 1Mbps
Transfer frame 2 frame (27 bits/ frame)
Transmission error check (3 bits) CRC error check
Transfer time 66μs(Typ.)
Transfer cycle 84μs±2μs Refer to page 9-20.
10-17
10.Specifications
● Transfer format
Structure of 1 frame
1 frame (11bits)
↑ ↑ ↑
(1bit) (1bit)

• 1st frame 0 D0 D1 D2 D3 D4 0 0 0 0/1 1
(LSB)
• 2nd frame 0 D5 D6 D7 D8 D9 1 0 0 0/1 1
rd
• 3 frame 0 D10 D11 D12 D13 D14 0 1 0 0/1 1
th
• 4 frame 0 D15 D16 D17 D18 D19 1 1 0 0/1 1
• 5th frame 0 D20 D21 D22 D23 D24 0 0 1 0/1 1
• 6th frame 0 D25 0/D26 0/D27 AW0 AW1 1 0 1 0/1 1

(MSB) (MSB)
• 7th frame 0 0 0 0 0 0 0 1 1 0/1 1
• 8th frame 0 0 0 0 0 0 1 1 1 0/1 1
D0 - D14 … Absolute value of 1 turn
D15 - D27 … Absolute value of multi-turn
AW0 AW1 Contents
0 0 Normal
0 1 Encoder failure
1 1 Defect in position data
OutputLOW Encoder error
10-18
10.Specifications
Selection value 01:_Decimal DecimalASCII code output
1 frame (10bits)
0 D0 D1 D2 D3 D4 D5 D6 0/1 1
↑ ↑ ↑
Start signal Position signal Parity Stop
(1bit) (7bit) signal signal
(1bit) (1bit)

Frame
Transmission character Data contents
number
Shows that the send data is
1 “P”(ASCII code 50H)
position data.
2 “+”(ASCII code 2BH) Code for multi-turn data
4 Most significant
Multi-turn data
5
0000 - 8191 (5 digits)
6
7 Least significant
8 “,”(ASCII code 2CH) Delimiter
10 Most significant
11
Absolute value data in 1 turn.
12
0000 - 2047 (7digits)
13
14
15 Least significant
16 “CR”(ASCII code 0DH) Carriage turn
1 turn data : 0000 - 32767
Multi-turn data : 0000 - 8191
10-19
10.Specifications
Selection value 02:_Encoder_Signal Encoder signal direct output (Manchester coding synchronous)
1 frame(25 bits/27 bits)
↑ ↑ ↑ ↑ ↑ ↑
Start Address Position signal Frame CRC Stop
signal signal for Address signal signal
signal
(3bits) (2bits) (15bits) (1bit) (3bits) (1bits)
・ The first 2 bits of start signal are output as all bit area H(1) signal.
The following 23 bits are Manchester coded.
Manchester code
Data 0 Data 1
3
・ CRCsignal creation formula is P(X)=X +X+1.

・ 1st frame
Address signal for
Start signal
modem
Position 1 1 1 0 0
signal
D0 D1 D2 D3 D4 D5 D6 D7 D8 D9 D10 D11 D12 D13 D14
(LSB)
Frame address signal CRC signal Stop signal
0 CRC0 CRC1 CRC2 0

・ 2nd frame
Position
signal
0/D2 0/D2
D15 D16 D17 D18 D19 D20 D21 D22 D23 D24 D25 AW0 AW1
6 7
(MSB)
Frame address signal Start signal, modem signal, CRC signal,
Stop signal is the same as in 1st frame.
1
D0 - D14 … Absolute value of 1 turn
D15 - D27 … Absolute value of multi-turn
AW0 AW1 Contents

0 0 Normal
0 1 Encoder failure
1 1 Defect position data
outputLOW Encoder error
10-20
10.Specifications
● Transfer cycle
Serial Transfer

Approx.11ms
Serial output
Unstable “H” 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8
PS, PS
Approx.1.1ms
Approx.9.2ms
Serial Transfer

Approx.40ms
Serial output
Unstable “H” 1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16 1
PS, PS
1 2 3 4 5 6 7 8 9 10 11 12 13 14 15 16
frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame frame
Approx.1.04ms
Approx.16.7ms
Selection value 02:_Encoder_Signal Encoder signal direct output (Manchester coding synchronous)
Serial 1st frame 2nd frame 1st frame 2nd frame

output
25μs 16μs 25μs
125μs ± 2μs
● Distabilizes for approx.1s after the control power is supplied. And even after 1s, communication does not
st
always start from the 1 frame.
10-21
10.Specifications
Incremental encoder
When incremental encoder is used, current position monitor is output whatever value is selected
at [GroupC Page 07 encoder signal output(PS) format].
When incremental encoder is used.

Selection value disabled ―――
Baud rate 9600bps
Transfer frame number 8 frame (11 bits/ frame)
Transfer format See the diagram below.
Transfer cycle Approx.11ms Refer to Page 9-22.
Direction of increase Increase at forward rotation
● Transfer format
1 frame (11bits)
↑ ↑ ↑
(1bit) (1bit)

st
• 1 frame 0 D0 D1 D2 D3 D4 0 0 0 0/1 1
(LSB)
• 2nd frame 0 D5 D6 D7 D8 D9 1 0 0 0/1 1
rd
• 3 frame 0 D10 D11 D12 D13 D14 0 1 0 0/1 1
th
• 4 frame 0 D15 D16 D17 D18 D19 1 1 0 0/1 1
th
• 5 frame 0 D20 D21 D22 D23 D24 0 0 1 0/1 1
th
• 6 frame 0 D25 D26 D27 D28 D29 1 0 1 0/1 1
• 7th frame 0 D30 D31 0 0 0 0 1 1 0/1 1

(MSB)
• 8th frame 0 0 0 0 0 0 1 1 1 0/1 1
10-22
10.Specifications
● Transfer cycle
Serial Transfer

Approx.11ms
Serial output
Unstable “H” 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8
PS, PS
Approx.1.1ms
Approx.9.2ms
10-23
10.Specifications
10. 2 Servo motor
10. 2. 1 General specification
Table10-9 General specifications of Q series servo motor

Series name Q1 Q2 R2
Time rating Continuous
Insulation classification Type F
Dielectric strength voltage AC1500V 1 minute
Insulating resistance DC500V, more than 10MΩ
Full-closed, Auto cooling
IP67
Protecting method IP67
IP40 *1 (Except for axis penetrating
(IP40 for Q2A04)
part and cable tip)
Sealed Sealed Not sealed.
Sealing
(Except Q1AA04, 06, 07) (Except Q2A04) (Optionally available)
Ambient temperature 0 - +40°C
Ambient humidity 20 - 90% (without condensation)
Vibration classification V15
Coating color Munsell N1.5 equivalent
Excitation method Permanent magnet type
Installation method Flange mounting
*1 Conforms to IP67 by using a waterproof connector, conduit, shell clamp, etc.
10. 2. 2 Rotation direction specifications
The rotation characteristics for the servo motor and encoder are explained in this section.
( 1 ) Servo motor
When a command to increase the position command is entered, the servo motor rotates in a counterclockwise direction from
the load side (Normal rotation).
Rotation direction during normal motor operation
Direction of motor forward rotation
10-24
10.Specifications
( 2 ) Encoder signal phases
Incremental encoder
Phase A
90°
Phase B
<Normal rotation>
Phase Z
t
Phase B is ahead of phase A by 90°
Phase A
90°
Phase B
<Reverse rotation>
Phase Z
t
Phase B is behind Phase A by 90°.
When Z-phase is high, both A-and B-Phases cross the low level, once every revolution.
Absolute encoder
Normal (forward) rotation … Position data incremental output
Reverse rotation … Position data decreased output
10. 2. 3 Mechanical specifications of the motor
( 1 ) Vibration resistance
Install the servo motor in a horizontal direction (as shown Up/down

in the following figure), so that when vibration is applied
in any 3 directions (up/down, back/forward, left/right) it
2
can withstand the vibration acceleration up to 24.5m/s .
Left/right
Forward/
backward
Horizontal
direction
( 2 ) Shock resistance
Install the shaft of the servo motor in a horizontal

direction (as shown in the following figure). It should
2
withstand shock acceleration up to 98 m/s (when Up/down
shocks are applied in an Up/down direction) for 2
rotations. However, since a precision detector is fixed to
the counter-load side of the motor, any shock applied to
the shaft may cause damage the detector, therefore, do
not subject the shaft to shock under any circumstances.
Horizontal
direction
Shock measurement
10-25
10.Specifications
( 3 ) Working accuracy
The following table shows the accuracy of the servo motor output shaft and precision (Total Indicator Reading)
of the parts surrounding the shaft.
Items T.I.R. *1 Reference figure

Vibrations of output shaft terminal α 0.02
β
0.06(below 86)
Eccentricity of the external diameter of
the flange on output shaft M β α
0.08(above 100)
0.07(below 86)
M
Perpendicularity of the flange face to
output shaft M γ
0.08(above 100) γ
*1 T.I.R. (Total Indicator Reading)
( 4 ) Vibration classification
The vibration classification of the servo motor is V15 or less, at the maximum rotation speed for a single servo motor unit,
and is measured in the manner pictured below.
Vibration
measurement
position
Vibration measurement
( 5 ) Mechanical strength
The output strength of the servo motor can withstand instantaneous torque of 300% the maximum continuous torque.
( 6 ) Oil seal
A type of S oil (as described in the following table) is fixed to the output shaft of the servo motor. This oil seal is produced by
NOK Corporation; please contact your dealer or sales representative for replacement of the oil seal.
Servo motor model Oil seal type (type S)
Q1AA04{{{ None
Q1AA06{{{ None
Q1AA07{{{ None
Q2AA04{{{ None
Q2AA05{{{ AC0382A0
Q2AA07{{{ AC0687A0
Q2AA08{{{ AC0875A0
Q2AA13{{{ AC1677E1
R2AA04{{{ None (Optionally available)
10-26
10.Specifications
10. 2. 4 Holding brake specifications
An optional holding brake is available for each motor. Since this brake is used for holding, it cannot be used for braking, except
for an emergency. Turn brake excitation ON or OFF by using the holding brake timing signal output. When using this signal,
-1
set the command for brake release time to 0min for the servo amplifier. To externally control the holding brake, a response
time (as shown in the following table) is required. When using a motor with a brake, determine a time sequence that takes this
delay time into account.
Table10-10 Holding brake specifications

Braking delay time
Static friction torque Release time msec
Model
Nxm msec
Varistor Diode
Q1AA04003D 0.098
Q1AA04005D 0.157 25 15 100
Q1AA04010D 0.320
Q1
Q1AA06020D 0.637
30 20 120
Q1AA06040D 1.274
Q1AA07075D 2.38 40 20 200
Q2AA04006D 0.191
25 15 100
Q2AA04010D 0.319
Q2AA05005D 0.167
Q2AA05010D 0.353 15 10 100
Q2AA05020D 0.353
Q2 Q2AA07020D 0.69
Q2AA07030D 0.98 25 15 100
Q2AA07040D 1.372
Q2AA07050D 1.85 30 20 200
Q2AA08050D 1.96 30 20 200
Q2AA13050H 3.50 40 30 120
R2AA04003F 0.32
R2AA04005F 0.32 25 15 100
R2AA04010F 0.32
R2 R2AA06010F 0.36
R2AA06020F 1.37 30 20 120
R2AA06040F 1.37
R2AA08075F 2.55 40 20 200
Specification of 100V
Braking delay time
Static friction torque Release time msec
Model
Nxm msec
Varistor Diode
Q1EA04003D 0.098
Q1EA04005D 0.157 25 15 100
Q1
Q1EA04010D 0.32
Q1EA06020D 0.637 30 20 120
Q2EA04006D 0.191
25 15 100
Q2EA04010D 0.319
Q2EA05005D 0.167
Q2
Q2EA05010D 0.353 15 10 100
Q2EA05020D 0.353
Q2EA07020D 0.69 25 15 100
10-27
10.Specifications
Brake operating time is measured in the following circuit.
100VAC
60Hz
E DC
E DC
Id
100% 100%
* The brake release time and braking delay time refer to those mentioned in the above tables.
The brake release time is the same for both the varistor and diode.
10-28
10．Specifications
10.3 Motor Data Sheet
• This section displays motor data sheet (characteristics.)

• The values below are for the amplifier power supply of 200VAC 3 phase when combined with the servo
amplifier in the table.
• The radiation constant for installing the motor on an aluminum plate is shown as (Thickness) × (The length
of one side of square).
• The mark “ * ” and speed-torque characteristics indicate the value after rise to the maximum
temperature. Other values are at 20°C, and are all typical values.
• Error for the torque constant and the voltage constant of each phase is ±10% or less.
• There are 5 digits or alphabetical characters for servo amplifier models with the mark *.
10.3.1 Q1Motor data sheet
Specifications for 200V

Servo motor model Q1AA 04003D 04005D 04010D 06020D 06040D 07075D
Servo amplifier model RR1 01* 01* 01* 01* 03* 03*
*Rated output PR kW 0.03 0.05 0.1 0.2 0.4 0.75
-1
*Rated speed NR min 3000 3000 3000 3000 3000 3000
-1
*Maximum speed Nmax min 5000 5000 5000 5000 5000 5000
*Rated torque TR Nxm 0.098 0.159 0.318 0.637 1.27 2.38
*Continuous stall torque TS Nxm 0.108 0.159 0.318 0.637 1.27 2.38
*Peak torque TP Nxm 0.322 0.477 0.955 1.91 3.82 7.16
*Rated current IR Arms 0.49 0.80 1 1.5 2.9 4.5
*Continuous stall
IS Arms 0.53 0.80 1 1.5 2.9 4.5
current
*Peak current IP Arms 2.2 2.9 3.6 5.8 10.5 15
Torque constant KT Nxm/Arms 0.220 0.23 0.360 0.49 0.510 0.61
Voltage constant for -1
KEφ mV/min 7.68 8.0 12.6 17.2 17.8 21.4
each phase
Phase resistance Rφ Ω 15 8.1 7.6 2.5 1.3 0.63
*Rated power rate QR kW/s 9.60 18.8 43.4 28.7 65.3 89.6
Inertia (Wire-saving INC 2 2 -4
JM kgxm (GD /4) ×10 0.01 0.0134 0.0233 0.141 0.247 0.636
included.)
Aluminum plate mm t6×250 t6×250 t6×250 t12×250 t12×250 t12×250

Servo motor model Q1EA 04003D 04005D 04010D 06020D
Servo amplifier model RR1E 01* 01* 01* 03*
*Rated output PR kW 0.03 0.05 0.1 0.2
-1
*Rated speed NR min 3000 3000 3000 3000
-1
*Maximum speed Nmax min 5000 5000 5000 5000
*Rated torque TR Nxm 0.098 0.159 0.318 0.637
*Continuous stall
TS Nxm 0.108 0.159 0.318 0.637
torque
*Peak torque TP Nxm 0.322 0.477 0.955 1.91
*Rated current IR Arms 0.9 1.48 1.9 4.0
*Continuous stall
IS Arms 0.95 1.48 1.9 4.0
current
*Peak current IP Arms 3.7 5.4 7.5 15.5
Torque constant KT Nxm/Arms 0.126 0.124 0.194 0.182
KEφ mV/min 4.39 4.32 6.76 6.34
each phase
Phase resistance Rφ Ω 4.46 2.5 2.41 0.457
*Rated power rate QR kW/s 9.60 18.9 43.4 28.8
Inertia (Wire-saving INC 2 2
JM kgxm (GD /4) ×10-4 0.01 0.0134 0.0233 0.141
included.)
Aluminum plate mm t6×250 t6×250 t6×250 t6×250
10-29
10．Specifications
10.3.2 Q2 Motor data sheet
Servo motor model Q2AA 04006D 04010D 05005D 05010D 05020D 07020D 07030D
Servo amplifier model RR1 01* 01* 01* 01* 01* 01* 01*
*Rated output PR kW 0.06 0.1 0.05 0.1 0.2 0.2 0.3
-1
*Rated speed NR min 3000 3000 3000 3000 3000 3000 3000
-1
*Maximum speed Nmax min 5000 5000 5000 5000 5000 5000 5000
*Rated torque TR Nxm 0.191 0.318 0.159 0.318 0.637 0.637 0.955
*Continuous stall
TS Nxm 0.216 0.353 0.167 0.353 0.686 0.686 0.98
torque
*Peak torque TP Nxm 0.65 1 0.518 1.06 2.05 2.1 3.4
*Rated current IR Arms 0.67 1.1 0.86 1.1 1.6 2.1 2.1
*Continuous stall
IS Arms 0.67 1.2 0.88 1.2 1.7 2.2 2.5
current
*Peak current IP Arms 2.7 3.6 3.3 4.3 5.9 7.5 7.9
Torque constant KT Nxm/Arms 0.314 0.325 0.21 0.33 0.435 0.34 0.519
KEφ mV/min 10.97 11.34 7.26 11.4 15.2 11.8 18.1
each phase
Phase resistance Rφ Ω 11.3 6.77 4.72 4.05 3.24 1.88 2.22
*Rated power rate QR kW/s 6.46 11.8 3.78 7.78 16.2 10.6 20.3
Inertia (wire-saving 2 2 -4
JM kgxm (GD /4) ×10 0.057 0.086 0.067 0.13 0.25 0.38 0.45
INC INCLUDED.)
Aluminum plate mm t6×250 t6×250 t6×250 t6×305 t6×305 t6×305 t6×305

Servo motor model Q2AA 07040D 07050D 08050D 13050H
Servo amplifier model RR1 03* 03* 03* 03*
*Rated output PR kW 0.4 0.5 0.5 0.5
-1
*Rated speed NR min 3000 3000 3000 2000
-1
*Maximum speed Nmax min 5000 5000 5000 3500
*Rated torque TR Nxm 1.273 1.59 1.589 2.5
*Continuous stall
TS Nxm 1.372 1.85 1.96 3
torque
*Peak torque TP Nxm 4.1 5.2 6.56 7.1
*Rated current IR Arms 3.0 4.3 3.7 4.6
*Continuous stall
IS Arms 3.1 5.0 4.3 5.2
current
*Peak current IP Arms 12 15 15 15
Torque constant KT Nxm/Arms 0.482 0.442 0.52 0.607
KEφ mV/min 16.8 15.4 18.1 21.2
each phase
Phase resistance Rφ Ω 1.26 0.8 0.800 0.442
*Rated power rate QR kW/s 21.6 27.3 19.4 22.3
Inertia (Wire-saving 2 2 -4
JM kgxm (GD /4) ×10 0.75 0.85 1.3 2.8
INC included.)
Aluminum plate mm t6×305 t6×305 t6×305 t20×305

Servo motor model Q2EA 04006D 04010D 05005D 05010D 05020D 07020D
Servo amplifier model RR1E 01* 01* 01* 01* 03* 03*
*Rated output PR kW 0.06 0.1 0.05 0.1 0.2 0.2
-1
*Rated speed NR min 3000 3000 3000 3000 3000 3000
-1
*Maximum speed Nmax min 5000 5000 5000 5000 5000 5000
*Rated torque TR Nxm 0.191 0.318 0.159 0.318 0.637 0.637
*Continuous stall torque TS Nxm 0.216 0.353 0.167 0.353 0.686 0.686
*Peak torque TP Nxm 0.65 1 0.518 1.03 2.1 2.1
*Rated current IR Arms 1.4 1.8 1.5 2.2 3.3 3.8
*Continuous stall current IS Arms 1.5 1.9 1.5 2.4 3.5 4.0
*Peak current IP Arms 5 6 5 7.5 12 14.4
Torque constant KT Nxm/Arms 0.161 0.211 0.121 0.165 0.217 0.189
KEφ mV/min 5.63 7.37 4.23 5.77 7.56 6.59
each phase
Phase resistance Rφ Ω 2.85 2.64 2.46 0.615 0.964 0.731
*Rated power rate QR kW/s 6.4 11.8 3.8 7.8 16.2 10.6
Inertia (Wire-saving INC 2 2
JM kgxm (GD /4) ×10-4 0.057 0.086 0.067 0.13 0.25 0.382
included.)
Aluminum plate mm t6×250 t6×250 t6×250 t6×250 t6×250 t6×250
10-30
10．Specifications
10.3.3 R2 Motor data sheet

Servo motor model R2AA 04003F 04005F 04010F 06010F 06020F 06040F 08075F
Servo amplifier model RR1 01* 01* 01* 01* 01* 03* 03*
*Rated output PR kW 0.03 0.05 0.1 0.1 0.2 0.4 0.75
-1
*Rated speed NR min 3000 3000 3000 3000 3000 3000 3000
-1
*Maximum speed Nmax min 6000 6000 6000 6000 6000 6000 6000
*Rated torque TR Nxm 0.098 0.159 0.318 0.318 0.637 1.27 2.39
*Continuous stall
TS Nxm 0.108 0.167 0.318 0.353 0.686 1.37 2.55
torque
*Peak torque TP Nxm 0.37 0.59 1.18 1.13 2.2 4.8 8.5
*Rated current IR Arms 0.51 0.67 0.81 0.86 1.5 2.8 4.6
*Continuous stall
IS Arms 0.56 0.69 0.81 0.86 1.6 2.8 4.6
current
*Peak current IP Arms 2.15 2.8 3.3 3.5 5.6 10.8 15.5
Torque constant KT Nxm/Arms 0.201 0.246 0.424 0.375 0.476 0.524 0.559
KEφ mV/min 7 8.6 14.8 13.1 16.6 18.3 19.5
each phase
Phase resistance Rφ Ω 12 9 9.3 4.8 2.7 1.36 0.4
*Rated power rate QR kW/s 3.9 6.7 16 8.6 19 39 31
Inertia (Wire-saving 2 2 -4
JM kgxm (GD /4) ×10 0.0247 0.0376 0.0627 0.117 0.219 0.412 1.82
INC included.)
Aluminum plate mm t6×250 t6×250 t6×250 t6×250 t6×250 t6×250 t6×250
10-31
10．Specifications
10.3.4 Motor torque rotation characteristics
The motor (Q1AA motor, Q2AA motor and R2AA motor) speed - torque characteristics below show
the values when the 200VAC power is supplied.
Note that instant domain decreases when the power supply is blow 200V at the time of high speed rotation.
Speed速度－トルク特性
– torque characteristics Speed速度－トルク特性
– torque characteristics Speed 速度－トルク特性
– torque characteristics
Q1AA04003D（30W） Q1AA04005D（50W） Q1AA04010D（100W）
0.4 0.6 1
0.5
0.8
0.3
N・m）
N・m）
N・m）
xm)
0.4
xm)
xm)
0.6
Torque(N
Torque(N
Torque(N
0.2 Instantaneous
瞬時領域 zone 0.3 Instantaneous
瞬時領域 zone Instantaneous
瞬時領域 zone
トルク（
トルク（
トルク（
0.4
0.2
0.1
0.1 0.2
Continuous
Continuouzone Continuous
Continuouzone
0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
-1
-1 -1
Speed(min
速度（ min )）速度（ min-1)）
Speed(min Speed(min -1-1
速度（ min )）
2 4 8
1.5 3 6
トルク（ N・m）
N・m）
xm)
xm)
xm)
Instantaneous
瞬時領域 zone
Torque(N
Torque(N
1 2 Torque(N 4
トルク（
1 2
0.5
Continuous
Continuou zone Continuous
Continuouzone
0 0
0 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
0 1000 2000 3000 4000 5000 6000 -1
-1-1 速度（ min -1）
Speed(min )
-1
速度（ min -1）
Speed(min )
Speed(min
速度（ min )）
Speed – torque characteristics

速度－トルク特性 Speed –速度－トルク特性
torque characteristics Speed 速度－トルク特性
0.8 2 0.8
0.6 1.5 0.6

N・m）
N・m）
N・m）
xm)
xm)
xm)
Torque(N
Torque(N
Torque(N
0.4 Instantaneous
瞬時領域 zone 1 0.4
トルク（
トルク（
トルク（
Instantaneous
瞬時領域 zone
Instantaneous
瞬時領域 zone
0.2 0.5 0.2
Continuous
Continuou zone Continuous
Continuouzone
Continuous zone
Continuou
0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
-1 -1-1 -1-1
Speed(min
速度（ min )）
-1
Speed(min
速度（ min ) ） Speed(min
速度（ min )）
10-32
10．Specifications
– torque characteristics Speed –速度－トルク特性
torque characteristics Speed –速度－トルク特性
torque characteristics
Q2AA05010D（100W ） Q2AA05020D （200W ） Q2AA07020D （200W ）
2 4 4
1.5 3 3
N・m）
N・m）
N・m）
xm)
xm)
xm)
Torque(N
Torque(N
Torque(N
1 2 2
トルク（
トルク（
トルク（
Instantaneous
瞬時領域 zone
0.5 1 1
Continuous zone
Continuou Continuous zone
Continuou Continuous
Continuou zone
0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
-1 -1 -1
Speed(min
速度（ min )）
-1 Speed(min
速度（ min ）
-1 ) Speed(min
速度（ min )）
-1
Q2AA07030D（300W ） Q2AA07040D（400W ） Q2AA07050D（500W ）
4 8 8
3 6 6
N・m）
N・m）
N・m）
xm)
xm)
xm)
Torque(N
Torque(N
Torque(N
2 Instantaneous
瞬時領域 zone 4 4
トルク（
トルク（
トルク（
Instantaneous
瞬時領域 zone
Instantaneous
瞬時領域 zone
1 2 2
Continuous
Continuouzone Continuous zone
Continuou
Continuous
Continuou zone
0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
Speed(min -1 -1 -1-1
min ）)
-1
速度（ min -1）
Speed(min ) 速度（ Speed(min
速度（ min ) ）
Speed 速度－トルク特性
Q2AA08050D （500W ） Q2AA13050H （500W ）
8 8
6 6
N・m）
N・m）
xm)
xm)
Instantaneous
瞬時領域 zone
Torque(N
Torque(N
4 Instantaneous
瞬時領域 zone 4
トルク（
トルク（
2 2
Continuous zone
Continuou
Continuous
Continuouzone
0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000
-1 -1 -1
-1
Speed(min
速度（ min )）
10-33
10．Specifications
Speed –速度－トルク特性
torque characteristics Speed –速度－トルク特性
torque characteristics Speed速度－トルク特性
R2AA04003F（30W ） R2AA04005F（50W ） R2AA04010F（100W ）
0.4 0.8 2
0.3 1.5
0.6
N・m）
Instantaneous zone
xm)
xm)
Instantaneous zone
xm)
Torque(N
Torque(N
0.2 1
Torque(N
0.4
トルク（
Instantaneous zone
0.1
0.2 0.5
Continuous zone
0 Continuous zone Continuous zone
0 1000 2000 3000 4000 5000 6000 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
-1
速度（ min-1)）
Speed(min -1
-1
Speed(min -1
-1
速度（ min )）
Speed(min
速度（ min ） )
– torque characteristics Speed – torque characteristics
速度－トルク特性 Speed速度－トルク特性
R2AA06010F（100W ） R2AA06020F（200W ） R2AA06040F（400W ）
2 4 8
1.5 3
6
N・m）
N・m）
xm)
xm)
xm)
Torque(N
Torque(N
Torque(N
1
Instantaneous
瞬時領域 zone 2 4 Instantaneous
瞬時領域 zone
トルク（
トルク（
Instantaneous
瞬時領域zone
0.5
1 2
Continuous
Continuouzone
Continuous zone
Continuou Continuous
Continuouzone
0
0 1000 2000 3000 4000 5000 6000 0 0
-1 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
速度（ min-1)）
Speed(min -1
Speed(min-1-1)
速度（ min -1
Speed(min ）) 速度（ min ）
Speed –速度－トルク特性
R2AA08075F（750W ）
10
8
Instantaneous
瞬時領域 zone
トルク（ N・m）xm)
6
Torque(N
2
Continuous zone
Continuou
0
0 1000 2000 3000 4000 5000 6000
-1-1
Speed(min
速度（ min ) ）
10-34
10．Specifications
The motor (Q1AA motor, Q2AA motor and R2AA motor) speed – torque characteristics below show
the values when the 100VAC power is supplied.
Note that instant domain decreases when the power supply is blow 100V at the time of high speed rotation.
Q1EA04003D（30W） Q1EA04005D（50W） Q1EA04010D（100W）
0.4 0.8 1
0.8
0.3 0.6
N・m）
N・m）
N・m）
xm)
xm)
xm)
0.6
Torque(N
Torque(N
Torque(N
瞬時領域 zone
Instantaneous
0.2 瞬時領域 zone
Instantaneous 0.4
トルク（
トルク（
トルク（
瞬時領域
0.4
Instantaneous zone
0.1 0.2
0.2
連続領域 zone
Continuous
連続領域zone
Continuous
連続領域 zone
Continuous
0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
-1-1 -1
-1 -1
-1
Speed(min
速度（ min )） Speed(min
速度（ min )）
Q1EA06020D（200W）
1.5
N・m）
xm)
瞬時領域 zone
Instantaneous
Torque(N
1
トルク（
0.5
連続領域 zone
Continuous
0
0 1000 2000 3000 4000 5000 6000
-1
速度（ min-1）
Speed(min )
10-35
10．Specifications
0.8 1.2 0.8
0.6 0.9 0.6

N・m）
N・m）
N・m）
xm)
xm)
xm)
Torque(N
Torque(N
Torque(N
0.4 Instantaneous
瞬時領域 zone 0.6 Instantaneous
瞬時領域 zone 0.4
トルク（
トルク（
トルク（
Instantaneous
瞬時領域 zone
0.2 0.3 0.2

Continuous
連続領域zone Continuous
連続領域zone
Continuous
連続領域zone
0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
-1
-1 -1-1)
Speed(min -1-1)
Speed(min
Speed(min
速度（ min ） ) 速度（ min ）速度（ min ）
– torque characteristics Speed 速度－トルク特性
1.2 4 4
0.9 3 3
N・m）
N・m）
N・m）
xm)
xm)
xm)
Instantaneous
瞬時領域 zone
Torque(N
Torque(N
Torque(N
0.6 2 2
トルク（
トルク（
トルク（
Instantaneous
瞬時領域 zone
0.3 1 1
Continuous
連続領域zone
Continuous
連続領域zone Continuous
連続領域 zone
0 0 0
0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000 0 1000 2000 3000 4000 5000 6000
-1
-1 -1 -1 -1 -1
Speed(min
速度（ min ） ) Speed(min
速度（ min ）) Speed(min
速度（ min ）)
10-36
10. Specifications
10.4 External appearance diagrams
10.4.1 Servo amplifier unit external appearance
Amplifier unit: RR101AA
φ5
6
5
8
(140.7)
122.8
(70)
ADDR
C
C
N
RR1A01AA
SG
M1
M2
XXXXXXXX_*
30
○
ALM
POW
STA
W
C
C
N
U
V
6
C
P
120
130
10-37
10. Specifications
Amplifier unit: RR103AA
(70) (140.7)
60 122.8
8 6 30
5
2-φ
10-38
5
RR1A03AA
C
N
6
C
N
2
C
N
1
ADDR
POW M1
ALM M2
130
STA SG
120
P
C
U
V C
N
W C
○
XXXXXXXX_*
10. Specifications
Power supply unit: RRPAA
(100) (140.7)
60 122.8
10.4.2 Power supply unit external appearance
4 7.5 45
5
2-φ
5
10-39
MODE WR/
CNA POWER
r
t
R
P
C C
S N
5
T
130
120
CHARGE
CNB
RB2 C C
N N
RB1 1 1
B A
P
DL2
DL1
－
○
RRPAA00_*
A
B
Mother board: RRMA4
10. Specifications
6 27.2
6
5
φ
2-
15
10.4.3 Mother board external appearance
10-40
150
160
130
○ ○
15
3 RRMA800 8 300 250

2 RRMA600 6 240 190
1 RRMA400 4 180 130
A Dimensions B Dimensions
MODEL NUMBER
Correspondence dimensions
10. Specifications
180
130
5
power supply unit and mother board combined.

C C C C
N N N N
6 6 6 6
MODE WR/
180
180 C C C C
10.4.4 External appearance when combining each unit
N N N N
130 2 2 2 (70) 2 150
130
CNA POWER
5 5
C C C C
10-41
r N N N N
1 1 1 1
t
15
R
C C
5
150
160
RR1A01AE
RR1A01AA RR1A01AE
RR1A01AA RR1A01AE
RR1A01AA ALM
RR1A01AE
RR1A01AA M2 ALM M2 ALM M2 ALM M2
T
C CC CC CC STA SG STA SG STA SG STA SG
NN NN NN NN
6 66 66 66
MODE WR/
WR/
C CC CC CC
NNCHARGE NN NN NN P P P P
2 22 22 22
CNA POWER
POWER
C C C C
CNB
C CC CC CC
r
NN NN NN NN
1 11 C 11 C 11
t RB2
PP ADDR
ADDR ADDR
ADDR
N ADDR
ADDR
N ADDR
ADDR
R 1 1
C CC RB1
S N POW
POW M1
M1 POW
POW M1
M1 POW M1
M1 POW M1
M1
5
BPOW APOW U U U U
ALM
ALM M2
M2 ALM
ALM M2
M2 ALM
ALM M2
M2 ALM
ALM M2
M2
150
160
T P
150
160
130
STA
STA SG
SG STA
STA SG
SG STA
STA SG
SG STA
STA SG
SG
V C V C V C V C
The diagram below show external appearance of 4 amplifier units of RR1A01AAA,
C DL2
N N N N N
CHARGE
CHARGE 5 P PP PP PP W W W W
CC DL1 CC CC CC
C C C C
CNB
RB2
RB2 C CC －
○ ○ ○ ○ ○
N NN
RB1
RB1 1 31
B A UU UU UU UU
P
V
V CC V
V CC V
V CC
RRPAA00_* VV CC
XXXXXXXX_* XXXXXXXX_* XXXXXXXX_* XXXXXXXX_*
DL2
DL2 NN NN NN NN
DL1 C W
W CC W
W CC W
W CC W
W CC
DL1
N ○ ○ ○ ○
－
－
○ 4 ○ ○ ○ ○
RRP*E**_*
RRPAA00_* XXXXXXXX_X
XXXXXXXX_*
○ XXXXXXXX_X
XXXXXXXX_* XXXXXXXX_X
XXXXXXXX_*
主銘板 XXXXXXXX_X
XXXXXXXX_*
○
○
○ ○
15
主銘板
10．Specifications
10. 4. 5 Servo motor external appearance diagrams
Q1 servo motor
0.07 M
□ＬＣ
0.02
LR LLMAX.
4- LZ 0.06 M LE LG
Q
LH
LA
LB
S
KL
QE Tap D1 D2
（５０）
（５０）
Depth LT 1100±100
1100±100
Teflon cable(for fixing) Shield cable(for fixing)
(For motor,ground,brake) (For sensor)
Incremental Absolute
Without With Without With Increm Absol
brake brake brake brake ental ute
MODEL LL LL LL LL LG KL LA LB LE LH LC LZ LR S Q QE LT D1 D2 D2 Oil seal
0
Q1AA04003U 75±2 121.5±2 80.3±2 125.3±2 - -
6-0.008
0
Q1AA04005U 81±2 127.5±2 87.3±2 131.3±2 5 30 46 2.5 54 40 4.5 25 7
30-0.021 0
- -
8-0.009
Q1AA04010U 100±2 146.5±2 106.3±2 150.3±2 -
4.7 5 Optional
Q1AA06020U 111±2 140±2 116±2 145±2
0 0
6 41 70 3 81 60 5.5 30 M5 12 7.5
50-0.025 14-0.011
Q1AA06040U 140±2 169±2 145±2 174±2
0 0
Q1AA07075U 154±2 177.5±2 163.6±2 187±2 8 50 90 3 100 76 5.5 40 35 M5 12 7.5
70-0.030 16-0.011
10-42
10．Specifications
Q2 servo motor
0.07 M
□ＬＣ
0.02
LR LLMAX.
4- LZ 0.06 M LE LG
Q
LH
LA
QA QK
LB
S
M
KL
Ｏｉｌｓｅａｌ QE Tapping D1 D2
（５０）
（５０）
（Ｓｔｙｐｅ） Depth LT
1100±100
1100±100
W
QK
U
T Teflon cable(for fixing) Shield cable(for fixing)
(For motor,ground,brake) (For sensor)
04006～05010 05020～08100
Without With Without With
brake brake brake brake
MODEL LL LL LL LL LG KL LA LB LE LH LC LZ LR
Q2AA04006U 80±2 112±2 88±2 120±2 0
5 31 48 2 57 42 3.5 24
Q2AA04010U 94±2 126±2 102±2 134±2 34-0.025
Q2AA05005U 79±2 108±2 88±2 110.5±2

0 24
Q2AA05010U 87±2 115±2 96±2 118.5±2 5 38 60 2.5 71.5 54 4.5
50-0.025
Q2AA05020U 103±2 131±2 112±2 134.5±2 30
Q2AA07020U 96±2 121±2 105±2 131±2
Q2AA07030U 103±2 128±2 113±2 138±2 0
8 50 90 3 100 76 5.5 30
Q2AA07040U 110±2 135±2 120±2 145±2 70-0.030
Q2AA07050U 118±2 143±2 128±2 153±2

Q2AA08050U 128±2 164±2 136.5±2 172.5±2
0
Q2AA08075U 145±2 181±2 153.5±2 189.5±2 8 55 100 3 115 86 6.6 35
80-0.030
Q2AA08100U 164±2 198±2 170.5±2 206.5±2
MODEL S Q QA QK W T U QE LT D1 D2 D2 Oil seal
Q2AA04006U 0 2 slot cuts
20 - 15 - - 7 None Note1
Q2AA04010U 7-0.009 6.5±0.2
Q2AA05005U 0 2 slot cuts

20 - 15 M3 8
Q2AA05010U 8-0.009 7.5±0.2
0
Q2AA05020U 25 2 20 4 4 1.5 M4 10
11-0.011
Q2AA07020U
4.7 5
Q2AA07030U 0
25 2 20 5 5 2 M5 12 7.5 Available
Q2AA07040U 14-0.011
Q2AA07050U
Q2AA08050U
0
Q2AA08075U 30 2 25 5 5 2 M5 21
16-0.011
Q2AA08100U
10-43
10．Specifications
R2 servo motor
□LC LR LL±1
LE LG
LA
φL φ
H
Q
φLB
φS
M
KL
φD1 φD2 φD3
Oil Seal QE Tap
Depth LT
（50）
（50）
（50）
Without oil seal With oil seal Note1
Absolute Absolute
(SANYO’s Absolute (SANYO’s Absolute
standard:without (with capacitor) standard:without (With capacitor)
capacitor) capacitor)
W/O brake W brake W/O brake W brake W/O brake W brake W/O brake W brake
MODEL LL LL LL LL LL LL LL LL LG KL LA LB LE LH LC LZ LR
R2AA04003U 51.5 87.5 54.5 90.5 56.5 92.5 59.5 95.5
0
R2AA04005U 56.5 92.5 59.5 95.5 61.5 97.5 64.5 100.5 5 35.3 46 2.5 56 40 4.5 25
30-0.021
R2AA04010U 72 108 75 111 77 113 80 116
R2AA06010U 58.5 82.5 61.5 85.5 65.5 89.5 68.5 92.5 25
0
R2AA06020U 69.5 97.5 72.5 100.5 76.5 104.5 79.5 107.5 6 44.6 70 3 82 60 5.5
50-0.025
30
R2AA06040U 95.5 123.5 98.5 126.5 102.5 130.5 105.5 133.5
0
R2AA08075U 107.3 143 110.3 146 114.3 150 117.3 153 8 54.4 90 3 108 80 6.6 40
70-0.030
Absolute
MODEL S Q QE LT D1 D2 D3
0
R2AA04003U
6 -0.008
R2AA04005U
0
20 - -
8 –0.009
R2AA04010U
0
R2AA06010U
8 –0.009
20 - - 6 5 5
R2AA06020U
0
25 M5 12
14 –0.011
R2AA06040U
0
R2AA08075U 35 M5 12
16 –0.011
10-44
11. Selection Details
11. 1 Time of Acceleration and Deceleration ･････････････････ 11-2

11. 1. 1 Calculation of Acceleration/Deceleration Time ･････････････････ 11-2
11. 2 Permitted Repetitions ･････････････････ 11-3
11. 2. 1 When the motor repeats continuous speed status and stop status ･････････････････ 11-3
11. 2. 2 When the motor repeats acceleration, deceleration and stop status ･････････････････ 11-4
11. 2. 3 When the motor repeats acceleration, constant speed operation and deceleration status ･･･ 11-4
11. 3 Loading Precautions ･････････････････ 11-5
11. 3. 1 Negative Load ･････････････････ 11-5
11. 3. 2 Load Inertia(JL) ･････････････････ 11-5
11. 4 Dynamic Brake ･････････････････ 11-5
11. 4. 1 Slowing Down the Revolution by the Dynamic Brake ･････････････････ 11-5
11. 4. 2 Instantaneous Tolerance of Dynamic Brake ･････････････････ 11-6
11. 5 Regeneration Process ･････････････････ 11-7
11. 5. 1 Calculation Method of Regeneration Power PM ･････････････････ 11-7
11. 5. 2 Confirmation of Regeneration Power PM in Actual Operations ･････････････････ 11-9
11. 5. 3 Selection Judgment between Built-in/External Regenerative Resistor ･････････････････ 11-9
11. 5. 4 Combined Regenerative Resistor ･････････････････ 11-10
11-1
11 .1 Time of Acceleration and Deceleration
11. 1. 1 Calculation of Acceleration/Deceleration Time
The motor’s acceleration time( t a ) and deceleration time( t b ) under the constant load is calculated by the following method.
These expressions are for the rated speed values, but exclude the viscous torque and friction torque of the motor.
2π N2-N1
Acceleration time: ta =( JM + JL ) • 60 • TP+TL ( sec )
2π N2-N1
Deceleration time: tb =( JM + JL ) • 60 • TP+TL ( sec )
ta : Acceleration time ( sec ) TP : Instantaneous maximum stall torque (Nxm)

tb : Deceleration time ( sec ) TL : Load torque (Nxm)
2
JM : Motor inertia ( kgxm )
2
JL : Load inertia ( kgxm )
-1
N1, N2 : Rotational speed of motor ( min )
N2
N1 → Time
ta tb
Fig. 11-1 Time chart of motor rotation speed
* It is recommended to calculate the load margin and decrease the instantaneous maximum stall torque value
(TP) to 80%, when determining t a and t b .
11-2
11. 2 Permitted Repetitions
There are separate limitations on repetitive operations for both the servo motor and servo amplifier, and the conditions of both
must be fulfilled simultaneously.
● Permitted repetitions for the servo amplifier
When START / STOP sequences are repeated frequently, confirm in advance that they are within the allowed range.
Allowed repetitions differ depending on the type, capacity, load inertia, adjustable-speed current value and motor rotation
speed of the motor in use. If the load inertia = motor inertia × m times, and when the permitted START / STOP repetitions
(up until the maximum rotation speed) exceed times/min., contact your dealer or sales office for assistance, as precise
calculation of effective torque and regenerating power is critical.
● Permitted repetitions for the motor

Permitted START / STOP repetitions differ according to the motor’s usage conditions, such as the load condition and time
of operation. As the conditions vary and as such cannot be specified uniformly, an example is given to aid in explanation.
11. 2. 1 When the motor repeats continuous speed status and stop status
In such operating conditions as shown in Figure 11-2 below, the effective value of the armature current of the motor is at a
frequency below the rated armature current IR of the motor. If the operating cycle is considered as “t”, the usable range can be
determined as follows:
Ip : Instantaneous maximum stall

2
Ip (ta+ tb) + IL tS
2
armature current
IR : Rated armature current
t >= [s]
2
IL : Current corresponding to load
IR torque
When cycle time ( t ) is predetermined, I p , t a , t b appropriate in the above formula are required.
* When actually determining the system drive mode, it is recommended to calculate the load margin and suppress
it to
Trms =< 0.7 TR
IP
IL
Motor current -> Time
ta ts
-I P
tb
Motor rotation
speed -> Time
t
Fig. 11-2 Time chart of motor current and rotation speed
11-3
11. 2. 2 When the motor repeats acceleration, deceleration and stop status.
For the operating status shown in Figure 11－3, the value of permitted repetitions ‘n’ (times/min) is displayed by the following
equation.
2 2
2 1 TP -TL 2
n= 2.86 × 10 × N (J M+J L) × TP
3 × TR ( times/min )
TR: Rated torque
TP
TL
-T P
Motor rotation
speed -> Time
t
Fig. 11－3 Time chart of motor current and rotation speed
11. 2. 3 When the motor repeats acceleration, constant speed operation and deceleration status.
For the operating status shown in Figure 11-4, the value of permitted repetitions ‘n’ (times/min) is displayed by the following
equation.
2 2
2 1 TR -TL
n = 2.86 × 10 × × ( times/min )
N (J M+J L) TP
TP
TL
－T P
Motor rotation
speed -> Time
t
Fig. 11-4 Time chart of motor current and rotation speed
11-4
11. 3 Loading Precautions
11. 3. 1 Negative load
The servo unit cannot perform negative load operations for more than several seconds, as that causes the motor to rotate
continuously.
[Examples] y Downward motor drive (when there is no counter weight.)

y When using like a generator, such as the wind-out spindle of a winder.
When applying the amplifier to a negative load, contact your lealer or sales representative.
11. 3. 2 Load inertia ( JL )
When the servo amplifier is used with a load inertia exceeding the allowable load inertia calculated in terms of the motor shaft,
a main circuit power overvoltage detection or regenerative error may be issued at the time of deceleration.
In this case, the following treatments are needed.
1. Reduce the current limit.

2. Extend the acceleration and deceleration time.(slow down)
3. Reduce the maximum motor speed.
4. Install an external regenerative resistor (optional).
For more details, please consult with your dealer or sales representative.
11. 4 Dynamic brake

11. 4. 1 Slowing down the revolution angle by the dynamic brake
l1
-1
N : Motor speed( min )
N I1 : Slow-down revolution angle (rad) by amplifier internal
l2 process time tD
Speed
I2 : Slow-down revolution angle (rad) by dynamic brake

operation
tD : Delay time from signal display to operation start ( sec )
(Depending on the amplifier capacity: Refer to the Table 11-1.)
tD Time
Fig. 11-5
[Standard formula] When load torque ( TL ) is considered as zero.
2πN x t D 3
I = I1 + I2 = 60 + (Jm+ JL) × (αN+ βN )
I :Integrated slow-down rotation angle ( rad )

2
Jm :Motor inertia (kgxm )
2
JL :Load inertia (Motor axis conversion) ( kgxm )
αxβ :Motor constant ( sec )
(Refer to the Table 11-2, Dynamic brake constant table, for αxβ)
Table 11－1
Amplifier model name Delay time t D ( sec )
-3
RR101 10×10
-3
RR103 10×10
11-5
Table 11-2 Dynamic brake constant table for Q series motor
2
Motor model number α β J M ( kg-m )
-7 -4
Q1AA04003D 204 92.0×10 0.01×10
-7 -4
Q1AA04005D 130 34.3×10 0.0134×10
-7 -4
Q1AA04010D 53 35.0×10 0.0233×10
-7 -4
Q1AA06020D 87.8 25.6×10 0.057×10
-7 -4
Q1AA06040D 9.13 13.1×10 0.247×10
-7 -4
Q1AA07050D 5.24 7.75×10 0.636×10
-7 -4
Q2AA04006D 87.8 25.6×10 0.057×10
-7 -4
Q2AA04010D 55.2 8.4×10 0.086×10
-7 -4
Q2AA05005D 132 10.7×10 0.067×10
-7 -4
Q2AA05010D 45.2 7.93×10 0.13×10
-7 -4
Q2AA05020D 19.0 46.9×10 0.25×10
-7 -4
Q2AA07020D 25.9 11.7×10 0.382×10
-7 -4
Q2AA07030D 11.0 13.9×10 0.45×10
-7 -4
Q2AA07040D 10.2 7.08×10 0.75×10
-7 -4
Q2AA07050D 10.6 3.84×10 0.85×10
-7 -4
Q2AA08050D 7.71 4.51×10 1.30×10
-7 -4
Q2AA13050H 5.34 6.99×10 2.80×10
-6 -4
R2AA04003F 227 4.29×10 0.0247×10
-6 -4
R2AA04005F 119 2.96×10 0.0376×10
-6 -4
R2AA04010F 41.2 1.56×10 0.0627×10
-6 -4
R2AA06010F 32.6 5.04×10 0.117×10
-6 -4
R2AA06020F 14.5 2.46×10 0.219×10
-6 -4
R2AA06040F 8.82 1.00×10 0.412×10
-8 -4
R2AA08075F 5.84 9.10×10 1.82×10
-7 -4
Q1EA04003D 202 103×10 0.01×10
-7 -4
Q1EA04005D 93.3 58.9×10 0.0134×10
-7 -4
Q1EA04010D 45.0 27.6×10 0.0233×10
-7 -4
Q1EA06020D 7.90 52.5×10 0.0141×10
-7 -4
Q2EA04006D 70.5 24.7×10 0.0565×10
-7 -4
Q2EA04010D 33.5 10.9×10 0.086×10
-7 -4
Q2EA05005D 78.7 33.2×10 0.067×10
-7 -4
Q2EA05010D 26.8 22.6×10 0.13×10
-7 -4
Q2EA05020D 11.9 10.4×10 0.25×10
-7 -4
Q2EA07020D 12.0 39.4×10 0.38×10
The values for α and β are based on an assumed resistance value of the power line of 0Ω.
If the combination with an amplifier is different than those shown above, or if the motor is not listed above,
consult your dealer or sales office.
11. 4. 2 Allowable frequency of dynamic brake
Dynamic brake is for emergency stop of the servo motor at the time of alarms or power failure. In normal operations or
sequence operations, it is not used for such an application as dynamic brake starts to operate. When setting the system or
operation conditions, please avoid such settings as dynamic brake is likely to operate. For testing the dynamic brake function,
test must done less than 10 rotations per hour and 50 rotations per day under the conditions of maximum speed and applicable
load inertia.
11-6
11. 5 Regeneration process
This R series type R servo system has a built-in regenerative resistor. Therefore, as the regeneration capacity of the amplifier
depends on the allowable power of the built-in regenerative resistor, calculate the regeneration power PM, and be sure to confirm
that PM < PRI (allowable power of the amplifier’s built-in regeneration resistor) is fulfilled. When regeneration power PM exceeds
the allowable range of power PR1 of the amplifier’s built-in regeneration resistor, connect an optional external regeneration
resistor for increasing regeneration capacity. In this case, calculate regeneration resistance PM and confirm that PM<PRO (the
maximum allowable power for the external regeneration resistor) is fulfilled.
When regeneration power PM exceeds the maximum permitted power (PRO) of the external regeneration resistor, reconsider the
acceleration constant, load inertia, etc.
The calculation method and measurement method of regeneration power PM, and the selection method and parameter setting of
appropriate regeneration resistance, are explained in this section.
11. 5. 1 Calculation method of regeneration power PM
[ Step 1 ] Calculate the regeneration energy.

An example of the calculation of regeneration energy (EM) is shown below.
1. For operations along a horizontal axis.

2
1 Tb ⎛ Tb ⎞
EM ＝ EHb ＝ × N × 3・ KE φ× × tb － ⎜ ⎟ × 3・ R φ× tb
2 KT ⎝ KT ⎠
EM : Regeneration energy during operations along horizontal axis (J)

EHb : Regeneration energy during deceleration (J)
-1
KEφ : Induced voltage ( Vrms/min ) (Motor constant)
KT : Torque constant ( Nxm/Arms ) (Motor constant)
-1
N : Motor rotation speed ( min )
Rφ : Armature resistance (Ω) (Motor constant)
tb : Deceleration time ( sec )
Tb : Torque during deceleration ( Nxm ) (Tb=Tc-TF)
Speed Tc : Adjustable speed torque ( Nxm )
TF : Friction torque ( Nxm )
N
0 -> Time
Motor output shaft torque

Tc+TF
TF
-> Time
Tb
tb
t0
Fig. 11-6
11-7
2. For operations along vertical axis (with a gravitational load)
EM = EVUb + EVD + EVDb

2
1 TUb ⎛ TUb⎞
＝ × N× 3・ KEφ × × tU b － ⎜ ⎟ × 3 ・ R φ × tU b
2 KT ⎝ KT ⎠
2
TD ⎛ TD ⎞
＋ N× 3・ KEφ × × tD － ⎜ ⎟ × 3 ・ R φ × tD
KT ⎝ KT ⎠
2
1 TDb ⎛ TDb ⎞
＋ × N× 3・ KEφ × × tD b － ⎜ ⎟ × 3 ・ R φ × tD b
2 KT ⎝ KT ⎠
EM : Regeneration energy during operations along vertical axis (J)
EVUb : Regeneration energy during increased deceleration (J)
EVD : Regeneration energy during descending run (J)
EVDb : Regeneration energy during decreased deceleration (J)
TUb : Torque during Increased deceleration ( Nxm )
tUb : Increased deceleration time ( sec )
TD : Torque during descending run ( Nxm ) (TD=TM-TF)
tD : Descending run time ( sec )
TDb : Torque during decreased deceleration (Nxm ) (TDb =TC-TF+TM)
Speed tDb : Decreased deceleration time ( sec )
TM : Gravitational load torque ( Nxm )
N
Increase
0 -> Time
Decline
-N
Tc+TF+TM
Motor output shaft torque Tc+TF-TM
TDb
TM+TF
TM TD
-> Time
TUb
tUb tD tDb
t0
Fig. 11-7
When the calculation result of either of EVUb, EVD, EVDb is negative, calculate EM by considering the value of
those variables as 0.
[ Step 2 ] Calculate the effective regeneration power.
Confirm the regeneration capacity of regeneration resistance connected to the amplifier from the calculation result during
regeneration.
1. For operations along horizontal axis.

EM
PM ＝
to
PM : Effective regeneration power (W)
EM : Regeneration energy during deceleration (J)
to : Cycle time ( sec )
2. For operations along vertical axis.
EM
PM＝
to
PM : Effective regeneration power (W)
EM : Regeneration energy during increased deceleration/
descending /decreased deceleration (J)
to : Cycle time ( sec )
11-8
11. 5. 2 Confirmation of regeneration power PM in actual operation
Regeneration power PM can be easily confirmed by Q-SETUP setup software.

Setup software …. Monitor display 11xRegPxRegeneration circuit operating rate
The monitor value of the regeneration circuit operating rate shows the operating rate of regeneration circuit.
The display range is 0.01% - 99.99%.
The actual regeneration power PM can be calculated from this monitor value by the following equation.
400(V) × 400(V) Regeneration circuit operating rate (%)

Regeneration power PM (W) = ×
Regeneration 100(%)
* This equation is used when the input supply voltage of the servo amplifier is 200V.
If the input supply voltage is 100V, calculate PM after replacing “400(V)×400(V)” by “200(V)×200(V)”.
* Refer to the following table for the regeneration resistance value of built-in regeneration resistance.
Calculation example) When RegP monitor value=0.05% by using RRPAE, built-in regeneration resistance.
(Input supply voltage of 200V, Built-in regeneration resistance of 17Ω)
400(V)×400(V) 0.05(%)
Regeneration power PM (W) = × = 4.7 (W)
17(Ω) 100(%)
The regeneration power calculated from this monitor value is a target value. The regeneration power varies per the
voltage fluctuation of the input power supply or by age in servo amplifier and loading device.
Select the regeneration resistance by calculating regeneration power PM from the operation pattern, as per 11.5.1
Calculation method of regeneration power PM.
11. 5. 3 Selection judgment of built-in or external regeneration resistor
There is no need to have an external regeneration resistor when the regeneration power PM calculated in Chapter 11.5.1 is
below allowable absorbing power PRI of the built-in regeneration resistor as shown in Table 11-5.
In case of PM>PRI, use an external regeneration resistor according to the value of regeneration power PM calculated in Chapter
11.5.1, referring to Chapter 11.5.4.
Table 11-4 Specifications for built-in regeneration resistor

Power supply Allowable absorbing regeneration power PRI(W)
Input power Built-in regeneration
unit mode
voltage resistance value Natural cooling Forcible cooling
number
RRPAA 200V type 17Ω 5W 10W
RRPEA 100V type 17Ω 5W 10W
1.Regeneration power may vary depending on the power supply voltage, loading device fluctuation with age or
ambient temperature of the servo amplifier. Upon selection of built-in or external regeneration resistor, it is
recommended to include leeway of about PM<PRI×0.7.
2.When using an external regeneration resistor, take the larger value than that for a built-in regeneration
resistor as shown in Table 11-4. For RRPAA power supply unit, 20Ω is recommended.
Select “Use external regenerative resistor.” in the setting of “system parameter” “selection of regenerative
resistor”.
11-9
11. 5. 4 External regeneration resistor
In accordance with the effective regeneration power (PM) calculated in “11.5. 1 Calculation of regeneration power PM”, if the
regeneration resistor built in the power unit cannot absorb the regeneration power, an external regeneration resistor shall be
connected.
For connecting an external regeneration resistor, first remove the resistance line of the built-in regeneration resistor which is
connected between RB1 – RB2 of the power supply unit CNB and connect the external one between RB1 - RB2.
Select the resistor according to the effective regeneration power PM from Table 11-5 below.
Table 11-5 External regeneration resistor

Allowable effective
Appearance
Model power PM Resistance External size Thermostat
diagram
(Can be absorbed.)
Yes
REGIST-220W20B 55W 20Ω W60,L230,D20 Fi9g. 11-8
(b contact point)
Yes
REGIST-500W20B 125W 20Ω W80,L250,D40 Fig. 11-9
(b contact point)
1.The allowable effective power PM in Table 11-5 above is a target value, not an assured value of the power that can
be absorbed. In actual operations, absorbable power varies depending on the installing and cooling conditions of the
resistor. Before using one, try a continuous operation with the actual machine under such circumstances as to
generate the maximum regeneration power and measure how high the temperature rises. Judge carefully whether it
can be used or not.
2.When using the resistor listed in Table11-5, protective measures against burning is recommended such as to use a
thermostat for prevention of heating up. A thermostat shall be connected to generic input of the amplifier, or inserted
in the host controller.
Example of parameter setting: Thermostat is connected to PS_CONT9
[Group9 Page40 external trip input function] is [41:PS_CONT9_OFF]

When PS_CONT9 is OFF, external trip function is enabled.
IF the thermostat of the regenerative resistor tripped (away from connection), alarm (ALM_55) will be output from
the servo amplifier.
3. When using an external regeneration resistor, select “Use external regeneration resistor” of the regeneration
resistor select parameter on digital operator of the power supply unit or in the R-Setup.
4. Make sure to use twisted wire and keep the wiring as short as possible (5m max.) for connecting an external
regeneration resistor. Long wiring could cause noise and malfunction.
5. Regeneration resistor may heat up. Take preventive measures against heating; e.g. avoid contact with wires in use,
use nonflammable wires, or keep hands away from it.
11-10
230 300 +20

0
220 0.4 270 +15

0
200 6 1
4.3 6 1
60 0.4
42.7
4.3 +0.3
Silicone rubber glass fiber cable

0
0.5mm 2 (thermostat) , White

0.75mm 2 , Black
20
1.2
Fig. 11-8 REGIST-220W20B External Appearance
250
234 8
4.5
Earth mark
M3
3
M3
80
60
Thermostat
2- 4.5 Crimped terminal(for M5) A

UL 1430 electric cable 0.2mm 2 , White
2mm 2 , White
218 B
40
Fig. 11-9 REGIST-500W20B External Appearance
11-11
11-12
12. International Standards
12.1 International Standards Conformity ･････････････････ 12-2

12.2 Compliance with EC Directives ･････････････････ 12-4
12.3 Installation of Noise Filter/Servo Amplifier ･････････････････ 12-6
12.4 Recommended Parts of Countermeasures ･････････････････ 12-7
12.5 Implementation of Check Test ･････････････････ 12-7
12-1
12. 1 International Standards Conformity
● The RR1 servo amplifier conforms to the international standards below.
International
Mark Standard number Certification Organization
standards
UL standard UL508C
UL
(Underwriters Laboratories inc.)
CSA standard UL508C
EN50178
TÜV
EN standard EN61000-6-2
(TÜV Product Service Japan, Ltd.)
EN61800-3
● TheQ servo motor conforms to the international standards below.
International
Display Standard number Certification Organization
standards
UL1004 UL
UL standard
UL1446 (Underwriters Laboratories inc.)
IEC-34-1
TÜV
EN standards IEC34-5
(TÜV Product Service Japan, Ltd.)
IEC34-9
Note) Specifications of the servo motor conforming to the international standards may differ from the standard products due to
prerequisites necessary for obtaining approval. Contact the manufacturer for more details.
● Precautions for conformity standards

1. Make sure to use the servo amplifier and the servo motor in correct combination. Check “Section2 : Prior to use --- Servo amplifier
model number”.
2. Make sure to install the servo amplifier in your control panel in an environment where the pollution level is no less than 2 ( polution level
1, 2) as specified in EN50178 and IEC664. The control panel installation configuration (under IP54) must exclude exposure to water,
oil, carbon, dust, etc.
3. The servo amplifiers must be used under the conditions specified in overvoltage categoryⅢ, EN50178. For the interface, use a DC
power supply with reinforced and insulated input and outputs.
4. Always ground the protective earth terminals of the servo amplifier to the power supply earth. ( )
5. When connecting grounding wire to the protective earth terminal, always connect one wire in one terminal; never connect jointly with
multiple wires or terminals.
6. When connecting the leakage stopper, make sure to connect the protective earth terminal to the power supply earth. ( )
12-2
7. Connect earthing wire by using a crimping terminal with insulated tube, so that the connected wire
will not touch the neighboring terminals.
Crimping terminal
Insulation tube
electric wire
8. For wire relays, use a fixed terminal block to connect wires; never connect wires directly.
Good No
9. Connect an EMC filter to the input power supply of the power unit.
10. Use an EN/ IEC-standard compatible no-fuse circuit breaker and electromagnetic contactor.
Note) The file number of UL is available at the UL homepage: http://www.ul.com/database/.
Note) Please contact your dealer or sales representative if you need the above certiification.
12-3
12.2 Compliance with EC Directives
Our company has performed the requisite low voltage and EMC testing in accordance with EC
Directives related to CE marking through a separate, third-party certifying authority.
Directive
Classification Test Test standard
classification
Low voltage
Directive - - EN50178: 1997
(Servo amplifier)
Conducted emission
EN55011: A1/1999
Emission
Radiated emission
EN55011: A1/1999
Electrostatic discharge immunity

EN61000-4-2: A2/2001
Radiated electromagnetic field immunity

EMC Directive EN61000-4-3: A2/2001
(Servo amplifier
Electrical first transient/ burst immunity
/ servo motor) EN61000-4-4: A2/2001
Immunity test
Conducted disturbance immunity
EN61000-4-6: A1/2001
Surge immunity
EN61000-4-5: A1/2001
Voltage Dips & Interruptions immunity

EN61000-4-11: A1/2001
Rotating electrical machines-

IEC-34-1
Part1: Rating and performance
Rotating electrical machines-Part5:Classification of degrees of
Low voltage
protection provided by enclosures of rotating electrical
Directive - IEC34-5
machines(IP code)
(Servo motor)
Rotating electrical machines-Prat9: Noise limits

IEC34-9
Note) For the EMC Directives, tests are performed by general installation and countermeasure methods, in our company as
machines and configurations differ depending on the customers’ needs.
Note) This servo amplifier has been authorized to display CE marking based on the certificate issued by a separate,
third-party certifying authority. Accordingly, customers are instructed to perform the final conformity tests for all the
instruments and devices in use.
12-4
● Precautions for EMC Directives
Use the following guidelines for the RR1 servo system in order to conform the customer’s equipment and
devices to the EMC Directives.
1. A metallic material must be used for the door and main body of control panel.
2. The joints of the top and side panels must be masked and welded.
3. Parts joined with screws must be welded to prevent noise from leaking out from joints.
4. When joining parts with screws or spot welding, the welding space must be within 10cm.
5. Use an EMI gasket so that there is zero clearance between the door and control panel.
6. Install EMI gasket uniformly to the contact points between door and main body of control panel.
7. Perform conductivity processing on the EMI gasket, door and main body of control panel to
confirm their conductivty.
8. Ground the noise filter frame to the control panel.
9. Ground the servo amplifier chassis provided by the customer.
10. Use shield cables for the motor power line and encoder cable.
11. Ground the shield of motor power wire and encoder cable to the control panel with the clamp.
12. Ground and clamp the shield of motor power line and encoder cable to the frame of the servo
motor (or of customers’ equipement / device).
13. Use a conducting metal P clip or U clip to ground and clamp the shield wire, and fix it directly
with metal screws. Do not ground by soldering electric wire to the shield wire.
Good No
Grounding by U clip or P clip Grounding by soldering
14. Wrap the zero-phase reactor four times around the primary side of the noise filter.
L1 L1
L2 L2
L3 L3
15. Wire the servo amplifier at a short distance from the secondary side of noise filter.
16. Wire the primary side and secondary side of the noise filter separately.
12-5
12. 3 Installation of noise filter and servo amplifier
● Three-phase power supply
Servo amplifier
r
Noise filter
t
MC
L1 L1 R
L1
L2 L2 L2 S
L3 L3 L3 T
PE
Connected to protective earth

terminal
Toroidal core
Ground without fail
● Single-phase power supply

Servo amplifier
r
Noise filter
t
MC
L1 L1 R
L1
L2 L2 S
L2
PE
Connected to protective earth

terminal
Toroidal core
Ground without fail
Note) Always ground the frame of the noise filter.
Note) Install wiring by separating the primary and secondary wiring of the noise filter
as much as possible.
Note) Keep wiring from the noise filter to servo amplifier as short as possible.
Note) Connect the servo amplifier to the secondary side of noise filter.
12-6
12. 4 Recommended parts of countermeasures
● Noise filter
Model Number Specifications Manufacturer
Rated voltage:Line-Line 500 V Okaya Electric Industries
3SUP-HK30-ER-6B Co. Ltd.
Rated current:30 A
Rated voltage:Line-Line 500 V Okaya Electric Industries
3SUP-HK50-ER-6B
Rated current:50 A Co. Ltd.
Rated voltage:Line-Line 440 to 550 V RASMI ELECTRONICS LTD.
RF3020-DLC
Rated current:20 A
RF3030-DLC
Rated current:30 A
RF3070-DLC
Rated current:70 A
Rated voltage:Line-Neutral 250 V RASMI ELECTRONICS LTD.
RF1010-DLC
Rated current:10 A
Rated voltage:Line-Line 480 V SCHAFFNER
FS5559-35-33
Rated current:35 A
● Toroidal core
Model Number External diameter Internal diameter Manufacturer
251-211 65 mm 36 mm SCHAFFNER
Okaya Electric Industries Co. Ltd.: http://www.okayaelec.co.jp/

RASMI ELECTRONICS LTD. : http://www.rasmi.com/
SCHAFFNER : http://www.schaffner.com/
Note) If you wish to order the products manufactured by RASMI, please contact SANYO DENKI.
12. 5 Implementation of check test
EMC testing of the equipment and devices which the RR1 servo system is built–in
should meet the emission and immunity standards (electromagnetic
compatibility) for the usage environment / and operating conditions.
It is necessary to follow the instructions mentioned above and conduct a final conformity
check test after review.
12-7
12-8
Release
Revision A Jun. 2007
Revision B Jan. 2010
Precautions For Adoption Cautions

Cautions • Be sure to read the instruction manual before using this product.
• Take sufﬁcient safety measures and contact us before applying this
The possibility of moderate or minor injury product to medical equipment that may involve human lives.
and the occurrence of physical damage are assumed • Contact us before adapting this product for use with equipment that
when the precautions at right column are not observed. could cause serious social or public effects.
Depending on the situation, • The use of this product in high motion environments where vibration
this may cause serious consequences. is present, such as in vehicles or shipping vessels, is prohibited.
Be sure to follow all listed precautions. • Do not convert or modify any equipment components.
* Please contact our Business Division for questions and consultations regarding the above.
http://www.sanyodenki.co.jp
1-15-1, Kita-Otsuka, Toshima-ku, Tokyo 170-8451, Japan Phone: +81 3 3917 5157
468 Amapola Avenue Torrance, CA 90501 U.S.A. Phone: +1 310 783 5400
P.A. Paris Nord ll 48 Allee des Erables-VILLEPINTE BP.57286 F-95958 ROISSY CDG Cedex France Phone: +33 1 48 63 26 61
Frankfurter Strasse 63-69 65760 Eschborn Germany Phone: +49 6196 76113 0
9F 5-2, Sunwha-dong Jung-gu Seoul, 100-130, Korea Phone: +82 2 773 5623
Rm2108-2109, Bldg A, Far East International Plaza, No.319, Xianxia Rd., Shanghai, 200051, China Phone: +86 21 6235 1107
Room 1208, 12F, No.96 Chung Shan N, Rd., Sec.2, Taipei 104, Taiwan, R.O.C. Phone: +886 2 2511 3938
Room 2305, 23/F, South Tower, Concordia Plaza, 1 Science Museum Rd., TST East, Kowloon, Hong Kong Phone: +852 2312 6250
10 Hoe Chiang Road #14-03A/04 Keppel Towers Singapore 089315 Phone: +65 6223 1071
The names of companies and/or their products specified in this manual are the trade names, and/or trademarks and/or registered trademarks of such respective companies.
*Remarks : Specifications Are Subject To Change Without Notice.

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Precautions related to this Instruction Manual

1. Safety precautions 6. Operations

1.1 Introduction 1-2 6.1 Power ON/OFF sequence 6-2

9. 1 During an Alarm 9-2 11. 1 Time of Acceleration and Deceleration 11-2

This document is a summary of the safety

precautions regarding the use of the

R-series R-type Servo System.

Please read it carefully prior to use.

1.1 Introduction ･･･････････････････ 1-2

1.2 Location of warning labels on the product

RR1A01AA RR1A01AA RR1A01AA RR1A01AA

RRPAA00_* XXXXXXXX_* XXXXXXXX_* XXXXXXXX_* XXXXXXXX_*

1.3.1 Label description

1 1 : Safety precaution level

1.3.2 Precaution levels

1. Denotes immediate hazards which WILL probably cause

2. Denotes hazards which COULD cause bodily injury and

the instructions should be strictly followed.

3. Indicates actions that must be carried out (mandatory

4. Indicates actions that must not be allowed to occur

1.3.3 Graphic symbols

Symbol Type Sample symbols

1. Do not use this device in explosive environment.

2. Do not touch the inside of the amplifier.

3. Do not perform any wiring, maintenance or inspection when

4. Only technically qualified personnel should transport, install, wire,

5. The protective ground terminal ( ) should always be grounded.

6. Do not damage the cable, do not apply unreasonable stress to it,

7. Wiring should be done based on the wiring diagram or the user

8. Do not touch the rotating part of the motor during operation.

9. Do not touch or get close to the terminal while the device is

2. Do not use the amplifier or the motor outside their specifications.

4. Use the amplifier and motor together in the specified combination.

7. Verify that the products correspond to the order sheet/packing list.

8. Keep the motor’s encoder terminals away from static electricity.

15. Make sure the mounting orientation is correct.

20. Install the device on a metal or other non-flammable support.

29. Verify that the power specifications are normal.

3. Do not overhaul the device.

4. Do not remove the nameplate cover attached to the device.

1. Store the device where it is not exposed to direct sunlight,

4. Operate within the specified temperature and humidity range

5. Follow the directions written on the outside box.

No Text on This Page.

2.1 Package opening ･････････････････ 2-2

2.2 Product verification

Servo motor Servo motor main nameplate

Interpretation of the serial number

Always use the specified range for electric power.

・ Never perform a withstand voltage test or a Megger-test on the servo motor or

・ Apply a surge protector to coils such as relays, electromagnetic contacts,

・ Connect power at the specified range to the r, t, R, S, and T terminals of the

2.4.1 Q-, R-series servo motor model number

1. Series name: Q: Q-series Servo Motor

2. Motor type: 1:Low inertia

3. Voltage: A: AC200V input

4. Motor form: A: Standard flange

5. Flange angle dimensions