L7NHF_ENG_V1.1_200604_web (1)

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AC SERVO DRIVE
Xmotion L7NHF Series
Safety Precautions
 Read all safety precautions before using this
product.
 After reading this manual, store it in a readily
accessible location for future reference.
Introduction
Hello. Thank you for choosing the LS ELECTRIC L7NHF series products.
This user manual describes how to use this product safely and efficiently.
Failure to comply with the guidelines outlined in this manual may cause personal injury or damage to
the product. Be sure to read this manual carefully before using this product and follow all guidelines
contained therein.
 The contents of this manual are subject to change without notice.
 The reproduction of part or all of the contents of this manual in any form, by any means or for
any purpose is strictly prohibited without the explicit written consent of LS ELECTRIC.
 LS ELECTRIC retains all patents, trademarks, copyrights and other intellectual property rights to
the material in this manual. The information contained in this manual is intended for use with LS
ELECTRIC products only.
Safety precautions are categorized as either Warnings or Cautions, depending on the severity
of the precaution.
Precautions Meaning
Warning Failure to comply with these guidelines may cause serious injury or death.
Failure to comply with these guidelines may cause personal injury or property
Caution damage.
 Certain cases classified as Caution may also cause serious consequences depending on the
situation. Therefore, a close attention should be given to this category.
 Electric Safety Precautions
Warning
 Before wiring or inspection tasks, turn off the power. Wait 15 minutes until the charge
lamp goes off, and then check the voltage.
 Ground the servo drive and the servo motor.
 Only specially trained technicians may perform wiring on this product.
 Install both the servo drive and servo motor before performing any wiring.
 Do not operate the device with wet hands.
 Do not open the servo drive cover during operation.
 Do not operate the device with the servo drive cover removed.
 Even if the power is off, do not remove the servo drive cover.
 Fire Safety Precautions
Caution
 Install the servo drive, the servo motor, and the regenerative resistor on non-
combustible materials.
 Disconnect the input power if the servo drive malfunctions.
 Installation Precautions
Store and operate this product under the following environmental conditions.
Conditions
Environment
Servo Drive Servo Motor
Operating
0 ~ 50 ℃ 0 ~ 40 ℃
temperature
Storage
-20 ~ 65 ℃ -10 ~ 60 ℃
temperature
Operating
humidity
Below 90% RH (no condensation) 20 - 80% RH (no condensation)
Storage
humidity
Altitude 1000 m or lower
 When installing 1 unit:
 More than 40 mm at the top and
bottom of the control panel
 More than 10 mm on the left and right
sides of the control panel
 When installing 2 or more units:
 More than 100 mm at the top of the
Spacing control panel
 More than 40 mm at the bottom of the
control panel
 More than 30 mm on the left and right
sides of the control panel
 More than 2 mm between units
 Refer to Section 2.2.2, "Wiring the
Control Panel."
 Ensure the installation location is free from dust, iron, corrosive gas or
Others combustible gas.
 Ensure the installation location is free from vibrations or hard impact.
Caution
 Install the product in the correct orientation.
 Do not drop the product or expose it to hard impact.
 Install this product in a location that is free from water, corrosive gas, combustible gas
or flammable materials.
 Install this product in a location capable of supporting the weight of this product.
 Do not stand on the product or place heavy objects on top of it.
 Always maintain the specified spacing when installing the servo drive.
 Ensure that there are no conductive or flammable debris inside the servo drive or the
servo motor.
 Firmly attach the servo motor to the machine.
 Install the servo motor with a correctly oriented decelerator.
 Do not touch the rotating unit of the servo motor during operation.
 Do not apply excessive force when connecting the couplings to the servo motor shaft.
 Do not place loads on the servo motor shaft that exceed the specified amount.
 Wiring Precautions
Caution
 Always use an AC 200-230 V power input for the servo drive.
 Always connect the servo drive to a ground terminal.
 Do not connect commercial power directly to the servo motor.
 Do not connect commercial power directly to the U, V, W output terminals of the servo
drive.
 Connect the U, V, W output terminals of the servo drive directly to the U, V, W input
terminals of the servo motor, but do not install magnetic contactors between the wires.
 Always use pressurized terminals with insulation tubes when connecting the servo
drive power terminal.
 When wiring, be sure to separate the U, V, and W cables for the servo motor power
and encoder cable.
 Always use the robot cable if the motor moves.
 Before you perform power line wiring, turn off the input power of the servo drive, and
then wait until the charge lamp goes off completely.
 Startup Precautions
Caution
 Check the input voltage (AC 200-230 V) and power unit wiring before supplying power
to the device.
 The servo must be in the OFF mode when you turn on the power.
 For L7NHFA □□□, check the motor ID, encoder type and encoder pulse to be used
before turning on the power.
 For L7NHFA □□□, first set the motor ID [0x2000], encoder type [0x2001] and encoder
pulse [0x2002] after turning on the power.
 After you complete the above settings, set the drive mode for the servo drive that is
connected to
the upper level controller in [0x6060].
 Refer to Chapter 2.5 “Wiring for Input/Output Signals” to perform I/O wiring for the
servo drive.
 You can check the on/off status of each I/O contact point from the digital input of
[0x60FD].
 Handling and Operating Precautions
Caution
 Check and adjust each parameter before operation.
 Do not touch the rotating unit of the motor during operation.
 Do not touch the heat sink during operation.
 Be sure to attach or remove the I/O and ENC connectors when the power is off.
 Extreme changes in parameter values may cause system instability.
 Usage Precautions
Caution
 Install an emergency cut-off switch, which immediately stops operation in an
emergency.
 Reset the alarm when the servo is off. Be warned that the system restarts
immediately if the alarm is reset while the servo is on.
 Use a noise filter or DC reactor to minimize electromagnetic interference. This
prevents nearby electrical devices from malfunctioning due to electromagnetic
interference.
 Only use approved servo drive and servo motor combinations.
 The electric brake on the servo motor stops operation. Do not use it for ordinary
braking.
 Brake failure may occur if the electric brake is degraded or the mechanical structure is
improper (e.g. if the ball screw and servo motor are combined via the timing belt).
Install an emergency stop device to ensure mechanical safety.
 Malfunction Precautions
Caution
 Install a servo motor with an electric brake or separate the brake system for use
during emergencies or device malfunctions.
 If an alarm occurs, solve the underlying cause of the problem. After ensuring safe
operation, deactivate the alarm and resume operation.
 Do not approach the machine until the problem is solved.
 Repair/Inspection Precautions
Caution
 Before performing servicing tasks, turn off the power. Wait 15 minutes until the charge
lamp goes off, and then check the voltage. Enough voltage may remain in the
condenser after the power is off to cause an electric shock.
 Only authorized personnel may repair and inspect the device or replace parts.
 Do not modify this device in any way.
 General Precautions
Caution
 This user manual is subject to change due to product modifications or changes in
standards. If such changes occur, we issue a new user manual with a new product
number.
 Product Application
Caution
 This product is not designed or manufactured for machines or systems intended to
sustain human life.
 This product is manufactured under strict quality control conditions. Nevertheless,
install safety devices if installing the product in a facility where product malfunctions
may result in a major accident or a significant loss.
 EEPROM Lifespan
Caution
 The EEPROM is rewritable up to 4 million times for the purpose of recording
parameter settings and other information. The servo drive may malfunction if the total
number of the following tasks exceeds 4 million, depending on the lifespan of the
EEPROM.
 EEPROM record as a result of parameter changes
 EEPROM record as a result of an alarm
Table of Contents
1. Product Configuration .................................................................................................................... 1-1
1.1 Product Verification ................................................................................................................. 1-1
1.2 Product Specifications ............................................................................................................. 1-2
1.3 Component Names ................................................................................................................. 1-3

1.3.1 Servo Drive Components .............................................................................................. 1-3
1.3.2 Servo Motor Parts .......................................................................................................... 1-7
1.4 Example of System Configuration ........................................................................................... 1-8
2. Wiring and Connection ................................................................................................................... 2-1
2.1 Installation of Servo Motor ....................................................................................................... 2-1

2.1.1 Operating Environment.................................................................................................. 2-1
2.1.2 Preventing Impact.......................................................................................................... 2-1
2.1.3 Motor Connection .......................................................................................................... 2-1
2.1.4 The Load Device Connection ........................................................................................ 2-2
2.1.5 Cable Installation ........................................................................................................... 2-2
2.2 Installation of Servo Drive ....................................................................................................... 2-3

2.2.1 Installation and Usage Environment.............................................................................. 2-3
2.3 Internal Block Diagram of Drive............................................................................................... 2-4

2.3.1 L7NHF Drive Block Diagram (L7NHFA010U, L7NHFA035U) ....................................... 2-4
2.3.2 L7NHF Drive Block Diagram (L7NHFA050U, L7NHFA075U) ....................................... 2-5
2.4 Power Supply Wiring ............................................................................................................... 2-6

2.4.1 Power Supply Wiring Diagram ...................................................................................... 2-7
2.4.2 Power Input Sequence .................................................................................................. 2-9
2.4.3 Power Circuit Electrical Components .......................................................................... 2-10
2.4.4 Regenerative Resistor Options ................................................................................... 2-15
2.5 Wiring for Input/Output Signals ............................................................................................. 2-16

2.5.1 Names and Functions of Digital Input/Output Signals .................................................2-17
2.5.2 Names and Functions of Analog Input/Output Signals ................................................2-19
2.5.3 Examples of Connecting Input/Output Signals ............................................................ 2-20
2.5.4 Input/Output Signal Wiring Diagram ............................................................................ 2-23
2.6 Wiring of Encoder Signal (Encoder) ...................................................................................... 2-24

2.6.1 Quadrature Encoder Signaling Unit Wiring ................................................................. 2-24
2.6.2 Serial Encoder Signaling Unit Wiring .......................................................................... 2-26
2.6.3 Multi-Turn Encoder Signaling Unit Wiring.................................................................... 2-27
2.6.4 Tamagawa Encoder Signaling Unit Wiring ................................................................. 2-29
2.6.5 EnDat 2.2 Encoder Signaling Unit Wiring ................................................................... 2-29
2.7 Second Encoder (Encoder 2) ................................................................................................ 2-30
2.8 Wiring for Safety Function Signals (STO) ............................................................................. 2-31

2.8.1 Names and Functions of Safety Function Signals ...................................................... 2-31
2.8.2 Example of Connecting Safety Function Signals ....................................................... 2-32
2.8.3 Bypass Wiring of Safety Function Signals .................................................................. 2-33
2.9 Wiring for EtherCAT Communication Signals ........................................................................ 2-34

2.9.1 Names and Functions of EtherCAT Communication Signals ..................................... 2-34
2.9.2 Example of Drive Connection ..................................................................................... 2-35
3. EtherCAT Communication ............................................................................................................. 3-1
3.1 Structure of CANopen over EtherCAT ..................................................................................... 3-1

3.1.1 EtherCAT State Machine .............................................................................................. 3-2
3.2 Status LED............................................................................................................................... 3-3
3.3 Data Type ................................................................................................................................ 3-5
3.4 PDO-Mapping .......................................................................................................................... 3-5
3.5 Synchronization Using the DC (Distributed Clock) .................................................................. 3-8
3.6 Emergency Messages ............................................................................................................. 3-9
4. CiA402 Drive Profile ....................................................................................................................... 4-1
4.1 State machine .......................................................................................................................... 4-1
4.2 Operation Modes ..................................................................................................................... 4-4
4.3 Position Control Modes ........................................................................................................... 4-5

4.3.1 Cyclic Synchronous Position Mode .............................................................................. 4-5
4.3.2 Profile Position Mode .................................................................................................... 4-8
4.4 Velocity Control Modes .......................................................................................................... 4-13

4.4.1 Cyclic Synchronous Velocity Mode ............................................................................. 4-13
4.4.2 Profile Velocity Mode .................................................................................................. 4-16
4.5 Torque Control Modes ........................................................................................................... 4-19

4.5.1 Cyclic Synchronous Torque Mode .............................................................................. 4-19
4.5.2 Profile Torque Mode .................................................................................................... 4-22
4.6 Homing .................................................................................................................................. 4-25

4.6.1 Homing Methods ......................................................................................................... 4-25
4.7 Touch Probe Function ............................................................................................................ 4-37
5. Drive Application Functions .......................................................................................................... 5-1

5.1 Drive Front Panel..................................................................................................................... 5-1
5.1.1 7-Segment for indicating servo status ........................................................................... 5-1
5.2 Settings for Input/Output Signals............................................................................................. 5-4

5.2.1 Assignments for Digital Input Signals ............................................................................ 5-4
5.2.2 Assignment of Digital Output Signals ............................................................................ 5-7
5.2.3 Assignment of Analog Output Signals ......................................................................... 5-10
5.2.4 Use of User I/O ............................................................................................................ 5-13
5.3 Electric Gear Setup ............................................................................................................... 5-17

5.3.1 When the electric gear ................................................................................................. 5-17
5.3.2 Example of Electric Gear Setup .................................................................................. 5-18
5.4 Settings Related to Speed Control ........................................................................................ 5-20

5.4.1 Smooth Acceleration and Deceleration ....................................................................... 5-20
5.4.2 Servo-lock Function ..................................................................................................... 5-21
5.4.3 Signals Related to Speed Control ............................................................................... 5-21
5.5 Settings Related to Position Control...................................................................................... 5-22

5.5.1 Position Command Filter ............................................................................................. 5-22
5.5.2 Signals Related to Position Control ............................................................................. 5-23
5.6 Settings Related to Torque Control ....................................................................................... 5-25

5.6.1 Speed Limit Function ................................................................................................... 5-25
5.7 Positive/Negative Limit Settings ............................................................................................ 5-26
5.8 Setting the Brake Output Signal Function ............................................................................. 5-27
5.9 Torque Limit Function ............................................................................................................ 5-29
5.10 Gain Switching Function ........................................................................................................ 5-32

5.10.1 Gain Group Switching.................................................................................................. 5-32
5.10.2 P/PI Control Switching ................................................................................................. 5-34
5.11 Dynamic Brake ...................................................................................................................... 5-36
5.12 Regenerative resistance setting ............................................................................................ 5-37

5.12.1 Use of Internal Regenerative Resistor ........................................................................ 5-38
5.12.2 Use of External Regenerative Resistor ....................................................................... 5-40
5.12.3 Other Considerations ................................................................................................... 5-41
5.13 Configuration of the Drive Node Address (ADDR) ................................................................ 5-42
6. Safety Functions .............................................................................................................................. 6-1
6.1 Safe Torque Off (STO) Function .............................................................................................. 6-1
6.2 External Device Monitor (EDM) ............................................................................................... 6-3
6.3 Example of Using the Safety Function .................................................................................... 6-4

6.4 How to Verify the Safety Function ........................................................................................... 6-4
6.5 Precautions for Using the Safety Function .............................................................................. 6-4
7. Tuning .............................................................................................................................................. 7-1
7.1 Auto Gain Tuning (Offline Auto Tuning) ................................................................................... 7-1
7.2 Auto Gain Tuning (Online Auto Tuning) ................................................................................... 7-2
7.3 Manual Gain Tuning ................................................................................................................ 7-4

7.3.1 Gain Tuning Sequence ................................................................................................. 7-4
7.4 Vibration Control ...................................................................................................................... 7-6

7.4.1 Notch Filter ................................................................................................................... 7-6
7.4.2 Adaptive Filter ............................................................................................................... 7-7
7.4.3 Vibration Control (Damping) Filter ................................................................................ 7-9
8. Procedure Function ........................................................................................................................ 8-1
8.1 Manual Jog Operation ............................................................................................................. 8-1
8.2 Programmed Jog Operation .................................................................................................... 8-2
8.3 Deleting Alarm History ............................................................................................................. 8-3
8.4 Auto Gain Tuning ..................................................................................................................... 8-4
8.5 Index Pulse Search ................................................................................................................. 8-4
8.6 Absolute Encoder Reset .......................................................................................................... 8-5
8.7 Instantaneous Maximum Torque Initialization ......................................................................... 8-6
8.8 Phase Current Offset Tuning ................................................................................................... 8-7
8.9 Software Reset ........................................................................................................................ 8-7
8.10 Commutation ........................................................................................................................... 8-8
9. Full-Closed Control ........................................................................................................................ 9-1
9.1 Full-Closed Control Internal Configuration .............................................................................. 9-1
9.2 Full-Closed Control Parameter Settings .................................................................................. 9-2
10. Object Dictionary .......................................................................................................................... 10-1
10.1 General Objects ..................................................................................................................... 10-1
10.2 Manufacturer Specific Objects............................................................................................. 10-27
10.3 CiA402 Objects .................................................................................................................... 10-99
11. Product Specifications .................................................................................................................. 11-1
11.1 Servo Motor ........................................................................................................................... 11-1

11.1.1 Outline Diagram ......................................................................................................... 11-31
11.2 Servo Drive ........................................................................................................................... 11-47
11.2.1 Product Features ....................................................................................................... 11-47
11.2.2 Outline Diagram ......................................................................................................... 11-50
11.3 Options and Peripheral Devices ........................................................................................... 11-52
12. Maintenance and Inspection ........................................................................................................ 12-1
12.1 Maintenance and Inspection ................................................................................................. 12-1

12.1.1 Precautions .................................................................................................................. 12-1
12.1.2 What to Inspect ............................................................................................................ 12-2
12.1.3 Replacing Parts ........................................................................................................... 12-3
12.2 Diagnosing and Troubleshooting Abnormalities .................................................................... 12-4

12.2.1 Servo Motor ................................................................................................................. 12-4
12.2.2 Servo Drive .................................................................................................................. 12-5
12.3 Servo Drive Overload Graph ............................................................................................... 12-17
13. Test Drive........................................................................................................................................ 13-1
13.1 Preparation for Operation ...................................................................................................... 13-2
13.2 Test Drive Using TwinCAT System Manager ......................................................................... 13-3
13.3 Test Drive Using LS ELECTRIC PLC (XGT + PN8B) ......................................................... 13-13
14. Appendix ........................................................................................................................................ 14-1
14.1 Firmware Update ................................................................................................................... 14-1

14.1.1 Use of USB OTG ......................................................................................................... 14-1
14.1.2 Use of FoE (File access over EtherCAT) .................................................................... 14-2
14.1.3 Use of Drive CM .......................................................................................................... 14-6
1. Product Configuration
1.1 Product Verification

1. Check the nameplate to verify it matches the model ordered.
 Does the servo drive nameplate match?
 Does the servo motor's name plate match?
2. Check the product components and options.
 Are the type and length of cables correct?
 Does the regenerative resistor conform to the required standard?
 Is the shape of the shaft correct?
 Are there any abnormalities after mounting the oil seal or brake?
 Are the reducer and the reducer ratios correct?
 Is the encoder format correct?
3. Check the exterior of the device.
 Are there any foreign substances or moisture?
 Is there any discoloration, contaminant, damage or disconnected wire?
 Are the bolts tightly fastened to the joints?
 Is there any abnormal sound or excessive friction during operation?
1-1
1.2 Product Specifications
 L7NHF Series Product Type
L7 NHF A 004 U AA
Series Name Communication/Drive Type Input voltage Capacity Encoder Option
NH: Network type

All In One Type Blank:
A : 200Vac 010 : 1kW U : Universal
Standard
L7 Series 035 : 3.5kW (integrated
NHF: Network type Marking:
B : 400Vac 050 : 5kW type)
All In One Type Exclusive
075 : 7.5kW
+ Full-closed Type
 Servo Motor Product Type
APM – S B 04 A N K 1 G1 03
Servo Motor Gearbox
Classification
Motor Capacity
03: 1/3
R3: 30[W] Encoder type
Shaft Shape 10: 1/10
R5: 50[W]
Motor Shape N: Straight
01: 100[W] Quadrature (pulse Type)
S:Solid shaft type K: One-sided round key
02: 200[W] A: Inc. 1024[ppr]
H:Hollow shaft type
(standard)
Gearbox Specifications
03: 300[W] B: Inc. 2000[ppr]
B:Assembly type
C: C Cut
04: 400[W] C: Inc. 2048[ppr] D: D Cut

F:Flat type Non-existent:No gearbox
T: Taper Shape
07: 700[W] D: Inc. 2500[ppr]
L:L7-exclusive
G1:General industrial
R: Both-side round key purpose
10: 1.0[kW] E: Inc. 3000[ppr]
H: Hollow Shaft (Foot Mount)
15: 1.5[kW] F: Inc. 5000[ppr] G2:General industrial
Flange Size
purpose
20: 2.0[kW] G: Inc. 6000[ppr] (Flange Mount)
A: 40 Flange 35: 3.5[kW] G3:Precision Gearbox

Oil Seal and Brake
B: 60 Flange Serial BiSS
C: 80 Flange
Non-existent:Not included
(Communication type)
D: 100 Flange
1:Oil seal included
Rated RPM N : 19bit SingleTurn
E: 130 Flange
2:Brake included
A: 3000[rpm] M : 19bit MultiTurn
F: 180 Flange
3:Oil seal and brake included
D: 2000[rpm]
G: 220 Flange
G: 1500[rpm]
M: 1000[rpm]
1-2
1.3 Component Names
1.3.1 Servo Drive Components
 L7NHF Drive (1 kW)
Analog monitor connector

Display
Connector to check analog output signals.
Shows drive status, alarms, etc.
CHARGE lamp Node address setting switch

Lights on when the main circuit Switch to set the node address of the drive.
power is on. You can set the node addresses from 0 to 99.
Status LED
It indicates the current state of EtherCAT
communication. USB connector (USB)
This connector is used to communicate with a PC.
Main power
connectors(L1,L2,L3)
Terminals to input the main circuit power. EtherCAT communication input port (ECAT IN)
DC reactor connectors (PO,PI)
Terminals to connect the DC reactor that suppresses
high-frequency power. EtherCAT communication output port
(ECAT OUT)
Regenerative resistor
connectors(B+,B,BI)
Terminals to connect external regenerative resistors
-When using an internal resisto r:Sh ort-circuit B and BI
terminals Safety connector (STO)
-For an extern al re sistor:Install it to B+ a nd B termina ls. This connector connects safety devices.
- If a safety device is not used, be sure to install the
safety jump connector before use.
Control power
terminals (C1,C2)
Terminals to input the control power. Input/output signal connectors (I/O)
This connector is for sequence input/output signals.
Encoder connector 2 (ENCODER2)

Connector used to connect the encoder (sensor)
installed in the external equipment.
Servo motor connection

terminals (U,V,W)
Terminals to connect the main circuit cable Encoder connector (ENCODER)
(power cable) of the servo motor. This connector connects to the encoder installed in
the servo motor.
Ground
terminal
Ground terminal to prevent electric shock
1-3
 L7NHF Drive (3.5 kW)

Connector to check analog output
signals.
Node address setting switch

Switch to set the node address of the
drive.
You can set the node addresses from 0
to 99.
USB connector (USB)
This connector is used to communicate
with a PC.
EtherCAT communication input port
(ECAT IN)
EtherCAT communication output port

(ECAT OUT)
Safety connector (STO)

This connector connects safety devices.
- If a safety device is not used, be sure to
install the safety jump connector before use.
Input/output signal connectors (I/O)

This connector is for sequence input/output
signals.

Connector used to connect the encoder
(sensor) installed in the external equipment.
Encoder connector (ENCODER)

This connector connects to the encoder
installed in the servo motor.
1-4
 L7NHF Drive (5 kW)

signals.

drive.
to 99.
USB connector (USB)
with a PC.
(ECAT IN)

(ECAT OUT)


signals.


CHARGE lamp
Lights on when the main circuit
power is on.
Ground
terminal
Ground terminal to prevent electric shock

terminals (U,V,W)
Terminals to connect the main circuit cable
(power cable) of the servo motor.
1-5
 L7NHF Drive (7.5 kW)

signals.

drive.
to 99.
USB connector (USB)
with a PC.
(ECAT IN)

(ECAT OUT)

signals.



terminals (U,V,W)
Terminals to connect the main circuit cable
(power cable) of the servo motor.
t power.
Ground
ative resistors
ircuit B and BI terminal
*NC Ground terminal to prevent electric shock
nd B termina ls.
1-6
1.3.2 Servo Motor Parts
 80 Flange or below
Motor Power
Motor Cable
Connector Encoder
Connector
Encoder
Cable
Shaft
Encoder
Cover
Bearing Cap Flange Frame Housing
 130 Flange or higher
Motor
Connector
Encoder
Connector
Encoder
Shaft Cover
Bearing Cap
Flange Frame Housing
1-7
1.4 Example of System Configuration

The figure below shows an example of system configuration using this drive.
Power
Three-phase AC 220 V
Upper Device
R S T
XGT
Molded-case
Circuit Breaker
It is used to protect power
line.
It turns off the circuit if
overcurrent flows.
Node Address Setting Switch

Noise Filter
It protects power line 0 0
from external noise.
5 5
ADDR
Electromagnetic
Contactor
It turns ON / OFF
servo power.
Mini USB Mini USB

Cable Cable
Mini USB
Adaptor
U
10 31 4
3M
S
B
Safety Device
External Encoder (Sensor)
10 31 4
3M
10 31 4
3M
1-8
2. Wiring and Connection
2.1 Installation of Servo Motor
2.1.1 Operating Environment
Item Requirements Precautions
Consult with our technical support team to customize the

Ambient
0 ∼ 40[℃] product if temperatures in the installation environment are
temperature
outside this range.
Ambient
80% RH or lower Do not operate this device in an environment with steam.
humidity
Vibration acceleration
External
19.6 ㎨ or below on both Excessive vibrations reduce the lifespan of the bearings.
vibration
the X and Y axis.
2.1.2 Preventing Impact

Impact to the motor during installation or handling may damage the encoder.
2.1.3 Motor Connection

 If the motor is directly connected to commercial power, it may be burned. Be sure to connect with
the specified drive before using it.
 Connect the ground terminals of the motor to either of the two ground terminals inside the drive,
and attach the remaining terminal to the type-3 ground.
U-U
U–U
V-V
V-V
W-W
W–W
- FG
2-1
 Connect the U, V, and W terminals of the motor in the same way as the U, V, and W terminals of
the drive.
 Ensure that the pins on the motor connector are securely attached.
 In order to protect against moisture or condensation in the motor, make sure that insulation
resistance is 10 ㏁ (500 V) or higher before installation.
2.1.4 The Load Device Connection

For coupling connections: Ensure that the motor shaft and load shaft are aligned within the
tolerance range.
0.03 ㎜ or below (peak to peak)

Load
shaft
Motor
shaft
0.03 ㎜ or below (peak to peak)
 For pulley connections:
Lateral Load Axial Load

Flange Notes
N kgf N kgf
Nr: 30 ㎜ or below
40 148 15 39 4
60 206 21 69 7
80 255 26 98 10 Lateral load
130 725 74 362 37
180 1548 158 519 53
220 1850 189 781 90

Axial load
2.1.5 Cable Installation

 For vertical installations, make sure that no oil or water flows into the connecting parts.
 Do not apply pressure to or damage the cables.
 Use robot cables to prevent swaying when the motor moves.
2-2
2.2 Installation of Servo Drive
2.2.1 Installation and Usage Environment
Environmental
Item Precautions
conditions
Caution
Ambient
0∼50[℃] Install a cooling fan on the control panel to maintain an
temperature
appropriate temperature.
Caution
During prolonged periods of inactivity, moisture from

Ambient
90% RH or lower condensation or frost may develop inside the drive and
humidity
damage it. Remove all moisture before operating the drive
after a prolonged period of inactivity.
Vibration
External Excessive vibration reduces the lifespan of the machine and
acceleration 4.9
㎨ or lower
vibration may cause malfunctions.
 Do not expose the device to direct sunlight.
Ambient  Do not expose the device to corrosive or combustible gases.

conditions  Do not expose the device to oil or dust.
 Ensure that the device receives sufficient ventilation.
2-3
2.3 Internal Block Diagram of Drive
2.3.1 L7NHF Drive Block Diagram
(L7NHFA010U, L7NHFA035U)
Note 1) PO PI B B+ BI Note 2)
Note 3)
Diode Thermistor IGBT
3-phase power Input Regenerativ

e resistor Current sensor
AC200~230V L1 U
Thermistor V
L2
M E
L3 W
Chage
Lamp
T1 T2
Thermistor
Main power phase Internal DC전압 Regenerative IGBT U and V

Control power phase loss Relay DC voltage PWM signal DB
loss temperature braking temperature current
driving circuit driving circuit driving circuit driving circuit
detection circuit driving circuit detection circuit SC detection circuit detection circuit driving circuit
driving circuit
Single-phase
power Input
AC200~230V
C1 S Main control POWER circuit connection
M
P U and V current
C2 S
DC voltage
A/D conversion BiSS-B, BiSS-C

Quadrature
ECAT IN/OUT EtherCAT
Communic ESC TAMAGAWA
ation MCU / FPGA EnDat
USB
USB Communic Sinusoidal,
ation USB OTG FS AnalogHall
0 0
ENCODER
5 5 Encoder 1
x10 x1
ENCODER2
P/C Insulation I/F Encoder 2
Safety function input Safety function output Digital input Digital output Analog output
(2 points) (1 points) (6 points) (3 points) (2 points)
Safety device connection (STO) Input/Output connection (I/O) Analog output connection
Note 1) To use a DC reactor, connect it to the PO and PI pins.
Note 2) To use an external regenerative resistor, remove the B and BI short-circuit pins and
connect the resistor to the B+ and B pins.
Note 3) L7NHFA010U and L7NHFA035U models are cooled by a DC 24 V cooling fan.
2-4
2.3.2 L7NHF Drive Block Diagram
(L7NHFA050U, L7NHFA075U)
(Note2)
(주2)
(주1)
(Note1) External regenerative
외부회생저항
resistor
별취
separately connected
PO PI B+ B
Diode IGBT (Note3)
(주3)
FAN
3-phase
3상 전원 power
입력 Current
전류 센서 sensor
AC200~230V L1 U
Thermistor
써미스터
L2 V
L3 W
M E
Chage
Lamp
T1 T2
Thermistor
써미스터 N
Control power
제어전원결상 Main power
주전원결상 내부온도
Internal Relay DC전압 Regenerative IGBT온도
회생제동 IGBT PWM신호 U,V전류
U and V DB
Relay driving DC voltage PWM signal DB
phase loss driving phase loss temperature braking temperature current driving circuit
circuit driving circuit driving circuit
검출회로
circuit 검출회로
driving driving circuit 구동회로 검출회로 구동회로
circuit 검출회로 driving circuit 검출회로
driving circuit SC검출회로 검출회로 driving circuit 구동회로
Single-phase power
전원 입력
단상 input
AC200~230V
C1 S POWER 회로connection
접속
M Main
Maincontrol
제어 - Power circuit
P
C2 S U,V전류
U and V
current
DC전압
DC voltage
A/D 변환
A/D conversion
BISS-C
ECAT IN/OUT EtherCAT
EtherCAT
communication
통신 ESC Quadrature
USB USB
USB
MCU / FPGA TAMAGAWA
통신
communication USB OTG FS EnDat
ENCODER
제1엔코더
Encoder 1
ENCODER2
제2엔코더
Encoder 2
P/C 절연 I/F
P/C insulation I/F
Safety function
안전기능입력 Safety function
안전기능출력 디지털입력 디지털출력 아날로그 출력
Digital input Digital output Analog output
input output
(1 point)
(2(2점)
points) (1(1점)
point) (6점)
(6 points) (3(3점)
points) (1점)
안전기기
Safety 연결(STO)
device connection (STO) 입/출력 연결(I/O)
Input/Output connection (I/O) 아날로그 출력
Analog output 연결
connection
Note 1) To use a DC reactor, connect it to the PO and PI pins.
Note 2) If using an external regenerative resistor, attach the wiring of internal resistance to
mounting hole "NC" for internal resistance of the case. Then, connect external regenerative
resistance to B+ and B terminals.
Note 3) L7NHFA050U and L7NHFA075U models are cooled by a DC 24 V cooling fan.
2-5
2.4 Power Supply Wiring

 Ensure that the input power voltage is within the acceptable range.
Caution
Overvoltages can damage the drive.
 If commercial power is connected to the U, V, W terminals of the drive, they may be damaged. Be
sure to connect power to L1, L2, L3 terminals.
 Connect short-circuit pins to the B and BI terminals. For external regenerative resistors, remove the
short-circuit pins and use standard resistors for the B+ and B terminals.
Standard
Model Resistance * Notes
Capacity
L7NHFA010U 40[Ω] Built-in 100 W Caution
L7NHFA035U 13[Ω] Built-in 150 W For information about resistance during

regenerative capacity expansion, refer to Section
L7NHFA050U 6.8[Ω] Built-in 120 W
2.4.4, "Regenerative Resistor Options.”
L7NHFA075U 6.8[Ω] Built-in 240 W
 Configure the system so that the main power (L1, L2, L3) is supplied after the control power (C1,
C2). (Refer to section 2.4.1, “Power Supply Wiring Diagram.”)
 High voltages may remain in the device for some time even after the main power is disconnected.
Please be careful.
Warning
After disconnecting the main power, ensure that the charge lamp is off before you start
wiring. Failure to do so may result in electric shock.
 Always ground the device over the shortest possible distance. Long ground wires are susceptible to
noise, which may cause the device to malfunction.
2-6
2.4.1 Power Supply Wiring Diagram
 Power Supply Wiring Diagram

(L7NHFA010U and L7NHFA035U)
AC 200~230[V]
Servo Drive
R S T Note 1)
Main Main DC reactor
OFF ON
RA
PO PI
NF 1MC
1MC 1Ry 1SK U
L1
L2
V
W
M
L3
C1
C2 E
Encoder
1Ry
Alarm+ B+
+24 RA 9
V B
Alarm-
11 BI Note 2) External
I/O regenerative
resistor
Note 1) It takes approximately one to two seconds to output an alarm signal after turning on the main
power. Accordingly, press and hold the main power ON switch for at least two seconds.
Note 2) 1 kW and 3.5 kW drives have built-in regenerative resistors of (100 W, 40 Ω) and (150 W, 13 Ω),
respectively. Short-circuit B and BI terminals before using them. If the regenerative capacity is high
because of frequent acceleration and deceleration, open the short-circuit pins (B and BI) and
connect an external regenerative resistor to B and B+.
Note 3) Remove approximately 7 to 10 [㎜] of the sheathing from the cables for the main circuit power and
attach crimp terminals. (Refer to Section 2.4.3, "Power Circuit Electrical Components.”)
Note 4) For the [1 kW] drive, press the button on the drive terminal to attach or remove wires to the main
circuit power unit. For the [3.5 kW] drive, use a (-) flathead screwdriver to attach or remove the
wires.
2-7
 Power Supply Wiring Diagram

(L7NHFA050U to L7NHFA075U)
AC 200~230[V]
Servo Drive
R S T Note 1)
Main Main DC reactor
OFF ON
RA
PO PI
NF 1MC
1MC 1Ry 1SK U
L1
L2
V
W
M
L3
C1
C2 E
Encoder
1Ry
Alarm+ B+
+24 RA 9
V B
Alarm-
11 BI Note 2) External
regenerative
I/O resistor
Note 1) It takes approximately 1 to 2 seconds until an alarm signal is output after you turn on the main
power. Press and hold the main power ON switch for at least 2 seconds.
Note 2) 5 [kW] and 7.5 [kW] drives have built-in regenerative resistors of (120 W, 6.8 Ω) and (240 W, 6.8 Ω),
respectively. Check the connection of internal regenerative resistor to the B+ and B terminals before
using them. If the regenerative capacity is large due to frequent acceleration/deceleration, connect
the internal regenerative resistor wire to the internal resistor fixing hole “NC” of the case and
connect the external regenerative resistor to the B+ and B terminals.
2-8
2.4.2 Power Input Sequence
 Power Input Sequence
 Use the magnetic contactor for main circuit power supply as shown in "2.4.1, Power Supply Wiring
Diagram". Configure the external sequence to turn off the magnetic contactor at the same time as
an alarm occurs.
 The control power (C1 and C2) should be applied simultaneously with or before the main power (L1,
L2, and L3). Also, when the power is off, shut off the control power simultaneously or after the main
power is cut off.
 2 - 2.5 seconds after the power input, the alarm signal turns on (normal), and the Servo On
command signal is recognized. Therefore, when the Servo On command signal is on at the same
time as the power is input, the actual Servo On is activated 2 - 2.5 seconds later. Please keep this
in mind when designing the power input sequence.
 Timing Chart
Main power , ON
control power
supply OFF
Servo On ON
command OFF
Servo On ON
operation
OFF
Alarm ON
(normally On)
OFF
2~2.5[s]
2-9
2.4.3 Power Circuit Electrical Components
 L7NHFA010U to L7NHFA075U
Model Name L7NHFA010U L7NHFA035U L7NHFA050U L7NHFA075U
MCCB 30A Frame 15A 30A Frame 30A 50A Frame 40A 50A Frame 50A
(NFB) (ABE33b/15) (ABE33b/30) (ABE53b/40) (ABE53b/50)
Noise Filter
TB6-B010LBEI(10A) TB6-B030NBDC(30A) TB6-B040A (40A) TB6-B060LA (60A)
(NF)
DC reactor HFN-15(15A) HFN-30(30A) HFN-40(40A) HFN-50(50A)
18A / 240V 32A / 240V 50A / 240V 50A / 240V

MC
(GM□-18) (GM□-32) (GM□-50) (GM□-50)
L1 ,L2, L3
PO, PI, N AWG10 AWG8

AWG14(2.5 ㎟) AWG12(4.0 ㎟)
(6.0 ㎟) (8.0 ㎟)
Wire
B+, B
Note
U, V, W
1)
C1 AWG16 AWG16
AWG16(1.5 ㎟) AWG16(1.5 ㎟)
C2 (1.5 ㎟) (1.5 ㎟)
UA-F2010, SEOIL UA-F4010, SEOIL GP110028 GP110732

Crimp terminal
(10mm Strip & Twist) (10mm Strip & Twist) KET KET
Regenerative
100[W] 150[W] 120[W] 240[W]
resistor
40Ω 13Ω 6.8Ω 6.8Ω
(Default)
• BLF 5.08/03/180F SN •BLZ7.62HP/03/180LR
BK BX SN BK BX SO
Connector
• BLF 5.08/11/180F SN •BLZ7.62HP/11/180LR
BK BX SN BK BX SO
Note 1) When you select a wire, please use 600V, PVC-insulated wire.
To comply with UL(CSA) standards, use UL-certified wire (heat resistant temperature 75℃ or above).
To comply with other standards, use proper wires that meet applicable standards.
For other special specifications, use wires equivalent or superior to those in this section.
2-10
 L7NHFA010U
Wire strip 7~10[mm]
Weidmuller
SD 0.6x3.5x100 M4 : 1.2[N.m]
2-11
 L7NHFA035U
Wire strip 7~10[mm]
Weidmuller
SD 0.6x3.5x100 M4 : 1.2[N.m]
1) For information on wiring to BLF 5.08 and BLZ7.62HP Series connectors, refer to the above procedures.
2) Insert electric wire into insert hole with upper locking screw loosened, and use applicable flathead (-) driver
for each model to fully tighten screw to 0.4-0.5 N·m.
3) Otherwise, insufficient torque of locking screw may cause vibration-induced disconnection, system
malfunction and contact-induced fire accident.
4) After you connect a wire to connector, place the connector as closely to servo drive as possible and use
both locking hooks to fully lock it.
5) Use PE (Protective Earth) locking screw of M4 size (shown at the bottom of product) to tighten it to 1.2 N·m.
6) Insufficient torque of locking screw may cause PE (Protective Earth) contact failure and even malfunctioning
drive.
7) We recommend that you use a Weidmüller SD 0.6 x 3.5 x 100 product for a flat-head (-) screwdriver.
2-12
 L7NHFA050U
TB3
TB2
NC: Screw that fastens the lead terminal

of internal regenerative resistor
TB1
2) Use PE (Protective Earth) locking screw of M4 size (shown at the bottom of product) to tighten it to 1.2 N·m.
2-13
 L7NHFA075U
TB3
TB2
NC: Screw that fastens the lead terminal

TB1 of internal regenerative resistor
2) Use PE (Protective Earth) locking screw of M4 size (shown at the bottom of product) to tighten it to
1.2 N·m.
2-14
2.4.4 Regenerative Resistor Options
Type Product Model Applicable

Specifications
Name Name Drive
Resista Regenerati
APC-300R30 L7NHFA010U
nce ve resistor
Resista Regenerati
nce ve resistor
L7NHFA050U
Resista Regenerati (4P)
APC-600R28
nce ve resistor L7NHFA075U
(4P)
2-15
2.5 Wiring for Input/Output Signals
 I/O Connector Specifications: DFMC 1.5/6-STF-3.5 (PHOENIX)
11 : DOCOM 12 : DO3
9 :DO2 10 : DO1
7 : DI6 8 : DI5
5 : DI4 6 : DI3
3 : DI2 4 : DI1
1 : DICOM 2 : FG
 Analog Monitoring Connector Specifications: DF-11-4DS-2C

(HIROSE)
3 4
1 2
2-16
2.5.1 Names and Functions of Digital

Input/Output Signals
 Names and Functions of Digital Input Signals (I/O Connector)
Pin Assignm
Name Description Function
Number ent
1 DICOM DC 24V DC 24V INPUT COMMON
Forward
The actuator stops the servo motor to
(CCW)
4 DI1 POT prevent it from moving beyond the
rotation
motion range in the forward direction.
prohibited
Reverse (CW) The actuator stops the servo motor to
3 DI2 NOT rotation prevent it from moving beyond the
prohibited motion range in the reverse direction.
Connects the origin sensor to return to
6 DI3 HOME Origin sensor
the origin.
Stops the servo motor when the contact
5 DI4 STOP Servo stop
is on.
P control When the contact is on, it converts the
8 DI5 PCON
action mode from PI control to P control.
Switch from When the contact is on, it switches the
7 DI6 GAIN2
Gain 1 to 2 speed control from Gain 1 to Gain 2
Forward When the contact is on, the forward
** PCL
Torque Limit torque limit function is activated.
Reverse When the contact is on, the reverse
** BNCL
Torque Limit torque limit function is activated.
Touch The probe signal to rapidly store the
** PROBE1
probe 1 position value (1)
Touch The probe signal to rapidly store the
** PROBE2
probe 2 position value (2)
Emergency
** EMG Emergency stop when the contact is on.
stop
** ARST Alarm reset Resets the servo alarm.
Signal to use the vibration control filter

Vibration
** LVSF1 1 according to vibration control filter
control filter 1
function setting (0x2515)
Signal to use the vibration control filter
Vibration
** LVSF2 2 according to vibration control filter
control filter 2
function setting (0x2515)
** SVON Servo ON Servo ON
2-17
Note 1) **Signals not assigned as factory default settings. The assignment may be changed by the
parameter setting. For more information, refer to 5.2 Input/Output Signals Setting.
Note 2) Wiring can be also done by using COMMON (DC 24 V) of the input signal as the GND.
 Names and Functions of Digital Output Signals
Pin
Name Assignment Description Function
Number
10 DO1 BRAKE Brake Outputs brake control signal.
9 DO2 ALARM Servo alarm Outputs signal when alarm occurs.
This signal is output when the main

power is established and the
12 DO3 RDY Servo ready
preparations for servo operation
are complete.
11 DOCOM GND24 GND24 COMMON
Zero speed Outputs a signal when the current

** ZSPD
achieved speed drops below the zero speed.
Position Outputs signal when having

** INPOS1
reached 1 reached the command position (1)
Outputs signal when the torque is

** TLMT Torque limit
limited.
Outputs signal when the speed is

** VLMT Speed limit
limited.
Speed Outputs signal upon reaching the

** INSPD
reached command speed.
Servo Outputs signal when a warning

** WARN
warning occurs.
Outputs signal when the servo

Rotation
** TGON motor is rotating above the set
detection
value.
Position Outputs signal when having

** INPOS2
reached 2 reached the command position (2)
** Unassigned signals. The assignment may be changed by the parameter setting. For more
information, refer to 5.2 Input/Output Signals Setting.
2-18
2.5.2 Names and Functions of Analog

Input/Output Signals
 Names and Functions of Analog Output Signals (Analog

Monitoring Connector)
Pin
Name Description Function
Number
Analog monitor output (-10V ~ +10 Signal

1 AMON1 Analog Monitor 1
Surface AT NC Axis 10V)
Analog monitor output (-10V ~ +10 Signal

2 AMON2 Analog Monitor 2
Surface AT NC Axis 10V)
3 AGND AGND(0V) Analog ground
4 AGND AGND(0V) Analog ground
Note 1) You can change the output variables to be monitored with analog monitor output through
parameter settings. For more information, refer to "5.2.3 Assignment of Analog Output Signals”.
2-19
2.5.3 Examples of Connecting Input/Output

Signals
 Examples of Connecting Digital Input Signals
Caution
1. The input contact can be set to contact A or contact B based on the characteristics of
individual signal.
2. Each input contact can be assigned to 15 functions.
3. For more information on signal assignment and contact change of the input contact, refer
to 5.2 Input/Output Signals Setting.
4. The rated voltage is DC 12 V to DC 24 V.
External Power
Servo Drive
supply
12 VDC to 24 VDC
Internal
R2
Circuit
DI1
R1
Internal
R2
Circuit
DI8
R1
R1 : 3.3KΩ, R2 : 680Ω
2-20
 Example of Connecting Digital Output Signals
Caution
1. The output contact can be set to contact A or contact B based on the characteristics of
individual signal.
2. Each output contact can be assigned to 11 output functions.
3. For more information on signal assignment and contact change of the output contact, refer
to 5.2 Input/Output Signals Setting.
4. Overvoltages or overcurrents may damage the device because it uses an internal transistor
switch.
5. The rated voltage and current are DC 24 V ± 10% and 120 [㎃].
Servo Drive
DO1 L
Internal
Circuit
DOCOM
DO3
L
Internal
Circuit
DC 24V
DOCOM
2-21
 Examples of Connecting Analog Output Signals
Caution
1. Refer to "5.2.3 Assignment of Analog Output Signals" for signal settings and scale
adjustment.
2. The range of analog output signals is -10V to 10V.
3. The resolution of analog output signal is 12 bits.
4. The maximum load current allowed is 2.5 mA.
5. The stabilization time is 15 us.
Servo Drive
ANALOG MONITOR1
ANALOG MONITOR2
AGND
2-22
2.5.4 Input/Output Signal Wiring Diagram
Digital Input
Digital Output
(DO1)
+24V IN 1 10 BRAKE
3.3kΩ
DC 24V
POT 4 (DI1)
(DO2)
9 ALARM
NOT 3 (DI2)
HOME 6 (DI3)
(DO3)
(DI4) 12 READY
STOP 5
PCON 8 (DI5)
GAIN2 7 (DI6) 11 GND 24
PCL **
NCL ** ** ZSPD
PROBE1 ** ** INPOS1
PROBE2 ** ** TLMT
EMG ** ** VLMT
A-RST ** ** INSPD
LVSF1 ** ** WARN
LVSF2 ** ** TGON
SVON ** ** INPOS2
I/O
STO
Safety Function Input Safety Function Output
3.3kΩ
STO1- 3 7 EDM+
STO1+ 4 8 EDM-
3.3kΩ
STO2- 5
STO2+ 6
Analog Output
Analog 1 MONITOR 1
Monitor -10V ~+10V
2 MONITOR 2
-10V ~+10V
3, 4 AGND
Note 1) Input signals DI1 - DI6 and output signals DO1 - DO3 are factory default signals.
2-23
2.6 Wiring of Encoder Signal (Encoder)
 Encoder Connector Specification: 10114-3000VE (3M)
1 8
2
3 9 10
4
11
5 12
6
7 13 14
2.6.1 Quadrature Encoder Signaling Unit

Wiring
 APCS-E AS Cable
AWG24 7Pair Twisted

Shield Wire
Servo Motor Servo Drive
1 A 13
2 /A 12
3 B 11
4 /B 10
5 Z 9
Encoder 6 /Z 8
7 U 5
8 /U 6
9 V 3
10 /V 4
Cable Connector
11 W 1
Cable (ENCODER)
12 /W 2 Maker – 3M
Connector
13 5V 14 10314-52A0-008
Maker - AMP
172163-1 14 GND 7 10114-3000VE
170361-1 15 SHD Frame
2-24
 APCS-E BS Cable
Servo Motor AWG24 7Pair Twisted Servo Drive

Shield Wire
A A 13
B /A 12
C B 11
D /B 10
E Z 9
Encoder F /Z 8
K U 5
L /U 6
M V 3
N /V 4
P Cable Connector
W 1
(ENCODER)
R /W 2 Maker – 3M
H 5V 14 10314-52A0-008
Cable
Connector G GND 7 10114-3000VE
MS3108B20-29S J SHD Frame
 Without Quadrature Type Hall Sensor

Shield Wire
A A 13
B /A 12
C B 11
D /B 10
E Z 9
Encoder F /Z 8
5
Cable Connector
(ENCODER)
Maker – 3M
H 5V 14 10314-52A0-008
Cable
Connector G GND 7 10114-3000VE
MS3108B20-29S J SHD Frame
2-25
2.6.2 Serial Encoder Signaling Unit Wiring
 APCS-E CS Cable

Shield Wire
1 MA 3
2 /MA 4
3 SL 5
4 /SL 6
Encorder
7 5V 14
8 GND 7
Cable Connector
Cable (ENCODER)
Connector Maker – 3M
Maker - AMP 10314-52A0-008
172161-1 10114-3000VE
170361-1 9 SHD Frame
 APCS-E DS Cable

Shield Wire
A MA 3
B /MA 4
C SL 5
D /SL 6
Encorder
H 5V 14
G GND 7
Cable Connector
(ENCODER)
Maker – 3M
10314-52A0-008
Cable 10114-3000VE
Connector J SHD Frame
MS3108S20-29S
2-26
 APCS-E ES Cable

Shield Wire
1 MA 3
6 /MA 4
2 SL 5
7 /SL 6
Encorder
9 5V 14
4 GND 7
Cable Connector
(ENCODER)
Maker – 3M
10314-52A0-008
Connector 10114-3000VE
Tyco Connector 5 SHD Frame
(7Ciruits)
2.6.3 Multi-Turn Encoder Signaling Unit

Wiring
 APCS-E CS 1 Cable
Servo Motor AWG24 4Pair Twist Servo Drive

Shield Wire
1 MA 3
2 /MA 4
3 SL 5
4 /SL 6
5 BAT+
Encorder 6 BAT-
7 5V 14
8 GND 7
Cable Connector
(ENCODER)
Maker – 3M
10314-52A0-008
Cable
10114-3000VE
Connector
MS3108S20-29S 9 SHD Frame
2-27
 APCS-E DS 1 Cable
AWG24 4Pair Twist

Shield Wire
A MA 3
B /MA 4
C SL 5
D /SL 6
E BAT+
Encorder F BAT-
H 5V 14
G GND 7
Cable Connector
(ENCODER)
Maker – 3M
10314-52A0-008
Cable
10114-3000VE
Connector
MS3108S20-29S J SHD Frame
 APCS-E ES 1 Cable
AWG24 4Pair Twist

Shield Wire
1 MA 3
6 /MA 4
2 SL 5
7 /SL 6
8 BAT+
Encorder 3 BAT-
9 5V 14
4 GND 7
Cable Connector
(ENCODER)
Maker – 3M
10314-52A0-008
Connector
10114-3000VE
Tyco connector
(7Ciruits) 5 SHD Frame
2-28
2.6.4 Tamagawa Encoder Signaling Unit

Wiring
AWG24 2Pair Twist
Shield Wire
PS 5
/PS 6
Encorder
E5V 14
E0V 7
Cable Connector
(ENCODER)
Maker – 3M
10314-52A0-008
10114-3000VE
SHD Frame
2.6.5 EnDat 2.2 Encoder Signaling Unit

Wiring
Servo Motor AWG24 4Pair Twist Servo Drive

Shield Wire
3 EnDat_CLK+
4 EnDat_CLK-
5 EnDat_Data+
6 EnDat_Data-
Encorder
5V 14
GND 7
Cable Connector
(ENCODER)
Maker – 3M
10314-52A0-008
10114-3000VE
SHD Frame
2-29
2.7 Second Encoder (Encoder 2)
 Connector specifications
- Connector : MUF-PK8K-X
- Recommended wiring standards: AWG28 - AWG24
1 8
DER2 connector viewed

m the front of the drive
 Wiring and signal name
Pin No Signal name Signal name (SSI)

(Quadrature)
1 5V 5V
2 GND GND
3 A DATA
4 /A /DTAT
5 B CLK
6 /B /CLK
7 Z Z
8 /Z /Z
2-30
2.8 Wiring for Safety Function Signals (STO)
 2069577-1(Tyco Electronics)
2.8.1 Names and Functions of Safety

Function Signals
Pin
name Function
Number
1 +12V
For bypass wiring
2 -12V
3 STO1- DC 24V GND
Blocks the current (torque) applied to the motor when the signal is
4 STO1+
off.
5 STO2- DC 24V GND
Blocks the current (torque) applied to the motor when the signal is
6 STO2+
off.
7 EDM+ Monitor output signal for checking the status of safety function input
8 EDM- signal
2-31
2.8.2 Example of Connecting Safety

Function Signals
Caution
1. The rated voltage is DC 12 V to DC 24 V.
2. With the contacts of STO1 and STO2 off, the motor output current is blocked.
24 V Power
~
STO1+
Driving Signal
Blocking
STO1-
STO2+
Bloc
king
STO2-
EDM+
Safety Module
EDM-
2-32
2.8.3 Bypass Wiring of Safety Function

Signals
This drive provides the Mini I/O Bypass connector which has Bypass wiring to be used for the
convenience of the user when the STO function is not used. To use the Bypass function, connect
the Mini I/O Plug connector as follows.
If you connect +12V to STO2-, -12V to STO1+ and STO1- to STO2+ for wiring of the Mini I/O Plug
connector, you can bypass the safety function signal. Never use this power (+12 V and -12 V)
except for this purpose.
 Mini I/O By-pass Connector
2 4 6 8
1 3 5 7
1971153-1(Tyco Electronics)
 Mini I/O Plug Connector
2 4 6 8
1 3 5 7
2069577-1(Tyco Electronics)
2-33
2.9 Wiring for EtherCAT Communication

Signals
2.9.1 Names and Functions of EtherCAT

Communication Signals
 EtherCAT IN and EtherCAT OUT Connector
Pin
Signal Name Line color
Number
1 TX/RX0 + White/Orange
2 TX/RX0 - Orange
3 TX/RX1+ White/Green
4 TX/RX2 - Blue
5 TX/RX2 + White/Blue
6 TX/RX1 - Green
7 TX/RX3 + White/Brown
8 TX/RX3 - Brown
Plate Shield
Note 1) EtherCAT only uses signals from No. 1, 2, 3, and 6.
2-34
2.9.2 Example of Drive Connection

The following figure shows the connection between a master and slave using EtherCAT
communication. This is an example of a connection by topology of the basic line type.
For an environment with much noise, install ferrite core at both ends of the EtherCAT cable.
EtherCAT Position
Master Control Unit
PN-8B
EtherCAT
Out
EtherCAT EtherCAT EtherCAT

IN IN IN
EtherCAT EtherCAT
Out Out
SLAVE 1 SLAVE 2 SLAVE n

AXIS AXIS AXIS
2-35
2-36
3. EtherCAT Communication
EtherCAT stands for Ethernet for Control Automation Technology. It is a communication method
for masters and slaves that uses Real-Time Ethernet, developed by the German company
BECKHOFF and managed by the EtherCAT Technology Group (ETG).
The basic concept of EtherCAT communication is that, when a DataFrame sent from a master
passes through a slave, the slave inputs the received data to the DataFrame as soon as it receives
the data.
EtherCAT uses a standard Ethernet frame compliant with IEEE802.3. Therefore, based on the
Ethernet 100BASE-TX, the cable can be extended up to 100 m, and up to 65,535 nodes can be
connected. In addition to this, when using a separate Ethernet switch, you can interconnect with
the commonly used TCP/IP.
3.1 Structure of CANopen over EtherCAT
Servo Application
Object Dictionary Application Layer

EtherCAT
State
Machine SDO PDO Mapping
Registers Mailbox Process Data
Data Link Layer

FMMU0 FMMU1
Sync Sync Sync Sync

Manager0 Manager1 Manager2 Manager3
EtherCAT Physical Layer
This drive supports a CiA 402 drive profile. The Object Dictionary in the application layer includes
the application data and PDO (Process Data Object) mapping information from the process data
interface and application data.
The PDO can be freely mapped, and the content of the process data is defined by PDO mapping.
The data mapped to the PDO is periodically exchanged (read and written) between an upper level
controller and a slave by process data communication; the mailbox communication is performed
aperiodically; and all of the parameters defined in the Object Dictionary are accessible.
3-1
3.1.1 EtherCAT State Machine
Init
Pre-Operational Boot
Safe-Operational
Operational
The EtherCAT drive has 5 states as shown above, and a state transition is achieved by an upper
level controller (master).
State Description
A state for firmware updates. Only mailbox communication using the FoE (File
Boot access over EtherCAT) protocol is available. The drive can transit to the Boot
state only when in the Init state.
Initializes the communication state.
Init
Unable to perform mailbox or process data communication.
Pre-Operational Mailbox communication is possible.
Mailbox communication is possible and PDO can be transmitted. PDO cannot be

Safe-
received. The process data of the drive can be passed to an upper level
Operational
controller.
Mailbox communication is possible and PDO can be transmitted and received.
Operational The process data can be properly exchanged between the drive and the upper
level controller, so the drive can be normally operated.
3-2
3.2 Status LED

The LEDs on the EtherCAT ports of this drive indicate the states of the EtherCAT communications
and errors, as shown in the following figure. There are 3 green LEDs, L/A0, L/A1, and RUN, and 1
red LED, ERR.
 L/A0, L/A1 (Link Activity) LED
The L/A0 LED and L/A1 LED indicate the status of the EtherCAT IN and EtherCAT OUT
communication ports, respectively. The following table outlines what each LED state indicates.
LED status Description
OFF Not connected for communication.
Flickering
Connected, and communication is enabled.

ON Connected, but communication is disabled.
3-3
 RUN LED
The RUN LED indicates in which state the drive is in the EtherCAT State Machine.
OFF The drive is in the Init state.
The drive is in the Pre-Operational state.

Blinking
The drive is in the Safe-Operational state.

Single Flash
ON The drive is in the Operational state.
 ERR LED
The ERR LED indicates the error status of the EtherCAT communication. The following table
outlines what each LED state indicates.
OFF Indicates the EtherCAT communication is in a normal state without any error.
Indicates that the drive has received a command from the EtherCAT master
instructing it to perform a setting, which is not feasible in its present state, or to
perform an impossible state transition.
Blinking
A DC PLL Sync error occurred.

Single Flash
A Sync Manager Watchdog error occurred.
Double Flash
ON A servo alarm of the drive occurred.
3-4
3.3 Data Type

The following table outlines the type and range of the data types used in this manual.
Code Description Range
SINT Signed 8-bit -128 ~127
USINT Unsigned 8-bit 0 ~ 255
INT Signed 16-bit -32768 ~ 32767
UINT Unsigned 16-bit 0 ~ 65535
DINT Signed 32-bit -2147483648 ~ 2147483647
UDINT Unsigned 32-bit 0 ~ 4294967295
FP32 Float 32-bit Single precision floating point
STRING String Value
3.4 PDO-Mapping
The EtherCAT uses the Process Data Object (PDO) to perform real-time data transfers. There are
two types of PDOs: RxPDO receives data transferred from the upper level controller, and TxPDO
sends the data from the drive to the upper level controller.
This drive uses the objects of 0x1600 to 0x1603 and 0x1A00 to 0x1A03 to assign the RxPDO and
the TxPDO, respectively. Up to 10 objects can be assigned to each PDO. You can check the PDO
assignment attribute of each object to see if it can be assigned to the PDO.
The diagram below shows the PDO assignment:
Controlword(0x6040)
Target Position(0x607A)
Servo
Upper Level Unit
Drive
Statusword(0x6041)
Position Actual Value(0x6064)
Velocity Actual Value(0x606C)
3-5
This is an example when assigning the Controlword and the Target Position with the RxPDO
(0x1600).
Data
Index SubIndex Name
Type
0x6040 0x00 Controlword UINT
0x607A 0x00 Target Position DINT
The setting values of the RxPDO (0x1600) are as follows:
SubIndex Settings
0 0x02 (2 values assigned)
Bit 31~16(Index) Bit 15~8(Sub index) Bit 7~0(Bit size)
1 0x6040 0x00 0x10
2 0x607A 0x00 0x20
This is an example when assigning the Statusword, the Actual Position Value, and the Actual
Velocity Value with the TxPDO (0x1A00).
Data
Index SubIndex Name
Type
0x6041 0x00 Statusword UINT
0x6064 0x00 Actual Position Value DINT
0x606C 0x00 Velocity Actual Value DINT
The TxPDO (0x1A00) settings are as follows:
SubIndex Settings
0 0x03 (3 values assigned)
Bit 31~16(Index) Bit 15~8(Sub index) Bit 7~0(Bit size)
1 0x6041 0x00 0x10
2 0x6064 0x00 0x20
3 0x606C 0x00 0x20
The Sync Manager can be composed of multiple PDOs. The Sync Manager PDO Assign Object
(RxPDO:0x1C12, TxPDO:0x1C13) indicates the relationship between the SyncManager and the
PDO.
3-6
The following figure shows an example of SyncManager PDO mapping:
Object Dictionary
Sync Manager Entity
Sync Manager
Index Object Contents 0x1C10 0x1C11 0x1C12 0x1C13
Assign Object
0x1C12 RxPDO Mailbox Mailbox RxPDO TxPDO
Receive Send (0x1601) (0x1A02)
0x1C13 TxPDO
0x1600 1st RxPDO

0x1601 2nd RxPDO
0x1602 3rd RxPDO
0x1603 4th RxPDO
Mapping Object
0x1A00 1st TxPDO
0x1A01 2nd TxPDO
0x1A02 3rd TxPDO
0x1A03 4th TxPDO
 PDO Mapping
The following tables list the PDO mappings set by default. These settings are defined in the
EtherCAT Slave Information file (XML file).
st
1 PDO Mapping:
RxPDO Controlword Target Torque Target Position Operation Mode

Touch Probe
Function
(0x1600) (0x6040) (0x6071) (0x607A) (0x6060)
(0x60B8)
TxPDO Statusword
Actua l Torque Actua l Position Actua l Positional
Value Value Error
Digital Input
Operation Mode
Display
Command
Speed
Operation
Speed
Touch Probe
Status
Touch Probe 1
Forward
(0x1A00) (0x6041)
(0x6077) (0x6064) (0x60F4)
(0x60FD)
(0x6061) (0x2601) (0x2600) (0x60B9)
Position Value
(0x60BA)
nd
2 PDO Mapping:
RxPDO Controlword Target Position

Touch Probe
Function
Digital Output
(0x6040) (0x607A) (0x60FE)
(0x1601) (0x60B8)
Actual Touch Probe 1
TxPDO Statusword
Actual Position
Value
Positional
Touch Probe
Status
Forward Digital Input
(0x6041) Error Position Value (0x60FD)
(0x1A01) (0x6064)
(0x60F4)
(0x60B9)
(0x60BA)
rd
3 PDO Mapping:
RxPDO Controlword Target Velocity

Touch Probe
Function
Digital Output
(0x6040) (0x60FF) (0x60FE)
(0x1602) (0x60B8)
Touch Probe 1
TxPDO Statusword
Actual Position
Value
Touch Probe
Status
(0x6041) Position Value (0x60FD)
(0x1A02) (0x6064) (0x60B9)
(0x60BA)
th
4 PDO Mapping:
RxPDO Controlword Target Torque

Touch Probe
Function
Digital Output
(0x6040) (0x6071) (0x60FE)
(0x1603) (0x60B8)
Touch Probe 1
TxPDO Statusword
Actual Position
Value
Touch Probe
Status
(0x6041) Position Value (0x60FD)
(0x1A03) (0x6064) (0x60B9)
(0x60BA)
3-7
3.5 Synchronization Using the DC

(Distributed Clock)
The Distributed Clock (DC) synchronizes EtherCAT communication. The master and slave share a
reference clock (system time) for synchronization, and the slave synchronizes its applications with
the Sync0 event generated by the reference clock.
The following synchronization modes exist in this drive. You can change the mode with the sync
control register.
(1) Free-run Mode:
In Free-run mode, it operates each cycle independent of the communication cycle and master cycle.
(2) DC Synchronous Mode:
In DC Synchronous mode, the Sync0 event from the EtherCAT master synchronizes the drive.
Please use this mode for more precise synchronous control.
3.6 Emergency Messages

Emergency messages are passed to the master via mailbox communication when a servo alarm
occurs in the drive. Emergency messages may not be sent in the event of communication failure.
Emergency messages consist of 8-byte data.
Byte 0 1 2 3 4 5 6 7
Emergency Unique field for each manufacturer

Error register
Details error code Reserved
(0x1001) Servo alarm code Reserved
(0xFF00)
3-8
4. CiA402 Drive Profile
4.1 State machine
Start
Supplementary 0
State
state
State changed by the Not ready to Switch on
State slave
State that can be 1
State checked by the master (A): Low-level power
15 The control power is on;
Switch on Disabled The main power can be turned on.
2 7
Fault
12 10 Ready to Switch on
14
6
(B): High-level power
The control and main powers are on;
9 Torque cannot be applied to the
Switched on 8
motor.
4
Fault reaction active
(C): Torque
5 Torque can be applied to the
13 motor.
16
Error occures
Quick stop active Operation enabled
11
State Description
Not ready to switch on Reset is in progress by control power on.
Switch on disabled Initialization completed, but the main power cannot be turned on.
Ready to switch on The main power can be turned on and the drive function is disabled.
Switched on The main power is turned on and the drive function is disabled.
Operation enabled The drive function is enabled, and the servo is on.
Quick Stop active Quick stop function is in operation.
Fault reaction active A servo alarm occurred causing a relevant sequence to be processed.
Fault Servo alarm is activated.
4-1
 State Machine Control Commands
The state of the State Machine can be switched by bit setting combinations of the Controlword
(0x6040), as described in the table below:
bits of the Controlword (0x6040) State Machine

Command
Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 switching
Shutdown x x 1 1 0 2, 6, 8
Switch on x 0 1 1 1 3
Switch on
x 1 1 1 1 3+4
+ Enable operation
Disable voltage x x x 0 x 7, 9, 10,12
Quick stop x x 0 1 x 7, 10,11
Disable operation x 0 1 1 1 5
Enable operation x 1 1 1 1 4, 16
Fault reset 0→1 x x x x 15
 Statusword Bit Names (0x6041)
You can check the state of the State Machine by bit combinations of the Statusword (0x6041), as
described in the table below:
bits of the Statusword (0x6041)

Command
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Not ready to switch on 0 0 x 0 0 0 0
Switch on disabled 1 1 x 0 0 0 0
Ready to switch on 0 1 x 0 0 0 1
Switched on 0 1 x 0 0 1 1
Operation enabled 0 1 x 0 1 1 1
Fault reaction active 0 1 x 1 1 1 1
Fault 0 1 x 1 0 0 0
4-2
Bit No. Data Description Note
0 Ready to switch on
1 Switched on
2 Operation enabled
3 Fault
4 Voltage enabled
5 Quick stop
6 Switched on disabled
7 Warning
For more information, refer to 9.3 CiA402 Objects.
8 -
9 Remote
10 Target reached
11 Internal limit active
12
Operation mode specific
13
14 ABS position valid
15 Procedure busy
4-3
4.2 Operation Modes

This drive supports the following operation modes (0x6060):
 Profile Position Mode(PP)
 Homing Mode(HM)
 Profile Velocity Mode(PV)
 Profile Torque Mode(PT)
 Cyclic Synchronous Position Mode(CSP)
 Cyclic Synchronous Velocity Mode(CSV)
 Cyclic Synchronous Torque Mode(CST)
Drive functions supported for each mode are listed in the table below:
Operation Modes
Function CSP CSV CST
HM
PP PV PT
When the electric

O O O O
gear
Speed
O X X OX
feedforward
Torque
O O X O
feedforward
Position
O X X OX
command filter
Real-time gain
O O O O
adjustment
Notch filter O O O O
Disturbance
O O X O
observer
Note 1) For HM mode, the control mode is internally switched; thus, the function of speed feedforward
and/or position command filter may or may not be applied, depending on the operation condition.
 Related Objects
Sub Variable PDO

Index Name Accessibility Unit
Index type Assignment
0x6060 - Operation Mode SNIT RW Yes -
0x6061 - Operation Mode Display SNIT RO Yes -
0x6502 - Supported Drive Modes UDINT RO No -
4-4
4.3 Position Control Modes
4.3.1 Cyclic Synchronous Position Mode
Cyclic Synchronous Position (CSP) mode receives the target position (0x607A) that is renewed at
every PDO update cycle from the upper level controller to control the position.
In this mode, the controller is able to calculate the velocity offset (0x60B1) and the torque offset
(0x60B2) that corresponds to the speed and torque feedforwards respectively, and pass them to the
drive.
The block diagram of CSP mode is as follows:
OP Mode : Cyclic Synchronous Position

Torque Offset (0x60B2)
Velocity Offset (0x60B1)

1 Gear Ratio
Position Demand Position Demand Internal

Position Offset (0x60B0) Value (0x6062) Value (0x60FC)
2
+
+
Target Position (0x607A) C + +
3 + +
Position Velocity Torque
Gear Ratio M
Software Position Limit (0x607D) Control Control Control
Interpolate
Position
Quick Stop Deceleration (0x6085) Command
Quick Stop Option Code (0x605A) Enc.
Torque Actual Value (0x6077)

6
Velocity Actual Value (0x606C) Gear Ratio Velocity

7
Inverse Calculation
Position Actual Internal
Position Actual Value (0x6064) Gear Ratio Value (0x6063) Position
8
Inverse Calculation
Position Demand
Value (0x6062) C
+
Following Error Actual Value (0x60F4)
9
-
Following Error Window (0x6065)
Following Error in
Statusword (0x6041.13) Following Following
Error TimeOut Error Window
(0x6066) Comparator
Following Error
4-5
 Related Objects
Sub Variable PDO

0x6040 - Controlword UINT RW Yes -
0x6041 - Statusword UINT RO Yes -
0x607A - Target Position DINT RW Yes UU
- Software position limit - - - -
0 Number of entries USINT RO No -

0x607D
1 Min position limit DINT RW No UU
2 Max position limit DINT RW No UU
0x6084 - Profile Deceleration UDINT RW No UU/s2
0x6085 - Quick Stop Deceleration UDINT RW No UU/s2
0x60B0 - Position Offset DINT RW Yes UU
0x60B1 - Velocity Offset DINT RW Yes UU/s
0x60B2 - Torque Offset INT RW Yes 0.1%
0x6062 - Position Demand Value DINT RO Yes UU
0x60FC - Position Demand Internal Value DINT RO Yes pulse
0x606C - Actual Velocity Value DINT RO Yes UU/s
0x606D - Velocity Window UINT RW No UU/s
0x606E - Velocity Window Time UINT RW No ms
0x6077 - Torque Actual Value INT RO Yes 0.1%
0x6064 - Actual Position Value DINT RO Yes UU
0x6063 - Actual Internal Position Value DINT RO Yes pulse
4-6
 Internal Block Diagram of CSP Mode
0x60B1
Velocity Offset
[UU/s]
1 Gear Ratio
0x60B0 0x607A Velocity

Position Offset Target Position Feed-Forward +
[UU] [UU] 0x6062 0x60FC Gain 0x210C
Position Demand Position Demand
Value [UU] Internal Value [pulse] +
Filter 0x210D
C
2 Position
+ Limit Gear Ratio Smoothing Position Control
Function
3 Interpolate
Position Command Filter + P Gain +
+ Position Motor 0x6091:01 Filter Time 0x2109 Gain 1 0x2101 A
Command - +
Average
Shaft 0x6091:02 0x210A Gain 2 0x2105
Filter Time
0x607D
Software Position
0x60F4 0x60BA or 0x60BC
Limit [UU]
Following Error Touch Probe 1/2 0x60BB or 0x60BD
Actual Value Positive Edge Touch Probe 1/2
[UU] Position Value[UU] Negative Edge 0x6063
+
Position Value[UU] Position Internal
9 Actual Value [pulse]
-
Gear Ratio
8 Inverse
B
0x6064
Position Actual
Value [UU] Gain Conversion
Mode 0x2119
Time1 0x211A
Time2 0x211B
Waiting
0x211C
Time1
Waiting
0x211D
Time2
0x60B2 Torque
Feed-Forward
Notch Filter
Torque Offset +
[0.1%] Gain 0x210E
Adaptive Filter
0x2500
function Select
+ Frequency Width Depth
Velocity Filter 0x210F P/PI Gain Conversion
Limit 1 0x2501 0x2502 0x2503
Function P/PI
Speed Control 0x2114
Mode 2 0x2504 0x2505 0x2506
+ P Gain I Gain +
Torque 0x2115
A 3 0x2507 0x2508 0x2509
1 0x2102 0x2103
- Speed 0x2116 +
4 0x250A 0x250B 0x250C
2 0x2106 0x2107
Acc. 0x2117
Gear Ratio Following
7 Inverse Error
0x2118
Torque Command
Filter
Speed Feedback
0x606C 1 0x2104
Filter
Velocity Actual
Value [UU/s] Time 0x210B Disturbance 2 0x2108
Observer
Gain 0x2512
0x6077 Filter 0x2513 Torque Limit

Torque Actual
Value [0.1%] Velocity
Select 0x2110
Calulation
Ext. Positive 0x2111
6 Current Control
Ext. Negative 0x2112
Positon
B Calulation
Encoder Motor Gain 0x2514 Positive 0x60E0
0x6074 Negative 0x60E1

Torque Demand
Value [0.1%] Max. 0x6072
4-7
4.3.2 Profile Position Mode
Unlike CSP mode, which receives the target position that is renewed at every PDO update cycle
from the upper level controller, in Profile Position (PP) mode, the drive generates a position profile
internally to operate up to the target position (0x607A) using the profile velocity (0x6081),
acceleration (0x6083), and deceleration (0x6084).
The block diagram of PP mode is as follows:
OP Mode : Profile Position

Velocity Offset (0x60B1)

Gear Ratio
Target Position (0x607A) Position Demand Position Demand Internal
1
Value (0x6062) Value (0x60FC)
Software Position Limit (0x607D)
C + +
+ +
Profile Velocity (0x6081) Position Velocity Torque
2 Gear Ratio
Control Control Control
M
Maximum Profile Velocity (0x607F)
3
Profile Acceleration (0x6083) Trajectory

4
Generator Enc.
Profile Deceleration (0x6084)
5
Quick Stop Deceleration (0x6085)
Controlword (0x6040)
Quick Stop Option Code (0x605A)

6

7
Inverse Calculation
8
Inverse Calculation
Position Demand Trajectory

Value (0x6062) C
Generator
+ Position Window (0x6067) ePosition
Following Error Actual Value (0x60F4)
9
- Target Reached in
Following Error Window (0x6065) Position Position +
Statusword (0x6041.10)
WindowTime Reached Window 8
Following Error in (0x6068) Comparator
Following Following -
Statusword (0x6041.13)
Error TimeOut Error Window Position Actual
(0x6066) Comparator Value (0x6064)
Following Error Position Reached
4-8
 Related Objects
Sub Variable PDO

0x607A - Target Position DINT RW Yes UU
- Software position limit - - - -

0x607D
1 Min position limit DINT RW No UU
2 Max position limit DINT RW No UU
0x607F - Maximum Profile Velocity UDINT RW Yes UU/s
0x6081 - Profile Velocity UDINT RW No UU/s
0x6083 - Profile Acceleration UDINT RW No UU/s2
0x6062 - Position Demand Value DINT RO Yes UU
0x60FC - Position Demand Internal Value DINT RO Yes pulse
4-9
 Internal Block Diagram of PP Mode
Gear Ratio
0x60B1
0x607D Velocity Offset
0x607A Software Position [UU/s]
Target Position Limit [UU] Velocity
[UU] Feed-Forward +
Position 0x6062 0x60FC
Limit Gain 0x210C
1 Position Demand Position Demand
Value [UU] Internal Value [pulse] +
Filter 0x210D
C
0x6081
Profile Velocity
Gear Ratio Smoothing Position Control
[UU/s]
Position Position Command Filter + P Gain +
2 Limit Motor 0x6091:01 Filter Time 0x2109 Gain 1 0x2101 A
3 Average - +
Shaft 0x6091:02 0x210A Gain 2 0x2105
Filter Time
0x607F
Maximum Profile 0x60BA or 0x60BC
Velocity [UU/s] Touch Probe 1/2
0x6084 Trajectory 0x60BB or 0x60BD
0x6083 Generator Positive Edge Touch Probe 1/2
Profile Dec.
Profile Acc. Position Value[UU] Negative Edge 0x6063
[UU/s^2]
[UU/s^2] Position Value[UU] Position Internal
Actual Value [pulse]
4 Position +
Limit Gear Ratio
5 9 Inverse
B
-
0x60F4
0x6085 Following Error
Quick Stop Dec. Gain Conversion
Actual Value [UU]
[UU/s^2]
8 Mode 0x2119
Time1 0x211A
0x6064
0x605A Position Actual
0x6040 Time2 0x211B
Quick Stop Value [UU]
Controlword
Option Code Waiting
0x211C
Time1
Waiting
0x211D
Time2
0x60B2 Torque
Feed-Forward
Notch Filter
Torque Offset +
[0.1%] Gain 0x210E
Adaptive Filter
0x2500
function Select
Limit 1 0x2501 0x2502 0x2503
Function P/PI
Mode 2 0x2504 0x2505 0x2506
+ P Gain I Gain +
Torque 0x2115
A 3 0x2507 0x2508 0x2509
1 0x2102 0x2103
- Speed 0x2116 +
4 0x250A 0x250B 0x250C
2 0x2106 0x2107
Acc. 0x2117
7 Inverse Error
0x2118
Torque Command
Filter
Speed Feedback
0x606C 1 0x2104
Filter
Velocity Actual
Observer
Gain 0x2512

Torque Actual
Select 0x2110
Calulation
6 Current Control
Positon
B Calulation

Torque Demand
Value [0.1%] Max. 0x6072
4-10
You can use the following three position commands in Profile Position Mode:
 Single set point
After reaching the target position, the drive sends a completion signal to the upper level controller
and receives a new command.
 Change immediately
When it receives a new position command while driving to the target position, it drives to the new
position regardless of the existing target position.
 Set of Set point
When it receives a new position command while driving to the target position, it subsequently drives
to the new target position after driving to the existing target position.
The three methods mentioned above can be set by the combination of the New set point bit
(Controlword, 0x6040.4), the Change set immediately bit (Controlword, 0x6040.5), and the
Change set point bit (Controlword, 0x6040.9).
 Single Set Point Driving Procedure
Velocity
New
Set-point
t
Change
immediately
t
Change of
Set-point
t
(1) Specify the target position (0x607A).
(2) Set the New set point bit to 1 and the Change set immediately bit to 0 to request the position
operation.
(3) The drive notifies the operator of its arrival at the target position with the Target reached bit
(Statusword, 0x6041.10). The drive can suspend where it is or perform a new position
operation if it receives the New set point bit.
4-11
 Change Immediately Driving Procedure
Velocity
New
Set-point
t
Change
immediately
t
Change of
Set-point
t
1. Specify the target position (0x607A).
2. Set the New set point bit to 1 and the Change set immediately bit to 1 to request the position
operation.
3. You can begin a new position operation (New set point) regardless of the previous target
position. The drive immediately moves to the new position.
4. The drive notifies the operator of its arrival at the target position with the Target reached bit
(Statusword, 0x6041.10).
 Set of Set Point Driving Procedure
Velocity
New
Set-point
t
Change
immediately
t
Change of
Set-point
t
1. Specify the target position (0x607A).
2. Set the New set point bit to 1 and the Change of set point bit to 1 to request the position
operation.
3. After reaching the previous target position, the drive begins to move to the new position
(New set point).
4. The drive notifies the operator of its arrival at the target position with the Target reached bit
(Statusword, 0x6041.10).
4-12
4.4 Velocity Control Modes
4.4.1 Cyclic Synchronous Velocity Mode

Cyclic Synchronous Velocity (CSV) mode receives the target velocity (0x60FF) that is renewed at
every PDO update cycle from the upper level controller to control the velocity.
This mode allows the upper level controller to calculate the torque offset (0x60B2) that
corresponds to the torque feedforward and pass it to the drive.
The block diagram of the CSV mode is shown below.
OP Mode : Cyclic Synchronous Velocity

Velocity Demand
Velocity Offset (0x60B1) Value (0x606B)
1
+
+
Target Velocity (0x60FF) C +
2 +
Interpolate Velocity Torque
Gear Ratio M
Quick Stop Deceleration (0x6085) Velocity Control Control
Command
Enc.
6

7
Inverse Calculation
8
Inverse Calculation
Target Velocity
(0x60FF) 2
Target Reached in + -
Statusword (0x6041.10) Velocity Reached
Velocity Window
Window
Time (0x606E)
Comparator Velocity Window
Velocity Reached (0x606D)
4-13
 Related Objects
Sub Variable PDO

0x60FF - Target Velocity DINT RW Yes UU/s
0x606B - Velocity Demand Value DINT RO Yes UU
4-14
 Internal Block Diagram of CSV Mode
0x60B1 0x60FF
Velocity Offset Target Velocity
[UU/s] [UU/s] 0x606B
Velocity Demand
Value [UU/s]
C
1 Processing Acc./Dec.
+ Gear Ratio Speed Command
2 Acc. Time 0x2301 Servo-Lock
Function
+ Motor 0x6091:01 A
Dec. Time 0x2302
0x6085 Interpolate Select 0x2311
Shaft 0x6091:02
Quick Stop Dec. Velocity S-curve Time 0x2303
[UU/s^2] Command
0x60BA or 0x60BC
Touch Probe 1/2 0x60BB or 0x60BD
Positive Edge Gain Conversion
0x605A Touch Probe 1/2
Position Value[UU] Negative Edge 0x6063
Quick Stop 0x6064
Option Code Position Value[UU] Position Internal Mode 0x2119
Position Actual Actual Value [pulse]
Value [UU] Time1 0x211A
Gear Ratio
8 Inverse
B
Time2 0x211B
Waiting
0x211C
Time1
Waiting
0x211D
Time2
0x60B2 Torque
Feed-Forward
Notch Filter
Torque Offset +
[0.1%] Gain 0x210E
Adaptive Filter
0x2500
function Select
Limit 1 0x2501 0x2502 0x2503
Function P/PI
Mode 2 0x2504 0x2505 0x2506
+ P Gain I Gain +
Torque 0x2115
A 3 0x2507 0x2508 0x2509
1 0x2102 0x2103
- Speed 0x2116 +
4 0x250A 0x250B 0x250C
2 0x2106 0x2107
Acc. 0x2117
7 Inverse Error
0x2118
Torque Command
Filter
Speed Feedback
0x606C 1 0x2104
Filter
Velocity Actual
Observer
Gain 0x2512

Torque Actual
Select 0x2110
Calulation
6 Current Control
Positon
B Calulation

Torque Demand
Value [0.1%] Max. 0x6072
4-15
4.4.2 Profile Velocity Mode

Unlike CSV mode, which receives the target velocity that is renewed at every PDO update cycle
from the upper level controller, in Profile Velocity (PV) mode, the drive generates a velocity profile
internally up to the target velocity (0x60FF) using the profile acceleration (0x6083) and
deceleration (0x6084) in order to control its velocity.
At this time, the max. profile velocity (0x607F) limits the maximum velocity.
The block diagram of the PV mode is shown below.
OP Mode : Profile Velocity

Target Velocity (0x60FF) Velocity Demand

1
Value (0x606B)
2
C +
+
Profile Acceleration (0x6083) Velocity Torque
3
Generate
Gear Ratio
Control Control
M
Profile Deceleration (0x6084) Velocity
4 Command
Quick Stop Deceleration (0x6085)
Enc.

6

7
Inverse Calculation
8
Inverse Calculation
Target Velocity
(0x60FF) 1
Target Reached in + -
Statusword (0x6041.10) Velocity Reached
Velocity Window
Window
Time (0x606E)
Comparator Velocity Window
Velocity Reached (0x606D)
4-16
 Related Objects
Sub Variable PDO

0x60FF - Target Velocity DINT RW Yes UU/s
0x6083 - Profile Acceleration UDINT RW No UU/s2
0x605A - Quick Stop Option Code INT RW No -
0x606B - Velocity Demand Value DINT RO Yes UU/s
4-17
 Internal Block Diagram of PV Mode
0x60B1
Velocity Offset 0x60FF
[UU/s] Target Velocity
[UU/s]
Position 0x606B
+ + Limit Velocity Demand
1 Value [UU/s]
2 C
Processing Acc./Dec.
Gear Ratio Speed Command
0x6083 0x607F
Acc. Time 0x2301 Servo-Lock
Profile Acc. Maximum Profile
Function
[UU/s^2] Velocity [UU/s] Motor 0x6091:01 A
Dec. Time 0x2302
Select 0x2311
Position Generate Shaft 0x6091:02
3 Limit S-curve Time 0x2303
Velocity
4 Command
0x6085 0x60BA or 0x60BC

Quick Stop 0x6084 Touch Probe 1/2
Dec. [UU/s^2] Profile Dec. Positive Edge
[UU/s^2] Position Value[UU]
0x60BB or 0x60BD Gain Conversion

0x6063
Touch Probe 1/2
0x605A 0x6064 Position Internal
Negative Edge Mode 0x2119
Quick Stop Position Actual Actual Value [pulse]
Position Value[UU]
Option Code Value [UU] Time1 0x211A
Gear Ratio
8 Inverse
B
Time2 0x211B
Waiting
0x211C
Time1
Waiting
0x211D
Time2
0x60B2 Torque
Feed-Forward
Notch Filter
Torque Offset +
[0.1%] Gain 0x210E
Adaptive Filter
0x2500
function Select
Limit 1 0x2501 0x2502 0x2503
Function P/PI
Mode 2 0x2504 0x2505 0x2506
+ P Gain I Gain +
Torque 0x2115
A 3 0x2507 0x2508 0x2509
1 0x2102 0x2103
- Speed 0x2116 +
4 0x250A 0x250B 0x250C
2 0x2106 0x2107
Acc. 0x2117
7 Inverse Error
0x2118
Torque Command
Filter
Speed Feedback
0x606C 1 0x2104
Filter
Velocity Actual
Observer
Gain 0x2512

Torque Actual
Select 0x2110
Calulation
6 Current Control
Positon
B Calulation

Torque Demand
Value [0.1%] Max. 0x6072
4-18
4.5 Torque Control Modes
4.5.1 Cyclic Synchronous Torque Mode

Cyclic Synchronous Torque (CST) mode receives the target torque (0x6071) that is renewed at
every PDO update cycle from the upper level controller to control the torque.
This mode allows the upper level controller to calculate the torque offset (0x60B2) that
corresponds to the torque feedforward and pass it to the drive.
The block diagram of the CST mode is shown below.
OP Mode : Cyclic Synchronous Torque

Target Torque (0x6071)

1
+
+
Torque Slope (0x6087)
2
+
+
Maximum Torque (0x6072) Velocity Torque
Generate
Gear Ratio
Control Control
M
Positive Torque Limit Value (0x60E0) Torque
Command
Negative Torque Limit Value (0x60E1)
Enc.

6

7
Inverse Calculation
8
Inverse Calculation
4-19
 Related Objects
Sub Variable PDO

0x6071 - Target Torque INT RW Yes 0.1%
0x6072 - Maximum Torque UINT RW Yes 0.1%
0x60E0 - Positive Torque Limit Value UINT RW Yes 0.1%
0x60E1 - Negative Torque Limit Value UINT RW Yes 0.1%
0x6074 - Torque Demand Value INT RO Yes 0.1%
4-20
 Internal Block Diagram of CST Mode
0x607F
Max. Profile
Velocity [UU/s] Gear Ratio
Motor 0x6091:01 Gain Conversion
0x60B2 Shaft 0x6091:02

Torque Offset Mode 0x2119
[0.1%]
Time1 0x211A
1 Velocity Limit Time2 0x211B

Select & Command
+ Interpolate Waiting
0x211C
2 Torque Select 0x230D Time1
Command Waiting
+ 0x211D
Value 0x230E Time2
0x6071
Target Torque
[0.1%]
Notch Filter
Adaptive Filter
function Select
0x2500
Frequency Width Depth

Velocity P/PI Gain Conversion
Limit 1 0x2501 0x2502 0x2503
Function P/PI
Mode 2 0x2504 0x2505 0x2506
+ P Gain I Gain Torque 0x2115
3 0x2507 0x2508 0x2509
1 0x2102 0x2103
- Speed 0x2116
4 0x250A 0x250B 0x250C
2 0x2106 0x2107
Acc. 0x2117
7 Inverse Error
0x2118
Torque Command
Filter
Speed Feedback
0x606C 1 0x2104
Filter
Velocity Actual
Value [UU/s] Time 0x210B 2 0x2108
0x6077 0x6074 Torque Limit

Torque Actual Torque Demand
Value [0.1%] Velocity Value [0.1%] Select 0x2110
Calulation
6 Current Control C
0x6064 Positon
Calulation
Position Actual
Value [UU] Negative 0x60E1
0x6063 Max. 0x6072

Gear Ratio
8 Inverse
Position Internal
4-21
4.5.2 Profile Torque Mode

Unlike CST mode, which receives the target torque that is renewed at every PDO update cycle from
the upper level controller, in Profile Torque (PT) mode, the drive generates a torque profile
internally up to the target torque (0x6071) by the torque slope (0x6087) in order to control its
torque.
At this moment, the torque applied to the motor is limited depending on the Forward/Reverse
Torque Limit Value (0x60E0 and 0x60E1) and the Maximum Torque (0x6072) based on its driving
direction.
The block diagram of the PT mode is shown below.
OP Mode : Profile Torque

Target Torque (0x6071)

1
Torque Slope (0x6087)

2
+
+
Maximum Torque (0x6072) Velocity Torque
Generate
Gear Ratio
Control Control
M
Positive Torque Limit Value (0x60E0) Torque
Command
Negative Torque Limit Value (0x60E1)
Enc.

6

7
Inverse Calculation
8
Inverse Calculation
4-22
 Related Objects
Sub Variable PDO

0x6071 - Target Torque INT RW Yes 0.1%
0x6087 - Torque Slope UDINT RW Yes 0.1%/s
0x60E0 - Positive Torque Limit Value UINT RW Yes 0.1%
0x6074 - Torque Demand Value INT RO Yes 0.1%
 Internal Block Diagram of PT Mode

4-23
0x607F
Max. Profile
Velocity [UU/s] Gear Ratio
Motor 0x6091:01 Gain Conversion
Shaft 0x6091:02
Mode 0x2119
0x6071
Target Torque Time1 0x211A
[0.1%]
Velocity Limit Time2 0x211B
Select & Command
1 Generate Waiting
0x211C
Torque Select 0x230D Time1
Command Waiting
2 Time2
0x211D
Value 0x230E
0x60787
Target Slope Notch Filter
[0.1%/s]
Adaptive Filter
function Select
0x2500
Frequency Width Depth

Velocity P/PI Gain Conversion
Limit 1 0x2501 0x2502 0x2503
Function P/PI
Mode 2 0x2504 0x2505 0x2506
+ P Gain I Gain Torque 0x2115
3 0x2507 0x2508 0x2509
1 0x2102 0x2103
- Speed 0x2116
4 0x250A 0x250B 0x250C
2 0x2106 0x2107
Acc. 0x2117
7 Inverse Error
0x2118
Torque Command
Filter
Speed Feedback
0x606C 1 0x2104
Filter
Velocity Actual
Value [UU/s] Time 0x210B 2 0x2108
0x6077 0x6074 Torque Limit

Torque Actual Torque Demand
Value [0.1%] Velocity Value [0.1%] Select 0x2110
Calulation
6 Current Control C
0x6064 Positon
Calulation
Position Actual
Value [UU] Negative 0x60E1
0x6063 Max. 0x6072

Gear Ratio
8 Inverse
Position Internal
4-24
4.6 Homing
This drive provides its own homing function. The figure below represents the relationship between
the input and output parameters for the homing mode. You can specify the speed, acceleration,
offset, and homing method.
Controlword(0x6040)
Homing Method(0x6098) Statusword(0x6041)
Homing Speed(0x6099)
Homing
Position Demand Internal Value (0x60FC)
Homing Acceleration(0x609A) or Position Demand Value(0x6062)
Home Offset(0x607C)
Digital Input
Home switch
Positive limit switch
Negative limit switch
As shown in the figure below, you can set the offset between the home position and the zero
position of the machine using the home offset. The zero position indicates a point whose Actual
Position Value (0x6064) is zero (0).
Home Offset(0x607C) Home Position
Zero Position
4.6.1 Homing Method

The drive supports the following homing methods (0x6098):
Homing
Method Details
(0x6098)
The drive returns to the home position with the negative limit switch (NOT) and the
1
Index (Z) pulse while driving in the reverse direction.
The drive returns to the home position with the positive limit switch (POT) and the
2
Index (Z) pulse while driving in the forward direction.
The drive returns to the home position with the home switch (HOME) and the
7,8,9,10 Index (Z) pulse while driving in the forward direction. When the positive limit switch
(POT) is input during homing, the drive will switch its driving direction.
4-25
Homing
Method Details
(0x6098)
The drive returns to the home position with the home switch (HOME) and the
11,12,13,14 Index (Z) pulse while driving in the reverse direction. When the negative limit
switch (NOT) is input during homing, the drive will switch its driving direction.
The drive returns to the home position with the home switch (HOME) while driving
24 in the forward direction. When the positive limit switch (POT) is input during
homing, the drive will switch its driving direction.
The drive returns to the home position with the home switch (HOME) while driving
28 in the reverse direction. When the negative limit switch (NOT) is input during
homing, the drive will switch its driving direction.
The drive returns to the home position with the Index (Z) pulse while driving in the
33
reverse direction.
The drive returns to the home position with the Index (Z) pulse while driving in the
34
forward direction.
35 Sets the current position as the origin.
The drive returns to the home position with the negative stopper and the Index (Z)
-1
pulse while driving in the reverse direction.
The drive returns to the home position with the positive stopper and the Index (Z)
-2
pulse while driving in the forward direction.
The drive returns to the home position with the negative stopper while driving in
-3
the reverse direction.
The drive returns to the home position with the positive stopper while driving in the
-4
forward direction.
 Related Objects
Sub Variable PDO

Index type assignment
0x6040 - Controlword UNIT RW Yes -
0x607C - Home Offset DINT RW No UU
0x6098 - Homing Method SINT RW Yes -
- Homing Speed - - - -

0x6099
1 Switch Search Speed UDINT RW Yes UU/s
2 Zero Search Speed UDINT RW Yes UU/s
0x609A - Homing Acceleration UDINT RW Yes UU/s2
4-26
 Homing Methods 1 and 2
Reverse (CW) Forward (CCW)
1 2
Index pulse
Negative limit switch Positive limit switch

(NOT) (POT)
0x6099:01 Speed during search for switch
0x6099:02 Speed during search for Zero
For homing using the Homing Method 1, the velocity profile according to the sequence is as
follows. See the details below:
Homing Method ①
Speed Negative limit switch

ON Index Pulse
Zero search speed

(0x6099:02)
Time
(A) (B) (C)

Switch search speed
(0x60999:01)
(A) The initial driving direction is reverse (CW), and the drive operates at the Switch Search Speed.
(B) When the negative limit switch (NOT) is turned on, the drive switches its direction to the
forward direction (CCW), decelerating to the Zero Search Speed.
(C) While operating at the Zero Search Speed, the drive detects the first index pulse to move to the
index position (Home).
4-27
 Methods 7, 8, 9, and 10
10
8 9
7
7 10
8 9
7
8 9
10
Index pulse
Home switch

(POT)

follows. The sequence depends on the relationship between the location of load and the Home
switch at homing, which is categorized into three cases as below. For more information, see the
details below:
(1) When the Home switch is OFF at startup, and does not meet the limit, during the operation:
Homing Method ⑦
Speed
Positive home switch
Index Pulse
ON
Switch search speed

(0x60999:01)
(A) (B) (C)
Zero search speed Time

(0x6099:02)
(A) The initial driving direction is forward (CCW), and the drive operates at the Switch Search
Speed.
(B) When the Positive Home Switch is turned on, the drive will decelerate to the Zero Search Speed,
and then switches its direction to the reverse direction (CW).
4-28
(2) When the Home switch is ON at startup:
Homing Method ⑦
Speed
Positive
Home switch Index Pulse
OFF

(0x6099:02)
(A) (B) (C)
Switch search speed
(0x60999:01)
(A) Since the Home signal is on, the drive will operate at the Switch Search Speed in the direction
of the Positive Home Switch (CCW). It might not reach the Switch Search Speed depending on
the start position of homing.
(B) When the Home switch is turned off, the drive will decelerate to Zero Search Speed, and then
continue to operate.
(3) When the Home switch is OFF at startup, and meets the limit during the operation:
Homing Method ⑦
Speed
Positive Limit switch Positive home switch
ON ON Index Pulse
Zero search speed
(0x6099:02)
(A) (B) (C) (D)
Switch search speed Time

(0x60999:01)
Zero search speed

(0x6099:02)
Speed.
(B) When the positive limit switch (POT) is turned on, the drive will decelerate down to stop, and
then operate at the Switch Search Speed in the reverse direction (CW).
(C) When the Positive Home Switch is turned off, the drive will decelerate to Zero Search Speed,
and then continue to operate.
(D) While operating at the Zero Search Speed, the drive detects the first index pulse to move to the
The methods from 8 to 10 are nearly identical to the method 7 in terms of the homing sequence.
The only differences are the initial driving direction and Home switch polarity.
The Positive Home Switch is determined by the initial driving direction. A Home switch which is
encountered in the initial driving direction becomes the Positive Home Switch.
4-29
Positive Negative
Home Switch Home Switch
Home Switch
Initial driving direction: Forward (CCW)
Negative Positive
Home Switch Home Switch
Home Switch
Initial driving direction: Reverse (CW)
 Methods 11, 12, 13, and 14
14
13 12
11
14 11
13 12
11
13 12
14
Index pulse
Home switch

(NOT)

follows. The sequence depends on the relationship between the location of load and the Home
switch at homing, which is categorized into three cases as below. For more information, see the
details below:
4-30
(1) When the Home switch is OFF at startup, and does not meet the limit during the operation:
Homing Method ⑭
Speed
Negative home switch

Index Pulse
OFF
Zero search speed (A) (B) (C) Time

(0x6099:02)
Switch search speed

(0x60999:01)
(B) When the Negative Home Switch is turned off, the drive will decelerate to Zero Search Speed,
and then continue to operate.
(2) When the switch is ON at startup:
Homing Method ⑭
Speed
Negative
Home switch
OFF Index Pulse

(0x6099:02)
(A) (B) (C)
Switch search speed
(0x60999:01)
(A) Since the Home signal is on, the drive will operate at the Switch Search Speed in the direction
of the Negative Home Switch (CW). It might not reach the Switch Search Speed depending on
the start position of homing.
(B) When the Home switch is turned off, the drive will decelerate to Zero Search Speed, and then
continue to operate.
4-31
(3) When the switch is OFF at startup, and meets the limit during the operation:
Homing Method ⑭
Speed
Negative limit switch Negative home switch
Index Pulse
ON ON
Switch search speed

(0x60999:01)
(A) (B) (C) (D)

(0x6099:02)
Switch search speed
(0x60999:01)
(B) When the negative limit switch (NOT) is turned on, the drive will decelerate down to stop, and
then operate at the Switch Search Speed in the forward direction (CCW).
(C) When the Negative Home Switch is turned on, the drive will decelerate to the Zero Search
Speed, and then switches its direction to the reverse direction (CW).
(D) While operating at the Zero Search Speed, the drive detects the first index pulse to move to the
The methods from 11 to 13 are nearly identical to the method 14 in terms of the homing sequence.
The only differences are the initial driving direction and Home switch polarity.
 Method 24
24
24
24
Home switch

(POT)

The initial driving direction is forward (CCW), and a point where the Positive Home Switch is
turned on becomes the Home position.
4-32
 Method 28
28
28
28
Home switch

(NOT)

The initial driving direction is reverse (CW), and a point where the Positive Home Switch is turned
on becomes the Home position.
 Method 33 and 34
33
34
Index pulse
The initial driving direction is reverse (CW) for the method 33, and forward (CCW) for the method
34. The drive detects the index pulse at the Zero Search Speed.
4-33
 Method 35
35
Homing operation
0x6040:bit4
0 1
The current position at startup of homing operation becomes the Home position. This method is
used to change the current position to the origin depending on demand of the upper level
controller.
Homing method -1, -2, -3, -4 are other way of homing method different from the standard.
It is available when other Home switch is not used,
 Method -1 and -2
-1 -2
Index Pulse
Negative Stopper Positive Stopper

Homing methods -1 and -2 are using Stopper and Index (Z) pulse to home. The velocity profiles
depending on the sequence are shown below. For more information, see the details below:
Homing Method -1
Speed
Index Pulse
Negative Stopper
Zero search speed

(0x6099:02)
Torque setting
0x2409 Time
(A) Time setting (B) (C)

Switch search speed 0x240A
(0x60999:01)
4-34
(B) When the drive hits the negative stopper, it will stand by according to the torque limit value
(0x2409), and the time setting value (0x240A) at the time of homing using stopper before
direction switch.
Homing Method -2
Speed
Positive Stopper Index Pulse
Switch search speed

(0x60999:01) (A) (B) (C)
Torque setting
(0x2409)
Time setting (0x240A) Time

Zero search speed
(0x6099:02)
Speed.
(B) When the drive hits the positive stopper, it will stand by according to the torque limit value
(0x2409) and the time setting value (0x240A) at the time of homing using stopper before direction
switch.
 Method -3 and -4
역방향(CW) 정방향(CCW)
-3 -4
Negative Stopper Positive Stopper

Homing method -3 and -4 are using Stopper to home. The velocity profiles depending on
the sequence are shown below. For more information see the details below.
4-35
Homing Method -3
Speed
Negative Stopper
Homing completion
Torque setting Time

0x2409
(A) Time setting(B)
Switch search speed 0x240A
(0x60999:01)
(A) The initioal driving direction is counter forward (CW), and the drive operates at the Switch Search
Speed.
(B) When the drive hits the negative Stopper, it will stand by according to the torque limit value
direction switch.
Homing Method -4
Speed
Positive Stopper
Switch search speed Homing completion

(0x60999:01) (A) (B)
Torque setting
(0x2409)
Time setting
Time
(0x240A)
(A) The initial driving direction is forward (CCW), and the drive operates at the Switch Search Speed.
(B) When the drive hits the positive Stopper, it will stand by according to the torque limit value
direction switch.
4-36
4.7 Touch Probe Function

The touch probe is a function that rapidly captures the position value of the encoder with external
input (PROBE 1 and 2) signals or the index (Z) pulse of the encoder.
 Example of Touch Probe
Wafer mapper system of wafer transfer robot (WTR)
When wafers are piled up on a wafer stack, the presence of wafers can be determined by
scanning the stack once using a mapping sensor. At this time, any unnecessary movement by the
robot can be prevented using the value of the wafer loading position, which has been captured
rapidly.
Motor
Sensor Wafer Stack
Touch Probe 기능(0x60B8) Touch Probe 상태(0x60B9)
Touch Probe 1 상승에지 위치값(0x60BA)
Touch
Touch Probe 1 하강에지 위치값(0x60BB)
Probe
Function
Touch Probe 1 Touch Probe 2 상승에지 위치값(0x60BC)
Touch Probe 2
Index(Z) Pulse Touch Probe 2 하강에지 위치값(0x60BD)
The position value of the encoder (Actual Position Value, 0x6064) is latched by the following
trigger events according to the setting value. At the same time, 2 channel inputs can be latched
independently at the positive/negative edges.
 Triggered by touch probe 1 (I/O, PROBE1)
 Triggered by touch probe 2 (I/O, PROBE2)
 Triggered by the encoder index (Z) pulse
4-37
 Related Objects
Sub Variable PDO

0x60B8 - Touch Probe Function UINT RW Yes -
0x60B9 - Touch Probe Status UINT RO Yes -
0x60BA - Touch Probe 1 Rising Edge Position Value DINT RO Yes UU
0x60BB - Touch Probe 1 Falling Edge Position Value DINT RO Yes UU
0x60BC - Touch Probe 2 Rising Edge Position Value DINT RO Yes UU
0x60BD - Touch Probe 2 Falling Edge Position Value DINT RO Yes UU
 Touch Probe Timing Diagram


Single Trigger Mode (0x60B8.1=0, 0x60B8.9=0):
To reset bits 1, 2, 9, and 10 of the touch probe status (0x60B9) in single trigger mode, set the
corresponding bits (4, 5, 12, and 13) of the touch probe function (0x60B8) to 0.
0x60B8.0
(0x60B8.8)
0x60B8.4
(0x60B8.12)
Latch start Latch start

0x60B9.0
(0x60B9.8)
0x60B9.1
(0x60B9.9)
0x60BA Position 1 Latched Position 3 Latched

(0x60BC)
Probe input 1 2 3
4-38

Continuous Trigger Mode (0x60B8.1=1, 0x60B8.9=1):
In continuous trigger mode, bits 6, 7, 14, and 15 of the touch probe status (0x60B9) toggle (0 
1 or 1  0) every time the corresponding input/edge is input.
0x60B8.0
(0x60B8.8)
0x60B8.4
(0x60B8.12)
Latch start
0x60B9.0
(0x60B9.8)
0x60B9.1
(0x60B9.9)
0x60BA
Position 1 Latched Position 2 Latched Position 3 Latched
(0x60BC)
0x60B9.6
(0x60B9.14)
Probe input 1 2 3

Index Pulse Trigger Mode (0x60B8.2=1, 0x60B8.10=1):
0x60B8.0
(0x60B8.8)
0x60B8.1 Single Trigger mode Continuous Trigger mode

(0x60B9.9)
0x60B8.2
(0x60B9.10)
Position 1 Position 5 Position 6 Position 7 Position 8 Position 9

0x60BA Latched Latched Latched Latched Latched Latched
(0x60BC)
0x60B9.6
(0x60B9.14)
1 2 3 4 5 6 7 8 9
Index(Z) Pulse
4-39
4-40
5. Drive Application Functions
5.1 Drive Front Panel
Analog monitor output connector
L/A 0 0 1 0 1
7 89
7 89
L/A 1
2 3
2 3
RUN
6
6
4
5 5
ERR x10 x1
Node ID Setting switch

Display for servo status 7-
Segment
EtherCAT Communication status and Error
status LED
5.1.1 7-Segment for indicating servo status

7-Segment for indicating the servo status consists of 5 digits as shown below, in the order of
Digit1Digit5 from right to left:
DIGIT5 DIGIT4 DIGIT3 DIGIT2 DIGIT1
Three digits from Digits 3 to 1 of the 7-Segment represents the drive status as described below if
no servo alarm occurs. In case of servo warning, they will indicate the warning status first, rather
than other ones.
Display of Digit 3 - Digit 1 Status details
STO connector not connected Positive limit sensor input
5-1
Servo OFF Negative limit sensor input
Servo ON Servo warning W10 occurred (code: 10)
Digit4 indicates the current operation status and servo ready status.
TGON Signal state

(OFF: Stop state, ON: Rotate
state)
Position mode: INPOS1 Signal
state
Speed mode: INSPD Signal state
Torque mode: OFF
Position mode: On position

command
Speed mode: On speed
command
Torque mode: On torque
command
Servo READY state

(OFF:Not Ready, ON:Ready)
Digit5 indicates state of EtherCAT State Machine, current control mode or state of servo on.
If the status of the EtherCAT State Machine is prior to the operation state (communication setup
process):
 A preparation status, where a servo operation is not available, indicating that the
EtherCAT communication is in progress.
Init state Pre-Operational state Safe-Operational state
If the status of the EtherCAT State Machine is the operation state (operation ready):
 A status, where a servo operation is available, indicating the operation mode and
status.
5-2
Position control modes: CSP and Speed control modes: CSV

Torque control modes: CST
PP and PV
and PT
(ON: Servo ON, OFF: Servo

Homing mode
OFF)
In case of servo alarm, the Digits 5 to 1 blink and are displayed as below. The Digit 2 and the Digit
1 represent the alarm code. The servo alarm is displayed first, rather than other states.
Example for Alarm

state
AL-10 (IPM Fault)
Ex. 1) Limit signal input Ex. 2) Servo warning triggered
DIGIT3~1:
DIGIT3~1:CCW direction Limit
W01(Main power failure)+W40(Low
input
voltage warning)state
DIGIT4 : INPOS1, SERVO DIGIT4 : INSPD, On speed command, SERVO
READY READY
DIGIT5 : Position mode, SERVO DIGIT5 : SPEED CONTROL

ON MODE, SERVO ON
5-3
5.2 Settings for Input/Output Signals
5.2.1 Assignments for Digital Input Signals

You can set the digital input signal function and input signal level of the I/O connector. As shown
in the figure below, you can arbitrarily assign up to 6 input functions, out of 15 functions, to
digital input signals 1 - 6 for use:
I/O
Digital Input
Assigned Function Details +24V IN 1

POT Forward (CCW) rotati on prohibi ted
NOT Reverse (CW) rotation prohibited
HOME Ori gin sensor DI 1 4

STOP Servo stop
DI 2 3
PCON P cont rol action
GAIN2 Switching of gain 1 and gain 2 Assignable DI 3 6

PCL Forward Torque Limit
NCL Reverse Torque Li mit

Setting digital DI 4 5
PROBE1
inputs 1 - 6
Touch probe 1 DI 5 8
PROBE2 Touch probe 2
(0x2200 - 0x2205)
DI 6 7
EMG Emergency stop
A_RST Alarm reset

Vi bration control filter frequency 1
LVSF1 input
Vi bration control filter frequency 2
LVSF2 input
SV_ON Servo ON
 Related Objects
Sub Variable PDO

0x2200 - Digital Input Signal 1 Configuration UINT RW -
5-4
Set the digital input signal function and input signal level of the I/O connector. Select signals to
assign with bits 7 - 0, and set the signal level to bit 15.
Bit Setting details Settings Assignable input signals

Signal input level settings 0x00 Not assigned
15
(0: contact A, 1: contact B) 0x01 POT
14~8 Reserved 0x02 NOT
7~0 Input signal assignments 0x03 HOME
0x04 STOP
0x05 PCON
0x06 GAIN2
0x07 PCL
0x08 NCL
0x09 PROBE1
0x0A PROBE2
0x0B EMG
0x0C ARST
0x0D LVSF1
0x0E LVSF2
0x0F SVON
 Example of Assigning Digital Input Signals
The following table shows an example of assigning input signals. Verify the settings from 0x2200
to 0x2205.
DI#1 DI#2 DI#3 DI#4 DI#5 DI#6
POT NOT HOME STOP PCON GAIN2
(Contact B) (Contact B) (Contact A) (Contact A) (Contact A) (Contact A)
5-5
Assigned Function Contact Details
0x01 POT B Forward (CCW) rotation prohibited

I/O Bit
0x02 NOT B Reverse (CW) rota tion prohibited
(pin number)
Parameter Settings Details
15 7~0
0x03 HOME A Origin sensor
DI # 1 (11) 0x2200 1 0x01 0x8001 POT (Contact B)
0x04 STOP A Servo stop
DI # 2 (12) 0x2201 1 0x02 0x8002 NOT (Contact B)
0x05 PCON A P control action
DI # 3 (7) 0x2202 0 0x03 0x0003 HOME (Contact A)
0x06 GAIN2 A Switching of gain 1 and gain 2
DI # 4 (8) 0x2203 0 0x04 0x0004 STOP (Contact A)
0x07 PCL - Forward Torque Limit
DI # 5 (13) 0x2204 0 0x05 0x0005 PCON (Contact A)
0x08 NCL - Reverse Torque Limit
DI # 6 (14) 0x2205 0 0x06 0x0006 GAIN2 (Contact A)
0x09 PROBE1 A Touch probe 1
0x0A PROBE2 - Touch probe 2
0x0B EMG - Emergency stop
0x0C ARST A Alarm reset
0x0D LVSF1 - Vibration control filter 1
0x0E LVSF2 - Vibration control filter 2
0x0F SVON Servo ON
5-6
5.2.2 Assignment of Digital Output Signals

You can set the digital output signal function and output signal level of the I/O connector. As
shown in the figure below, you can arbitrarily assign up to 3 output functions, out of 11 functions,
to the digital output signals 1 - 3 for use:
Servo Drive
I/O
Digital Output
Assigned
Function
Details 10 DO1
BRAKE Brake
ALRAM Alarm
RDY Servo ready

9 DO2
ZSPD Zero speed reached Assignable
INPOS1 Position reached 1
Setting digital
TLMT Torque limit
outputs 1 - 3 (0x2210
VLMT Speed li mit 12 DO3
- 0x2212)
INSPD Speed reached
WARN War ni ng
11 GND24
TGON Rotation detecti on output
INPOS2 Position reached 2
5-7
 Related Objects
Sub Variable PDO

Digital Output Signal
0x2210 - UINT RW -
1 Setting
0x2211 - UINT RW -
2 Setting
0x2212 - UINT RW -
3 Setting
0x2213 - UINT RW -
4 Setting
Assign the functions of digital output signal 1 of I/O and set the output signal level. Select signals
to assign with bits 7 - 0, and set the signal level to the bit 15.
Bit Setting details

15 Set signal output level (0: contact A, 1: contact B).
14~8 Reserved
7~0 Assign output signal.
Setting values Assignable output signal

0x00 Not assigned
0x01 BRAKE
0x02 ALARM
0x03 RDY
0x04 ZSPD
0x05 INPOS1
0x06 TLMT
0x07 VLMT
0x08 INSPD
0x09 WARN
0x0A TGON
0x0B INPOS2
5-8
 Examples of Assigning Digital Output Signals
The following table shows examples of assigning output signals. Verify the settings from 0x2210
to 0x2212.
DO#1 DO#2 DO#3
BRAKE ALARM RDY
(Contact B) (Contact B) (Contact A)
Assigned Function Contact Details
0x01 BRAKE B Brake

CN1 Bit
0x02 ALARM B Alarm Parameter Settings Details
(pin number) 15 7~0
0x03 RDY A Servo ready
DO # 1 (10) 0x2210 1 0x01 0x8001 BRAKE (Contact B)
0x04 ZSPD - Zero speed reached
DO # 2 (9) 0x2211 1 0x02 0x8002 ALARM (Contact A)
0x05 INPOS1 A Position reached 1
DO # 3 (12) 0x2212 0 0x03 0x0003 RDY (Contact A)
0x06 TLMT - torque limit
0x07 VLMT - Speed limit
0x08 INSPD - Speed reached
0x09 WARN - Warning
0x0A TGON - Rotation detection output
0x0B INPOS2 - Position reached 2
5-9
5.2.3 Assignment of Analog Output Signals

Two channels of analog monitor outputs are provided to adjust drive gain or monitor internal
status variables.
I/O
Digital Input Digital Output

10 DO 1
+24V IN 1
(DI1)
DI 1 4 9 DO 1
(DI2)
DI 2 3
(DI3)
DI 3 6
12 DO 3
(DI4)
DI 4 5
(DI5)
DI 5 8
(DI6) 11 GND 24
DI 6 7
Analog Output
1 MONIT1
Analog 3 AGND
Monitor 2 MONIT2
4 AGND
 Related Objects
Sub Variable PDO

0x2220 - Analog Monitor Output Mode UINT RW No -
0x2221 - Analog Monitor Channel 1 Configuration UINT RW No -
0x2222 - Analog Monitor Channel 2 Configuration UINT RW No -
0x2223 - Analog Monitor Channel 1 Offset DINT RW No -
0x2224 - Analog Monitor Channel 2 Offset DINT RW No -
0x2225 - Analog Monitor Channel 1 Scale UDINT RW No -
0x2226 - Analog Monitor Channel 2 Scale UDINT RW No -
5-10
 Analog monitor output mode settings (0x2220)
The output range of the analog monitor is from -10 V to +10 V. If the setting is 1, take the
absolute value of the output so the output values is only positive.
Settings Details Description

Analog
Output Voltage
+10V
Output as negative/
positive values 0V
0
-10V
Analog
Output Voltage
+10V
Output only positive
1
values
0V
 Analog monitor channel 1 setting (0x2221)
This configures the monitoring variables to be output to analog monitor output channel 1.
Settings Displayed item Unit
0x00 Speed feedback rpm
0x01 Speed command rpm
0x02 Speed error rpm
0x03 Torque feedback %
0x04 Torque command %
0x05 Position error pulse
0x06 Accumulated operation overload %
0x07 DC link voltage V
0x08 Accumulated Regeneration Overload %
0x09 Encoder single-turn data pulse
0x0A Inertia ratio %
0x0B Full-Closed Positional Error UU
0x0C Drive temperature 1 °C
0x0D Drive temperature 2 °C
0x0E Encoder temperature 1 °C
0x0F Hall signal -
0x10 U-phase current A
5-11
0x11 V-phase current A
0x12 W-phase current A
0x13 Actual position value UU
0x14 Target position value UU
0x15 Position command speed rpm, mm/s
0x16 Hall U signal -
0x17 Hall V signal -
0x18 Hall W signal -
The voltage is calculated as shown below during the analog monitor output:
Output voltage for channel 1 (V) = [Monitoring signal value (0x2221) – Offset (0x2203)] / Scale
(0x2205)
Output voltage for channel 2 (V) = [Monitoring signal value (0x2222) – Offset (0x2204)] / Scale
(0x2206)
 Setting Example
The following shows an example of monitoring ripples during the 1000 rpm operation of a speed
feedback signal:
Output offset: 0 rpm Output offset: 1000 rpm

Output scale: 500rpm/V Output scale: 500rpm/V
Monitor signals after

magnifying them 5
times.
Output offset: 1000 rpm

Output scale: 100rpm/V
5-12
5.2.4 Use of User I/O

User I/O means some of the I/Os provided by the drive are used for controlling the drive itself and
for the user's individual purposes. All contacts provided by the input/output connector (I/O) can be
used as the User I/O.
If only a few user I/Os are needed, you can wire the drive with the I/O connector rather than a
separate I/O module, reducing the cost.
This drive can use up to 8 points for input signals and 4 points for output signals as the user I/O.
 How to Set the User Input
I/O
Digital Input
+24V IN 1
DI 1
DI 2
NOT 3
DI 3
HOME 6
DI 4
STOP 5
Digital Input
(0x60FD)
1) Set the function of the digital input port to be used as the user input to "Not assigned (setting
0)." (Refer to Input Signal Assignments.)
2) Read the values of the corresponding bits (0x60FD.16 - 23) from the digital input (0x60FD) to
use them as the user input.
5-13
 Related Objects
Sub Variable PDO

0x60FD - Digital Input UDINT RO Yes -
Bit Description
0 NOT (negative limit switch)
1 POT (positive limit switch)
2 HOME (origin sensor input)
3 to 15 Reserved
16 DI #1(I/O pin 11), 0:Open, 1:Close
22 Reserved
23 Reserved
24~30 Reserved
31 STO(Safe Torque Off), 0:Close, 1:Open
5-14
 How to Set the User Output
Servo Drive
I/O
Digital Output
(DO1)
10 Not assigned
Upper Level
Controller
(DO2)
9 ALARM+
Digital Output (DO3)

12 RDY+
(0x60FE)
11 GND 24
1) Set the function of the digital output port to be used as the user output to "Not assigned
(setting 0)." (Refer to Output Signal Assignments.)
2) Set the bits (bits 16 - 19) corresponding to the port used as the user output for the bit mask
(0x60FE:02) to Forced Output Enabled (setting 1).
3) Using physical outputs (0x60FE:01), set the value corresponding to the user output for the
relevant port (bits 16 - 19) to 0 or 1.
5-15
 Related Objects
Sub Variable PDO

- Digital Output - - - -
0 Number of entries USINT RO No

0x60FE
1 Physical outputs UDINT RW Yes -
2 Bit mask UDINT RW No -
They indicate the status of digital outputs.
 Description of physical outputs
Bit Description
0 to 15 Reserved
Forced output (0: OFF, 1: ON) of DO #1 (I/O pins 1 and 2)

16
Provided that the relevant bit mask (0x60FE:02.16) is set to 1.

17

18
19 Reserved
20 to 23 Reserved
24 Output status of DO #1 (0: OFF, 1: ON)
27 Reserved
28 to 31 Reserved
 Description of bit mask
Bit Description
0 to 15 Reserved
16 Forced output setting (0: Disable, 1: Enable) of DO #1 (I/O pins 1 and 2)
19 Reserved
20 to 31 Reserved
5-16
5.3 Electric Gear Setup
5.3.1 When the electric gear

This function sets the electric gear when you want to drive a motor with a user unit, the minimum
unit in which the user intends to give a command.
When using the electric gear function of the drive, you cannot utilize the highest resolution of the
encoder; thus, if the upper level controller has the function, please use it.
Set the gear ratio within the range of 1000 to 1/1000.
Typically, electric gears are used in the following situations:
(1) When Driving Loads Based on User Unit

You can command the driving based on the user unit, regardless of the encoder (motor) type.
For the ball screw type of encoder with a 10 mm pitch, a comparison is given below for 12
mm of movement:
(A) 5000ppr Encoder
(B) 19Bit Encoder
(A) 5000 ppr encoder (B) 19-bit (524288 ppr) encoder

5000*12/10 = 6000 524288*12/10=629145.6
When not using
the electric gear Different command should be given depending on the encoder (motor) used for
the same distance movement.
For a command given in the minimum user unit of 1 um (0.001 mm)
Electric gear Motor Revolutions = 5000 Motor Revolutions = 524288
settings Shaft Revolutions = 10000 Shaft Revolutions = 10000
When using the Can move through the same command of 12000 (12 mm= 12000 * 1 um),
electric gear regardless of the encoder (motor) used.
5-17
(2) When Driving High-Resolution Encoder at High Speed but

Output Frequency of Upper Level Controller or Input
Frequency of Drive is Limited
The output frequency of a general high-speed line drive pulse output unit is approximately
500 Kpps, while the allowed input frequency of the drive is approximately 1 - 4 Mpps. For this
reason, when driving a high-resolution encoder at high speeds, be sure to use an electric gear
for proper driving due to the limitations of the output frequency of the upper level controller
and the input frequency of the drive. However, because there is no such limitations for a
communication-type drive (EtherCAT) like this drive, you do not have to use an electric gear.
5.3.2 Example of Electric Gear Setup
 Ball Screw Load
Apparatus specifications
Pitch: 10 mm, Reduction gear ratio: 1/1
User Unit 1um(0.001mm)
Encoder specifications 19-bit (524288 PPR)
Amount of load
10[mm] = 10000[User Unit]
movement/revolution
Motor Revolutions : 524288

Electric gear settings
Shaft Revolutions : 10000
 Turntable Load
Reduction gear ratio: 100/1
User Unit 0.001°
Amount of load
360/100/0.001=3600
movement/revolution

 Belt + Pulley System

5-18
Reduction gear ratio: 10/1, Pulley diameter: 100 mm
User Unit 1um(0.001mm)
Amount of load
PI*100/10/0.001=31416
movement/revolution

5-19
5.4 Settings Related to Speed Control
5.4.1 Smooth Acceleration and

Deceleration
For smoother acceleration and deceleration during speed control, you can generate an
acceleration/deceleration profile with trapezoidal and S-curved shapes for driving. In this case, the
S-curve operation is enabled by setting the speed command S-curve time to a value of 1 ms or
more.
The speed command acceleration/deceleration time (0x2301 and 0x2302) is the time needed to
accelerate the drive from zero speed to the rated speed or to decelerate it from the rated speed to
zero speed.
Speed
Rated Motor
Speed
Time
Speed command Speed command
acceleration time deceleration time
(0x2301) (0x2302)
You can calculate the actual acceleration/deceleration time as shown below:
Acceleration time = speed command / rated speed x speed command acceleration time (0x2301)
Deceleration time = speed command / rated speed x speed command deceleration time (0x2302)
As shown in the figure below, you can generate an S-curve shaped acceleration/deceleration
profile for driving by setting the speed command S-curve time (0x2303) to a value of 1 or more.
Make sure to verify the relationship between the acceleration/deceleration time and the S-curve
time.
5-20
Speed
Speed
Command
Speed command S-curve Speed command S-curve

time (0x2303) time (0x2303)
Time
Acceler Deceler
ation ation
Time Time
5.4.2 Servo-lock Function

During speed control operation, the servo position will not be locked even when 0 is entered for
the speed command. This is due to the characteristic of speed control; at this time, you can lock
the servo position by enabling the servo-lock function (0x2311).
Setting values Setting details
0 Servo-lock function disabled
1 Servo-lock function enabled
Using the servo-lock function, the position is internally controlled relative to the position at the
time 0 is input as the speed command. If you input a speed command other than 0, the speed
control will switch to normal mode.
5.4.3 Signals Related to Speed Control

As shown in the figure below, when the value of speed feedback is not more than the ZSPD
output range (0x2404), a ZSPD (zero speed) signal will output; and when it is not less than the
TGON output range (0x2405), a TGON (motor rotation) signal will output.
Speed
Motor Velocity
TGON Output
Range
ZSPD Output
Range
Time
ZSPD
TGON
5-21
In addition, if the difference between the command and the speed feedback (i.e., speed error) is
not more than the INSPD output range (0x2406), an INSPD (speed match) signal will output.
 Related Objects
Sub Variable PDO

0x2404 - ZSPD Output Range UINT RW Yes rpm
0x2405 - TGON Output Range UINT RW Yes rpm
0x2406 - INSPD Output Range UINT RW Yes rpm
5.5 Settings Related to Position Control
5.5.1 Position Command Filter

This section describes how to operate the drive more smoothly by applying a filter to the position
command. For the purpose of filtering, you can set the position command filter time constant
(0x2109) using the primary low pass filter and the position command average filter time constant
(0x210A) using the moving average.
You can use a position command filter in the following cases:
(1) If the electric gear ratio is 10 times or above
(2) If the acceleration/deceleration profile cannot be generated from the upper level controller
Speed
Target
velocity
Target
velocity * Command before
63% filtering
Command a fter
Target filtering
velocity *
37%
Time
0x2109 0x2109
Position command filter using the position command filter time constant (0x2109)
5-22
Speed
Command before
filtering
Command a fter
filtering
Time
0x210A 0x210A
Speed
Command before
filtering
0x210A
Command a fter
filtering
0x210A
Time
Position command filter using the position command average filter time constant
(0x210A)
 Related Objects
PDO
Sub Variable Acces
Index Name assign Unit
Index type sibility
ment
Position Command Filter Time
0x2109 - UINT RW Yes 0.1 ms
Constant
Position Command Average Filter

0x210A - UINT RW Yes 0.1 ms
Time Constant
5.5.2 Signals Related to Position Control

As shown in the figure below, if the value of position error (i.e., the difference between the
position command value input by the upper level controller and the position feedback value) is not
more than the INPOS1 output range (0x2401), and is maintained for the INPOS1 output time
(0x2402), the INPOS1 (position completed 1) signal will be output, provided that the position
command is not renewed.
At this moment, if the position error value is not more than the INPOS2 output range (0x2403),
the INPOS2 (position completed 2) signal will be output, regardless of whether the position
command has been renewed or not.
5-23
Speed
Command
Feedback
Time
Position command Position
Position renewal start time command
Error renewal end time
INPOS1/2
output
range
Time
INPOS1 (for output time = 0)
INPOS2
 Related Objects
Sub Variable PDO

0x2401 - INPOS1 Output Range UINT RW Yes UU
0x2402 - INPOS1 Output Time UINT RW Yes ms
0x2403 - INPOS2 Output Range UINT RW Yes UU
5-24
5.6 Settings Related to Torque Control
5.6.1 Speed Limit Function

In torque control mode, the torque command input from the upper level controller controls the
torque, but does not control the speed; thus, the apparatus might be damaged due to the
exceedingly increased speed by an excessive torque command. To address this problem, this drive
provides a function that limits motor speed based on the parameters set during torque control.
You can limit the speed using the maximum speed or the speed limit value (0x230E) according to
the value of the speed limit function setting (0x230D), as described below. With the VLMT (speed
limit) output value, you can verify whether the speed is limited.
Setting
Setting details
values
0 Limited by speed limit value (0x230E)
1 Limited by the maximum motor speed
 Related Objects
Sub Variable PDO

0x230D - Speed Limit Function Configuration UINT RW No -
0x230E - Speed Limit Value UINT RW Yes rpm
5-25
5.7 Positive/Negative Limit Settings

This function is to safely operate the drive within the movable range of the apparatus using the
positive/negative limit signals of the drive. Be sure to connect and set the limit switch for safe
operation. For more information about the settings, refer to 5.2.1 Assignment of Digital Input
Signals.
NOT POT
I/O Pin 11
(default assigned value)
I/O Pin 12
(default assigned value)
If the positive/negative limit signals are input, the motor will stop according to the emergency stop
setting (0x2013).
Setting values Details

The motor will stop according to the method set in the dynamic brake control
mode (0x2012).
0
It will stop using the dynamic brake, and then maintain the torque command
at 0.
1 Using the emergency stop torque (0x2113) to decelerate and stop.
 Related Objects
Sub Variable PDO

Dynamic Brake Control
0x2012 - UINT RW No -
Mode
Emergency Stop
Configuration
0x2113 - Emergency Stop Torque UINT RW Yes -
5-26
5.8 Setting the Brake Output Signal Function

If the motor stops because the servo turns off or a servo alarm occurs during rotation, you can set
the speed (0x2407) and delay time (0x2408) for the brake signal output to configure the output
timing.
The brake signal will be output if the motor rotation speed goes below the set speed (0x2407) or
the output delay time (0x2408) has elapsed after the servo OFF command.
Servo OFF or alarm

occurred
Brake output speed

(0x2407)
Rotation
Speed
Servo ON/
OFF
Brake
Signal
Brake output delay time

(0x2408
Timing diagram for signal output by the brake output speed (0x2407)
Servo OFF or alarm

occurred
Brake output speed
Rotation (0x2407)
Speed
Servo ON/
OFF
Brake
Signal
Brake output delay time

(0x2408)
Timing diagram for signal output by the brake output delay time (0x2408)
When the servo is turned off or a servo alarm occurs, set the delay time until the actual PWM
output turns off.
When using a motor with a brake installed on the vertical axis, you can output the brake signal
first, and then turn off the PWM after this set time, to prevent it from running down along the axis.
5-27
Time when the

Servo OFF or PWM output
alarm occurred Motor
is turned off
PWM OFF delay time

(0x2011)
Servo ON/
OFF Load
PWM Direction
output ` of Gravity
Brake
Signal
(1) If Brake Signal Outputs First Before PWM Output Turns off
You can output the brake signal first before the PWM output is turned off, preventing the drop
along the vertical axis due to gravity.
Servo OFF or Motor

Time when the
alarm occurred
PWM output
is turned off
PWM OFF delay time
(0x2011)
Servo ON/ Load

OFF
PWM
output Direction
of Gravity
`
Brake
Signal
(2) If PWM Output Turns off First Before Brake Signal Outputs
The PWM output is turned off first before the brake signal outputs, allowing the drop along the
vertical axis due to gravity.
5-28
5.9 Torque Limit Function

You can limit the drive output torque to protect the machine. It can be set by the torque limit
function (0x2110). The setting unit of the torque limit value is 0.1%.
 Description of Torque Limit Function Setting (0x2110)
Limit function Description
0x60E0
0x6072
Forward
Maximum Torque
Torque Lim it
Torque
Input
Torque
Internal torque limit 1 Ref.
(setting 0) 0x60E1
Reverse
Torque Lim it
Limits the torque using forward/reverse torque limit values according to the driving
direction; the maximum value is limited by the maximum torque (0x6072).
- Forward: 0x60E0, Reverse: 0x60E1
0x6072
Maximum Torque
Internal torque limit 2

Torque
Input
(setting 1) Torque
Ref.
Limits the torque by the maximum torque (0x6072) only regardless of the driving
direction.
0x2111
Forward
Torque Lim it
Torque
Input
Torque
External torque limit Ref.
(setting 2) 0x2112
Reverse
Torque Lim it
Limits the torque using external forward/reverse torque limit values according to the
driving direction.
- Forward: 0x2111, Reverse: 0x2112
5-29
OFF 0x60E0
Forward
PCL Torque Lim it
ON 0x2111
External Forward
Torque Lim it
Torque
Input
Torque
Ref.
Internal and external
torque limits 0x60E1
OFF
Reverse
NCL Torque Lim it
(setting 3)
ON 0x2112
External Reverse
Torque Lim it
Limits the torque using internal and external torque limit values according to the
driving direction and the torque limit signal.
- Forward: 0x60E0 (if PCL signal is not input), 0x2111 (if PCL signal is input)
- Reverse: 0x60E1 (if NCL signal is not input), 0x2112 (if NCL signal is input)
Analog torque limit Reserved
(setting 4)
PCL
NCL
0x6072
Maximum
0x60B2 Torque Torque
Target Offset Feed-forward 0x60E0
[0.1%] + Forward
Gain 0x210E Torque Lim it
Filter 0x210F +
Torque Limit 0x2111
Velocity Function Extern al Forward
Limit Speed Control Torque Lim it
Velocity Function
Ref. P Gain I Gain
+ +
1 0x2102 0x2103
2 0x2106 0x2107 + Torque

-
Ref.
0x2112
Extern al Reverse Select 0x2110
0x6063
Torque Lim it
Position Actual
In ternal Value
[UU] 0x60E1
Reverse
Torque Lim it
5-30
 Related Objects
Sub Variable PDO

0x2110 - Torque Limit Function Configuration UINT RW Yes -
0x2111 - External Positive Torque Limit Value UINT RW Yes 0.1%
0x2112 - External Negative Torque Limit Value UINT RW Yes 0.1%
0x60E0 - Positive Torque Limit Value UNIT RW Yes 0.1%
5-31
5.10 Gain Switching Function
5.10.1 Gain Group Switching
Use Gain Group 2 Use Gain Group 1
GAIN 2 Sensor Input
As one of the gain adjustment methods, this function is to switch between gain groups 1 and 2.
You can reduce the time required for positioning through switching gains.
A gain group consists of the position loop gain, speed loop gain, speed loop integral time constant,
and torque command filter time constant. The gain switching function (0x2119) can be set as
follows:
 Description of Gain Switching Function (0x2119)
Settings Setting details

0 Only gain group 1 is used.
Gain is switched according to the GAIN2 input status.
2 - 0: Use gain group 1
- 1: Use gain group 2
3 Reserved
4 Reserved
5 Reserved
Gain is switched according to the ZSPD output status.
Gain is switched according to the INPOS1 output status.
5-32
The waiting time and switching time for gain switching is as follows:
Gain Group 1 Gain switching time 1 (0x211A) Gain Group 2
Gain switching waiting time 1

(0x211C)
Position loop gain 1 (0x2101) Position loop gain 2 (0x2105)
Speed loop gain 1 (0x2102) Speed loop gain 2 (0x2106)
Speed loop integral time constant 1 Speed loop integral time constant 2
(x2103) (x2107)
Gain switching time 2 (0x211B)
Torque command filter time constant Torque command filter time constant
1 (0x2104) Gain switching waiting time 2 2 (0x2108)

(0x211D)
Switching
Dwell Time 1 Dwell Time 2 Dwell Time 2
Time 1
0x211C 0x211D 0x211B
0x211A
Gain Group 1 Gain Group 1
Gain Group 2
Gain switching condition is met Gain switching condition

(ex. GAIN2, ZSPD, INPOS1) is not met
시간
 Related Objects
Sub Variable PDO

0x2119 - Gain switching mode UINT RW Yes -
0x211A - Gain Switching Time 1 UINT RW Yes ms
0x211B - Gain Switching Time 2 UINT RW Yes ms
0x211C - Gain Switching Waiting Time 1 UINT RW Yes ms
0x211D - Gain Switching Waiting Time 2 UINT RW Yes ms
5-33
5.10.1 P/PI Control Switching

PI control uses both proportional (P) and integral (I) gains of the speed controller, while P control
uses only the proportional gain.
The proportional gain determines the responsiveness of the entire controller, and the integral gain
is used to eliminate an error in the steady state. Too high of an integral gain will result in an
overshoot during acceleration or deceleration.
The PI/P control switching functions are used to switch between the PI and P controls under
parametric conditions within the servo (such as torque, speed, acceleration, and position
deviation); specifically, they are used in the following situations:
Speed control: To suppress any overshoot or undershoot during acceleration/deceleration.
Position control: To suppress undershoot during positioning, resulting in a reduced positioning

time.
You can accomplish a similar effect by setting the acceleration/deceleration of the upper level
controller, the soft start of the servo drive, the position command filter, etc.
Speed Overshoot
Motor Speed
Speed
Command
Time
Positioning
Undershoot
Time
You can configure these settings in the P/PI control switching mode (0x2114). Please see the
details below: Switching to P control by PCON input takes precedence over this setting.

0 Always uses PI control.
Switches to P control if the command torque is larger than the P
1
control switching torque (0x2115).
Switches to P control if the command speed is larger than the P
2
control switching speed (0x2116).
Switches to P control if the acceleration command is larger than the P
3
control switching acceleration (0x2117).
Switches to P control if the position error is larger than the P control
4
switching position error (0x2118).
5-34
 Related Objects
Sub Variable PDO

0x2114 - P/PI Control Switching Mode UINT RW Yes -
0x2115 - P Control Switching Torque UINT RW Yes 0.1%
0x2116 - P Control Switching Speed UINT RW Yes rpm
0x2117 - P Control Switching Acceleration UINT RW Yes rpm/s
0x2118 - P Control Switching Position Error UINT RW Yes pulse
 Example of P/PI Switching by Torque Command
When PI control is always used rather than P/PI control switching for speed control, the integral
term of the acceleration/deceleration error is accumulated, resulting in an overshoot and an
extended positioning time. At this time, you can reduce the overshoot and the positioning time
using an appropriate P/PI switching mode. The figure below shows an example of switching mode
by torque command:
Speed Speed
Overshoot
Overshoot
When using PI/P

When using PI control
control switching
Time Time
Positioning Positioning
Time Time
Speed
Torque
Command
+0x2115
Time
-0x2115
PI PI PI
PI Control PI Control
Control Control Control
5-35
5.11 Dynamic Brake

What is Dynamic Brake?
: Dynamic brake electrically short-circuits the phase of the servo motor to stop it rapidly.
Circuits related to the dynamic brake are integrated into the drive.
The drive short-circuits only two phases or all of three phases depending on the model type.
Drive
Servo Motor
You can set various stop modes, as shown below, in dynamic brake control mode settings
[0x2012]:
Servo ON/OFF Servo ON/OFF
Rotation Speed Rotation Speed
Dynamic Brake Dynamic Brake
Setting value: 0 Setting value: 1
Hold the dynamic brake after stopping the motor Release the dynamic brake after stopping the motor
using the brake using the brake
Servo ON/OFF Servo ON/OFF
Rotation Speed Rotation Speed
Dynamic Brake Dynamic Brake
Setting value: 2 Setting value: 3
Release the dynamic brake after free- Hold the dynamic brake after free-run
run stop stop
5-36
 Related Objects
Sub Variable PDO

Dynamic Brake Control Mode
Configuration
0x2013 - Emergency Stop Configuration UINT RW No -
5.12 Regenerative Resistance Setting

Regeneration refers to a phenomenon where the kinetic energy of the motor is converted to
electric energy and input into the drive because of driving a load with large inertia or sudden
deceleration. At this moment, regenerative resistor is used to suppress the rise of the drive's
internal voltage (VDC) due to the regeneration and prevent the drive burnout.
Servo Drive
Sudden
deceleration
Electric energy ← Kinetic energy
VDC U/V/W
Voltage Motor
rise
Load with
large inertia
 Related Objects
Sub Variable PDO

0x2009 - Regenerative resistance setting UINT RW No -
Regenerative Resistor Derating Factor

0x200A - UINT RW No %
setting
0x200B - Regenerative resistance value setting UINT RW No Ω
0x200C - Regenerative resistance capacity setting UINT RW No Watt
5-37
5.12.1 Use of Internal Regenerative

Resistor
This drive essentially has internal regenerative resistor depending on its capacity. The integrated
regenerative resistors depending on the drive capacity are as follows:
Internal
Drive Capacity Internal resistor capacity
resistance value
1kW 40Ω 100W
3.5kW 12.6Ω 150W
5kW 6.8Ω 120W
7.5kW 6.8Ω 240W
When using the regenerative resistor installed in the drive, make sure to observe the order below
for configuration:
1. Wire the regenerative resistor.
- Check to see if the terminals B and BI are short-circuited (short-circuited at factory setup,
1 kW or less).
L1 B BI B+
L2
L3
N
PO
Internal regenerative resistor
PI
B+
B
BI
C1
C2
Wiring method when using internal regenerative resistor
2. Set regenerative resistance (0x2009)
- Configure to use the regenerative resistor integrated into the drive (0x2009 = 0).
- Basically, the resistor is attached on the rear of the drive heat sink.
- Initial value: 0
5-38
3. Check internal regenerative resistance value and capacity
- Check the internal regenerative resistance value (0x200B).
- Check the regenerative resistor capacity (0x200C).
- 1 KW or less: Basically, the resistor is installed on the rear of the drive heat sink (see the
figure below).
- 3.5 kW - 7.5 kW: It is basically installed inside the drive.
Internal regenerative
resistor installed on the
rear of the drive, 1 kW or
less
5-39
5.12.2 Use of External Regenerative

Resistor
When using the external regenerative resistor considering the driving condition, make sure to
observe the order below for configuration:
1. Wire the external regenerative resistor.
- Connect the external regenerative resistor to the terminals B and B+.
- Remove the short-circuits of the terminals B and BI (short-circuited at factory setup, 1 kW

or less).
External Regenerative Resistor

L1 B BI B+
L2
L3
N
PO
PI
External B+
Regenera
tive B
Resistor
BI
C1
C2
Wiring method when using external regenerative resistor
2. Set regenerative resistance (0x2009)
- Configure to use the regenerative resistor installed separately outside the drive
(0x2009=1).
- Set if a regenerative resistance is connected of a capacity which is larger than that of the
internal regenerative resistance.
3. Set regenerative resistance value (0x200B)
- Configure the regenerative resistance of a resistor installed separately outside the drive in
the unit of [Ω].
- Be sure to configure it when you have set the regenerative resistor (0x2009) to 1.
- Initial value: 0
4. Set the regenerative resistor capacity (0x200C).
- Configure the capacity of a regenerative resistor installed separately outside the drive in
the unit of [W].
5-40
- Initial value: 0
5. Set the maximum capacity and allowed time of the regenerative resistance (0x200D, 0x200E)
- Set the maximum capacity and use time at the capacity by using the data sheet of the
externally installed regenerative resistance
- If there are no specific values, set the maximum capacity and allowed time to 5 times the
regenerative resistance capacity setting (0x200C) and 5000[ms], respectively (It may differ
according to general regenerative resistance specification or individual resistors).
LS ELECTRIC provides the following regenerative resistors as options for the purpose of external
regenerative resistor (see the specifications as well):
Resistor
Drive Capacity Resistance Model Name
capacity
1kW 30Ω 300W APCS-300R30
3.5kW 30Ω 600W APC-600R30
5kW 28Ω 600W APC-600R28 (4P)
7.5kW 28Ω 600W APC-600R28 (4P)
5.12.3 Other Considerations

With the considerations of the ambient environment and heat radiation condition for installing the
drive, you can configure the regenerative resistor derating factor (0x200A). In case that the heat
radiation condition is poor, please use a derated resistor (less than the capacity).
When it is derated for use (setting the value not larger than 100), the less the set value, the earlier
the regeneration overload alarm (AL-23) is triggered.
When you intend to set the derating factor to 100% or higher, be sure to fully consider the heat
radiation condition of the drive installed.
5-41
5.13 Configuration of the Drive Node Address

(ADDR)
Configure the drive node address. You can verify the set address in the node ID (0x2003). The
value of the node setting switch is read just once when the power is turned on. Any subsequently
modified settings will only take effect when the power is turned off and then turned on again.
As this drive consists of two rotary switches configurable to 0~9 as below, 0~99 node addresses
can be set. The following example shows an address set to 48:
Perform the rotary switch operation for the node ID setting only when drive power is not
applied.
0 1 0 1
7 89
7 89
2 3
2 3
6
6
4
4
5 5
x10 x1
Note: For more information about how the master reads the node address of the EtherCAT drive, refer to
18.4.1 Requesting ID in the document titled "ETG.1020 EtherCAT Protocol Enhancements.
5-42
6. Safety Functions
6. Safety Functions
This servo drive has a built-in safe torque off (STO) function to reduce the risks associated with
using the machine by protecting people from the dangerous operation of moveable parts. In
particular, this function can be used to prevent the dangerous operation of the machine's
moveable parts when you need to perform tasks such as maintenance in a danger zone.
6.1 Safe Torque Off (STO) Function

The safe torque off function blocks motor current according to the input signal transferred from a
safety device connected to the connector (STO), such as safety controller and safety sensor, to stop
the motor.
 Safe Torque Off Operation State According to STO Input

Contact
Signal Name Function
STO1 ON ON OFF OFF
STO2 ON OFF ON OFF
Operation state Normal State STO State STO State STO State
 Electric Characteristics
 STO1, STO2
Item Characteristic value
Internal impedance 3.3 ㏀
Voltage input range DC 12V ~ DC 24V
Maximum delay time 1 ms or less
 EDM
Item Characteristic value
Maximum allowed voltage DC 30V
Maximum current DC 120mA
Maximum delay time 1 ms or less
6-1
6. Safety Functions
 Timing diagram for STO operation
Servo ON/OFF Servo ON Servo OFF
STO1 Normal STO State

STO2 State
Motor Supplied 54us

ON OFF
with Power
EDM Output OFF ON

12us
(Operated with DB
DB
Dynamic Brake Relay DB Engaged Control Mode[0x2012]
Setting)
Disengaged
PWM Off Delay Time[0x2011] Setting +
3[ms](DB Hold Time)
Brake
Brake Output Brake Engaged
Disengaged
Brake Output Speed[0x2407] or
Brake Output Delay Time[0x2408]
Note 1) If either STO1 or STO2 is turned off, the drive state is switched to the STO state.
Note 2) The dynamic brake operates according to the dynamic brake control mode setting (0x2012).
Note 3) Whichever is the earlier time, out of the points of time until the value becomes less than the setting
value of the brake output delay time (0x2408) or less than the brake output speed (0x2407), will be
applied.
 Timing diagram for STO recovery
Servo ON/OFF Servo OFF Servo ON
After the servo is turned

on, it operates according
STO1 Normal to the normal servo ON/
STO State
STO2 State OFF timing.
300us
Motor Supplied
OFF
with Power
EDM Output ON OFF
Dynamic Brake Relay DB Operation
Brake Output Brake Maintained
6-2
6. Safety Functions
Note 1) Be sure to recover the STO1 and STO 2 input signals to On in the Servo Off state. It is not
necessary to reset the alarm separately since the "STO state" is not an alarm state.
Note 2) The dynamic brake operates according to the dynamic brake control mode setting (0x2012) for the
STO state, the alarming state, and the servo OFF state.
6.2 External Device Monitor (EDM)

Monitor output signal is to monitor the state of safety input signal with an external device.
Connect it to the terminal for external device monitor of safety device such as safety controller or
safety sensor.
 Failure detection through EDM signal
You can detect failure of the safety input circuit and the EDM output circuit by monitoring the
following 4 signal states from the external device.
In case of failure, there are two possible cases:
 The EDM output signal is not turned on even when both the STO1 and 2 are off.
 The EDM output signal is turned on even when one or both of the STO1 and 2 are on.
Signal Name Function
STO1 ON ON OFF OFF
STO2 ON OFF ON OFF
EDM OFF OFF OFF ON
6-3
6. Safety Functions
6.3 Example of Using the Safety Function

Emitter Light Receiver
Curtain
~
STO
S14 4 Driving Signal

T12
STO1+
STO1- Blocking
T22 3
S24 6
STO2+
Y1
Bloc
Safety Unit STO2- king
T3 5
2
A1
7 M
T31 EDM+
+24V
EDM-
A2 8
T33 EDM Output
6.4 How to Verify the Safety Function

In case the servo drive was replaced prior to starting up the device or during maintenance, make
sure to check the details below:
 When the STO1 and STO2 signals are turned off, check if the drive is in STO status (Bit 31 for
digital input (0x60FD) is 1).
 Make sure that the EDM signal is off during general operation by checking the input indicator for
feedback circuit of the connected device.
6.5 Precautions for Using the Safety Function

 When using the STO function, be sure to carry out risk assessments for the device to check if the
system safety requirements are met.
 There may be risks even if the STO function works.
 In the STO state, the motor is operated by an external force; thus, if the load needs to be
maintained, arrange a separate measure such as an external mechanical brake. The brake of the
servo system is dedicated for maintaining the load; thus, be careful not to use it to brake the motor.
 If no external force exists and free-run stop is configured in the dynamic brake control mode setting
(0x2012), note that the braking distance of load will be extended.
 The purpose of the STO function is not to block the servo drive power or electrically insulate the
drive. That is why you have to disconnect the servo drive power before carrying out maintenance of
any sub-drive.
6-4
7. Tuning
7. Tuning
Current Feedback
Vol tage
Speed Torque Command
Position Command
Position Command Speed Torque Power
Command
Control Control Control Circuit Motor Encoder
Operation Operation Operation
Position Feedback
The drive is set to torque control, speed control, or position control mode for use, depending on
the method used to connect with the upper level controller. This drive is structured so that the
position control is located at the outer position while the current control at the inner position,
forming a cascade-type control structure. Depending on the operation mode of the drive, you can
tune the operation by setting the gain-related parameters of the torque controller, the speed
controller, and the position controller to satisfy your purpose.
7.1 Auto Gain Tuning (Offline Auto Tuning)

Use the command generated by the drive itself to automatically set the gain according to the load
condition. The following gain-related parameters will be changed:
 Inertia ratio, position loop gain, speed loop gain, speed integral time constant, torque command
filter time constant, notch filter 3 frequency, and notch filter 4 frequency
The overall gain is set higher or lower depending on the system rigidity setting (0x250E) during
gain tuning. Set the appropriate value depending on the rigidity of the driven load.
As shown in the figure below, the sinusoidal-type command is generated in the forward or reverse
direction according to the offline gain tuning direction (0x2510) setting. You can set the moving
distance for tuning with the offline gain tuning distance (0x2511). The larger the setting value is,
the longer the moving distance becomes. Set the distance appropriately for the case. Make sure to
secure enough distance (one or more motor revolutions) prior to gain tuning.
Moving
Distance
7-1
7. Tuning
Notch Filter
Adaptive Filter
function Select
0x2500
Position Control Velocity Control Frequency Width Depth Torque Filter
+ + Time
Ref. P Gain P Gain I Gain 1 0x2501 0x2502 0x2503
1 0x2104
1 0x2101 1 0x2102 0x2103
2 0x2504 0x2505 0x2506
- - 2 0x2108
2 0x2105 2 0x2106 0x2107
3 0x2507 0x2508 0x2509
4 0x250A 0x250B 0x250C
Torque Command
Resonance
Frequency Current Control
Estimation
Space
PWM
Load Inertia Gain 0x2514 Vector Motor
Control
Estimation Control
Inertia 0x2100
Load
Current Feedback
Velocity Feedback
Velocity
Calculation
Position Feedback Velocity

Calculation
Encoder
 Related Objects
Sub Variable PDO

0x250E System Rigidity for Gain Tuning UINT RW No -
0x2510 - Off-line Gain Tuning Direction UINT RW No -
0x2511 Off-line Gain Tuning Distance UINT RW No -
7.2 Auto Gain Tuning (Online Auto Tuning)

It does not use offline auto tuning that is generated by the drive, but receives a command from an
upper level unit to automatically set the parameters related to gains based on system inertia, the
rigidity set by the user, and other general rules.
 Inertia ratio, position loop gain, speed loop gain, speed integral time constant, torque command
filter time constant
Online tuning is carried out based on the gain table values that are divided into 20 levels based on
the rigidity. The tuning results are regularly applied and the changed gains are saved on EEPROM
every 2 minutes.
7-2
7. Tuning
When estimating the inertia, the estimated results are applied quickly or slowly depending on the
adaptation speed setting. The responsiveness of the overall system can be determined with the
rigidity parameter.
In the following cases, incorrect inertia ratio may be estimated during online auto tuning.
 When the load change is excessive
 In the case of a system with too much backlash or excessively low rigidity of the load
 When the load is too small (3 times or below) or too large (20 times or above)
 When the acceleration/deceleration torque is not sufficient as acceleration and deceleration are too
small (10% of the rating or less)
 When rotation speed is low (10% of the rating or less)
 When friction torque is high
If normal inertia is not estimated due to the above conditions or during online auto tuning, carry
out offline gain tuning.
 Parameters that Change after Tuning
 Inertia ratio (0x2100), position loop gain 1 (0x2101), speed loop gain 1 (0x2102), speed integral
time constant 1 (0x2103), torque command filter time constant 1 (0x2104)
 Notch filter 3, 4 frequency (0x2507, 0x250A) → Refer to the auto notch setting function
Notch Filter
Adaptive Filter
function Select
0x2500
Position Control Velocity Control Frequency Width Depth Torque Filter
+ + Time
Ref. P Gain P Gain I Gain 1 0x2501 0x2502 0x2503
1 0x2104
1 0x2101 1 0x2102 0x2103
2 0x2504 0x2505 0x2506
- - 2 0x2108
2 0x2105 2 0x2106 0x2107
3 0x2507 0x2508 0x2509
4 0x250A 0x250B 0x250C
Torque Command
Resonance
Frequency Current Control
Estimation
Space
PWM
Load Inertia Gain 0x2514 Vector Motor
Control
Estimation Control
Inertia 0x2100
Load
Current Feedback
Velocity Feedback
Velocity
Calculation
Position Feedback Velocity

Calculation
Encoder
7-3
7. Tuning
 Related Objects
Sub Variable PDO

0x250D On-line Gain Tuning Mode UINT RW No -
0x250E System Rigidity for Gain Tuning UINT RW No -
0x250F On-line Gain Tuning Adaptation Rate UINT RW No -
7.3 Manual Gain Tuning
7.3.1 Gain Tuning Sequence

For a cascade-type controller, tune the speed controller gain located at the inner position first, and
then tune the position controller gain located at the outer position.
In other words, tune the gains in the following order: proportional gain  integral gain 
feedforward gain.
The role of each individual gain is as follows:
- Proportional gain: Determines the controller BW.
- Integral gain: Determines the steady-state error, and generates an overshoot.
- Feedforward gain: Enhances the system lag characteristic.
- Differential gain: Plays the role of damper for the system (not provided)
 Speed Controller Tuning
(1) Inertia ratio setting
- Use the automatic inertia estimation function or carry out manual setting.
(2) Proportional gain setting
- Monitor torque and noise before any vibration occurs.
7-4
7. Tuning
(3) Integral gain setting
- Monitor the speed overshoot and the steady-state error.
- You can use the P/PI switching mode if you want to increase the integral gain but overshoot
occurs.
- For this drive, the integral gain is set to the integral time constant.
(4) Speed command filter and speed feedback filter setting
 Position Controller Tuning
(1) Proportional gain setting
- Monitor torque, position error, and noise before any vibration occurs.
(2) Feedforward setting
- Position error monitoring
- Able to set the feedforward filter.
- Set the filter if you want to increase the feedforward value but noise occurs.
- You can set the feedforward value from 0% to 100%, which is the ratio of the position
command value currently being entered and the deviation.
(3) Able to set the position command filter
- You can smooth out the position command.
7-5
7. Tuning
7.4 Vibration Control
7.4.1 Notch Filter

A notch filter is a band-stop filter to eliminate specific frequency component. You can use a notch
filter to eliminate the resonant frequency component of an apparatus, thereby avoiding vibrations
while setting a higher gain.
This drive provides notch filters with 4 steps in total. You can set the frequency, width, and depth
for each filter. You can use one or two notch filters as an adaptive filter, setting the frequency and
the width automatically through real-time frequency analysis (FFT).
dB Bandwith
-3dB
Deep
Cut-off Frequency(Hz) Frequency
 Related Objects
Sub Variable PDO

0x2501 - Notch Filter 1 Frequency UINT RW No Hz
0x2502 - Notch Filter 1 UINT RW No -
0x2503 - Notch Filter 1 Depth UINT RW No -
0x2505 - Notch Filter 2 Width UINT RW No -
0x2508 - Notch Filter 3 Width UINT RW No -
0x250A - Notch Filter 4 Frequency UINT RW No Hz
0x250B - Notch Filter 4 Width UINT RW No -
0x250C - Notch Filter 4 Depth UINT RW No -
7-6
7. Tuning
7.4.2 Adaptive Filter

An adaptive filter analyzes the real-time frequency of the vibration frequency, generated from the
load during drive operation, through the speed feedback signal and automatically configures a
notch filter to reduce vibrations.
It can detect the vibration frequency through frequency analysis to automatically configure one or
two notch filters. At this time, the frequency and width are automatically set and the depth setting
value is used as it is.
Ref. + Space
Position Control Current PWM
Adaptive Filter Vector
Control
Motor
Velocity Control Control Control
-
Vibration Encoder
Frequency
Measurement
Velocity Feedback Velocity

Inertia
Calculation
Estimation
Position Feedback
7-7
7. Tuning
 Related Objects
Sub Variable PDO

0x2500 - Adaptive Filter Function Setting UINT RW No -
 Adaptive filter function setting (0x2500)

0 Adaptive filter is not used.
Only one adaptive filter is used. You can check the settings
configured automatically in the notch filter 3 settings (0x2507,
0x2508, 0x2509).
1
If an arbitrary value is set in notch filter 3, auto setting is not
available. If you wish to use auto setting, you should initialize
notch filter 3 first.
Two adaptive filters are used. You can check the settings
configured automatically in the notch filter 3 (0x2507, 0x2508,
0x2509) and filter 4 settings (0x250A, 0x250B, 0x250C).
2 If an arbitrary value is set for notch filter 3 (or 4), auto setting is
applied to notch filter 4 (or 3). If arbitrary values are set for notch
filter 3 and 4, the original settings remain unchanged. If notch
filter 3 and 4 are initialized, auto setting is available.
3 Reserved
Resets the notch filter 3 (0x2507, 0x2508) and notch filter 4
4
(0x250A, 0x250B, 0x250C) settings.
5 Reserved
7-8
7. Tuning
7.4.3 Vibration Control (Damping) Filter

A vibration control (damping) filter can reduce the vibrations that occur in the load.
It measures the vibration frequency generated for the load using an external sensor. It uses the
measurement as data for the objects related to the vibration control (damping) filter. This drive
provides vibration control filters with 2 steps in total. You can set the frequency and damping
amount for each filter.
It controls the low frequency range (1Hz -100 Hz) that is generated from the top of the device or
the overall system. It can only operate in position control mode.
Sensor
Motor
Speed
Speed of Load Section
Time
Me asurement of Re maining
Vibration Freque ncy
7-9
7. Tuning
 Related Objects
Sub Variable PDO

Vibration control (damping) filter function
setting
Vibration control (damping) filter 1
0x2516 - UINT RW No 0.1[Hz]
frequency
coefficient
0x2518 - UINT RW No 0.1[Hz]
frequency
coefficient
 Vibration control filter function setting (0x2515)

0 Vibration control (damping) filter is not used.
1 Vibration control (damping) filters 1 and 2 are used.
Vibration control (damping) filters 1 and 2 are used according to LVSF1 and LVSF2
2
inputs.
7-10
8. Procedure Function
The procedure function is an auxiliary function provided by the drive as described below. It can be
executed by the procedure command code (0x2700) and procedure command factor (0x2701). It
can be activated using the servo setting tool.
Procedure command Code Details

Manual JOG 0x0001 Manual jog operation
Program JOG 0x0002 Programmed jog operation
Alarm History Reset 0x0003 Deleting alarm history
Off-Line Auto-Tuning 0x0004 Offline auto-tuning
Index Pulse Search 0x0005 Phase Z position search
Absolute Encoder Reset 0x0006 Absolute encoder reset
Instantaneous maximum operation overload value

Max. Load Torque Clear 0x0007
reset (0x2604)
Calibrate Phase Current Offset 0x0008 Phase current offset tuning
Software Reset 0x0009 Software reset
Commutation 0x000A Commutation
8.1 Manual Jog Operation

A jog operation is a function that verifies the servo motor operation by speed control without an
upper level controller.
Before starting the jog operation, make sure of the following:
 The main power is turned on;
 The STO (Safe Torque Off) connector is connected;
 no alarms go off;
 the servo is turned off;
 the operation speed is set with consideration to the apparatus state.
 Related Objects
Sub Variable PDO

Index Index Name type Accessibility Assignment Unit
0x2300 - Jog Operation Speed INT RW No rpm
0x2301 - Speed Command Acceleration Time UINT RW No ms
0x2302 - Speed Command Deceleration Time UINT RW No ms
0x2303 - Speed Command S-curve Time UINT RW No ms
8-1
8.2 Programmed Jog Operation

A programmed jog operation is a function that verifies the servo motor operation by speed control
at the preset operation speed and time without an upper level controller.
Before starting the jog operation, make sure of the following:
 The main power is turned on;
 The STO (Safe Torque Off) connector is connected;
 the speed and time settings are set with consideration to the state and operation range of the
apparatus.
Speed
0x2304
0[rpm]
0x2305
500[rpm]
0x2306
0[rpm]
0x2307
-500[rpm]
0x2304
0[rpm]
…
500
Motor Speed Motor Speed
0 t1 t2 t3 t4 t5 Time
Motor Speed
-500
0x2308
500[ms]
0x2309
5000[ms]
0x230A
500[ms]
0x230B
5000[ms]
0x2308
500[ms] …
Zero Zero Zero
Forward Reverse Forward
Speed Speed Speed
8-2
 Related Objects
Sub Variable PDO

0x2304 - Programmed Jog Operation Speed 1 INT RW No rpm
0x2308 - Programmed Jog Operation Time 1 UINT RW No ms
0x2309 - Programmed Jog Operation Time 2 UINT RW No ms
0x230A - Programmed Jog Operation Time 3 UINT RW No ms
0x230B - Programmed Jog Operation Time 4 UINT RW No ms
8.3 Deleting Alarm History

This function deletes all of the alarm code history stored in the drive. Alarm history items are stored
chronologically starting with the latest alarm up to 16 recent alarms.
You can check them below (0x2702:01 - 16). The newest alarm is listed in 0x2702:01.
8-3
 Related Objects
Sub Variable PDO

- Servo Alarm History - - - -
1 Alarm code 1 (Newest) STRING RO No -
2 Alarm code 2 STRING RO No -
0x2702 8 Alarm code 8 STRING RO No -
8.4 Auto Gain Tuning

For more information, refer to Section 7.1 Auto Gain Tuning.
8.5 Index Pulse Search

Index pulse search function is to find the Index (Z) pulse position of the encoder and stop. You can
use this function to locate a position roughly since it searches for a position using the speed
operation mode. You can locate the exact position of the index pulse using the homing operation.
The speed to search for the index pulse is set in 0x230C [rpm].
Before starting the index pulse search, make sure that:

8-4
 the main power is turned on;
 the Safety Torque Off (STO) connector is installed
 the operation speed is set with the consideration of the operation range of the machine.
Servo Rotor
Motor Coupling
Origin
Intends to align the motor shaft

to the origin of the machine.
 Related Objects
Sub Variable PDO

0x230C - Index Pulse Search Speed INT RW No rpm
8.6 Absolute Encoder Reset

This function resets the absolute encoder. You need to reset the absolute encoder in the following
cases:
 When you set up the apparatus for the first time
 an alarm for low encoder voltage occurs; or
 When you want to set the multi-turn data of the absolute encoder to 0
When the absolute encoder reset is complete, the multi-turn data (0x260A) is reset to 0.
After turning on the power again, the actual position value (0x6064) is displayed by reading the
position of the absolute encoder and applying the home offset (0x607C).
At the time, even if you change the home offset (0x607C) while driving, the actual position value
(0x6064) does not change.
8-5
 Related Objects
Sub Variable PDO

0x2005 - Absolute Encoder Configuration UINT RW No -
0x260A Multi-Turn Data DINT RO Yes rev
8.7 Instantaneous Maximum Torque

Initialization
This function initializes the instantaneous maximum overload rate (0x2604) to 0. The
instantaneous maximum operation overload rate represents the maximum value of the operation
overload rate output instantaneously from the drive for the last 15 seconds.
It displays the peak load for the last 15 seconds as a percentage of the rated output. The unit is
0.1%. Power cycling will reset it to 0.
In case that the current driving load factor is larger than

Torque the stored instantaneous maximum driving overload factor,
the renewal will be done; and this value is displayed in
Instantaneous 0x2604.
Maximum
Overload Value
Renewed
Not renewed
…
0 t
 Related Objects
Sub Variable PDO

Instantaneous Maximum Operation
0x2604 - INT RO Yes 0.1%
Overload
8-6
8.8 Phase Current Offset Tuning

This function is to automatically tune the current offset of the U, V, W phases. Depending on the
environmental conditions, you can tune the phase current offset for use. The offset is tuned by the
factory default settings.
Measured U-/V-/W-phase offsets are individually stored in 0x2015, 0x2016, and 0x2017. If an
offset is too large, an AL-15 will be generated.
 Related Objects
Sub Variable PDO

0x2015 - Phase U Current Offset INT RW No 0.1%
0x2016 - Phase V Current Offset INT RW No 0.1%
0x2017 - Phase W Current Offset INT RW No 0.1%
8.9 Software Reset

This function is to reset the servo drive by means of software. Software reset means restarting the
drive program, resulting in an effect similar to power cycling.
You can use this function in the following cases:
 When changing the parameter settings that require power cycling
 When you have to restart the drive due to an alarm that cannot be reset
8-7
8.10 Commutation
The commutation function gets information about the initial angle of the motor. When using a
motor that is not equipped with a hall sensor, you have to get information about the initial angle
through commutation prior to operation, in order to carry out normal operations.
 Related Objects
Sub Variable PDO

0x2019 - Linear Scale Resolution UINT RW No nm
0x201A - Commutation Method UINT RW No -
0x201B - Commutation Current UINT RW No 0.1%
0x201C - Commutation Time UINT RW No ms
8-8
9. Full-Closed Control
The full-closed control function is used to read the position feedback signals from a linear encoder
and various encoders on the load side. You can configure the desired system and carry out
precision position control without being affected by mechanical system errors. Basically, the full-
closed control system uses the external position sensor on the load side to carry out position control.
The motor-side encoder is used for speed control. A dual feedback control system, which combines
the full-closed control and semi-closed control, can provide a faster response by using the position
data of the high-speed rotating motor encoder and the load-side external encoder.
9.1 Full-Closed Control Internal Configuration
The internal configuration of full-closed control is shown below.

[0x60FC] Position Demand
+ +
Internal Value[pulse] + Position velocity corrent
Motor Machine
controller controller controller
- - -
corrent
feedback Enc Enc
Gear Ratio Velocity Load Enc Setup

Inverse Feedback 0x2021
[0x606C] Velocity Actual Value[UU/s] Load Encoder Type
Load Encoder Config 0x202B
Reverse Load Encoder

0x2022
Direction
Full-Closed Control Mode 0x2023

0. Semi-Closed Enc1PositionActualInternalValue
Enc1PositionActualInternalValue Load Gear Ratio
1.Full-Closed Numerator of Ext.Enc Scale 0x2025

Enc2PositionActualInternalValue
[0x6063] Position Internal Actual Value[pulse] Denominator of Ext.Enc Scale

0x2026
2.Dual-Feedback
+ -
+ LPF
+
Dual Feedback Conversion
[0x6064] Position Actual Value Time Constat
Gear Ratio 0x2023
Inverse
AL-54 Encoder2 POS ExtEncFollowingErr Gear Ratio

difference Comparator Inverse
[0x2027] External Encoder Following Error Window
Function Details
It carries out position control based on the encoder information from the motor.
Since it is rarely affected by the vibrations of the machine, you can raise the
Semi-Closed Advantages
servo gain to shorten the adjustment time.
Control
The machine's accuracy can be lowered due to the vibrations of the machine
Disadvantages
even when the motor is not running.
9-1
It carries out position control based on information from the position sensor that is separately
mounted on the machine.
The machine's accuracy can be controlled regardless of whether the motor is

Full-Closed Control Advantages
running or is stationary.
Since it is easily affected by the vibrations of the machine, it cannot raise the
Disadvantages
servo gain too much and the adjustment time may take longer.
It carries out position control using the position sensor information from either the motor or the
machine.
It has advantages when the sampling rate is low in the external encoder.
Dual-Feedback It operates based on the position information from the motor while the motor
Control is running and from the machine while the motor is stationary to raise the
Advantages
gain and shorten the adjustment time. It can stop the motor with the accuracy
of the machine to improve control performance.
Disadvantages
9.2 Full-Closed Control Parameter Settings

You can set the full-closed control parameters in the following order.
A. Setting the full-closed control mode
0x2023 Setting the full-closed control mode ALL
PDO
Variable Initial Accessi Change Rete
Setting range Unit assignme
type value bility attribute ntive
nt
Power
UINT 0 to 2 0 - RW No Yes
cycling
This sets the full-closed control mode.
Semi-Closed Control (controls using only the motor-side encoder, default

0
value)
1 Full-Closed Control (controls using the load-side position sensor)
Dual-Feedback Control (controls using the motor-side encoder and load-side

2
position sensor)
9-2
B. Setting the load encoder-type
0x2021 Setting the load encoder type ALL
PDO
nt
Power
cycling
This sets the second encoder type on the load side.
0 Incremental encoder: Pulse type incremental encoder
1 SSI encoder: Serial communication type incremental encoder
C. Entering load encoder information
0x202B Setting the load encoder ALL
PDO
nt
Power
cycling
This sets the second encoder, which is attached to the load side.
The settings below change depending on the setting of the encoder type 1. Do not set the
reserved bit.
Bit Description (if encoder type is quadrature)

Debounce filter settings
Settings Cutoff Frequency
0 No Filter
1 5.000MHz
2 3.330MHz
3 2.500MHz
3~0
4 2.000MHz
5 1.667MHz
6 1.429MHz
7 1.250MHz
8 1.000MHz
9 0.833MHz
9-3
10 0.714MHz
31~4 Reserved
Bit Description (if encoder type is SSI)

0-7 Number of data bits
Number of bits for rotary multi-turn data
8-15
(For a linear encoder, the setting value is irrelevant.)
16 Whether to ignore the first bit (0: one start bit, 1: two start bits)
17 Coding(0:binary, 1:gray)
20-23 Number of align bits
Clock rate
24-27 (0:10Mhz, 1:5Mhz, 2:2.5Mhz, 3:1.25Mhz, 4:625Khz, 5:312.5Khz,
6:156.25Khz, 7:78.125Khz)
28 Whether error bit exists (0: No, 1: Yes)
29 Error bit logic(0:active high, 1:active low)
31~30 reserved
Setting example:

5~0 13
12~8 10
16 0(one start bit)
17 0
18 0
19 -
22~20 2 align bit
23 0
27-24 2
28 0
29 0
31~30 -
9-4
D. Setting the load encoder direction
0x2022 Setting the load encoder direction ALL
PDO
nt
Power
cycling
This sets the rotation direction based on the installation direction of the load-side encoder.
0 Forward (CCW)
1 Reverse (CW)
E. Motor encoder - setting the load encoder scale
0x2025 Setting the external encoder scale (numerator) ALL
PDO
nt
Power
UINT 0 to 2147483647 0 - RW No Yes
cycling
0x2026 Setting the external encoder scale (denominator) ALL
PDO
nt
Power
UINT 0 to 2147483647 0 - RW No Yes
cycling
This sets the numerator/denominator scale for the external encoder to ensure the same scale as
the motor encoder,
Examples of scale setting methods
9-5
1. Direct
This sets the scale so the number of external encoder pulses can be
connection
calculated based on the number of encoder pulses per motor rotation.
structure
Motor encoder
524288[pulse/rev]
specifications
Amount of load
movement/revoluti 12000[pulse/rev]
on
Number of external encoder pulses x (numerator / denominator) = Number
of motor encoder pulses

Gear ratio
524288(Numerator)
setting 12000(Number of external encoder pulses) ×
12000(Denominator)
= 524288 (Number of motor encoder pulses)
2. Reducer - Reduction ratio: 1/10

structure - Ball screw lead: 20 mm
- Linear encoder (external encoder): 4 um
If the 1/10-ratio reducer is installed on the motor, the reducer shaft rotates
1/10 turns per motor rotation. So, the scale is calculated by multiplying the
deceleration ratio with the number of external encoder pulses.
Motor encoder
524288[pulse/rev]
specifications
The movement of the table per rotation of the servo motor equipped with a
Amount of load
1/10 reducer is
movement/revoluti
(1/10) * 20 mm = 2 mm. The number of external encoder pulses is calculated
on
as 2 mm / 4 um = 500 pulses.
Gear ratio setting 524288(Numerator)

500(Number of external encoder pulses) ×
500(Denominator)
= 524288(Number of motor encoder pulses)
9-6
3. Belt-pulley - Motor-side pulley diameter: 30 mm

structure - Rotary-side pulley diameter: 20 mm
- External encoder resolution: 20000 pulse/rev
In the case of a gear and belt-pulley system, the final gear ratio is calculated
and the gear ratio is multiplied by the number of external encoder pulses to
produce the scale.
Motor encoder
524288[pulse/rev]
specifications
Amount of load The external encoder rotates at a ratio of 30 / 20 per servo motor rotation.
movement/revoluti The number of pulses for the external encoder is calculated as 20000 x (3/2)
on = 30000 pulses.

30000(Denominator)
F. Setting the load encoder position error level and initialization
0x2027 Setting the excessive external encoder position error ALL
PDO
nt
Power
UDINT 0 to 2147483647 100000 pulse RW No Yes
cycling
9-7
0x2028 Setting the reset unit of the external encoder position error ALL
PDO
nt
Power
UDINT 0 to 10000 10 Revolution RW No Yes
cycling
This sets the position error level for the external encoder and the reset range for the error position
value.
Based on the 0x2027 (External Encoder Following Error Window) settings, the AL-54 (Encoder2
POS difference) level can be adjusted.
For a system where a slip occurs, the 0x2028 (External Encoder Following Error Reset) settings can
be used to set the normal slip range for the following error value.
G. Setting the dual-feedback filter time constant
0x2024 Setting the dual-feedback filter time constant ALL
PDO
nt
UINT 0 to 1000 0 0.1ms RW No Always Yes
9-8
In the case of dual-feedback control that refers to an external encoder, the filter time constant is
set to 0.1 ms at the time when the mode switches between semi-closed control and full-closed
control.
As the setting value gets close to 0 ms, it refers to the external encoder more. As it gets close to
100 ms, it refers to the motor-side encoder more. It minimizes the vibrations that are generated
due to mechanical characteristics or external factors to shorten the adjustment time.
Example of setting the dual-feedback filter time constant
H. Setting the dual-feedback filter time constant
0x2029 Setting the external encoder Z phase ALL
PDO
nt
Power
cycling
This setting determines whether to detect the Z phase signal when the external encoder is
Quadrature.
9-9
9-10
10. Object Dictionary

Object is a data structure including parameters, state variables, run commands (procedures), etc.
within a drive.
Object can be mainly divided into general object (from 0x1000) for EtherCAT communication,
CiA402 object (from 0x6000) for CAN application over EtherCAT (CoE), and manufacturer specific
object (from 0x2000) exclusively provided by this drive.
10.1 General Objects
0x1000 Device Type
Variable Accessibili PDO Change Retentiv

Setting range Initial value Unit
type ty assignment attribute e
UDINT - 0x00020192 - RO No - No
The following table lists device types and their functions.
MSB 16 15 LSB
Additional information Device profile number
0x0002 : 서보드라이브 0x0192 : DS402
0x1001 Error register

USINT - 0x00 - RO No - No
The following table shows the error register values for each device. This value is stored in the
emergency message.
Bit Setting details
0: No error
0
1: Error occurs
1 to 7 Reserved
10-1
0x1008 Device Name

STRING - - - RO No - No
Represents the device name.
0x1009 Hardware Version

Represents the hardware version of the device.
0x100A Software Version

Represents the software version of the device.
10-2
0x1010 Store Parameters
SubIndex 0 Number of entries

USINT - 4 - RO No - No
SubIndex 1 Store all parameters

UDINT 0 to 0xFFFFFFFF 0 - RW No - No
SubIndex 2 Store communication parameters

SubIndex 3 Store CiA402 parameters

SubIndex 4 Store drive-specific parameters

Store the drive's parameters in the memory. To avoid any mistakes, store the parameters if the
ASCII code value corresponding to "save" is written to the relevant SubIndex value.
MSB 16 15 LSB
e v a s
ASCII Code 0x65 0x76 0x61 0x73
All parameters within the drive are stored when "save" is written to SubIndex 1.
Only communication parameters (from 0x1000) are stored when "save" is written to SubIndex 2.
Only CiA402 parameters (from 0x6000) are stored when "save" is written to SubIndex 3.
Only drive-specific parameters (from 0x2000) are stored when "save" is written to SubIndex 4.
10-3
0x1011 Restore Default Parameters

SubIndex 1 Restore all parameters

SubIndex 2 Restore communication parameters

SubIndex 3 Restore CiA402 parameters

SubIndex 4 Restore drive-specific parameters

Initialize the drive's parameters. To avoid any mistake, initialize the parameters if the ASCII code
value corresponding to "load" is written to the relevant SubIndex value.
MSB 16 15 LSB
d a o l
ASCII Code 0x64 0x61 0x6F 0x6C
All parameters within the drive are initialized when "load" is written to SubIndex 1.
Only communication parameters (from 0x1000) are initialized when "load" is written to SubIndex
2.
Only CiA402 parameters (from 0x6000) are initialized when "load" is written to SubIndex 3.
Only drive-specific parameters (from 0x2000) are initialized when "load" is written to SubIndex 4.
To apply the initialized value, you need to cycle the power of the drive.
10-4
0x1018 Object Information

SubIndex 1 Vendor ID

UDINT - 0x00007595 - RO No - No
SubIndex 2 Product code

UDINT - 0x00010001 - RO No - No
SubIndex 3 Revision number

UDINT - - - RO No - No
SubIndex 4 Serial number

UDINT - - - RO No - No
Represents the device information.
10-5
0x1600 1st Receiving PDO-Mapping

USINT 0 to 10 5 - RW No PREOP Yes
SubIndex 1 Mapping entry 1

UDINT 0 to 0xFFFFFFFF 0x60400010 - RW No PREOP Yes


UDINT 0 to 0xFFFFFFFF 0x607A0020 - RW No PREOP Yes


UDINT 0 to 0xFFFFFFFF 0x60B80010 - RW No PREOP Yes

UDINT 0 to 0xFFFFFFFF - - RW No PREOP Yes


10-6


PDO Mapping :
Configure the Process Data Objects (PDO) to perform real-time data transfer through the
CANopen over EtherCAT protocol. This drive can freely map up to 10 objects of PDOs for
transmission/reception, respectively.
Use 0x1600 - 0x1603 to set the receiving PDO mapping, and 0x1A00 - 0x1A03 to set the
transmitting PDO mapping. Configure information about the objects below that you want to
assign to items 1 to 10 (SubIndex 1 - 10). You have to set the number of the objects to be
assigned for the number of items (SubIndex 0).
31 16 15 8 7 0
Object index Sub-Index Length
Bits 0-7: Bit lengths of objects to be mapped (e.g. displayed as 0x20 for 32-bit data)
Bits 8-15: SubIndex of objects to be mapped
Bits 16-31: Index of objects to be mapped
10-7
0x1601 2nd Receiving PDO-Mapping



UDINT 0 to 0xFFFFFFFF 0x607A0020 - RW No PREOP Yes


UDINT 0 to 0xFFFFFFFF 0x60FE0120 - RW No PREOP Yes




10-8


Refer to the description of 0x1600.
10-9
0x1602 3rd Receiving PDO-Mapping



UDINT 0 to 0xFFFFFFFF 0x60FF0020 - RW No PREOP Yes






10-10


10-11
0x1603 4th Receiving PDO-Mapping









10-12


10-13
0x1A00 1st Transmitting PDO-Mapping





UDINT 0 to 0xFFFFFFFF 0x60F40020 - RW No PREOP Yes

UDINT 0 to 0xFFFFFFFF 0x60FD0020 - RW No PREOP Yes



10-14


UDINT 0 to 0xFFFFFFFF 0x60BA0020 - RW No PREOP Yes
10-15
0x1A01 2nd Transmitting PDO-Mapping




UDINT 0 to 0xFFFFFFFF 0x60F40020 - RW No PREOP Yes





10-16


10-17
0x1A02 3rd Transmitting PDO-Mapping









10-18


10-19
0x1A03 4th Transmitting PDO-Mapping









10-20


10-21
0x1C00 Sync Manager Communication Type

SubIndex 1 Communication Type SM0




It represents the Sync Manager Communication Type assigned by default.
0x1C10 Sync Manager 0 PDO Assignment


10-22

USINT - 1 - RW No - No
SubIndex 1 Index of objects assigned to PDO

UINT 0x1600 to 0x1603 0x1601 - RW No PREOP No

USINT - 1 - RW No - No
SubIndex 1 Index of objects assigned to PDO

UINT 0x1A00 to 0x1A03 0x1A01 - RW No PREOP No
10-23
0x1C32 Output Sync Manager Parameter

SubIndex 1 Sync mode

UINT - - - RO No - No
SubIndex 2 Cycle time

UDINT - - ns RO No - No
SubIndex 3 Shift time

UDINT - 0 ns RO No - No
SubIndex 4 Sync modes supported

UINT - 0x4007 - RO No - No
SubIndex 5 Minimum cycle time

SubIndex 6 Calc and copy time

SubIndex 9 Delay time

SubIndex 10 Sync0 time

10-24
SubIndex 11 Cycle exceeded counter

UDINT - 0 - RO No - No
SubIndex 12 SM event missed counter

SubIndex 13 Shift too short counter

SubIndex 32 Sync error

BOOL - 0 - RO No - No
10-25
0x1C33 Input Sync Manager Parameter

SubIndex 1 Sync mode

SubIndex 2 Cycle time

UDINT - - ns RO No - No
SubIndex 3 Shift time

SubIndex 4 Sync modes supported

UINT - 0x4007 - RO No - No
SubIndex 5 Minimum cycle time

SubIndex 6 Calc and copy time

SubIndex 9 Delay time

SubIndex 10 Sync0 time

10-26
Subindex 11 Cycle exceeded counter

SubIndex 12 SM event missed counter

SubIndex 13 Shift too short counter

SubIndex 32 Sync error

BOOL - 0 - RO No - No
10.2 Manufacturer Specific Objects
 Basic Setting (from 0x2000)
0x2000 Motor ID ALL
PDO
nt
Power
cycling
Set the motor ID. This is automatically set for the multi-turn encoders provided by LSIS. You can
check the automatically set IDs. You can check the motor ID on the motor nameplate.
E.g. The motor ID is 137 on the nameplate attached to the motor shown in the figure below:
10-27
0x2001 Encoder Type ALL
PDO
nt
Power
cycling
Set the encoder type. You have to set it correctly by referencing the table below. However, the
multi-turn encoder provided by LSIS (4 in the table below) is automatically recognized and
configured regardless of these settings. Then, you can check the type of the encoder automatically
recognized.
Settings Encoder type
0 Quadrature (incremental, A lead B)
1 Quadrature (incremental, B lead A)
2 BiSS Serial (single-turn only)
3 Reserved
4 BiSS Serial Absolute (multi-turn 16-bit)
5~6 Reserved
7 Sinusoidal(1Vpp)
8 Analog Hall
9~10 Reserved
11 Tamagawa Serial (single-turn only)
12 Tamagawa Serial Absolute (multi-turn 16-bit)
13 EnDat 2.2 Serial
You can check the encoder type on the nameplate attached to the motor. Please refer to the
product type of the servo motor in "1.2 Product Specifications".
10-28
0x2002 Encoder Pulse per Revolution ALL
PDO
nt
Power
UDINT 0 to 1073741824 524288 pulse RW No Yes
cycling
Set the encoder resolution in pulse (count) based on a multiple of 4. Generally, you can check the
encoder resolution on the nameplate (refer to the description of 0x2000). However, the multi-turn
encoder supplied by LSIS is automatically recognized and configured regardless of these settings.
Then, you can check the resolution of the encoder automatically recognized.
E.g. Setting for each encoder marking on the motor product nameplate
1) Inc. 3000p/r: 12000 2) Serial 20bit: 1048576 3) Serial 16/19bit: 524288
0x2003 Node ID ALL
PDO
nt
UINT 0 to 99 - - RO No - No
Display the node ID configured for the node setting switch of the drive. The value of the node
setting switch is read just once when the power is turned on. Any set value modified subsequently
will be in effect only when the power is turned on again.
E.g. When the node ID is set to 29
x10 x1
0 0
1
1
7 8 9
7 8 9
2 3
2 3
4 4
6
5 5
0x2004 Rotation Direction Configuration ALL
PDO
nt
Power
cycling
10-29
Set the rotation direction of the motor. You can change the rotation direction with this setting
when the direction is changed between positive and negative relative to the user at the final
apparatus section.
Setting
Description
s
With a positive command, the motor rotates counterclockwise. Then, the

0
position feedback value increases.
With a positive command, the motor rotates clockwise. Then, the position
1
feedback value increases.
Example when the setting is 0 Example when the setting is 1
Forward command Reverse command Forward command Reverse command

Motor rotates CCW. Motor rotates CW. Motor rotates CW. Motor rotates CCW.
0x2005 Absolute Encoder Configuration ALL
PDO
nt
Power
cycling
Set the usage of the absolute encoder.
Setting
Description
s
0 Uses the absolute encoder as the absolute encoder. Uses the multi-turn data.
Uses the absolute encoder as the incremental encoder. Does not use the multi-
1
turn data. Does not display any battery-related alarm/warning.
10-30
0x2006 Main Power Input Mode Configuration ALL
PDO
nt
UINT 0 to 255 0 - RW No Always Yes
Specifies the main power input mode and the processing method if phase loss occurs.
Bit Function Value Setting details
0 Single-phase Power Input
3~0 Sets the main power input. 1 3-phase Power Input
2 DC Power Input
0 Processes the phase loss as alarm (AL-42) in
Processing method in case case of main power phase loss.

7~4
of main power phase loss 1 Processes the phase loss as warning (W-01)
in case of main power phase loss.
0x2007 Main Power Fail Check Time ALL
PDO
nt
UINT 0 to 5000 20 ms RW No Always Yes
This specifies the checking interval for main power phase loss. This function detects instantaneous
voltage drop or voltage sag, which may occur in a short period of time depending on the
condition of external power input, to check the main power phase loss. Set this function properly
according to the condition of external power input.
0x2008 7SEG Display Selection ALL
PDO
nt
UINT 0 to 100 0 - RW Yes Always Yes
10-31
This specifies items to display in the 7SEG window.
Settings Displayed item Unit Description

0 Operation status -
1 Speed feedback rpm, mm/s
2 Speed command rpm, mm/s
3 Torque feedback 0.1%
4 Torque command 0.1%
Accumulated operation 0.1%

5
overload
6 DC link voltage V
Accumulated 0.1%
7
Regeneration Overload
8 Mechanical angle 0.1deg
9 Electrical angle 0.1deg
10 Inertia ratio %
Drive temperature 1 °C Temperature near the drive power

11
element
12 Drive temperature 2 °C Internal temperature of drive
13 Encoder temperature 1 °C Internal temperature of encoder
14 Node ID -
Instantaneous maximum 0.1% Instantaneous maximum load factor for

15
load factor 15 seconds
Root Mean Square (RMS) 0.1% Root Mean Square (RMS) load factor
16
load factor for 15 seconds
0x2009 Regenerative resistance setting ALL
PDO
nt
10-32
Perform regenerative resistance-related setting.
Settings Description
0 Use the regenerative resistance installed in the drive.
Uses regenerative resistor separately installed outside the drive.

1 Ensure that the value (0x200B) and capacity (0x200C) of the regenerative resistor
are set correctly. * Notes Power supply wiring (2.4)
0x200A Regenerative Resistor Derating Factor setting ALL
PDO
nt
UINT 0 to 200 100 % RW No Always Yes
This specifies the derating factor which checks for regenerative resistance overloads. When the
derating is set to a value no more than 100%, regeneration overload alarm (AL-23) will be
triggered quickly. On the other hand, when it is set to a value more than 100%, the alarm will be
triggered slowly. Change the setting values according to the heat radiation condition of the
regenerative resistor used. Especially, when you set the derating to a value more than 100%, you
have to consider the heat radiation condition.
0x200B Regenerative resistance value setting ALL
PDO
nt
UINT 0 to 1000 0 ohm RW No Always Yes
When using an external regenerative resistor (0x2009=1), set the regenerative resistance in ohm.
When using an internal regenerative resistor (0x2009= 0), no setting values will be applied.
0x200C Regenerative resistance capacity setting ALL
PDO
nt
UINT 0 to 30000 0 watt RW No Always Yes
When using an external regenerative resistor (0x2009=1), set the regenerative resistance capacity in
watt. When using an internal regenerative resistor (0x2009= 0), no setting values will be applied.
10-33
0x200D Maximum regenerative resistance capacity setting ALL
PDO
nt
UINT 1 to 50000 100 watt RW No Always Yes
When using an external regenerative resistor (0x2009=1), set the maximum allowable capacity of
the regenerative resistance in watt. When using an internal regenerative resistor (0x2009= 0), no
setting values will be applied.
0x200E Allowed time at maximum regenerative resistance capacity ALL
PDO
nt
When using an external regenerative resistor (0x2009=1), set the allowed time at the maximum
regenerative resistance capacity (0x200D) in watt. When using an internal regenerative resistor
(0x2009= 0), no setting values will be applied.
0x200F Overload Detection Base Load Configuration ALL
PDO
nt
This indicates the load factor at which operation overload starts to accumulate. When this is set to
a value that is 100 or less, operation overload will start to accumulate earlier at the set load factor
resulting in the operation overload alarm (AL-21) being triggered early. If the heat radiation
condition of the drive is poor, configure the setting to no more than 100% to trigger an overload
alarm earlier.
0x2010 Overload Warning Level Configuration ALL
PDO
nt
10-34
This specifies the output level of the accumulated operation overload warning (W10). When the
accumulated operation overload rate (0x2603) reaches the set value, a warning will be output. With
this setting, you can identify the time when you need to take an appropriate action before an
accumulated operation overload alarm occurs.
0x2011 PWM Off Delay Time ALL
PDO
nt
This specifies the delay time until the PWM actually turns off after running the servo off command.
When using a motor with a brake installed on the vertical axis, you can output the brake signal
first, and then turn off the PWM after this set time, in order to prevent it from running down along
the axis.
0x2012 Dynamic Brake Control Mode Configuration ALL
PDO
nt
This specifies the control mode of the dynamic brake upon servo off.
0 Hold the dynamic brake after stopping the motor using the brake
1 Release the dynamic brake after stopping the motor using the brake
2 Release the dynamic brake after free-run stop
3 Hold the dynamic brake after free-run stop
10-35
Time Time
Hold after a DB stop Hold after a free run stop
Time Time
Release after a DB stop Release after a free run stop
0x2013 Emergency Stop Configuration ALL

Variable Setting Accessi PDO Change
Initial value Unit Storage
type range bility assignment attribute
This specifies the method to stop the drive on emergency stop (when entering POT, NOT, or
ESTOP). In torque control mode, the decelerating to stop mode using emergency stop torque is
not applied.
Setting
Details
values
The motor will stop according to the method set in the dynamic brake control mode
0 (0x2012).
It will stop using the dynamic brake, and then maintain the torque command at 0.
1 Decelerates to stop using the emergency stop torque (0x2113).
0x2014 Warning Mask Configuration ALL

Variable Initial PDO Change
Setting range Unit Accessibility Storage
type value assignment attribute
UINT 0 to FFFFhex 0 - RW Yes Always Yes
When a warning occurs, the warning masked by this setting will not be triggered.
Bit Warning Code Warning Name

0 W01 Main power phase loss
1 W02 Low voltage of encoder battery
2 W04 Software position limit
3 - -
4 W10 Operation overload
10-36
Bit Warning Code Warning Name

5 W20 Abnormal combination of drive and motor, I/O Configuration
6 W40 Low voltage
7 W80 Emergency signal input
8~14 - -
15 STO When STO is not connected, Statusword fault bit set
0x2015 U Phase Current Offset ALL

Setting range Unit Accessibility Storage
-1000 to
INT 0 0.1% RW No Always Yes
1000
Manually set the U phase current offset. The configured offset value is subtracted from the measured
current value, and then applied as an actual current value. Do not manually set the offset if you do not
know the exact setting value. You can check the automatically-tuned value if you tune the current offset
with the procedure function (refer to the description of 0x2700).
0x2016 Phase V Current Offset ALL
PDO
nt
INT -1000 to 1000 0 0.1% RW No Always Yes
Manually set the V-phase current offset. The configured offset value is subtracted from the measured
current value, and then applied as the actual current value. Do not manually set the offset if you do not
0x2017 Phase W Current Offset ALL
PDO
nt
INT -1000 to 1000 0 0.1% RW No Always Yes
Manually set the W phase current offset. The configured offset value is subtracted from the measured
current value, and then applied as the actual current value. Do not manually set the offset if you do not
For a drive with small to medium capacity (7.5 KW or less), this parameter is not used since the W
phase current is not separately measured.
10-37
0x2018 Magnetic Pole Pitch ALL
PDO
nt
Power
UINT 1 to 65535 2400 .01mm RW No Yes
cycling
This specifies the pitch between the magnetic poles of the linear motor. The pole pitch refers to the
distance between the north poles or between the south poles of magnet, corresponding to 360˚ of
electrical angle.
0x2019 Linear Scale Resolution ALL
PDO
nt
Power
UINT 1 to 65535 1000 nm RW No Yes
cycling
Set Linear Scale Resolution in nm. For a linear scale with a resolution of 1 um, set it to 1000 (= 1 um /
1 nm).
0x201A Commutation Method ALL
PDO
nt
Power
cycling
This specifies the commutation method to get information on the initial angle of the motor.
Not necessary for separate commutation. Or, carry out commutation

0
using a hall sensor.
1 Carry out commutation when the servo is turned on for the first time.
2 Reserved
10-38
0x201B Commutation Current ALL
PDO
nt
UINT 0 to 1000 500 0.1% RW No Always Yes
Select the commutation current to get information on the initial angle of the motor.
0x201C Commutation Time ALL
PDO
nt
Select the commutation time to get information on the initial angle of the motor.
0x201D The grid size of the sinusoidal encoder. ALL
PDO
nt
Power
UINT 1 to 65535 40 um RW No Yes
cycling
Specify the grid size of the sine wave encoder.
0x201E Move after homing is completed ALL
PDO
nt
This specifies whether to move to the zero position by Home Offset[0x607C] after homing is
completed.
10-39
After homing with Homing Method [0x6098] is completed, the motor
0 does not rotate, and the Home Offset [0x607C] value changes to the zero
position.
After homing with Homing Method [0x6098] is completed, the motor
1 rotates as much as the amount of Home Offset [0x607C] and the zero
position becomes 0.
0x201F Selection of the feedback speed calculation function ALL
PDO
nt
If the encoder type is Quadrature, select the method to calculate the feedback speed.
0 MT Method + Speed Observer
1 MT Method
2 M Method
0x2020 Phase settings for motor and hall sensor ALL
PDO
nt
Power
cycling
For a third-party motor, check the motor wiring and hall sensor wiring and configure the motor
rotation direction, hall sensor polarity, and hall sensor UVW sequence.
Bit Description
Motor rotation direction setting

0
(Exclusive OR is applied between this value and the 0x2004 setting)
1~7 Reserved
8 Reversal of hall U polarity
9 Reversal of hall V polarity
10 Reversal of hall W polarity
10-40
11 Reserved
12 Replace hall U and hall V
13 Replace hall V and hall W
14 Replace hall W and hall U
15 Reserved
0x2021 Load Encoder Type ALL
PDO
nt
Power
cycling
This sets the type of the second encoder, which is attached to the load side. The same setting
applies to the motor-side encoder type.
Settings Encoder type
0 Not selected
1 Quadrature, Port A
2 Quadrature, Port B
0x2022 Setting the load encoder direction ALL
PDO
nt
Power
cycling
Set the direction of the 2nd encoder on the load side.
0 Increase position value in the CCW direction.
1 Increase position value in the CW direction.
10-41
0x2023 Setting the full-closed control mode ALL
PDO
Variable Initial Accessi Change Reten
type value bility attribute tive
nt
Power
cycling
Set the full-closed control mode.
Semi-Closed Control (controls using only the motor-side encoder,

0
default value)
1 Full-Closed Control (controls using the load-side encoder)
Dual-Feedback Control (controls using both the motor-side and load-

2
side encoders)
0x2024 Dual Feedback Filter Time Constant ALL
PDO
nt
UINT 0 to 1000 0 0.1ms RW No Servo OFF Yes
In the case of dual-feedback control that refers to an external encoder, the filter time constant is
set to 0.1 ms at the time when the mode switches between semi-closed control and full-closed
control.
As the setting value gets close to 0 ms, it refers to the external encoder more. As it gets close to
100 ms, it refers to the motor-side encoder more. It minimizes the vibrations that are generated
due to mechanical characteristics or external factors to shorten the adjustment time.
1). Example of setting the dual-feedback filter time constant
10-42
0x2025 Load encoder scale numerator ALL
PDO
nt
Power
UINT 0 to 2147483647 1 - RW No Yes
cycling
0x2026 Load encoder scale denominator ALL
PDO
nt
Power
UINT 0 to 2147483647 1 - RW No Yes
cycling
Set the numerator/denominator scale for the load encoder to ensure the same scale with the motor
encoder,
Examples of scale setting methods
1. Direct
This sets the scale so the number of external encoder pulses can be
connection
calculated based on the number of encoder pulses per motor rotation.
structure
Motor encoder
524288[pulse/rev]
specifications
Amount of load
movement/revoluti 12000[pulse/rev]
on

Gear ratio
524288(Numerator)
setting 12000(Number of external encoder pulses) ×
12000(Denominator)
= 524288 (Number of motor encoder pulses)
10-43
2. Reducer - Reduction ratio: 1/10
structure - Ball screw lead: 20 mm
- Linear encoder (external encoder): 4 um
If the 1/10-ratio reducer is installed on the motor, the reducer shaft rotates
1/10 turns per motor rotation. So, the scale is calculated by multiplying the
deceleration ratio with the number of external encoder pulses.
Motor encoder
524288[pulse/rev]
specifications
The movement of the table per rotation of the servo motor equipped with a
Amount of load
1/10 reducer is
movement/revoluti
(1/10) * 20 mm = 2 mm. The number of external encoder pulses is calculated
on
as 2 mm / 4 um = 500 pulses.

500(Denominator)
3. Belt-pulley - Motor-side pulley diameter: 30 mm
structure - Rotary-side pulley diameter: 20 mm
- External encoder resolution: 20000 pulse/rev
In the case of a gear and belt-pulley system, the final gear ratio is calculated
and the gear ratio is multiplied by the number of external encoder pulses to
produce the scale.
Motor encoder
524288[pulse/rev]
specifications
Amount of load The external encoder rotates at a ratio of 30 / 20 per servo motor rotation.
movement/revoluti The number of pulses for the external encoder is calculated as 20000 x (3/2)
on = 30000 pulses.
10-44

30000(Denominator)
0x2027 Excessive level of external encoder position error ALL
PDO
nt
UDINT 0 to 2147483647 100000 pulse RW No Always Yes
0x2028 Load encoder position error initialization ALL
PDO
nt
UDINT 0 to 10000 10 Rev RW No Always Yes
This sets the position error level for the external encoder and the reset range for the error position
value.
Ext Enc Following Error

[0x261C]
External Encoder
AL-54(Encoder2 POS Difference) Occured Following Error Reset = 0
External encoder Following

error Window[0x2027]
revolution
[0x2028] External encoder Following Error Reset
Based on the 0x2027 (External Encoder Following Error Window) settings, the AL-54 (Encoder2 POS
difference) level can be adjusted. For a system where a slip occurs, the 0x2028 (External Encoder
Following Error Reset) settings can be used to set the normal slip range for the following error value.
10-45
0x2029 Setting the external encoder Z phase ALL
PDO
nt
Power
cycling
This setting determines whether to detect the Z phase signal when the external encoder is Quadrature.
0x202B Setting the load encoder ALL
PDO
nt
Power
UDINT 0x0 to 0xFFFFFFFF 0 - RW No Yes
cycling
This sets the second encoder, which is attached to the load side. The settings below change depending
on the setting of the encoder type 2. Do not set the reserved bit.
Bit Description (if encoder type is quadrature)
3~0 Debounce filter settings,
31~4 Reserved
* Debounce filter settings
Settings Cutoff frequency
0 No Filter
1 5 MHz
2 3 MHz
3 2.5 MHz
4 2 MHz
5 1.6 MHz
6 1.4 MHz
7 1.25 MHz
8 1 MHz
9 0.8 MHz
10 0.7 MHz
10-46
0-7 Number of data bits
Number of bits for rotary multi-turn data

8-15
(For a linear encoder, the setting value is irrelevant.)
16 Whether to ignore the first bit (0: one start bit, 1: two start bits)
17 Coding(0:binary, 1:gray)
20-23 Number of align bits
Clock rate
24-27 (0:10Mhz, 1:5Mhz, 2:2.5Mhz, 3:1.25Mhz, 4:625Khz,
5:312.5Khz, 6:156.25Khz, 7:78.125Khz)
28 Whether error bit exists (0: No, 1: Yes)
29 Error bit logic(0:active high, 1:active low)
31~30 reserved
Setting example:
5~0 13
12~8 10
16 0(one start bit)
17 0
18 0
19 -
22~20 2 align bit
23 0
27-24 2
28 0
29 0
31~30 -
0x202C Set the number of grids per revolution on a sinusoidal encoder ALL
PDO
nt
Power
UDINT 0-65535 1000 - RW No Yes
cycling
This sets the CPR or line count (number of grids per revolution) on a sine wave encoder.
10-47
0x202D Speed feedback FIR filter setting ALL
PDO
nt
Power
UDINT 0 to 8 0 - RW No Yes
cycling
This sets the degree of FIR filter for speed feedback.
In order to apply a FIR filter on a speed feedback signal, set the value to 2 or more. In this case, the
speed feedback filter time constant [0x201B] does not apply. In order to use the speed feedback filter
time constant, set the value to 0.
 Gain Adjustment (from 0x2100)
0x2100 Inertia ratio ALL
PDO
nt
This specifies the ratio of the load inertia to the motor's rotor inertia as a percentage (%).
Inertia ratio = Load inertia / Motor's rotor inertia x 100
The inertia/load ratio is an important control parameter for the operation of the servo. It is crucial
to set the correct inertia ratio for optimal servo operation. You can estimate the inertia ratio by
auto gain tuning. The ratio will be continuously estimated during operation if you carry out real-
time gain tuning.
0x2101 Position loop gain 1 ALL
PDO
nt
UINT 1 to 500 50 1/s RW Yes Always Yes
This specifies the overall responsiveness of the position controller. The larger the setting, the
responsiveness increases. Too large setting value may cause vibration depending on the load.
10-48
0x2102 Speed Loop Gain 1 ALL
PDO
nt
UINT 1 to 2000 75 Hz RW Yes Always Yes
This specifies the overall responsiveness of the speed controller. To make the overall response of
the system higher, you have to set the speed loop gain, as well as the position loop gain, large. Too
large setting value may cause vibration depending on the load.
0x2103 Speed Loop Integral Time Constant 1 ALL
PDO
nt
UINT 1 to 1000 50 ms RW Yes Always Yes
This specifies the integral time constant of the speed controller. If you set it larger, error will be
reduced at the steady state (stopped or driving at constant speed), but vibration may occur at a
transient state (while accelerating or decelerating).
0x2104 Torque Command Filter Time Constant 1 ALL
PDO
nt
UINT 0 to 1000 5 0.1ms RW Yes Always Yes
This applies a low pass filter for the torque command. You can improve the stability of the system
by setting an appropriate value to smooth out the torque command. If you set it too large, the
delay for the torque command will be longer, reducing the system responsiveness.
10-49
0x2105 Position Loop Gain 2 ALL
PDO
nt
UINT 1 to 500 30 /s RW Yes Always Yes
This specifies the position loop gain used as gain group 2 for gain switching. For more information,
refer to the description of the Position Loop Gain 1 (0x2101).
0x2106 Speed Loop Gain 2 ALL
PDO
nt
UINT 1 to 2000 50 Hz RW Yes Always Yes
This specifies the speed loop gain used as gain group 2 for gain switching. For more information,
refer to the description of the Speed Loop Gain 1 (0x2102).
0x2107 Speed Loop Integral Time Constant 2 ALL
PDO
nt
This specifies the integral time constant of the speed loop used as gain group 2 for gain switching.
For more information, refer to the description of the Speed Loop Integral Time Constant 1
(0x2103).
0x2108 Torque Command Filter Time Constant 2 ALL
PDO
nt
UINT 0 to 1000 0 0.1 ms RW Yes Always Yes
This specifies the time constant of the torque command filter used as gain group 2 for gain
switching. For more information, refer to the description of the Torque Command Filter Time
Constant 1 (0x2104).
10-50
0x2109 Position Command Filter Time Constant ALL
PDO
nt
UINT 0 to 10000 0 0.1ms RW Yes Always Yes
This applies a low pass filter for the position command to smooth out the position command. This
can be used for setting a higher gear ratio in particular.
0x210A Position Command Average Filter Time Constant ALL
PDO
nt
This applies a moving average filter for the position command to smooth out the position
command. The value of Position Command Filter Time Constant (0x2109) is first applied. Position
Command Average Filter Time Constant (0x210A) is only applied if the value is 0.
0x210B Speed Feedback Filter Time Constant ALL
PDO
nt
This applies a low pass filter to the speed feedback signal calculated from the encoder. In case
system vibrations occur or vibrations occur when a gain load with too large of an inertia is applied,
you can suppress the vibrations by setting the appropriate value.
0x210C Velocity Feed-forward Gain ALL
PDO
nt
UINT 0 to 100 0 % RW Yes Always Yes
This specifies the feedforward gain for the speed command during position control. The larger the
setting is, the less the positional error is. If you set a value that is too large depending on the load,
vibrations or overshoot may occur. For gain tuning, increase the setting value gradually.
10-51
0x210D Velocity Feed-forward Filter Time Constant ALL
PDO
nt
This applies a low pass filter to the compensated amount added to the speed command by the
speed feedforward gain. You can enhance the system stability by using it when you set a large
speed feedforward gain or when there is excessive change in position command.
0x210E Torque Feed-forward Gain ALL
PDO
nt
UINT 0 to 100 0 % RW Yes Always Yes
This specifies the feedforward gain for the torque command during speed control.
0x210F Torque Feed-forward Filter Time Constant ALL
PDO
nt
This applies a low pass filter to the compensated amount added to the torque command by the
torque feed-forward gain.
0x2110 Torque Limit Function Configuration ALL
PDO
nt
10-52
This specifies the function to limit the output torque of the drive.
Limits the torque using forward/reverse torque limit values according to
the driving direction; the maximum value is limited by the maximum

0
torque (0x6072).
- Forward: 0x60E0, Reverse: 0x60E1
Limits the torque by the maximum torque (0x6072) only regardless of the
1
driving direction.
Limits the torque using external forward/reverse torque limit values
2 according to the driving direction.
- Forward: 0x2111, Reverse: 0x2112
Limits the torque using internal and external torque limit values
according to the driving direction and the torque limit signal.
- Forward: 0x60E0 (if P_CL signal is not input), 0x2111 (if P_CL signal is
3
input)
- Reverse: 0x60E1 (if N_CL signal is not input), 0x2112 (if N_CL signal is
input)
0x2111 External Positive Torque Limit Value ALL
PDO
nt
UINT 0 to 5000 3000 0.1% RW Yes Always Yes
This specifies the external forward torque limit value according to the torque limit function setting
(0x2110).
0x2112 External Negative Torque Limit Value ALL
PDO
nt
This specifies the external reverse torque limit value according to the torque limit function setting
(0x2110).
10-53
0x2113 Emergency Stop Torque ALL
PDO
nt
This specifies the stop torque on an emergency stop (when entering POT, NOT, or ESTOP).
0x2114 P/PI Control Switching Mode ALL
PDO
nt
This specifies the switch mode between PI control and P control. Using this function, you can
improve the speed control characteristic to reduce the overshoot during speed operation and the
positioning time during position operation.

0 Always uses PI control.
Switches to P control if the command torque is larger than the P
1
control switching torque (0x2115).
Switches to P control if the command speed is larger than the P
2
control switching speed (0x2116).
Switches to P control if the acceleration command is larger than the P
3
control switching acceleration (0x2117).
Switches to P control if the position error is larger than the P control
4
switching position error (0x2118).
0x2115 P Control Switching Torque ALL
PDO
nt
Refer to the description of the P/PI control switching mode (0x2114).
10-54
0x2116 P Control Switching Speed ALL
PDO
nt
UINT 0 to 6000 100 rpm RW Yes Always Yes
0x2117 P Control Switching Acceleration ALL
PDO
nt
UINT 0 to 60000 1000 rpm/s RW Yes Always Yes
0x2118 P Control Switching Position Error ALL
PDO
nt
UINT 0 to 60000 100 pulse RW Yes Always Yes
0x2119 Gain switching mode ALL
PDO
nt
You can enhance the performance of the entire system by switching between two gain groups.
According to the switching mode, manual switch or automatic switch can be done depending on
the external input or output signal, respectively.
10-55
Gain Group 1 Gain Group 2
Position loop gain 1 (0x2101) Position loop gain 2 (0x2105)
Speed loop gain 1 (0x2102) Speed loop gain 2 (0x2106)
Speed loop integral time constant 1 Speed loop integral time constant 2
(x2103) (x2107)
Torque command filter time Torque command filter time
constant 1 (0x2104) constant 2(0x2108)

Gain is switched according to the GAIN2 input status.
3 Reserved
4 Reserved
5 Reserved
Gain is switched according to the ZSPD output status.
Gain is switched according to the INPOS1 output status.
0x211A Gain Switching Time 1 ALL
PDO
nt
This specifies the time to switch from gain group 1 to gain group 2.
10-56
0x211B Gain Switching Time 2 ALL
PDO
nt
This specifies the time to switch from gain group 2 to gain group 1.
0x211C Gain Switching Waiting Time 1 ALL
PDO
nt
This specifies the waiting time before switching from gain group 1 to gain group 2.
0x211D Gain Switching Waiting Time 2 ALL
PDO
nt
This specifies the waiting time before switching from gain group 2 to gain group 1.
0x211E Dead Band for Position Control ALL
PDO
nt
UINT 0 to 1000 0 UU RW Yes Always Yes
The position controller output is 0 if the positional error for position control is below the setting.
10-57
0x211F Drive Control Input 1 ALL
PDO
nt
UINT 0 to FFFFhex 0 - RW Yes Always No
You can input the signal required for drive control via the I/O. Using a remote I/O, you can
indirectly input the control input signal, inputted to the upper level controller, to the drive through
this setting.
An applicable function will be performed by logical OR operation of the signal received through
the I/O and the bit value of this setting.
Bit Setting details

0 POT
1 NOT
2 HOME
3 STOP
4 PCON
5 GAIN2
6 P_CL
7 N_CL
8 PROBE1
9 PROBE2
10 EMG
11 A_RST
12 SV_ON
13 LVSF1
14 LVSF2
15 Reserved
0x211F Drive Control Input 1 ALL
PDO
nt
Bit Setting details

15-0 Reserved
10-58
0x2121 Drive Status Output 1 ALL
PDO
nt
You can assign the state of the drive output signal to the output signal of the I/O in order to verify
the applicable bit of this output value, in addition to the actual output.
Bit Setting details

0 BRAKE
1 ALARM
2 READY
3 ZSPD
4 INPOS1
5 TLMT
6 VLMT
7 INSPD
8 WARN
9 TGON
10 INPOS2
15-11 Reserved
0x2122 Drive Status Output 2 ALL
PDO
nt
UINT 0 to FFFFhex 0 - RO Yes - No
Bit Setting details

15-0 Reserved
10-59
 I/O Configuration (from 0x2200)
0x2200 Digital Input Signal 1 Configuration ALL
PDO
nt
UINT 0 to 0xFFFF 0x0001 - RW No Always Yes
This specifies the functions of digital input signal 1 of the I/O and the input signal level.
Setting example) If the setting value is 0x006:
Settings Assigned signal

0 0 0 6
0x00 Not assigned
0x01 POT
Contact A GAIN2 is assigned. 0x02 NOT
0x03 HOME
Bit Setting details 0x04 STOP
Signal input level settings 0x05 PCON

15 0x06 GAIN2
(0: contact A, 1: contact B)
14~8 Reserved 0x07 P_CL
7~0 Input signal assignments 0x08 N_CL

0x09 PROBE1
0x0A PROBE2
0x0B EMG
0x0C A_RST
0x0D LVSF1
0x0E LVSF2
0x0F SVON
PDO
nt
This specifies the functions of digital input signal 2 of the I/O and the input signal level. For more
information, refer to the description of 0x2200.
10-60
PDO
nt
PDO
nt
PDO
nt
PDO
nt
10-61
0x2210 Digital Output Signal 1 Configuration ALL
PDO
nt
This assigns the digital output signal 1 function and sets the output signal level of the I/O.
Setting example: If the setting is 0x8001
Settings Assigned signal

8 0 0 1
0x00 Not assigned
0x01 BRAKE
Contact B Brake assigned 0x02 ALARM
0x03 READY
0x04 ZSPD
Bit Setting details
0x05 INPOS1
Signal output level settings
15 0x06 TLMT
(0: contact A, 1: contact B)
0x07 VLMT
14~8 Reserved
0x08 INSPD
7~0 Output signal assignments
0x09 WARN
0x0A TGON
0x0B INPOS2
PDO
nt
This sets the digital output signal 2 function and output signal level of the I/O. For more
10-62
PDO
nt
This sets the digital output signal 3 function and output signal level of the I/O. For more
0x2220 Analog Monitor Output Mode P
PDO
nt
The output range of the analog monitor is from -10 V to +10 V. If the setting is 1, take the
absolute value of the output so the output values is only positive.

0 Output as negative/positive values
1 Output as positive values only
0x2221 Analog Monitor Channel 1 Configuration P
PDO
nt
Settings Displayed item Unit
0x00 Speed feedback rpm
0x01 Speed command rpm
0x02 Speed error rpm
0x03 Torque feedback %
0x04 Torque command %
0x05 Position error pulse
0x06 Accumulated operation overload %
0x07 DC link voltage V
10-63
0x08 Accumulated Regeneration Overload %
0x09 Encoder single-turn data pulse
0x0A Inertia ratio %
0x0B Full-Closed Positional Error UU
0x0C Drive temperature 1 °C
0x0D Drive temperature 2 °C
0x0E Encoder temperature 1 °C
0x0F Hall signal -
0x10 U-phase current A
0x11 V-phase current A
0x12 W-phase current A
0x13 Current position value UU
0x14 Target position value UU
0x15 Position command speed rpm, mm/s
0x16 Hall U signal -
0x17 Hall V signal -
0x18 Hall W signal -
0x2222 Analog Monitor Channel 2 Configuration P
PDO
nt
0x2223 Analog Monitor Channel 1 Offset ALL
PDO
nt
DINT 0 to 0x40000000 0 - RW No Always Yes
Subtract the offset value from the monitoring variable of analog monitor output channel 1 to
determine the final output. The unit will be that of the variable configured in the Analog Monitor
Channel 1 Setting (0x2221).
10-64
0x2224 Analog Monitor Channel 2 Offset ALL
PDO
nt
DINT 0 to 0x40000000 0 - RW No Always Yes
Subtract the offset value from the monitoring variable of analog monitor output channel 2 to
determine the final output. The unit will be that of the variable configured in the Analog Monitor
Channel 2 Setting (0x2222).
0x2225 Analog Monitor Channel 1 Scale ALL
PDO
nt
UDINT 0 to 0x40000000 500 - RW No Always Yes
This specifies the scaling of the variable to be output per 1 V when outputting the monitoring
variable configured as analog output channel 1. The unit will be that of the variable configured in
the Analog Monitor Channel 1 Setting (0x2221) per 1 V.
For example, if you set the speed feedback to channel 1 and the scale to 500, up to ±5000 rpm
can be output as ±10 V.
0x2226 Analog Monitor Channel 2 Scale ALL
PDO
nt
UDINT 0 to 0x40000000 500 - RW No Always Yes
This specifies the scaling of the variable to be output per 1 V when outputting the monitoring
variable configured as analog output channel 2. The unit will be that of the variable configured in
the Analog Monitor Channel 2 Setting (0x2222) per 1 V.
10-65
 Velocity Control (from 0x2300)
0x2300 Jog Operation Speed ALL
PDO
nt
INT -6000 to 6000 500 rpm RW No Always Yes
This specifies the jog operation speed.
0x2301 Speed Command Acceleration Time ALL
PDO
nt
This specifies the time, in ms, required for the motor to reach the rated motor speed from zero
speed.
0x2302 Speed Command Deceleration Time ALL
PDO
nt
This specifies the time, in ms, required for the motor to decelerate from the rated motor speed to a
stop.
0x2303 Speed Command S-curve Time ALL
PDO
nt
You can configure the speed command in an S-curve pattern for smooth acceleration/deceleration.
If it is set to 0, the drive will be operated in a trapezoidal pattern by default.
10-66
0x2304 Programmed Jog Operation Speed 1 ALL
PDO
nt
For programmed jog operation, you can set operation speed 1 to 4 and operation time 1 to 4 as
follows:
PDO
nt
Refer to the description of Programmed Jog Operation Speed 1 (0x2304).
PDO
nt
PDO
nt
INT -6000 to 6000 -500 rpm RW No Always Yes
10-67
0x2308 Programmed Jog Operation Time 1 ALL
PDO
nt
0x2309 Programmed Jog Operation Time 2 ALL
PDO
nt
0x230A Programmed Jog Operation Time 3 ALL
PDO
nt
0x230B Programmed Jog Operation Time 4 ALL
PDO
nt
10-68
0x230C Index Pulse Search Speed ALL
PDO
nt
This specifies the speed for index pulse search.
0x230D Speed Limit Function Configuration ALL
PDO
nt
This specifies the speed limit function for torque control.
0 Limited by the speed limit value (0x230E)
1 Limited by the maximum motor speed
0x230E Speed Limit Value at Torque Control Mode ALL
PDO
nt
This specifies the speed limit value for torque control. This setting is applied only when the Speed
Limit Function Setting (0x230D) is set to 0.
0x230F Over Speed Detection Level ALL
PDO
nt
UINT 0 to 10000 6000 rpm RW No Always Yes
This specifies the level to detect overspeed alarms (AL-50). If the setting is larger than the
maximum motor speed, the detection level will be set by the maximum motor speed.
10-69
0x2310 Excessive Speed Error Detection Level ALL
PDO
nt
This specifies the level to detect excessive speed error alarms (AL-53). If the difference between
the speed command and the speed feedback exceeds the setting value, an excessive speed error
alarm is generated.
0x2311 Servo-Lock Function Configuration ALL
PDO
nt
This specifies the servo-lock function to fix the motor position with a position value when the
speed command is input as 0 for speed control.
0 Servo-lock function disabled
1 Servo-lock function enabled
10-70
 Miscellaneous Setting (from 0x2400)
0x2400 Software Position Limit Function Configuration ALL
PDO
nt
This specifies the software position limit function for position control. When using the position
limit function, the upper and the lower limit values will be limited to the values configured in
(0x607D:02) and (0x607D:01), respectively. The software position limit function will not be
activated prior to the homing operation. In addition, when the upper limit value is less than the
lower limit value, this function will not be activated.

0 None of positive and negative software position limits are used.
Only the positive software position limit value is used. It is not
1
limited for the reverse direction.
Only the negative software position limit value is used. It is not
2
limited for the forward direction.
Both the positive and the negative software position limits are
3
used.
0x2401 INPOS1 Output Range P
PDO
nt
With the position command not newly updated, if the position error is retained within the INPOS1
output range for the INPOS1 output time, the INPOS1 signal is output.
0x2402 INPOS1 Output Time P
PDO
nt
0x2403 INPOS2 Output Range P
10-71
PDO
nt
This outputs the INPOS2 signal where the position error is less than the setting value. Unlike the
INPOS1, the INPOS2 signal is output by calculating only the position error value.
0x2404 ZSPD Output Range P
PDO
nt
When the current speed is less than the setting value, the ZSPD signal is output.
0x2405 TGON Output Range P
PDO
nt
When the current speed is more than the setting value, the TGON signal is output.
0x2406 INSPD Output Range P
PDO
nt
When the speed error is less than the setting value, the INSPD signal is output.
10-72
0x2407 BRAKE Output Speed P
PDO
nt
If the motor stops because the servo turns off or a servo alarm occurs during rotation, you can set
the speed (0x2407) and delay time (0x2408) for the brake signal output to configure the output
timing. The brake signal will be output if the motor rotation speed goes below the set speed
(0x2407) or the output delay time (0x2408) has elapsed after the servo OFF command.
0x2408 BRAKE Output Delay Time P
PDO
nt
0x2409 Torque Limit at Homing Using Stopper ALL
PDO
nt
UINT 0 to 2000 250 0.1% RW No Always Yes
This specifies the torque limit value for homing using a stopper. With too large of a value
configured, the machine may collide with the stopper. So be careful.
0x240A Duration Time at Homing Using Stopper ALL
PDO
nt
This specifies the time to detect the stopper for homing using a stopper. Set an appropriate value,
depending on the machine.
10-73
0x240B Modulo Mode ALL
PDO
nt
Power
cycling
This specifies whether to use the Modulo function.

0 Does not use the modulo function.
1 Uses the modulo function to move forward.
2 Uses the modulo function to move backward.
Uses the modulo function to move via the possible shortest
3
distance.
4 Uses the Modulo function to move to the absolute position.
5 Uses the Modulo function to move to the relative position.
0x240C Modulo Factor ALL
PDO
nt
Power
DINT 1 to 0x3FFFFFFF 3600 UU RW No Yes
cycling
This specifies the factor for using the modulo function.
0x240D User Drive Name ALL
PDO
nt
STRING - ‘Drive’ UU RW No Always Yes
The user can customize the drive name. Up to 16 characters can be used to define the name.
10-74
0x240E Individual Parameter Save ALL
PDO
nt
DINT 0 to 1 0 - RW No Always No
This specifies whether to save parameters individually. This parameter is not saved and is initialized
to 0 during power ON.

Parameters are not saved individually. For details on storing
parameters, refer to Storing Parameters (0x1010).
0
Save the parameters individually. When a parameter is written, it

1
is immediately stored in the memory.
 Enhanced Control (from 0x2500)
0x2500 Adaptive Filter Function Setting ALL
PDO
nt
This specifies the adaptive filter function.

0 Adaptive filter is not used.
Only one adaptive filter is used. You can check the settings
configured automatically in the notch filter 3 settings (0x2507,
0x2508, 0x2509).
1
If an arbitrary value is set in notch filter 3, auto setting is not
available. If you wish to use auto setting, you should initialize
notch filter 3 first.
Two adaptive filters are used. You can check the settings
configured automatically in the notch filter 3 (0x2507, 0x2508,
0x2509) and filter 4 settings (0x250A, 0x250B, 0x250C).
2 If an arbitrary value is set for notch filter 3 (or 4), auto setting is
applied to notch filter 4 (or 3). If arbitrary values are set for
notch filter 3 and 4, the original settings remain unchanged. If
notch filter 3 and 4 are initialized, auto setting is available.
3 Reserved
Resets the notch filter 3 (0x2507, 0x2508, and 0x2509) and
4
notch filter 4 (0x250A, 0x250B, and 0x250C) settings.
5 Reserved
10-75
0x2501 Notch Filter 1 Frequency ALL
Variable Initial Accessibilit PDO Change Retentiv

Setting range Unit
type value y assignment attribute e
UINT 50 to 5000 5000 Hz RW No Always Yes
This specifies the frequency of notch filter 1.
0x2502 Notch Filter 1 Width ALL
PDO
nt
This specifies the width of notch filter 1.
0x2503 Notch Filter 1 Depth ALL
PDO
nt
This specifies the depth of notch filter 1.
PDO
nt
10-76
PDO
nt
PDO
nt
PDO
nt

PDO
nt
10-77
PDO
nt
0x250A Notch Filter 4 Frequency ALL
PDO
nt
0x250B Notch Filter 4 Width ALL
PDO
nt
0x250C Notch Filter 4 Depth ALL
PDO
nt
10-78
0x250D On-line Gain Tuning Mode ALL
PDO
nt
It determines whether real-time gain is adjusted during operation. The factory setting is 0 (Do
not use). The estimated gain at online tuning is reflected every 64 ms, and the changed gain is
stored in EEPROM about every 2 minutes.

0 Online gain tuning is not used.
1 Online gain tuning is used.
0x250E System Rigidity for Gain Tuning ALL
PDO
nt
This specifies the system rigidity applied for gain tuning. After gain tuning according to the setting,
the overall gain will be set higher or lower. If the gain of the maximum setting value is not enough,
carry out the tuning manually.
Increasing the system rigidity setting will increase the gain and shorten the positioning time.
However, if the setting is too high, vibration may occur depending on the machine configuration.
Adjust the system rigidity setting from low to high values within a range that does not cause
vibration.
After the gain tuning, the following gains will be automatically changed:
Inertia ratio (0x2100), position loop gain 1 (0x2001), speed loop gain 1 (0x2102), speed integral
time constant 1 (0x2103), torque command filter time constant 1 (0x2104), notch filter 3
frequency (0x2507, TBD), and notch filter 4 frequency (0x250A, TBD).
The gain values (position loop gain, speed loop gain, speed integration time constant and torque
command filter time constant) according to the system rigidity settingsare determined by the
values in the table below.
10-79
System Rigidity 1 2 3 4 5 6 7 8 9 10
Position loop gain 1 2 5 10 15 22 30 40 50 60 73
Speed loop gain 1 3 8 15 23 33 45 60 75 90 110

Speed integral time
190 70 50 40 30 22 15 13 10 9
constant 1
Torque command filter
80 30 20 10 8 6 4 3 3 2
time constant 1
System Rigidity 11 12 13 14 15 16 17 18 19 20
Position loop gain 1 87 100 117 133 160 173 200 220 240 267
Speed loop gain 1 130 150 175 200 240 260 300 330 360 400
Speed integral time
8 7 6 6 5 5 4 4 3 3
constant 1
Torque command filter
2 2 2 2 1 1 1 1 1 1
time constant 1
0x250F On-line Gain Tuning Adaptation Rate ALL

Setting range Unit Accessibility Retentive
This specifies the speed reflecting the change of gain when performing online gain tuning. The
larger the setting value is, the faster the change of gain is reflected. Depending on the condition of
the load, the system may become unstable if it is reflected too quickly.
0x2510 Off-line Gain Tuning Direction ALL
PDO
nt
This specifies the movement direction when performing offline gain tuning. Set the function
properly according to the condition of the apparatus section.

0 Drive in the forward direction
1 Drive in the reverse direction
10-80
0x2511 Off-line Gain Tuning Distance ALL
PDO
nt
This specifies the distance when performing offline gain tuning. The larger the setting value is, the
longer the moving distance becomes. Set the distance properly according to the condition of the
apparatus section. Make sure to secure enough distance (one or more revolutions of motor) prior
to gain tuning.
0x2512 Disturbance Observer Gain ALL
PDO
nt
This function suppresses torque disturbance by compensating torque through load model. If the
disturbance observer gain setting is large, the disturbance suppression works well. However, since
noise occurs during operation, it is necessary to set the gain and filter time constant appropriately.
0x2513 Disturbance Observer Filter Time Constant ALL
PDO
nt
UINT 0 to 1000 10 0.1 ms RW No Always Yes
This applies a low pass filter for the disturbance observer reference. By setting the disturbance
observer gain and filter time constant appropriately, disturbance can be suppressed.
10-81
0x2514 Current Controller Gain ALL
PDO
nt
This specifies the current controller gain. Lowering the setting value will reduce the noise, but the
drive's responsiveness decreases as well.
0x2515 Vibration control (damping) filter setting ALL
PDO
nt
Set whether to use a filter to suppress vibration generated at the load end.

0 Vibration control (damping) filter is not used.
1 Vibration control (damping) filter 1 and 2 are used.
Vibration control (damping) filters 1 and 2 are used according to
2
LVSF1 and LVSF2 inputs.
0x2516 Vibration control (damping) filter 1 frequency ALL
PDO
nt
UINT 0 to 1000 0 0.1Hz RW No Always Yes
Set the vibration control (damping) filter 1 frequency.
10-82
0x2517 Vibration control (damping) filter 1 coefficient ALL
PDO
nt
Set the coefficient of vibration control (damping) filter 1. The larger the set value, the bigger the
damping coefficient becomes, leading to a higher damping level.
0x2518 Vibration control (damping) filter 2 frequency ALL
PDO
nt
UINT 0 to 1000 0 0.1Hz RW No Always Yes
Set the vibration control (damping) filter 2 frequency.
0x2519 Vibration control (damping) filter 2 coefficient ALL
PDO
nt
Set the coefficient of vibration control (damping) filter 2. The larger the set value, the bigger the
damping coefficient becomes, leading to a higher damping level.
 Monitoring (from 0x2600)
0x2600 Feedback Speed ALL
PDO
nt
INT - - rpm RO Yes - No
This represents the current rotation speed of the motor.
10-83
0x2601 Command Speed ALL
PDO
nt
INT - - rpm RO Yes - No
This represents the speed command that is input to the speed control loop of the drive.
0x2602 Position error ALL
PDO
nt
DINT - - pulse RO Yes - No
This represents the position error of position control.
0x2603 Accumulated operation overload ALL
PDO
nt
INT - - 0.1% RO No - No
This represents the accumulated operation overload rate. When the value of the accumulated
operation overload rate reaches the overload warning level setting (0x2010), the operation
overload warning (W10) will occur; when it reaches 100%, the operation overload alarm (AL-21)
will occur.
0x2604 Instantaneous Maximum Operation Overload ALL
PDO
nt
INT - - 0.1% RO Yes - No
This represents the maximum value of the operation overload rate output instantaneously from the
drive for the last 15 seconds. This value can be initialized by the initialization of the instantaneous
maximum operation overload.
10-84
0x2605 DC-Link Voltage ALL
PDO
nt
UINT - - Volt RO Yes - No
This represents the DC link voltage by the main power input.
0x2606 Accumulated Regeneration Overload ALL
PDO
nt
INT - - 0.1% RO No - No
This represents the accumulated overload rate of the regenerative resistor due to regenerative
operation. In case that the value of the accumulated regenerative overload rate reaches 100%, a
regenerative overload alarm (AL-23) will be generated.
0x2607 SingleTurn Data ALL
PDO
nt
UDINT - - pulse RO Yes - No
This represents the single-turn data of the motor. Values ranging from 0 to (encoder resolution-1)
are displayed.
0x2608 Motor Mechanical Angle ALL
PDO
nt
UINT - - 0.1 deg RO Yes - No
This represents the single-turn data of the motor, ranging from 0.0 to 359.9.
10-85
0x2609 Motor Electrical Angle ALL
PDO
nt
INT - - 0.1 deg RO Yes - No
This represents the electrical angle of the motor, ranging from -180.0 to 180.0.
0x260A Multi-Turn Data ALL
PDO
nt
DINT - - rev. RO Yes - No
This represents the multi-turn data of the multi-turn encoder.
0x260B Drive Internal Temperature 1 ALL
PDO
nt
oC
INT - - RO No - No
This is the temperature measured by the temperature sensor integrated with the drive power
board. If the measurement is higher than 95℃, the drive overheat alarm 1 (AL-22) will be
generated.
0x260C Drive Internal Temperature 2 ALL
PDO
nt
oC
INT - - RO No - No
This represents the temperature measured by the temperature sensor integrated with the drive
control board. If the measured temperature is higher than 90℃, the drive overheat alarm 2 (AL-25)
will be generated.
10-86
0x260D Encoder Temperature ALL
PDO
nt
oC
INT - - RO No - No
This represents the temperature measured by the temperature sensor integrated into serial
encoder provided by LSIS (if the setting values of the encoder type (0x2001) are 3, 4, 5, and 6). If
the measured temperature is higher than 90℃, the encoder overheat alarm (AL-26) will be
generated.
0x260E Motor Rated Speed ALL
PDO
nt
UINT - - rpm RO No - No
This represents the rated speed of the driving motor.
0x260F Motor Maximum Speed ALL
PDO
nt
UINT - - rpm RO No - No
This represents the maximum speed of the driving motor.
0x2610 Drive Rated Current ALL
PDO
nt
UINT - - 0.1A RO No - No
This represents the rated current of the drive.
10-87
0x2611 FPGA Version ALL
PDO
nt
This represents the FPGA version within the drive.
Hall Signal Display

0x2612 ALL
PDO
nt
This represents the signal of the hall sensor installed in the encoder (or motor). This can be used to
verify the connection status of the hall sensor signal or compare the U-/V-/W-phases of the motor
with the direction of the hall sensor signal.
The signal value is repeated in the order of 546231 for a forward movement, while it is
repeated in the order of 132645 for a reverse movement.
Bit Setting details

0 W-phase hall sensor signal
1 V-phase hall sensor signal
2 U-phase hall sensor signal
0x2613 Bootloader Version ALL
PDO
nt
This represents the bootloader version of the drive.
10-88
0x2614 Warning code ALL
PDO
nt
UINT - - - RO Yes - No
This represents a warning code which has occurred in the drive.
0x2615 Analog Input Channel 1 Value ALL
PDO
nt
INT - - mV RO No - No
This indicates the voltage in mV which is inputted to the analog input channel 1.
0x2619 Root Mean Square (RMS) load factor ALL
PDO
nt
INT - - 0.1% RO No - No
This displays the Root Mean Square (RMS) load factor for the last 15 seconds in 0.1% increments.
Compare the RMS load factor with the rated torque in a 15-second driving cycle to ensure that the
RMS load factor is within the drive rated torque. If the RMS load ratio is higher than the rated
torque, check the drive and motor selection again.
0x261E Load encoder position value ALL
PDO
nt
DINT - - pulse RO No - -
This displays the position value of the load-side encoder in pulse units of the load encoder.
10-89
0x261F Actual position value inside the load encoder ALL
PDO
nt
DINT - - UU RO No - -
This displays the position value of the load-side encoder in pulse units of the motor-side encoder
considering the electronic gear ratio.
0x2620 Load encoder position deviation ALL
PDO
nt
DINT - - pulse RO No - -
This displays the position difference between the load-side encoder and motor-side encoder in UU
units.
0x2621 Encoder 2 speed ALL
PDO
nt
DINT - - UU/s RO Yes Always No
This displays the speed of encoder 2 attached to the load side.
 Procedure and Alarm History (from 0x2700)
0x2700 Procedure Command Code ALL
PDO
nt
UINT 0 to 0xFFFF 0 - RW No - No
You can run various procedures with the following procedure command codes and command
arguments. Make sure to enter correct value of command argument prior to entering command
code because the drive refers to the command argument at the moment of entering the command
code.
10-90
Command
Command code Run procedure
argument
1 Servo ON
2 Servo OFF
Manual Jog
3 Positive (+) driving (0x2300)
(0x0001)
4 Negative (-) driving (0x2300)
5 Stop to zero speed
1 Servo ON
Programmed Jog 2 Servo OFF
(0x0002) 3 Start operation
4 Stop to zero speed (server on maintained)
Servo Alarm History

1
Reset (0x0003)
Offline Auto Tuning

1 Start auto tuning
(0x0004)
1 Servo ON
2 Servo OFF
Index Pulse Search
3 Positive (+) search (0x230C)
(0x0005)
4 Negative (-) search (0x230C)
5 Stop to zero speed
Absolute encoder reset

1 Absolute encoder reset
(0x0006)
Instantaneous
Maximum Operation Instantaneous maximum operation overload

1
Overload Reset value reset (0x2604)
(0x0007)
Phase current offset tuning

Phase current offset
(The U, V, W phase offsets are stored in 0x2015
tuning 1
to 0x2017, respectively. If the offset is
(0x0008)
abnormally large, AL-15 will be generated.)
Software reset
1 Software reset
(0x0009)
Commutation
1 Commutation is performed
(0x000A)
10-91
0x2701 Procedure Command Argument ALL
PDO
nt
UINT 0 to FFFFhex 0 - RW No - No
0x2702 Servo Alarm History ALL
PDO
nt
STRING - 16 - RO No - No
SubIndex 1 Alarm code 1 (Newest)
PDO
nt
SubIndex 2 Alarm code 2
PDO
nt
PDO
nt
PDO
nt
10-92
PDO
nt
PDO
nt
PDO
nt
PDO
nt
PDO
nt
PDO
nt
PDO
nt
10-93
PDO
nt
PDO
nt
PDO
nt
PDO
nt
SubIndex 16 Alarm code 16 (Oldest)
PDO
nt
This represents the history of the servo alarms generated from the drive. Up to 16 recently
generated servo alarms are stored. SubIndex 1 is the newest alarm while the SubIndex 16 is the
oldest one out of the recently generated alarms. The servo alarm history can be reset by the
procedure command.
 Third Party Motor Support (from 0x2800)

The following motor parameters are provided to drive a motor manufactured by a third party in
addition to our motor. To drive a third party's motor through our drive, you have to enter the
correct parameters. In this case, however, our company has neither performed any tests for the
combination of our drive and the third party motor nor gives any guarantees for the motor's
characteristics.
10-94
0x2800 [Third Party Motor] Type ALL
PDO
nt
Power
cycling
This specifies the motor type.

0 Rotary motor
1 Linear motor
0x2801 [Third Party Motor] Number of Poles ALL
PDO
nt
Power
cycling
This specifies the number of motor poles. For linear motor, set it to 2.
0x2802 [Third Party Motor] Rated Current ALL
PDO
nt
Power
FP32 - 2.89 Arms RW No Yes
cycling
This specifies the rated current of the motor.
10-95
0x2803 [Third Party Motor] Maximum Current ALL
PDO
nt
Power
FP32 - 8.67 Arms RW No Yes
cycling
This specifies the maximum current of the motor.
0x2804 [Third Party Motor] Rated Current ALL
PDO
nt
Power
UINT 1 to 60000 3000 rpm RW No Yes
cycling
This specifies the rated speed of the motor. For a linear motor, the unit is mm/s.
0x2805 [Third Party Motor] Maximum Current ALL
PDO
nt
Power
cycling
This specifies the maximum speed of the motor. For a linear motor, the unit is mm/s.
0x2806 [Third Party Motor] Inertia ALL
PDO
nt
Kg.m2. Power
FP32 - 0.321 RW No Yes
10-4 cycling
This specifies the motor inertia. For a linear motor, set the weight of rotor. The unit is kg.
10-96
0x2807 [Third Party Motor] Torque Constant ALL
PDO
nt
Power
FP32 - 0.46 Nm/A RW No Yes
cycling
This specifies the torque constant of a motor. For a linear motor, set the force constant. The unit is
N/A.
0x2808 [Third Party Motor] Phase Resistance ALL
PDO
nt
Power
FP32 - 0.82 ohm RW No Yes
cycling
This specifies the phase resistance (= resistance between lines ÷ 2) of the motor.
0x2809 [Third Party Motor] Phase Inductance ALL
PDO
nt
Power
FP32 0 to 1000 3.66 mH RW No Yes
cycling
This specifies the phase inductance (= inductance between lines ÷ 2) of the motor.
[Third
0x280A Party Motor] TN Curve Data 1 ALL
PDO
nt
Power
cycling
This specifies the data of the motor speed/torque curve. Enter the maximum speed at the time
when the maximum torque (the maximum thrust for a linear motor) is output. For a linear motor,
the unit is mm/s.
10-97
Torque
(Force)
Max torque
Speed
Max speed
0x280A
[
0x280B Third Party Motor] TN Curve Data 2 ALL
PDO
nt
Power
FP32 - 100.0 % RW No Yes
cycling
This specifies the data of the motor speed/torque curve. Enter the torque (thrust for a linear motor)
which can be output at the maximum speed in percentage (%) relative to the maximum torque.
Torque
(Force)
Max torque
0x280B
= Torque @Max torque / Max torque x 100
Torque
@Max speed
Speed
Max speed
0x280C [Third Party Motor] Hall Offset ALL
PDO
nt
Power
UINT 0 to 360 0 deg RW No Yes
cycling
10-98
The offset of the hall sensor attached for the initial angle of a third party motor may vary
depending on manufacturer. For this case, the hall sensor offset must be checked and correctly set.
10.3 CiA402 Objects
0x603F Error Code ALL
PDO
Variable Accessi Change Rete
Setting range Initial value Unit assignme
type bility attribute ntive
nt
UINT - 0 - RO Yes - No
The last alarm code (HEX value) that occurred in the servo drive is displayed.
0x6040 Controlword ALL
PDO
nt
UINT 0 to 0xFFFF 0 - RW Yes Always No
This is composed of bits that control the drive state, the operation mode, and manufacturer-specific
options.
Bit Function Description
0 Switch on
1 Enable Voltage
Refer to the description below of bits 0 to 3.
2 Quick stop
3 Enable operation
Settings by
4 to 6 Refer to the description below of bits 4 to 9.
operation mode
7 Fault reset 01: Alarm/warning reset
8 Halt
Settings by Refer to the description below of bits 4 to 9.

9
operation mode
10 – -
11 to 15 – -
10-99
Description of bits 0 to 3
• Bits 0 to 3: Drive state control
Controlword bit
Command
Bit 3 Bit 2 Bit 1 Bit 0
Shutdown – 1 1 0
Switch on 0 1 1 1
Switch on + Enable operation 1 1 1 1
Disable voltage – – 0 –
Quick stop – 0 1 –
Disable operation 0 1 1 1
Enable operation 1 1 1 1
• Bits 4, 5, 6, 8 and 9: For CSP, CSV, or CST mode operation
Bit Function Value Description
4 – 0 -
5 – 0 -
6 – 0 -
0 Continues to perform the operation.

8 Halt
1 Halts the operation according to the Halt Option code (0x605D).
9 – 0 -
• Bits 4, 5 and 9: For PP mode operation
Bit 9 Bit 5 Bit 4 Description
0 0 0→1 Proceeds to the next position when the operation at the current
position is complete.
– 1 0→1 Drives to the next position immediately.
Drives from the current position to the profile position at the profile
1 0 0→1
speed before it applies the next position.
• Bits 6 and 8: For PP mode operation
0 Sets the target position to an absolute value.

6 Abs/rel
1 Sets the target position to a relative value.
0 Runs an operation or continues an operation.

8 Halt
10-100
• Bits 4, 5, 6, 8 and 9: For PV and PT mode operation
4 – 0 Reserved
5 – 0 Reserved
6 – 0 Reserved
0 Continues to perform the operation.

8 Halt
9 – 0 Reserved
• Bits 4, 5, 6, 8 and 9: For HM mode operation
0 Does not perform the homing operation.

4 Homing Start
1 Performs or is performing the homing operation.
5 – 0 -
6 – 0 -
0 Runs the bit 4 command.

8 Halt
9 – 0 Reserved
0x6041 Statusword ALL
PDO
nt
Statusword indicates the current state of the drive. It consists of bits that indicate the state according to
the drive and operation mode.
10-101
Bit Function Description
0 Ready to switch on
1 Switched on
2 Operation enabled
3 Fault
Refer to the description below of bits 0 to 7.
4 Voltage enabled
5 Quick stop
6 Switch on disabled
7 Warning
8 – Reserved
9 Remote Processed as a Controlword (0x6040)
Operation mode
10 Refer to the description below of bits 10, 12 and 13.
specific
11 Internal limit active Refer to the description below of bit 11.
Operation mode
12 to 13 Refer to the description below of bits 10, 12 and 13.
specific
14 ABS position valid Refer to the description below of bit 14.
15 - Reserved
• Bits 0 to 7: For the current state of the drive
Bit 7 Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 Drive State
– 0 – – 0 0 0 0 Not ready to switch on
– 1 – – 0 0 0 0 Switch on disabled
– 0 1 – 0 0 0 1 Ready to switch on
– 0 1 – 0 0 1 1 Switched on
– 0 1 – 0 1 1 1 Operation enabled
– 0 0 – 0 1 1 1 Quick stop active
– 0 – – 1 1 1 1 Fault reaction active
– 0 – – 1 0 0 0 Fault
– – – 1 – – – – Main Power On
1 – – – – – – – Warning is occurred
10-102
• Bits 10, 12 and 13: For CSP and CSV mode operation
Bit State Value Description
Target 0 Unable to reach the target (position/velocity)

10
reached 1 Reached the target (position/velocity)
12 - 0 -
0 No position error (always 0 in Csv/Torque mode)

13 Following error
1 Positional error
• Bits 10, 12 and 13: For PP mode operation
Halt (0x6040.8) = 0: Unable to reach the target position

0
Target Halt (0x6040.8) = 1: Deceleration
10
reached Halt (0x6040.8) = 0: Reached the target position
1
Halt (0x6040.8) = 1: Speed: 0
Set-point 0 Prepares the previous set point and waits for a new set point.
12
acknowledge 1 Changed from the previous set point to the new set point.
Following 0 No positional error

13
error 1 Positional error
• Bits 10, 12 and 13: For PV mode operation
Halt (0x6040.8) = 0: Unable to reach the target speed

0
Target Halt (0x6040.8) = 1: Deceleration
10
reached Halt (0x6040.8) = 0: Reached the target speed
1
Halt (0x6040.8) = 1: Speed: 0
0 Not in a zero speed state

12 ZeroSpeed
1 In a zero speed state
13 – 0 -
10-103
• Bits 10, 12 and 13: For homing mode operation
Bit 13 Bit 12 Bit 10
Homing Homing Target Description
error attained reached
0 0 0 Homing in progress
0 0 1 Homing stopped or not started
0 1 0 Performed homing operation, but did not reach the target
0 1 1 Homing completed
1 0 0 Homing error; speed not equal to 0
1 0 1 Homing error; speed equal to 0
Description of bit 11
• Bit 11: Indicates whether to use an internal limit
Not in software position limit status or does not use the

0
11 Internal Limit Active software position limit function (0x2400).
1 Software position limit status
Description of bit 14
• Bit 14: Absolute position valid
Homing is not complete or an alarm related to the encoder has

0
occurred.
14 ABS Position Valid
Homing is complete (applied when the drive is connected to
1
EtherCAT communication).
0x605A Quick Stop Option Code ALL
PDO
nt
INT 0 to 4 2 - RW No Always Yes
10-104
This sets the quick stop option code.
0 Not used (transits into Switch On Disabled).
1 Slowly decelerates and then stops the drive according to the quick
stop deceleration (0x6085) setting (Switch On Disabled).
2 Slowly decelerates and then stops the drive according to the quick
stop deceleration (0x6085) setting (Switch On Disabled).
3 Stops using the torque limit value (Switch On Disabled)
0x605B Shutdown Option Code ALL

Variable Setting Accessi PDO Change Stora
Initial value Unit
type range bility assignment attribute ge
This specifies the operation to shut down the servo drive (Operation Enabled state -> Ready to Switch
On state).
0 Not used
Decelerates to a stop; enters the Switch On Disabled state; enters

1
the Ready state
0x605C Disable Operation Option Code ALL
PDO
nt
This specifies the Disable Operation state (Operation Enabled state  Switched On state) option code.
0 Does not use the drive function.
Decelerates to a stop; moves to the Switch On Disabled state;

1
moves to the Not Ready state
10-105
0x605D Halt Option Code ALL
PDO
nt
The Halt option code sets the operation method used to move from the Operation Enabled state to the
Switched On state.
1 Decelerates to a stop; moves to the Operation Enabled state
2 Decelerates to a stop based on the quick stop deceleration time;
move to the Operation Enabled state
3 Decelerates to a stop based on the torque limit; moves to the
Operation Enabled state
0x605E Fault Reaction Option Code ALL
PDO
nt
INT 0 0 - RW No Always Yes
This sets the operation method that protects the drive system during fault reactions.
Does not use the servo drive function. The motor will retain the free-
0
run state.
0x6060 Operation Mode ALL
PDO
nt
SINT 0 to 10 0 - RW Yes Always No
This sets the servo drive operation mode. The master sets the operation mode when the power is
turned on.
10-106
This drive provides the following operation modes:
Settings name Description
0 - Mode not assigned
1 PP Profile Position mode
2 - Reserved
3 PV Profile Velocity mode
4 PT Profile Torque mode
6 HM Homing mode
7 - Reserved
8 CSP Cyclic Synchronous Position mode
9 CSV Cyclic Synchronous Velocity mode
10 CST Cyclic Synchronous Torque mode
Other - Reserved
0x6061 Operation Mode Display ALL
PDO
nt
SINT - - - RO Yes - No
This displays the operation mode of the current drive.
0x6062 Position Demand Value ALL
PDO
nt
DINT - - UU RO Yes - No
This displays the position demand value in the position units (UU) specified by the user.
10-107
0x6063 Actual Internal Position Value ALL
PDO
nt
This displays the actual internal position value in encoder pulses.
0x6064 Actual Position Value ALL
PDO
nt
This displays the actual position value in user-defined position units (UU).
0x6065 Positional error range ALL
PDO
nt
UDINT 0 to 0x3FFFFFFF 600000 UU RW No Always Yes
This specifies the positional error range to check the Positional Error (Statusword, 0x6041.13).
0x6066 Positional error timeout ALL
PDO
nt
This specifies the timeout for when checking the Positional Error (Statusword, 0x6041.13).
10-108
0x6067 Position Window ALL
PDO
nt
UDINT 0 to 0x3FFFFFFF 100 UU RW No Always Yes
This specifies the position window for the target. If the drive remains within the position window
(0x6067) for the position window time (0x6068), then it sets bit 10 of the Statusword (0x6041.10) to 1.
0x6068 Position Window Time ALL
PDO
nt
This sets the time it takes to reach the target position. If the drive remains within the position window
(0x6067) for the position window time (0x6068), then it sets bit 10 of the Statusword (0x6041.10) to 1.
0x606B Velocity Demand Value ALL
PDO
nt
DINT - - UU/s RO Yes - No
This displays the output speed of the position controller or the command speed input to the speed
controller.
0x606C Actual Velocity Value ALL
PDO
nt
DINT - - UU/s RO Yes - No
This displays the actual velocity value in user-defined position units.
10-109
0x606D Velocity Window ALL
PDO
nt
UINT 0 to 65535 20000 UU/s RW No Always Yes
This specifies the velocity window. If the difference between the target speed and the actual speed
remains within the velocity window (0x606D) for the velocity window time (0x606E), then it sets bit 10
of the Statusword (0x6041.10) to 1.
0x606E Velocity Window Time ALL
PDO
nt
This specifies the velocity window time. If the difference between the target speed and the actual
speed remains within the velocity window (0x606D) for the velocity window time (0x606E), then it sets
bit 10 of the Statusword (0x6041.10) to 1.
0x6071 Target Torque ALL
PDO
nt
INT -5000 to 5000 0 0.1% RW Yes Always No
This specifies the target torque for the motor in 0.1% increments of the rated torque during torque
control.
0x6072 Maximum Torque ALL
PDO
nt
UINT 0 to 5000 3000 0.1% RW Yes Always No
This sets the maximum torque that the motor can output in 0.1% increments of the rated torque.
10-110
0x6074 Torque Demand Value ALL
PDO
nt
This displays the current torque demand value in 0.1% increments of the rated torque.
0x6076 Motor rated torque ALL
PDO
nt
UDINT - - mNm RO No - No
This displays the rated torque of the motor in mNm.
0x6077 Torque Actual Value ALL
PDO
nt
This displays the actual torque value generated by the drive in 0.1% increments of the rated torque.
0x6078 Torque Actual Value ALL
PDO
nt
This displays the actual torque value generated by the drive in 0.1% increments of the rated torque. A
value that is the same as the actual torque value [0x6077] is displayed.
10-111
0x6079 DC-Link Voltage ALL
PDO
nt
UINT - - 0.1V RO Yes - No
This displays the DC-link voltage supplied by the main power in 0.1 V units.
0x607A Target Position ALL
PDO
nt
-2147483648 to
DINT 0 UU RW Yes Always No
2147483647
This specifies the target position in Profile Position (PP) mode and Cyclic Synchronous Position (CSP)
mode.
It is used as the absolute coordinate or relative coordinate depending on the 4-bit (0x6040.4) setting of
the Controlword in PP mode, and is always used as the absolute value in CSP mode.
0x607C Home Offset ALL
PDO
Variable Initial Change Retenti
Setting range Unit Accessibility assignme
type value attribute ve
nt
-536870912 to
DINT 0 UU RW No Always Yes
536870911
This sets the offset value for the origin of the absolute encoder or absolute external scale and the zero
position of the actual position value (0x6064).
• Incremental Encoder
If it finds the home position or it is at the home position, then the position moved by the home offset
value becomes the zero position.
• Absolute Encoder
If the absolute encoder is connected, then the home offset value is added to the absolute position (the
actual position value).
10-112
0x607D Software position limit
Variable Accessibil PDO Change Retentiv

type ity assignment attribute e
SubIndex 1 Min. position limit

-1073741824 to
DINT -2000000000 UU RW No Always Yes
1073741823
SubIndex 2 Max. position limit

-1073741824 to
DINT 2000000000 UU RW No Always Yes
1073741823
This specifies the software position limit value. It limits the range of the position demand value (0x6062)
and actual position value (0x6064) and checks the new target positions for the setting value at every
cycle.
The minimum software limit value is the reverse rotation limit. The maximum software limit value is the
forward rotation limit.
0x607F Maximum Profile Velocity ALL
PDO
nt
0x7FFFFF
UDINT 0 to 0x7FFFFFFF UU/s RW Yes Always Yes
FF
This specifies the maximum profile speed for the PP mode operation.
10-113
0x6080 Maximum motor speed ALL
PDO
nt
UDINT - - RPM RO Yes Always Yes
This represents the maximum speed of the motor.
0x6081 Profile Velocity ALL
PDO
nt
UDINT 0 to 0x7FFFFFFF 200000 UU/s RW Yes Always Yes
This specifies the profile speed for the PP mode operation.
0x6083 Profile Acceleration ALL
PDO
nt
UDINT 0 to 0x7FFFFFFF 200000 UU/s2 RW No Always Yes
This specifies the profile acceleration for the PP mode operation.
0x6084 Profile Deceleration ALL
PDO
nt
This specifies the profile deceleration for the PP mode operation.
10-114
0x6085 Quick Stop Deceleration ALL
PDO
nt
The system uses quick stop deceleration if the quick stop option code (0x605A) is set to 2.
0x6087 Torque Slope ALL
PDO
nt
UDINT 0 to 0x7FFFFFFF 1000 0.1%/s RW Yes Always Yes
This specifies the torque slope for the PT mode operation.
0x6091 Gear ratio

SubIndex 1 Motor revolutions

DINT 0 to 0x40000000 1 - RW No Power cycling Yes
SubIndex 2 Shaft revolutions

DINT 0 to 0x40000000 1 - RW No Power cycling Yes
For more information, refer to Section 5.3 Electric Gear Setup.
0x6098 Homing Methods ALL
PDO
nt
SINT -128 to 127 34 - RW No Always Yes
10-115
This sets the homing method. For more information, refer to 4.6 Homing.
0 Disabled
1 Homing using the index pulse and reverse limit contact
2 Homing using the index pulse and forward limit contact
7 to 14 Homing using the index pulse and home contact
24 Same as method 8 (does not use the index pulse)
28 Same as method 12 (does not use the index pulse)
33, 34 Homing to the index pulse
35 Homing to the current position
-1 Homing using the negative stopper and index pulse
-2 Homing using the positive stopper and index pulse
-3 Homing using the negative stopper only
-4 Homing using the positive stopper only
The drive returns to the home position only with the home switch (HOME)
-5
while driving in the reverse direction.
The drive returns to the home position only with the home switch (HOME)
-6
while driving in the forward direction.
0x6099 Homing Speeds

SubIndex 1 Switch search speed

DINT 0 to 0x40000000 500000 UU/s RW No Always Yes
SubIndex 2 Zero search speed

DINT 0 to 0x40000000 100000 UU/s RW No Always Yes
This specifies the operation speed for homing.
10-116
0x609A Homing Acceleration ALL
PDO
nt
UDINT 0 to 0x40000000 200000 UU/s2 RW No Always Yes
This specifies the operation acceleration for homing.
0x60B0 Position Offset ALL
PDO
nt
-2147483648 to
DINT 0 UU RW Yes Always No
2147483647
In CSP mode, this specifies the offset value added to the position command.
0x60B1 Velocity Offset ALL
PDO
nt
-2147483648 to
DINT 0 UU/s RW Yes Always No
2147483647
In CSP mode, this corresponds to the speed feed-forward value.
In CSV mode, this specifies the offset value added to the speed command value.
0x60B2 Torque Offset ALL
PDO
nt
INT -5000 to 5000 0 0.1% RW Yes Always No
In CSP and CSV modes, this corresponds to the torque feed-forward value.
In CST mode, this specifies the offset value added to the torque command value.
10-117
0x60B8 Touch Probe Function ALL
PDO
nt
UINT 0 to 0xFFFF 0x0033 - RW Yes Always No
This specifies the touch probe function.
Bit Value Description
0 Does not use touch probe 1.

0
1 Uses touch probe 1.
0 Single trigger mode

1
1 Continuous trigger mode
0 Triggered by the input of touch probe 1.

2
1 Triggered by the index pulse signal.
3 – Reserved
0 Does not capture the rising edge position value of touch probe 1.
4
1 Captures the rising edge position value of touch probe 1.
0 Does not capture the falling edge position value of touch probe 1.
5
1 Captures the falling edge position value of touch probe 1.
6 to 7 – Reserved

8
0 Single trigger mode

9
1 Continuous trigger mode
0 Triggered by the input of touch probe 2.

10
1 Triggered by the index pulse signal.
11 – Reserved
0 Does not capture the rising edge position value of touch probe 2.
12
1 Captures the rising edge position value of touch probe 2.
0 Does not capture the falling edge position value of touch probe 2.
13
1 Captures the falling edge position value of touch probe 2.
14 to 15 – Reserved
10-118
0x60B9 Touch Probe Status ALL
PDO
nt
This displays the status of the touch probe.
Bit Value Description

0
0 Does not store the rising edge position value of touch probe 1.
1
1 Stores the rising edge position value of touch probe 1.
0 Does not store the falling edge position value of touch probe 1.
2
1 Stores the falling edge position value of touch probe 1.
3 to 5 – Reserved
Toggles when the rising edge position value of touch probe 1 is

6 0, 1
updated.
Toggles when the falling edge position value of touch probe 1 is

7 0, 1
updated.

8
0 Does not store the rising edge position value of touch probe 2.
9
1 Stores the rising edge position value of touch probe 2.
0 Does not store the falling edge position value of touch probe 2.
10
1 Stores the falling edge position value of touch probe 2.
11 to 13 – Reserved
Toggles when the rising edge position value of touch probe 2 is

14 0, 1
updated.
Toggles when the falling edge position value of touch probe 2 is

15 0, 1
updated.
In continuous trigger mode, you can toggle to save all update values for 6, 7, 14 and 15 bits on the
rising/falling edge of the touch probe.
To disable bits 1, 2, 9 and 10 (saving the position values on the rising/falling edges of touch probes 1
and 2) of the touch probe state (0x60B9), disable bits 4, 5, 12 and 13 (using sampling on the
rising/falling edges of touch probes 1 and 2) of the touch probe function (0x60B8) and enable them.
10-119
0x60BA Touch Probe 1 Rising Edge Position Value ALL
PDO
nt
This represents the rising edge position value of touch probe 1.
0x60BB Touch Probe 1 Falling Edge Position Value ALL
PDO
nt
This represents the falling edge position value of touch probe 1.
0x60BC Touch Probe 2 Rising Edge Position Value ALL
PDO
nt
This represents the rising edge position value of touch probe 2.
0x60BD Touch Probe 2 Falling Edge Position Value ALL
PDO
nt
This represents the falling edge position value of touch probe 2.
10-120
0x60E0 Positive Torque Limit Value ALL
PDO
nt
This sets the limit for the forward torque values.
0x60E1 Negative Torque Limit Value ALL
PDO
nt
This sets the limit for the reverse torque values.
0x60F4 Actual position error value ALL
PDO
nt
This displays the actual position error during position control.
0x60FC Position Demand Internal Value ALL
PDO
nt
This represents the value entered as the command during position control.
10-121
0x60FD Digital Input ALL
PDO
nt
UDINT - - - RO Yes - No
They indicate the status of digital inputs.
Bit Description
0 NOT (negative limit switch)
1 POT (positive limit switch)
2 HOME (origin sensor input)
3 to 15 Reserved
24~30 Reserved
31 STO(Safe Torque Off), 0:Close, 1:Open
0x60FE Digital Output
Variable Accessibil PDO Change

Setting range Initial value Unit Retentive
type ity assignment attribute
SubIndex 1 Physical outputs

UDINT 0 to 0xFFFFFFFF 0 - RW Yes Always No
SubIndex 2 Bit mask

UDINT 0 to 0xFFFFFFFF 0 - RW Yes Always Yes
 Description of physical outputs

10-122
Bit Description
0 to 15 Reserved

16

17

18

19
20 to 23 Reserved
28 to 31 Reserved
 Description of bit mask
Bit Description
0 to 15 Reserved
Forced output setting (0: Disable, 1: Enable) of DO #1 (I/O pins 3

16
and 4)

17
and 24)

18
and 26)

19
and 2)
20 to 31 Reserved
10-123
0x60FF Target Velocity ALL
PDO
nt
-2147483648 to
DINT 0 UU/s RW Yes Always No
2147483647
This specifies the target velocity in PV mode and CSV mode.
0x6502 Supported Drive Modes ALL

UDINT - 0x000003AD - RO No - No
This displays the mode(s) supported by the drive.
Bit Supported modes Description
0 PP (Profile Position) 1: Supported
1 Vl (Velocity) 0: Not supported
2 PV (Profile Velocity) 1: Supported
3 PT (Torque Profile) 1: Supported
4 Reserved 0
5 HM (Homing) 1: Supported
6 IP (Interpolated Position) 0: Not Supported
7 CSP (Cyclic Synchronous Position) 1: Supported
8 CSV (Cyclic Synchronous Velocity) 1: Supported
9 CST (Cyclic Synchronous Torque) 1: Supported
10 to 31 Reserved 0
10-124
11. Product Specifications
11.1 Servo Motor
 Product Features
Servo Motor Type (APM- ) SAR3A SAR5A SA01A SA015A
Applicable drive (L7□A□□) L7□A001 L7□A002
Rated output [kW] 0.03 0.05 0.10 0.15

[N⋅m] 0.10 0.16 0.32 0.48
Rated torque
[kgf⋅cm] 0.97 1.62 3.25 4.87
Maximum instantaneous [N⋅m] 0.29 0.48 0.96 1.43

torque [kgf⋅cm] 2.92 4.87 9.74 14.62
Rated current [A] 1.07 1.20 1.38 1.73
Peak current [A] 3.21 3.60 4.14 5.19
Rated rotation speed [r/min] 3000
Maximum rotation speed [r/min] 5000
[kg⋅m²x10¯⁴] 0.0164 0.02 0.05 0.06
Inertia moment
[gf⋅cm⋅s²] 0.0167 0.02 0.05 0.07
Permitted load inertia 30 times of motor inertia 20 times
Rated power rate [kW/s] 5.56 10.55 23.78 35.34
Speed and Standard Quad. Type Incremental 2048[P/R]
Position Detector Option Serial M-turn Type 18[Bit]
Protection method Fully enclosedself-cooling IP55 (excluding axis penetration)⋅
Time rating Continuous
Specifications and Ambient Operating temperature: 0 - 40°C, Storage temperature: -10 - 60°C
features t t
Ambient humidity 20 - 80% RH (no condensation)
Atmosphere No exposure to direct sunlight, no corrosive or flammable gases.
Anti-vibration Vibration acceleration of 49 [m/s2] (5G)
Weight [kg] 0.3 0.4 0.5 0.7
♦Rotation Speed - Torque Characteristics♦
11-1
Servo Motor Type (APM- ) SB01A SB02A SB04A
Rated output [kW] 0.10 0.20 0.40
[N⋅m] 0.32 0.64 1.27

Rated torque
[kgf⋅cm] 3.25 6.49 12.99
Maximum instantaneous [N⋅m] 0.96 1.91 3.82

torque 9.74 19.48 38.96
[kgf⋅cm]
Rated current [A] 1.65 1.63 2.89
Peak current [A] 4.95 4.89 8.67
[kg⋅m²x10¯⁴] 0.11 0.18 0.32

Inertia moment
[gf⋅cm⋅s²] 0.12 0.19 0.33
Permitted load inertia 20 times of motor inertia
Rated power rate [kW/s] 8.89 22.26 50.49

Position Detector Option Serial Type 19[Bit]

Operating temperature: 0 - 40°C, Storage temperature: -10 -
Ambient temperature
Specifications and 60°C
features Ambient humidity 20 - 80% RH (no condensation)
No exposure to direct sunlight, no corrosive or
Atmosphere
flammable gases.
Weight [kg] 0.8 1.1 1.6
11-2
Servo Motor Type (APM- ) SBN01A SBN02A SBN04A SBN04A-BK
Rated output [kW] 0.1 0.2 0.4 0.4
[N⋅m] 0.32 0.64 1.27 1.27
Rated torque
[kgf⋅cm] 3.25 6.49 12.99 12.99
Maximum [N⋅m] 0.95 1.91 3.82 3.82
instantaneous torque [kgf⋅cm] 9.74 19.48 38.96 38.96
Rated current [A] 1.58 1.50 3.00 2.73
Peak current [A] 4.74 4.50 9.00 8.19
Maximum rotation [r/min] 5000
[kg⋅m²x10¯⁴] 0.11 0.18 0.32 0.25
Inertia moment
[gf⋅cm⋅s²] 0.12 0.19 0.33 0.26
Protection Fully enclosedself-cooling IP55 (excluding axis penetration)⋅
Specifications and Ambient Operating temperature: 0 - 40°C, Storage temperature: -10 - 60°C
Atmosphere No direct sunlight, corrosive gas, or combustible gas
Weight [kg] 0.8 1.1 1.6 1.6
11-3
Servo Motor Type (APM- ) SC04A SC06A SC08A SC10A
Applicable drive (L7□A□□) L7□A004 L7□A008 L7□A010
Rated output [kW] 0.4 0.6 0.8 1.0
[N⋅m] 1.27 1.91 2.55 3.19
Rated torque
[kgf⋅cm] 12.99 19.49 25.98 32.48
Maximum [N⋅m] 3.82 5.73 7.64 9.56

instantaneous torque [kgf⋅cm] 38.96 58.47 77.95 97.43
Rated current [A] 2.82 3.58 4.83 5.37
Peak current [A] 8.46 10.74 14.49 16.11
Maximum rotation [r/min] 5000
d
[kg⋅m²x10¯⁴] 0.67 1.09 1.51 1.93
Inertia moment
[gf⋅cm⋅s²] 0.69 1.11 1.54 1.97
Specifications and Ambient temperature Operating temperature: 0 - 40°C, Storage temperature: -10 - 60°C
Weight [kg] 1.9 2.5 3.2 3.8
11-4
Servo Motor Type (APM- ) SC03D SC05D SC06D SC07D

Rated output [kW] 0.30 0.45 0.55 0.65
[N⋅m] 1.43 2.15 2.63 3.10
Rated torque
[kgf⋅cm] 14.61 21.92 26.79 31.66
[N⋅m] 4.30 6.45 7.88 9.31

Maximum
instantaneous torque
[kgf⋅cm] 43.84 65.77 80.38 94.99
Rated current [A] 2.59 3.23 3.82 4.42
Peak current [A] 7.77 9.69 11.46 13.26
Maximum rotation
[r/min] 3000
speed
[kg⋅m²x10¯⁴] 0.67 1.09 1.51 1.93

Inertia moment
[gf⋅cm⋅s²] 0.69 1.11 1.54 1.97
Speed and Standard Quadrature Type Incremental 3000[P/R]

Position Detector Option Serial type 19-bit
Ambient temperature Operating temperature: 0 - 40°C, Storage temperature: -10 - 60°C

Specifications and
features
Weight [kg] 1.9 2.5 3.2 3.9
11-5
Servo Motor Type (APM- ) SE09A SE15A SE22A
[N⋅m] 2.86 4.77 7.00

Rated torque
[kgf⋅cm] 29.23 48.72 71.45
[N⋅m] 8.59 14.32 21.01

Maximum
[kgf⋅cm] 87.69 146.15 214.35
Rated current [A] 4.95 8.23 11.98
Peak current [A] 14.85 24.69 35.94
Maximum rotation
[r/min] 5000
speed
[kg⋅m²x10¯⁴] 6.66 12.00 17.34

Inertia moment
[gf⋅cm⋅s²] 6.80 12.24 17.69


features
Weight [kg] 5.5 7.5 9.7
11-6
■ Product Features
Servo Motor Type (APM- ) SE06D SE11D SE16D SE22D
Rated output [kW] 0.6 1.1 1.6 2.2
[N⋅m] 2.86 5.25 7.64 10.50
Rated torque
[kgf⋅cm] 29.23 53.59 77.94 107.17
[N⋅m] 8.59 15.75 22.92 31.51

Maximum
[kgf⋅cm] 87.69 160.76 233.83 321.52
Rated current [A] 3.97 6.28 9.23 12.37
Peak current [A] 11.91 18.84 27.69 37.11
Maximum rotation
[r/min] 3000
speed
[kg⋅m²x10¯⁴] 6.66 12.00 17.34 22.68

Inertia moment
[gf⋅cm⋅s²] 6.80 12.24 17.69 23.14


features
Weight [kg] 5.5 7.5 9.7 11.8
11-7
Servo Motor Type (APM- ) SE05G SE09G SE13G SE17G
Rated output [kW] 0.45 0.85 1.3 1.7
[N⋅m] 2.86 5.41 8.28 10.82
Rated torque
[kgf⋅cm] 29.23 55.21 84.44 110.42
[N⋅m] 8.59 16.23 24.83 32.46

Maximum
[kgf⋅cm] 87.69 165.63 253.32 331.26
Rated current [A] 3.97 6.47 10.00 12.75
Peak current [A] 11.91 19.41 30.00 38.25
Maximum rotation
[r/min] 3000
speed
[kg⋅m²x10¯⁴] 6.66 12.00 17.34 22.68

Inertia moment
[gf⋅cm⋅s²] 6.80 12.24 17.69 23.14


features
Weight [kg] 5.5 7.5 9.7 11.8
11-8
Servo Motor Type (APM- ) SE03M SE06M SE09M SE12M
Applicable drive (L7□A□□) L7□A004 L7□A008 L7□A010 L7□A020
Rated output [kW] 0.3 0.6 0.9 1.2
[N⋅m] 2.86 5.73 8.59 11.46
Rated torque
[kgf⋅cm] 29.23 58.46 87.69 116.92
[N⋅m] 8.59 17.19 25.78 34.37

Maximum
[kgf⋅cm] 87.69 175.30 263.06 350.75
Rated current [A] 2.51 4.15 5.78 7.63
Peak current [A] 7.53 12.45 17.34 22.89
Maximum rotation
[r/min] 2000
speed
[kg⋅m²x10¯⁴] 6.66 12.00 17.34 22.68

Inertia moment
[gf⋅cm⋅s²] 6.80 12.24 17.69 23.14


features
Weight [kg] 5.5 7.5 9.7 11.8
11-9
Servo Motor Type (APM- ) SF30A SF22D LF35D SF20G LF30G
Rated output [kW] 3.0 2.2 3.5 1.8 2.9
[N⋅m] 9.55 10.50 16.71 11.46 18.46
Rated torque
[kgf⋅cm] 97.43 107.17 170.50 116.92 188.37
Maximum [N⋅m] 28.64 31.51 50.13 34.37 55.38

instantaneous
torque [kgf⋅cm] 292.29 321.52 511.51 350.75 565.10
Rated current [A] 16.70 13.50 15.85 14.7 15.92
Peak current [A] 50.1 40.50 47.55 44.1 47.64
Rated rotation
[r/min] 3000 2000 1500
speed
Maximum rotation
[r/min] 5000 3000 3000 2700
speed
[kg⋅m²x10¯⁴] 30.74 30.74 52.13 30.74 52.13

Inertia moment
[gf⋅cm⋅s²] 31.37 31.35 53.16 31.37 53.19
Rated power rate [kW/s] 29.66 35.88 53.56 42.71 65.37

Ambient
Specifications and Operating temperature: 0 - 40°C, Storage temperature: -10 - 60°C
temperature
features
Weight [kg] 12.4 12.4 17.7 12.4 17.7
Torque [Nm] Torque [Nm]

SF20G LF30G
40.00 60.00
32.00 48.00
24.00 36.00
16.00 24.00
8.00 12.00
0.00 0.00
1.000 2.000 3.000 1.000 2.000 3.000
Speed [r/min] Speed [r/min]
11-10
Servo Motor Type (APM- ) SF12M SF20M LF30M
[N⋅m] 11.46 19.10 28.64

Rated torque
[kgf⋅cm] 116.92 194.86 292.29
[N⋅m] 34.37 57.29 85.93

Maximum instantaneous
torque
[kgf⋅cm] 350.75 584.58 876.88
Rated current [A] 8.40 14.40 15.99
Peak current [A] 25.2 43.2 47.97
Maximum rotation speed [r/min] 2000 1700
[kg⋅m²x10¯⁴] 30.74 52.13 83.60

Inertia moment
[gf⋅cm⋅s²] 31.37 53.19 85.31


Specifications and features
Weight [kg] 12.4 17.7 26.3
11-11
Servo Motor Type (APM- ) SG22D LG35D SG20G LG30G
Rated output [kW] 2.2 3.5 1.8 2.9
[N⋅m] 10.50 16.71 11.46 18.46

Rated torque
[kgf⋅cm] 107.20 170.52 116.92 188.37
[N⋅m] 31.51 50.13 34.47 55.38

Maximum
[kgf⋅cm] 321.52 511.51 350.80 565.10
Rated current [A] 12.30 16.05 13.10 16.19
Peak current [A] 36.9 48.15 39.3 48.57
Rated rotation speed [r/min] 2000 1500
Maximum rotation
[r/min] 3000 3000 2700
speed
[kg⋅m²x10¯⁴] 51.42 80.35 51.42 80.35

Inertia moment
[gf⋅cm⋅s²] 52.47 81.99 52.47 81.99


features
Weight [kg] 17.0 22.0 17.0 22.0
11-12
Servo Motor Type (APM- ) SG12M SG20M LG30M
[N⋅m] 11.46 19.10 28.64

Rated torque
[kgf⋅cm] 116.92 194.86 292.29
[N⋅m] 34.37 57.29 85.93

torque
[kgf⋅cm] 350.75 584.58 876.88
Rated current [A] 8.87 15.02 16.04
Peak current [A] 26.61 45.06 48.12
Maximum rotation speed [r/min] 2000 1700
[kg⋅m²x10¯⁴] 51.42 80.35 132.41

Inertia moment
[gf⋅cm⋅s²] 52.47 81.99 135.11


Weight [kg] 17.0 22.0 30.8
11-13
Servo Motor Type (APM- ) HB01A HB02A HB04A HE09A HE15A HE30A
Applicable drive (L7□A□□) L7□A002 L7□A004 L7□A008 L7□A020 L7□A035

Rated output [kW] 0.1 0.2 0.4 0.9 1.5 3.0
[N⋅m] 0.32 0.64 1.27 2.86 4.77 9.55
Rated torque
[kgf⋅cm] 3.25 6.49 12.99 29.23 48.72 97.43
Maximum [N⋅m] 0.96 1.91 3.82 8.59 14.32 28.64
instantaneous
[kgf⋅cm] 9.74 19.48 38.96 87.69 146.15 292.29
torque
Rated current [A] 1.65 1.63 2.89 4.95 8.23 17.16
Peak current [A] 4.95 4.89 8.67 14.85 24.69 51.48
Rated rotation [r/min] 3000
speed
Maximum [r/min] 3500
rotation speed
[kg⋅m²x10¯⁴] 0.27 0.33 0.46 19.56 22.27 31.81
Inertia moment
[gf⋅cm⋅s²] 0.27 0.34 0.47 19.96 22.72 32.46
Permitted load inertia 20 times of motor inertia 10 times of motor inertia
Rated power [kW/s] 3.34 11.98 34.47 4.10 10.01 22.03

rate
Standard Quadrature Type Incremental 1024P/R Quadrature Type Incremental 2048 P/R
Speed and
Position Detector
Option x
Protection Fully enclosedself-cooling IP55 (excluding axis penetration)⋅

method
Ambient Operating temperature: 0 - 40°C, Storage temperature: -10 - 60°C

Specifications temperature
and features
Weight [kg] 0.9 1.2 1.7 5.8 7.4
11-14
Servo Motor Type (APM- ) FB01A FB02A FB04A
[N⋅m] 0.32 0.64 1.27

Rated torque
[kgf⋅cm] 3.25 6.50 12.99
[N⋅m] 0.96 1.91 3.82

torque
[kgf⋅cm] 9.74 19.49 38.98
Rated current [A] 0.95 1.45 2.60
Peak current [A] 2.86 4.35 7.79
[kg⋅m²x10¯⁴] 0.09 0.15 0.25

Inertia moment
[gf⋅cm⋅s²] 0.09 0.15 0.25
Speed and Standard Serial type 19-bit

Position Detector Option X

Weight [kg] 0.7 0.9 1.3
11-15
Servo Motor Type (APM- ) FC04A FC06A FC08A FC10A

Rated output [kW] 0.40 0.60 0.75 1.00
[N⋅m] 1.27 1.91 2.39 3.18
Rated torque
[kgf⋅cm] 13.00 19.50 24.36 32.50
[N⋅m] 3.82 5.73 7.16 9.55

Maximum
[kgf⋅cm] 38.98 58.47 73.08 97.44
Rated current [A] 2.58 3.81 5.02 6.70
Peak current [A] 7.75 11.42 15.07 20.09
Maximum rotation
[r/min] 5000
speed
[kg⋅m²x10¯⁴] 0.50 0.88 1.25 1.62

Inertia moment
[gf⋅cm⋅s²] 0.51 0.89 1.27 1.65


features
Weight [kg] 1.6 2.2 2.7 3.8
11-16
Servo Motor Type (APM- ) FC03D FC05D FC06D FC07D

Rated output [kW] 0.30 0.45 0.55 0.65
[N⋅m] 1.43 2.15 2.60 3.10
Rated torque
[kgf⋅cm] 14.60 21.90 26.80 31.70
[N⋅m] 4.30 6.45 7.88 9.31

Maximum
[kgf⋅cm] 43.80 65.80 80.40 95.00
Rated current [A] 2.50 3.05 3.06 3.83
Peak current [A] 7.51 9.16 9.18 11.50
Maximum rotation
[r/min] 3000
speed
Inertia moment [kg⋅m²x10¯⁴] 0.50 0.88 1.25 1.62
[gf⋅cm⋅s²] 0.51 0.89 1.27 1.65


features
Weight [kg] 1.6 2.2 2.7 3.8
11-17
Servo Motor Type (APM- ) FE09A FE15A FE22A FE30A
Rated output [kW] 0.9 1.5 2.2 3.0
[N⋅m] 2.86 4.77 7.00 9.55

Rated torque
[kgf⋅cm] 29.20 48.70 71.40 97.40
[N⋅m] 8.59 14.32 21.01 28.65

Maximum
[kgf⋅cm] 87.70 146.10 214.30 292.20
Rated current [A] 6.45 9.15 13.24 16.09

Peak current [A] 19.35 27.45 39.72 48.27
Maximum rotation
[r/min] 5000
speed
[kg⋅m²x10¯⁴] 5.66 10.18 14.62 19.04
Inertia moment
[gf⋅cm⋅s²] 5.77 10.39 14.92 19.43


Specifications and
features
Weight [kg] 5.0 6.7 8.5 10.1
11-18
Servo Motor Type (APM- ) FE06D FE11D FE16D FE22D
Rated output [kW] 0.6 1.1 1.6 2.2
[N⋅m] 2.86 5.25 7.63 10.5
Rated torque
[kgf⋅cm] 29.2 0 53.60 77.90 107.10
[N⋅m] 8.59 15.75 22.92 31.51

Maximum
[kgf⋅cm] 87.70 160.70 233.80 321.40
Rated current [A] 4.56 6.47 10.98 12.97
Peak current [A] 13.68 19.41 32.94 38.91
Maximum rotation
[r/min] 3000
speed
[kg⋅m²x10¯⁴] 5.66 10.18 14.62 19.04

Inertia moment
[gf⋅cm⋅s²] 5.77 10.39 14.92 19.43


features
Weight [kg] 5.0 6.7 8.5 10.1
11-19
Servo Motor Type (APM- ) FE05G FE09G FE13G FE17G
Rated output [kW] 0.45 0.85 1.3 1.7
[N⋅m] 2.86 5.41 8.27 10.82
Rated torque
[kgf⋅cm] 29.22 55.19 84.41 110.38
Maximum [N⋅m] 8.59 16.23 24.82 32.46
instantaneous
torque [kgf⋅cm] 87.66 165.57 253.23 331.14
Rated current [A] 4.56 6.67 11.90 13.36

Peak current [A] 13.68 20.01 35.7 40.08
Rated rotation
[r/min] 1500
speed
Maximum
[r/min] 3000
rotation speed
[kg⋅m²x10¯⁴] 5.66 10.18 14.62 19.04
Inertia moment
[gf⋅cm⋅s²] 5.77 10.39 14.92 19.43

Protection
Fully enclosedself-cooling IP65 (excluding axis penetration)⋅
method
Ambient
Specifications Operating temperature: 0 - 40°C, Storage temperature: -10 - 60°C
temperature
and features
Weight [kg] 5.0 6.7 8.5 10.1
11-20
Servo Motor Type (APM- ) FE03M FE06M FE09M FE12M
Rated output [kW] 0.3 0.6 0.9 1.2
[N⋅m] 2.86 5.72 8.59 11.46

Rated torque
[kgf⋅cm] 29.22 58.4 87.7 116.9
[N⋅m] 8.59 17.18 25.77 34.22

Maximum
[kgf⋅cm] 87.66 175.3 262.9 349.1
Rated current [A] 2.73 4.56 6.18 10.67
Peak current [A] 8.19 13.68 18.54 32.01
Maximum rotation
[r/min] 2000
speed
[kg⋅m²x10¯⁴] 5.66 10.18 14.62 19.04

Inertia moment
[gf⋅cm⋅s²] 5.77 10.39 14.92 19.43


features
Weight [kg] 5.0 6.7 8.5 10.1
11-21
Servo Motor Type (APM- ) FF30A FF50A FF22D FF35D
Rated output [kW] 3.0 5.0 2.2 3.5
[N⋅m] 9.55 15.91 10.50 16.70

Rated torque
[kgf⋅cm] 97.40 162.30 107.1 170.4
[N⋅m] 28.65 47.74 31.50 50.10

Maximum
[kgf⋅cm] 292.2 487.00 321.30 511.40
Rated current [A] 15.26 26.47 13.07 16.48
Peak current [A] 45.78 79.41 39.21 49.44
Rated rotation speed [r/min] 3000 2000
Maximum rotation
[r/min] 5000 3000
speed
[kg⋅m²x10¯⁴] 27.96 46.56 27.96 46.56

Inertia moment
[gf⋅cm⋅s²] 28.53 47.51 28.53 47.51


features
Weight [kg] 12.5 17.4 12.5 17.4
11-22
Servo Motor Type (APM- ) FF20G FF30G FF12M FF20M FF30M FF44M
Rated output [kW] 1.8 2.9 1.2 2.0 3.0 4.4
[N⋅m] 11.45 18.46 11.46 19.09 28.64 42.02

Rated torque
[kgf⋅cm] 116.9 188.3 116.9 194.8 292.2 428.7
Maximum [N⋅m] 34.35 55.38 34.38 57.29 85.94 126.1
instantaneous
torque [kgf⋅cm] 350.60 564.90 350.70 584.40 876.60 128.60
Rated current [A] 12.16 15.98 11.01 12.96 16.58 30.60

Peak current [A] 36.48 47.94 33.03 38.88 49.74 91.8
Rated rotation
[r/min] 1500 1000
speed
Maximum
[r/min] 3000 2700 2000 1700 2000
rotation speed
[kg⋅m²x10¯⁴] 27.96 46.56 27.96 46.56 73.85 106.7
Inertia moment
[gf⋅cm⋅s²] 28.53 47.51 28.53 47.51 75.36 108.9
Rated power rate [kW/s] 46.92 73.14 46.94 78.27 111.04 165.38

Protection
method
Ambient
temperature
and features

Weight [kg] 12.5 17.4 12.5 17.4 25.2 33.8
11-23
Servo Motor Type (APM- ) FG22D FG35D FG55D FG20G FG30G FG44G
Applicable drive (L7□A□□) L7□A020 L7□A035 L7□A050 L7□A020 L7□A035 L7□A050
Rated output [kW] 2.2 3.5 5.5 1.8 4.4 4.4
[N⋅m] 10.50 16.71 26.25 11.50 28 28
Rated torque
[kgf⋅cm] 107.1 170.4 267.8 116.9 285.8 285.8
Maximum [N⋅m] 31.51 50.12 78.76 34.40 84 84
instantaneous
torque [kgf⋅cm] 321.30 511.30 803.4 350.80 857.4 857.4
Rated current [A] 10.25 14.67 29.74 11.18 31.72 31.72
Peak current [A] 30.75 44.01 89.22 33.54 95.16 95.16
Rated rotation
[r/min] 2000 1500
speed
Maximum
[r/min] 3000 2700 3000 3000 2700 3000
rotation speed
[kg⋅m²x10¯⁴] 41.13 71.53 117.72 14.13 71.53 117.72
Inertia moment
[gf⋅cm⋅s²] 41.97 72.99 120.12 41.97 72.99 120.12
Rated power
[kW/s] 26.78 38.99 58.51 31.91 47.66 66.64
rate

Position Detector Option Quadrature type incremental 3000 [P/R]
Protection
method
Ambient
temperature
and features
Weight [kg] 15.4 20.2 28.12 15.4 20.2 28
11-24
Servo Motor Type (APM- ) FG12M FG20M FG30M FG44M
Rated output [kW] 1.2 2.0 3.0 4.4
[N⋅m] 11.50 19.10 28.60 42.00

Rated torque
[kgf⋅cm] 116.9 194.9 292.3 428.7
[N⋅m] 34.40 57.30 85.90 126.00

Maximum
instantaneous torque 128.61
[kgf⋅cm] 350.8 584.6 876.9
Rated current [A] 11.28 13.10 15.52 27.26
Peak current [A] 33.84 39.3 46.56 81.78
Maximum rotation
[r/min] 2000 1700 2000
speed
[kg⋅m²x10¯⁴] 41.13 71.53 117.72 149.40

Inertia moment
[gf⋅cm⋅s²] 41.97 72.99 120.12 152.45


Specifications and
features
Weight [kg] 15.4 20.2 28.0 33.5
11-25
Servo Motor Type (APM- ) FALR5A FAL01A FAL015A FBL01A FBL02A FBL04A
Rated output [kW] 0.05 0.10 0.15 0.10 0.20 0.40

[N⋅m] 0.16 0.32 0.48 0.32 0.64 1.27
Rated torque
[kgf⋅cm] 1.62 3.25 4.87 3.25 6.49 12.99
Maximum [N⋅m] 0.48 0.96 1.43 0.96 1.91 3.82
instantaneous
torque [kgf⋅cm] 4.87 9.74 14.62 9.74 19.48 38.96
Rated current [A]Φ.ac.rms 0.95 1.25 1.76 0.95 1.45 2.60
Peak current [A]Φ.ac.rms 2.85 3.75 5.28 2.85 4.35 7.80
Rated rotation [r/min] 3000
speed
Maximum [r/min] 5000
rotation speed
[kg⋅m²x10¯⁴] 0.023 0.042 0.063 0.091 0.147 0.248
Inertia moment
[gf⋅cm⋅s²] 0.024 0.043 0.065 0.093 0.150 0.253
Permitted load inertia 30 times of motor inertia 20 times of motor inertia
Rated power rate [kW/s] 10.55 23.78 35.34 11.09 27.60 27.07
Speed and Standard Serial Multi-Turn Built-in Type(18bit) Serial Multi-Turn Built-in Type(19bit)
Position Detector Option x
Protection
method
Ambient
temperature
and features
Atmosphere No exposure to direct sunlight, no corrosive or flammable gases

Weight [kg] 0.31 0.45 0.61 0.56 0.74 1.06
11-26
Servo Motor Type (APM- ) FCL04A FCL06A FCL08A FCL10A
Rated output [kW] 0.40 0.60 0.75 1.00
[N⋅m] 1.27 1.91 2.39 3.18

Rated torque
[kgf⋅cm] 12.99 19.49 24.36 32.48
[N⋅m] 3.82 5.73 7.16 9.55

Maximum
[kgf⋅cm] 38.98 58.47 73.08 97.44
Rated current [A]Φ.ac.rms 2.58 3.81 5.02 5.83
Peak current [A]Φ.ac.rms 7.75 11.42 15.07 17.50

Maximum rotation
[r/min] 5000
speed
[kg⋅m²x10¯⁴] 0.530 0.897 1.264 1.632

Inertia moment
[gf⋅cm⋅s²] 0.541 0.915 1.290 1.665
Speed and Standard Serial Multi-Turn Built-in Type(19bit)

features

Weight [kg] 1.52 2.14 2.68 3.30
11-27
Servo Motor Type (APM- ) FCL03D FCL05D FCL06D FCL07D
Rated output [kW] 0.30 0.45 0.55 0.65
[N⋅m] 1.43 2.15 2.63 3.10

Rated torque
[kgf⋅cm] 14.62 21.92 26.80 31.67
[N⋅m] 4.30 6.45 7.88 9.31

Maximum
[kgf⋅cm] 43.85 65.77 80.39 95.01
Rated current [A]Φ.ac.rms 2.50 3.05 3.06 3.83
Peak current [A]Φ.ac.rms 7.51 9.16 9.18 11.50

Maximum rotation
[r/min] 3000
speed
[kg⋅m²x10¯⁴] 0.530 0.897 1.264 1.63

Inertia moment
[gf⋅cm⋅s²] 0.541 0.915 1.290 1.66
Speed and Standard Serial Multi-Turn Built-in Type(19bit)

features

Weight [kg] 1.26 2.12 2.66 2.78
11-28
 Electric Brake Specifications
Applicable motor
SA/FAL SB/FB/FBL SC/FC/FCL SE/FE SF/FF SG/FG
series
Purpose Maintenance Maintenance Maintenance Maintenance Maintenance Maintenance
Input voltage [V] DC 24V DC 24V DC 24V DC 24V DC 24V DC 90V
Static friction
0.32 1.47 3.23 10.4 40 74
torque [N•m]
Capacity [W] 6 6.5 9 19.4 25 32
Coil resistance [Ω] 96 89 64 29.6 23 327
Rated current [A] 0.25 0.27 0.38 0.81 1.04 0.28
Braking method Spring brake Spring brake Spring brake Spring brake Spring brake Spring brake
Insulation grade Grade F Grade F Grade F Grade F Grade F Grade F
* The same specifications apply to all electric brakes installed in our servo motors.
* Electronic brakes are designed to maintain a stop. Never use them for absolute braking.
* The characteristics of the electric brakes were measured at 20°C.
* These brake specifications are subject to change. Check the voltage specifications on your specific motor.
11-29
 Heat Sink Specifications
Type Dimension (mm) Type
AP04 250x250x6
AP06 250x250x6
AP08 250x250x12
Aluminum
AP13 350x350x20
AP18 550x550x30
AP22 650x650x35
Note 1. The product specifications are based on the data measured after the heat sink is mounted.
* The IP grade does not apply to the axis penetration.
* The IP grade is not guaranteed for any decelerator.
* When a cable is bent more than the specified bending rate, it may not satisfy the specified IP grade.
* Use only the specified heat sink cables to satisfy the specified IP grade.
11-30
11.1.1 Outline Diagram
 SA Series : SAR3A, SAR5A, SA01A, SA015A
External dimensions
Model Weight (kg)
L LM LC CB
SAR3A 101.3(137.6) 76.3(112.6) 42.5(42.4) 66.3(102.6) 0.32(0.67)
SAR5A 108.3(144.6) 83.3(119.6) 49.5(49.4) 73.3(109.6) 0.38(0.73)
SA01A 125.3(161.6) 100.3(136.6) 66.5(66.4) 90.3(126.6) 0.5(0.85)
SA015A 145.3 120.3 86.5 110.3 0.7
Note 1) The standard shaft end of the 40 flange is straight.
Note 2) Use DC power (24 V) to operate the brake.
Note 3) The sizes in parentheses apply when attached to the brakes.
(Except SA015A)
Note 4) Option: Serial M-turn Encoder PinMap (18 Bit)
11-31
 SB Series : SB01A, SB02A, SB04A`
External dimensions
Model Weight (kg)
L LM LC CB
SB01A 122(162) 92(132) 52.5(52.3) 59.5(99.5) 0.82(1.4)
SB02A 136(176) 106(146) 66.5(66.3) 73.5(113.5) 1.08(1.66)
SB04A 164(204) 134(174) 94.5(94.3) 101.5(141.5) 1.58(2.16)
Note 3) Option: Serial Type PinMap
11-32
 SC Series : SC04A,SC03D, SC06A, SC05D, SC08A, SC06D,

SC10A, SC07D
External dimensions
Model Weight (kg)
L LM LC CB S
SC04A,SC03D 158.5(199.8) 118.5(158.8) 79(78.8) 86(126.3) 14 1.88(2.92)
SC06A,SC05D 178.5(218.8) 138.5(178.8) 99(98.8) 106(146.3) 16 2.52(3.56)
SC08A,SC06D 198.5(238.8) 158.5(198.8) 119(118.8) 126(166.3) 16 3.15(4.22)
SC10A,SC07D 218.5(258.8) 178.5(218.8) 139(138.8) 146(186.3) 16 3.80(4.94)
11-33
 SE Series : SE09A, SE06D, SE05G, SE03M, SE15A, SE11D,

SE09G, SE06M, SE22A, SE16D, SE13G,SE09M,
SE30A, SE22D, SE17G, SE12M
External dimensions Key dimensions Weight

Model
L LM LC S T W U (kg)
SE09A,SE06D,SE05G,SE03M 201.3(239.3) 143.3(181.3) 93.8(93.6) 19 5 5 3 5.5(7.04)
SE15A,SE11D,SE09G,SE06M 225.3(263.3) 167.3(205.3) 117.8(117.6) 19 5 5 3 7.54(9.08)
SE22A,SE16D,SE13G,SE09M 249.3(287.3) 191.3(229.3) 141.8(141.6) 22 6 6 3.5 9.68(11.22)
SE30A,SE22D,SE17G,SE12M 273.3(311.3) 215.3(253.3) 165.8(165.6) 22 6 6 3.5 11.78(13.32)
11-34
 SF Series : SF30A, SF22D, SF20G, SF12M, SF20M,

LF35D, LF30G, LF30M
External dimensions
Model Eye bolt Weight (kg)
L LM LC
SF30A, SF22D, SF20G, SF12M 261.5(312.9) 182.5(233.9) 133(132.7) 12.4(19.2)

No
LF35D, LF30G, SF20M 295.5(346.9) 216.5(267.9) 167(166.7) 17.7(24.9)
LF30M 345.5(396.9) 266.5(317.9) 217(216.7) Yes 26.3(33.4)
11-35
 SG Series : SG22D, SG20G, SG12M, LG35D, LG30G, SG20M,

LG30M
External dimensions
Model Weight (kg)
L LM LC LQ
SG22D, SG20G,SG12M 236.5(302.7) 171.5(237.7) 122(121.2) 16.95(30.76)
LG35D,LG30G,SG20M 256.5(322.7) 191.5(257.7) 142(142.2) 56.4(122.6) 21.95(35.7)
LG30M 292.5(358.7) 227.5(293.7) 178(177.2) 30.8(44.94)
Note 1) Use DC power 90 V to operate the brake.
11-36
 HB01A(Hollow Shaft), HB02A(Hollow Shaft), HB04A(Hollow Shaft)
External dimensions Hollow

Model Shaft Weight (kg)
L LM LC CB Diameter
HB01A 140.5 98.5 68.5 24 15 0.89
HB02A 154.5 112.5 82.5 38 15 1.16
HB04A 182.5 140.5 105.5 66 15 1.69
 HE09A(Hollow Shaft), HE15A(Hollow Shaft)

11-37
External dimensions Hollow

Model Shaft Weight (kg)
L LM LC CB Diameter
HE09A 207 150 111.5 40 40 5.82
HE15A 231 174 135.5 40 40 7.43
HE30A 279 222 183.5 40 40
11-38
 FB Series : FB01A, FB02A, FB04A
(The rear type cable drawing is provided if requested.)
External dimensions
Model Weight (kg)
L LM LC
FB01A 109(149.2) 79(119.2) 43.5(43) 0.72(1.3)
FB02A 120(160.2) 90(130.2) 54.5(54) 0.94(1.49)
FB04A 140(180.2) 110(150.2) 74.5(74) 1.32(1.87)
11-39
 SC Series : FC04A, FC03D, FC06A, FC05D, FC08A, FC06D,

FC10A, FC07D
(The rear type cable drawing is provided if requested.)
External dimensions Key dimensions Weight

Model
L LM LC S H T W U (kg)
FC04A,FC03D 136.5(177) 96.5(137) 61(60.5) 14 -0.018 5 5 3 1.56(2.6)
FC06A,FC05D 154.5(195) 114.5(155) 79(78.5) 19 -0.021 6 6 3.5 2.18(3.22)
FC08A,FC06D 172.5(213) 132.5(173) 97(96.5) 19 -0.021 6 6 3.5 2.72(3.76)
FC10A,FC07D 190.5(231) 150.5(191) 115(114.5) 19 -0.021 6 6 3.5 3.30(4.34)
11-40
 FE Series : FE09A, FE06D, FE05G, FE03M, FE15A, FE11D,

FE09G, FE06M, FE22A, FE16D, FE13G, FE09M
FE30A, FE22D, FE17G, FE12M
External dimensions Key dimensions

Model Weight (kg)
L LM LC S T W U
FE09A,FE06D,
197.3(235.3) 139.3(177.3) 89.8(89.6) 19 5 5 3 5.04(6.58)
FE05G,FE03M
FE15A,FE11D,
217.3(255.3) 159.3(197.3) 109.8(109.6) 19 5 5 3 6.74(8.28)
FE09G,FE06M
FE22A,FE16D,
237.3(275.3) 179.3(217.3) 129.8(129.6) 22 6 6 3.5 8.48(10.02)
FE13G,FE09M
FE30A,FE22D,
255.3(293.3) 197.3(235.3) 147.8(147.6) 24 7 8 4 10.05(11.59)
FE17G,FE12M
11-41
 FF Series : FF30A, FF22D, FF20G, FF12M, FF35D, FF30G,

FF20M, FF30M
Key Eye
External dimensions Weight
Model dimensions bolt
(kg)
L LM LC S T W U
FF30A,FF22D,
257.5(308.9) 178.5(229.9) 129(128.7) 12.5(19.7)
FF20G,FF12M
No
FF35D, 35
287.5(338.9) 208.5(259.9) 159(158.7) 8 10 5 17.4(24.6)
FF30G,FF20M (0~+0.01)
Yes
FF30M 331.5(382.9) 252.5(303.9) 203(202.7) 25.2(32.4)
11-42
 FG Series : FG22D, FG20G, FG12M, FG35D, FG30G, FG20M,

FG30M
Key
External dimensions
Model dimensions Weight (kg)
L LM LC S T W U
FG22D,FG20G,
229.5(295.7) 164.5(230.7) 115(114.2) 15.42(29.23)
FG12M
35
FG35D,FG30G, 8 10 5
250.5(316.7) 185.5(251.7) 136(135.2) (0~+0.01) 20.22(34.03)
FG20M
FG30M 282.5(348.7) 217.5(283.7) 168(167.2) 28.02(41.83)
Note 1) Use DC power 90 V to operate the brake.
11-43
 FAL Series : FALR5A, FAL01A, FAL015A
External dimensions Weight

Model Name
L LM LC LA (kg)
FALR5A 103.2(139.6) 78.2(114.6) 49.5 23 0.31(0.66)
FAL01A 120.2(156.6) 95.2(131.6) 66.5 35 0.45(0.80)
FAL015A 140.2 115.2 86.5 35 0.61
Note 3) When connecting the FAL product, connect the power cable first.
11-44
 FBL Series : FBL01A, FBL02A, FBL04A
Key
Model External dimensions
dimensions Weight (kg)
Name
L LM LC S H T W U
FBL01A 107.2(147.2) 77.2(117.2) 48.5(48.3) 14 -0.018 5 5 3 0.56(1.3)
FBL02A 118.2(158.2) 88.2(128.2) 59.5(59.3) 14 -0.018 5 5 3 0.74(1.48)
FBL04A 138.2(178.2) 108.2(148.2) 79.5(79.3) 14 -0.018 5 5 3 1.06(1.8)
11-45
 FCL Series : FCL04A, FCL03D, FCL06A, FCL05D, FCL08A,

FCL06D, FCL10A, FCL07D
External dimensions Key dimensions

Model Name Weight (kg)
L LM LC S H T W U
FCL04A,FCL03D 138.7(179.5) 98.7(139.5) 70(69.8) 14 -0.018 5 5 3 1.52(2.32)/1.26(2.06)
FCL06A,FCL05D 156.7(197.5) 116.7(157.5) 88(87.8) 19 -0.021 6 6 3.5 2.14(2.94)/2.12(2.92)
FCL08A,FCL06D 174.7(215.5) 134.7(175.5) 106(105.8) 19 -0.021 6 6 3.5 2.68(3.48)/2.66(3.46)
FCL10A,FCL07D 192.7(233.5) 152.7(193.5) 124(123.8) 19 -0.021 6 6 3.5 3.30(4.10)/2.78(3.58)
11-46
11.2 Servo Drive
11.2.1 Product Features
Item L7NHFA010U L7NHFA035U L7NHFA050U L7NHFA075U

Main power 3-phase AC 200 - 230 V (-15 - +10%), 50 - 60 Hz
Input power
Control power Single Phase AC 200 - 230 V (-15 - +10%), 50 - 60 Hz
Rated current (A) 6.75 16.7 32 39.4
Peak current (A) 20.25 50.1 90.88 98.5
Quadrture(Incremental)
BiSS-B, BiSS-C(Absolute, Incremental)
1st encoder type Tamagawa Serial(Absolute, Incremental)
EnDat 2.2
Sinusoidal, Analog Hall
Quadrture(Incremental), SSI
2nd encoder type
Sinusoidal, Analog Hall (using an analog-to-BiSS converter)
Speed control
Up to 1 : 5000
range
Frequency
Maximum 1 kHz or above (when the 19-bit serial encoder is applied)
response
Control
Speed ±0.01% or lower (when the load changes between 0 and 100%)
performance
change rate ±0.1% or less (temperature of 25±10 ℃)
Torque control
repeat Within ±1%
accuracy
FoE (Firmware download)
Communication EoE (Parameter settings, adjustment and auxiliary functions, and
specifications parameter copy through UDP)
CoE (IEC 61158 Type12, IEC 61800-7 CIA 402 drive profile)
EtherCAT
Physical layer 100BASE-TX(IEEE802.3)
Communication
Connector RJ45 x 2
specifications
Distance Within 100 m between nodes
DC (Distributed Synchronization by DC (Distributed Clock) mode Minimum DC cycle:
clock) 250 us
LED display LinkAct IN, LinkAct OUT, RUN, ERR
11-47

Profile Position Mode
Profile Velocity Mode
EtherCAT Profile Torque Mode
Cia402 drive
Communication Cyclic Synchronous Position Mode
profile
specifications Cyclic Synchronous Velocity Mode
Cyclic Synchronous Torque Mode
Homing Mode
Input voltage range: DC 12 V to DC 24 V
A total of 6 input channels (allocable)
Digital Possible to allocate a total of 15 input functions
Input (*POT, *NOT, *HOME, *STOP, *PCON, *GAIN2, P_CL, N_CL,
PROBE1, PROBE2, EMG, A_RST, SV_ON, LVSF1, LVSF2)
Digital Note: The signals marked with * are allocated by default.
input/output Rated voltage and current: DC 24 V ± 10%, 120 ㎃
A total of 3 output channels (allocable)
Digital Possible to allocate a total of 11 outputs
Output (*BRAKE±, *ALARM±, *READY±, ZSPD±, INPOS±, TLMT±, ,VLMT±,
INSPD±, WARN±, TGON±, INPOS2±)
Note: The signals marked with * are allocated by default.
A total of 2 channels (allocable)
Analog Output
Possible to allocate a total of 25 outputs
Safety Functions 2 input channels (STO1 and STO2) and 1 output channel (EDM±)
Firmware download, parameter settings, adjustment and auxiliary
Function
functions, and parameter copy function
USB Communication
Compliant with the USB 2.0 Full Speed Standard
Communication standard
Connecting
PC or USB storage medium
device
11-48

Dynamic Standard built-in (activated when the servo alarm goes off or when
braking the servo is off)
Regenerative
Both the default built-in brake and an externally installed brake are possible.
braking
Display function 7-segment Display (5 DIGIT)

Built-in
Self setting
Function Possible to set the drive node address by using the rotary switch
function
Add-on functions Gain adjustment, alarm history, JOG operation, and home search
Overcurrent, overload, current limit over, overheat, overvoltage, undervoltage,

Protection
encoder error,
functions
position follow error, current sensing error
Operating
temperature
0 ~ +50[℃] / -20~ +65[℃]
/Storage
Service temperature
Environment Operating
humidity Below 90% RH (no condensation)
/Storage humidity
Others Indoors, areas free from corrosive or combustible gases, liquids, or dust.
11-49
11.2.2 Outline Diagram
 L7NHFA010U
PE
* Weight: 1.5 kg (including the cooling fan)
 L7NHFA035U
11-50
 L7NHFA050U
 L7NHFA075U
11-51
11.3 Options and Peripheral Devices
■ Option (incremental encoder cable)

Classification Signal Product Name Small Capacity AMP Type INC Encoder Cable
1)
Name APCS- E AS Motors All models of APM-SA/SB/SC/HB Series INC
Specifications
1. Motor connection
a. Cap specifications (15 Positions): 172163-1 (AMP)
b. Socket specifications: 170361-1 (AMP)
2. Drive connection (CN2)
a. Case specifications: 10314-52A0-008 (3M) or SM-14J (Suntone)
b. Connector specifications: 10114-3000VE (3M) or SM-14J (Suntone)
3. Cable specifications: 7Px0.2SQ or 7Px24AWG
Classification Signal Product Name Medium and Large Capacity MS Type INC Encoder Cable
1)
Name APCS- E BS Motors All models of APM-SE/SF/SG/LF/LG/HE Series INC
Specifications
1. Motor connection (MS: Military Standard)

a. Plug specifications: MS3108B 20-29S
Note 1) The in the Model Name indicates the type and length of each cable. Refer to the following table for the
marking information.
Cable length (m) 3 5 10 20

Robot cable F03 F05 F10 F20
Regular cable N03 N05 N10 N20
11-52
■ Option (serial encoder cable)

Small Capacity AMP Type Serial Encoder Cable (Single
Classification Signal Product Name
Turn)
1)
Name APCS- E CS Motors All models of APM-SB/SC Series S-turn
Specifications
1. Motor connection
Small Capacity AMP Type Serial Encoder Cable (Multi-

turn)
1)
Name APCS- E CS1 Motors All models of APM-SA/SB/SC Series M-turn
Pin Encoder Pin Encoder

No Signal No Signal Pin Encoder Pin Encoder Pin Encoder
No Signal No Signal No Signal
1 MA 1 GND_B
1 - 6 /SLO 11 -
2 /MA 2 +5[V]
2 - 7 0[V] 12 -
3 SLO 3 0[V]
3 MA 8 - 13 -
4 /SLO 4 Shield
4 /MA 9 - 14 5[V]
5 VDD_B
5 SLO 10 - Plate Shield
Specifications 1. Motor connection

4. Battery connection
a. Connector specifications: 5267-02A (Molex)
b. Battery specifications: ER6V (TOSHIBA, AA, 3.6V, 2000 mAh)
11-53
Serial Encoder Cable for Small Capacity Flat

Motor (Single Turn)
APCS- E ES(Front Direction)/

1)
Name Motors All models of APM-FB/FC Series S-turn
APCS- E ES-R(Rear Direction)
Specifications
1. Motor connection
a. Cap specifications: 2201825-1 (Tyco)
b. Socket specifications: 2174065-4 (Tyco)
Serial Encoder Cable for Small Capacity Flat

Motor (Multi-turn)
APCS- E ES1(Front Direction)/

1)
Name APCS- E ES1-R(Rear Motors All models of APM-FAL/FB(L)/FC(L) Series M-turn
Direction)
Pin Encoder Pin Encoder

No Signal No Signal Pin Encoder Pin Encoder Pin Encoder
No Signal No Signal No Signal
1 MA 1 /MA
1 - 6 /SLO 11 -
2 SLO 2 /SLO
3 GND_E 3 VDD_B 2 - 7 0[V] 12 -
4 0[V] 4 +5[V] 3 MA 8 - 13 -
5 Shield 4 /MA 9 - 14 5[V]
Specifications 5 SLO 10 - Plate Shield
1. Motor connection
a. Cap specifications (9 Positions): 2201825-1 (Tyco)
b. Socket specifications: 2174065-4 (Tyco)
3. Cable specifications: 4Px0.2SQ or 4Px24AWG Battery connection
11-54
Medium and Large Capacity MS Type Serial Encoder Cable

(Single Turn)
All models of APM-SE/SF/SG/LF/LG/FE/FF/FG Series S-

1)
Name APCS- E DS Motors
turn
Specifications

Medium and Large Capacity MS Type Serial Encoder

Cable (Multi-turn)
1)
Name APCS- E DS1 Motors All models of APM-SE/SF/SG/LF/LG/FE/FF/FG Series S-turn
Pin Encoder Pin Encoder Pin Encoder Pin Encoder

No Signal No Signal No Signal No Signal
A MA M - 1 - 8 -
B /MA N - 2 - 9 -
C SLO P - 3 MA 10 -
Specifications D /SLO R - 4 /MA 11 -
E VDD_B H +5[V] 5 SLO 12 -
F GND_B G 0[V] 6 /SLO 13 -
K - J Shield 7 0[V] 14 +5[V]
L - Plate Shield

11-55

Note 1) The in the Model Name indicates the type and length of each cable. Refer to the following table for the marking
information.
■ Option (standard power cable)

Classification Power supply Product Name Small Capacity AMP Type Power Cable
1)
Name APCS- P GS Motors All models of APM-SA/SB/SC/HB Series
Name Phase PIN No
U 1
LEAD
V 2
WIRE
W 3
Specifications
FG FG 4
1.
Motor connection
2. Drive connection (U, V, W, and PE)
a. U, V and W pin specifications: 1512
b. PE pin specifications: 1.5x4 (ring terminal)
3. Cable specifications: 4Cx0.75SQ or 4Cx18AWG
Classification Brake release Product Name Small Capacity AMP Type Brake Cable
1)
Name APCS- P KB Motors All models of APM-SA/SB/SC Series
11-56
Name Phase PIN No
+ 1
LEAD
Specifications WIRE
- 2
1. Motor connection
2. For braking power
a. Connection terminal specifications: 1.5x3 (ring terminal)
information.

11-57

Classification Power supply Product Name Medium Capacity MS Type Power Cable (for 130 Flange)
1)
Name APCS- P HS Motors All models of APM-SE/FE/HE Series
Name Phase PIN No

U A
LEAD
V B
WIRE
W C
Specifications
FG FG D

Medium Capacity MS Type Power/Brake Cable (for 130

Classification Power and brake Product Name
Flange)
1)
Name APCS- P NB Motors All models of APM-SE/FE Series
Name Phase PIN No

U A
LEAD
V B
WIRE
W C
FG FG D
+ E
FG
Specifications - F
1. Motor connection
a. PLUG specifications: MS3108B 20-15S (MS)
2. Drive connection
b. PE pin specifications: 2.5 x 4 (ring terminal)
3. Power cable specifications: 4Cx2.5SQ or 4Cx14AWG
4. Brake power connection
a. Connection terminal specifications: 1.5 x 3 (ring terminal)
5. Brake cable specifications: 2Cx0.75SQ or 2Cx19AWG
information.

11-58
Medium Capacity MS Type Power Cable (for 180/220

Classification Power supply Product Name
Flange)
SF30A, SF22D, LF35D, SF20G, LF30G, SF12M, SF20M LF30M
1) SG22D, LG35D, SG20G, LG30G, SG12M, SG20M, LG30M
Name APCS- P IS Motors FF30A, FF22D, FF35D, FF20G, FF30G, FF12M, FF20M, FF30M
FG22D, FG35D, FG20G, FG12M, FG20M, FG30M
Name Phase PIN No
U A
LEAD
V B
Specification WIRE
W C
s
FG FG D

Medium Capacity MS Type Power/Brake Cable (for 180

Classification Power and brake Product Name
Flange)
1) SF30A, SF22D, LF35D, SF20G, LF30G, SF12M, SF20M LF30M
Name APCS- P PB Motors FF30A, FF22D, FF35D, FF20G, FF30G, FF12M, FF20M, FF30M
Name Phase PIN No

U A
LEAD
V B
WIRE
W C
FG FG D
Brake + E
Wire - F
Specification
s
1. Motor connection
2. Drive connection
b. PE pin specifications: 2.5 x 4 (ring terminal)
3. Power cable specifications: 4Cx2.5SQ or 4Cx14AWG
4. Brake power connection
a. Connection terminal specifications: 1.5 x 3 (ring terminal)
5. Brake cable specifications: 2Cx0.75SQ or 2Cx19AWG
11-59
Classification Power supply Product Name Medium Capacity MS Type Brake Cable (for 220 Flange)
1)
Name APCS- P SB Motors All models of APM-SG/LG/FG
Name Phase PIN No
Brake + A
Specifications Wire - B
1. Motor connection
information.

11-60
■ Option (small capacity Flat/L series power cable)

Classification Power supply Product Name Small Capacity Flat Type Power Cable
APCS- P FS(Front Direction)/

1)
Name Motors All models of APM-FB/FC Series
APCS- P FS-R(Rear Direction)
Name Phase PIN No
U 3
LEAD
V 2
WIRE
W 1
Specifications FG FG 4
1. Motor connection
a. PLUG specifications: KN5FT04SJ1 (JAE)
b. Socket specifications: ST-KN-S-C1B-3500 (JAE)
Classification Brake Product Name Small Capacity Flat Type Brake Cable
APCS- B QS(Front Direction)/

1)
Name Motors All models of APM-FAL/FB(L)/FC(L) Series
APCS- B QS-R(Rear Direction)
Name Phase PIN No
Brake + 1
Wire - 2
Specifications
1. Motor connection
a. PLUG specifications: KN5FT02SJ1 (JAE)
b. Socket specifications: ST-KN-S-C1B-3500 (JAE)
11-61
Classification Power supply Product Name Small Capacity L Series Power Cable
APCS- P LS(Front Direction)/

1)
Name Motors All models of APM-FAL/FBL/FCL Series
APCS- P LS-R(Rear Direction)
Name Phase PIN No
U 1
LEAD
V 2
WIRE
W 3
Specifications FG FG 4
1. Motor connection
a. Plug specifications: SM-JN8FT04 (Suntone)
b. Socket specifications: SMS-201 (Suntone)
4. Others: For FAL products, the encoder cable should be connected after installing the power cable.
information.

11-62
■ Option (drive cable)

Classification Signal Product Name Communication Cable (CN5)
1)
Name APCS-CN5L7U Drive L7NH Series
Specifications 1. PC connection: USB A plug
2. Drive connection (CN5): Mini USB 5P Plug
3. Electrical requirements:
Double shielded, twisted pair, EMI filter installation
(Reference product: SANWA KU-AMB518)
Classification CN Product Name STO Connector
1)
Name APCS-CN6K Drive L7NH SERIES
Specifications
1. MINI I/O By-Pass Connector: 1971153 (TE)
11-63
Classification CN Product Name CN6 Connector
1)
Name APCS-STO A Drive L7N Series
1. Plug Connector Kit

-Pin Map -
a. 2069577-1 (TE)
2. Cable
Specifications
a. 4P x 26AWG
3. Product Marking
a. XLCS - STO03A (0.3m)
b. XLCS - STO10A (1m)
c. XLCS - STO30A (3m)
Classification CN Product Name CN6 Cable
1)
Name APCS-CN4NNA Drive L7N Series
Specifications
1. Connector: 44915-0021 (MOLEX)

2. Plug Housing: WRJ-45 (Wlztek)
11-64
■ Optional Braking Resistance

Type Name Model Name Drive Specifications
L7NHFA001U
Resist Braking
ance Resistance
L7NHFA004U
Resist Braking L7NHFA008U

APC-300R30
ance Resistance L7NHFA010U
L7NHFA020U
Resist Braking (2P)
APC-600R30
(3P)
L7NHFA050U
Resist Braking (4P)
APC-600R28
(4P)
IRM2000-3.3Ω
Resist Braking
L7NHFA150U
ance Resistance 3.3[Ω]
(2000W)
11-65
■ Option (Noise Filter)
Type Name Model Name Drive Specifications
L7□A 001□
L7□A 002□
L7□A 004□
APCS-TB6-
L7□A 008□
B010LBEI
L7□A 010□
L7□B 010□
APCS-TB6- L7□B 020□

B020NBDC L7□B 035□
L7□A 020□
APCS-TB6- L7□A 035□
B030NBDC
L7□B 050□
Resist Noise
ance Filter
APCS-TB6- L7□A 050□

B040AS
L7□B 075□
APCS-TB6-
L7□B 150□
B060LAS
11-66
11-67
12. Maintenance and Inspection

This chapter explains how to perform basic maintenance and inspection tasks as well as diagnose
and troubleshoot the servo motor and drive.
12.1 Maintenance and Inspection
12.1.1 Precautions
1. Measuring the motor voltage: The PWM controls the voltage output from the servo amp to the
motor. Because of this, the waves take the form of pulses. Use a rectifier voltmeter for accurate
measurements because different meters may produce different results.
2. Measuring the motor current: Use a moving iron ammeter and wait for the motor's reactance to
smooth the pulse waveform into sine waves.
3. Measuring the electric power: Use an electrodynamometer based on the 3 power meter
method.
4. Other gauges: When using an oscilloscope or digital voltmeter, do not allow them to touch the
ground. Use a 1 mA or less input current gauge.
12.1.2 What to Inspect
12-1
Wait at least 10 minutes after turning off the power before beginning the inspection because the
condenser can hold enough voltage to cause an electrical accident.
(1) Inspecting the Servo Motor
Caution
Wait at least 10 minutes after turning off the power before beginning the inspection because
the condenser can hold enough voltage to cause an electrical accident.
Checklist Inspection Period Inspection and Handling Notes
Vibration and Touch the motor and listen for The feel and sounds should be
Monthly
sound check sounds. the same as usual.
Depends on the
Inspect the
amount of Clean the motor with a cloth or
exterior of the -
contamination or air pressure.
motor
damage.
Disconnect the motor from the

Measure the drive and measure the
Contact our service center if the
insulation resistance.
resistance is lower than 10 ㏁.
insulation At least once a year
resistance A normal resistance level is 10
㏁ or higher. Note 1)
Replace the oil At least once Remove the oil seal from the This only applies to motors with
seal every 5,000 hours motor and replace it. an oil seal.
At least once every

General Do not disassemble the servo
20,000 hours or Contact our service center.
inspection motor yourself.
after 5 years.
Note 1) Measure the resistance between the PE and one of the U, V, and W power lines on the servo
motor.
(2) Inspecting the Servo Drive
Inspection What to do if you find an

Checklist Inspection process
Period abnormality
Clean the main

At least once Check if there is any dust or oil on Clean it with air pressure or
body and control
a year the components. cloth.
board
Check for loose At least once Check whether the screws are loose
Tighten the screws.
screws a year on the terminals and connectors.
Check for defective

parts on the main At least once Check for discoloration, damage, or
Contact our company.
body or the control a year disconnection caused by heat.
board
12.1.3 Replacing Parts

12-2
Mechanical friction and aging may deteriorate the following parts or even cause them to
malfunction. This is why it is important to conduct regular maintenance checks and replace worn
parts.
1. Smoothing condensers: Ripple currents and other factors can cause this part to wear. The
lifespan of this part depends on the operating temperature and environment. It normally lasts
for 10 years if used continuously in a normal, air-conditioned environment. Inspect the
condenser at least once each year because it can rapidly age over a short period of time once
it starts to deteriorate (inspect it more frequently as it approaches obsolescence).
* Visual inspection criteria:
a. The condition of the case: Check for deformations on the sides and bottom.
b. The condition of the lid: Check for notable expansion, severe cracks, or broken parts.
c. The relief valve: Check for notable valve expansion and operation.
d. Also regularly check whether the exterior is cracked, discolored, or leaking and whether
there are any broken parts. The condenser is obsolete when its capacity degrades to less
than 85% of the rated capacity.
2. The relays: Check for bad connection and wear and tear on the contacts caused by switching
currents. A relay is obsolete when its accumulated number of switches reaches 100,000,
depending on the power capacity.
3. Motor bearings: Replace the bearings after 20,000 to 30,000 hours of operation at the rated
speed under the rated load. Replace the bearings if abnormal sounds or vibrations are
detected during inspection, depending on the operating conditions.
Standard Parts Replacement Cycle
Standard Replacement
Part Name Method
Cycle
Smoothing condenser 7-8 years Replace (determine after inspection).
Relay - Determine after inspection
Fuse 10 years Replace
Aluminum electrolytic
Replace with new boards (determined after
condensers 5 years
inspection)
on printed boards
Cooling fan 4-5 years Replace
Motor bearing - Determine after inspection
Motor oil seal 5,000 hours Replace
12-3
12.2 Diagnosing and Troubleshooting

Abnormalities
Alarms or warnings are generated if a problem occurs during operation. If this happens, check the
applicable code and take appropriate action. If the problem persists, contact our service center.
12.2.1 Servo Motor
[Cause of abnormalities, inspection procedure, and troubleshooting methods]
Symptoms Cause Inspection process Remedies
The P-OT and N-OT inputs are Refer to "2. Wiring and Connection" or
Turn on the P-OT and N-OT inputs.
off. "2.5. Wiring for Input/Output Signals."
Use a resistance tester to measure the

resistance to the motor lead terminal
The motor is defective. Replace the motor.
(resistance between phases: several
The motor
ohms).
does not
move. The locking screws are loose. Check the locking screws. Tighten any loose screws.
The external wiring is incorrect Check the wires to the motor and the Redo the wiring.
or the cables are disconnected. encoder. Replace the cables.
Replace the encoder.

Encoder failure Check the output waves.
(Contact our service center.)
Check the connection of the motor

The connection is bad. Fix any bad connections.
lead terminal.
Motor
The input voltage is low. Check the input voltage of the drive. Change the power source.
rotation is
unstable. Remove any foreign substances from
Overloads occur. Check the condition of the machine. the rotating unit and grease or
lubricate it.
The ambient temperature is too Check the temperature around the Change heat transfer structure.
high. motor. (40℃ or lower) Install a cooling fan.
The surface of the motor is Check whether there are any foreign
Clean the surface of the motor.
contaminated. substances on the surface of the motor.
Reduce the load.

The motor
Check the load on the drive. Increase the acceleration/deceleration
overheats.
Overloads occur. Check the acceleration/deceleration time.
time. Replace with a motor with a greater
capacity.
The magnetic power of the Check the counter voltage and voltage
Replace the motor.
magnets is reduced. waveforms.
12-4
Symptoms Cause Inspection process Remedies
Tighten the coupling screws and

Coupling is bad. measure the concentricity of the Readjust the coupling.
connection.
The device is
making a Check the bearings for vibrations and
The bearings are abnormal. Contact us.
strange sounds.
sound.
The parameters are set
incorrectly (the inertia, gain, Check the parameters. Refer to Chapter 9 Object Dictionary.
and time constants).
12.2.2 Servo Drive
 Servo Alarm
If the drive detects a problem, it will trigger a servo alarm and transition to the servo off state to stop. In
this case, the value of the emergency stop setting (0x2013) is used to stop the drive.
Alarm code
Cause Checklist Troubleshooting
name
Check for wiring failure and

Motor cable failure Replace the motor cable.
short-circuits.

Encoder cable failure Replace the encoder cable.
short-circuits.
Motor ID [0x2000], encoder
IPM fault type [0x2001], and encoder type

Modify the parameters so they
Parameter setting failure [0x2002] settings should be the
(Overcurrent match the motor label information.
same as the motor label
(Hardware))
information.
Inspect resistance between

Motor phase resistance
motor lines (U-V, V-W, W-U Replace the motor.
Over current failure
below several Ω)
(Overcurrent
Determine whether there is any
(Software))
Apparatus status failure conflict or restraint in the Inspect the apparatus.
equipment.
If an alarm occurs continuously

Current limit exceeded
after power cycling, there may be a
(Overcurrent Drive failure
problem with the drive. Replace
(Hardware)) the drive.
Check the wiring of the PE.

Find a way to resolve the
Adjust the PE wiring size so that it
Failure due to noise Noise problem by checking the
matches the size of the drive main
wiring and installation.
circuit wiring.
12-5
Alarm code
name
Check whether the ambient Lower the temperature around the

Ambient temperature
temperature is over 50 ℃. drive.
Check whether the load is Change the capacity of the drive

Continuous overload
below 100% in the accumulated and motor.
alarm
drive overload rate [0x2603]. Adjust the gain.
High-frequency Adjust the regenerative resistance

Check the accumulated
regenerative operation or setting [0x2009].
regenerative overload rate
IPM temperature continuous regenerative Use the external regenerative
[0x2606].
(IPM Overheat) operation resistance.
Drive installation Check the drive installation Refer to "2. Wiring and
direction status. Connection."

Drive failure
the drive.
Check whether the U, V, W

Excessive current offset
phase current offsets [0x2015] - Adjust the phase current offset
in motor U-phase and V-
[0x2017] are 5% of the rated again.
phase
Current offset current or higher.
(Abnormal Current If an alarm occurs continuously

Offset) after adjusting the phase current
Drive failure
offset, there may be a problem
with the drive. Replace the drive.
Continuous operation in the

constant speed area or in the
The drive operates
stopped state Change the capacity of the drive
continuously, exceeding
Check whether the load is and motor. Adjust the gain.
the rated load. below 100% with the load rate
[0x2603].
Check whether the motor brake

Motor brake failure Supply power to the motor brake.
is open at SVON.
Check motor ID [0x2000],

Continuous overload
encoder type [0x2001], encoder
(Continuous Overload) Modify the parameters so they
type [0x2002] setting and
match the motor label information.
applicable motor label
Parameter setting failure
information
Check the overload detection

default load rate setting Set it to an appropriate value.
[0x200F].
Apparatus status
Operation should be normal. Inspect the apparatus.
failure
12-6
Alarm code
name

short-circuits.

short-circuits.

Ambient temperature
In normal conditions, check if

Drive temperature 1
the drive temperature 1
(Drive Overheat 1) Drive failure Replace the drive.
[0x260B] is significantly different
from the ambient temperature.
Adjust the regenerative resistor

Capacity exceeded due
Check the accumulated setting [0x2009] after connecting
to high frequency
regenerative overload rate the external regenerative resistor
operation or continuous
[0x2606] setting. and use the external regenerative
regenerative operation
resistor.
Check the regenerative

Regeneration overload
Parameter setting failure resistance-related parameters Set it to an appropriate value.
(Regenerative [0x2009] - [0x200E] settings.
overload)
Main power input Check whether the main power
Inspect the power again.
voltage failure voltage is 385 Vdc or higher.
Check if the regenerative

Drive failure resistor generates any heat Replace the drive.
when not in operation.
Check the settings [0x2015], Execute the command for the

Parameter setting failure [0x2015] and [0x2015] for U, V current offset adjustment
and W-phase current offsets. procedure.
Motor cable failure Check the cable disconnection. Replace the motor cable.
Check for a U, V, or W short-

Motor cable open Motor failure circuit in the motor. Replace the motor.
(Motor Disconnection) (U-V, V-W, W-U)

after SV-ON, there may be a
Drive failure
the drive.

Ambient temperature
In normal conditions, check if

Drive temperature 2
the drive temperature 2
(Drive Overheat 2) Drive failure Replace the drive.
[0x260C] is significantly different
from the ambient temperature.
Reserved
12-7
Alarm code
name
Encoder temperature
(Encoder Overheat)
Check for disconnection, wiring

failure, or short-circuits.
Modify the parameter so it
Encoder matches the motor label

Encoder type [0x2001] and
communication information.
Parameter setting encoder resolution [0x2002] If the modified values are not
(Serial Encoder
Communication Error) failure settings should be the same as applied after saving the
parameters, replace the motor
the motor label information.
because there may be a problem
with the motor.
Encoder cable open
(Encoder Cable
Disconnection)
Encoder failure
failure in the motor. Replace the
motor.
Encoder data If an alarm occurs continuously

(Encoder Data Error) after power cycling, there may be a
Drive failure
the drive.
Modify the parameter so it
matches the motor label

Motor ID [0x2000] setting
information. The alarm can be
Motor ID setting should be the same as the
deactivated by turning off and on
motor label information.
Motor setting the power after modifying the
(Motor ID Setting parameter.

Error) If an alarm occurs continuously

Drive failure
the drive.
If the motor does not use the Z
Check the setting of the phase (e.g. step motor), set the
warning mask [0x2014]. 14th bit in the warning mask
settings to mask the AL-34.

Z Phase open
(Encoder Z-phase loss) Encoder cable failure Replace the encoder cable.
short-circuits.

Encoder failure
12-8
Alarm code
name
motor.

Drive failure
the drive.
If you want to use an absolute
Parameter setting Check the absolute encoder encoder as an incremental encoder,
failure setting [0x2005]. set it to 1 so the alarm does not
Low battery occur.
(Low Voltage of Battery connection Check the battery connection

Properly connect the battery.
Encoder Battery) failure or no connection status.
The battery voltage is Check whether the battery

Replace the battery.
low voltage is 3.3 V or higher.
failure, or short-circuits.
Check for shield and PE
disconnection.
Check the encoder type setting.

Check the encoder type setting
Parameter setting failure Check the speed command.
Sinusoidal ENC [0x2001].
amplitude (Maximum: 250kHz)
(Encoder Sine Wave If an alarm occurs continuously

Amplitude Error)
Drive failure
the drive.
Sinusoidal ENC
frequncy If an alarm occurs continuously
(Encoder Sine Wave after power cycling, there may be a

Converter failure
Frequency Error) problem with the converter.
Replace the converter.

Encoder failure
problem with the encoder. Replace
the encoder.
Abnormal combination Check the brand label codes of Please use drives and motors with
of drive and motor the drive and motor. the same brand label.
12-9
Alarm code
name
Encoder setting error Check for wiring failure or

(Encoder Setting Error) short-circuits.

Encoder failure
motor.

Drive failure
the drive.
Check whether the main power

voltage is about 134 Vac or Inspect the power again.
higher.
Main power input Check whether the DC link
voltage failure
Under voltage voltage [0x2605] is above 190
Replace the drive.
(Low Voltage) Vdc while the main power is
being supplied.
Power voltage drops Check the wiring status of the

Use the 3-phase supply voltage.
during operation main power.

voltage is about 286 Vac or Inspect the power again.
lower.
Main power input Check whether the DC link
voltage failure
voltage [0x2605] is below 405
Replace the drive.
Vdc while the main power is
being supplied.
When the external Check the operation condition Please recheck the regenerative
Over voltage regenerative resistor and regenerative resistance resistance value considering the
(Overvoltage) value is large value. operation condition and load.
Check whether a rapid

Acceleration/Deceleration Set a long
increase/decrease occurs
settings acceleration/deceleration time.
frequently.

Drive failure
the drive.
Main power input Check the voltage range of 200-

voltage failure 230 Vac between L1, L2 and L3
12-10
Alarm code
name
Main power fail phases.
(Main power failure)

Check the main power input
Make parameter settings and
Parameter setting mode setting [0x2006]
wiring with a 3-phase input power
failure according to the main power
if possible.
input status.
Increase the monitoring interval of

Check the monitoring interval of
the main power phase loss
Momentary power failure the main power phase loss
[0x2007] or check the power
[0x2007].
supply.
Drive failure
the drive.
A voltage failure The voltage between C1 and C2
between C1 and C2 phases should be within 200- Inspect the control power again.
phases. 230 Vac.
Control power fail If an alarm occurs continuously
(Control power failure) after power cycling, there may be a

Drive failure
the drive.

short-circuits.

short-circuits.

type [0x2001], and encoder Modify the parameters so that
resolution [0x2002] settings they match the motor label
should be the same as the information.
Parameter setting motor label information.
failure Check the gear ratio [0x6091]
Set the electronic gear ratio low.
Over speed limit setting.
(Overspeed) Check the gain control

Readjust the gain according to the
parameter settings [0x2100] -
operation condition.
[0x211F].
Encoder failure
motor.
Drive failure
the drive.
Check the gear ratio [0x6091] Set the electronic gear ratio low
Parameter setting
setting. accordingly.
12-11
Alarm code
name
POS following failure Check the settings for position

error range [0x6065] and Readjust the parameter according
(Excessive Position
Error) position error overtime to the operation condition.
[0x6066].
Check whether there is any
Apparatus status failure Inspect the apparatus.
restraint on the driving part.

Drive failure
the drive.

failure, and short-circuits.

failure, and short-circuits.

type [0x2001], and encoder Modify the parameters so that
resolution [0x2002] settings they match the motor label
Parameter setting
should be the same as the information.
failure
motor label information.
Check the gear ratio [0x6091]

Excessive SPD Set the electronic gear ratio low.
setting.
deviation
(Excessive Speed
Error) Apparatus status failure Inspect the apparatus.
Check the operation status of
the limit contact sensor.

Encoder failure
motor.

Drive failure
the drive.
Check the external encoder gear

Parameter setting Set the electronic gear ratio
ratio settings [0x2025] and
failure accordingly.
[0x2026].
Check the position error range Readjust the parameter according

Encoder2 POS
setting [0x2027]. to the operation condition.
difference
(Excessive Position Apparatus status failure Inspect the apparatus.
Error of External
Encoder) If an alarm occurs continuously
Drive failure
the drive.
12-12
Alarm code
name
Restore the initial parameter

Check the parameter whose (0x1011). If you carry out the
When changing O/S setting is set to the maximum restoration, the parameter value
value of the variable type. changes to the initial value. Set the
Parameter checksum parameter before operation.
(Parameter Error) If an alarm occurs continuously

Drive failure
the drive.
Reset the drive capacity and

Contact our service center. download the OS again.
Factory setting Check the drive capacity with If an alarm occurs continuously
(Invalid Factory the device name setting after power cycling, there may be a
Settings) [0x1008]. problem with the drive. Replace
the drive.
Load encoder cable Check for disconnection, wiring

Replace the encoder cable.
failure failure, and short-circuits.
Enc2 communication
(Load Encoder The load encoder type [0x2021]

Communication Error) and load encoder setting
Modify the parameters so they
Parameter setting failure [0x202B] parameter settings
match the motor information.
should be the same as the
encoder information.
Enc2 cable open
(Load Encoder Cable
Disconnection) Load encoder failure
problem with the motor. Replace
the motor.

Enc2 Z phase open
Drive failure
(Load Encoder Z- problem with the drive. Replace
phase Disconnection) the drive.
12-13
 Servo Warning
If the drive detects an error that is classified as a servo warning, it will trigger a warning. In this case, the
drive will maintain normal operating conditions. After the cause of the warning is eliminated, the warning
will be cleared automatically. In case of a warning, take an appropriate action. You can specify if each
warning is checked with a warning mask configuration (0x2014).
※ When two or more warnings occur, they are displayed as the sum of warning codes.
E.g. It is displayed as follows: "W10 (operation overload) + W40 (low voltage) = W50".
Warning Warning name

Bit
code
0 W01 Main power phase loss
1 W02 Low voltage of encoder battery
2 W04 Software position limit
3 - -
4 W10 Operation overload

An abnormal combination of drive and motor, or
5 W20
an I/O setting error.
6 W40 Low voltage
7 W80 Emergency signal input
Warning state
(code) name
Main power
Check the voltage range of 200-230
input Inspect the power again.
Vac between L1, L2 and L3 phases.
voltage failure
Check the main power input mode

Parameter Make parameter settings and wiring with
setting [0x2006] according to the
setting failure a 3-phase input power if possible.
PWR_FAIL main power input status.
(Main power phase Increase the monitoring interval of the

Momentary Check the monitoring interval of the
loss) main power phase loss [0x2007] or check
power failure main power phase loss [0x2007].
the power supply.
If an alarm occurs continuously after
Drive failure power cycling, there may be a problem
If you want to use an absolute encoder

Parameter Check the absolute encoder setting
LOW_BATT as an incremental encoder, set it to 1 so
setting failure [0x2005].
(Low Voltage of the alarm does not occur.
12-14
Warning state
(code) name
Encoder Battery) Battery
connection
Check the battery connection status. Properly connect the battery.
failure or no
connection
The battery Check whether the battery voltage is

Replace the battery.
voltage is low 3.3 V or higher.
Change the settings of the software

Check the function [0x2400] and position limit function [0x2400] or
SW_POS_LMT Parameter
setting [0x607D] of the software change the minimum and maximum
(Software position setting failure
position limit. setting values of the software position
limit)
limit [0x607D].
The drive Change the capacity of the drive and

Check the accumulated operation
operates motor.
overload rate [0x2603] and overload
continuously, warning level setting [0x2010] in the Adjust the gain.
constant speed area or in the
exceeding the Adjust the overload warning level setting
stopped state.
rated load. [0x2010].
Motor brake Check whether the motor brake is

Supply power to the motor brake.
failure open at SVON.
Motor ID [0x2000], encoder type

[0x2001], and encoder type [0x2002] Modify the parameters so they match the
OV_LOAD Parameter settings should be the same as the motor label information.
(Operation setting failure motor label information.
Overload) Check the overload detection default

Set it to an appropriate value.
load rate setting [0x200F].
Apparatus
status Operation should be normal. Inspect the apparatus.
failure
Motor cable Check for wiring failure and short-

Replace the motor cable.
failure circuits.
Encoder cable Check for wiring failure and short-

Replace the encoder cable.
failure circuits.
Abnormal
Check whether the current capacity Lower the torque limit value or replace
combination of of the motor is larger than the drive's the motor to one that has a lower
current capacity. current capacity than the drive.
drive and motor
SETUP Check whether the signal allocation

has overlapped in the digital input
(Setting Failure) IO setting Set the parameters properly according to
signal settings [0x2200] - [0x2208]
failure the operation status.
and the digital output signal settings
[0x2210] - [0x2213].
12-15
Warning state
(code) name

voltage is 134 Vac or higher.
Main power
Check whether the DC link voltage
input voltage
[0x2605] is between 190 - 405 Vdc
failure Replace the drive.
UD_VTG while the main power is being
supplied.
(Low Voltage)
Power voltage
Check the wiring status of the main
drops during Use the 3-phase supply voltage.
power.
operation
Emergency stop occurred by an EMG

contact.
EMG contact Check the settings of the wiring and

Set the wiring and parameters properly
drive parameters (drive control input
failure according to the operation status.
EMG 1 [0x211F], digital input signal 1
setting [0x2200] - digital input signal
(Emergency Signal
16 setting [0x220F]).
Input)
If an alarm occurs continuously after
Drive failure power cycling, there may be a problem
12-16
12.3 Servo Drive Overload Graph
 Servo Drive Overload Graph (SA Type 100 W or less)

Load factor AL-21 duration (sec) Load factor AL-21 duration (sec)
(%) Turn Stop (%) Turn Stop
100 or less Infinite Infinite
110 1969.0 1372.0 210 5.2 3.9
120 424.0 343.2 220 4.4 3.4
130 188.4 152.5 230 3.8 3.0
140 106.0 85.8 240 3.3 2.6
150 70.4 58.6 250 2.9 2.3
160 26.8 16.2 260 2.6 2.0
170 20.6 13.0 270 2.3 1.8
180 16.2 10.5 280 2.0 1.6
190 13.0 8.7 290 1.8 1.5
200 10.5 7.2 300 1.6 1.3
10000
1000
T
i
100
m Turn
회전
e
Stop
정지
(
S
e 10
c
.
)
1
110 120 130 140 150 160 170 180 190 200 210 220 230 240 250 260 270 280 290 300
Load Factor (%)
12-17
 Servo Drive Overload Graph (400W)

110 55776.0 37935.0 210 66.8 50.1
120 13944.0 9483.0 220 50.1 38.5
130 6197.0 4215.0 230 38.5 30.3
140 3486.0 2371.0 240 30.3 9.7
150 1183.0 926.0 250 24.2 8.3
160 566.0 470.0 260 4.2 3.8
170 318.0 273.0 270 3.8 3.4
180 198.0 173.0 280 3.4 3.1
190 131.0 117.0 290 3.0 2.7
200 92.0 66.0 300 2.7 2.5
Time Turn
(Sec) Stop
Overload(%)
12-18
 Servo Drive Overload Graph (750 W and 1 kW)

110 105800.0 37935.0 210 119.0 50.1
120 26450.0 9483.0 220 89.2 38.5
130 11755.5 4215.0 230 49.3 30.3
140 6612.5 2371.0 240 38.8 9.7
150 2244.0 926.0 250 31.0 8.3
160 1073.6 470.0 260 7.0 3.8
170 603.2 273.0 270 6.4 3.4
180 413.6 173.0 280 5.7 2.2
190 273.6 117.0 290 5.0 1.9
200 201.0 66.0 300 4.6 1.7
Time Turn
(Sec) Stop
Overload(%)
12-19
 Servo Drive Overload Graph (2kW and 3.5kW)

110 4832 4832 210 66.8 44
120 1208 1208 220 50.1 36
130 536 536 230 38.5 30.3
140 302 302 240 30.3 9.7
150 257 154 250 24.2 8.3
160 229 100 260 4.2 3.8
170 200 85 270 3.8 3.4
180 165 70 280 3.4 3.1
190 131 61 290 3.0 2.7
200 103 52 300 2.7 2.5
Time Turn
(Sec) Stop
Overload(%)
12-20
13. Test Drive
13. Test Drive

For a safe and proper test drive, make sure to check the following prior to the test drive. If there is
a problem, take an appropriate measure before the test drive.
 Servo Motor State
Is the motor correctly installed and wired?
Is each connecting part secured tightly?
For a motor with oil seals fittings, is there any damage to the oil seal?
Has oil been properly applied?
If you perform test drive of a servo motor having been stored for an extended period, make sure to
check the motor according to the maintenance and inspection method for servo motor. For more
information on maintenance and inspection, refer to 11. 11. Maintenance and Inspection.
 Servo Drive State
Is the drive correctly installed, wired, and connected?
Is the supply voltage for the servo drive correct?
13-1
13. Test Drive
13.1 Preparation for Operation

Perform the test drive in the following order:
Read the checklist and precautions before test driving.
Check input/output signals and connection to the upper-

level controller.
Test drive the servo drive using the TwinCAT System

Test drive the servo drive using the XGT PLC + PN8B.
Manager.
Test drive with both the machine and the servo motor.
Actual operation
Before the test drive, check that the upper level controller and the servo drive are correctly wired,
and the objects of the servo drive are correctly configured.
Order Handling Notes
Refer to Section 2.5

1 Connect the power connector and safety function connector of Servo Drive. Wiring for
Input/Output Signals.

2 Connect motor and encoder cables to the servo drive. Wiring for
Input/Output Signals.
If you use the safety function, connect the STO safety device connector.

3 (Note) If you do not use the safety function, insert safety jumper connector, Wiring for
an accessory of the servo drive, into the STO. If you do not install the Input/Output Signals.
connector, motor current will be not supplied and the torque will not output
from the motor. In this case, the panel monitor state at the power ON will
be "Sto."
(Note) When removing the safety jumper connector attached to the STO,
13-2
13. Test Drive
pull out the motor main circuit connector first, and then the connector body
while pressing the lock ejector on the jumper connector side towards the
servo drive side. The connector may be damaged if you pull it out when the
lock has not been released. Please be careful.
Connect ECAT IN and OUT of the EtherCAT communication connector Refer to Section 2.5
4 between the upper level device and Servo Drive. Wiring for
(Note) Please use the CAT5 and SFTP cables. Input/Output Signals.
Turn on the servo drive. The servo drive communication is in the Safe OP
state. Make sure that the state of the servo drive panel monitor is as the
figure below:
The Link/Activity LED is flickering.

Refer to Section 11
5 The RUN LED is in "Single Flash." Maintenance and
Inspection.
(Note) If the Error LED is flickering or on, and the monitor panel state is AL-
xx, refer to Manual Maintenance and Inspection.
(Note) If the Link/Activity LED is not flickering, the communication is not

established.
Refer to Section 11
Now, we have finished checking the connection and state of input signal
6 Maintenance and
circuits to prepare for the test drive.
Inspection.
13.2 Test Drive Using TwinCAT System

Manager
 Test Drive Procedure

Before launching the TwinCAT System Manager, copy the servo drive XML
1
file into the schema folder (C:\TwinCAT\Io\EtherCAT).
2 Launch the TwinCAT System Manager.
Select a Target System.

3
When performing the test drive using a remote system, select the device.
Restart the TwinCAT System with Config Mode.

4  Using the Set/Reset TwinCAT to Config Mode icon under the TwinCat
System Manager, you can restart the system with Config Mode.
13-3
13. Test Drive
Search for EtherCAT communication-based devices connected to the system.
 Right-click I/O Devices in the Work Space pane of the TwinCAT system,
and then click Scan Devices.
 If the dialog window below appears in the TwinCAT System Manager,

click OK.
 If the New I/O devices found dialog window appears, select the device
or servo drive that needs to be test driven and click OK.
13-4
13. Test Drive
 If the dialog window below appears, click Yes.
Add the servo drive's NC Task to the NC-Configuration.
Switch the TwinCAT System Manager to a free run state to allow it to

control devices independently of the TwinCAT PLC and so on.
Make sure NC Task is added to the NC-Configuration tree in the workspace

on the left, and the servo drive is registered to the I/O-Configuration tree.
8  If the connected servo drive is registered, select it.
 Click the Online tab on the right side to verify that Current State and
Requested State are in the SAFEOP state.
13-5
13. Test Drive
Switch the EtherCAT communication state from SafeOP to OP, enabling

MailBox Communication and Process Data Communication.
 Click the Generate Mappings icon on the menu bar.
Map the images defined in NC Task and I/O Device.
9  Click the Check Configuration icon on the menu bar.
Check if the currently set configuration is valid.
 Click the Activate Configuration icon on the menu bar.
Save Project Configuration in Windows Registry.
Verify if the EtherCAT communication state has switched from SafeOP to OP.
 Verify if the states of the servo drive panel monitor and the I/O device
(servo drive) of the TwinCAT system are in the online state as shown in
the figure below.
 Check the panel monitor status.
10
 Check the communication LED.
The RUN LED is on.
 Check the online state of the I/O device of the TwinCAT system.
In the I/O-Configuration tree of the workspace, click the servo drive, and
then click the Online tab to check if Current State and Requested State
are in the OP state.
13-6
13. Test Drive
 Verify if the state displayed at the bottom-right of the TwinCAT System

Manager menu window is in the Run state.
We have finished adding NC-Task and I/O Devices (servo drive) to the
11
TwinCAT System Manager.
 Setting NC-Task Axis Parameters

Set the display units for the relevant axis.
 Select Axis1.
 Click the Settings tab.
 Click the display units for position and speed.
Note: Remember the actual units will not be converted even if the units
shown in the figure above was converted to mm or degrees.
Note: Change the units and tune the Axis Scaling Factor below.
Set the Axis Scaling Factor. The Axis Scaling Factor determines the distance
2
of the axial load movement while the motor shaft makes one revolution.
13-7
13. Test Drive
 Select Axis1.
 Click the Parameter tab.
 Set the Scaling Factor.
 Then, download the settings.
Note: The default is 0.0001 if the scaling factor is not set.
Note: After configuring the settings, download them.
Set the speed parameter of the test drive axis.
 Select Axis 1.
 Set Maximum Velocity, Manual Velocity (Fast), and Manual Velocity

(Slow). Then, download the settings.
Set the speed, acceleration, and jerk of the test drive axis.
Set the acceleration, deceleration, and jerk directly for the test drive axis;
the TwinCAT NC can calculate the acceleration based on the configured
4 profile timing.
 Select Axis 1.
 Click the Dynamics tab.
 Set the acceleration, deceleration, and jerk directly.
13-8
13. Test Drive
 Select the Direct button.

 Set the acceleration, deceleration, and jerk.
 Download the settings.
 Set the acceleration, deceleration, and jerk indirectly.
Set the acceleration, deceleration, and jerk indirectly by setting the

acceleration time. If you change the acceleration time, the acceleration
value will be automatically changed.
 Select the Indirect by Acceleration Time button.

 Set the acceleration, deceleration, and jerk.
 Download the settings.
Set the Position Lag Monitoring (Following Error).
 Select Axis 1.

5
 Set the Position Lag Monitoring.
 Set the Position Lag Filter Time.
 Download the settings.
13-9
13. Test Drive
Note: The Position Lag Monitoring is the difference between the position
reference and the actual position at a given cycle time. When the Position
Lag Monitoring is enabled, the TwinCAT NC generates an alarm if the
positional error exceeds the settings.
 Test Drive the Servo Drive Using TwinCAT NC Axis

Make sure that TwinCAT NC axis is "Servo On."
 Select Axis 1.
 Click the Online tab.
 Click the Set button.
13-10
13. Test Drive
 Select Controller, Feed Fw, and Feed Bw in the Set Enabling pop-up.
 Set the Override to 100%.
 Click OK.
 Make sure that the state of the servo drive panel monitor is as the
figure below:
Use the buttons shown below to manually perform the test drive (JOG).
Perform a reverse rotation at the specified Manual

Velocity (Fast).
Perform a reverse rotation at the specified Manual

2 Velocity (Slow).
Perform a forward rotation at the specified Manual

Velocity (Slow).
Perform a forward rotation at the specified Manual

Velocity (Fast).
Perform the test drive with relative coordinates.
 Set the Target Position.
 Set the Target Velocity.
 Click the F5 button.
 Move it to the Target Position from the current position, decelerating to

a stop.
 After moving it to the Target Position, verify if the Set Position is the
same as the Target Position.
 Click the F6 button to stop driving with relative coordinates.
 When the alarm goes off, click the F8 button to reset the alarm.
Note: If the position limit is enabled, set the Target Position within the limit.
13-11
13. Test Drive
Make sure the TwinCAT NC axis is "Servo Off."
 Click Set.
 Click to clear Controller, Feed Fw, and Feed Bw in Enabling.
 Click OK.
5 Test driving the drive using the TwinCAT NC axis is completed.
13-12
13. Test Drive
13.3 Test Drive Using LS ELECTRIC PLC (XGT

+ PN8B)
 Test Drive Procedure

1 Launch the XG-PM.
Create a new project.
 On the menu bar, click Project  New Project.
Name the new project.
 Select the PLC series and the CPU type.
 Select the module type (XGF-PN8B), and click OK.
13-13
13. Test Drive
The PC and the PLC are connected for communication.
 On the menu bar, click Online  Connection.
4
 When the PC and the PLC are connected, the connection between the
PLC and the servo drive will be enabled as shown in the figure below.
13-14
13. Test Drive
Connect the PLC with the servo drive.
 For the first connection, enable the network parameters and servo
parameters in the workspace on the left through Connect Network
Servo Automatically.
 After the servo drive and the PLC are connected, the servo parameters
and the motor test drive function will be enabled.
 Connecting multiple shafts enables as many servo parameters as the

number of connected shafts.
figure below:
 Check the status LED.

The RUN LED is on.
Note: Automatic connection of the network servo registers the device

connected to the XGT, and initializes the parameters of the connected
device.
Note: For subsequent connections, connect or disconnect the XGT and the
servo drive by connecting the entire servo or disconnecting them
respectively, since the device has been registered and its parameters
initialized through automatic servo connection.
Note: In case there is any change in the XGT-connected device, initialize the
parameters of the device connected by the automatic servo connection.
13-15
13. Test Drive
6 Set the Driving Parameters of Test Drive Axis  Basic Parameters.
 Enter the number of encoder pulses per motor revolution.
 Encoder resolution of 19 bits = 524288

 Check the motor specifications, and then configure the appropriate
settings.
 Set the units for the speed command.
 It can be set as rpm or mm/s.

 Set the speed limit.
 Check the motor specifications, and then configure the appropriate
settings.
Set the Driving Parameters of Test Drive Axis  Manual Operation (Jog)
Parameters.
13-16
13. Test Drive
Set the servo parameters of the test drive axis.
 Select parameters that you want to change, and then change them.
 To change the parameters during operation, click to select the Allow to

Modify Servo Parameters During Operation checkbox at the top of the
pane.
 You can display parameter values as decimals or hexadecimals.
Save the configured parameters.
 On the menu bar, click Online  Write.
 With the Write Project dialog window enabled, click to select the
Operation Data of Test Drive Axis, the Operation Parameters, and the
Servo Parameters checkboxes, and then click OK to save the configured
parameters.
11
13-17
13. Test Drive
Turn on the servo.
 On the menu bar, click the Servo ON icon to turn on the servo of the
servo drive of the test drive axis.
12
Save the configured parameters.
 Click the System View tab and the Basic Command tab in the workspace
to check the state of the servo drive as shown in the figure below.
13
figure below:
 Check the status LED.

The RUN LED is on.
13-18
13. Test Drive
Test drive using jog operation and inching operation
14
 For the jog operation, the motor is driven with the settings of the
operation parameters.
 For the inching operation, the motor moves to the entered position.
 After entering the position value, click the Run button to perform the
test drive.
Point to Point Test Drive
 Select Workspace  Command Tool  Point Command tab.
 Set the operation data.
 On the Point Command tab in the workspace, specify the number of

point operations and the order.
 On the menu bar, click Online  Write to store the operation data.
 On the Point Command tab, click the Run button to perform the test
drive.
15
16 Test driving the drive using the XGT is completed.
13-19
13. Test Drive
13-20
14. Appendix
14. Appendix
14.1 Firmware Update
14.1.1 Use of USB OTG

The drive performs a USB host function to search for firmware files in the USB memory and
download them to the flash memory inside the drive. You can easily update the firmware using the
USB memory and OTG cable without a PC. The update procedure is as follows:
(1) Prepare a download cable (USB OTG cable) and a USB memory.
Use a USB OTG cable, consisting of a USB Female Plug Type A and USB Mini B 5 pins, as the
download cable.
(2) Copy the firmware file (L7NHF_FW.bin) to the USB memory.
*Caution
1. The L7NH_FW.bin file should be placed in the root directory of the USB memory, and the full file
name including the extension should match.
2. The formatting type of the USB memory has to be set to FAT32 (default).
(3) After connecting the USB memory to the USB OTG cable, connect it to the USB terminal and
power on the drive.
(4) If 7-Segment for servo status display shows "boot" and then "otg", it indicates that update is in
progress. If three horizontal bars of FND Digit5 are sequentially turned on from bottom to top,
it indicates that download is complete. At the time, turn the power off and remove the USB
OTG cable and USB memory.
L/A 0 0 1 0 1
7 8 9
7 8 9
L/A 1
2 3
2 3
RUN
6
6
4
5 5
ERR x10 x1
14-1
14. Appendix
(7-Segment displays a message when downloading the firmware using the OTG)
(5) Turn on the power again, and verify if the firmware is updated.
14.1.2 Use of FoE (File access over EtherCAT)

FoE is a simple file transfer protocol using the EtherCAT, enabling firmware update. When the
drive and the upper level controller (e.g.: TwinCAT) are connected, you can simply update the
firmware remotely via FoE. The update procedure is as follows:
Master
Servo Drive
(e.g. TwinCAT)
Request for ＂boot＂ State

Change “boot” State
＂boot＂State?
No
Yes
Write Request
Receive Write Request
Transfer *Password, *File
*Password, *File Name
Name
Do the Name and

password match?
No
Error request Yes

Receive error-request
Error code : 0x8009
Ack-request
Receive Ack-request
*packet Number : 0x0
Data request
Receive Data request
*Packet Number
Write the data to flash ROM
*File Data
Ack-request
Receive Ack-request *packet Number : next time
packet number of data
Data request (Final Data)

Receive Data request
*Packet Number
Write the data to flash ROM
*File Data
Ack-request
Receive Ack-request *packet Number : next time
packet number of data
(1) Establish communication between the drive and the TwinCAT.
(2) I/O Configuration of TwinCAT - On the Online tab of the drive connected to the I/O, click
Bootstrap in the State Machine menu.
14-2
14. Appendix
(3) After the current state is changed to BOOT and you check the drive status (7-segment displays
boot), wait for approx. 10 seconds until the internal flash memory of the drive is cleared.
L/A 0 0 1 0 1
7 8 9
7 8 9
L/A 1
2 3
2 3
RUN
6
6
4
5 5
ERR x10 x1
(7-Segment display appears at the start of firmware download using FoE)
14-3
14. Appendix
L/A 0 0 1 0 1
9 9
L/A 1
7 8
7 8
2 3
2 3
RUN 4 5 4 5
6
6
ERR x10 x1
(7-Segment display appears when flash deletion is completed during the firmware download using
FoE)
*Caution
The following error occurs if you try to download before the required 10 seconds pass for the flash
memory to be cleared. Two error windows shown below may indicate that the flash memory is not
deleted completely, or the file name does not match. Check the file name, wait for 10 seconds until
the flash memory is cleared, and then try it again.
(4) Click Download in the File Access over EtherCAT menu at the bottom of the Online tab.
(5) Select the path of the file to be downloaded (L7NH_FW.efw or L7NH_FW.bin) and the file. If
the file name does not match, download will not start and the following error will occur:
(6) Enter the password for file download and click OK to start the download. (Password:
00000000)
14-4
14. Appendix
(7) If "Downloading..." is displayed as shown in the following figure, the download is in progress.
If the progress bar at the bottom is full, it indicates the download is completed. After
completing the download, be sure to click Init in the State Machine menu to switch it to the
Init status.
L/A 0 0 1 0 1
7 8 9
7 8 9
L/A 1
2 3
2 3
RUN
6
6
4
4
5 5
ERR x10 x1
(7-Segment display appears at the completion of firmware download using FoE)
*Caution
If you do not change the communication state to Init and turn on the power again according to
the upper level controller, the state will be automatically changed to BOOT and the flash
memory may be cleared. In this case, you have to download the firmware again according to
this procedure.
(8) After the download is completed, turn on the power again and verify if the firmware is updated.
14-5
14. Appendix
14.1.3 How to use DriveCM

Drive CM allows the OS upgrade for the drive through the PC's USB port. The transmission time
depends on the PC performance, but it usually takes several seconds to several minutes.
Click "Setup" and "Firmware Update" from the top menu of DriveCM.
 Precautions for Firmware Upgrade

 Do not turn off the PC or drive during transmission.
 Do not unplug the USB cable or close the firmware program during transmission.
 Do not run other applications on the PC during transmission.
 The parameter (object) settings in the drive can be initialized. Be sure to save the settings for
the drive parameters (objects) before upgrading.
 OS Download
1) Press the "Open Firmware Downloader" button.
1) To load the appropriate OS file, click the "Load" button.
2) Select the OS file to transfer and click the Open button.
14-6
14. Appendix
3) "Total Length" and "Total Packet" of the loaded OS are displayed.
4) Click Start to begin transmission. 10 seconds are counted down to clear the internal
memory in the drive. (For L7NH and L7P, the segment 7 should display "USB". For
PEGASUS, a red "ERR" LED should be illuminated.)
5) After clearing, the OS is transmitted automatically and the progress bar and "Current
Packet" display the current transmission status. (The transmission time depends on the PC
performance, but it usually takes several seconds to several minutes.)
14-7
14. Appendix
6) When transmission is completed, a popup saying "Transmission completed" is displayed.

(When transmission to the PC is completed, turn the drive off and on to restart.)
 An Error Occurs During Transmission
■ Turn off and on the drive and repeat the above process from (2) to (7).
■ Check the drive type and capacity of the firmware you wish to transmit.
■ Check the firmware version. You cannot download a version that is lower than the current
14-8
Warranty
1. Warranty Period
The product you purchased will be guaranteed for 18 months from the date of manufacturing.
2. Scope of Warranty
Any trouble or defect occurring for the above-mentioned period will be partially replaced or repaired.
However, please note the following cases will be excluded from the scope of warranty.
(1) Any trouble attributable to unreasonable condition, environment or handling otherwise specified in the
manual,
(2) Any trouble attributable to others’ products,
(3) If the product is modified or repaired in any other place not designated by the company,
(4) Due to unintended purposes
(5) Owing to the reasons unexpected at the level of the contemporary science and technology when
delivered.
(6) Not attributable to the company; for instance, natural disasters or fire
3. Since the above warranty is limited to servo product unit only, make sure to use the product considering
the safety for system configuration or applications.
Environmental Policy
LS ELECTRIC Co., Ltd supports and observes the environmental policy as below.
Environmental Management About Disposal
LS ELECTRIC considers the LS ELECTRIC servo product is designed

environmental preservation as the to protect the environment. For the
preferential management subject and disposal, separate aluminum, iron and
every staff of LS ELECTRIC use the synthetic resin (cover) from the product as
reasonable endeavors for the pleasurably they are reusable.
environmental preservation of the earth.
User Manual Revision History
Number Date issued Revised content Version Notes
1 2017.10.13 Newly created. 1.0
2 2020.05.15 Change company name to ‘LS ELECRIC’ 1.1
7
www.lselectric.co.kr
■ Headquarter ■ Overseas Subsidiaries

LS-ro 127(Hogye-dong) Dongan-gu, Anyang-si, Gyeonggi-Do, 14119, • LS ELECTRIC Japan Co., Ltd. (Tokyo, Japan)
Korea Tel: 81-3-6268-8241 E-Mail: jschuna@lselectric.biz
• LS ELECTRIC (Dalian) Co., Ltd. (Dalian, China)
■ Seoul Office Tel: 86-411-8730-6495 E-Mail: jiheo@lselectric.com.cn
LS Yongsan Tower, 92, Hangang-daero, Yongsan-gu, Seoul, 04386, • LS ELECTRIC (Wuxi) Co., Ltd. (Wuxi, China)
Korea Tel: 86-510-6851-6666 E-Mail: sblee@lselectric.co.kr
Tel: 82-2-2034-4033, 4888, 4703 Fax: 82-2-2034-4588 • LS ELECTRIC Shanghai Office (China)
E-mail: automation@lselectric.co.kr Tel: 86-21-5237-9977 E-Mail: tsjun@lselectric.com.cn
• LS ELECTRIC Vietnam Co., Ltd.
■ Factory Tel: 84-93-631-4099 E-Mail: jhchoi4@lselectric.biz (Hanoi)
56, Samseong 4-gil, Mokcheon-eup, Dongnam-gu, Cheonan-si, Tel: 84-28-3823-7890 E-Mail: sjbaik@lselectric.biz (Hochiminh)
Chungcheongnam-do, 31226, Korea • LS ELECTRIC Middle East FZE (Dubai, U.A.E.)

Tel: 971-4-886-5360 E-Mail: salesme@lselectric.biz
• LS ELECTRIC Europe B.V. (Hoofddorf, Netherlands)
Tel: 31-20-654-1424 E-Mail: europartner@lselectric.biz
• LS ELECTRIC America Inc. (Chicago, USA)
Tel: 1-800-891-2941 E-Mail: sales.us@lselectricamerica.com
©2017. LS ELECTRIC Co., Ltd. All Rights Reserved. 2020.05

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 The contents of this manual are subject to change without notice.

 Electric Safety Precautions

 Fire Safety Precautions

 Handling and Operating Precautions

1.1 Product Verification ................................................................................................................. 1-1

1.2 Product Specifications ............................................................................................................. 1-2

1.3 Component Names ................................................................................................................. 1-3

1.4 Example of System Configuration ........................................................................................... 1-8

2. Wiring and Connection ................................................................................................................... 2-1

2.1 Installation of Servo Motor ....................................................................................................... 2-1

2.2 Installation of Servo Drive ....................................................................................................... 2-3

2.3 Internal Block Diagram of Drive............................................................................................... 2-4

2.4 Power Supply Wiring ............................................................................................................... 2-6

2.5 Wiring for Input/Output Signals ............................................................................................. 2-16

2.6 Wiring of Encoder Signal (Encoder) ...................................................................................... 2-24

2.7 Second Encoder (Encoder 2) ................................................................................................ 2-30

2.8 Wiring for Safety Function Signals (STO) ............................................................................. 2-31

2.9 Wiring for EtherCAT Communication Signals ........................................................................ 2-34

3. EtherCAT Communication ............................................................................................................. 3-1

3.1 Structure of CANopen over EtherCAT ..................................................................................... 3-1

3.2 Status LED............................................................................................................................... 3-3

3.3 Data Type ................................................................................................................................ 3-5

3.4 PDO-Mapping .......................................................................................................................... 3-5

3.5 Synchronization Using the DC (Distributed Clock) .................................................................. 3-8

3.6 Emergency Messages ............................................................................................................. 3-9

4. CiA402 Drive Profile ....................................................................................................................... 4-1

4.1 State machine .......................................................................................................................... 4-1

4.2 Operation Modes ..................................................................................................................... 4-4

4.3 Position Control Modes ........................................................................................................... 4-5

4.4 Velocity Control Modes .......................................................................................................... 4-13

4.5 Torque Control Modes ........................................................................................................... 4-19

4.6 Homing .................................................................................................................................. 4-25

4.7 Touch Probe Function ............................................................................................................ 4-37

5. Drive Application Functions .......................................................................................................... 5-1

5.2 Settings for Input/Output Signals............................................................................................. 5-4

5.3 Electric Gear Setup ............................................................................................................... 5-17

5.4 Settings Related to Speed Control ........................................................................................ 5-20

5.5 Settings Related to Position Control...................................................................................... 5-22

5.6 Settings Related to Torque Control ....................................................................................... 5-25

5.7 Positive/Negative Limit Settings ............................................................................................ 5-26

5.8 Setting the Brake Output Signal Function ............................................................................. 5-27

5.9 Torque Limit Function ............................................................................................................ 5-29

5.10 Gain Switching Function ........................................................................................................ 5-32

5.11 Dynamic Brake ...................................................................................................................... 5-36

5.12 Regenerative resistance setting ............................................................................................ 5-37

5.13 Configuration of the Drive Node Address (ADDR) ................................................................ 5-42

6. Safety Functions .............................................................................................................................. 6-1

6.1 Safe Torque Off (STO) Function .............................................................................................. 6-1

6.2 External Device Monitor (EDM) ............................................................................................... 6-3

6.3 Example of Using the Safety Function .................................................................................... 6-4

6.5 Precautions for Using the Safety Function .............................................................................. 6-4

7. Tuning .............................................................................................................................................. 7-1

7.1 Auto Gain Tuning (Offline Auto Tuning) ................................................................................... 7-1

7.2 Auto Gain Tuning (Online Auto Tuning) ................................................................................... 7-2

7.3 Manual Gain Tuning ................................................................................................................ 7-4

7.4 Vibration Control ...................................................................................................................... 7-6

8. Procedure Function ........................................................................................................................ 8-1

8.1 Manual Jog Operation ............................................................................................................. 8-1