This manual is "User's Manual for Fuji AC Servo System ALPHA7 Series".

The user's manual is in one volume and covers all handling methods of the product.

The following documents are included in the package of each device.

Device Document name Doc. No.

Operation Manual
Servomotor ING-SI47-0863
Fuji AC servomotor (GYS/GYG/GYB Series)
Operation manual
Servo amplifier Fuji AC servo ALPHA7 Series INR-SI47-2058-JE
servo amplifier (RYT□□□F7-**2)

The target model of this manual is shown below.

Device Model
Servomotor GYSD7-** or GYGC (B) 7-** or GYBD7-**
Servo amplifier RYT□□□F7-VC2

* "" in the model indicates a decimal point or number.

* "*" in the model indicates an alphabet or blank.

For uncertainties in the product or description given in this manual, contact the dealer or our sales
office shown at the end of this volume.

◼ Manual
Description given in this manual may be inconsistent to the product due to improvements added to
the product. Description given in this manual is subject to change without notice.
Illustrations included in this manual show the servo amplifier or servomotor of a specific capacity
and they may be different from the appearance of the product you purchased.

This product is not designed or manufactured for use in devices or systems related to human lives.
To use this product for aeronautic devices, traffic controllers, space industry devices, nuclear reactor
controllers, medical devices or systems including those devices, contact our sales window.
To use the product for equipment in which failure of the product will be engaged with human lives or
serious material losses, install safety devices matching the equipment.

◼ Icon
The following icons are used in the description of the manual when necessary.

Negligence of description shown with this sign will undermine the true performance of the
product.
Reference items helpful for operation and data entry of the servomotor or servo amplifier
are described.

i
ii
CHAPTER 0 INTRODUCTION 0
CHAPTER 1 INSTALLATION 1
CHAPTER 2 WIRING 2
CHAPTER 3 PARAMETER 3
CHAPTER 4 SERVO ADJUSTMENT 4
CHAPTER 5 KEYPAD 5
CHAPTER 6 MAINTENANCE AND INSPECTION 6
CHAPTER 7 SPECIFICATIONS 7
CHAPTER 8 CHARACTERISTICS 8
CHAPTER 9 PERIPHERAL EQUIPMENT 9
CHAPTER 10 ABSOLUTE POSITION SYSTEM 10
CHAPTER 11 EtherCAT COMMUNICATION 11
CHAPTER 12 BASIC CONTROL FUNCTIONS 12
CHAPTER 13 PC LOADER 13
CHAPTER 14 STANDARDS COMPLIANCE 14
CHAPTER 15 APPENDIXES 15

iii
 Contents
CHAPTER 0 INTRODUCTION 0-1
0.1 Safety Precautions································································ 0-2
■ Precautions on use ················································································· 0-3
■ Precautions on storage ··········································································· 0-4
■ Precautions on transportation ··································································· 0-4
■ Precautions on installation ······································································· 0-5
■ Precautions on wiring ·············································································· 0-6
■ Precautions on operation ········································································· 0-7
■ General precautions ··············································································· 0-8
■ Harmonics suppression measures (for Japan) ·············································· 0-8
■ Compliance with EU directives ·································································· 0-9
■ Service life of EEPROM··········································································· 0-9
■ Compliance with EU Directives and UL/CSA Standard ··································· 0-9
0.2 Outline of System ································································ 0-10
0.2.1 Servomotor ·········································································· 0-10
0.2.2 Servo Amplifier ····································································· 0-11
0.3 Model Nomenclature ···························································· 0-12
0.3.1 Servomotor ·········································································· 0-12
0.3.2 Servo Amplifier ····································································· 0-13
0.4 Combination between Servomotor and Servo Amplifier ··········· 0-14
0.4.1 VC Type ·············································································· 0-14
0.5 Trademark ·········································································· 0-14

CHAPTER 1 INSTALLATION 1-1

1.1 Servomotor ·········································································· 1-2
1.1.1 Storage Environment ······························································· 1-2
1.1.2 Operating Environment ····························································· 1-2
1.1.3 Installing the Servomotor ·························································· 1-3
1.1.4 Water Proof and Oil Proof Properties ··········································· 1-3
1.1.5 Servomotor Handling Precautions ··············································· 1-4
1.1.6 Notes on Stress Given to Cable ·················································· 1-4
1.1.7 Assembling Accuracy ······························································· 1-5
1.1.8 Allowable Load ······································································· 1-6
1.1.9 Cautionary Items on Servomotor Equipped with a Brake ·················· 1-6
1.2 Servo Amplifier ···································································· 1-7
1.2.1 Storage Environment ······························································· 1-7
Temporary storage ···················································································· 1-7
Long-term storage ···················································································· 1-7

iv
 1.2.2 Operating Environment ····························································· 1-8
1.2.3 Installing the Servo Amplifier ······················································ 1-9
1.2.4 Depth of Control Panel ··························································· 1-11

CHAPTER 2 WIRING 2-1

2.1 Configuration ······································································· 2-2
2.1.1 Part Name ············································································· 2-2
2.1.2 Configuration·········································································· 2-7
2.1.3 Sequence I/O ······································································· 2-17
2.1.3.1 Analog Monitor Output (MON1, MON2, M5) ······································ 2-18
2.1.3.2 Sequence Input (CONT1, CONT2, CONT3, ... COMIN) ······················· 2-18
2.1.3.3 Sequence Output (OUT1, OUT2, ... COMOUT) ································· 2-19
2.1.4 EtherCAT Communication (CN3) ·············································· 2-19
2.1.5 USB (CN4) ·········································································· 2-20
2.1.6 Safety Function (CN6) ···························································· 2-20
2.1.7 Linear Encoder/Full-closed wire (CN5) ······································· 2-21
2.2 P-N Junction ······································································· 2-23
2.3 Servomotor ········································································· 2-25
2.3.1 Motor Power Connectors ························································ 2-25
2.3.2 Brake Connector ··································································· 2-26
2.4 Encoder ·············································································· 2-27
2.4.1 Encoder Wiring Cable ···························································· 2-27
2.4.2 Encoder Cable Fabrication Method ··········································· 2-29
2.4.2.1 Encoder cable fabrication method ··················································· 2-29
2.4.2.2 Encoder Cable With Battery Fabrication Method ································ 2-30
2.5 Description of I/O Signals ····················································· 2-34
2.5.1 List of input signals ································································ 2-34
2.5.2 List of output signals ······························································ 2-35
2.5.3 Signal Descriptions ································································ 2-36
Input signal···························································································· 2-36
Homing position LS [LS]: Sequence input signal (Reference value 6) ············· 2-36
Over-travel in positive direction [+OT]: Sequence input signal
(Reference value 7) ································································ 2-37
Over-travel in negative direction [-OT]: Sequence input signal
(Reference value 8) ································································ 2-37
Forced stop [EMG]: Sequence input signal (Reference value 10) ·················· 2-39
Position preset: Sequence input signal (Reference value 16) ······················· 2-40
Servo response change: Sequence input signal (Reference value 17) ············ 2-41
P action: Sequence input signal (Reference value 29) ································ 2-42
External regenerative resistor overheat: Sequence input signal
(Reference value 34) ······························································ 2-42
Interrupt input: Sequence input signal (Reference value 49) ························· 2-43
Interrupt input 2: Sequence input signal (Reference value 59) ······················ 2-43
v
 Free run [BX]: Sequence input signal (Reference value 54) ························· 2-43
Anti resonance frequency selection 0: Sequence input signal
(Reference value 57) ······························································ 2-44
Anti resonance frequency selection 1: Sequence input signal
(Reference value 58) ······························································ 2-44
Full-closed control disabled: Sequence input signal (Reference value 82) ······· 2-45
Clear external/motor deviation: Sequence input signal (Reference value 83) ··· 2-46
Accumulated pulse clear: Sequence input signal (Reference value 84) ··········· 2-47
Output signal ························································································· 2-48
Ready for servo-on [RDY]: Sequence output signal (Reference value 1) ········· 2-48
In-position [INP]: Sequence output signal (Reference value 2) ······················ 2-49
Speed limit detection: Sequence output signal (Reference value 11)·············· 2-50
Brake timing: Sequence output signal (Reference value 14) ························· 2-51
Alarm detection (normally open contact): Sequence output signal
(Reference value 16) ······························································ 2-53
Alarm detection (normally closed contact): Sequence output signal
(Reference value 76) ······························································ 2-53
OT detection: Sequence output signal (Reference value 20) ························ 2-54
Homing completion: Sequence output signal (Reference value 22) ················ 2-55
Zero deviation: Sequence output signal (Reference value 23) ······················ 2-55
Zero speed [NZERO]: Sequence output signal (Reference value 24) ············· 2-55
Speed coincidence [NARV]: Sequence output signal (Reference value 25) ····· 2-56
Torque limit detection: Sequence output signal (Reference value 26) ············· 2-56
Overload warning detection: Sequence output signal (Reference value 27) ····· 2-57
Servo control ready [S-RDY]: Sequence output signal (Reference value 28) ···· 2-59
+OT detection: Sequence output signal (Reference value 38) ······················ 2-59
-OT detection: Sequence output signal (Reference value 39) ······················· 2-59
Home position LS detection: Sequence output signal (Reference value 40) ····· 2-60
Forced stop detection: Sequence output signal (Reference value 41)············· 2-60
Battery warning: Sequence output signal (Reference value 45) ···················· 2-60
Life warning: Sequence output signal (Reference value 46) ························· 2-61
Synchronization completion: Sequence output signal (Reference value 47) ····· 2-61
Full-closed control in progress: Sequence output signal
(Reference value 48) ······························································ 2-62
External/motor deviation over forecast: Sequence output signal
(Reference value 49) ······························································ 2-63
Position preset completion: Sequence output signal (Reference value 75) ······ 2-63
Interference detection: Sequence output signal (Reference value 86) ············ 2-64
Function safety SS1: Sequence output signal (Reference value 89)··············· 2-65
Function safety SLS: Sequence output signal (Reference value 90)··············· 2-65
Digital output1: Sequence output signal (Reference value 91) ······················ 2-66
Digital output2: Sequence output signal (Reference value 92) ······················ 2-66
2.6 Connection Example to Host Controller ································· 2-67
2.7 Safety Function ··································································· 2-68
2.7.1 Overview ············································································· 2-68
2.7.2 Usage Precautions ································································ 2-69
vi
 2.7.2.1 Terminal Wiring ·········································································· 2-69
2.7.2.2 Safety Stop Function (STO) Related Precautions ······························· 2-69
2.7.2.3 Safety Stop (STO) Test ································································ 2-70
2.7.3 Specifications ······································································· 2-70
2.7.3.1 Function Block Diagram ······························································· 2-70
2.7.3.2 Operating Sequences ·································································· 2-71
2.7.3.3 Description of Signals ·································································· 2-73

CHAPTER 3 PARAMETER 3-1

3.1 Parameter Division ······························································· 3-2
3.2 Basic Parameters ································································· 3-3
3.2.1 List (PA1_) ······································································· 3-3
3.2.2 Description of Each Parameter ··················································· 3-4
PA1_02 INC/ABS system selection ························································· 3-4
PA1_04 Rotation direction selection ························································ 3-5
PA1_12 Z-phase position offset ······························································ 3-5
PA1_13 Tuning mode selection ······························································ 3-6
PA1_14 Load inertia ratio ······································································ 3-7
PA1_15 Auto tuning gain 1 ···································································· 3-8
PA1_16 Auto tuning gain 2 ···································································· 3-9
PA1_20 to 23 Easy tuning settings ······················································· 3-10
PA1_25 Max. rotation speed (for position and speed control) ······················ 3-10
PA1_26 Max. rotation speed (for torque control) ······································ 3-10
PA1_27 Forward rotation torque limit ····················································· 3-11
PA1_28 Reverse rotation torque limit ····················································· 3-11
PA1_29 Speed coincidence range ························································ 3-12
PA1_30 Zero speed range ·································································· 3-12
PA1_37 Acceleration time (manual operation) ········································· 3-13
PA1_38 Deceleration time (manual operation) ········································· 3-13
PA1_41 to 47 Manual feed speed 1 to 7/speed limit 1 to 7
for torque control ··································································· 3-13
3.3 Control Gain and Filter Setting Parameters····························· 3-14
3.3.1 List (PA1_) ····································································· 3-14
3.3.2 Description of Each Parameter ················································· 3-16
PA1_51 to 53 Command filter settings ·················································· 3-16
PA1_54 Position command response time constant ·································· 3-16
PA1_55 to 57 Response to disturbance settings ····································· 3-17
PA1_58 Feed forward gain 1 ······························································· 3-17
PA1_59 Torque filter time constant for position and speed control ················ 3-18
PA1_60 Torque filter time constant for torque control ································ 3-18
PA1_61 to 67 Second gain settings ······················································ 3-19
PA1_70 to 76 Notch filter settings ························································ 3-20
PA1_77 to 86 Vibration suppressing control settings ································ 3-22
PA1_87 Model torque filter time constant················································ 3-23
vii
 PA1_88 Position loop integration time constant ········································ 3-23
PA1_89 Position loop integration limiter ················································· 3-23
PA1_90 Load torque observer ······························································ 3-23
PA1_91 P/PI automatic change selection ··············································· 3-24
PA1_92 and 93 Friction compensation settings ········································ 3-24
PA1_94 Torque filter setting mode ························································ 3-24
PA1_95 Model torque calculation selection, speed observer selection ·········· 3-25
PA1_96 Speed limit gain for torque control ············································· 3-25
3.4 Automatic Operation Setting Parameters ······························· 3-26
3.4.1 List (PA2_) ····································································· 3-26
3.4.2 Description of Each Parameter ················································· 3-26
PA2_09 Reverse traveling unit amount for homing ··································· 3-26
PA2_14 Home position shift unit amount ················································ 3-27
PA2_15 Deceleration operation for creep speed ······································ 3-28
PA2_25 Software OT selection/Position command format ·························· 3-29
3.5 Extended Function Setting Parameters ·································· 3-30
3.5.1 List (PA2_) ····································································· 3-30
3.5.2 Description of Each Parameter ················································· 3-31
PA2_56 Speed limit selection ······························································· 3-31
PA2_57 to 60 Torque limit settings ······················································· 3-31
PA2_61 to 63 Action sequence settings ················································ 3-32
PA2_64 Torque keeping time to holding brake ········································· 3-33
PA2_65 Braking resistor selection ························································· 3-33
PA2_66 Flying start selection in speed control ········································· 3-34
PA2_67 Alarm detection at undervoltage ················································ 3-34
PA2_68 Main power shutoff detection time ············································· 3-34
PA2_69 Deviation detection overflow value ············································· 3-35
PA2_70 Overload warning value ··························································· 3-35
PA2_72 ID-Selector Value offset ·························································· 3-35
PA2_74 Parameter write protection ······················································· 3-35
PA2_78 Display transition at warning detection ········································ 3-35
PA2_80 to 85 Parameter in RAM 1 to 6 ················································· 3-36
PA2_89 and 90 Sequence test mode:
Mode selection and encoder selection ········································ 3-36
PA2_91 Position command delay time ··················································· 3-37
PA2_92 EtherCAT extended function ···················································· 3-37
3.6 Input Terminal Function Setting Parameters ··························· 3-38
3.6.1 List (PA3_) ····································································· 3-38
3.6.2 Description of Each Parameter ················································· 3-39
PA3_01 to 08 CONT signal assignment ················································ 3-39
PA3_25 CONT signal inversion ···························································· 3-40
PA3_26 to 30 CONT always ON 1 to 5·················································· 3-41
3.7 Output Terminal Function Setting Parameters ························ 3-42
3.7.1 List (PA3_) ····································································· 3-42
viii
 3.7.2 Description of Each Parameter ················································· 3-43
PA3_51 to 60 OUT signal assignment··················································· 3-43
PA3_72 OUT signal inversion ······························································ 3-44
PA3_81 to 87 Monitor output scale and offset settings ······························ 3-45
PA3_89 Feedback speed sampling time for monitor ·································· 3-47
3.8 Extension Function 2 Setting Parameters ······························· 3-48
3.8.1 List (PA4_) ····································································· 3-48
3.8.2 Description of Each Parameter ················································· 3-49
PA4_01 to 06 Interference detection function settings ······························ 3-49
PA4_10 Enable/disable SEMI F47 compatible function ······························ 3-51
PA4_11 to 12 Function safety operation settings ····································· 3-52
PA4_21 Torque control speed limit method ············································· 3-54
PA4_32 Full-closed system setting ························································ 3-54
PA4_35 Full-closed LPF time-constant··················································· 3-55
PA4_36 External/motor deviation over detection value ······························ 3-55
PA4_37 External/motor deviation over forecast value ································ 3-55
PA4_38 Frequency divider denominator
for external/motor deviation monitor ··········································· 3-55
PA4_51 to 59 Notch filter settings ························································ 3-56
PA4_60 Cogging torque compensation ·················································· 3-57
PA4_61 to 63 Tuningless function settings ············································· 3-57
PA4_64 to 65 New vibration suppressing settings ··································· 3-58

CHAPTER 4 SERVO ADJUSTMENT 4-1

4.1 Adjustment Procedure ·························································· 4-2
4.2 Tuningless Function ····························································· 4-3
4.2.1 What is the Tuningless Function? ··············································· 4-3
4.2.2 Setting Parameters ·································································· 4-3
4.2.3 Operating Procedure ································································ 4-4
4.2.4 Disabled Functions and Parameters ············································ 4-4
4.3 Easy Tuning ········································································· 4-5
4.3.1 What is Easy Tuning? ······························································ 4-5
4.3.2 Easy Tuning Operation Profile ···················································· 4-5
4.3.3 Description of Operation ··························································· 4-7
4.4 Auto Tuning ········································································ 4-11
4.4.1 Conditions for Auto Tuning ······················································ 4-11
4.4.2 Parameters Used for Auto Tuning ············································· 4-11
4.4.3 Approximate Reference Value of Auto Tuning Gain 1 ···················· 4-12
4.4.4 Auto Tuning Adjustment Procedure ··········································· 4-13
4.5 Fine Tuning ········································································· 4-14
4.5.1 What is Fine Tuning? ····························································· 4-14
4.5.2 Adjusted Parameters······························································ 4-14

ix
 4.5.3 Operating Procedure ······························································ 4-15
4.6 Manual Tuning ···································································· 4-18
4.6.1 Conditions for Manual Tuning··················································· 4-18
4.6.2 Parameters Used for Manual Tuning ········································· 4-18
4.6.3 Approximate Gain Reference Value ··········································· 4-18
4.6.4 Manual Tuning Adjustment Procedure········································ 4-19
4.6.5 Individual Adjustment ····························································· 4-20
4.7 Interpolation Control Mode ··················································· 4-21
4.7.1 Conditions for Interpolation Control Mode ··································· 4-21
4.7.2 Parameters Used for Interpolation Control Mode ·························· 4-21
4.7.3 Adjustment Procedure in Interpolation Control Mode ····················· 4-22
4.8 Profile Operation ································································· 4-23
4.8.1 What is Profile Operation? ······················································· 4-23
4.8.2 Description of Operation ························································· 4-24
4.9 Special Adjustment (Vibration Suppression)··························· 4-25
4.9.1 What is Vibration Suppression ? ··············································· 4-25
4.9.2 Automatic Vibration Suppression ·············································· 4-27
4.9.3 Manual Adjustment of Vibration Suppression ······························· 4-28

CHAPTER 5 KEYPAD 5-1

5.1 Display ················································································ 5-2
5.1.1 Mode ···················································································· 5-2
5.1.2 Flashing Display ····································································· 5-3
5.1.3 Displayed content ···································································· 5-3
5.2 Function List ········································································ 5-4

CHAPTER 6 MAINTENANCE AND INSPECTION 6-1

6.1 Inspection ············································································ 6-2
6.2 Status Display ······································································ 6-3
6.2.1 Initial State············································································· 6-3
6.2.2 State at Alarm ········································································ 6-3
6.2.3 Alarm Display List ··································································· 6-4
6.2.4 Warning Display List ································································ 6-7
6.3 Troubleshooting Method ······················································· 6-8
1. Overcurrent ·························································································· 6-8
2. Overspeed ··························································································· 6-9
3. Control Power Undervoltage ···································································· 6-9
4. Overvoltage ······················································································· 6-10
5. Encoder Trouble ················································································· 6-10
6. Memory Error ····················································································· 6-11

x
 7. Motor Combination Error ······································································· 6-11
8. Encoder Communication Error ······························································· 6-12
9. CONT (control signal) Error ··································································· 6-12
10. Overload ·························································································· 6-13
11. Inrush Current Suppression Circuit Trouble ············································· 6-14
12. Safety function error ··········································································· 6-15
13. Main Power Undervoltage···································································· 6-16
14. Internal Braking Resistor Overheat ························································ 6-16
15. External Braking Resistor Overheat ······················································· 6-17
16. Braking Transistor Error ······································································ 6-17
17. Deviation Overflow ············································································· 6-18
18. Amplifier Overheat ············································································· 6-19
19. Encoder Overheat ·············································································· 6-19
20. Absolute Data Lost ············································································· 6-20
21. Multi-turn Data Overflow ······································································ 6-20
22. Initial Error ······················································································· 6-21
23. Command Pulse Frequency Error ························································· 6-21
24. Overload 3 ······················································································· 6-21
25. Cycle communication error ·································································· 6-22
6.4 Items to be Inquired upon Trouble ········································· 6-23
6.5 Maintenance and Discarding ················································· 6-24
6.5.1 Operating Environment ··························································· 6-24
6.5.2 Life ···················································································· 6-25
6.5.3 Discarding ··········································································· 6-26
6.6 Approximate Replacement Timing ········································· 6-27

CHAPTER 7 SPECIFICATIONS 7-1

7.1 Specifications of Servomotor ················································· 7-2
7.1.1 GYS Motor············································································· 7-2
7.1.2 GYB Motor············································································· 7-6
7.1.3 GYG Motor ············································································ 7-8
7.2 Specifications of Servo Amplifier ·········································· 7-10
7.2.1 Common Specifications ·························································· 7-10
7.2.2 VC Type Specifications··························································· 7-12
7.3 Dimensions of Servomotor ··················································· 7-14
7.3.1 GYS Motor (With no Brake) ····················································· 7-14
7.3.2 GYS Motor (With a Brake) ······················································· 7-17
7.3.3 GYB Motor (Connector Type) ··················································· 7-20
7.3.4 GYB Motor (Connector Type) (With a Brake) ······························· 7-21
7.3.5 GYB Motor (Lead Wire Type) ··················································· 7-22
7.3.6 GYB Motor (Lead Wire Type) (With a Brake) ······························· 7-23
7.3.7 GYG Motor (2000 [r/min]) ························································ 7-24
xi
 7.3.8 GYG Motor (2000 [r/min]) (With a Brake) ···································· 7-24
7.3.9 GYG Motor (1500 [r/min]) ························································ 7-25
7.3.10 GYG Motor (1500 [r/min]) (With a Brake) ···································· 7-25
7.4 Dimensions of Servo Amplifier ·············································· 7-26
Frame 1 ·························································································· 7-26
Frame 2 ·························································································· 7-27
Frame 3 ·························································································· 7-28
Frame 4 ·························································································· 7-29
7.5 Optional Specification of Shaft Extension [With a Key, Tapped] 7-30

CHAPTER 8 CHARACTERISTICS 8-1

8.1 Timing Chart ········································································ 8-2
8.1.1 Power-On Timing ···································································· 8-2
8.1.2 Each Signal Timing ·································································· 8-3
8.1.3 Control Mode Selection Timing ··················································· 8-4
8.1.4 Alarm Reset Timing ································································· 8-4
8.2 Overload Characteristic ························································· 8-5
8.2.1 GYS Motor············································································· 8-5
8.2.2 GYG Motor ············································································ 8-7
8.2.3 GYB Motor············································································· 8-8
8.3 Power Supply Capacity and Generated Loss ··························· 8-9
8.4 Inrush Current ····································································· 8-10
8.5 Bending Strength of Cable ···················································· 8-11

CHAPTER 9 PERIPHERAL EQUIPMENT 9-1

9.1 Overall Configuration of Peripheral Equipment ························ 9-2
9.2 Cable Size ············································································ 9-3
9.2.1 Main Circuit Section Cable Size ·················································· 9-4
9.2.2 Encoder Cable········································································ 9-5
9.2.3 How to Calculate the Servo Amplifier Input Current ························· 9-6
9.2.4 Conditions for Selecting Peripheral Equipment of Servo Amplifier ······ 9-7
9.3 MCCB/ELCB
(Molded Case Circuit Breaker/Earth Leakage Breaker) ·············· 9-8
9.4 Electromagnetic Contactor ···················································· 9-9
9.5 Surge Absorber ··································································· 9-10
9.6 Power Filter········································································· 9-12
9.7 AC/DC Reactor ···································································· 9-14
9.8 External Braking Resistor ····················································· 9-16
9.9 Optional Equipment ····························································· 9-18
xii
 Safety device connection cable······························································ 9-18
Encoder cable (1) ··············································································· 9-19
Encoder cable (2) ··············································································· 9-20
Encoder cable (3) ··············································································· 9-21
Encoder cable (4) ··············································································· 9-22
Encoder cable (5) ··············································································· 9-23
Motor power cable (1) ·········································································· 9-24
Motor power cable (2) ·········································································· 9-25
Brake cable (1) ·················································································· 9-26
Brake cable (2) ·················································································· 9-27
Encoder connector kit (amplifier side) ····················································· 9-28
Encoder connector kit (motor side) (1) ····················································· 9-28
Encoder connector kit (motor side) (2) ····················································· 9-29
Encoder connector kit (motor side) (3) ····················································· 9-29
Motor power connector kit (motor side) (1) ··············································· 9-30
Motor power connector kit (motor side) (2) ··············································· 9-30
Motor power connector kit (motor side) (3) ··············································· 9-31
Motor power connector kit (motor side) (4) ··············································· 9-31
Motor power connector kit (motor side: with brake) (1) ································ 9-32
Motor power connector kit (motor side: with brake) (2) ································ 9-32
Motor power connector kit (motor side: with brake) (3) ································ 9-33
Brake connector kit (motor side) (1) ························································ 9-33
Encoder relay cable with battery ···························································· 9-34
Encoder cable with battery (1) ······························································· 9-35
Encoder cable with battery (2) ······························································· 9-36
Encoder cable with battery (3) ······························································· 9-37
Encoder cable with battery (4) ······························································· 9-38
Encoder cable with battery (5) ······························································· 9-39
Battery case kit for encoder cable ·························································· 9-40
Replacement battery ··········································································· 9-40
Connector for sequential I/O (CN1) ························································· 9-41
Connector for linear encoder/fully closed wiring (CN5) ································ 9-41
Safety equipment connector (CN6) ························································· 9-42
Monitor (CN7) ···················································································· 9-42
External regenerative resistor (1) ··························································· 9-43
External regenerative resistor (2) ··························································· 9-44
External regenerative resistor (3) ··························································· 9-45
External regenerative resistor (4) ··························································· 9-46

CHAPTER 10 ABSOLUTE POSITION SYSTEM 10-1

10.1 Specifications ····································································· 10-2
10.1.1 Specification List ··································································· 10-2
10.1.2 Precautions·········································································· 10-2
10.2 Battery Installation and Replacement Procedures ··················· 10-3

xiii
 10.2.1 Battery Installation Procedure
(Amplifier models: RYT□□□F7-VC2) ·········································· 10-3
10.3 Starting Up Procedure ·························································· 10-5
10.4 Battery Warning ·································································· 10-6
10.5 Calculation of Battery Life ···················································· 10-7

CHAPTER 11 EtherCAT COMMUNICATION 11-1

11.1 Display and Settings ···························································· 11-2
11.1.1 Explicit Device ID ·································································· 11-2
11.1.2 Status LEDs ········································································· 11-4
11.2 CAN application protocol over EtherCAT Structure ····················· 11-6
11.3 Communication Status Transition ········································· 11-7
11.4 Process Data Objects (PDOs)················································ 11-8
11.4.1 PDO Mapping Settings ··························································· 11-8
11.4.2 Sync Manager PDO Assignment Settings ································· 11-10
11.4.3 PDO Mapping····································································· 11-11
11.4.4 Multiple PDO Mappings ························································ 11-12
11.5 Service Data Objects (SDOs)··············································· 11-13
11.5.1 Abort Codes ······································································· 11-13
11.6 Synchronization with Distributed Clock ······························· 11-14
11.6.1 Communication Cycles (DC Cycles) ········································ 11-14
11.7 ESI Files ··········································································· 11-15

CHAPTER 12 BASIC CONTROL FUNCTIONS 12-1

12.1 Cyclic Synchronous Position Mode ······································· 12-2
Cyclic synchronous position mode configuration ············································ 12-2
12.1.1 Related Objects ···································································· 12-3
12.1.2 Cyclic Synchronous Position Mode Block Diagram························ 12-4
12.2 Cyclic Synchronous Velocity Mode········································ 12-5
Cyclic synchronous velocity mode configuration ············································ 12-5
12.2.1 Related Objects ···································································· 12-6
12.2.2 Cyclic Synchronous Velocity Mode Block Diagram ························ 12-7
12.3 Cyclic Synchronous Torque Mode ········································· 12-8
Cyclic synchronous torque mode configuration ·············································· 12-8
12.3.1 Related Objects ···································································· 12-9
12.3.2 Cyclic Synchronous Torque Mode Block Diagram ······················· 12-10
12.4 Profile Position Mode ························································· 12-11
Profile position mode configuration ···························································· 12-12
12.4.1 Related Objects ·································································· 12-13

xiv
 12.4.2 Function Description ···························································· 12-14
12.4.3 Controlword (6040H) in Profile Position Mode ···························· 12-16
12.4.4 Profile Position Mode Statusword (6041H) ································ 12-16
12.5 Homing Mode ···································································· 12-17
12.6 Full-closed Control ···························································· 12-18
12.7 Electronic Gears ································································ 12-20

CHAPTER 13 PC LOADER 13-1

13.1 Operating Environment ························································ 13-2
13.2 Installation Method ······························································ 13-3
13.3 List of Functions ······························································· 13-11
13.4 Setup Procedure ································································ 13-12
13.5 Detailed Function Description ············································· 13-13
13.5.1 Real-time Trace ·································································· 13-13
13.5.2 Historical Trace··································································· 13-15
13.5.3 Monitors ············································································ 13-18
13.5.4 Parameter Editing ······························································· 13-20
13.5.5 Object Monitor ···································································· 13-22
13.5.6 Test Operation···································································· 13-24
13.5.7 Servo Analyze ···································································· 13-32
13.5.8 Changing the Language························································ 13-33

CHAPTER 14 STANDARDS COMPLIANCE 14-1

14.1 European Standards Compatibility ( ) ······························· 14-2
14.1.1 Compatibility with EMC Standards ············································ 14-3
14.1.2 Compatibility with European Low Voltage Directive ······················· 14-4
14.2 UL Standards and Canadian Standards (cUL Certification)
Compliance ········································································· 14-6
14.2.1 General··············································································· 14-6
14.2.2 UL Standards and Canadian Standards (cUL Certification)
Compatibility ········································································ 14-6
14.3 Radio Waves Act (South Korea) ············································ 14-8
14.4 Complying with "Guideline for Suppressing Harmonics by
Customers Receiving High Voltage or Special High Voltage" ··· 14-9
14.4.1 Servo Amplifier Application ······················································ 14-9
14.4.1.1 Application for Other Than Special Customers ·································· 14-9
14.4.1.2 Application for "Guideline for Suppressing Harmonics
by Customers Receiving High Voltage or Special High Voltage" ············ 14-9
14.4.2 Complying with "Guideline for Suppressing Harmonics
by Customers Receiving High Voltage or Special High Voltage"····· 14-10
xv
 14.4.2.1 Equivalent Capacity Calculation ···················································· 14-10
14.4.2.2 Harmonic Current Calculation ······················································· 14-14

CHAPTER 15 APPENDIXES 15-1

15.1 CiA402 Drive Profiles ··························································· 15-2
15.1.1 Servo Amplifier Status Control·················································· 15-2
Status transition ····················································································· 15-2
Description of each status ········································································ 15-3
Status control commands ········································································· 15-3
Status display ························································································ 15-4
Stop action sequences ············································································· 15-4
15.1.2 Operation Modes ·································································· 15-5
15.1.3 Communication Cycles and Corresponding Synchronization Mode ··· 15-5
15.1.4 Objects Synchronized with DC ················································· 15-6
15.1.5 Operation Modes and Advanced Functions ································· 15-6
15.1.6 Changing the Operation Mode·················································· 15-7
15.1.7 Homing Mode Specifications ···················································· 15-9
Homing mode configuration ······································································ 15-9
Corresponding homing method ·································································· 15-9
Related objects ····················································································· 15-10
Controlword (6040H) in homing mode ························································ 15-10
Statusword (6041H) in homing mode ························································· 15-11
Homing operation ·················································································· 15-12
15.1.8 Touch Probe (Latch Function) ················································ 15-21
Related Objects····················································································· 15-21
Trigger Signal Settings ············································································ 15-21
Restrictions When Using CONT Terminals ·················································· 15-22
Action Sequences ·················································································· 15-22
Starting and stopping ········································································· 15-22
Update first time only [60B8H bit 1/9 = 0: initial detection retained] ··············· 15-23
Update every time [60B8H bit 1/9 = 1: updated every detection] ·················· 15-23
15.1.9 Object Dictionary ································································· 15-24
Data type ····························································································· 15-24
EEPROM ····························································································· 15-24
15.1.10 Communication Objects ························································ 15-25
15.1.11 PDO Mapping Objects ·························································· 15-30
15.1.12 SyncManager Communication Objects ····································· 15-34
15.1.13 Manufacturer Objects ··························································· 15-43
15.1.14 Servo Amplifier Profile Objects ··············································· 15-46
15.2 Main Circuit Block Diagrams ··············································· 15-73
15.3 Control Circuit Block Diagram············································· 15-75
15.4 Parameter List ··································································· 15-76

xvi
15.5 Capacity Selection Calculation ············································ 15-83
15.5.1 Mechanical System Types ····················································· 15-83
15.5.2 Capacity Selection Calculation ··············································· 15-85
15.5.3 Capacity Selection Calculation Example ··································· 15-92
15.6 Revision History ································································ 15-99
15.7 Product Warranty ···························································· 15-100

xvii
xviii
CHAPTER 0 INTRODUCTION 0

0-1
 CHAPTER 0 INTRODUCTION

0 0.1 Safety Precautions

(1) Types and meanings of warning signs

Before starting installation, wiring work, maintenance or inspection, read through this manual and
other attached documents.
Be familiar with the device, safety information and precautions before using.
In this manual, safety precautions are described in two categories: "WARNING" and "CAUTION."

Warning sign Meaning

Negligence of description will cause danger in which deaths or

WARNING
serious injuries may be caused.

Negligence of description will cause danger in which minor or

CAUTION
medium injuries or material losses may be caused.
Description given in the "CAUTION" category may cause serious results under some
circumstances.
All descriptions are critical and should be strictly observed.
After reading, keep the manual in a place where users can refer to it at any time.

(2) Graphic symbols

Graphic symbols are used when necessary.
Graphic Graphic
symbol
Meaning symbol
Meaning

Do not touch Make sure to make grounding

Do not disassemble

Notice of general
prohibition

0-2 Safety Precautions

 CHAPTER 0 INTRODUCTION

■ Precautions on use
0
WARNING
 Do not touch the inside of the servo amplifier.
There is a risk of electric shock.
 Make sure to ground the grounding terminal of the servo amplifier and servomotor.
There is a risk of electric shock.
 Before performing wiring or inspection, turn the power off and wait for at least five minutes, and
check that the charge LED is unlit.
There is a risk of electric shock.
 Do not give damage or unreasonable stress to cables. Do not place a heavy matter on them or do
not pinch them.
It might cause failure, breakage and electric shock.
 Do not touch the rotating part of the servomotor during operation.
It might cause injuries.

CAUTION
 Use the servomotor and servo amplifier in a designated set.
It might cause fire and failure.
 Carry out wiring work properly and securely.
It might cause a failure.
 Never use at places susceptible to water splashes, in corrosive atmosphere, in flammable gas
atmosphere or near flammable matters.
It might cause fire and failure.
 As the servo amplifier, servomotor and peripheral devices temperature will become high and
requires careful considerations.
There is a risk of burns.
 Do not touch the heat sink of the servo amplifier, braking resistor, servomotor and so on while they
are turned on and for a while after they are turned off due to high temperature.
There is a risk of burns.
 If the surface temperature of the servomotor exceeds 70 [°C] during operation of the servomotor of
the final assembly, affix a "hot" caution label.
 If a braking resistor is used, take measures to turn the power off upon a fault signal output from the
servo amplifier.
Otherwise the braking resistor may be overheated and cause fire in the event of failure of the
braking transistor.

Safety Precautions 0-3

 CHAPTER 0 INTRODUCTION

0 ■ Precautions on storage

CAUTION
 Do not store at places susceptible to rain or water splashes or toxic gases or liquid.
It might cause failure.
 Store at places without direct sunshine within the predetermined temperature and humidity range
(between -20 [°C] and +60 [°C] , between 10 [%] and 90 [%] RH, without condensation).
It might cause failure.
 To store in the installed state.
Cover the entire servomotor with a sheet to protect against vapor, oil and water. Apply an
anticorrosive agent on machined surfaces such as the shaft and flange face.
To avoid rust on bearings, turn manually or operate for five minutes without a load about once a
month.

■ Precautions on transportation

CAUTION
 Do not hold cables or motor shaft when transporting.
It might cause failure and injuries.
 Overloaded products will cause collapse of cargo, hence observe the requirements.
 The eye bolt of the servomotor shall be applied exclusively for transportation of the servomotor. Do
not use it to transport machineries.
It might cause failure and injuries.
 For detailed description regarding lithium batteries, refer to "CHAPTER 10 10.1.2."
 Fumigation process before shipment
The internal parts of servo amplifiers may get corroded due to a halogen compound gas such as
methyl bromide which is used for fumigation process in packaging, resulting in damage of the
product.
When shipping servo amplifiers by installing them to a board or unit, pack them using wooden
materials which have been processed with fumigation treatment.

0-4 Safety Precautions

 CHAPTER 0 INTRODUCTION

■ Precautions on installation
0
CAUTION
 Do not ride on the servomotor or place a heavy matter on it.
It might cause failure, breakage, electric shock and injuries.
 Do not block the exhaust port or do not allow foreign substance to enter.
It might cause fire and electric shock.
 Observe the installation orientation of the servo amplifier.
Otherwise, it might cause fire and failure.
 Do not apply strong impact.
It might cause failure.
 The shaft-through hole of the servomotor is not water proof or oil proof. Take measures on the
machine side to block entry of water, coolant or similar from entering inside the servomotor.
It might cause failure.
 If case of application when massive water or oil is splashed on the main body of the servomotor,
install a water or oil splash guard or take similar measures on the machine side.
 In a humid and high oil mist environment, install the lead wires and connectors in a face down
orientation.
It might cause poor insulation, short circuit and resultant failure.

Do not disassemble
 Never remodel the servomotor and servo amplifier.
It might cause fire and failure. It will not be covered by the warranty.

Do not hammer
 Do not apply strong impact on the output shaft of the servomotor.
It might cause damage to the encoder inside the motor.

Safety Precautions 0-5

 CHAPTER 0 INTRODUCTION

0 ■ Precautions on wiring

CAUTION
 Never apply the commercial power supply to the U, V and W terminals of the servomotor.
It might cause fire and failure.
 Do not connect the grounding (E) cable to the U, V and W terminals of the servomotor. Do not
connect the U, V and W terminals in inappropriate order.
It might cause fire or failure.
 Do not connect the ground (E) to the servomotor side U, V, or W terminals, or connect the U, V, or
W terminals in the wrong order.
It may cause a fire or failure. Furthermore, there is a risk of damage to the customer's machine if
the motor malfunctions.
 If fabricating an encoder cable, be careful not to mistake the BAT+ and BAT- polarity.
If a battery is connected with incorrect BAT+ and BAT- polarity, both ends of the battery will short
circuit, and the battery may overheat or suffer damage.
 Never perform a dielectric, Megger or buzzer test to the encoder terminals.
Otherwise the encoder will be damaged.
 To perform a dielectric, Megger or buzzer test to the U, V and W terminals of the servomotor,
disconnect the servo amplifier.
 Do not connect encoder terminals in inappropriate order.
Otherwise the encoder and servo amplifier will be damaged.
 In an adverse power supply environment, insert a protective device such as the AC reactor so that
the voltage fluctuation is contained within the rating.
Otherwise the servo amplifier will be damaged.
 Install a circuit breaker or similar safety devices for short circuits in external wiring.
There is a risk of fire or failure.
 Do not remove the cover or disconnect the cable, connector or optional device with the servo
amplifier turned on.
There is a risk of electric shock to human body, product operation stop, and burnout.
 Use the servo system under the specified voltage range.
 Do not tie signal cables or route them in the same duct with main power cable or servo amplifier
motor output cable.
 Use the designated wiring material. In particular, use the option cable or equivalent for the encoder
cable.
 Do not insert a phase advance capacitor, various filter, reactor or similar on the output side of the
servo amplifier.
 The servo amplifier cannot be fully protected from ground fault.

Ground
 Be sure to connect the grounding terminal of the servo amplifier to a grounding electrode.
There is a risk of electric shock.

0-6 Safety Precautions

 CHAPTER 0 INTRODUCTION

■ Precautions on operation
0
CAUTION
 In order to avoid unstable motions, never change adjustment radically.
It might cause injuries.
 To perform test operation, fix the servomotor and leave it disconnected from the mechanical
system. After checking the motion, connect to the machine.
Otherwise, it might cause injuries.
 The retention brake incorporated in the servo motor is not a stopping unit for assuring safety of the
machine. Install a stopping unit on the machine side to assure safety.
It might cause failure and injuries.
 When an alarm occurs, resolve the cause and assure safety before performing alarm reset and
restarting operation.
It might cause injuries.
 Stay away from the machine after power failure and power restoration because sudden restart may
be triggered. (Design the machine so that personal safety is secured even if the machine restarts
suddenly.)
It might cause injuries.
 The brake incorporated in the servomotor is for retention. Do not use it for regular braking
operation.
It might cause failures and injuries.
 Install an external emergency stop circuit so that operation can be stopped immediately and the
power can be turned off.
Otherwise, it might cause fire, failure, burns and injuries.
 Before installing to the machine and starting operation, enter parameters matching the machine. If
the machine is operated without entering parameters, the machine may unexpectedly malfunction
and cause failure.
 To use the servomotor in a vertical travel, install a safety device (Such as external brake) to prevent
the mechanical movable part from dropping in case of alarm or similar.
 If auto tuning is not used, be sure to enter the "inertia ratio."

Safety Precautions 0-7

 CHAPTER 0 INTRODUCTION

0 ■ General precautions

CAUTION
 Drawings in this manual may show the state without covers or shields for safety to explain in
details. Restore the covers and shields in the original state when operating the product.
 In case of disposal of the product, comply with the following two laws and act in accordance with
each regulation. These laws are effected in Japan. Outside Japan, local laws have priority. When
necessary, give notification or indication on the final assembly to be compliant with legal
requirements.
(1) Law Concerning Promotion of Effective Use of Resources (Law for Promotion of Effective
Utilization of Resources)
Recycle and collect resources from the product to be discarded, as far as possible.
It is recommended to disassemble the product into iron dust, electric parts and so on and sell
them to appropriate subcontractors to recycle and collect resources.
(2) Waste Disposal and Public Cleaning Law (Waste disposal & law public cleansing law)
It is recommended to recycle and collect resources from the product, which is to be discarded,
according to the aforementioned law (Law for Promotion of Effective Utilization of Resources, and
to reduce waste.)
In case unnecessary product cannot be sold and will be discarded, the product falls in the
category of industrial waste described in the law. The industrial waste must be handled in due
course including to request an authenticated subcontractor to dispose of the product and control
manifesto.
The battery used in the product falls in the category of called "primary battery" and must be
discarded in the due course as required by the corresponding local government.

■ Harmonics suppression measures (for Japan)

(1) All models of the servo amplifier used by the special customer are applicable to "guideline of
harmonics suppression measures for high voltage or special high voltage customers." The
guideline requires the customer to calculate the equivalent capacity and harmonics outflow current
according to the guideline and, if the harmonics current exceeds the limit stipulated for the
contract wattage, corresponding countermeasures must be taken.
For details, refer to JEM-TR225.

(2) The servo amplifier was excluded from the scope of "guideline of harmonics suppression measure
for electric appliances and general purpose products" from January 2004. JEMA is preparing a
new technical document in the position to educate total harmonics suppression measures.
Harmonics suppression measures of the discrete device should be taken as far as possible.

Source: The Japan Electrical Manufacturers' Association (JEMA)

0-8 Safety Precautions

 CHAPTER 0 INTRODUCTION

■ Compliance with EU directives

EU directives aim at integration of regulations among the EU member countries to promote

0
distribution of safety assured products. It is required to satisfy basic safety requirements including
machine directive (2006/42/EC), EMC directive (2014/30/EU), and low voltage directive (2014/35EU)
and affix a CE mark (CE marking) on the product sold in EU member countries. Machines and
devices housing the servo system are subjected to CE marking.
The servo system does not function independently but is a component to be used in combination
with machines and equipments. For this reason, the servo system is not applicable to the EMC
directive but the machine or equipment including the servo system is applicable.
In order to facilitate CE marking declaration on the assembly machine or equipment of the servo
system, optional devices that are compliant with the low voltage directive and that support compliant
with the EMC directive as well as a relevant guideline are prepared.

■ Service life of EEPROM

This product is equipped with EEPROM for retaining parameter data in the event of power failure.
The write enable frequency of EEPROM is about 100,000 cycles. After the following operation is
repeated 100,000 times or more, the risk of the servo amplifier failure becomes higher.
 Parameter editing
 Position preset of absolute position system
 Batch transfer of parameters

■ Compliance with EU Directives and UL/CSA Standard

• Safety Standard for North America (UL/cUL)
UL standard (UL File No.) cUL standard (UL File No.)
Servo amplifier UL61800-5-1 (E132902) CSA 22.2 No.274 (E132902)
Servomotor UL1004 (E102475) CSA-C22.2 No.100 (E102475)

• EC Directives
Low voltage directive EMC directive
EMI EMS
Servo amplifier EN61800-5-1 EN61800-3 EN61800-3
Servomotor EN60034-1
－ －
EN60034-6
Note: The certification for the machine is required because the servo amplifier and the
servomotor are assembled into one unit.

Safety Precautions 0-9

 CHAPTER 0 INTRODUCTION

0 0.2 Outline of System

ALPHA 7 Series is an AC servo system that supports various host interfaces and realizes the best
motion control for the target machine.

0.2.1 Servomotor

Three types of servomotor are available; an ultra-low inertia type (GYS), and two medium inertia types
(GYG/GYB).

Servomotor type
Rated speed Power Rated output Protective
Model Without With Encoder Type
(Max. speed) supply capacity brake brake
construction

24-bit ABS GYS***D7-E□2 (-B)

3000 r/min
0.75 kW or lower:
11 types
6000r/min   IP67*1
3000r/min
1.0kW or higher: 0.05 to 5.0 kW
5000r/min
24-bit INC GYS***D7-N□2 (-B)
GYS motor
Ultra-low Inertia

24-bit ABS GYB***D7-E□2 (-B/-C/-D)

200V
3000 r/min series 3 types
  IP67*1
(6000r/min) 0.2, 0.4, 0.75kW
GYB motor 24-bit INC GYB***D7-N□2 (-B/-C/-D)
Medium Inertia

24-bit ABS GYG***C7-E□2 (-B)

2000 r/min 2 type
  IP67*1
(3000r/min) 1.0 kW, 1.5 kW
24-bit INC GYG***C7-N□2 (-B)

24-bit ABS GYG***B7-E□2 (-B)

GYG motor 1500 r/min 2 type
  IP67*1
Medium Inertia (3000r/min) 0.85 kW, 1.3 kW
24-bit INC GYG***B7-N□2 (-B)

*1: Except for shaft-through part (also except connectors for GYS motors of 0.75kW or lower and GYB motors of lead wire type).

0-10 Outline of System

 CHAPTER 0 INTRODUCTION

0.2.2 Servo Amplifier

0
General-purpose interface type (VV), high-speed serial bus type (VS, LS), and EtherCAT compatible
type (VC) servo amplifiers are available (high-speed serial bus type servo amplifiers are Fuji's SX-bus
compatible products).

Control mode Supported

Command
Type Positioning Power supply Capacity Model motor
interface Position Speed Torque
Function series
Single-phase or
0.05
three-phase
to 0.75 kW
VS 200 to 240 VAC
   RYT***F7-VS2
type
Three-phase 1.0
200 to 240 VAC to 5.0 kW GYS
SX-bus GYB
Single-phase or GYG
0.05
three-phase
to 0.75 kW
LS 200 to 240 VAC
  RYT***F7-LS2
type
High-speed Three-phase 1.0
serial bus 200 to 240 VAC to 5.0 kW

Single-phase or
0.05
three-phase
to 0.75 kW
200 to 240 VAC
General-purpose
(pulse/ GYS
VV
analog/     RYT***F7-VV2 GYB
type
positioning/ GYG
Modbus)
Three-phase 1.0
200 to 240 VAC to 5.0 kW
General-purpose
interface

Single-phase or
0.05
three-phase
to 0.75 kW
200 to 240 VAC
GYS
VC
EtherCAT    RYT***F7-VC2 GYB
type
GYG
Three-phase 1.0
200 to 240 VAC to 5.0 kW
EtherCAT

Outline of System 0-11

 CHAPTER 0 INTRODUCTION

0 0.3 Model Nomenclature

◼ When unpacking
Check the following items.
 Check if the delivered item is what you have ordered.
 Check if the product is damaged during transportation.
 Check if the instruction manual is included.

If you have any uncertainties, contact the seller.

0.3.1 Servomotor

◼ Rating plate (servomotors) ◼ Model nomenclature (servomotors)

2 3 4 5 6 7 8

GYS 5 0 0 D 7 - E B 2 - B
Digit Specification Code
Basic type
Ultra-low Inertia GYS
1
Medium Inertia GYB
Medium Inertia GYG
Capacity
50×100=50 W 500
10×101=100 W 101
20×101=200 W 201
40×101=400 W 401
75×101=750 W 751
85×101=850 W 851
2
10×102=1.0 kW 102
13×102=1.3 kW 132
15×102=1.5 kW 152
20×102=2.0 kW 202
30×102=3.0 kW 302
40×102=4.0 kW 402
50×102=5.0 kW 502
Series
3000 r/min series D
3
2000 r/min series C
1500 r/min series B
Development order
4
7 7
Encoder
5 24-bit ABS (with support for functional safety) E
24-bit INC (with support for functional safety) N
Oil seal/shaft
Without oil seal, straight shaft, with key A
Without oil seal, straight shaft, without key B
6 Without oil seal, straight shaft, with key, tapped C
With oil seal, straight shaft, with key E
With oil seal, straight shaft, without key F
With oil seal, straight shaft, with key, tapped G
Input voltage
7
3-phase 200VAC 2
Wire connection/brake*
Lead wire,without brake No marking
8 Lead wire,with brake B
Connector,without brake C
Connector,with brake D

*: Connector specification only for GYS motor 1 kW or more, GYG motor

0-12 Model Nomenclature

 CHAPTER 0 INTRODUCTION

0.3.2 Servo Amplifier

0
◼ Rating plate (servo amplifier) ◼ Model nomenclature (servo amplifier)
The model and serial number are also marked on the 2 3 4 5 6

front panel of the main body of the servo amplifier. RYT 2 0 1 F 7 - V C 2

Digit Specification Code
Basic type
1
ALPHA series RYT
Applicable motor output
50×100=50 W 500
10×101=100 W 101
20×101=200 W 201
40×101=400 W 401
1
75×10 =750 W 751
2
10×102=1.0 kW 102
15×102=1.5 kW 152
20×102=2.0 kW 202
30×102=3.0 kW 302
40×102=4.0 kW 402
50×102=5.0 kW 502
Series
3
1500 to 3000 r/min series F
Development order
4
7 7
Major functions
SX bus
VS
(Position, speed and torque control)
5 SX bus (Built-in positioning function) LS
EtherCAT VC
General-purpose interface
VV
(pulse, analog, positioning)
Input voltage
6
3-phase 200V 2

Model Nomenclature 0-13

 CHAPTER 0 INTRODUCTION

0 0.4 Combination between Servomotor and Servo

Amplifier

0.4.1 VC Type

Use the servomotor and servo amplifier in one of the following sets.
Do not use in other sets.

Applicable motor

Applicable
motor
output GYS motor ultra-low GYB motor medium GYB motor medium GYB motor medium
inertia inertia inertia inertia

3000 [r/min] brake: 3000 [r/min] brake: 2000 [r/min] brake: 1500 [r/min] brake:
Servo amplifier without (with) without (with) without (with) without (with)

RYT500F7-VC2 0.05 W GYS500D7-□□2(-B) — — —

RYT101F7-VC2 0.1 kW GYS101D7-□□2(-B) — — —

RYT201F7-VC2 0.2 kW GYS201D7-□□2(-B) GYB201D7-□□2/-C(-B/-D) — —

RYT401F7-VC2 0.4 kW GYS401D7-□□2(-B) GYB401D7-□□2/-C(-B/-D) — —

RYT751F7-VC2 0.75 kW GYS751D7-□□2(-B) GYB751D7-□□2/-C(-B/-D) — —

0.85 kW — — — GYG851B7-□□2(-B)
RYT102F7-VC2
1.0 kW GYS102D7-□□2(-B) — GYG102C7-□□2(-B) —

RYT152F7-VC2 1.5 kW GYS152D7-□□2(-B) — — —

1.3 kW — — — GYG132B7-□□2(-B)

RYT202F7-VC2 1.5 kW — — GYG152C7-□□2(-B) —

2.0 kW GYS202D7-□□2(-B) — — —

RYT302F7-VC2 3.0 kW GYS302D7-□□2(-B) — — —

RYT402F7-VC2 4.0 kW GYS402D7-□□2(-B) — — —

RYT502F7-VC2 5.0 kW GYS502D7-□□2(-B) — — —

0.5 Trademark

EtherCAT® is patented technology licensed from Beckhoff Automation GmbH (Germany), and is a
registered trademark.

0-14 Combination between Servomotor and Servo Amplifier

CHAPTER 1 INSTALLATION 1

1-1
1.1 Servomotor

1.1.1 Storage Environment

Select the following environment when storing the servomotor, or when resting the machine under the
state without power distribution.

Item Environmental condition

Ambient temperature -20 [°C] to +60 [°C] (no freezing allowed)

Ambient humidity 10 [%] to 90 [%] RH (no condensation allowed)

1.1.2 Operating Environment

Operate the servomotor in the following environment.

Item Environmental condition

Ambient temperature -10 [°C] to +40 [°C] (no freezing allowed)

Ambient humidity 10 [%] to 90 [%] RH (no condensation allowed)
49 [m/s2] or less (3000 [r/min], 0.75 [kw] or less)
Vibration 24.5 [m/s2] or less (3000 [r/min], 1 [kw] or more)
24.5 [m/s2] or less (1500 [r/min], 2000 [r/min])

Observe the following when operating.

 Install indoors at a place free from rainwater and direct sunshine.
 Do not operate in corrosive atmosphere including hydrogen sulfides, sulfurous acid, chlorine,
ammonia, sulfur, chlorine-based gases, acids, alkalis or salts or near flammable gases or matters.
 Install at a place free from splashes of coolant, oil mist, iron powder and chips.
 Install in a well ventilated environment with less vapor, oil and water content.
 Install at a place advantageous for inspection and cleaning.
 Install at a place with less vibration.
 Do not install in an airtight environment.

1-2
 CHAPTER 1 INSTALLATION

1.1.3 Installing the Servomotor

The servomotor can be installed horizontally or vertically with the shaft facing up or down. The same
rule applies to the brake-incorporated servomotor and gear head.
The symbol in the figure is the installation method symbol specified by JEM. Description in parentheses
( ) indicates the earlier JEM symbol.

Flange type
IM B5 (L51) IM V1 (L52) IM V3 (L53)

1.1.4 Water Proof and Oil Proof Properties

 The servomotor itself has resistance against splashes in relatively

small amount. However, the shaft-through part is not water proof Cover
or oil proof. Take mechanical protective measures to block entry
Servomotor
of water and oil*. Keep the temperature inside the cover to
40-degree or less.
 Install a cover in environments susceptible to much water, oil or
oil mist.
 Do not operate with cables immersed in oil.
 Some coolant types can provide on sealant, cable, case or
similar.
 To install the servomotor horizontally, install so that the
servomotor cables face down. Oil
To install the servomotor vertically or at an oblique direction, route the cables to secure a cable trap
(see the figure on the right).
 In case of a servomotor equipped with an oil seal, although noise
might be created from the oil seal, it will not effect any functional
operation.
 To install the servomotor equipped with an oil seal in an orientation
with the shaft facing up, take measures to avoid accumulation of oil
YM539189-1

AC SERVO MOTOR
Fuji Electric FA

at the oil seal lip.

JAPAN

* The protection level is the initial property. Cable trap

Servomotor 1-3
 CHAPTER 1 INSTALLATION

1.1.5 Servomotor Handling Precautions

1 Do not hammer
 Do not give a strong impact on the output shaft of the servomotor.
Otherwise the encoder inside the motor will be broken.

 Align the center when connecting with the machine system. Use a flexible coupling.
Use rigid one designed exclusively for servomotors whenever possible.
 Do not use a rigid coupling which does not allow errors between shafts.
Otherwise mechanical vibration will be caused, resulting in damaged bearings and/or shorter
service life.
 Do not supply commercial power directly to the servomotor. It will cause burnout.
Test run with commercial power also shall not be performed.

1.1.6 Notes on Stress Given to Cable

 In applications where the servomotor and machine movable part move, take measures to avoid
stress given on the cable.
 Route the encoder cable and motor power cable in CABLEVEYOR.
 Fix the encoder cable and motor power cable attached to the servomotor (routed from the motor)
with cable clamps or similar.
 Design the radius of bend as large as possible.
 Do not allow bending stress or stress caused by the self weight, at joints of the cable.

1-4 Servomotor
 CHAPTER 1 INSTALLATION

1.1.7 Assembling Accuracy

The assembling accuracy of the servomotor is shown below.

Unit: [mm]
Runout at shaft Misalignment Perpendicularity of
Servomotor model
end (flange) flange face
GYSD7
GYG7 Within 0.02 Within 0.06 Within 0.08
GYBD7

Runout at shaft end Misalignment (flange) Perpendicularity of flange face

Servomotor 1-5
 CHAPTER 1 INSTALLATION

1.1.8 Allowable Load

The allowable radial load (Fr) and allowable thrust load (Fs) of the servomotor at the shaft end (LR) are

1 shown below.

Servomotor at
Radial load Thrust load
Motor model the shaft end
Fr[N] Fs[N] Radial load (Fr)
LR[mm]
GYS500D7-□□2 127 19 25
AC SERVO MOTOR

GYS101D7-□□2 127 19 25 Thrust

Fuji Electric FA

load
YM539189-1 JAPAN

GYS201D7-□□2 264 58 30
(Fs)
GYS401D7-□□2 264 58 30
GYS751D7-□□2 676 147 40 Servomotor at the
shaft end (LR)
GYS102D7-□□2 637 107 45
GYS152D7-□□2 637 107 45
GYS202D7-□□2 637 107 45
GYS302D7-□□2 921 166 63
GYS402D7-□□2 921 166 63
GYS502D7-□□2 921 166 63
GYG102C7-□□2 510 253 55
GYG152C7-□□2 510 253 55
GYG851B7-□□2 449 253 58
GYG132B7-□□2 449 253 58
GYB201D7-□□2 245 98 25
GYB401D7-□□2 245 98 25
GYB751D7-□□2 392 147 35

Radial load: the load applied vertically to the motor shaft

Thrust load: the load applied horizontally to the motor shaft

1.1.9 Cautionary Items on Servomotor Equipped with a Brake

 Brake noise
The brake lining may issue chattering noise during operation of the motor equipped with a brake. As
it is caused by brake structure and is not abnormal, the noise will not effect functional operation.
 Others (shaft end magnetization)
The shaft end of the servomotor equipped with a brake is subject to leaking magnetic flux during
energization of the brake coil (when the brake is released). At the instance, chips, screws and other
magnetic bodies will be attracted. Cautions are required.
 Brake power source
There is no polarity for the brake power source input.

1-6 Servomotor
 CHAPTER 1 INSTALLATION

1.2 Servo Amplifier

1.2.1 Storage Environment

If storing the servo amplifier, or when not turning ON the power at such times as when the machine is
stopped, ensure that the following environmental conditions are observed.

Temporary storage
Table 1.2-1 Storage and transportation environment
Item Environmental conditions
Ambient
-25 to 80 °C (there should be no freezing)
temperature
Ambient
10 to 90 [%] RH or less (there should be no condensation)
humidity
The product should be stored indoors at an altitude of 1,000 [m] or lower, and there
Atmosphere should be no dust, direct sunlight, corrosive gas, flammable gas, oil mist, steam, water
droplets, or vibrations. There should be minimal salt content. (0.01 mg/cm2/year or less)
Atmospheric 86 to 106kPa (during storage)
pressure 70 to 106kPa (during transport)

◼ Temporary storage precautions

(1) Do not leave directly on the floor.
(2) If the atmosphere does not satisfy the storage environment in Table 1.2-1, store the product after
sealing and packaging it with a plastic sheet.
(3) When there is a risk of the WSU-ST1 being adversely affected by moisture, place desiccant (silica
gel, etc.) inside the product, and then seal and package with a plastic sheet.

Long-term storage
If not using the product for a long period of time following purchase, store in the following condition.
(1) Ensure that the temporary storage environmental conditions are satisfied.
However, if the storage period is 3 months or longer, ensure an ambient temperature of between
-10 and +30 °C to prevent electrolytic capacitor deterioration due to temperature.
(2) Package very carefully to prevent the intrusion of moisture, etc. Fill the packaging with desiccant
(silica gel, etc.), and ensure a relative humidity inside the packaging of 70% or less.
(3) If left in environments exposed to moisture or dust (if installed in equipment or cabinets, etc.
installed in workplaces in which construction work is being carried out), temporarily remove, and
then store in the environment indicated in Table 1.2-1.

Servo Amplifier 1-7

 CHAPTER 1 INSTALLATION

◼ If storing for 1 year or longer

The properties of electrolytic capacitors will deteriorate if the power is not turned ON for a long period of
time, and therefore the product should be connected to a power supply once a year, and turned ON for

1 30 to 60 minutes. Do not wire or run the output side (secondary side).

1.2.2 Operating Environment

Operate the servo amplifier in the following environment. The servo amplifier is neither dust proof nor
water proof.
Item Environmental condition

Ambient temperature -10 [°C] to +55 [°C] (no freezing allowed)

Ambient humidity 10 [%] to 90 [%] RH (no condensation allowed)
Indoors at altitude ≤ 1000 [m] free from powder dust,
Location
corrosive gases and direct sunshine
3 mm: less than 2 to 9 Hz,
9.8 m/s2: less than 9 to 20 Hz,
Vibration
2 m/s2: less than 20 to 55 Hz,
1 m/s2: less than 55 to 200 Hz

Observe the following when operating.

 Install indoors at a place free from rainwater and direct sunshine.
 Do not operate in corrosive atmosphere including hydrogen sulfides, sulfurous acid, chlorine,
ammonia, sulfur, chlorine-based gases, acids, alkalis or salts or near flammable gases or matters.
 Install in a well ventilated environment with less vapor, oil and water content.
 Install at a place with less vibration.
 Use in locations with oil, water vapor or corrosive gas, or in dusty locations
 Use in intense electric fields or in ferromagnetic fields
 Use in the same control panel as that used for high-voltage (2 kV) equipment
 Use with the same power supply as devices which generate a lot of noise
 Other surrounding environments in which use prohibited
(i) Locations with powerful electromagnetic waves
(ii) Vacuum
(iii) In explosive atmosphere
(iv) Under acceleration, vibration conditions

1-8 Servo Amplifier

 CHAPTER 1 INSTALLATION

1.2.3 Installing the Servo Amplifier

(1) Install the servo amplifier vertically to the ground so that the
"ALPHA7"

characters (see the arrow in the figure on the right) on the

front panel of the servo amplifier is horizontal.
Use M4 screws with length between 12 and 20 mm for the
mounting to the control panel.

Use screws together with plane washers or spring lock washers

or use 3-piece sems screw to avoid looseness.
When using plane washers, select the finished round type
(large size with φ9 mm).

(2) Some parts of the servo amplifier generate heat during operation.
Cool the surroundings if the servo amplifier is installed inside the control panel.
Natural convection, air
tight structure Air purge Forced ventilation Heat exchanger
(totally enclosed type)

Servo
amplifier

Exhaust
air Exhaust
air

Servo Servo Servo

amplifier amplifier amplifier

Intake
air
Intake
Intake
air air

(3) To install two or more servo amplifiers in the same control panel, the following shall be taken into
consideration.
Arrange transverse alignment in principle. The RYT type servo amplifier can be installed side by
side closely. If servo amplifiers are installed completely side by side closely, operate them at the 80
[%ED] rating.
If the ambient temperature is 45 [°C] or lower in the close installation state, 100 [%ED] can be
achieved.
If there is a clearance of 5 [mm] or over between adjacent servo amplifiers, there is no limitation in
the operation frequency.

Servo Amplifier 1-9

 CHAPTER 1 INSTALLATION

(4) To suppress rises in servo amplifier temperature, secure the interval shown in the following
diagram between servo amplifiers and from peripheral equipment.

1
10[mm] or more (note 1) 50[mm] 10[mm] or more (note 1)
or more
(Frame 1) (Frame 2) (Frame 3) (Frame 4)

5[mm] or more

5[mm] or more

40[mm] 25[mm] or more (note 2)

or more

(Note 1) A space of 10 mm or more from the left and right walls is necessary, regardless of the
servo amplifier frame size.
(Note 2) A space of 25 mm or more is required for wiring at the left side of the frame 4 servo
amplifier.

1-10 Servo Amplifier

 CHAPTER 1 INSTALLATION

1.2.4 Depth of Control Panel

Secure a space of 80 to 97 [mm] in front of the servo amplifier if sequence I/O cables, an encoder
cable, or shorting wire are connected.
(Frame 1 / Frame 2 / Frame 4)

Main power connector

Sequence cable

Encoder cable

80 [mm] Amplifier depth

(Frame 3)
Main power connector

Shorting wire

97 [mm] Amplifier depth

Servo Amplifier 1-11

 CHAPTER 1 INSTALLATION

1-12 Servo Amplifier

CHAPTER 2 WIRING 2

2-1
 CHAPTER 2 WIRING

2.1 Configuration

2.1.1 Part Name

◼ Servomotors
2 GYS, GYB (lead wire specification): 0.75kW or less GYB (connector connection
specification): 0.75kW or less

Encoder wiring Motor power cable Encoder Power

(lead 300 [mm]) (lead 300 [mm]) connector connector

◼ Servomotor
GYS model: 1kW or higher/GYG model

Encoder connector
Motor power connector

2-2 Configuration
 CHAPTER 2 WIRING

◼ Servo amplifier (frame 1)

Keypad
5-digit 7-segment LED, 4 keys,
monitor terminal

L1C
Analog monitor (CN7)
Monitors analog waveforms. 2
L2C
EtherCAT (CN3A (IN), CN3B (OUT))
L1
Power supply (TB1) L2 Upper side CN3A, lower side CN3B
・Control power supply
L3
・Motor power supply
・PN connection P1 EtherCAT Indicators
・Regenerative resistor P(+)
Safety device connection
N(-) connector (CN6)
RB1
USB (CN4)
RB2 USB Mini-B connector
RB3

Charge LED Sequence I/O (CN1)

U
Motor (TB2)
V
Encoder wiring (CN2)
W

Linear encoder/wiring for fully closed

control (CN5)

Grounding terminal (2 locations)

Configuration 2-3
 CHAPTER 2 WIRING

◼ Servo amplifier (frame 2)

Keypad
5-digit 7-segment LED, 4 keys,
monitor terminal
Analog monitor (CN7)
Monitors analog waveforms.

2 L1C
L2C
EtherCAT (CN3A (IN), CN3B (OUT))
L1
Power supply Upper side CN3A, lower side CN3B
L2
(TB1)
・Control power supply L3
・Motor power supply P1 EtherCAT Indicators
・PN connection
P(+) Safety device connection connector
・Regenerative resistor
N(-) (CN6)
RB1 USB (CN4)
RB2 USB Mini-B connector
RB3

Charge LED Sequence I/O (CN1)

U
Motor (TB2)
V
W Encoder wiring (CN2)

Linear encoder/wiring for fully

closed control (CN5)

Grounding terminal (2 locations)

2-4 Configuration
 CHAPTER 2 WIRING

◼ Servo amplifier (frame 3)

Keypad
2-digit 7-segment LED, 2 keys, monitor terminal

L1C
Analog monitor (CN7)

2
Power supply (TB1) L2C Monitors analog waveforms.
• Control power supply
• Motor power supply L1 EtherCAT CN3A (IN), CN3B (OUT)
L2 Upper side CN3A, lower side CN3B
L3
EtherCAT Indicators
Main circuit (TB2) P1 Safety device connection connector
• PN connection P(+) (CN6)
• Regenerative resistor N(-) USB (CN4)
USB Mini-B connector
RB1
RB2 Sequence I/O (CN1)
RB3
Charge LED
Encoder wiring (CN2)
U
V Linear encoder/
Motor (TB3)
wiring for fully closed control (CN5)
W

Grounding terminal (2 locations)

Configuration 2-5
 CHAPTER 2 WIRING

◼ Servo amplifier (frame 4)

Keypad
Power supply L1C
2-digit 7-segment LED, 2 keys, monitor terminal
Analog monitor (CN7)

2
• Control power supply
L2C
• Motor power supply Monitors analog waveforms.
L1
L2 EtherCAT CN3A (IN), CN3B (OUT)
L3 Upper side CN3A, lower side CN3B

Main circuit P1 EtherCAT Indicators

• PN connection P(+) Safety device connection connector
• Regenerative resistor N(-) (CN6)
RB1
USB (CN4)
USB Mini-B connector
RB2
Sequence I/O (CN1)
RB3
U Encoder wiring (CN2)
Motor
V
W
Linear encoder/
wiring for fully closed control (CN5)

Charge LED

Grounding terminal (2 locations)

2-6 Configuration
 CHAPTER 2 WIRING

2.1.2 Configuration

The following pages shows the general configuration of devices. There is no need to connect
alldevices.
• The size on each device in the figure is not drawn at the uniform scale. (same as other chapters)
• To supply single-phase power to the servo amplifier, use the L1 and L2 terminals.
Supply power control power terminals L1C and L2C is required.
• Connectors TB1 and TB2 (TB1 to TB3 for frame size 3) are provided with the servo amplifier.
2
• Adopt a configuration for turning the main power off upon alarm detection (activation of protective
function of servo amplifier).
Otherwise overheat of the braking resistor, such as braking resistor transistor failure may cause fire.
• The maximum wiring length between the servo amplifier and servomotor is 50 [m].
• You may not turn the power wiring of the servo amplifier or servomotor on or off with a contactor or
you may not drive multiple servomotors selectively with a single servo amplifier.
• The following devices cannot be connected to the power wiring between the servo amplifier and
servomotor.
・Phase advancing capacitor ・Various reactors ・Noise filter ・Surge absorber
• Be sure to ground the protective ground terminal of the servo amplifier (terminal provided with a
grounding mark) to the protective ground of the control panel to avoid electric shock.

◼ Connect servo amplifier frame size 1 and 2 connectors TB1 and TB2, and frame size 3
connectors TB1, TB2, and TB3 to the terminals as follows.
• Wiring connection and removal

Connect wiring with connectors disconnected from the servo amplifier.

Servo amplifier frame size 1, 2 (when using twisted wire)

1. Peel off the wiring sheath to ensure

the following dimensions.
TB1: L = 8 to 9 mm L

TB2: L = 9 to 10 mm

2. Insert the tip of the accessory tool into

the top of the connector.

3. Push the tool toward the connector to

insert the cable.

4. Release the tool. The cable is fixed.

 Use the opposite procedure to disconnect the

wiring.

Configuration 2-7
 CHAPTER 2 WIRING

Wiring connection for servo amplifier frame size 3 (when using twisted wire)

Recommended tool: flathead screwdriver

(Blade thickness: 0.6 mm,
blade width: 3.5 mm, DIN 5264) 0.6 3.5
Driver slot

2
Wire insertion
hole
1. Peel off the wiring sheath to ensure the following
dimensions.
TB1, TB2, TB3 … L = 11 to 13 mm L

2. Insert the flathead screwdriver blade into the driver slot. Insert
the driver until the spring opens fully, and then hold the driver at
this position.

3. Insert the wiring until the conductor contacts the clamp.

4. Remove the driver from the slot to release the spring lock. Pull
the wiring slowly, and ensure that the conductor is firmly secured
in the clamp.

Do not solder the wires. If using twisted wire, ensure that there are no sharp kinks in the
wire.

Wiring connection for servo amplifier frame size 3 (when using solid wire or wire with ferrule terminal)

1. Insert the wiring until the conductor contacts the clamp.

The clamp spring will open of its own accord, and the wiring will
be secured.
Pull the wiring slowly, and ensure that the conductor is firmly
secured in the clamp.

Disconnecting wiring for servo amplifier frame size 3 (when using twisted wire, solid wire, or wire with
ferrule terminal)

1. Insert the flathead screwdriver blade into the driver slot. Insert
the driver until the spring opens fully, and then hold the driver at
this position.

2. Disconnect the wiring.

2-8 Configuration
 CHAPTER 2 WIRING

1) For servo amplifier frames 1

Wire the motor as follows if it is a lead-out type or connector connection type.

MCCB/ELCB

2
AC reactor
Computer (commercially available product)
Loader software can be downloaded free
of charge.
HMI

Power filter
General-purpose PLC

(USB)
Servo amplifier
(L1C, L2C) PC controller
EtherCAT
Electromagnetic
contactor TB1
CN3A
DC reactor
(Disconnect the (L1, L2, L3)
shorting wire, and Safety device cable
CN3B
connect to the P1 Safety device
and P(+) terminals.)

CN6 Use with the provided safety jumper

connector attached if not using the
CN4 safety function.

CN1
External regenerative resistor Sequence I/O cable
(Disconnect the shorting wire, and
connect to the RB1 and RB2 terminals.) TB2
Connect push buttons, sensors, and
pulse input/output signals.
CN2
Linear encoder/wiring for fully
Motor power cable CN5 closed control
(lead wire specification or connector
connection specification)

Encoder cable
Encoder cable/encoder cable with battery
Grounding terminals (M4) (lead wire specification or connector
Encoder cable with a battery connection specification)

Servomotor

Configuration 2-9
 CHAPTER 2 WIRING

Connection Diagram (Servo amplifier frame 1)

Connect the external regenerative resistor across RB1

and RB2. (Remove the short wire from RS2-RB3.)

P1 P(+) N(-) RB1 RB2 RB3

In case of commercial power supply
TB1 TB2
single-phase 200V input, connect

2
across L1 and L2 terminals. TB1 Ｕ U
L1C Ｖ V
L2C
M
W W
L1
L2
L3 Br
DC24V
Br
CN2

CN4 P5 : 1 P5
M5 : 2 M5
USB Mini-B
SIG+ : 5 SIG+
SIG- : 6 SIG-
PG
CN3A(IN)
BAT+ : 3 BAT+
EtherCAT BAT- : 4 BAT-
IN FG
CN5 (*1, *2)

CN3B(OUT) M5 : 1 Servomotor*
Servomotor*
P5 : 2
* See "2.3.1 Motor Power
EtherCAT A+ : 5
OUT Connectors" and "2.4.1
A- : 6
Encoder Wiring Cable".
B+ : 7
CN7 B- : 8
1 : MON1 Z+ : 9
2 : MON2 Z- : 10
3 : M5 (*1)
4 : M5

CN1

2 : COMIN

8 : CONT1
9 : CONT2
5 : CONT3 OUT1 : 6
4 : CONT4 OUT2 : 14
3 : CONT5
7 : CONT6 COMOUT : 1

CN6
3 : EN1-
4 : EN1+
5 : EN2-
6 : EN2+
7 : EDM-
8 : EDM+

*1: Connect the shielding wire to the connector shell on the servo amplifier side.
*2: Use an encoder cable with battery for ABS encoders.

2-10 Configuration
 CHAPTER 2 WIRING

2) For servo amplifier frames 2 (excl. certain combinations)

For Cannon connector type motors, connect cables as shown below.

MCCB/ELCB

AC reactor
Computer (commercially available product)
Loader software can
be downloaded free of charge.
2
HMI

General-purpose PLC
Power filter
(USB)

PC controller
EtherCAT

Electromagnetic (L1C, L2C)

Servo amplifier
contactor
Safety device
cable
(L1, L2, L3) TB1 Safety device
DC reactor
(Disconnect the shorting CN3A
wire, and connect to the Use with the provided safety
P1 and P(+) terminals.) jumper connector attached if not
CN3B using the safety function.

CN6

CN4

CN1
Sequence I/O cable
External regenerative resistor
(Disconnect the shorting wire, Motor power cable
and connect to the RB1
TB2 Connect push buttons, sensors,
(Fabricated by customer.)
and RB2 terminals.) and pulse input/output signals.
CN2
Linear encoder/
CN5 wiring for fully closed control

Encoder cable /
Encoder cable with a battery
Grounding terminals (M4)

Servomotor

Configuration 2-11
 CHAPTER 2 WIRING

Connection Diagram (Servo amplifier frame 2)

Connect the external regenerative resistor across RB1

and RB2. (Remove the short wire from RS2-RB3.)

P1 P(+) N(-) RB1 RB2 RB3

In case of commercial power supply
TB1 TB2
single-phase 200V input, connect

2
across L1 and L2 terminals. TB1 Ｕ U
L1C Ｖ V
L2C
M
W W
L1
L2
L3 Br
DC24V
Br
CN2

CN4 P5 : 1 P5
M5 : 2 M5
USB Mini-B
SIG+ : 5 SIG+
SIG- : 6 SIG-
PG
CN3A(IN)
BAT+ : 3 BAT+
EtherCAT BAT- : 4 BAT-
IN FG
CN5 (*1, *2)

CN3B(OUT) M5 : 1 Servomotor*
P5 : 2 * See "2.3.1 Motor Power
EtherCAT A+ : 5
OUT Connectors" and "2.4.1
A- : 6
Encoder Wiring Cable".
B+ : 7
CN7 B- : 8
1 : MON1 Z+ : 9
2 : MON2 Z- : 10
3 : M5
(*1)
4 : M5

CN1

2 : COMIN

8 : CONT1
9 : CONT2
5 : CONT3 OUT1 : 6
4 : CONT4 OUT2 : 14
3 : CONT5
7 : CONT6 COMOUT : 1

CN6
3 : EN1-
4 : EN1+
5 : EN2-
6 : EN2+
7 : EDM-
8 : EDM+

*1: Connect the shielding wire to the connector shell on the servo amplifier side.
*2: Use an encoder cable with battery for ABS encoders.

2-12 Configuration
 CHAPTER 2 WIRING

3) For servo amplifier frames 3

For Cannon connector type motors, connect cables as shown below.

MCCB/ELCB

AC reactor
Computer (commercially available product)
Loader software can be downloaded free
of charge.
2
HMI

Power filter
(USB)

PC controller

EtherCAT

External regenerative resistor

(Discon nect th e shor ting wire, and Electromagnetic
connect to the RB1 and RB2 contactor
terminals.)

DC reactor (L1C, L2C) Servo amplifier

(Discon nect th e shor ting
Safety device
wire, an d con nect to the cable
P1 and P( +) ter min als.)
TB1 Safety device

CN3A Use with the provided safety

jumper connector attached if not
CN3B
using the safety function.
(L1, L2, L3) TB2
CN6

M24 CN4
CONTn CN1
Sequence I/O cable

Connect push buttons, sensors,

Motor power cable TB3 CN2 and pulse input/output signals.
(Fabricated by customer.) CN5

Linear encoder/
wiring for fully closed control

Encoder cable/
Encoder cable with a battery
Grounding terminals (M4)

Servomotor

Configuration 2-13
 CHAPTER 2 WIRING

Connection Diagram (Servo amplifier frame 3)

Connect the external regenerative resistor across RB1

and RB2. (Remove the short wire from RS2-RB3.)

P1 P(+) N(-) RB1 RB2 RB3

TB2 TB3

2
TB1 Ｕ U
L1C Ｖ V
Commercial L2C
M
W W
power supply
L1
L2
L3 Br
DC24V
Br
CN2

CN4 P5 : 1 P5
M5 : 2 M5
USB Mini-B
SIG+ : 5 SIG+
SIG- : 6 SIG-
PG
CN3A(IN)
BAT+ : 3 BAT+
EtherCAT BAT- : 4 BAT-
IN FG
CN5 (*1, *2)

CN3B(OUT) M5 : 1 Servomotor*
P5 : 2 * See "2.3.1 Motor Power
EtherCAT A+ : 5
OUT
Connectors" and "2.4.1
A- : 6
Encoder Wiring Cable".
B+ : 7
CN7 B- : 8
1 : MON1 Z+ : 9
2 : MON2 Z- : 10
3 : M5 (*1)
4 : M5

CN1

2 : COMIN

8 : CONT1
9 : CONT2
5 : CONT3 OUT1 : 6
4 : CONT4 OUT2 : 14
3 : CONT5
7 : CONT6 COMOUT : 1

CN6
3 : EN1-
4 : EN1+
5 : EN2-
6 : EN2+
7 : EDM-
8 : EDM+

*1: Connect the shielding wire to the connector shell on the servo amplifier side.
*2: Use an encoder cable with battery for ABS encoders.

2-14 Configuration
 CHAPTER 2 WIRING

4) For servo amplifier frames 4

For Cannon connector type motors, connect cables as shown below.

MCCB/ELCB

AC reactor
Computer (commercially available product)
Loader software can
be downloaded free of charge.
2
HMI

General-purpose PLC
Power filter
(USB)
(L1C, L2C) PC controller
Servo amplifier
External regenerative EtherCAT
resistor Electro- TB1(M4)
(Disconnect the jumper,
magnetic
and connect to the RB1 L1C
and RB2 terminals.) contactor
L2C Safety device
DC reactor (L1, L2, L3) L1 cable
(Disconnect the jumper, CN3A
and connect to the P1 L2 Safety device
and P(+) terminals.) L3 CN3B
P1
Use with the provided safety jumper
P(+) CN6 connector attached if not using the
N(-) CN4 safety function.
RB1
CN1
RB2 Sequence I/O cable
RB3
U Connect push buttons, sensors,
M24 CN2 and pulse input/output signals.
CONTn V
CN5
W
Linear encoder/
Motor power cable wiring for fully closed control
(Fabricated by customer.)

Encoder cable /
Grounding terminals Encoder cable with a battery
(M4)

Servomotor

If connecting wires to the P1,

P(+), RB2, or RB3 terminals,
do so after cutting the cover as
shown in the diagram on the
right.

Configuration 2-15
 CHAPTER 2 WIRING

Connection Diagram (Servo amplifier frame 4)

Connect the external regenerative resistor across RB1

and RB2. (Remove the short wire from RS2-RB3.)

P1 P(+) N(-) RB1 RB2 RB3

TB1 TB1

2
TB1 Ｕ U
L1C Ｖ V
commercial L2C
M
W W
power supply
L1
L2
L3 Br
DC24V
Br
CN2

CN4 P5 : 1 P5
M5 : 2 M5
USB Mini-B
SIG+ : 5 SIG+
SIG- : 6 SIG-
PG
CN3A(IN)
BAT+ : 3 BAT+
EtherCAT BAT- : 4 BAT-
IN FG
CN5 (*1, *2)

CN3B(OUT) M5 : 1 Servomotor*
P5 : 2 * See "2.3.1 Motor Power
EtherCAT A+ : 5 Connectors" and "2.4.1
OUT A- : 6 Encoder Wiring Cable".
B+ : 7
CN7 B- : 8
1 : MON1 Z+ : 9
2 : MON2 Z- : 10
3 : M5
(*1)
4 : M5

CN1

2 : COMIN

8 : CONT1
9 : CONT2
5 : CONT3 OUT1 : 6
4 : CONT4 OUT2 : 14
3 : CONT5
7 : CONT6 COMOUT : 1

CN6
3 : EN1-
4 : EN1+
5 : EN2-
6 : EN2+
7 : EDM-
8 : EDM+

*1: Connect the shielding wire to the connector shell on the servo amplifier side.
*2: Use an encoder cable with battery for ABS encoders.

2-16 Configuration
 CHAPTER 2 WIRING

2.1.3 Sequence I/O

The wiring connector is not included in the servo amplifier.

1 COMOUT 8 CONT1
2
3
COMIN
CONT5
9
10
CONT2
N.C
2
4 CONT4 11 N.C
5 CONT3 12 N.C

6 OUT1 13 N.C
7 CONT6 14 OUT2

No. Terminal Function

symbol

8 CONT1 Sequence input (sink/source compatible)

These terminals input command signals to the servo amplifier.
9 CONT2
12 to 24 [V] DC/approx. 8 [mA] (per point)
5 CONT3 Photocoupler isolation COMIN is the reference potential terminal.
(Excl. soft filter 0.5 [ms], agreement of two scans, interrupt input)
4 CONT4
(With interrupt input, the hardware filter detection delay is 0.1 [ms].)
3 CONT5
7 CONT6
2 COMIN
6 OUT1 Sequence output (sink/source compatible)
These terminals output signals from the servo amplifier. Max. 30 [V] DC/50
14 OUT2
[mA]
1 COMOUT Photocoupler isolation COMOUT is the reference potential terminal.
10 N.C Use prohibited
11 N.C Use prohibited
12 N.C Use prohibited
13 N.C Use prohibited

Configuration 2-17
 CHAPTER 2 WIRING

2.1.3.1 Analog Monitor Output (MON1, MON2, M5)

The analog monitor output is the analog voltage output terminal of the servo amplifier. The output is
specified with a parameter.
Observe after 2 seconds or longer have elapsed since turning ON the power.
The output voltage will be unstable immediately after turning ON the power, and after turning OFF the

2 power.
• Max. ±10 [V]/0.5 [mA]
• Resolution: 14-bit/± full scale

MON1
MON2
Servo amplifier
サーボアンプ M5
0V

2.1.3.2 Sequence Input (CONT1, CONT2, CONT3, ... COMIN)

These are input terminals for sequence control.
• They are compatible with both sink input and source input.
• Use in the 12 to 24 VDC range.
• Approximately 8[mA] (for 24 VDC) is consumed per point.
• Terminal functions are set with parameters.
Refer to “2.5.3Signal Descriptions” onward for details on assignable signals.

COMI N COMI N
3k 3k
DC12 ～ 24V DC12 ～ 24V

CONT n CONTn
Servo amplifier Servo amplifier

(Source input) (Sink input)

2-18 Configuration
 CHAPTER 2 WIRING

2.1.3.3 Sequence Output (OUT1, OUT2, ... COMOUT)

These are output terminals for sequence control.
• They are compatible with both sink output and source output.
• Use in the 30 [V] DC/50[mA] range.
• Terminal functions are set with parameters.
Refer to “2.5.3Signal Descriptions” onward for details on assignable signals.
• If the load is a relay, connect a diode near the coil.
Reverse diode connection may cause damage to the servo amplifier.
2
Servo amplifier
サーボアンプ Servo amplifier
サーボアンプ
OUT n OUT n

DC24 V DC24 V

COMOU T COMOU T

(Sink output) (Source output)

2.1.4 EtherCAT Communication (CN3)

EtherCAT communication is used to connect to other servo amplifiers or host controllers.

Use a dedicated EtherCAT cable.
There is no need to connect a terminating resistor.
Refer to "CHAPTER 11 ETHERCAT COMMUNICATION" for details.

Configuration 2-19
 CHAPTER 2 WIRING

2.1.5 USB (CN4)

USB-miniB type 4-pin connector. Use a marketed cable.

2.1.6 Safety Function (CN6)

This is a safety stop function (STO) regulated by EN60204 Stop Category 0.

The motor is slowly stopped (free-run stop) by turning OFF [EN1+] and [EN2+] inputs.
If not using the safety stop function (STO), use with the provided jumper connector attached.

Refer to “2.7 Safety Function” for details on the function.

2-20 Configuration
 CHAPTER 2 WIRING

2.1.7 Linear Encoder/Full-closed wire (CN5)

Connector for signal input of linear encoder/feedback scale for full-closed control.

• Amplifier side connector model

MUF-RS10SK-GKX-TB(LF)/JST Mfg. Co., Ltd
• Connector kit model
2
MUF-PK10K-X/Nippon Crimp Terminal Mfg. Co., Ltd
Contents : Housing
: Cable clamp
: Screws (2 pcs)
: Metal shell (A/B)
: Cover housing (A/B)
• Applicable cable
Shielded Twisted Pair Cable (AWG #28 to #24) Wire Cover
External Dimensions : ø1.2 mm or less
Cable outline : ø 6.8 mm or less
Maximum length : 30 [m] *1
Connect the amplifier side of the shielded wire to the shell (FG) of the connector, and the
feedback scale side to the FG part of the feedback scale.

Configuration 2-21
 CHAPTER 2 WIRING

Terminal
No. Function
symbol

1 M5 Reference potential

2 P5 Power supply output voltage for feedback scale: DC +5 [V] ± 5 %

Maximum current: 300 [mA]

2 3

4
—

—
Not used. Do not connect anything.

5 A+ A/B phase pulse-input

• Form: 90° phase difference signal
6 A-
• Maximum input frequency: 5.0 [MHz] (after multiplication by 4)*2
7 B+

8 B- < Input circuit > 5V line driver (equivalent to RS422)

Servo amplifier
5V

A+(B+)

120

A-(B-)

0V
0V

9 Z+ Z-phase pulse input

• Form: Origin mark signal
10 Z-
• Pulse width : 0.4μsec or more

< Input circuit > Same as AB-phase pulse input circuit

*1: This is the maximum length in our evaluation environment and does not guarantee operation in
your environment. It may be shortened due to the power supply voltage drop, the specification of
the feedback scale, or the noise environment.
*2: If Duty ratio of the input-signal waveform is not 50%, the input-signal waveform may not be read
correctly.

2-22 Configuration
 CHAPTER 2 WIRING

2.2 P-N Junction

Connect the DC intermediate voltages of two servo amplifiers directly to facilitate power transfer.
By doing so, power can be supplied by the regenerative side (brake side) servo amplifier to the

2
powering side (drive side) servo amplifier, allowing overall power consumption to be reduced.
Application examples
• Winding systems
• Take-out robots
• Printing machines
Restrictions apply to combinations of connected servo amplifier. Please contact Fuji if using with a PN
junction.

If employing a PN connection as shown in the diagram, it is not possible to connect two wires to the
spring clamp connector P1 or P(+) terminals on servo amplifiers of frame size 3 or less, and therefore it
is recommended that a separate commercially available branch connector be used.
◼ Servo amplifier (frame 1, frame 2)

R·S·T

* L2C L1C

L2C L1C P(+) P1

N(‒) P(+)
N(‒)

*: Reference The shorting wire between P1

Commercially available connector and P(+) on the second servo
amplifier is not necessary, and
CL-1814T (JST), etc.
should therefore be removed.

P-N Junction 2-23

 CHAPTER 2 WIRING

◼ Servo amplifier (frame 3)

R·S·T

L2C L1C

2 L2C L1C
*

P(+) P1

N(‒) P(+)
N(‒)

The shorting wire between

*: Reference
P1 and P(+) on the second
Commercially available connector
servo amplifier is not
221-613 (Wago), etc.
necessary, and should
therefore be removed.

◼ Servo amplifier (frame 4)

R·S·T

L2C L1C
L1C
L1
L2C
L2
L3 P(+) P(+)

N(‒) N(‒)

The jumper between P1

P1 P1
and P(+) on the second
servo amplifier is not
P(+) P(+) necessary, and should
therefore be removed.

If employing a PN connection as shown in the diagram,

attach the jumper between P1 and P(+) on the 1st
servo amplifier after changing the direction by 180°,
and then connect the P(+) terminal wire.

2-24 P-N Junction

 CHAPTER 2 WIRING

2.3 Servomotor

There are wiring of the main body of the servomotor and that of the brake (servomotor equipped with a brake).

CAUTION
• Keep consistency in the phase order between the servomotor and servo amplifier.
• Do not connect commercial power to the servomotor. Otherwise it may cause failure.
2
2.3.1 Motor Power Connectors

Connector kit models:

WSK-M04P-E (GYS model 0.75kW or less/GYB model lead wire specification servomotor side)
WSK-M04P-CA (GYS model 1.0kW or higher servomotor side)
WSK-M04P-CC (GYG model servomotor side)
WSK-M06P-CA (GYS model 1.0 [kW] or more servomotor with brake side)
WSK-M06P-CC (GYG model servomotor with brake side)

Connector terminal symbol

Application GYS GYB

GYG
range 0.75kW or less 1.0kW or more 0.75kW or less

Connector Connector Connector

Lead wire Lead wire
connection connection connection
Connection specification specification
specification specification specification
specification
Without With Without With Without With Without With Without With
brake brake brake brake brake brake brake brake brake brake
U phase 1 A 1 4 A B

V phase 2 B 2 3 B I
W phase 3 C 3 2 C F
E (ground) 4 D 4 1 D D

Attach and tighten the connector at the GYB motor side using the screws provided (tightening torque:
0.2 N∙m).

Servomotor 2-25
 CHAPTER 2 WIRING

2.3.2 Brake Connector

Connector kit type:

WSK-M02P-E (GYS model: 0.75kW or less/GYB model: lead wire specification servomotor side)

2 Connector terminal symbol

1 Br
2 Br

The brake of the servomotor equipped with a brake is a non-exciting brake. To turn the servomotor,
+24 [V] must be supplied. There is no polarity in the brake input circuit.
If the brake is left released, although the periphery of the brake becomes hot it is not a fault.
Use a relay or solid state relay (SSR) as the brake cannot be released directly in the sequence output
terminal (DC+30V/50mA).

The GYS model 1.0 to 1.5kW brake terminal is located inside the WSK-M06P-CA motor power
connector, and the GYG model 1.0 to 1.5kW brake terminal is located inside the WSK-M06P-CC motor
power connector.
Attach and tighten the connector at the GYB motor side using the screws provided (tightening torque:
0.2 N∙m).

Connected to
encoder cable.
Connected to motor power cable.

Connected to power
supply (+24V).

2-26 Servomotor
 CHAPTER 2 WIRING

2.4 Encoder

2.4.1 Encoder Wiring Cable

2
Connector kit models:
WSK-P09P-D (GYS model: 0.75kW or less/GYB model: lead wire specification servomotor side)
WSK-P06P-C (GYS model: 1.0 to 1.5kW servomotor side)
WSK-P06P-J (GYG model: 1.0 to 1.5kW servomotor side)

Connector terminal symbol

Application GYS GYB

GYG
range 0.75kW or less 1.0kW or more 0.75kW or less

Connector Connector Connector

Connection Lead wire Lead wire
connection connection connection
specification specification specification
specification specification specification

P5 7 H 7 6 6
M5 8 G 8 3 7
BAT+ 1 T 1 5 8
BAT- 2 S 2 2 9
SIG+ 5 C 5 4 2
SIG- 4 D 4 7 1

Use the specified shielded wire for the servomotor encoder wiring.
The optional cable for the servomotor is a bending resistant UL Standard cable.
If neither the servomotor nor cable move, use a standard twisted pair common shielded wire.
Attach and tighten the connector at the GYB motor side using the screws provided (tightening torque:
0.2 N∙m).

Encoder 2-27
 CHAPTER 2 WIRING

◼ Shield cables (twisted pair type)

• GYS model/GYB model lead wire specification
30V 80°C UL VW-1 AWG#25/2P + AWG#22/2C or AWG#23/3P shielded cable
(For wiring length of 10 m or shorter)
30V 80°C UL VW-1 AWG#25/2P + AWG#17/2C shielded cable or equivalent
(For wiring length > 10 m ≤ 50 m)

2 • GYB model connector connection specification/GYG model

30V 80°C UL VW-1 AWG#24/2P + AWG#22/2C shielded cable or equivalent
(For wiring length of 10 m or shorter)
Please contact Fuji if using wiring of length 10 m to 50 m.

The relationship between AWG and mm is shown below.

Gauge SI unit Inch unit

Cross section Cross section
A.W.G In [mm2] Diameter [mm]
[mm2]
Diameter [mil]
[CM]

16 1.25 1.291 1.309 50.82 2583

17 - 1.150 1.037 45.26 2048

18 - 1.024 0.8226 40.30 1624

19 - 0.9116 0.6529 35.89 1288

20 - 0.8118 0.5174 31.96 1021
21 - 0.7299 0.4105 28.46 810.0

22 - 0.6438 0.3256 25.35 642.6

23 - 0.5733 0.2518 22.57 509.4

24 - 0.5106 0.2024 20.10 404.0

25 - 0.4547 0.1623 17.90 320.4

2-28 Encoder
 CHAPTER 2 WIRING

2.4.2 Encoder Cable Fabrication Method

To fabricate the encoder cable by yourself, take care of the following.

• Do not install a relaying terminal block between the servo amplifier and motor.
• Use a shielded cable.
• Connect the shielded cable with the designated connector pin, connector shell or cable clamp on
both sides.
The servo amplifier communicates with the encoder built in the servomotor through high speed
serial communications.
2
The shield treatment is important for the assurance of reliability of serial communications.
The maximum encoder wiring length is 50m.
• In case of twisted wire, please conduct according to the signal combination below:
P5 and M5, SIG+ and SIG-, BAT+ and BAT- (See “Connection diagram (example)” in section 2.1.2.)
• Wrong wiring may cause encoder or battery trouble, please be careful.

Perform shield treatment at the encoder according to the procedure specified below.
Despite motor capacity, wiring treatment at the servo amplifier is the same.

2.4.2.1 Encoder cable fabrication method

GYS model 0.75kW or less/GYB model lead wire specification

Connect the shielded end of the connector at the motor side to pin No. 3.
Relay the shielded wire with a lead wire of AWG #22 to #26,
and then crimp it to the connector pin.

Servo amplifier side Motor side

GYB model connector connection specification

Servo amplifier side

アンプ側 Motor
モータ側side

モータ側コネクタのシールド端接続は不要です。
There is no need to connect the shielded end of the
connector at the motor side.
Copper foil tape
[ 1 ] Peel off approximately 22 mm of the end of
the shielded wire.
Fold back the shield.
Wind copper foil tape two to three times around the shield.

Encoder 2-29
 CHAPTER 2 WIRING

[ 2 ] Solder the wiring to the connector.

Fitting a shrinkable tube to each wire
ensures safety.

[ 3 ] Fit the shell body to the connector.

2 [ 4 ] Align the shell cover with the clips on

１３５
both sides of the shell body and attach.

[ 5 ] Fit the cable clamp to the assembled shell,

and secure with the screws.

[ 6 ] Secure by aligning the clip with

the mold cover.
Clip

2.4.2.2 Encoder Cable With Battery Fabrication Method

GYS model 0.75kW or less/GYB model lead wire specification

Connect the shielded end of the connector at the motor side

to pin No. 3.
Relay the shielded wire with a lead wire of AWG #22 to #26.
and then crimp it to the connector pin.

Servo amplifier side WSB-BC kit Motor side

GYB model connector connection specification

Servo amplifier side Motor side

WSB-BC kit

There is no need to connect the shielded end of

the motor side connector.

[ 1 ] Peel off approximately 32 mm from the end of the shielded

wire.

2-30 Encoder
 CHAPTER 2 WIRING

[ 2 ] Peel off approximately 3 mm from the end of the core

wire.
Cut the braided wire approximately in half.
[ 3 ] Wrap vinyl tape 2 to 3 times around approximately
10 mm of the base of the braided wire for insulation. Vinyl tape

[ 4 ] Wrap the battery board wiring 2 to 3 times around the

shield wire, and pass through the thermal contraction
Battery board wiring Thermal contraction tube
2
tube.

[ 5 ] Leave approximately 7 mm of the braided wire, and

contract the thermal contraction tube. 7

[ 6 ] Fold back 6 to 8 mm of the braided wire.

[ 7 ] Wrap copper foil tape 2 to 3 times around the braided

wire. Copper foil tape

[ 8 ] Solder the encoder cable core wire and battery board

wiring to the plug housing body.
Plug housing body
Fitting a tube to each soldered part ensures safety.
[ 9 ] Secure the plug housing body to the plug shell cover.

Plug shell cover

[10] Secure the cable clamp from the rear with screws.

Screw Cable clamp

[11] Fit the plug shell body while aligning the clips on both
246

sides.
Plug shell body

[12] Turn over the connector, and secure by aligning the clip
position with plug mold cover (A).

Clip Plug mold cover (A)

[13] Secure plug mold cover (B) by aligning the clips at 4

locations. When doing so, take care not to trap the wires.

Plug mold cover (B)

[14] Use the nylon clip to hold down the encoder cable, and
secure to battery case (A) with a screw from the top, and
a nut from the rear.

Nylon clip Battery case (A)

Encoder 2-31
 CHAPTER 2 WIRING

[15] Connect the battery board wiring to CN3.

CN3

2
[16] Connect the battery to CN4.

CN4 Battery

[17] Store the battery in battery case (A).

[18] Hook battery case (B) onto the shaft, and secure by
aligning the clips at 2 locations.
Battery case (B)

Shaft

[Complete]

2-32 Encoder
 CHAPTER 2 WIRING

◼ Encoder cable wire size

Servo amplifier Servomotor

P5 1 P5
M5 2 M5
BAT+ 3 BAT+
BAT- 4
SIG+ 5
SIG- 6
BAT-
SIG+
SIG-
2
Shell FG

Servo Lead wire diameter

Signal amplifier side Motor side
Wiring length 10 m or Wiring length between
name Connector Connector No.
shorter 10 m and 50 m
No.
P5 1 AWG23 AWG17*1
M5 2 AWG23 AWG17*1
BAT+ 3 AWG25
See “2.4.1Encoder
BAT- 4 AWG25
Wiring Cable”.
SIG+ 5 AWG25
SIG- 6 AWG25
FG Shell AWG25
*1: Please inquire regarding GYB model connector connection specification/GYG model.

Encoder 2-33
 CHAPTER 2 WIRING

2.5 Description of I/O Signals

2.5.1 List of input signals

2
Specify the signals to be assigned to sequence input terminals by using parameters.

Default
No. Name Setting range Change
value

PA03_01 CONT1 signal assignment 49

PA03_02 CONT2 signal assignment 0

PA03_03 CONT3 signal assignment Select from 0
sequence input
PA03_04 CONT4 signal assignment signal (1) 0
Power
PA03_05 CONT5 signal assignment 0
PA03_06 CONT6 signal assignment 0

PA03_07 CONT7 signal assignment Select from 0

sequence input
PA03_08 CONT8 signal assignment signal (2) 0

◼ Sequence input signals

(1) Signals assignable to CONT1 to 6 (sequence input terminal)
No. Function
6 Home position LS [LS]
7 +OT
8 -OT
10 Forced stop [EMG]
34 External regenerative resistor overheat
49 Interrupt input (Touch Probe1)
59 Interrupt input (Touch Probe2)

(2) Signals assignable to CONT7, CONT8 (communication)

No. Function
16 Position preset
17 Servo response change
29 P action
54 Free run
57 Anti resonance frequency 0
58 Anti resonance frequency 1
82 Full-closed control disabled
83 Clear external/motor deviation
84 Accumulated pulse clear

2-34 Description of I/O Signals

 CHAPTER 2 WIRING

2.5.2 List of output signals

Specify the signals to be assigned to sequence output terminals by using parameters.

No. Name Setting range Default value Change

PA03_51 OUT1 signal assignment 0

PA03_52
PA03_53
OUT2 signal assignment

OUT3 signal assignment

0
0
2
PA03_54 OUT4 signal assignment 0
PA03_55 OUT5 signal assignment 0
PA03_56 OUT6 signal assignment Select from OUT signal 0 Power
assignment functions
PA03_57 OUT7 signal assignment 0 supply
(see next page).
PA03_58 OUT8 signal assignment 0
PA03_59 OUT9 signal assignment 0
PA03_60 OUT10 signal assignment 0
PA03_61 OUT11 signal assignment 0
PA03_62 OUT12 signal assignment 0

Sequence output signal

No. Function No. Function
1 Ready for servo-on [RDY] 40 Home position LS detection

2 In-position [INP] 41 Forced stop detection

11 Speed limit detection 45 Battery warning
14 Brake timing 46 Life warning
16 Alarm detection (Normally open contact) 47 Synchronization complete
20 OT detection 48 Full-closed control in progress
22 Homing completion 49 External/motor deviation over forecast
23 Zero deviation 75 Position preset completion
24 Zero speed 76 Alarm detection (Normally closed contact)
25 Speed coincidence 86 Interference detection
26 Torque limit detection 89 Functional safety SS1
27 Overload warning 90 Functional safety SLS
28 Servo control ready 91 Digital Output1*1
38 +OT detection 92 Digital Output2*1
39 -OT detection
*1: Digital Output can be assigned to OUT1/OUT2 only.

Description of I/O Signals 2-35

 CHAPTER 2 WIRING

2.5.3 Signal Descriptions

Input signal
Homing position LS [LS]: Sequence input signal (Reference value 6)

2
This signal is used as the homing mode home switch signal.
◼ Function
With the ALPHA7 Series built-in EtherCAT communication type, homing is performed based on
the homing profile (1 to 37) selected at the controller.
Refer to “15.1.7 Homing Mode Specifications” for details on homing mode.
◼ Parameter setting
If assigning home position LS to a sequence input terminal, set the value (6) corresponding to the
input terminal function setting parameter.
If this signal is not assigned to a sequence input terminal, it is handled as always OFF.

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Over-travel in positive direction [+OT]: Sequence input signal (Reference value 7)

Over-travel in negative direction [-OT]: Sequence input signal (Reference value 8)
A signal from a limit switch or similar can forcibly stop the machine travel.
◼ Function
The signal is an input from a limit switch for avoiding over-travel (OT) beyond the limit of machine
travel.
Each signal is always enabled except under torque control. 2
If the over-travel signal is turned off during operation, the servomotor decelerates and stops at the
control value set at PA2_60 (third torque limit) or deceleration time set at Quick stop deceleration
(6085H) based on the PA2_63 (action sequence at main power shutoff, OT detection) setting.
Pulse input in the direction opposite to the detection direction can be executed (contact b).
The servomotor is forcibly stopped if an OT signal is detected while performing position control,
and as a result, the command current position and feedback current position may be different.
Take care of the reference value and sensor position so that the OT signal will not be detected
during regular operation.
◼ Parameter setting
To assign the +OT signal to a sequence input terminal, specify the corresponding value ("7") to
the input terminal function setting parameter. For the -OT signal, specify ("8").
This signal is handled to be always turned on if it is not assigned to the sequence input terminal.
◼ Relevant description
(1) Direction of detection
The +OT signal is detected during a travel of the servomotor in the positive direction. The positive
direction indicates the direction of forward rotation if PA1_4 (rotation direction selection) is set at
"0" (positive direction).

If the servomotor rotation direction and OT signal direction are the opposite of one another, the
servo motor will not stop even if the OT signal is detected. There is a possibility of equipment
failure due to such reasons as a collision at the equipment end, and therefore it is necessary to
ensure that the rotation direction and OT signal direction match.
Failure to observe this may result in a fault.

Description of I/O Signals 2-37

 CHAPTER 2 WIRING

(2) Output signal: +OT detection (38), -OT detection (39), OT detection (20)
The +OT detection and -OT detection signals indicate that the servo amplifier detects the limit of
travel in the mechanical system. A sequence output signal to the host controller can be notified
the fact of detecting the +OT or -OT signal.
The OT detection signal turns on upon detection of either +OT (7) or -OT (8), or the software OT

2 specified at 607DH: Software position limit.

If the host controller is equipped with an OT input, connect to the host controller in general cases.
To specify this function, specify "38" (+OT detection), "39" (-OT detection) or "20" (OT detection)
in the output terminal function setting parameter.
(3) Software OT
If PA2_25 (Software OT selection/Position command format) is set to “1” (enable), operation is
possible when the current position is in the range between 607DH_02H: Max. position limit and
607DH_01H: Min. position limit.
If this range is exceeded, forced stop will be caused with the OT detection sequence output.
The signal will turn off if the range is exceeded when traveling in the direction opposite to the
detection direction, allowing travel in both directions.

The +OT (-OT) sequence input is for mechanical position detection, while software OT is for
position detection of the servo amplifier.

Traveling range
Feedback position

Min. position limit Max. position limit

(607DH_01H) (607DH_02H)

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 CHAPTER 2 WIRING

Forced stop [EMG]: Sequence input signal (Reference value 10)

Used to forcibly stop the servomotor.
◼ Function
(1) Forced stop
The servomotor is forcibly stopped while the forced stop [EMG] signal remains turned off.
This signal is enabled in all control modes and it is given the highest priority. Because the safety
and detection speed are significant, the forced stop signal is generally connected to the servo
amplifier directly.
2
A self-locked pushbutton switch (command switch) (normally closed contact) provided on the
operation panel or similar is connected in regular cases.
If the forced stop signal is turned off during operation, the status changes to Quickstop active, and
the servomotor decelerates and stops at the control value set at PA2_60 (third torque limit) or
deceleration time set at Quick stop deceleration (6085H) based on the Quick stop option code
(605AH) setting.
◼ Parameter setting
To assign forced stop to a sequence input terminal, specify the corresponding value ("10") to the
input terminal function setting parameter.
This signal is handled to be always turned on if it is not assigned to the sequence input terminal.
◼ Relevant description
(1) Ready for servo-on [RDY]
If the forced stop signal is assigned to a sequence input terminal, the ready for servo-on [RDY]
signal turns on if the servo-on status and forced stop signal are on, making it possible for the
servomotor output shaft to rotate. To assign the ready for servo-on signal to a sequence output
terminal, specify the corresponding value ("1") to the output terminal function setting parameter.
(2) Forced stop detection
When the forced stop signal is turned off, the forced stop detection signal is turned on so that
external equipment recognizes.
To assign forced stop detection to a sequence output terminal, specify the corresponding value
("41") to the output terminal function setting parameter.
(3) State of forced stop
If the forced stop signal is turned off under position or speed control, the servomotor is stopped in
the zero speed state with the zero rotation speed command. At this time, all rotation commands
are ignored.
The present position is not retained in the zero speed state. Because the present position is
controlled, there is no need to perform a homing motion again even if the forced stop signal is
turned off. Turn the forced stop signal on to arrange the state ready to operate.
After canceling the forced stop signal, there is no need to reset the alarm.
If the forced stop signal is turned off under torque control, the torque command becomes zero and
the servomotor free-run.

Description of I/O Signals 2-39

 CHAPTER 2 WIRING

Position preset: Sequence input signal (Reference value 16)

This signal presets (rewrites) the command current position and feedback current position.
◼ Function
This signal sets the command current position and feedback current position to the 607CH: Home
offset setting value at the ON edge.

2 However, the feedback current position is the value after the deviation has been subtracted.
The ON edge is the point where the sequence input signal OFF status changes to ON.
This signal can be executed while the speed zero [NZERO] signal is ON, and so it is
recommended that position preset be performed while the servomotor is stopped. By applying
position preset, homing will be complete.
The following alarm detection can be reset.
• ABS data loss (dL1, dL2, dL3)
• Multi-turn overflow

Position preset
OFF

ON
Position preset
response OFF

ON

The position preset response turns OFF when position preset is turned OFF.

◼ Parameter setting
If assigning position preset to the sequence input terminal, set the value (16) corresponding to the
input terminal function setting parameter.
If this signal is not assigned to the sequence input terminal, it is handled as always OFF.

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 CHAPTER 2 WIRING

Servo response change: Sequence input signal (Reference value 17)

This signal changes the servo system gain (responsiveness).
◼ Function
By setting PA1_61 (gain changing factor) to “3” (external switch: CONT signal), the servo system
gain can be changed by turning the CONT signal to which this function is assigned ON and OFF.
The control gain parameters enabled by changing the servo response are shown in the following
table.
2
This is used at such times as when wishing to change the outward and return servo system gain
when performing reciprocal operation, etc.

Servo response Control gain

change PA1_55: Position loop gain 1
PA1_56: Speed loop gain 1
OFF
PA1_57: Speed loop integration time constant 1
PA1_58: Feed forward gain 1
PA1_64: Position loop gain 2
PA1_65: Speed loop gain 2
ON
PA1_66: Speed loop integration time constant 2
PA1_67: Feed forward gain 2

◼ Parameter setting
If assigning servo response change to the sequence input terminal, set the value (17)
corresponding to the input terminal function setting parameter.
If this signal is not assigned to the sequence input terminal, it is handled as always OFF.

Description of I/O Signals 2-41

 CHAPTER 2 WIRING

P action: Sequence input signal (Reference value 29)

This signal sets the servo amplifier control method to proportional band control.
◼ Function
Turns P action ON while the servomotor shaft is mechanically locked in the servo-on status.
By turning P action ON while the servomotor is rotating, position control will become unstable.

2 Do not turn ON while the servomotor is rotating.

If the brake is applied with the servo locked when performing position control, an overload (oL)
alarm is detected.
This is because the servo is performing PI control, and an attempt is made to return the
servomotor to its original position, producing torque even if there is only the slightest deviation. If
the brake is applied externally, be sure to turn P action ON.
◼ Parameter setting
If assigning P action to the sequence input terminal, set the value (29) corresponding to the input
terminal function setting parameter.
If this signal is not assigned to the sequence input terminal, it is handled as always OFF.

External regenerative resistor overheat: Sequence input signal (Reference value 34)
The thermistor signal of the external braking resistor forcibly stops the servomotor.
◼ Function
If regenerative electric power is high, use an external regenerative resistor, and connect the
resistor thermistor signal to the CONT signal assigned to the external regenerative resistor signal.
If the external regenerative resistor overheat input signal turns OFF (contact b), an external
regenerative resistor overheat (AL.rH2) alarm will occur.
◼ Parameter setting
If assigning external regenerative resistor overheat to the sequence input terminal, set a value (34)
corresponding to the input terminal function setting parameter.
This signal is handled to be always turned on if it is not assigned to the sequence input terminal.

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 CHAPTER 2 WIRING

Interrupt input: Sequence input signal (Reference value 49)

Interrupt input 2: Sequence input signal (Reference value 59)
These signals are used as touch probe function external latch input signals.
◼ Function
The ALPHA7 Series built-in EtherCAT communication type supports the touch probe function.
Refer to “15.1.8 Touch Probe Function” for details on the touch probe function.
◼ Parameter setting
2
If assigning interrupt input signals to the sequence input terminal, set the value (49)
corresponding to the input terminal function setting parameter. Set (59) for the interrupt input 2
signal.
If this signal is not assigned to the sequence input terminal, it is handled as always OFF.

Free run [BX]: Sequence input signal (Reference value 54)

This signal is used to make the servomotor free run forcibly.
This is a valid signal that is given priority in all control modes.
◼ Function
Servo amplifier output is stopped, and the servomotor free runs while the free run [BX] signal
assigned to the CONT input signal is ON.
The servomotor output shaft decelerates (accelerates) at load torque.
Free run is valid in all control states (position control, speed control, and torque control).

If used for vertical conveyance applications, etc., caution is advised due to the danger of
conveyed objects falling. Furthermore, the servomotor will be in a free run state while the signal is
ON when performing position control, and so if performing positioning control in csp mode, etc.,
the number of pulses output by the host control device will not match the amount of servomotor
rotation.
◼ Parameter setting
If assigning free run to the sequence input terminal, set the value (54) corresponding to the input
terminal function setting parameter.
If this signal is not assigned to the sequence input terminal, it is handled as always OFF.

Description of I/O Signals 2-43

 CHAPTER 2 WIRING

Anti resonance frequency selection 0: Sequence input signal (Reference value 57)
Anti resonance frequency selection 1: Sequence input signal (Reference value 58)
Selects the anti resonance frequency (vibration suppression function).
◼ Function
With structures employing spring systems such as robot arms and conveyors, the tip of

2 workpieces will vibrate when the servomotor accelerates or decelerates suddenly. Vibration
suppression is a function used to suppress workpiece vibrations on such systems for the purpose
of performing high tact positioning.
4 points can be set by combining anti resonance frequency selection 0 and anti resonance
frequency selection 1.
The anti resonance points may differ depending on the length of the arm and the weight of the
load.

(a) (b) (c)

The anti resonance frequency selections are shown in the following table.
Vibration suppressing
Anti resonance Anti resonance Vibration suppressing
anti resonance
frequency selection 1 frequency selection 0 workpiece inertia ratio
frequency
OFF OFF PA1_78 PA1_79
OFF ON PA1_80 PA1_81
ON OFF PA1_82 PA1_83

ON ON PA1_84 PA1_85

◼ Parameter setting
If assigning anti resonance frequency selection 0 or 1 to the sequence input terminal, set values
(57) or (58) corresponding to the input terminal function setting parameter.
If these signals are not assigned to the sequence input signal, they are handled as always OFF.
In this case, PA1_78 (vibration suppressing anti resonance frequency 0) is always enabled.
To disable anti resonance frequency, set the value to 300.0 Hz.
Shocks will occur if the anti resonance frequency is changed while the servomotor is running, and
therefore the value must be changed while the servomotor is stopped.
Furthermore, it is recommended that PA1_52 (low-pass filter (for S-curve) time constant) be used
in combination with this function.

2-44 Description of I/O Signals

 CHAPTER 2 WIRING

Full-closed control disabled: Sequence input signal (Reference value 82)

This signal switches to semi-closed control with full-closed system enabled.
This signal sets the parameter PA4_32 (full-closed system setting) to 1□□□ (full-closed system
setting). This function is available only when "Stem enabled" is selected.

◼ Function
When this signal is turned ON, semi-closed control is performed.
2
This signal can be accepted even while the motor is rotating. However, the condition that the
control status actually changes is that the positioning complete signal is ON.
If there is a difference between the motor encoder pulse and the external encoder pulse, etc., the
motor may move during switching operation by this signal. Be careful when switching.

Speed

Positioning complete ON OFF ON

Full-closed OFF ON OFF

control disabled

Full-closed
Control state Semi-closed control Full-closed control
control

◼ Parameter setting
To assign a full-closed control disable signal to a sequence input signal, set a numerical value
(82) corresponding to the input terminal function setting parameter. When this signal is not
assigned to the sequence input pins, the signal is always treated as OFF.

Description of I/O Signals 2-45

 CHAPTER 2 WIRING

Clear external/motor deviation: Sequence input signal (Reference value 83)

The difference (deviation) between the external encoder pulse and the motor encoder pulse is set to 0.
This signal sets the parameter PA4_32 (full-closed system setting) to 1□□□ (full-closed system
setting).This function is available only when "Stem enabled" is selected.

2 ◼ Function
he difference (deviation) between the external encoder pulse and the motor encoder pulse is set
to 0 at the ON edge of the external/motor deviation clear signal (the time to turn ON must be 2ms
or more).

＋ Position ＋ Speed Linear

controller controller Motor scale
－ －

＋ Correction
gear
＋
－
Full-closed ＋
LPF

Clears this deviation.

◼ Parameter setting
To assign the external/motor deviation clear signal to the sequence input signal, set a numerical
value (83) corresponding to the input terminal function setting parameter. When this signal is not
assigned to the sequence input pins, the signal is always treated as OFF.

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 CHAPTER 2 WIRING

Accumulated pulse clear: Sequence input signal (Reference value 84)

Cears various accumulated pulses.

◼ Function
The accumulated pulses cleared by the accumulated pulse clear signal are as follows.
• Command accumulated pulse
• Feedback integration pulse
2
• External accumulated pulse
◼ Parameter setting
To assign the accumulated pulse clear signal to the sequence input signal, set a numerical value
(84) corresponding to the input terminal function setting parameter. Always when this signal is not
assigned to a sequence input pin.It is handled as a OFF.

Description of I/O Signals 2-47

 CHAPTER 2 WIRING

Output signal
Ready for servo-on [RDY]: Sequence output signal (Reference value 1)
This signal is turned on if the servomotor is ready to operate.
◼ Function

2
The ready for servo-on signal is turned on if the conditions shown in the table below are satisfied.
Signal division Signal name Function No. Signal status

CONT input Forced stop [EMG] 10 ON

Alarm detection [ALM] 16 OFF
OUT output
Servo ready [S-RDY] 28 ON
Safety function EN1, EN2 - ON

The host sequence unit checks the ready for servo-on [RDY] signal to check if the servomotor is
ready to rotate.
◼ Parameter setting
To assign the ready for servo-on [RDY] to a sequence output terminal, specify the corresponding
value ("1") to the output terminal function setting parameter.
◼ Relevant description
The servo control ready [S-RDY] (reference value 28) signal can be output.
The servo control ready signal is turned on if the conditions shown in the table below are satisfied.

Signal division Signal name Function No. Signal status

CONT input Forced stop [EMG] 10 ON

OUT output Alarm detection [ALM] 16 OFF
Safety function EN1, EN2 - ON
The internal CPU operates correctly. -
The L1, L2 and L3 terminals are turned on. -

2-48 Description of I/O Signals

 CHAPTER 2 WIRING

In-position [INP]: Sequence output signal (Reference value 2)

This signal is turned on after a positioning motion is finished.
◼ Function
(1) Status of in-position signal
The state under position control is shown in the table below.

Factor Sequence status Status of in-position signal

2
Servo-off status Free-run ON
Servo-on status Servo lock ON
Upon OT detection Servo lock ON
If forced stop [EMG] is turned off Zero speed ON
Upon alarm Free-run OFF
This signal is always turned on under speed control and torque control.
◼ Parameter setting
To assign the in-position [INP] to a sequence output terminal, specify the corresponding value ("2")
to the output terminal function setting parameter.
◼ Signal activation condition
(1) At power-on
Level: ON
(2) During CSP operation
Level: The signal is turned on if conditions (A) and (B) below are satisfied.
(A) The rpm of the servomotor is within the setting of PA1_30 (zero speed range).
(B) The difference (deviation amount) between the command position and feedback
position is within the 6067H: Position window setting value, and after the 6068H:
Position window time setting time has elapsed.

Rotation Speed 6067H：Position window

Time

Zero speed ON OFF ON

Zero deviation ON OFF ON

In-position (level) ON ON
OFF

6068H：Position window time

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Speed limit detection: Sequence output signal (Reference value 11)

This signal turns ON when the speed command value to the servo amplifier reaches the speed limit
value.
◼ Function
This signal is output externally when the speed command value to the servo amplifier reaches the

2 speed limit value.

• Under speed control and position control, the speed limit depends on the setting of PA1_25
(maximum rotation speed).
• Under torque control, the speed limit depends on the setting of PA1_26 (maximum rotation
speed (for torque control)).
However, when PA2_56 (speed limit selection) is set to "1", the limit value set at 607FH: Max
profile velocity is valid.
◼ Parameter setting
To assign the speed limit detection to a sequence output terminal, specify the corresponding value
("11") to the output terminal function setting parameter.

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Brake timing: Sequence output signal (Reference value 14)

The timing signal for applying or releasing the brake of the servomotor.
The signal is turned on during operation, while it is turned off after operation is stopped.
◼ Function
The brake timing output turns off when the servo-off status turns on. The ready for servo-on [RDY]
signal turns off once the brake holding time (PA2_64) has elapsed.
◼ Parameter setting
2
To assign the brake timing output to a sequence output terminal, specify the corresponding value
("14") to the output terminal function setting parameter.
The brake timing is issued at the specified OUT terminal.
This signal is handled to be always turned off if it is not assigned to the sequence output terminal.
Use a relay or solid state relay (SSR) as the brake cannot be released directly in the sequence
output terminal (DC+30V/50mA).

• The brake attached to the servomotor is "for retention."

Do not use it for braking.
• Do not use the 24 [V] power supply for sequence I/O signals in parallel.
Be sure to prepare a separate power supply for the brake.
• If turning the brake on and off using the brake timing output, be sure that the
servo-off status is on before turning off the power.

◼ Relevant description
Timing chart
(1) Servo-on status

サーボオン状態
Servo-on サーボオフ
status Servo-off サーボオン
Servo-on サーボオフ
Servo-off

ベース信号
Base signal OFF ON OFF
PA2_64: Torque keeping
PA2_64：time to
holding brake ブレーキ動作時間
Operation prep. complete
運転準備完了[RDY] OFF ON OFF
[RDY]

ブレーキタイミング出力
Brake timing output OFF ON OFF

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(2) Upon alarm

Alarm detection OFF ON

2 Base signal ON OFF

Ready for servo-on [RDY] ON OFF

Brake timing output ON OFF

(3) Upon main power supply OFF

Main power suppy ON OFF

Base signal ON OFF

Ready for servo-on [RDY] ON OFF

Brake timing output ON OFF

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Alarm detection (normally open contact): Sequence output signal (Reference value 16)
Alarm detection (normally closed contact): Sequence output signal (Reference value 76)
Signals are turned on (off in case of normally closed contact) if the servo amplifier detects an alarm
(activation of a protective function).
◼ Function
The alarm state is retained at the servo amplifier if the amplifier detects an alarm. The signal can be
turned off (operation possible) by eliminating the cause of the alarm, and turning 6040H:
2
Controlword (bit 7: Fault Reset) from “0” to “1”.
Alarm can be checked by having the host controller recognizes the alarm detection.

Precautions for using a normally closed contact for alarm detection

Power
ＯＦＦ ＯＮ

Fault Reset
0 1 0

Alarm detection: NC
contact ＯＦＦ 4.5 s ＯＮ ＯＦＦ ＯＮ

Alarm detection
The contact remains turned off for about 4.5 seconds after the power is turned on.
There are alarms that cannot be reset with Fault Reset.
Refer to "■ Alarm reset" in "6.2.3 Alarm Display List" for details on alarms that can
be reset with the Fault Reset.

◼ Parameter setting
To assign the alarm detection (normally open contact) to a sequence output terminal, specify the
corresponding value ("16") to the output terminal function setting parameter.
For alarm detection (normally closed contact), specify ("76").

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OT detection: Sequence output signal (Reference value 20)

This signal is output if the over-travel (OT) signal is turned off.
◼ Function
The OT detection ("20") sequence output is issued while the +OT (7) or -OT (8) sequence input
signal terminal remains turned off.

2 In addition, OT detection ("20") is turned on if the current position reaches the reference value of
the software OT detection position.
The software OT function can be enabled or disabled with PA2_25 (Software OT selection/position
command format).
◼ Parameter setting
To assign the OT detection to a sequence output terminal, specify the corresponding value ("20") to
the output terminal function setting parameter.
◼ Relevant description
(1) +OT detection (38)/-OT detection (39)
A + OT signal is detected during servomotor travel in the positive direction, while a - OT signal is
detected during travel in the negative direction.
Use sequence output signals to notify the host controller of detection of the + OT or - OT signal.
Connect to the host controller in general if the host controller is equipped with OT inputs.
(2) Software OT
If PA2_25 (Software OT selection/position command format) is set to “1” (enable), operation is
possible when the current position is in the range between 607DH_02H: Max. position limit and
607DH_01H: Min. position limit.
This function is valid following homing or position preset.
If the range is exceeded, the motion is forcibly stopped with the OT detection ("20") sequence
output turned on.
The signal will turn off if the range is exceeded when traveling in the direction opposite to the
detection direction, allowing travel in both directions.
The + OT (or - OT) sequence input is mechanical position detection, while software OT is position
detection of the servo amplifier. Software OT to reverse the homing motion shall not be applied.

Movable range
Feedback position

Min. position limit Max. position limit

(607DH_01H) (607DH_02H)

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Homing completion: Sequence output signal (Reference value 22)

This signal is turned on after the homing motion is finished.
◼ Function
This signal will always be on after the homing motion is completed normally.
The home position is the stopping point after a homing motion is finished, or a position at which
position preset is executed. It does not mean the "0" position.
◼ Parameter setting
2
To assign the homing completion to a sequence output terminal, specify the corresponding value
("22") to the output terminal function setting parameter.

Zero deviation: Sequence output signal (Reference value 23)

The signal turns on while the deviation (deviation amount) retained in the servo amplifier lies within the
setting value under position control.
Whether the servomotor has reached close to the command position can be checked.
◼ Function
The signal turns on if the difference (deviation amount) between the current command position and
current feedback position is within the 6067H: Position window setting value.
◼ Parameter setting
To assign the zero deviation to a sequence output terminal, specify the corresponding value ("23")
to the output terminal function setting parameter.

Zero speed [NZERO]: Sequence output signal (Reference value 24)

The signal turns on while the servomotor rotation speed lies within the setting value.
◼ Function
The signal is turned on if the servomotor rotation speed is within the reference value of PA1_30
(zero speed range).
The signal can be used as a motor stopping condition signal.
◼ Parameter setting
To assign the zero speed [NZERO] to a sequence output terminal, specify the corresponding
value ("24") to the output terminal function setting parameter.

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Speed coincidence [NARV]: Sequence output signal (Reference value 25)

The signal is turned on after the servomotor rotation speed has reached the command speed.
◼ Function
The signal is turned on if the servomotor rotation speed is within the reference value of PA1_29
(speed coincidence range).

2 The command speed is the PA1_41 to 47 (Manual feed speed 1 to 7), 60FFH: Target velocity,
6081H: Profile velocity, or 6099H: Target velocity setting value.
"The signal is enabled in pp, pv, hm, and csv operation modes. The signal turns off in csp and cst
operation modes."
When operating at manual feed speed, the signal is not output under the following conditions.
• If the speed does not reach due to PA1_25 (max. rotation speed (for position and speed control))
• If the deceleration time is too long to reach the command speed
◼ Parameter setting
To assign the speed coincidence [NARV] signal to a sequence output terminal, specify the
corresponding value ("25") to the output terminal function setting parameter.
◼ Relevant description
PA1_25 (max. rotation speed (for position and speed Control))
Specify the upper limit of the servomotor rotation speed which is specified with a parameter.

Torque limit detection: Sequence output signal (Reference value 26)

The signal remains turned on while the output torque of the servomotor is at the torque limit value.
◼ Function
The torque limit value setting can be changed based on the conditions. Refer to “PA2_57 to 60
Torque limit settings” in section 3.5.2 for details.
The torque limit detection (26) output is enabled in all control modes.
◼ Parameter setting
To assign the torque limit detection to a sequence output terminal, specify the corresponding
value ("26") to the output terminal function setting parameter.

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Overload warning detection: Sequence output signal (Reference value 27)

The signal is turned on if the servomotor load factor is at the reference value.
A warning can be issued before the servomotor is suddenly stopped due to an overload alarm or
similar.
◼ Function
The signal is turned on if the load factor of the servomotor reaches the overload warning level of
PA2_70 (overload warning value).
2
The signal is automatically turned off if the factor falls below the overload warning level. (There is
no way to reset with a sequence input signal.)
The signal can be issued before the servo amplifier trips due to an overload alarm. Determine the
reference value while referring to the characteristics diagram specified on the next page.
◼ Parameter setting
To assign the overload warning detection to a sequence output terminal, specify the
corresponding value ("27") to the output terminal function setting parameter.

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◼ Standard series

Overload forecast time (at 3,000 r/min)

1200
Overload forecast value = 20%

2 1000
Overload forecast time [s]

Overload forecast value = 40%

800 Overload forecast value = 60%

600 Overload forecast value = 80%

Overload forecast value = 100%

400
OL2 alarm
200
OL1 alarm
0
0 100 200 300 400
Load factor [%]

Overload forecast time (at 6,000 r/min)

600
Overload forecast value = 20%

500
Overload forecast time [s]

Overload forecast value = 40%

s]

400
[

Overload forecast value = 60%

300 Overload forecast value = 80%

Overload forecast value = 100%

200
OL2 alarm
100
OL1 alarm

0
0 100 200 300 400

Load factor [%]

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Servo control ready [S-RDY]: Sequence output signal (Reference value 28)
Use the signal to check that the servo amplifier and servomotor operate correctly.
◼ Function
The servo control ready signal remains turned on while the conditions listed in the table below are
satisfied.

Signal division Signal name

Function
No.
Signal status 2
CONT input Forced stop [EMG] 10 ON

OUT output Alarm detection 16 OFF

Safety function EN1, EN2 - ON
The internal CPU operates correctly. -
The L1, L2 and L3 terminals are turned on. -

◼ Parameter setting
To assign the servo control ready to a sequence output terminal, specify the corresponding value
("28") to the output terminal function setting parameter.

+OT detection: Sequence output signal (Reference value 38)

-OT detection: Sequence output signal (Reference value 39)
The state of over-travel (±OT) is output.
◼ Function
The corresponding + OT or - OT detection sequence output is turned on while the +OT or -OT
sequence input signal terminal remains turned off.
◼ Parameter setting
To assign the positive or negative OT detection to a sequence output terminal, specify the
corresponding value ("38" or "39") to the output terminal function setting parameter.
◼ Relevant description
(1) OT detection
The signal is turned on when the servomotor detects the OT signal in either the positive or
negative direction. For details, refer to "Over-travel in positive direction [+OT]: Sequence input
signal (Reference value 7), Over-travel in negative direction [-OT]: Sequence input signal
(Reference value 8)".
(2) Software OT
If PA2_25 (Software OT selection/position command format) is set to “1”, operation is possible
when the current position is in the range between 607DH_02H: Max. position limit and
607DH_01H: Min. position limit.
Refer to “PA2_25 Software OT selection/position command format” in section 3.4.2 for details.

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Home position LS detection: Sequence output signal (Reference value 40)

The signal is output while the home position LS signal (input signal) remains turned on.
◼ Function
The sequence output corresponding to home position LS detection is turned on while the home
position LS sequence input signal remains turned on.

2 ◼ Parameter setting
To assign the home position LS detection to a sequence output terminal, specify the
corresponding value ("40") to the output terminal function setting parameter.

Forced stop detection: Sequence output signal (Reference value 41)

The signal turns on while the forced stop signal (input signal) remains off, or when in the Quick stop
active status.
◼ Function
Forced stop detection is turned on when the forced stop sequence input signal is turned off. For
details, refer to "Forced stop [EMG]: Sequence input signal (Reference value 10)" signal
description.
◼ Parameter setting
To assign the forced stop detection to a sequence output terminal, specify the corresponding
value ("41") to the output terminal function setting parameter.

Battery warning: Sequence output signal (Reference value 45)

The signal is output if the battery voltage is smaller than the rated value.
◼ Function
If the battery voltage is smaller than the rated value in an established ABS system (absolute
system), a battery warning signal is turned on.
◼ Parameter setting
To assign the battery warning to a sequence output terminal, specify the corresponding value
("45") to the output terminal function setting parameter.
Replace the battery immediately if this signal is turned on.

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Life warning: Sequence output signal (Reference value 46)

The life of internal main circuit capacitors of the servo amplifier and that of the cooling fan are
calculated and output its signal.
◼ Function
The life of internal main circuit capacitors of the servo amplifier and that of the cooling fan are
calculated and, if either exceeds the rated time, a life warning is turned on.
Use the PC Loader Statusword warning bit (6041H-bit7) or keypad (warning display) to determine
2
whether the warning applies to the life of the main circuit capacitors or the cooling fan.
* To check the warning display at the keypad, it is necessary to set PA2_78 (Display transition at
warning detection” to “1” (Transition to warning display).
◼ Parameter setting
To assign the life warning to a sequence output terminal, specify the corresponding value ("46") to
the output terminal function setting parameter.

Synchronization completion: Sequence output signal (Reference value 47)

This signal is valid when the EtherCAT synchronization mode is DC synchronization or SM2
synchronization.
◼ Function
This signal turns on if the ALPHA7 internal processing cycle displacement is ±1 µs or less for
EtherCAT SYNC0 input or IRQ input.
The signal turns off if the displacement is 16 µs or higher due to such reasons as an error
occurring at the controller.
◼ Parameter setting
If assigning synchronization completion to the sequence output terminal, set the value (47)
corresponding to the output terminal function setting parameter.

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Full-closed control in progress: Sequence output signal (Reference value 48)

This signal turns ON during full-closed control.
This signal sets the parameter PA4_32 (fully closed system setting) to 1□□□ (fully closed system
setting). This function is available only when "Stem enabled" is selected.

2 ◼ Function
This can be used as a signal to check the control status of the servo amplifier when switching the
control status with the full-closed control invalid input signal

Speed

Positioning complete ON OFF ON

Full-closed control
OFF ON OFF
disabled

Full-closed
Control state Semi-closed control Full-closed control
control

Full-closed control
ON OFF ON
in progress

◼ Parameter setting
To assign a full-closed control in progress signal to a sequence output signal, set a numerical
value (48) corresponding to the output terminal function setting parameter.

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External/motor deviation over forecast: Sequence output signal (Reference value 49)
This signal turns ON when the external/motor deviation exceeds the level set in the parameter.
This signal sets the parameter PA4_32 (full- closed system setting) to 1□□□ (full- closed system
setting). This function is available only when "Stem enabled" is selected

◼ Function
This relay turns ON when the external/motor deviation exceeds the setting value of PA4_37:
2
External/motor deviation over-forecast value. It can be used when you want to know the timing to
clear the external/motor deviation in a system that can tolerate a certain amount of error, such as
when a deviation over alarm caused by external/motor deviation is known in advance, or when
there is slippage in the motor shaft and mechanism.
◼ Parameter setting
To assign an external/motor deviation over forecast signal to a sequence output signal, set a
numerical value (49) corresponding to the output terminal function setting parameter.

Position preset completion: Sequence output signal (Reference value 75)

The signal is output after position preset (position change) is executed and completed.

◼ Function
If position preset is executed in an established ABS system (absolute system) to reset from an
alarm or change the current position, the sequence output corresponding to position preset
completion is turned on after position preset is finished.
◼ Parameter setting
To assign the position preset completion to a sequence output terminal, specify the corresponding
value ("75") to the output terminal function setting parameter.

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Interference detection: Sequence output signal (Reference value 86)

The signal turns on when the servo amplifier interference detection function detects interference.
This signal is valid only when parameter PA4_06 (interference detection enable/disable) is “1” (enable).
◼ Function
The signal turns on when the function detects interference until the motor has been retracted to a

2 position where no interference will occur, making it possible to verify whether the interference
detection function has activated.
◼ Parameter setting
To assign interference detection to a sequence output terminal, specify the value (“86”)
corresponding to the output terminal function setting parameter.
◼ Relevant description
Refer to "3.8 Extension Function 2 Setting Parameters, 3.8.2 Description of Each Parameter" for
details on the interference detection function.
◼ How to return to regular operation
If the interference detection function is triggered and the servomotor has retreated in the direction
of no interference, normal operation will be possible after the interference detection turns OFF.
However, one of the operations indicated in the following table will be required to recover normal
operation.

Recovery method

 Restart the servo amplifier.

 Switch to the servo-off state.
 Change Controlword (6040H) Fault reset (bit 7) from “OFF” to “ON”.

In pp or hm mode, in addition to the above, operation is resumed by turning Controlword (6040H)

bit 4 (New set-point (pp), Homing operation start (hm)) from OFF to ON.
However, the status prior to interference detection is not retained, and operation is performed with
the status at the time of recovery as the initial status.

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Function safety SS1: Sequence output signal (Reference value 89)

This signal turns on while the safe stop 1 (SS1) function is running.
This signal is valid only when using the SS1 function.
* The SS1 function is a function contained in safety module (WSU-ST1) function.
◼ Function
The signal turns on while the function is running when the input terminal to which the SS1 function
is assigned turns off (open circuit).
2
The signal turns off while the function is not running when the input terminal to which the SS1
function is assigned turns on (short circuit).
However, if used with restart function enabled, the signal turns off when operation is resumed
after a restart signal has been input.
◼ Parameter setting
To assign function safety SS1 to a sequence output terminal, specify the value (89) corresponding
to the output terminal function setting parameter.
◼ Relevant description
Refer to the User's Manual of function safety module (WSU-ST1) for details on the SS1 function.

Function safety SLS: Sequence output signal (Reference value 90)

This signal turns on while the Safe-Limited Speed (SLS) function is running.
This signal is valid only when using the SLS function.
* The SLS function is a function contained in function safety module (WSU-ST1).
◼ Function
The signal turns on while the function is running when the input terminal to which the SLS function
is assigned turns off (open circuit).
The signal turns off while the function is not running when the input terminal to which the SLS
function is assigned turns on (short circuit).
However, if used with restart function enabled, the signal turns off when operation is resumed
after a restart signal has been input.
◼ Parameter setting
To assign function safety SLS to a sequence output terminal, specify the value (“90”)
corresponding to the output terminal function setting parameter.
◼ Relevant description
Refer to the User's Manual of function safety module (WSU-ST1) for details on the SLS function.

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Digital output1: Sequence output signal (Reference value 91)

Digital output2: Sequence output signal (Reference value 92)
This function is used to output digital output signals from hardware OUT signals.
◼ Function
Signals set at 60FEH_01H: Physical outputs can be output from hardware OUT signals (OUT1 to

2 2).

◼ Parameter setting
To assign a Digital Output signal to a sequence output terminal, set the values (91, 92)
corresponds to the parameter of output terminal function setting. The setting values to the relevant
signals are as follows.
PA3_51 to 52
No. Name Setting range Change

51 OUT1 signal assignment

0 to 92 91 : Digital output1
Power
92 : Digital output2
52 OUT2 signal assignment

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2.6 Connection Example to Host Controller

For products not described in this manual, be sure to refer to the manual attached to the corresponding
product.
Connector 4 (CN4) is for the PC Loader. It is irrelevant to operation or stopping of the servomotor.
To drive a servomotor, the main power and control power must be supplied. To edit parameters or
perform similar operation without rotating the motor, supply only the control power.
Prepare separate power supplies for 24 [V] DC sequence I/O (CN1) and 24 [V] DC brake.
2
This is to isolate the effects of voltage fluctuation caused by counter electromotive force generated by
power-on and -off of the brake coil. There is no polarity in the brake power supply input.
Connector 5 (CN5) connection is used for linear scale feedback, or for wiring the DD motor (scheduled
for support in near future).
The connector 6 (CN6) connection is a safety terminal. Wire if necessary. Refer to "2.7 Safety
Function" for details.

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2.7 Safety Function

2.7.1 Overview

2
With the ALPHA7 Series, the servo amplifier output transistor is stopped by hardware circuit, and the
motor is slowly stopped (free-run stop) by opening (turning OFF) safety device connection connector
CN6 [EN1+] and [EN2+] inputs. This is the Cat.0 (uncontrolled stoppage) safety stop function (STO)
regulated by EN60204-1, and complies with functional safety standards.
If constructing a safety system, a safety shutoff device was required outside the servo amplifier,
however, this is no longer required by using the safety stop function (STO).
Table 2.7.1-1 Functional safety performance

EN ISO 13849-1: 2015

Category 3
Performance level e
Average diagnostic coverage 90% or higher (DCave medium)
Response time / Fault reaction time 50 ms or less (response time)
Mean time to dangerous failure for each 62 years or longer (MTTFd)
channel
EN 61508-1 to -7
EN 61800-5-2
Safety function Output torque OFF function (STO)
Safety level SIL3
Hardware fault tolerance 1 (HFT)
Safe failure fraction 90% or higher (SFF)
Probability of failure per hour Less than 1.5 x 10-8 (PFH)
Probability of failure on demand average [h-1] Less than 1.5 x 10-4 (PFDavg)
Proof test interval 10 years

WARNING
• The servo amplifier output cutoff function uses the safety stop function (STO) regulated by
IEC61800-5-2, however, this is not designed to completely cut off the power supply and motor
electrically. Consequently, depending on the servo system application, it will be necessary to
employ such mechanisms as a brake for mechanical locking, or motor terminal protection to prevent
electric shock in order to ensure the safety of end users.
• The servo amplifier output cutoff function does not completely cut off the power supply and motor
electrically, and therefore the servo amplifier power supply should be completely cut off, and wiring
and maintenance work carried out after 5 minutes or longer have elapsed.
Voltage occurs at the servomotor terminals during free-run triggered by the output cutoff function,
and therefore maintenance, inspection, and wiring work should be carried out after ensuring that the
servomotor has come to a complete stop.
Failure to observe this could result in electric shock.

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2.7.2 Usage Precautions

2.7.2.1 Terminal Wiring

The [EN1+], [EN1-], [EN2+], and [EN2-] terminals are used for safety circuit wiring. When carrying out
terminal wiring, use shielded wire, and wire in such a way as to ensure no shorting between terminals.
• For terminal input, performing switching with devices such as safety switches or safety relays
certified for safety level of EN ISO13849-1 PL=e Cat.3 or higher to ensure that inputs can be
2
properly opened.
• The machine manufacturer must take responsibility for ensuring that there is no shorting or other
faults in the wiring of external safety devices connected between the [EN1+] and [EN2+] terminals
and 24 V power supply.
Example:
• Current may continue to flow to the [EN1+] and [EN2+] terminals, hindering the safety function,
even if the [EN1+] or [EN2+] terminal wiring becomes trapped in the control panel doors,
causing a short circuit, and safety components turn OFF.
• Current may continue to flow to the [EN1+] and [EN2+] terminals, hindering the safety function
if the safety circuit wiring comes into contact with other wiring.

2.7.2.2 Safety Stop Function (STO) Related Precautions

• If constructing a product safety system with the safety stop function (STO), the machine
manufacturer is responsible for carrying out a risk assessment not of external devices and wiring
connected to the [EN1+] and [EN2+] terminals, but of the entire machinery including other
equipment, devices, or wiring for product safety systems required by the manufacturer, and for
ensuring that the entire machinery is compatible with the product safety system. Furthermore, a
periodic inspection must be carried out to determine whether the product safety system is
functioning properly for the purpose of preventive maintenance.
• To comply with functional safety, install the servo amplifier inside a control panel offering protective
construction of IP54 or higher.
• To comply with functional safety, it is also necessary to comply with European standards
EN61800-5-1 and EN61800-3.
• The safety stop function (STO) is designed to slowly stop motors (free-run stop).
• Input a test pulse to the [EN1+] and [EN2+] terminals for less than 1 ms when performing a
diagnosis with the safety PLC.
• Turn input terminals OFF for 20 ms or longer to activate the safety stop function (STO) properly.

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• Employ double [EN1+] and [EN2+] inputs (with redundancy circuit) to ensure that the safety stop
function (STO) is not lost due to a single fault.
If a single fault is detected by the safety cutoff circuit, an alarm is output to external devices, and
the servo amplifier slowly stops the motor (free-run stop), even if the [EN1+] and [EN2+] status is
ON. (The alarm output function does not guarantee that an alarm will be output for all single faults,

2 however, compatibility with EN ISO13849-1 PL=e Cat. 3 is possible.)

• The safety stop function (STO) is not designed to completely cut off the power supply and motor
electrically. Cut off the servo amplifier input power supply completely, and begin wiring and
maintenance work after 5 minutes or longer have elapsed.

A motor rotation equivalent to electrical angle of 180° may occur following a servo amplifier fault.
Employ designs that present no danger based on load conditions.

2.7.2.3 Safety Stop (STO) Test

Conduct a check once a day to ensure that the safety stop function (STO) is functioning normally.

2.7.3 Specifications

2.7.3.1 Function Block Diagram

Servo amplifier

L1 U

Power L2 V
supply
Motor
L3 W

24 V power Safety
supply switch

EN1+

EN1-

EN2+ Drive circuit

EN2-

0V

Fig. 2.7.3-1 Function block diagram

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2.7.3.2 Operating Sequences

The signal ON/OFF definition given in the safety function description refers to the following statuses.
ON: The safety switch is closed, and current is flowing to the signal line.
OFF: The safety switch is open, and current is not flowing to the signal line.
2
(1) Servo amplifier output status if safety stop function (STO) activated
The servo amplifier will be in the safety stop (STO) condition if [EN1+] and [EN2+] are turned OFF.
Fig. 2.7.3-2 shows the servo amplifier output status if [EN1+] and [EN2+] are turned OFF while
the servo amplifier is stopped. Preparation for servo amplifier operation will be complete when
[EN1+] and [EN2+] input turn ON.

Servo ON OFF ON OFF

EN1+/EN2+ OFF ON OFF

input terminals

Awaiting Awaiting
Servo amplifier
Safety stop (STO) operation Running operation Safety stop (STO)
status command command

Fig. 2.7.3-2 Servo amplifier output status if safety stop (STO) occurs while servo amplifier stopped

Fig. 2.7.3-3 shows the timing chart when the EMERGENCY STOP button is pushed during servo
amplifier operation. Input to [EN1+] and [EN2+] turns OFF, the servo amplifier is in the safety stop
(STO) condition, and the motor comes to a slow stop (free-run stop).

Servo ON ON OFF

EN1+/EN2+ ON OFF
input terminals

Servo amplifier
Running Safety stop (STO)
status

Fig. 2.7.3-3 Servo amplifier output status if safety stop (STO) occurs during servo amplifier operation

Safety Function 2-71

 CHAPTER 2 WIRING

(2) Sfty alarm (logic mismatch) and servo amplifier output status
Fig. 2.7.3-4 shows the timing chart for the sfty alarm following an [EN1+] and [EN2+] input
mismatch.
The servo amplifier will be in the safety stop (STO) condition if [EN1+] and [EN2+] input turns OFF.
If the [EN1+] and [EN2+] input mismatch lasts longer than 50 ms, the servo amplifier will interpret

2 that logic is in disagreement, and an

is rebooted.
SFty alarm is output. The alarm is cleared when the power

To correctly diagnose the safety stop function (STO) by turning the [EN1+] and [EN2+] terminal
ON and OFF, turn [EN1+] and [EN2+] ON and OFF for 2.0 seconds or longer.

Power OFF Power ON

Servo ON ON OFF

>=2.0 s >=2.0 s

[EN1+] input ON OFF OFF ON

[EN2+] input ON OFF OFF ON

50 ms 50 ms

sFty No alarm Alarm output No alarm Alarm output

Servo amplifier Safety stop (STO)

Running Safety stop (STO)
status

Fig. 2.7.3-4 SFty alarm (logic mismatch) and servo amplifier output status

2-72 Safety Function

 CHAPTER 2 WIRING

2.7.3.3 Description of Signals

The signal specifications for the safety device connection connector (CN6) are shown below.

No. Symbol Specification

2
1 N.C Use is prohibited. Do not wire.
2 N.C Use is prohibited. Do not wire.
3 EN1- This is the [EN1+] input signal common terminal.
4 EN1+ This is the safety stop (STO) input signal.
The servo amplifier will be in the safety stop (STO) condition when input is OFF.
• Input voltage: 24 VDC ±10%
• Current when ON: 10mA or less
• Turn ON/OFF simultaneously with the [EN2+] terminal.
5 EN2- This is the [EN2+] input signal common terminal.
6 EN2+ This is the safety stop (STO) input signal.
The servo amplifier will be in the safety stop (STO) condition when input is OFF.
• Input voltage: 24 VDC ±10%
• Current when ON: 10mA or less
• Turn ON/OFF simultaneously with the [EN1+] terminal.
7 EDM- This signal outputs the safety stop function (STO) operating status.
8 EDM+ • Max. voltage: 30 VDC
• Max. ON current: 50mA

Servo amplifier
EDM+

DC24V

EDM-

Fig. 2.7.3-5 Connection drawing

Output
Input signal Servo amplifier
SFty alarm signal
status
[EN1+] [EN2+] [EDM] *1
Operation
Not output OFF preparation
ON ON complete
Output OFF Safety stop (STO)
Not output ON Safety stop (STO)
OFF OFF
Output OFF Safety stop (STO)
ON OFF Output OFF Safety stop (STO)
OFF ON Output OFF Safety stop (STO)
*1 EDM output ON/OFF is defined as follows.
ON: Status in which the transistor between the [EDM+] and [EDM-] terminals
is ON
OFF: Status in which the transistor between the [EDM+] and [EDM-]
terminals is OFF

Safety Function 2-73

 CHAPTER 2 WIRING

2-74 Safety Function

CHAPTER 3 PARAMETER 3

3-1
 CHAPTER 3 PARAMETER

3.1 Parameter Division

CAUTION
• Never add an extreme change to parameters. Otherwise machine motion will become
unstable.
Risk of injuries

3
• In addition to parameters, VC type amplifiers are equipped with a function used to adjust
operation with an Object Dictionary.
Refer to “15.1.14 Servo Amplifier Profile Objects” for details on the Object Dictionary.
Parameters of the ALPHA7 servo amplifiers are divided into the following setting items according to the
function.
Ref.
Parameter setting item Major description
chapter
Basic parameters Be sure to check or enter these parameters
3.2
(No.PA1_01 to 50) before starting operation.
Control gain and filter setting parameters Use to adjust the gain manually.
3.3
(No.PA1_51 to 99)
Automatic operation setting parameters Use to specify settings for, or make
(No.PA2_01 to 50) changes to functions relating to automatic 3.4
operation.
Extension function 1 setting parameters Use to enter or change the extended
3.5
(No.PA2_51 to 99) functions such as the torque limit.
Input terminal function setting parameters Use to enter or change input signals of the
3.6
(No.PA3_01 to 50) servo amplifier.
Output terminal function setting Use to enter or change output signals of the
parameters servo amplifier. 3.7
(No.PA3_51 to 99)
Extension function 2 setting parameters Use to specify settings for, or make
(No.PA4_01 to 99) changes to functions newly supported from 3.8
the ALPHA7 Series.

3-2 Parameter Division

 CHAPTER 3 PARAMETER

3.2 Basic Parameters

Parameters marked "" in the "Power" field are enabled after the control power is
turned off then turned on again. (Check that the keypad (7-segment display) of the servo
amplifier is unlit when the control power is turned off.)

3.2.1 List (PA1_)

No.
PA1_
Name Default value Power
Control mode
Position Speed Torque
Record of
reference
value
3
02 INC/ABS system selection 0    
04 Rotation direction selection 0    
12 Z-phase position offset 0    
13 Tuning mode selection 0 -   
14 Load inertia ratio 1.0 -   
15 Auto tuning gain 1 12 -   
16 Auto tuning gain 2 4 -  - -
20 Easy tuning: stroke setting 2.00 -   
21 Easy tuning: speed setting 500.00 -   
22 Easy tuning: timer setting 1.500 -   
23 Easy tuning: direction selection 0 -   
Max. rotation speed 6000.00
25 （GYS,GYB -   -
(for position and speed control)
750W or less）
5000.00 (GYS
Max. rotation speed
26 1kW or more) - - - 
(for torque control) 3000.00 (GYG)
27 Forward rotation torque limit 350: GYB -   
300: other than
28 Reverse rotation torque limit GYB -   
29 Speed coincidence range 50 -   -
30 Zero speed range 50 -   
37 Acceleration time 1 100.0   
-
38 Deceleration time 1 100.0   
41 Manual feed speed 1/speed limit 1 for torque control 100.00   
42 Manual feed speed 2/speed limit 2 for torque control 500.00   
43 Manual feed speed 3/speed limit 3 for torque control 1000.00   
44 Manual feed speed 4/speed limit 4 for torque control 100.00 -   
45 Manual feed speed 5/speed limit 5 for torque control 100.00   
46 Manual feed speed 6/speed limit 6 for torque control 100.00   
47 Manual feed speed 7/speed limit 7 for torque control 100.00   

Parameters marked "" in the table are enabled in the corresponding control mode.

Basic Parameters 3-3

 CHAPTER 3 PARAMETER

3.2.2 Description of Each Parameter

PA1_02 INC/ABS system selection

Default
No. Name Setting range Change
value
INC/ABS selection 0: Incremental system 1:Absolute system
02 0 Power
2: Non-overflow absolute system
Select either the relative position (incremental) system or absolute position system.

3 Reference
value
Function Description

Relative position The current position is lost after the control power is turned
0
(incremental) system off. Homing must be performed again.
The current position is stored in memory even after the
control power is turned off. Homing is unnecessary. You
Absolute position can operate in the limited range. If the operation range is
1
system exceeded, an alarm and stoppage are caused.
(Operation range: between -32767 and +32766 revolutions
of motor shaft)
The current position is stored in memory even after the
control power is turned off. Homing is unnecessary.
Because there is no limit in the operation range, this
Non-overflow absolute system is best for the control of the rotating body. (The
2 system (not detect the multi-turn data over flow alarm is not detected.)
multi-turn overflow) Multi-rotation data should be processed at the host
controller suitably.
Refer to ■ Precautions when setting endless ABS for
precaution relating to this setting value.
To establish an absolute position system, set this parameter at "1" or "2." In addition, install the
optional absolute backup battery.
Because a multi-rotation data loss alarm (dL1 alarm) is detected when the power is turned on,
perform position presetting to remove the alarm and start operation.
• To use in an absolute position system, refer to "CHAPTER 10 ABSOLUTE POSITION
SYSTEM."

◼ Precaution when setting ABS, endless ABS

<Precaution on electronic gear settings>
(1) Set electronic gears as follows.
When setting ABS: 6091H-01H: Motor revolutions / 6091H-02H: Shaft revolutions ≥ 28
When setting endless ABS: 6091H-01H: Motor revolutions / 6091H-02H: Shaft revolutions =
2n (n ≥ 8)
With single-turn counter of 24 bits, and multi-turn counter of 16 bits, the ABS encoder
functions as a ring counter with a total of 40 bits. As the current position output to the host
device at the EtherCAT Object is 32-bit data, it is necessary to ensure the appropriate size
when setting electronic gears.
◼ Setting endless ABS in pp mode
"pp mode is not compatible with the endless ABS system. Operation is not guaranteed when
endless ABS is set, and therefore it must never be set."

3-4 Basic Parameters

 CHAPTER 3 PARAMETER

PA1_04 Rotation direction selection

Default
No. Name Setting range value
Change

Rotation direction 0: CCW direction with positive value

04 0 Power
selection 1: CW direction with positive value
This parameter ensures that the servomotor rotation direction matches the machine travel direction.

If performing operation based on position control (csp, pp)

Select the rotation position when the Target Position (command position) is greater than the
Actual Position Value (feedback position).

If performing operation based on speed control (csv, pv)

3
Select the servomotor rotation direction when a positive value is set for Target Velocity.

If performing operation based on torque control (cst)

Select the direction in which the servomotor applies torque when a positive value is set for Target
Torque.

◼ Forward rotation/reverse rotation Forward rotation

The counterclockwise direction (CCW: diagram on right) when
the servomotor output shaft is viewed from the front is forward
rotation. The clockwise direction (CW) is reverse rotation.

PA1_12 Z-phase position offset

Default
No. Name Setting range value Change

Z-phase position 0 to 16777215 [pulse]

12 0 Power
offset
The Z-phase output position shifts. The Z-phase output position shifts in the CCW direction by the
specified pulse amount.
This parameter is irrelevant to the rotation direction selection (parameter PA1_04).
This setting is invalid for the external encoder Z-phase (enabled only for the encoder Z-phase).
◼ Z-phase output position
 If the Z-phase position offset is [0]  If the Z-phase position offset is [4194304]
4194304 pulses
= 0.25 [revolutions]
16777216 pulses/revolution

Z-phase position *

Z-phase position *

Motor shaft Motor shaft The Z-phase shifts 0.25

revolutions in the CCW
direction.

* The position of the key is not always the Z-phase position.

The position of the key is supposed to be the Z-phase position in this explanation.

Basic Parameters 3-5

 CHAPTER 3 PARAMETER

PA1_13 Tuning mode selection

Default
No. Name Setting range value
Change

0: Auto tuning
1: Semi-auto tuning
13 Tuning mode selection 0 Always
2: Manual tuning
3: Interpolation control mode
Select the tuning method of the servo amplifier. Refer to the following description to select the mode.
◼ Auto tuning (default value)

3 In this mode, the ratio of moment of inertia of the load of the machine is always assumed inside the
amplifier and the gain is automatically adjusted to the best one. "0" is entered, too, in case of easy
tuning.
◼ Semi-auto tuning
Use this mode if the load inertia ratio of the machine has relatively large fluctuation or the load
inertia ratio is not estimated correctly inside the amplifier.
The gain is automatically adjusted to the best one in relation to the setting of PA1_14 (load inertia
ratio).
◼ Manual tuning
Use this mode if auto tuning and semi-auto tuning modes do not function satisfactorily. Manually
enter the load inertia ratio and various gains.
◼ Interpolation control mode
Use this mode to adjust responses of each shaft to the command during interpolation of two or
more servomotor axes of an X-Y table or similar.
In this mode, PA1_51 (moving average S-curve time) and PA1_54 (position command response
time constant) that determine the following characteristics to commands must be entered
manually.
As well, PA1_14 (load inertia ratio) must be entered, too, manually.
The other gain adjustment parameters are automatically entered.

3-6 Basic Parameters

 CHAPTER 3 PARAMETER

Parameters that must be entered in each tuning mode and automatically adjusted parameters are
shown below.

No. Tuning mode selection

Name
PA1_ 3: Interpolation
0: Auto 1: Semi-auto 2: Manual control

14 Load inertia ratio -   

15 Auto tuning gain 1    
51 Moving average S-curve time - -  

54
Position command response
time constant
- -   3
55 Position loop gain 1 - -  -
56 Speed loop gain 1 - -  -
Speed loop integration time
57 - -  -
constant 1
Torque filter time constant for
59    
position and speed control
Model torque filter time
87 - -  -
constant
Position loop integration time
88 - -  -
constant
 : Items that must be entered
: The item is entered automatically or manually according to a parameter (PA1_94: torque filter
setting mode).
- : Entry is unnecessary. (The item is automatically calculated inside the amplifier and the result is
reflected on the parameter.)
 : Entry can be made, but the setting is ineffective.
 For detail description of tuning, refer to "CHAPTER 5 SERVO ADJUSTMENT."

PA1_14 Load inertia ratio

No. Name Setting range Default value Change

GYS and GYB, 750 W or less:

0.0 to 300.0 [times]
14 Load inertia ratio 1.0 Always
GYS, 1 kW or more: 0.0 to 100.0 [times]
GYG : 0.0 to 30.0 [times]
Enter the moment of inertia of the load of the mechanical system in relation to the motor shaft (moment
of inertia of load converted to motor shaft) in a ratio to the moment of inertia of the motor.
Load inertia of converted to motor shaft
Load inertia ratio =
Inertia of motor

The parameter must be entered according to some settings of PA1_13 (tuning mode selection).
With auto tuning, the value is automatically updated and saved in EEPROM every 10 minutes.
The value must be entered in the semi-auto, manual and interpolation control modes.

Basic Parameters 3-7

 CHAPTER 3 PARAMETER

◼ How to enter the ratio of inertia of load

(1) Setting the monitored value
Monitoring can be performed with the PC Loader monitor function (digital monitor).
Enter the monitored value.
• If the value drifts, enter an average value.
If fluctuation is substantial and the ratio of the maximum to the minimum exceeds two, adopt
entry method (2).
(2) Entering the calculated value

3 Calculate the moment of inertia of load converted to the motor shaft and enter the ratio to the
moment of inertia of the motor. For the moment of inertia calculation method, refer to "CHAPTER
15 APPENDIXES"

PA1_15 Auto tuning gain 1

Default
No. Name Setting range value Change

15 Auto tuning gain 1 1 to 40 (in increments of 1) 12 Always

Specify the response of the servomotor of auto tuning, semi-auto tuning and interpolation control
modes.
This parameter adjusts the disturbance response. Increasing the parameter value shortens the
command following characteristic and positioning settling time, however, a too large value causes
vibration of the motor.

Approximate reference value

Mechanical configuration Auto tuning gain 1
(division by mechanism) (approximate reference value)
Large transfer machine 1 to 10
Arm robot 5 to 20
Belt mechanism 10 to 25
Ball screw + Belt mechanism 15 to 30
Mechanism directly coupled with
20 to 40
ball screw

• For details of tuning, refer to "CHAPTER 4 SERVO ADJUSTMENT."

3-8 Basic Parameters

 CHAPTER 3 PARAMETER

PA1_16 Auto tuning gain 2

Default
No. Name Setting range value
Change

16 Auto tuning gain 2 1 to 12 (in increments of 1) 4 Always

This parameter is enabled only under position control.
The parameter is enabled if PA1_13 (tuning mode selection) is 0 (auto tuning) or 1 (semi-auto tuning).
This parameter adjusts the command response. Adjust auto tuning gain 1 before adjusting this
parameter.

3
With this parameter, the positioning settling time of auto tuning and semi-auto tuning is reduced, so that
the cycle time is effectively reduced. While a larger value reduces the positioning settling time, an
overshoot is likely to be caused.
PA1_51 (moving average S-curve time) and PA1_54 (position command response time constant) are
automatically adjusted in relation to the reference value of this parameter.

What is positioning settling time

Time from completion of issuance of command frequency to issuance of in-position signal
The time varies according to various conditions such as the frequency matching the traveling
distance, acceleration/deceleration rate, and stopping accuracy. Adjustment of the entire system
including the host and servo to optimum conditions is necessary to reduce the positioning settling
time.

Frequency
[kHz]
Command
frequency

Time
Rotation speed
Motor speed
[r/min]

OFF
Settling Time
time

In-position signal ON
OFF
Time

 For details of tuning, refer to "CHAPTER 4 SERVO ADJUSTMENT."

Basic Parameters 3-9

 CHAPTER 3 PARAMETER

PA1_20 to 23 Easy tuning settings

Default
No. Name Setting range value
Change

Easy tuning:
20 0.01 [rev] to 200.00 [rev] (in increments of 0.01) 2.00 Always
stroke setting
Easy tuning: 10.00 [r/min] to Max. rotation speed [r/min] (in
21 500.00 Always
speed setting increments of 0.1)
Easy tuning:
22 0.000 [s] to 5.000 [s] (in increments of 0.001) 1.500 Always
timer setting

3 23
Easy tuning:
direction selection
0: Forward  reverse rotation
1: Forward rotation only 0 Always
2: Reverse rotation only
Enter the parameter to perform easy tuning.
• For details of tuning, refer to "CHAPTER 4 SERVO ADJUSTMENT."

PA1_25 Max. rotation speed (for position and speed control)

PA1_26 Max. rotation speed (for torque control)
No. Name Setting range Default value Change

Max. rotation speed GYS and GYB, 6000 (GYS and GYB
25
(for position and speed control) 750 W or less of 750 W or less)
：0.01 to 6000 [r/min] 5000 (GYS of 1 kW
Max. rotation speed Always
GYS,1 kW or more or more)
26 (for torque control)
：0.01 to 5000 [r/min] 3000 (GYG)
GYG：0.01 to 3000 [r/min]
Enter the maximum rotation speed of the sevomotor for position, speed and torque control.
There is a difference of about 100 [r/min] between the reference value and actual servomotor rotation
speed under torque control when PA4_21 (torque control speed limit method) is set to "1" (older model
compatibility).
In this case, use PA1_96 (speed limit gain for torque control) to adjust the error.

• When performing csp operation, ensure that commands from the host device do not
apply to speed limiting.
• Operation should normally be performed with command values which ensure a speed
of PA1_25: Max. rotation speed (for position and speed control) or less.
• The motor will move as follows if the command applies to speed limiting.
(1) A position deviation will occur if a command exceeding the speed limit value is
issued, and will continue to build up while the command is applied to speed
limiting.
(2) If the position deviation builds to the PA2_69: Deviation detection overflow
value, a deviation over alarm will occur.
(3) If the command is reduced to a value smaller than the speed limit value before
the deviation over alarm occurs, the motor will continue to rotate due to speed
limiting until the built up position deviation is offset, and subsequent operation
will be based on the command.
(4) If the speed limit value increases before the deviation over alarm occurs, the
motor will accelerate to the speed limit value.
• If the speed limit value becomes greater than the command value, the
operation will be as described in item (3).
• If the speed limit value remains smaller than the command value, the operation
will be as described in items (1) and (2).

3-10 Basic Parameters

 CHAPTER 3 PARAMETER

PA1_27 Forward rotation torque limit

PA1_28 Reverse rotation torque limit
No. Name Setting range Default value Change

27 Forward rotation torque limit GYB: 0 [%] to 350 [%] GYB: 350 [%]
Other than GYB: 0 [%] to 300 Other than GYB: Always
28 Reverse rotation torque limit
[%] 300 [%]
Enter the limit to be set on the output torque of the servomotor.
This limit value is valid when PA2_57 (Torque limit setting) is set to “0” (Parameter).

CCW torque 3
Forward rotation
torque limit

CW rotation CCW rotation

Reverse rotation
torque limit

CW torque

Basic Parameters 3-11

 CHAPTER 3 PARAMETER

PA1_29 Speed coincidence range

Default
No. Name Setting range value
Change

29 Speed coincidence range 10 [r/min] to max. rotation speed [r/min] 50 Always

Enter the range in which the "speed coincidence" output signal is turned on.
The speed coincidence signal is turned on if the actual servomotor rotation speed is nearly the
command speed.
In case of a default value of 50 [r/min], the speed coincidence signal is turned on in the range of ±50

3
[r/min] to the command speed.
The signal turns off if the command speed is not reached at PA1_25 (Max. rotation speed), etc.

PA1_29: Speed coincidence range

PA1_29：速度一致範囲

Rotation
回転速度 speed

時間
Time
Speed coincidence
速度到達［NARV］ OFF ON ON OFF
[NARV]

• For the speed coincidence signal, refer to "Speed coincidence [NARV]" 2.5.3 Signal
Descriptions.

PA1_30 Zero speed range

Default
No. Name Setting range value Change

30 Zero speed range 10 [r/min] to max. rotation speed [r/min] 50 Always

Enter the activation level of the "zero speed" output signal.
The signal is turned on at servomotor rotation speeds within the reference value.

3-12 Basic Parameters

 CHAPTER 3 PARAMETER

PA1_37 Acceleration time (manual operation)

PA1_38 Deceleration time (manual operation)
Default
No. Name Setting range value Change

37 Acceleration time 1 100.0

0.0 [ms] to 99999.9 [ms] Always
38 Deceleration time 1 100.0
Sets the servomotor acceleration and deceleration time.
The parameter is enabled for acceleration and deceleration movement when performing speed control
or position control (manual operation), and for speed limit acceleration and deceleration movement
when performing torque control (manual operation). 3
Acceleration and deceleration follow these parameters during profile operation, too.
These parameters are disabled when performing operation with commands from EtherCAT.
The time set for this parameter is the time taken for the motor to reach 2000 [r/min] from 0 [r/min].

PA1_41 to 47 Manual feed speed 1 to 7/speed limit 1 to 7 for torque control

Default
No. Name Setting range value Change

Manual feed speed 1/speed

41 100.00 Always
limit 1 for torque control
Manual feed speed 2/speed
42 500.00 Always
limit 2 for torque control
Manual feed speed 3/speed
43 1000.00 Always
limit 3 for torque control
Manual feed speed 4/speed 0.01 [r/min] to
44 100.00 Always
limit 4 for torque control max. rotation speed [r/min]
Manual feed speed 5/speed
45 100.00 Always
limit 5 for torque control
Manual feed speed 6/speed
46 100.00 Always
limit 6 for torque control
Manual feed speed 7/speed
47 100.00 Always
limit 7 for torque control

The speed set with these parameters is for test operation.

When PA2_56 (torque control speed limit selection) is set to "1", the speed limit values when
performing torque control (manual operation) will be valid.

Basic Parameters 3-13

 CHAPTER 3 PARAMETER

3.3 Control Gain and Filter Setting Parameters

Parameters marked "" in the "Power" field is enabled after the control power is turned off
then turned on again. (Check that the keypad (7-segment display) of the servo amplifier is
unlit when the control power is turned off.)

3.3.1 List (PA1_)

3 No.
PA1_
Name
Default
value
Default value: *** Determined in auto tuning.

Power
Control mode Record of
Position Speed Torque reference value
51 Moving average S-curve time *** -  - -
52 Low-pass filter (for S-curve) time constant 0.0 -   -
53 Command pulse smoothing function 0 -  - -
54 Position command response time constant *** -  - -
55 Position loop gain 1 *** -  - -
56 Speed loop gain 1 *** -   
57 Speed loop integration time constant 1 *** -   
58 Feed forward gain 1 0.000 -  - -
Torque filter time constant for position and speed
59 *** -   -
control
60 Torque filter time constant for torque control 0.00 - - - 
61 Gain changing factor 1 -   -
62 Gain changing level 50 -   -
63 Gain changing time constant 1 -   -
64 Position loop gain 2 100 -  - -
65 Speed loop gain 2 100 -   
66 Speed loop integration time constant 2 100 -   
67 Feed forward gain 2 100 -  - -
70 Automatic notch filter selection 1 -   -
71 Notch filter 1, frequency 4000 -   -
72 Notch filter 1, attenuation 0 -   -
73 Notch filter 1, width 2 -   -
74 Notch filter 2, frequency 4000 -   -
75 Notch filter 2, attenuation 0 -   -
76 Notch filter 2, width 2 -   -
77 Vibration suppressing function selection 0 -  - -
78 Vibration suppressing anti resonance frequency 0 300.0 -  - -
Vibration suppressing workpiece inertia ratio 0
79 0 -  - -
(vibration suppressing antiresonant frequency)
80 Vibration suppressing anti resonance frequency 1 300.0 -  - -
Vibration suppressing workpiece inertia ratio 1
81 0 -  - -
(vibration suppressing antiresonant frequency)
82 Vibration suppressing anti resonance frequency 2 300.0 -  - -
Vibration suppressing workpiece inertia ratio 2
83 0 -  - -
(vibration suppressing antiresonant frequency)
84 Vibration suppressing anti resonance frequency 3 300.0 -  - -

3-14 Control Gain and Filter Setting Parameters

 CHAPTER 3 PARAMETER

No. Default Control mode Record of

Name Power
PA1_ value Position Speed Torque reference value
Vibration suppressing workpiece inertia ratio 3
85 0 -  - -
(vibration suppressing antiresonant frequency)
86 Vibration suppressing damping coefficient 0.0000 -  - -
87 Model torque filter time constant *** -   -
88 Position loop integration time constant *** -  - -
89 Position loop integration limiter 0 -  - -
90 Load torque observer 0 -   -
91
92
93
P/PI automatic change selection
Friction compensation: speed range
Friction compensation: torque setting value
0
10.0
0
-
-
-






-
-
-
3
94 Torque filter setting mode 1 -   -
Model torque calculation selection, speed observer
95 3 -   -
selection
96 Speed limit gain for torque control 10.0 - - - 
Paremeters marked "○" in the table are enabled in the corresponding control mode.

Control Gain and Filter Setting Parameters 3-15

 CHAPTER 3 PARAMETER

3.3.2 Description of Each Parameter

PA1_51 to 53 Command filter settings
Default
No. Name Setting range value Change

51 Moving average S-curve time 0, 2 to 500 (×0.05 [ms]) *** Always

Low-pass filter (for S-curve) time 0.0 [ms] to 1000.0 [ms]
52 0.0 Always
constant

3 53 Command pulse smoothing function 0: Disable 1: Enable

Filters can be added to commands for smoother follow-up.

0 Always

This parameter is enabled under position control.

Specify the moving average S-curve filter time to position commands.
A larger setting at low command pulse frequencies or large electronic gear ratios can
Moving
reduce the torque ripple caused by fluctuation of the command pulse.
average
The new setting of this parameter is reflected when both the position command and
S-curve time
filter accumulation pulse are "0".
If PA1_13 (tuning mode selection) is 0 (auto tuning) or 1 (semi-auto tuning), automatic
adjustment is made inside the amplifier.
Low-pass Enter the low-pass filter (for S-curve) filter time constant in relation to position
filter (for commands and speed commands. Acceleration and deceleration are made so that an
S-curve) approximate S-curve is drawn.
time constant
The parameter is enabled under position control.
If the function is enabled, smoothing is added to the position command every 2 [ms]
Command intervals.
pulse By enabling the setting when the command pulse frequency is low, or when the
smoothing electronic gear ratio is large, torque ripples caused by command pulse fluctuations can
function be reduced.
While the setting can be changed at any time, the new setting is reflected when both
the position command and filter accumulation pulse are "0".

Function configuration block

Command pulse Moving Low-pass filter
smoothing average (for s-curve) Control
Command
function S-curve time time constant section

• For details of tuning, refer to "CHAPTER 4 SERVO ADJUSTMENT."

PA1_54 Position command response time constant

Default
No. Name Setting range value Change

54 Position command response time constant 0.00 [ms] to 250.00 [ms] *** Always
Specify the following response characteristics to commands. A smaller setting improves the response
characteristics.
Automatic adjustment is made inside the amplifier if PA1_13 (tuning mode selection) is 0 (auto tuning)
or 1 (semi-auto tuning).

3-16 Control Gain and Filter Setting Parameters

 CHAPTER 3 PARAMETER

PA1_55 to 57 Response to disturbance settings

Default
No. Name Setting range value
Change

55 Position loop gain 1 1 [rad/s] to 2000 [rad/s] *** Always

56 Speed loop gain 1 1 [Hz] to 2000 [Hz] *** Always
57 Speed loop integration time constant 1 0.5 [ms] to 1000.0 [ms] *** Always
Position loop gain 1: Position disturbance response setting. A larger setting improves the response
characteristics.
Speed loop gain 1: Speed disturbance setting. A larger setting improves the response characteristics.
Speed loop integration time constant 1: Integration time constant setting of speed response. A smaller 3
setting improves the response.
Too much a response characteristic may cause vibration or noise.
When PA4_21 (torque control speed limit method) is set to "0" (PI control), the response characteristics
with operations by speed limit at torque control are determined by the setting values of PA1_56 and
PA1_57.
Automatic adjustment is made inside the amplifier if PA1_13 (tuning mode selection) is other than 2
(manual tuning).

PA1_58 Feed forward gain 1

Default
No. Name Setting range value Change

58 Feed forward gain 1 0.000 to 1.500 0.000 Always

A larger setting decreases the position deviation amount, improving the response characteristics.
Set at 1.000 to reduce the position deviation at a constant speed to almost zero (except during
acceleration or deceleration).
Use this parameter to increase the synchronization accuracy between two axes of synchronous control
or similar.
For regular point-to-point operation, set the parameter at 0.500 or less (approximate value).

Control Gain and Filter Setting Parameters 3-17

 CHAPTER 3 PARAMETER

PA1_59 Torque filter time constant for position and speed control
PA1_60 Torque filter time constant for torque control
Default
No. Name Setting range value Change

Torque filter time constant

59 for position and speed 0.00 [ms] to 20.00 [ms] *** Always
control
Torque filter time constant
60 0.00 [ms] to 20.00 [ms] 0.00 Always
for torque control

3 This parameter is enabled under speed and position control.

Add a filter to internal torque commands.
Torque filter
The response of the servo system is improved and resonance is suppressed. In
time constant
particular, the reference value should be larger with large load inertia.
for position and
Automatic adjustment is made inside the amplifier in other than the manual tuning
speed control
mode.
Set PA1_94 at 0 to allow manual settings.
Torque filter The parameter is enabled under torque control. Add a filter to external torque
time constant commands. Good effects can be expected for a system prone to electric noise or
for torque one with fluctuation in the command voltage.
control

3-18 Control Gain and Filter Setting Parameters

 CHAPTER 3 PARAMETER

PA1_61 to 67 Second gain settings

Default
No. Name Setting range value
Change

0: Position deviation (×10)

1: Feedback speed
2: Command frequency
61 Gain changing factor 1 Always
(position control)/command speed
(speed contorl)
3: External switch (use CONT signal)
62
63
Gain changing level
Gain changing time constant
1 to 1000 (in increments of 1)
0 [ms] to 100 [ms] (in increments of 1)
50
1
Always
Always 3
64 Position loop gain 2 30 [%] to 200 [%] (in increments of 1) 100 Always
65 Speed loop gain 2 30 [%] to 200 [%] (in increments of 1) 100 Always
Speed loop integration time 30 [%] to 200 [%] (in increments of 1)
66 100 Always
constant 2
67 Feed forward gain 2 30 [%] to 200 [%] (in increments of 1) 100 Always
The gain of the servo system is switched from the first gain (PA1_55 to _58) to the second gain
(PA1_64 to _67).
Noise and vibration during stoppage can be reduced through gain switching.
Select the gain changing factor with PA1_61.
The unit of the reference value of the second gain (PA1_64 to _67) is "%." Specify the ratio to the first
gain.
[Example] If PA1_56 (speed loop gain 1) is 100 [Hz] and PA1_65 (speed loop gain 2) is 80 [%], the
second gain is 80 [Hz]. PA1_64 (position loop gain 2) is similar. If PA1_57 (speed loop
integration time constant 1) is 20 [ms] and PA1_66 (speed loop integration time constant 2)
is 50 [%], integration time constant 2 is 40 [ms].
The timing chart of each signal is shown below.

Feedback speed

Gain changing level (PA1_62)

Time

Position loop gain Position loop gain 1 (PA1_55) Position loop gain 2 (PA1_64)

Speed loop gain Speed loop gain 1 (PA1_56) Speed loop gain 2 (PA1_65)

Speed loop Speed loop integration time constant 1 (PA1_57) Speed loop integration time constant 2 (PA1_66)
integration time

Feed forward gain Feed forward gain 1 (PA1_58) Feed forward gain 2 (PA1_67)

Gain switching time constant (PA1_63)

External switch
(Servo response switch) OFF ON

Control Gain and Filter Setting Parameters 3-19

 CHAPTER 3 PARAMETER

If external switch is selected as a gain changing factor, changeover to the second gain occurs during
OFF-to-ON transition as shown on the last page. In this case, you can turn on or off at an arbitrary
timing without relations to the motor motion.
The gain of the go stroke and that of the return stroke of a reciprocal motion can be switched.

PA1_70 to 76 Notch filter settings

Default
No. Name Setting range value Change

3
Automatic notch filter 0: Disable 1: Enable
70 1 Always
selection 2: Enabled(Only notch filter 1 is auto)
71 Notch filter 1, frequency 10 [Hz] to 4000 [Hz] (in increments of 1) 4000 Always
72 Notch filter 1, attenuation 0 [dB] to 40 [dB] (in increments of 1) 0 Always
73 Notch filter 1, width 0 to 3 2 Always
74 Notch filter 2, frequency 10 [Hz] to 4000 [Hz] (in increments of 1) 4000 Always
75 Notch filter 2, attenuation 0 [dB] to 40 [dB] (in increments of 1) 0 Always
76 Notch filter 2, width 0 to 3 2 Always

Specify to suppress resonance of the mechanical system. Resonance points at up to five locations can
be suppressed by combining with settings PA4_51 to PA4_59. By setting the automatic notch filter
selection to 1 (enabled), the notch filter is automatically adjusted to the optimum value to suppress
resonance at up to 2 locations.
Parameters automatically adjusted in this case include PA1_71 to _76. Values are stored in the
EEPROM every 10 minutes.

3-20 Control Gain and Filter Setting Parameters

 CHAPTER 3 PARAMETER

◼ How to set the notch filter

(1) If there is resonance in the mechanical system, a notch filter is automatically set. If resonance is
not suppressed, set PA1_70 (automatic notch filter selection) at 0 (disable) and follow the
procedure below to manually adjust the notch filter.
(2) Using the servo analyze function of PC Loader, determine the resonance point of the machine.

Resonance
point

3
Gain
(b) Depth
[dB]

(c) Width

Frequency [Hz] (a) Resonance frequency

(3) Enter the resonance frequency of and attenuation of the resonance point of the machine into
parameters.
(a) Resonance frequency PA1_71: Notch filter 1, frequency
(b) Depth PA1_72: Notch filter 1, attenuation *
(c) Width PA1_73: Notch filter 1, width
* Too much attenuation may undermine stability of the control. Do not enter too much
setting. (Set at 0dB to disable the notch filter.)

The notch filter is Activate the servo

The notch filter functions to
analyze function again.
added to the eliminate the resonance point.
resonance point.

Attenuation
減衰量
Width
広さ

Frequency
周波数

(4) Approximate reference value

Refer to the table below for the approximate reference value.
Frequency [Hz] 200 500 700 1000
Attenuation [dB] -5 -10 -15 -20
Width 2,3

Control Gain and Filter Setting Parameters 3-21

 CHAPTER 3 PARAMETER

PA1_77 to 86 Vibration suppressing control settings

Default
No. Name Setting range Change
value
Vibration suppressing function selection 0: Terminal setting 1: Learning
77 2: IQ area 0 Always
3: 2 point simultaneous setting
Vibration suppressing anti resonance frequency 0 1 [Hz] to 300.0 [Hz]
78 300.0 Always
(in increments of 1)
Vibration suppressing workpiece inertia ratio 0

3
79 0 [%] to 80 [%] (in increments of 1) 0 Always
(vibration suppressing antiresonant frequency)
Vibration suppressing anti resonance frequency 1 1 [Hz] to 300.0 [Hz]
80 300.0 Always
(in increments of 1)
Vibration suppressing workpiece inertia ratio 1
81 0 [%] to 80 [%](in increments of 1) 0 Always
(vibration suppressing antiresonant frequency)
Vibration suppressing anti resonance frequency 2 1 [Hz] to 300.0 [Hz]
82 300.0 Always
(in increments of 1)
Vibration suppressing workpiece inertia ratio 2 0 [%] to 80 [%]
83 0 Always
(vibration suppressing antiresonant frequency) (in increments of 1)
Vibration suppressing anti resonance frequency 3 1 [Hz] to 300.0 [Hz]
84 300.0 Always
(in increments of 1)
Vibration suppressing workpiece inertia ratio 3
85 0 [%] to 80 [%] (in increments of 1) 0 Always
(vibration suppressing antiresonant frequency)
86 Vibration suppressing damping coefficient 0.0000 to 0.1000 0.0000 Always
These parameters are enabled only under position control.
Use these parameters to specify the anti resonance frequency to suppress workpiece vibration
(vibration control).
Set at 300.0 [Hz] (factory shipment setting) to disable vibration suppressing control function.
Set PA1_77 (Vibration suppressing function selection) at 1 (Learning) to repeat starting and stopping
the motor multiple times while automatically detecting the anti resonance frequency of the machine and
adjusting PA1_78 (vibration suppressing anti resonance frequency 0) to the best value.
To use this function, always reserve 1.5s or longer stopping time.
Vibration suppressing workpiece inertia ratio 0 (vibration suppressing antiresonant frequency) sets the
inertia of vibrations produced by the arm, etc. as a percentage of the inertia for the entire workpiece.
The enabled parameter is selected through the CONT input signal as shown in the table below.

Anti resonance Anti resonance Enabled vibration suppressing Enabled vibration suppressing
frequency 1 frequency 0 anti resonance frequency workpiece inertia ratio
OFF OFF PA1_78 PA1_79
OFF ON PA1_80 PA1_81
ON OFF PA1_82 PA1_83
ON ON PA1_84 PA1_85
By setting PA1_77 (Vibration suppression function selection) to “3” (2 point simultaneous setting), two
anti resonance frequencies can be applied simultaneously.
The anti resonance frequencies that become enabled when this function is used are fixed at PA1_78
(Vibration suppressing anti resonance frequency 0) and PA1_80 (Vibration suppressing anti resonance
frequency 1), and the vibration suppressing anti resonance frequency selected with CONT input signal
becomes disabled.

3-22 Control Gain and Filter Setting Parameters

 CHAPTER 3 PARAMETER

If using “2 point simultaneous setting”, be sure to change the “Vibration suppressing anti
resonance frequency 0 and 1” settings while the motor is stopped.
An unexpected operation may occur if changed while the motor is rotating.
For details of vibration suppressing control, refer to "Section 4.9 Special Adjustment (Vibration
Suppression)."

PA1_87 Model torque filter time constant

Default
No. Name Setting range value Change

87 Model torque filter time constant 0.00 [ms] to 20.00 [ms] ***
Specify the feed forward control filter time constant of the torque for a model of inertia moment.
Always
3
Automatic adjustment is made inside the amplifier in other than the manual tuning mode.

PA1_88 Position loop integration time constant

PA1_89 Position loop integration limiter
Default
No. Name Setting range value Change

Position loop integration time

88 1.0 [ms] to 1000.0 [ms] *** Always
constant
89 Position loop integration limiter 0 [r/min] to Max. rotation speed [r/min] 0 Always
Use to improve interpolation accuracy of axes when interpolating two or more servomotor axes of an
X-Y table or similar.
PA1_88 (position loop integration time constant) is automatically adjusted inside the amplifier in other
than the manual tuning mode.
The position loop integration time constant is disabled if PA1_89 (position loop integration limiter) is 0.
To enter manually, enter settings so that the following equation is satisfied: Position loop integration
time constant ≥ Speed loop integration time constant x 5

PA1_90 Load torque observer

Default
No. Name Setting range value Change

90 Load torque observer 0: Disable 1: Enable 0 Always

Set at 1 (enable) to suppress effects of load disturbance torque and improve speed fluctuation.
Use the parameter to reduce the positioning settling time due to effects of the load torque such as friction.

Control Gain and Filter Setting Parameters 3-23

 CHAPTER 3 PARAMETER

PA1_91 P/PI automatic change selection

Default
No. Name Setting range value
Change

91 P/PI automatic change selection 0: Disable 1: Enable 0 Always

The speed adjuster switches to P (proportional) or PI (proportional + integral) control.
Set at 1 (enable) to automatically switch according to the setting of PA1_61 (gain changing factor).
The switching level follows the reference value of PA1_62 (gain changing level).
The state at switching is shown below.

3 PA1_61: Gain changing factor

Position deviation, feedback speed,

Condition

Reference value level or over

State

P control
command speed
Reference value level or less PI control
External signal switch ON P control
(CONT signal switch)
OFF PI control
To apply the brake from an external unit, arrange the P control state.

PA1_92 and 93 Friction compensation settings

Default
No. Name Setting range value Change

92 Friction compensation: speed range 0.1 [r/min] to 20.0 [r/min] 10.0 Always
Friction compensation: torque setting 0 [%] to 50 [%]
93 0 Always
value
Specify in a system with reversing speeds if smooth reversing motions are not obtained due to friction.
Specify the speed at which static friction changes to dynamic friction, in these parameters.
Set PA1_92 (Speed range for friction compensation) to between 1.0 [r/min] and 10.0 [r/min].
Set the torque equivalent to the dynamical friction (coulomb friction) for PA1_93 (Coulomb friction
torque for friction compensation).
Friction compensation is disabled when PA1_93 (Coulomb friction torque for friction compensation) is
set to “0”.

PA1_94 Torque filter setting mode

Default
No. Name Setting range value Change
Torque filter setting mode 0: Do not configure the torque filter
automatically in auto tuning.
94 1 Always
1: Configure the torque filter automatically in
auto tuning.
This parameter is enabled under position and speed control.
Select either to automatically set the torque filter automatically or not during auto tuning operation.
Set at 0 (not set automatically) to manually specify PA1_59 (torque command filter) without relations to
the setting of PA1_13 (tuning mode selection).
Set at 1 (set automatically) to automatically adjust inside the amplifier in other than the manual tuning
mode.

3-24 Control Gain and Filter Setting Parameters

 CHAPTER 3 PARAMETER

PA1_95 Model torque calculation selection, speed observer selection

Default
No. Name Setting range value
Change

Setting Model torque Speed observer

calculation
Model torque
0 Disable Disable
calculation selection,
95 1 Enable Disable 3 Always
speed observer
2 Disable Enable
selection
3 Enable Enable

This parameter is enabled under position and speed control.

Select whether model torque calculation and speed observer are enabled or disabled. 3
If model torque calculation is disabled, the torque feed forward calculation using a model of moment of
inertia of load is disabled.
Use the parameter to perform position and speed control at the host controller.
Select "enable" for speed observer during regular operation. Speed compensation is made and stability
is improved.
Parameters related to response of the control system are automatically adjusted according to the
setting of auto tuning 1 or 2. However, the function of PA1_54 (position command response time
constant) is canceled internally.

PA1_96 Speed limit gain for torque control

Default
No. Name Setting range value Change

96 Speed limit gain for torque control 0.0 to 50.0 10.0 Always
This parameter is enabled when performing torque control and PA4_21 (torque control speed limit
method) is set to "1" (older model compatibility).
If the rotation speed exceeds the speed limit value when performing torque control, the command
torque is lowered to bring the rotation speed near the setting value. At this time, an error is caused in
the rotation speed in relation to the reference value. Take into consideration that the parameter adjusts
the error. While a larger reference value decreases the error, excessive value will cause instability.

Control Gain and Filter Setting Parameters 3-25

 CHAPTER 3 PARAMETER

3.4 Automatic Operation Setting Parameters

Parameters marked "" in the "Power" field are enabled after the control power is turned
off then turned on again. (Check that the keypad (7-segment display) of the servo
amplifier is unlit when the control power is turned off.)

3.4.1 List (PA2_)

3 No.
PA2_
Name Default value Power
Position
Control mode

Speed Torque
Record of
reference
value
Reverse traveling unit amount for
09 homing
0 -  - -
14 Home position shift unit amount 0 -  - -
Deceleration operation for creep
15 speed
0   - -
Software OT selection/Position
25 command format
0    -

Parameters marked "" in the table are enabled in the corresponding control mode.

3.4.2 Description of Each Parameter

PA2_09 Reverse traveling unit amount for homing

Default
No. Name Setting range value Change

Reverse traveling unit

09 0 to 2000000000 [unit amount] 0 Always
amount for homing
These are not necessary setting items. This function is valid only when the Homing method is 9 or 10,
13, 14.
Specify the reverse traveling amount taken in the direction opposite to the starting direction for homing
at the start of homing motion.
If a reference signal for homing (deceleration starting signal) or reference signal for shift operation is
detected during reverse travel, movement toward the homing direction after reference signal detection
begins. Use the setting to reduce the homing time.
Use if the stopping position is in the direction opposite to the starting direction for homing and the
maximum distance from the stopping position to the zero position is always known.
The unit amount is determined by 6091H: Gear ratio.
If neither the reference signal for homing (deceleration starting signal) nor reference signal for shift
operation is detected during reverse motion, movement in the starting direction for homing begins after
reverse motion by the preset traveling amount.

3-26 Automatic Operation Setting Parameters

 CHAPTER 3 PARAMETER

PA2_14 Home position shift unit amount

Default
No. Name Setting range value
Change

Home position shift unit

14 0 to 2000000000 [unit amount] 0 Always
amount
Specify the distance (traveling amount) from the reference Home position shift unit amount
signal for shift operation to the home position.

Home position Reference signal for

3
shift operation

Homing method (6098H) Reference signal for shift

operation

1-14 Z-phase
19-20 Home position LS
33, 34 Z-phase
35, 37 -

Automatic Operation Setting Parameters 3-27

 CHAPTER 3 PARAMETER

PA2_15 Deceleration operation for creep speed

Default
No. Name Setting range value
Change

Deceleration operation for 0: Reverse rotation is disabled

15 0 Power
creep speed 1: Reverse rotation is enabled
These are not necessary setting items. This function is valid only when the Homing method is 3 to
14,19, or 20.
Specify 1 (reverse rotation enable) to return upon detection of the reference signal for shift operation
during movement at the homing speed in the homing direction after reference signal detection

3 temporarily to the point ahead of the reference signal for shift operation and move at the creep speed
for homing again in the homing direction after reference signal detection to the position (home position)
the home position shift unit amount away from the reference signal for shift operation.
Accurate homing can be executed only with the reference signal for shift operation without a reference
signal for homing (deceleration starting signal).

(1) Homing speed (homing direction after (2) Homing creep speed (3) Homing creep speed (homing direction
reference signal detection) (reverse) after reference signal detection)

Reference signal for shift Reference signal for shift Reference signal for shift
operation operation operation

(1)Homing speed
+ (3) Homing creep speed

Speed

Time

- (2) Homing creep speed

Reference signal for
homing OFF OFF OFF OFF
ON ON ON

3-28 Automatic Operation Setting Parameters

 CHAPTER 3 PARAMETER

PA2_25 Software OT selection/Position command format

No. Name Setting range Default value Change

Software OT
0: Disable, endless
25 selection/Position 0 Power
1: Enable, normal PTP
command format
(1) Software OT selection.
Forced stop is caused, different from +OT or -OT external input signal, if the servomotor position
exceeds the reference value.
Enter settings so that Positive software OT detection position is larger than Negative software OT
detection position.
3
Traveling range
Feedback position

Min. position limit Max. position limit

(607DH_01H) (607DH_02H)

(2) Position command format

This function is enabled when performing pp control, and offers compatibility with VV type and LS
type positioning operation. This should normally be set to “1” (Normal PTP).
Endless: Repeated rotation is possible in the same direction.
The position is preset each time pp control starts, and all Target Positions (607AH) are handled as
INC.
Normal PTP: Operation is performed in the -2000000000 to 2000000000 [unit amount] range."

Automatic Operation Setting Parameters 3-29

 CHAPTER 3 PARAMETER

3.5 Extended Function Setting Parameters

Parameters marked "" in the "Power" field are enabled after the control power is turned
off then turned on again. (Check that the keypad (7-segment display) of the servo
amplifier is unlit when the control power is turned off.)

3.5.1 List (PA2_)

No. Control mode Record of

3
Name Default value Power reference
PA2_ Position Speed Torque value
56 Speed limit selection 0 ○ ○ ○ ○
57 Torque limit selection 0 ○ ○ ○ －
350: GYB
60 Third torque limit 300: other － ○ ○ －
than GYB
61 Servo ON = OFF operation sequence 0001 ○ ○ ○ ○
62 Action sequence at alarm 0000 ○ ○ ○ ○
Action sequence at main power supply OFF,
63 2000 ○ ○ ○ ○
OT detection
64 Torque keeping time to holding brake 0.00 － ○ ○ ○
65 Braking resistor selection 1 ○ ○ ○ ○
66 Flying start selection in speed control 0 ○ － ○ －
67 Alarm detection at undervoltage 1 ○ ○ ○ ○
68 Main power shutoff detection time 35 ○ ○ ○ ○
69 Deviation detection overflow value 15.0 － ○ － －
70 Overload warning value 50 － ○ ○ ○
72 ID-Selector value offset 0 ○ ○ ○ ○
74 Parameter write protection 0 － ○ ○ ○
78 Display transition at warning detection 0 ○ ○ ○ ○
80 Parameter in RAM 1
81 Parameter in RAM 2
0 ○ ○ ○ ○
82 Parameter in RAM 3
83 Parameter in RAM 4
84 Parameter in RAM 5
0 ○ ○ ○ ○
85 Parameter in RAM 6
89 Sequence test mode: mode selection 0 ○ ○ ○ ○
90 Sequence test mode: encoder selection 4 ○ ○ ○ ○
91 Position command delay time 0.000 － ○ ○ ○
92 EtherCAT extension 0 ○ ○ ○ ○
Parameters marked  in the table are enabled in the corresponding control mode.

3-30 Extended Function Setting Parameters

 CHAPTER 3 PARAMETER

3.5.2 Description of Each Parameter

PA2_56 Speed limit selection

Default
No. Name Setting range value Change

0: Parameter
56 Speed limit selection 0 Power
1: Communication setting
Select the method for applying speed limiting.
If the setting is 0, the reference value of PA1_25・PA1_26 (maximum rotation speed) is the speed limit.
If the setting is 1, the speed limit value set at Profile max velocity (607FH) is applied. 3
PA2_57 to 60 Torque limit settings
No. Name Setting range Default value Change

0: Parameter
57 Torque limit selection 0 Power
1: Communication setting
GYB: 0 [%] to 350 [%] GYB: 350 [%]
60 Third torque limit Other than GYB: 0 [%] to 300 [%] Other than GYB: Always
300 [%]
The enabled torque limit is described below.

(1) When performing normal operation

The torque limit values are as follows based on the PA2_57 (Torque limit selection) setting.
If setting = 0: PA1_27 (Forward rotation torque limit), PA1_28 (Reverse rotation torque limit)
If setting = 1: 60E0H (Positive torque limit value), 60E1H (Negative torque limit value)

(2) Third torque limit value

This parameter is valid when performing position control or speed control.
The setting value for this parameter will be the torque limit value under the following conditions.
• Deceleration stop (if Quick stop option code (605AH) = 3 or 7) by setting Forced stop (EMG)
to OFF
• Rapid deceleration stop with ± over travel (±OT) set to OFF
• Deceleration stop (if Fault reaction option code (605EH) = 3) following occurrence of minor
fault alarm
• Deceleration stop with halt (Halt option code (605DH) = 3)

Extended Function Setting Parameters 3-31

 CHAPTER 3 PARAMETER

PA2_61 to 63 Action sequence settings

Default
No. Name Setting range Change
value

Operating sequence Power

61 0000 to 0011 0001
when servo-on = OFF supply
Power
62 Action sequence at alarm 0000 to 1011 0000
supply

3
Action sequence at main power Power
63 0000 to 3011 2000
supply OFF, OT detection supply
Set the action status when decelerating and stopping under each condition.
This parameter selects functions for each digit.
Digit 4 3 2 1

PA2_61 PA2_62 PA2_63

Stop sequence at Stop sequence at Stop sequence at main

servo-on OFF alarm power shutoff
0: DB 0: DB 0: DB
1: Free-run 1: Free-run 1: Free-run

Deceleration sequence Deceleration sequence Deceleration sequence

at servo-on OFF at major failure alarm at main power shutoff
0: DB 0: DB 0: DB
1: Free-run 1: Free-run 1: Free-run

Not used Not used Not used

(No possible to set (No possible to set (No possible to set
value other than 0.) value other than 0.) value other than 0.)

Not used Deceleration sequence Deceleration sequence

(No possible to set at minor failure alarm at OT detection
value other than 0.) 0: DB 2: Rapid deceleration
1: Free-run 3: Deceleration time

• DB: Dynamic brake

When using the DB, Use under the following conditions.
• Usage frequency = once every 10 minutes
• Usage count = within 1,000 times
• Rapid deceleration: The motor will decelerate at the deceleration torque set for PA2_60 (third
torque limit).
(However, the above torque may not be achieved depending on the load conditions.)
• Deceleration time: The motor decelerates based on the deceleration time set for Quick stop
deceleration (0x6085).
The STO operation is based on the operation setting when PA2_61 servo-on is OFF.

3-32 Extended Function Setting Parameters

 CHAPTER 3 PARAMETER

PA2_64 Torque keeping time to holding brake

Default
No. Name Setting range value
Change

Torque keeping time to

64 0.00 [s] to 9.99 [s] 0.00 Always
holding brake
Assign the "brake timing (function No. 14)" signal to the output signal.
The reference value for this parameter is the delay time to free run when the FSA status changes from
Operation Enabled to output stopped.

3
Specify a time larger than the one taken from excitation of the brake to actual brake application.
The brake timing signal turns off when the status changes to output stopped.

PA2_65 Braking resistor selection

Default
No. Name Setting range value Change

0: None
65 Braking resistor selection 1 Power
1: Internal resistor 2: External resistor
Select the braking resistor.
If the reference value is 1, the temperature of the braking resistor is calculated inside the amplifier and
monitored as a regenerative thermal value. 100 [%] indicates an overheated internal braking resistor
(RH1).
To install an external braking resistor for elevator operation or high operation frequency, set at 2.
If the reference value is 2, connect the thermistor of the external resistor to the external braking resistor
overheat (function No. 34).
Because of a normally closed contact, shutoff indicates an overheated external braking resistor (RH2).

Extended Function Setting Parameters 3-33

 CHAPTER 3 PARAMETER

PA2_66 Flying start selection in speed control

Default
No. Name Setting range value
Change

Flying start selection in 0: No flying start

66 0 Power
speed control 1: Flying start
The parameter is enabled under speed control.
If servo-on turns on during free run operation, the speed at that timing is used, and acceleration begins
from that speed.

3
If the control power of the servo amplifier is turned off, the dynamic brake is applied, causing sudden
stop.
The speed at the timing of control power-on is not picked in this case.

PA2_67 Alarm detection at undervoltage

Default
No. Name Setting range value Change

Alarm detection at 0: No detection

undervoltage 1: Detection (main circuit undervoltage:
67 detection when power restored) 1 Power
2: Detection (main circuit undervoltage:
detection when power turned off)
Select whether or not to detect alarms when undervoltage is detected.
The detected alarms include control power undervoltage and main power undervoltage.

PA2_68 Main power shutoff detection time

Default
No. Name Setting range value Change

Main power shutoff

68 35 [ms] to 1000 [ms] 35 Power
detection time
Specify the time for detecting shutoff of the main power. Power supply phases to be detected are L1
and L2.
The AC power is detected.
If power is restored after the time specified in this parameter elapses after the main power turns off with
servo-on turned on, a main circuit power undervoltage alarm (LVP) occurs.
Avoid repeating turning on or off frequently in a short time.
However, if power is restored after the time specified in this parameter and 1 [s], no alarm is detected.
To supply DC power, set at 1000 [ms]. If this is the case, the detection function is canceled.
To supply AC power, leave the default value unchanged in regular cases.

3-34 Extended Function Setting Parameters

 CHAPTER 3 PARAMETER

PA2_69 Deviation detection overflow value

Default
No. Name Setting range value
Change

Deviation detection
69 0.1 [rev] to 100.0 [rev] 15.0 Always
overflow value
Specify the value for detecting an "Deviation overflow" alarm.
Enter the parameter in a rotation amount of the motor output shaft.

PA2_70 Overload warning value

No. Name Setting range

Default
value Change
3
70 Overload warning value 10 [%] to 100 [%] 50 Always
Specify the output level of the "overload warning (27)" signal that is issued as an output signal (OUT
signal).
Use the signal as a warning of an "overload (OL)" alarm.
Characteristics of the overload warning are specified in "CHAPTER 8 CHARACTERISTICS."

PA2_72 ID-Selector Value offset

No. Name Setting range Default value Change

72 ID-Selector value offset 0 to 65535 0 Power

This offset is added to ID-Selector value set with the rotary switch on the front of the ALPHA7.
Consequently, the actual ID-Selector value is expressed with the following equation.

ID-Selector value = Front rotary switch setting + PA2_72 setting value

PA2_74 Parameter write protection

Default
No. Name Setting range value Change

74 Parameter write protection 0: Write enable 1: Write protect 0 Always

Specify parameter write protection.
When set to “1”, parameter editing at PC Loader is prohibited. While set to “1”, PC Loader is able to
rewrite this parameter only.

PA2_78 Display transition at warning detection

Default
No. Name Setting range value Change

Display transition at 0: No transition 1: Transition to

78 0 Power
warning detection warning display
Set whether a warning is displayed at the keypad on the front panel of the amplifier when a "cooling fan
life expiration," "main circuit capacitor life expiration”, "low battery voltage", overload warning, or over
travel (OT) warning content is detected.

Extended Function Setting Parameters 3-35

 CHAPTER 3 PARAMETER

PA2_80 to 85 Parameter in RAM 1 to 6

Default
No. Name Setting range value Change
80 Parameter in RAM 1
81 Parameter in RAM 2
82 Parameter in RAM 3 0: No designation
0 Power
83 Parameter in RAM 4 1 to 399: Parameter No.
84 Parameter in RAM 5
85 Parameter in RAM 6

3 If you change some parameters frequently, store them in RAM.

With this setting, you can change parameters infinitely.
Parameters that can be stored in RAM are those marked "Always" in the "Change" field.
The parameter stored in RAM is in the default value when the amplifier is turned on.
[Setting example] 1 to 99 = PA1_1 to 99, 101 to 199 = PA2_1 to 99, 201 to 299 = PA3_1 to 99, 301 to
399 = PA4_1 to 99

PA2_89 and 90 Sequence test mode: Mode selection and encoder selection
Default
No. Name Setting range value Change

Sequence test mode: 0: Normal mode

89 0 Power
Mode selection 1: Sequence test mode
Sequence test mode:
90 4: 24 bit 4 Power
Encoder selection
PA2_89 (sequence test mode):
When Sequence test mode: Function selection is set to “0”, sequence test mode is started
from PC Loader. Turn the power off then on again to return to normal mode.
Specify the encoder bit according to the type of the servomotor.
PA2_89 (sequence test mode):
Select 1 to always start the sequence test mode. To return to the normal mode, change
PA2_89 to 0 and turn the power off then on again.
Specify the encoder bit according to the type of the servomotor.
In sequence test mode, the servo amplifier keypad flashes (once every 2 seconds.)
PA2_90: Specify the parameter according to the connected motor encoder bit.

* Sequence test mode does not support the functions of safety options (WSU-ST1) and full-closed
control.
When the sequence test mode is executed while the full-state control is enabled, it operates in
semi-closed control.

3-36 Extended Function Setting Parameters

 CHAPTER 3 PARAMETER

PA2_91 Position command delay time

Default
No. Name Setting range Change
value

Position command delay

91 0.000 [ms] to 12.000 [ms] 0.000 Always
time
Sets the time from the point a position command is sent from the controller to the servo amplifier in
CSP mode until issuance of the position command is complete.
If set to 0.000 [ms], the Interpolation time (60C2) value will be valid.
When setting the command delay time with this parameter, take the communication cycle and master
3
jitters into consideration when doing so.

PA2_92 EtherCAT extended function

Default
No. Name Setting range Change
value
EtherCAT extended Power
92 See table below. 0
function supply
PA2_92 is expressed in binary notation, and the various function selections are assigned to each
bit.

bit
Bit 7 0
0 0 0 0 0 0 0 * Default value: 00000000’B (binary) = 00’D (decimal)
初期値＝00000000'B(2進数)=00'D(10進数)
Bit 0: Configured
Bit0:Configured station
Station alias setting
Alias設定
未使用
Not used

◼ Configured station alias setting (bit 0)

If bit 0 is “1”, set the ID-Selector value set with the front rotary switch and PA2_72 for the ESC
register Configured station alias (0012h) when transitioning from Init to Pre-OP.
If bit 0 is “0” (default value), the SII area (0004h) value is set for Configured station alias.
If using with this bit set to “1”, it is necessary to pass EEPROM access permission from the master
to ALPHA7 when transitioning from Init to Pre-OP. Caution is advised.

Extended Function Setting Parameters 3-37

 CHAPTER 3 PARAMETER

3.6 Input Terminal Function Setting Parameters

Parameters marked "" in the "Power" field are enabled after the control power is turned
off then turned on again. (Check that the keypad (7-segment display) of the servo
amplifier is unlit when the control power is turned off.)

3.6.1 List (PA3_)

3 No.
Name Default value Power
Control mode Record of
reference
PA3_ value
Position Speed Torque

01 CONT1 signal assignment

02 CONT2 signal assignment
03 CONT3 signal assignment
4.6.2
04 CONT4 signal assignment Description of
   
05 CONT5 signal assignment Each
Parameter
06 CONT6 signal assignment
07 CONT7 signal assignment
08 CONT8 signal assignment
25 CONT signal inversion 000000    
26 CONT always ON 1
27 CONT always ON 2
28 CONT always ON 3 0    
29 CONT always ON 4
30 CONT always ON 5
Paremeters marked "○" in the table are enabled in the corresponding control mode.

3-38 Input Terminal Function Setting Parameters

 CHAPTER 3 PARAMETER

3.6.2 Description of Each Parameter

PA3_01 to 08 CONT signal assignment

No. Name Setting range Default value Change

01 CONT1 signal assignment 49

02 CONT2 signal assignment 0
03 CONT3 signal assignment 0
04
05
CONT4 signal assignment
CONT5 signal assignment
Select from CONT
signal assignment
functions (see next
0
0
Power
supply
3
page).
06 CONT6 signal assignment 0
07 CONT7 signal assignment 0
08 CONT8 signal assignment 0

(1) Input terminal (CONT input signal) list

Select the input terminal function assigned to the CONT signal in the table below.
The “No.” and the function “Name” have one-on-one relationship. To set a function, set the
corresponding “No.” in the CONT1 to CONT8 signal assignment.
Set input signals from sequence input/output (CN1) to CONT1 to CONT8.
For details of each function, refer to "CHAPTER 2 WIRING."

Sequence input signals

Signals assignable to CONT1 to 6 (sequence input terminal)
No. Function
6 Home position LS [LS]
7 +OT
8 -OT
10 Forced stop [EMG]
34 External regenerative resistor overheat
49 Interrupt input (Touch Probe 1)
59 Interrupt input 2 (Touch Probe 2)

Signals assignable to CONT7, CONT8 (communication)

No. Function
16 Position preset
17 Servo response change
29 P action
54 Free run
57 Anti resonance frequency 0
58 Anti resonance frequency 1
82 Full-closed control disabled
83 Clear external/motor deviation
84 Accumulated pulse clear

Input Terminal Function Setting Parameters 3-39

 CHAPTER 3 PARAMETER

(2) Connector pin layout

The pin layout of each signal is shown in the figure below.
Signals to which used functions are assigned are CONT1 to CONT6.

1 COMOUT 8 CONT1
2 COMIN 9 CONT2
3 CONT5 10 N.C
4 CONT4 11 N.C

3 5 CONT3 12 N.C
6 OUT1 13 N.C
7 CONT6 14 OUT2

PA3_25 CONT signal inversion

No. Name Setting range Default Change
value
Power
25 CONT signal inversion 000000 to 111111 000000
supply
Set if wishing to invert the status (ON/OFF) of signals input to sequence input terminals CONT1 to
CONT6.
This parameter selects functions for each digit, and by setting 1 for each digit, the input signal logic is
reversed.

Digit 6 5 4 3 2 1
PA3_25
Contact1 signal inversion
0: Do not invert
1: Invert

Contact2 signal inversion

0: Do not invert
1: Invert

Contact3 signal inversion

0: Do not invert
1: Invert

Contact4 signal inversion

0: Do not invert
1: Invert

Contact5 signal inversion

0: Do not invert
1: Invert

Contact6 signal inversion

0: Do not invert
1: Invert

3-40 Input Terminal Function Setting Parameters

 CHAPTER 3 PARAMETER

PA3_26 to 30 CONT always ON 1 to 5

Default
No. Name Setting range Change
value

26 CONT always ON 1
27 CONT always ON 2
Specify the number corresponding to
28 CONT always ON 3 0 Power
desired function (0 to 58)
29 CONT always ON 4
30 CONT always ON 5
Specify the CONT input signal that is always enabled after the power is turned on.
The normally open contact signal is always turned on. The normally closed contact signal is always
3
turned off.

◼ The functions that cannot be set with a contact A signal are interrupt input and interrupt
input 2.
Functions that may not be specified with a normally closed signal include forced stop and external
braking resistor overheat. (Functions that can be specified with a normally closed signal are +OT
and -OT.)
The signal assigned to CONT input signal can be also assigned to CONT always enabled setting
redundantly.

Input Terminal Function Setting Parameters 3-41

 CHAPTER 3 PARAMETER

3.7 Output Terminal Function Setting Parameters

Parameters marked "" in the "Power" field are enabled after the control power is turned
off then turned on again. (Check that the keypad (7-segment display) of the servo
amplifier is unlit when the control power is turned off.)

3.7.1 List (PA3_)

3 No.
Name
Default
Power
Control mode Record of
reference
PA3_ value Position Speed Torque value
51 OUT1 signal assignment
52 OUT2 signal assignment
53 OUT3 signal assignment
54 OUT4 signal assignment
55 OUT5 signal assignment
4.7.2
56 OUT6 signal assignment Description
   
57 OUT7 signal assignment of Each
Parameter
58 OUT8 signal assignment
59 OUT9 signal assignment
60 OUT10 signal assignment
61 OUT11 signal assignment
62 OUT12 signal assignment
72 OUT signal inversion 00    
81 Monitor 1 signal assignment 2 -   
82 Monitor 2 signal assignment 3 -   
83 Monitor 1 scale 7.0 -   
84 Monitor 1 offset 0 -   
85 Monitor 2 scale 6.0 -   
86 Monitor 2 offset 0 -   
87 Monitor 1/Monitor 2 output form 0 -   
Feedback speed sampling time
89 1 -   
for monitor
Paremeters marked "○" in the table are enabled in the corresponding control mode.

3-42 Output Terminal Function Setting Parameters

 CHAPTER 3 PARAMETER

3.7.2 Description of Each Parameter

PA3_51 to 60 OUT signal assignment

No. Name Setting range Default value Change
51 OUT1 signal assignment 0
52 OUT2 signal assignment 0
53 OUT3 signal assignment 0
54
55
OUT4 signal assignment
OUT5 signal assignment
0
0
3
56 OUT6 signal assignment Select from OUT signal 0 Power
assignment functions
57 OUT7 signal assignment 0 supply
(see next page).
58 OUT8 signal assignment 0
59 OUT9 signal assignment 0
60 OUT10 signal assignment 0
61 OUT11 signal assignment 0
62 OUT12 signal assignment 0

(1) Output terminal (OUT input signal) list

Select the input terminal function assigned to the OUT signal in the table below.
The “No.” and the function “Name” have one-on-one relationship.
To set a function, set the corresponding “No.” in OUT1 to OUT12.
For details of each function, refer to "CHAPTER 2 WIRING."

List of functions that can be set

No. Function No. Function
1 Operation prep. complete [RDY] 40 Home position LS detection
2 In-position [INP] 41 Forced stop detection
11 Speed limit detection 45 Battery warning
14 Brake timing 46 Life expectancy warning
16 Alarm detection (contact a) 47 Synchronization complete
20 OT detection 48 Full-closed control in progress
22 Homing complete 49 External/motor deviation over forecast
23 Deviation zero 75 Position preset complete
24 Speed zero 76 Alarm detection (contact b)
25 Speed arrival 86 Interference detection
26 Torque limit detection 89 Function safety SS1
27 Overload warning 90 Function safety SLS
28 Servo ready 91 Digital Output 1*1
38 +OT detection 92 Digital Output 2*1
39 -OT detection
*1: Digital Output can be assigned to OUT1/OUT2 only.

Output Terminal Function Setting Parameters 3-43

 CHAPTER 3 PARAMETER

(2) Connector pin layout

The pin layout of each signal is shown in the figure below.
Signals to which used functions are assigned are OUT1 to OUT2.

1 COMOUT 8 CONT1
2 COMIN 9 CONT2
3 CONT5 10 N.C
4 CONT4 11 N.C

3 5
6
CONT3
OUT1
12
13
N.C
N.C
7 CONT6 14 OUT2

PA3_72 OUT signal inversion

No. Name Setting range Default Change
value
Power
72 OUT signal inversion 0000000000 to 1111111111 0000000000
supply
Set if wishing to invert the status (ON/OFF) of signals output from sequence output terminal (OUT1 to
OUT10).
Parameter PA3_72 (OUT signal inversion) selects functions for each digit for OUT1 to OUT10.
By setting 1 for each digit, the output signal logic is reversed.

Digit 2 1

OUT1 signal inversion

0: Do not invert
1: Invert

OUT2 signal inversion

0: Do not invert
1: Invert

3-44 Output Terminal Function Setting Parameters

 CHAPTER 3 PARAMETER

PA3_81 to 87 Monitor output scale and offset settings

Default
No. Name Setting range value Change
1: Command speed. 2: Feedback speed.
Monitor 1 signal
81 3: Torque command. 2 Always
assignment
4: Position deviation [unit amount/pulse].
5: Position deviation 1/10 [unit amount].
6: Position deviation 1/100 [unit amount].
8: Speed deviation. 9: Motor current.
10: Effective torque. 11: DC link voltage.
Monitor 2 signal

3
82 12: OL thermal value. 3 Always
assignment 13: Braking resistor thermal value.
14: Power (W).
15: Motor temperature. 16: Command speed (filtered)
17: Forced output
83 Monitor 1 scale ±2.0 [V] to ±100.0 [V] 7.0 Always
84 Monitor 1 offset -50 to 50 0 Always
85 Monitor 2 scale ±2.0 [V] to ±100.0 [V] 6.0 Always
86 Monitor 2 offset -50 to 50 0 Always
0: Monitor 1 (both voltage output) / Monitor 2 (both
voltage output)
1: Monitor 1 (single voltage output) / Monitor 2
Monitor 1/2 output (both voltage output)
87 0 Always
format 2: Monitor 1 (both voltage output) /
Monitor 2 (single voltage output)
3: Monitor 1 (single voltage output) / Monitor 2
(single voltage output)

Output Terminal Function Setting Parameters 3-45

 CHAPTER 3 PARAMETER

◼ Monitor 1/2 signal assignment

Specify the data to be output at the monitor 1 [MON1] and monitor 2 [MON2] terminals.
Monitoring item Description Specifications
1: Command speed Speed command given to servomotor Output voltage corresponding to maximum
2: Feedback speed Actual rotation speed given to servomotor rotation speed
Torque reference value given to Output voltage corresponding to maximum
3: Torque command
servomotor torque
Output voltage corresponding to
4: Position deviation
1000 [unit amount]

3 5: Position deviation (1/10)

6: Position deviation (1/100)

Difference (deviation) between position
command and position feedback
Output voltage corresponding to
10000 [unit amount]
Output voltage corresponding to
100000 [unit amount]
Difference between speed command and Output voltage corresponding to maximum
8: Speed deviation
speed feedback speed
Output voltage corresponding to maximum
9: Motor current Amperage supplied to servomotor
current
10: Effective torque Effective torque given to servomotor Output voltage corresponding to rated torque
11: DC link voltage DC voltage inside servo amplifier Output voltage corresponding to 400 [V]
12: OL thermal value Load factor Output voltage to 100 [%]
13: Braking resistor thermal
Load factor of braking resistor Output voltage to 100 [%]
value
Output voltage corresponding to rated rotation
14: Power (W) Motor power (W)
speed and rated torque
15: Motor temperature Internal detected temperature of encoder Output voltage corresponding to 100 [°C]
Output voltage corresponding to maximum
16: Command speed (filtered) Speed reference value after internal filter
rotation speed
Arbitrary voltage between -11 [V] and +11
17: Forced output Voltage value set in PA3_83 and PA3_85
[V]

◼ Monitor 1/2 scale

Specify the full scale to be output at the monitor 1 [MON1] and monitor 2 [MON2] terminals.
Specify a negative sign to reverse the polarity of the output voltage.
Though up to 100.0 [V] can be entered, the maximum output voltage is 11.0 [V].
[Example] If the monitor 1 scale is set at 100.0 [V] (with a maximum rotation speed of 6000 [r/min])

Voltage [V]
+100.0

6000 × 11
+11 = 660 [r/min]
100.0

660 6000 Rotation speed [r/min]

3-46 Output Terminal Function Setting Parameters

 CHAPTER 3 PARAMETER

◼ Monitor 1/2 offset

The offset voltage between the monitor 1 [MON1] and monitor 2 [MON2] terminals can be
adjusted. The setting range is from -50 to 0 to 50 in increments of 1. The reference value has no
unit.
Every increment corresponds to about 6.1 [mV].

◼ Monitor 1/2 output format

You can select either swing on both sides or swing on a single side for the signal, scale and offset
assigned to the monitor 1 [MON1] and monitor 2 [MON2] terminals.

Monitor 1 terminal (swing on both sides) Monitor 1 terminal (swing on single side)
3
Output voltage
Output voltage
+7.0V
+7.0V

(Max. rotation speed)

(Max. rotation speed)

(Max. rotation speed) (Max. rotation speed)

-7.0V

Specify the negative sign for the monitor 1/2 scale to reverse the polarity of the output voltage.

◼ Resolution of monitor 1/2 output

The resolution is 14 bits (16384) at the full scale (between -12.5 [V] and +12.5 [V]).
The resolution (*) is 1.5 [mV] (-12.5 to +12.5) [V]/214).
* While the maximum or minimum output voltage is ±11 [V], ±12.5 [V] is used for the calculation of
the resolution.

PA3_89 Feedback speed sampling time for monitor

Default
No. Name Setting range value Change

Feedback speed 0: 50 [µs] 1: 100 [µs] 2: 200 [µs],

89 sampling time for 3: 400 [µs] 4: 800 [µs] 5: 1.6 [ms], 1 Always
monitor 6: 3.2 [ms] 7: 6.4 [ms]
Specify the feedback speed sampling time for monitor.
The sampling time is for the monitoring function. No effect is caused to the control even if the value is
changed.

Output Terminal Function Setting Parameters 3-47

 CHAPTER 3 PARAMETER

3.8 Extension Function 2 Setting Parameters

Parameters with "" in the parameter list "Power supply" column are enabled by turning
OFF the control power and then turning it back ON (ensure that servo amplifier keypad
(7-segment display) is OFF when the control power is OFF).

3.8.1 List (PA4_)

3 No.
Name Default value
Power
Control mode
Full-
Record
of
PA4_ supply Position Speed Torque reference
closed
value
350: GYB
01 Interference detection level 300: other than -   - 
GYB
02 Interference detection return amount 0 -  - - 
03 Interference detection return speed 500.00 -  - - 
Interference detection LPF time
04 20.0 -   - 
constant
Interference detection HPF time
05 100.0 -   - 
constant
06 Enable/disable interference detection 0 -   - 
Enable/disable SEMI F47 compatible
10 0     
function
Function safety amplifier operation
11 00     
selection
6000.00
(GYS and GYB
750W or less)
12 Function safety SLS speed limit value 5000.00 -    
(GYS 1kW or
more)
3000.00 (GYG)
21 Torque control speed limit method 0  - -  -
32 Full-closed system setting 0000  - - - 
35 Full-closed LPF time-constant 1.0 - - - - 
External/motor deviation over detection
36 25600 - - - - 
value
External/motor deviation over forecast
37 12800 - - - - 
value
Frequency divider denominator for
38 100 - - - - 
external/motor deviation monitor
51 Notch filter 3 frequency 4000 -   - 
52 Notch filter 3 attenuation 0 -   - 
53 Notch filter 3 width 2 -   - 
54 Notch filter 4 frequency 4000 -   - 
55 Notch filter 4 attenuation 0 -   - 
56 Notch filter 4 width 2 -   - 
57 Notch filter 5 frequency 4000 -   - 
○ mark in the table is a parameter that is enabled in each control mode.

3-48 Extension Function 2 Setting Parameters

 CHAPTER 3 PARAMETER

Control mode Record

No. Power of
Name Default value Full-
PA4_ supply Position Speed Torque reference
closed
value
58 Notch filter 5 attenuation 0 -   - 
59 Notch filter 5 width 2 -   - 
60 Cogging torque compensation 0 -   - 
61 Tuningless function Enable/disable 0    - 
62 Tuningless level 4 -   - 

3
63 Tuningless load level 3 -   - 
New vibration suppressing damping
64 0 -  - - 
coefficient
New vibration suppressing workpiece
65 40 -  - - 
inertia ratio
○ mark in the table is a parameter that is enabled in each control mode.

3.8.2 Description of Each Parameter

PA4_01 to 06 Interference detection function settings

No. Name Setting range Default value Change
GYB: 350 [%]
GYB: 0 [%] to 350 [%]
01 Interference detection level other than Always
GYB other than: 0 [%] to 300 [%]
GYB: 300 [%]
Interference detection return
02 0 to 2000000000 [unit amount] 0 Always
amount
GYS, GYB 750W or less: 0.01 to
6000.00 [r/min]
Interference detection return
03 GYS 1kW or more: 0.01 to 500.00 Always
speed
5000.00 [r/min]
GYG: 0.01 to 3000.00 [r/min]
Interference detection LPF
04 0.0 to 200.0 [ms] 20.0 Always
time constant
Interference detection HPF
05 0.0 to 200.0 [ms] 100.0 Always
time constant
Enable/disable interference
06 0: Disable 1: Enable 0 Always
detection
The servo amplifier detects disturbance torque caused by a collision (interference) with the machine
end or other axes, and retracts the motor automatically in the direction of no interference.
This function is used if wishing to minimize damage to the machine caused by collisions.

[PA4_01: Interference detection level]

Set the torque level used for detecting collisions.
Collisions can be detected quickly by setting a small value, however, collisions may be mistakenly
detected if set to small.

Extension Function 2 Setting Parameters 3-49

 CHAPTER 3 PARAMETER

[PA4_04: Interference detection LPF time constant, PA4_05: Interference detection HPF time constant]
Set the filter time constant for extracting disturbance torque from the command torque.
Collisions can be detected quickly by setting a small value, however, collisions may be mistakenly
detected if set to small.
[PA4_02: Interference detection return amount, PA4_03: Interference detection return speed]
Set the return amount and speed following interference detection.
The acceleration/deceleration time at this time is based on the PA1_37 to 38: Acceleration/

3 deceleration time settings.

If in speed control mode, the return operation following interference detection is not performed.

Collision
(1) (3) (2)

(2) Collision occurrence

Speed
PA4_02: Interference
detection return value
(1) (3)

Time

PA4_03: Interference detection return speed

[How to return to regular operation]

If the interference detection function is triggered and the servomotor has retreated in the direction
of no interference, normal operation will be possible after the interference detection turns OFF.
However, one of the operations indicated in the following table will be required to recover normal
operation.

Recovery method
• Restart the servo amplifier.
• Switch to the servo-off state.
• Change Controlword (6040H) Fault reset (bit 7) from “OFF” to “ON”.

In pp or hm mode, in addition to the above, operation is resumed by turning Controlword (6040H)

bit 4 (New set-point (pp), Homing operation start (hm)) from OFF to ON.
However, the status prior to interference detection is not retained, and operation is performed with
the status at the time of recovery as the initial status.

3-50 Extension Function 2 Setting Parameters

 CHAPTER 3 PARAMETER

PA4_10 Enable/disable SEMI F47 compatible function

Default
No. Name Setting range Change
value
Enable/disable SEMI F47 Power
10 0: Disable, 1: Enable 0
compatible function supply
This setting ensures compatibility with the SEMI F47 standard.
By setting this parameter to “1: Enable”, the control power undervoltage alarm level and main power
shutoff detection time will be changed, allowing operation stoppages due to alarms to be circumvented,
and operation to be continued. 3
• The main power supply is a three-phase power supply, and is compatible with no loads and light
loads. This parameter is not applicable for use with single-phase power supplies.
• When set to "1: Enable", the settings of PA2_68 (Main power shutoff detection time) are disabled.
• Be sure to carry out a detailed check for the SEMI F47 standard on the actual customer’s equipment.

Extension Function 2 Setting Parameters 3-51

 CHAPTER 3 PARAMETER

PA4_11 to 12 Function safety operation settings

Default
No. Name Setting range Change
value
Function safety amplifier Power
11 00 to 11 00
operation selection supply
GYS,
GYB
750W or
GYS, GYB 750W or less: 0.01 to 6000.00
less:

3
[r/min]
Function safety SLS speed 6000.00
12 GYS 1kW or more: 0.01 to 5000.00 Always
limit value GYS 1kW
[r/min]
or more:
GYG: 0.01 to 3000.00 [r/min]
5000.00
GYG:
3000.00
Use this parameter only if using the servo amplifier in combination with the function safety module
(WSU-ST1).
Set this parameter if wishing to automatically bring the motor to a decelerated stop or limit the motor
speed at the servo amplifier when the SS1 (Safety Stop 1) function or SLS (Safety-Limited Speed)
function becomes active at the function safety module.

Select this function with PA4_11: Function safety amplifier operation selection.
This parameter selects functions for each digit, and by setting 1 for each digit, the function is enabled.
The function is disabled when the setting value for each digit is 0.

Digit 2 1

Amplifier SS1 sequence

Amplifier SLS sequence

By enabling the servo amplifier SS1 operation with PA4_11: Function safety amplifier operation
selection, the motor will be brought to a decelerated stop at the servo amplifier when the SS1 function
becomes active at the function safety module.
The deceleration time at this time is based on Quick stop deceleration (6085H).
By enabling the servo amplifier SLS operation with PA4_11: Function safety amplifier operation
selection, the motor speed is limited to the PA4_12: Function safety SLS speed limit value at the servo
amplifier when the SLS function becomes active at the function safety module.
The deceleration time at this time is the active deceleration time (PA1_38).

3-52 Extension Function 2 Setting Parameters

 CHAPTER 3 PARAMETER

• In csp mode, ensure that commands from the host device do not apply to speed
limiting.
• Operation should normally be performed with command values which ensure a speed
of PA1_25: Max. rotation speed (for position and speed control) or less.
• If activating the servo amplifier SLS function in combination with the function safety
module (WSU-ST1), process commands in such a way that the speed is PA4_12:
Function safety SLS speed limit value or less even at the host device side when the

3
SLS function becomes active.
If the servo amplifier SLS function alone is activated, a deviation over alarm will
occur, and the motor may not move as commanded when the SLS function is
canceled as described below.
• The motor will move as follows if the speed limit is exceeded.
(1) A position deviation will occur if a command exceeding the speed limit value is
issued, and will continue to build up while the command is applied to speed
limiting.
(2) If the position deviation builds to the PA2_69: Deviation detection overflow
value, a deviation over alarm will occur.
(3) If the command is reduced to a value smaller than the speed limit value before
the deviation over alarm occurs, the motor will continue to rotate at the speed
limit value until the built up position deviation is offset, and subsequent
operation will be based on the command.
(4) If the speed limit value increases before the deviation over alarm occurs (when
SLS canceled), the motor will accelerate to the speed limit value.
• If the speed limit value becomes greater than the command value, the
operation will be as described in item (3).
• If the speed limit value remains smaller than the command value, the operation
will be as described in items (1) and (2).

Extension Function 2 Setting Parameters 3-53

 CHAPTER 3 PARAMETER

PA4_21 Torque control speed limit method

Default
No. Name Setting range Change
value
0: PI control
Torque control speed limit Power
21 (PA1_56, PA1_57, PA1_65, PA1_66) 0
method supply
1: Older model compatibility (PA1_96)
Select the speed limit method in torque control.
Set 1 (older model compatibility) to make speed limiting responses compatible with older models when

3 performing torque control.

PA4_32 Full-closed system setting

No. Name Setting range Default value Change

32 Full-closed system setting 0000 to 1101 0000 Power

Enables the full-closed control and sets the functions related to the external encoder. This parameter is
a type to select the function for each digit.
Girder 4 3 2 1
Not used

External encoder pulse phase

0: When motor CCW rotates, phase B advance
1: When motor CCW rotates, phase A advance

Origin return Z-phase selection

0: Motor encoder Z-phase
1: External encoder Z-phase

Full-closed system
0: Disable
1: Enabled

3-54 Extension Function 2 Setting Parameters

 CHAPTER 3 PARAMETER

PA4_35 Full-closed LPF time-constant

No. Name Setting range Default value Change

35 Full-closed LPF time-constant 0.0 to 100.0 [ms] 1.0 Always

Since the impact of mechanical resonance, etc. of the external encoder is more remarkable than that of
the motor encoder, if it is controlled only by the detection value of the external encoder, the
performance may not be achieved without increasing the control gain.
In such a case, stable operation can be achieved by using this filter.

3
Increasing the setting value will not be affected by the external encoder. However, the settling time will
be longer. Adjust the setting time so that the settling time can be satisfied within the range of stable
operation.
By setting this setting value to 0, control can be performed only with the position information of the
external encoder.

PA4_36 External/motor deviation over detection value

PA4_37 External/motor deviation over forecast value
No. Name Setting range Default value Change

External/motor deviation over

36 0 to 16777216 [×100 pulse] 25600 Always
detection value
External/motor deviation over
37 0 to 16777216 [×100 pulse] 12800 Always
forecast value
External/motor deviation over alarm (touch panel display: AL.oF) and output signal (OUT signal)
"External"
Sets the level to output /Motor deviation over forecast.
When a deviation of the value set in this parameter occurs in the encoder pulse amount of the motor,
an alarm is detected or OUT signal turns ON.

* This parameter is not required to be set, so set it as necessary

PA4_38 Frequency divider denominator for external/motor deviation monitor

No. Name Setting range Default value Change

Frequency divider denominator for

38 0 to 100000 100 Always
external/motor deviation monitor
The deviation amount to be output to the external/motor deviation for PC loader waveform trace is
divided by the value set in this parameter and output.

External/Motor Daviation
External/motor deviation (for waveform trace)＝
PA4_38 Setting value

* This parameter is not required to be set, so set it as necessary.

Extension Function 2 Setting Parameters 3-55

 CHAPTER 3 PARAMETER

PA4_51 to 59 Notch filter settings

Default
No. Name Setting range Change
value
51 Notch filter 3 frequency 10 to 4000[Hz] 4000 Always
52 Notch filter 3 attenuation 0 to 40 [dB] 0 Always
53 Notch filter 3 width 0 to 3 2 Always
54 Notch filter 4 frequency 10 to 4000[Hz] 4000 Always

3 55
56
Notch filter 4 attenuation
Notch filter 4 width
0 to 40 [dB]
0 to 3
0
2
Always
Always
57 Notch filter 5 frequency 10 to 4000[Hz] 4000 Always
58 Notch filter 5 attenuation 0 to 40 [dB] 0 Always
59 Notch filter 5 width 0 to 3 2 Always
Notch filter settings are used to suppress machine system resonance.
Resonance points at up to five locations can be suppressed with PA1_71 to PA1_76.
PA4_51 to PA4_59 are not automatically adjusted, even if PA4_51: Automatic notch filter selection = 1
(enabled).
Refer to "PA1_70 to 76 Notch filter settings" in "3.3.2Description of Each Parameter" for details on the
setting method.

3-56 Extension Function 2 Setting Parameters

 CHAPTER 3 PARAMETER

PA4_60 Cogging torque compensation

Default
No. Name Setting range Change
value
0: Disable
Cogging torque 1: Enable
60 0 Always
compensation 2: Learning
3: Clear learning result
Speed fluctuations resulting from servomotor cogging torque can be suppressed.

3
Use this parameter if wishing to suppress speed fluctuations during operation.
This function can be used by setting the parameter to 2 (learning), rotating the servomotor 10 times or
more, and after the servo amplifier has learned the cogging torque (the parameter is automatically set
to 1: Enable when learning is complete.)
To reset the learned result, set to 3 (clear learning result) (the parameter is automatically set to 0:
Disable when the result is cleared.)
• Run the servomotor under the following operating conditions when performing
learning.
If the following conditions are not satisfied, it may not be possible to perform learning
correctly.
(5) Run the servomotor on its own before installing it on the machine.
(6) When performing learning, run the servomotor at a constant rotation speed of
approximately 100 [r/min].
• If learning is not completed, it will not be possible to set this parameter to 1: Enable. A
data error will occur when an attempt is made to set the parameter.
• The cogging torque differs for each motor. Perform teaching again when a motor is
replaced.
• There may be no effect, even when using this function, for such reasons as the
cogging torque being too low. If no effect is observed, set this function to “0: Disable”.

PA4_61 to 63 Tuningless function settings

Default
No. Name Setting range Change
value
Tuningless function Power
61 0: Disable 1: Enable 0
Enable/disable supply
62 Tuningless level 0 to 7 4 Always
63 Tuningless load level 0 to 3 3 Always
Set these parameters when using the tuningless function.
Refer to "4.2 Tuningless Function" for details on settings and adjustment, etc.

Extension Function 2 Setting Parameters 3-57

 CHAPTER 3 PARAMETER

PA4_64 to 65 New vibration suppressing settings

Default
No. Name Setting range Change
value
New vibration suppressing
64 0 to 99 [%] 0 Always
damping coefficient
New vibration suppressing
65 5 to 80 [%] 40 Always
workpiece inertia ratio
These parameters are valid only for position control.

3 They are used to suppress (vibration suppression) vibrations at the tip of workpieces.
If vibrations persist despite adjusting vibration suppression (PA1_78 to PA1_86), suppression is
possible using these parameters.

By increasing the PA4_64: New vibration suppressing damping coefficient setting value, the amount of
compensation applied with this function increases, however, vibration may increase if the value is too
high.
PA4_65: New vibration suppressing workpiece inertia ratio sets the inertia of vibrating parts such as the
arm as a percentage of the inertia for the entire workpiece.

Refer to "4.9 Special Adjustment (Vibration Suppression)" for details on vibration suppression.

3-58 Extension Function 2 Setting Parameters

CHAPTER 4 SERVO ADJUSTMENT
4

4-1
 CHAPTER 4 SERVO ADJUSTMENT

4.1 Adjustment Procedure

Adjustment (tuning) of the servo amplifier is necessary so that the servomotor operates according to
commands sent from the host control unit.
Proceed servo amplifier tuning as in the following chart.

◼ Using the tuning procedure and mode selection

START

4 Synchronous
or interpolation operation of two or more
Yes Auto tuning for checking the upper
Adjust in the
interpolation control
gain limit
axes? mode

No

No Review and check the

Operation with tuningless function.
Satisfactory motion? mechanical system.

Yes
No
Adjust through easy
tuning. Satisfactory motion?

Yes
No
Adjust through auto tuning.
Satisfactory motion?

Yes
No
Adjustment with fine tuning..
Satisfactory motion?

Yes
No
Adjust through manual
tuning. Satisfactory motion?

Yes

END

4-2 Adjustment Procedure

 CHAPTER 4 SERVO ADJUSTMENT

4.2 Tuningless Function

4.2.1 What is the Tuningless Function?

With the tuningless function, the servo amplifier adjusts parameters automatically to provide almost the
same response based on the machine model or load fluctuations, eliminating the need to make manual
adjustments.

4.2.2 Setting Parameters

The tuningless function is disabled by default.

4
To enable this function, change PA4_61 (Tuningless function selection) to “1” (Enable), and turn the
servo amplifier power ON again.

No. Name Setting range Default value Change

PA4_61 Tuningless function 0: Disable 1: Enable 0 Power

selection supply

Tuningless Function 4-3

 CHAPTER 4 SERVO ADJUSTMENT

4.2.3 Operating Procedure

The tuningless function is used to automatically adjust internal servo amplifier parameters based on the
load condition, and therefore the function will remain ON continuously after the function is enabled.
There is generally no need to change or adjust parameter setting values, however, if vibrations or
oscillations occur during operation, or if unsatisfied with operation, the following parameter settings
should be specified.

No. Name Setting range Default value Change

4 PA4_62 Tuningless level 0 to 7

0: Low response to 7: high response
4 Always

PA4_63 Tuningless load 0 to 3 3 Always

level 0: Light load to 3: heavy load
PA4_62: The tuning level parameter is used to set the servo response when using this function, and
the greater the value, the higher the response.
If vibrations or oscillations occur with the default value (setting value = 4), adjust this setting
to a smaller value.
PA4_63: The tuningless load level parameter selects the size of the load inertial moment.
If the load inertial moment is small, adjust this setting to a smaller value.
* Setting guideline
0 (light load): load inertial moment ratio = 3 times or less
3 (heavy load): load inertial moment ratio = 30 times or more

4.2.4 Disabled Functions and Parameters

If the tuningless function is enabled, the following functions and parameters will be disabled.
Furthermore, this function will be disabled if the control mode is torque control mode.

No. Name

PA1_13 Tuning mode selection

PA1_14 Load inertia ratio
PA1_15 Auto tuning gain 1
PA1_16 Auto tuning gain 2
PA1_61 to PA1_67 Second gain settings
PA1_77 to PA1_86 Vibration suppressing control settings

When using this function, use with an operation pattern that does not involve torque
limiting. When using this function, auto tuning function (easy tuning and fine tuning) is
disabled.

4-4 Tuningless Function

 CHAPTER 4 SERVO ADJUSTMENT

4.3 Easy Tuning

4.3.1 What is Easy Tuning?

Disconnect the servo amplifier from the host

Servo amplifier Reciprocal
control unit and operate only the servo amplifier motion, etc.
and servomotor to automatically tune internal
parameters of the amplifier.
With this function, even if the host control unit
program is incomplete, the servomotor can be
operated in advance which can lead to the
reduction of the setup time. 4

4.3.2 Easy Tuning Operation Profile

Easy tuning is performed from PC Loader.

To install PC Loader, refer to "CHAPTER 13 PC LOADER."

Start operation after checking no collision exists in the moving parts of the machine.

[1] Slow running

For machines with a linear
driving system, follow the (1)
procedure below to perform slow
running before performing easy
tuning.
Turn the motor at 10 [r/min] (3)
(fixed) while checking the
rotation direction and stroke.
Select "slow running" (1) on the
PC Loader screen shown on the
right and enter the "stroke (2)

setting" and "direction selection"

parameters (2), and then press
the "START/STOP" button (3).

Slow running is unnecessary for machines with a rotary driving system.

Easy Tuning 4-5

 CHAPTER 4 SERVO ADJUSTMENT

[2] Easy tuning

Select "easy tuning" on the aforementioned screen . Enter the "stroke," "speed" and other
particulars and press the "START/STOP" button. Up to 25 reciprocal motions occur while
parameters are automatically tuned.
"Slow run" for rotation direction and stroke "Easy tuning" for automatic tuning
checks

Slow travel at 10 [r/min] Automatic tuning

4-6 Easy Tuning

 CHAPTER 4 SERVO ADJUSTMENT

4.3.3 Description of Operation

Two operation patterns of easy tuning are described.

◼ Slow running
Starting conditions
Conditions for starting slow running are indicated "" in the table below.
Slow running does not start if the conditions shown below are not satisfied ("NG1" is indicated).
If none of conditions are satisfied during operation, operation is stopped ("NG2" is indicated).
The gain reference value at the time of the start is kept as far as no resonance is observed.
Power supply Parameter Tuningless
Neither ±OT BX signal
to main No alarm Auto tuning*1 write function

4
nor EMG OFF
circuit enable*2 disable*3

      

*1) PA1_13 (tuning mode selection): other than 2 (manual tuning)

*2) PA2_74: Parameter write protection = 0 (write enable)
*3) PA4_61: Tuningless function selection = 0 (disable)

Operation pattern (in case of reciprocal motion)

The operation pattern is shown below. "P" in the table indicates the number of the basic
setting parameter (PA1_).

Rotation speed

10 [r/min]

P20

P37 P38 P22 P37 P38 Time [s]

P20

-10 [r/min]

Rotation direction
Traveling Operation Acceleration Deceleration Rotation
Timer Return
distance frequency time time speed Go stroke
stroke

P20 Once P37 P38 10 [r/min] P22 P23

Easy Tuning 4-7

 CHAPTER 4 SERVO ADJUSTMENT

Details of tuning
No tuning is performed in slow running.
However, the auto tuning gain is automatically decreased if resonance is observed in the machine.
In this case, the automatic notch filter function is activated.

Details of completion of action

The action completion method includes three patterns: normal completion, interruption by user,
and faulty termination. Each profile is described below.
Faulty termination
Normal completion Interruption by user
NG2 NG3

4 Stopped after the specified

stroke action. If mechanical
resonance is found, the notch
The auto tuning gain
at the start of
operation is
The auto tuning
gain at the start of
operation is
The auto tuning gain
automatically changes
to the one that will
filter is automatically adjusted restored. restored. suppress resonance
and the auto tuning gain (re-adjustment is
automatically decreases. necessary).

◼ Easy tuning
Starting condition
Conditions necessary to start easy tuning are indicated "" in the table below.
Easy tuning does not start if the following conditions are not satisfied ("NG1" is indicated).
Easy tuning is interrupted if any condition is unsatisfied during operation ("NG2" is indicated).
Power supply Parameter Tuningless
Neither ±OT BX signal
to main No alarm Auto tuning*1 write function
nor EMG OFF
circuit enable*2 disable*3

      

*1) PA1_13 (tuning mode selection): other than 2 (manual tuning)

*2) PA2_74: Parameter write protection = 0 (write enable)
*3) PA4_61: Tuningless function selection = 0 (disable)

Easy tuning may not function correctly in mechanisms listed below.

• Machines susceptible to vibration due to small rigidity
• Machines with large backlash
• Machines with large viscous friction
• Machines with very small rotation speed (example: 100 [r/min] or less)
• Machines with large load inertia of load(GYG motor：30 times or over、others：100 times
or over)
• Machines with large and fluctuating load inertia

4-8 Easy Tuning

 CHAPTER 4 SERVO ADJUSTMENT

Operation profile (in case of reciprocal motion)

The operation profile is shown below. "P□□" in the table indicates the number of the basic setting
parameter (PA1_□□).

Rotation speed

P21

P20 Automat- Automat-

ically ically 24 more times
calculated calculated

P22
Automat- Automat-
P20 Time [s]
ically ically
calculated calculated

P21

Rotation
4
Traveling Operation Acceleration Deceleration Rotation direction*1
Timer
distance frequency time time speed Go Return
stroke stroke

Max. 25 Automatically Automatically

P20 P21 P22*2 P23
times calculated*1 calculated*1

*1) The result of automatic calculation can be checked with the PC Loader.
*2) 1 [s] or less reference values are assumed to be 1 [s] for easy tuning.

The frequency of a reciprocal motion is 25 cycles maximum, and that of a single-direction motion is 50
cycles maximum.

Details of tuning
Up to 50 easy tuning cycles are repeated while auto tuning gain 1 is automatically adjusted in the
range from 5 to 30.

Details of completion of action

The action completion method includes three profiles: normal completion, interruption by user, and
faulty termination. Each profile is described below.
Faulty termination
Normal completion Interruption by user
NG2 NG3

Completion of easy tuning is Auto tuning gain 1 at Auto tuning gain 1 at Auto tuning gain 1
indicated. the start of the start of automatically changes
Auto tuning gain 1 (range operation is operation is to the one that will
between 5 and 30) is restored. restored. suppress resonance
automatically adjusted to the (re-adjustment is
best value. necessary).

Easy Tuning 4-9

 CHAPTER 4 SERVO ADJUSTMENT

Results of easy tuning

After easy tuning is normally finished, the gain and load inertia ratio automatically adjusted in
tuning are reflected on parameters. (See the table below.)
If resonance is observed during easy tuning, a notch filter is automatically set to suppress
resonance, and the filter is reflected on parameters.
Perform regular operation under the above status and if satisfactory actions are obtained, there is
no need to perform tuning described on following pages.

<Parameters set with the easy tuning function>

Number: PA1_ Name

4 14 Load inertia ratio

51 Moving average S-curve time
54 Position command response time constant
55 Position loop gain 1
56 Speed loop gain 1
57 Speed loop integration time constant 1
87 Model torque filter time constant
88 Position loop integration time constant

Notes on easy tuning

With easy tuning, automatic operation is performed according to functions of the servo amplifier.
Sufficient care should be taken on the safety.
If ill effects are expected to the machine due to resonance of the motor with the mechanical
system, assign the servo-on (S-ON) signal to a CONT signal before starting easy tuning.
If a fault is found during operation, turn the signal off immediately.
If the excessive stroke cause damage to the machine, assign ± over-travel (±OT) signals to CONT
signals and install over-travel sensors at both ends of the motion stroke before starting easy
tuning.

Easy tuning for vertical transportation

When performing easy tuning with the servomotor for vertical transportation, to prevent a carried
object from falling due to its own weight, turn the servo-on signal to ON and check that the servo
lock is activated before releasing the brake.
Then performe easy tuning, refer to P4-6 procedure.

4-10 Easy Tuning

 CHAPTER 4 SERVO ADJUSTMENT

4.4 Auto Tuning

If satisfactory results are not obtained after easy tuning, perform "auto tuning." In this mode, the load
inertia ratio of the machine is always estimated, and optimum gain is automatically settled.

4.4.1 Conditions for Auto Tuning

Auto tuning may not function correctly if the following conditions are not satisfied.
• The load inertia ratio of the mechanical system is within 100 times of the servomotor.
• Required time to reach 2000 [r/min] is 5 [s] or shorter with the acceleration/deceleration time
constant.
• The motor rotation speed is 100 [r/min] or more.
4
• There is no substantial load fluctuation during operation or acceleration/deceleration.
• The friction force is not large and does not apply pressure.

4.4.2 Parameters Used for Auto Tuning

Parameters used for gain adjustment are listed in the table below.

No. Name Approximate reference value

PA1_13 Tuning mode selection 0: Auto tuning 1: Semi-auto tuning

No need to enter Enter a stable estimated value
PA1_14 Load inertia ratio
(automatically updated) (or average value).
Refer to "4.4.3Approximate Reference Value of Auto
PA1_15 Auto tuning gain 1
Tuning Gain 1" for adjustment.
PA1_16 Auto tuning gain 2 Enter when necessary.

• During auto tuning, by adjusting PA1_15: auto tuning gain 1, other parameters are automatically
adjusted. The values are always updated.
• During semi-auto tuning, enter PA1_14: load interia ratio and by adjusting PA1_15: auto tuning gain
1 other parameter are automatically adjusted.
Values are fixed as far as the setting is left unchanged.

Auto Tuning 4-11

 CHAPTER 4 SERVO ADJUSTMENT

4.4.3 Approximate Reference Value of Auto Tuning Gain 1

By increasing auto tuning gain, response will be improved while possibly causing vibration or other ill
effects. Change the value at intervals of about 2 points.
If resonance with the mechanical system or abnormal noises are not caused, auto tuning gain 1 can be
increased and the settling time can be decreased.

Machine configuration Auto tuning gain 1

(Division by mechanism) (Approximate reference value)

Large transfer machine 1 to 10

4 Arm robot
Belt mechanism
5 to 20
10 to 25
Ball screw + Belt mechanism 15 to 30
Mechanism directly coupled with
20 to 40
ball screw

4-12 Auto Tuning

 CHAPTER 4 SERVO ADJUSTMENT

4.4.4 Auto Tuning Adjustment Procedure

START

Repeat acceleration/deceleration operation.

4
No
Is the estimated Change to semi-auto tuning and enter the
load inertia ratio stable? ratio of moment of inertia of load.
Yes
Yes

Adjust auto tuning gain 1.

*1)
No
Satisfactory motion? Adjust auto tuning gain 2.

Yes

Yes
Satisfactory motion?

No

END 5.5 Fine Tuning Application

*1) There is no need to adjust auto tuning gain 2 under speed control.

Auto Tuning 4-13

 CHAPTER 4 SERVO ADJUSTMENT

4.5 Fine Tuning

4.5.1 What is Fine Tuning?

If unsatisfied with operation using "easy tuning" or "auto tuning" adjustments, adjustments can be made
using the "fine tuning" function.
The status of the motor run with the servo amplifier is observed with PC Loader, and this function is
used to set optimum control gain and filter setting values based on the operating status.
* PC Loader is required to use this function.

4 4.5.2 Adjusted Parameters

No. Name

PA1_13 Tuning mode selection

PA1_14 Load inertia ratio
PA1_51 Moving average S-curve time
PA1_54 Position command response time constant
PA1_55 Position loop gain 1
PA1_56 Speed loop gain 1
PA1_57 Speed loop integration time constant 1
PA1_59 Torque filter time constant for position and speed control
PA1_71 to PA1_76 Notch filter settings
PA1_77 Vibration suppression function selection
PA1_78 Vibration suppressing anti resonance frequency 0
PA1_79 Vibration suppressing workpiece inertia ratio 0 (vibration suppressing
antiresonant frequency)
PA1_80 Vibration suppressing anti resonance frequency 1
PA1_81 Vibration suppressing workpiece inertia ratio 1 (vibration suppressing
antiresonant frequency)
PA1_86 Vibration suppressing damping coefficient
PA1_87 Model torque filter time constant
PA1_92 Friction compensation: speed range
PA1_95 Model torque calculation selection, speed observer selection
PA4_51 Notch filter 3 frequency
PA4_52 Notch filter 3 attenuation
PA4_53 Notch filter 3 width

4-14 Fine Tuning

 CHAPTER 4 SERVO ADJUSTMENT

4.5.3 Operating Procedure

The screen below appears when the fine tuning function is selected.
By specifying settings and performing operations using the following procedure, the servo amplifier
adjusts the optimum gain and filter settings.

The fine tuning function involves motor movement.

• Perform the following procedure after ensuring safety near moving parts of the
machine.
• Carry out a thorough check to ensure that motor movement will not result in any
danger. 4
(6)

(3)

(4) (7)
(1)

(2)

(8)

(9)

(5)
(10)

[Step 1. Characteristic analysis]

Acquire data required for machine frequency analysis.
(1) Set the vibration torque required for the servo amplifier to analyze characteristics.
(2) Set the permissible stroke when performing vibration motion.
(3) Press the "START" button to begin vibration motion.

[Step 2. Analysis results]

Calculate the machine frequency analysis from the results of the vibration motion performed at
Step 1.
(4) Analysis results are displayed when the vibration motion is complete.
(5) Display the recommended control gain and filter setting values (default values when adjusting
gain) from the frequency characteristics.

Fine Tuning 4-15

 CHAPTER 4 SERVO ADJUSTMENT

[Step 3. Gain adjustment]

Adjust the parameters to optimum values at the servo amplifier while running the motor.
(6) Set the adjustment indicator.
• Emphasis on command response/emphasis on disturbance response
Select whether to perform adjustment emphasizing the response to commands to the servo
amplifier, or adjustment emphasizing the response to disturbances.
* By placing emphasis on command response, settling time will be shorter, however, the
response to disturbances will drop.
If placing emphasis on disturbance response, the response to disturbances will increase,
however, settling time will be longer.

4 • Stability level
Select the margin for the maximum setting range for the control gain calculated from
frequency characteristics.
The greater the value, the greater the margin (stability), however, the response will drop.
(7) Set the operation profile. (Forward/reverse rotation is repeated based on the set gain.)
(8) Press the adjustment "START" button to begin operation and gain adjustment.
(9) The adjustment results for gain and filter settings are displayed.
(10) If there are no problems with the adjustment values at (9), press the [Write Adjustment
Results] button to complete adjustment.
If unsatisfied with operation based on the adjustment values at (9), reset the adjustment
indicator at (6), and perform adjustment again.

◼ Starting conditions
Conditions necessary to start fine turning are indicated “○” in the table below.
Before activating fine tuning, allow the condition to be ready for servo-on and deactivate the
automatic gain adjustment functions (tuningless function, easy tuning) and the PC loader function.

Power supply to main circuit ○

No alarm ○
Neither ±OT nor EMG ○
BX signal OFF ○
Tuningless function disable ○
Not in easy tuning mode ○
Other PC loader functions OFF ○

4-16 Fine Tuning

 CHAPTER 4 SERVO ADJUSTMENT

START

Specify vibration settings (1), (2).

Start the vibration motion (3).

4
Display the frequency characteristics, and
control gain, filter settings (4), (5).

Select the adjustment indicator (6).

Select the operation profile and start

adjustment (7), (8).

No
Satisfied with operation?

Yes

Check the adjustment results and write the

adjustment values (9), (10).

END

Fine Tuning 4-17

 CHAPTER 4 SERVO ADJUSTMENT

4.6 Manual Tuning

If the result of "auto tuning application" is not satisfactory or if faster response is intended, perform
manual adjustment of all gains.

4.6.1 Conditions for Manual Tuning

Check the following conditions when adjusting.

• The load inertia ratio of the mechanical system is within 100 times of the servomotor.
• The backlash of the mechanical system is not large and the belt is free from deflection.

4 • Auto tuning has been performed.

4.6.2 Parameters Used for Manual Tuning

Parameters used for gain adjustment are shown in the table in the next section.

4.6.3 Approximate Gain Reference Value

If manual tuning is performed to change parameters without performing auto tuning, the
control system in the servo amplifier becomes imbalanced and triggers hazard.
Be sure to perform re-read out of the parameters after auto tuning, and conduct
adjustment based on those parameters.

Approximate reference Position Speed

No. Name
value control control
PA1_13 Tuning mode selection 2: Manual tuning  
Enter a stable assumed
PA1_14 Load inertia ratio (Jl)  
value (or average value).
PA1_51 Moving average S-curve time 16 or over  -
Position command response
PA1_54 Kpt ≥ 600/Kp1  -
time constant (Kpt)
PA1_55 Position loop gain 1 (Kp1) Kp1 ≤ Kv1 × (1 to 3)  -
PA1_56 Speed loop gain 1 (Kv1) Kv1 ≤ 2000/ (1+Jl)  
Speed loop integration time
PA1_57 Ki1 ≥ 500/Kv1  
constant 1 (Ki1)
PA1_58 Feed forward gain 1 Specify when necessary.  -
Torque filter time constant for
PA1_59 0.1 ≤ Tt ≤ 1.0  
position and speed control (Tt)
Approximate values specified in the table above are reference values for a general mechanical
configuration of the transfer system.
The approximate gain reference value varies according to the configuration of the mechanical
system, load inertia ratio, etc.
Refer to the next page for the adjustment procedure. Parameters marked "-" in the speed control
field in the table above need no adjustment.

4-18 Manual Tuning

 CHAPTER 4 SERVO ADJUSTMENT

4.6.4 Manual Tuning Adjustment Procedure

START

Select the manual tuning mode.

Re-read out of the parameters.

Enter the load inertia ratio. 4

Increase speed loop gain 1 to the
maximum as far as vibration or
abnormal noises are not caused.

Adjust the torque filter time constant

for position and speed control.

Decrease speed loop integration time

constant 1.

Increase position loop gain 1.

Decrease the moving average S-curve time and *1)

position command response time constant.

*1)
Increase feed forward gain 1.

If resonance is caused in the mechanical *1)

system, check the notch filter settings again.

END

*1) Adjustment is unnecessary under speed control.

Manual Tuning 4-19

 CHAPTER 4 SERVO ADJUSTMENT

4.6.5 Individual Adjustment

The adjustment method for the individual case is described (for position control).
The method varies according to the configuration of the mechanical system and other particulars.
Use the procedure as a basic adjustment procedure.
Before making adjustment, use historical trace of the PC Loader to measure the action time and output
timing of in-position signal.

◼ Adjustment for faster response (reduced settling time)

In case of shortage in travel
(1) Decrease PA1_51 (moving average S-curve time).

4
Speed

(2) Decrease PA1_54

Motor
(position command response time constant). movement

(3) Increase PA1_58 (feed forward gain 1). Command

(4) Decrease PA1_14 (load inertia ratio).
(Each change should be within ±10 [%].)
Time

In case of overshoot Speed

(1) Increase PA1_51 (moving average S-curve time).

Motor
(2) Increase PA1_54 movement

(position command response time constant).

Command
(3) Decrease PA1_58 (feed forward gain 1).
(4) Increase PA1_14 (load inertia ratio).
(Each change should be within ±10 [%].) Time

◼ Adjustment checking method

The overshoot unit amount and settling time can be monitored with PC Loader during adjustment to
reduce the settling time.
The motion waveform can be monitored, as well.
For details, refer to "CHAPTER 13 PC LOADER."

4-20 Manual Tuning

 CHAPTER 4 SERVO ADJUSTMENT

4.7 Interpolation Control Mode

Use the "interpolation control mode" to adjust command responses of a system with two or more
servomotor axes such as the X-Y table when performing synchronous operation or interpolation
operation.

4.7.1 Conditions for Interpolation Control Mode

Check the following conditions to perform adjustment.

• Keep consistency in the mechanical configuration and specifications of each axis to the largest
extent (ball screw pitch, diameter, length, etc.).
• The backlash of the mechanical system is not large and the belt is free from deflection. 4
• Commands sent from the host are common among axes.

4.7.2 Parameters Used for Interpolation Control Mode

Parameters used for gain adjustment are shown in the table below.

No. Name Approximate reference value

PA1_13 Tuning mode selection 3: Interpolation control mode

PA1_14 Load inertia ratio Enter a stable assumed value (or average value).
Enter while referring to "4.4.3Approximate
PA1_15 Auto tuning gain 1
Reference Value of Auto Tuning Gain 1."
PA1_51 Moving average S-curve time 0
Position command response
PA1_54 5 or over
time constant

The other parameters are automatically adjusted.

However, auto tuning gain 2 becomes disabled.

Interpolation Control Mode 4-21

 CHAPTER 4 SERVO ADJUSTMENT

4.7.3 Adjustment Procedure in Interpolation Control Mode

[1] Specify PA1_13 (semi-auto tuning mode).

[2] Specify PA1_14 (load inertia ratio).
[3] Increase PA1_15 (auto tuning gain 1).
[4] If vibration or abnormal noises are caused in the mechanical system, reset the gain and set that
value as the upper limit.
[5] Select the interpolation control mode with PA1_13.
[6] Set PA1_51 (moving average S-curve time) at 0.

4
[7] Gradually decrease PA1_54 (position command response time constant) (min: 5).
[8] Position command response time constant shall tune to the larger parameter between two axes.
[9] While observing interpolation characteristics and rotation state, finely adjust PA1_15 (auto tuning
gain 1) and PA1_54 (position command response time constant).

4-22 Interpolation Control Mode

 CHAPTER 4 SERVO ADJUSTMENT

4.8 Profile Operation

4.8.1 What is Profile Operation?

Even if the host control unit is not connected, automatic operation can be executed according to the
specified operation pattern.
The motion continues until the user stops it. Use this feature to check the load condition of the
mechanical system, effective torque, etc.
During profile operation, parameters are not tuned.
Profile operation can be performed from PC Loader.
Select the operation pattern and press the "START/STOP" button to start to operate.
4

Profile Operation 4-23

 CHAPTER 4 SERVO ADJUSTMENT

4.8.2 Description of Operation

Starting conditions
Conditions for starting profile operation are described. Necessary conditions are indicated with
"."
The operation does not start if the following conditions are not satisfied ("NG1" is indicated).
Operation is interrupted if any condition is dissatisfied during operation ("NG2" is indicated).
The gain reference value is left unchanged at the start level as far as resonance is not observed.

Power supply to BX signal turned Neither ±OT nor

No alarm state
main circuit off EMG

4    

Operation pattern
The operation pattern is shown below. "P" in the table indicates the number of the basic
setting parameter (PA1_).
Rotation speed

P21

P20
Continue
P37 P38

P22
Time [s]
P37 P38 P20

P21

Rotation direction
Moving Operation Acceleration Deceleration Rotation
Timer Return
distance frequency time time speed Go stroke
stroke

P20 Continuous P37 P38 P21 P22 P23

How to stop profile operation

Profile operation is stopped by the user or upon an error*.
* The error includes the following events.
 ±OT, EMG or external braking resistor overheat is detected in the middle.
 BX (Free-run signal) is turned on in the middle.
 The servo-on (S-ON) signal is turned off in the middle.

4-24 Profile Operation

 CHAPTER 4 SERVO ADJUSTMENT

4.9 Special Adjustment (Vibration Suppression)

4.9.1 What is Vibration Suppression ?

◼ Purpose of vibration suppression

The end of the workpiece held in a structure having a spring characteristic such as the robot arm and
transfer machine vibrates during quick acceleration or deceleration of the motor. The vibration
suppression function aims at suppression of the workpiece and realization of positioning in a shorter
cycle time in such a system.
a) Without vibration suppression function b) With vibration suppression function

4
Rattling No vibration
Laser Laser
displace- displace-
ment ment
gauge gauge
ﾚｰｻﾞｰ
変位計

2 [min/div] 2 [min/div]

Target position Target position of arm

of arm
Actual speed Actual speed
500 [r/min/div] 500 [r/min/div]

Not only vibration of the tip of the machine but also vibration of the entire machine can
be suppressed.
• System without vibration suppression
At motor acceleration / deceleration, torque tends to reach maximum value. This
acceleration / deceleration shock could cause vibration to the entire machine.
• System with vibration suppression
Because the torque is controlled during acceleration / deceleration of the motor, the
shock of acceleration/deceleration is reduced, and even with machine that is
relatively less rigid, the vibration to the entire machine can be reduced.

Special Adjustment (Vibration Suppression) 4-25

 CHAPTER 4 SERVO ADJUSTMENT

◼ Principles of vibration suppression

A machine model is contained inside, and the control works inside the model to eliminate vibration of
the position of the assumed workpiece held in the model. The control amount is added as an offset to
the position and speed control of the motor, thereby suppressing vibration of the actual workpiece
position.

Amplifier

Position
command
Motor position/Speed control M

4 Position/speed offset

Vibration suppressing
control

Position of assumed
Machine model workpiece
Workpiece

◼ Mechanical characteristics and conditions that make vibration suppression effective

Applicable machine characteristics and conditions
• Vibration is caused at the end of the arm due to the shock of traveling/stopping of the robot arm
or similar.
• The machine itself vibrates due to the shock of traveling / stopping of a part of the machine.
• The vibration frequency is about 1 [Hz] to 300 [Hz].

Inapplicable mechanical characteristics and conditions

• Vibration is observed continuously without relations to traveling / stopping.
• Eccentric vibration is caused in synchronization to the rotation of the motor or machine.
• The vibration frequency is less than 1 [Hz] or more than 300 [Hz].
• The traveling time is less than the vibration period.
• There is backlash in the mechanical joint to the vibrating mechanism.
• (Numerator 0 of electronic gear ratio / Denominator of electronic gear ratio) > 10000
• If the command pulse train frequency is equal to or less than 20 [kHz]

4-26 Special Adjustment (Vibration Suppression)

 CHAPTER 4 SERVO ADJUSTMENT

4.9.2 Automatic Vibration Suppression

Automatic vibration suppression is a function for automatically adjusting the vibration suppressing anti
resonance frequency to the optimum value.
Follow the procedure below.

◼ Automatic vibration suppression setting procedure

[1] Set PA1_77 (Vibration suppression function selection) at 1 (enable).
[2] Perform profile operation or issue position commands from the host unit to start and stop the
servomotor nine times.
[3] Set the dwell at 1.5 [s] or longer.
[4] After operation is normally finished, the optimum value is automatically stored in PA1_78 (vibration
suppressing anti resonance frequency 0). 4
[5] Upon a fault (if no effect is verified), PA1_78 (vibration suppressing anti resonance frequency 0)
remains the default value.
[6] After normal or faulty completion, PA1_77 (Vibration suppressing function selection) automatically
changes to 0 (disable).
* The applicable frequency is 1 [Hz] to 100 [Hz].

If the procedure is interrupted at eight or fewer cycles and the main power is turned off, the cycle count
begins from 1 again.

◼ Learning state of automatic vibration suppression

Use the monitor of the PC Loader to monitor the learning state of the automatic vibration
suppression.

If no expected effect is obtained under automatic vibration suppression, refer to the following
"4.9.3Manual Adjustment of Vibration Suppression."

It may not be possible to learn normally when the full-closed loop control is enabled.
Use automatic vibration suppression control with the full-closed loop control disabled.

Special Adjustment (Vibration Suppression) 4-27

 CHAPTER 4 SERVO ADJUSTMENT

4.9.3 Manual Adjustment of Vibration Suppression

◼ Adjustment flow chart

START

(1) Adjust the servo gain.

4 (2)
Check the vibration suppressing
anti resonance frequency.

Enter the vibration suppressing anti

(3) resonance frequency
(parameters PA1_78, _80, _82 and _84).

Enter the S-curve * May not be entered in case of

(4) auto or semi-auto tuning.
(parameters PA1_51, 52).

(5) Check the effects.

Finely adjust the vibration suppressing anti

(6) resonance frequency
(parameters PA1_78, _80, _82 and _84).

Adjust the inertia ratio of vibration

(7) suppressing workpiece
(parameters PA1_79, _81, _83 and _85).

Satisfied with adjustment?

NO

New vibration suppressing adjustment

YES (8) (parameters PA4_64/65).

END

4-28 Special Adjustment (Vibration Suppression)

 CHAPTER 4 SERVO ADJUSTMENT

(1) Adjusting the servo gain

To ignore the vibration of the tip of the machine and reserve smooth stopping action of the
servomotor free from overshoot, refer to the description given in sections 4.1 through 4.7 to adjust
the servo gain.

If gain-related parameters are adjusted after the vibration suppressing anti resonance
frequency is set, the vibration suppressing anti resonance frequency must be adjusted
again. Perform gain adjustment first.

(2) Checking the vibration suppressing anti resonance frequency

Using the PC Loader
Use the servo analyze function to check the vibration suppressing anti resonance point.
4
Resonance
Gain point
(Note 2)
[dB]

Vibration
suppressing anti
resonance point
(Note 1)

Frequency [Hz]

Note 1 The vibration suppressing anti resonance point may not be observed with the servo
analyze function in the following machine configuration.
 Machine with large friction
 Machine with relatively large mechanical loss such as reduction gear and ball screw
Note 2 Use the notch filter for the resonance point.

What are the resonance point and vibration suppressing anti resonance point?
Vibration of the machine includes the "resonance point" and "vibration suppressing anti
resonance point."
The "resonance point" and "vibration suppressing anti resonance point" mentioned
here are machine characteristics viewed from the motor.
"Resonance point": Frequency at which the motor vibrates without arm tip vibration
"Vibration suppressing anti resonance point": Frequency at which the arm tip vibrates
without vibration of the motor shaft
In general, the vibration suppressing anti resonance frequency is less than the
resonance frequency.

Special Adjustment (Vibration Suppression) 4-29

 CHAPTER 4 SERVO ADJUSTMENT

Not using the PC Loader

There are two checking methods.
If measurement of the vibration frequency can be made with a laser displacement gauge or similar,
adopt method 1). In other cases, adopt method 2).

1) Measure the vibration of the arm tip with a laser displacement gauge or similar.

Frequency of vibration (Ts)

Vibration

4 Time

1
Vibration suppressing anti resonance frequency = [Hz]
Ts

2) Starting at 300.0 [Hz] (maximum setting), decrease the reference values of parameters
PA1_78, _80, _82 and _84 gradually while visually checking vibration, to find the best value.

4-30 Special Adjustment (Vibration Suppression)

 CHAPTER 4 SERVO ADJUSTMENT

(3) Entering the vibration suppressing anti resonance frequency

Enter the vibration suppressing anti resonance frequency obtained in step (2) to one of parameters
PA1_78, _80, _82 and _84*.
No. Name Setting range Default value Change
PA1_78 Vibration suppressing anti resonance frequency 0 1.0 to 300.0 [Hz] (in increments of 0.1) 300.0 Always
PA1_80 Vibration suppressing anti resonance frequency 1 1.0 to 300.0 [Hz] (in increments of 0.1) 300.0 Always
PA1_82 Vibration suppressing anti resonance frequency 2 1.0 to 300.0 [Hz] (in increments of 0.1) 300.0 Always
PA1_84 Vibration suppressing anti resonance frequency 3 1.0 to 300.0 [Hz] (in increments of 0.1) 300.0 Always

* Parameters for up to four points can be entered.

While combining the "anti resonance frequency selection 0" and "anti resonance frequency
selection 1" CONT input signals, up to four points can be specified.
The vibration suppressing anti resonance point may vary according
to the arm length and weight of the load.
4
(a) (b) (c) The vibration suppressing anti
resonance frequency varies according
to conditions a, b and c.

In such a case, assign this function to CONT input signals and switch the vibration
suppressing anti resonance frequency setting.
Anti resonance frequency Anti resonance frequency Vibration suppressing anti
selection 1 selection 0 resonance frequency

OFF OFF PA1_78 **

OFF ON PA1_80

ON OFF PA1_82

ON ON PA1_84

* This signal is always handled to be turned off if it is not assigned to the sequence input
signal. In this case, PA1_78 (vibration suppressing anti resonance frequency 0) is always
enabled.
To disable the vibration suppressing anti resonance frequency, set the vibration suppressing
anti resonance frequency at 300.0 Hz.

Be sure to switch while the motion is stopped. Otherwise shock will be caused.

(4) Entering the S-curve

To attain effective vibration suppression, enter the S-curve.
Enter either PA1_51 (moving average S-curve time*) or PA1_52 (low-pass filter for S-curve time
constant).
The approximate reference value is shown below.
No. Name Setting range Default value Change
PA1_51 Moving average S-curve time* 0 and 2 to 500[× 0.125ms] (in increments of 1) 20 Always
PA1_52 low-pass filter for S-curve time constant 0.0 to 1000.0[ms] (in increments of 0.1) 0.0 Always

* Cannot be set during auto or semi-auto tuning.

Special Adjustment (Vibration Suppression) 4-31

 CHAPTER 4 SERVO ADJUSTMENT

α／β*1 ≦2000（PG=24bit） α／β*1 ≦10000（PG=24bit）

PA1_78/80/82/84
(Vibration suppressing anti
resonance frequency) PA1_51*2 PA1_52 PA1_51*2 PA1_52
(Moving average (Low-pass filter for (Moving average (Low-pass filter for
S-curve time) S-curve time constant) S-curve time) S-curve time constant)

< 10Hz 80 10ms 160 20ms

10Hz to 20Hz 40 5ms 80 10ms

> 20Hz 16 to 24 2 to 3ms 40 5ms

*1 α PA1_06 (numerator 0 of electronic gear)

=
4 β PA1_07 (denominator of electronic gear)

* 2 Cannot be set during auto or semi-auto tuning.

(5) Checking the effects

There are three checking methods.
(1) Observe vibration of the arm tip with a laser displacement gauge or similar measuring
instrument.
(2) Take a motion picture of the arm tip with a high speed video to check vibration.
(3) Visually observe.
The vibration suppressing anti resonance frequency is not reflected on the servo
analyze function even if it is entered.

Gain

Anti resonance
point remains.

Frequency

(6) Finely adjusting the vibration suppressing anti resonance frequency

While checking effects of vibration suppression, finely adjust the reference value (in increments of
0.1 or 0.2).

4-32 Special Adjustment (Vibration Suppression)

 CHAPTER 4 SERVO ADJUSTMENT

(7) Entering the vibration suppressing workpiece inertia ratio

Ratio of the inertia of the vibrating point such as the arm specifies the portion of the total load
inertia. By setting the vibration suppressing workpiece inertia ratio which is equivalent to amount
to be applied when receiving reaction force from mechanical system (workpiece), the vibration
can be further suppressed.

Setting method
[1] Calculate the inertia of the vibrating point according to specifications of the machine.

Vibration suppressing Vibrating point inertia

4
=
workpiece inertia ratio Entire load inertia

[2] Entering with the PC Loader

(1) Check the anti resonance frequency and resonance frequency by using the servo analyze
function.
(2) Select [Parameter Edit] - [PA1: Control Gain - Filter Setting] and press the "enter vibration
suppressing anti resonance frequency" button to open the exclusive window.
Enter the anti resonance frequency and resonance frequency* to automatically calculate
the ratio of inertia of the workpiece.

* The resonance frequency is not the resonance frequency suppressed with the notch filter.
Use the servo analyze function to check this resonance frequency.
This resonance frequency appears as a set with the anti resonance frequency, and it is about two
times the anti resonance frequency.
[Example of resonance frequency]
Gain
Resonance frequency: about 90Hz

Anti resonance frequency: about 45Hz

Frequency

Special Adjustment (Vibration Suppression) 4-33

 CHAPTER 4 SERVO ADJUSTMENT

(8) New vibration suppressing adjustment

If vibrations persist even after performing adjustment at steps (3) to (7), vibrations can be further
suppressed by performing this adjustment.

Setting method
[1] PA4_64 (New vibration suppressing damping coefficient)
Increase the value in increments of 0.1 while checking vibration to adjust to the most
effective adjustment value.
Adjust using the following guideline as a reference. The greater the value, the more
effective the adjustment will be, however, vibration may increase if the value is too high.

4 Adjustment guideline: 0.000 to 0.500

[2] PA4_65 (New vibration suppressing workpiece inertia ratio)

There is generally no need to change the default value.
If vibrations persist even after performing the adjustment at [1], set the workpiece inertia
ratio calculated at (7).

4-34 Special Adjustment (Vibration Suppression)

CHAPTER 5 KEYPAD 5

5-1
 CHAPTER 5 KEYPAD

5.1 Display

The servo amplifier is equipped with a keypad (see the figure on

the right).
The keypad is fixed. (1)
The keypad is equipped with a 2-digit 7-segment LED (1) (lift the
front cover).
The 2-digit 7-segment LED displays both numbers and
characters.

5.1.1 Mode

5 The keypad has 2 modes.

Some modes are unavailable for some models of the servo amplifier.
• Sequence mode: The control and operation statuses of the servo amplifier are displayed.
• Maintenance mode: Displays alarms and warnings that are occurring.

７セグメント表示 0 1 2 3 4 5 6 7 8 9 -
7-segment display

0123456789-
A b C c d E F G H i J

AbCcdEfGHiJ
L n o P q r S t U v y

LnopqrstUuy

5-2 Display
 CHAPTER 5 KEYPAD

5.1.2 Flashing Display

There are times when the keypad flashes.

The flashing and ON status and meanings are shown in the following table.

Flashing interval Status Recovery method

None (ON) Normal status -
0.5 second cycle Alarm occurring Restart the servo amplifier or reset the
alarm.
Once every 2 seconds In sequence test mode Restart the servo amplifier after changing
PA2_89 to “0”.
1 second cycle Warning occurring Clear the warning item.
Twice every 2 seconds Restart notification *Restart the servo amplifier.

5.1.3 Displayed content 5

The transition for each display is shown below.

● Status display
● 状態表示

Sd Switch On Disable

rS Ready to Switch On

So Switched On

En Operation enabled
qS Quickstop Active

アラーム停止
Alarm occurrence ワーニング発生
Warning occurrence
動作完了 リセット解除
Reset cancel (warning display active)
(警告表示有効) No warning
ワーニングなし
● Display during warning
● Display during alarm ● ワーニング中表示
● アラーム中表示
Display changes alternately every 2 s
3秒ごとに交互表示 Display changes alternately every 2 s
6秒ごとに交互表示

oc. 01 Er. 41
1秒周期で点滅
Flashes in 0.5 s cycles 2秒毎に2回周期
※アラームコードが二桁のものは交互表示しない。 Flashes in 1 s cycles
* Display does not change alternately for
2-digit alarm codes.

Display 5-3
 CHAPTER 5 KEYPAD

5.2 Function List

In the parameter edit mode and the positioning edit mode, the setting values can be checked and
changed.

Mode Status Display example

Sequence display Switch On Disable Sd

Ready to Switch On rS
So
5
Swiched On

Operation enabled En
Quickstop Active qS
Alarm display Display of 2 digits or more oc 01
2 digit display oS
Warning display Er. 41
• Refer to “6.2.3 Alarm Display List” for details on alarm display.
• Refer to “6.2.4 Warning Display List” for details on warning display.

5-4 Function List

CHAPTER 6 MAINTENANCE AND INSPECTION 6

6-1
 CHAPTER 6 MAINTENANCE AND INSPECTION

6.1 Inspection

The servo amplifier and servomotor are maintenance free and no special daily inspection is
necessary. However, to avoid accidents and operate the devices for a long term at a stable reliability,
perform periodical inspection.

WARNING
 After turning the power off, wait for at least five minutes and check that the charge LED is unlit
before performing inspection.
There is a risk of electric shock.
 Do not touch the servomotor, servo amplifier and cables in the power-on state.
There is a risk of electric shock.
 Never disassemble or remodel the servomotor and servo amplifier.
It might cause fire and failure. It will not be covered by the warranty.

6 ◼ Periodic inspection items

The periodic inspection items are shown below.

Device Description of inspection

 There is no deviation *1) in the linkage between the servomotor shaft and
mechanical system.
Servomotor
 The servomotor is free from direct splashes of water, vapor or oil.
 The servomotor itself does not vibrate excessively.

 Screws of the terminal block and mounting sections are not loose.
 Connectors are inserted correctly.
 There is no massive dust on the servo amplifier.
 There is no malodor, damage, breakage or faults in appearance.
Servo amplifier
 There should be no characters missing at the keypad display.
 The cooling fan should be running.
 The fan should not be clogged.
 The safety function (STO) should function normally (every 3 months).
*1) Indicates faults in installation such as an angle error, parallelism eccentricity, axial
displacement or similar in the linkage between the servomotor shaft and mechanical system.

Before checking cables of the servomotor and servo amplifier, turn the power off and wait
at least five minutes and check that the charge LED is unlit.

CAUTION
 Do not perform a Megger test of the printed circuit board and terminal block.
Otherwise the servo amplifier or the encoder built in the servomotor may be damaged.

6-2
 CHAPTER 6 MAINTENANCE AND INSPECTION

6.2 Status Display

6.2.1 Initial State

(1) After the control power (L1C, L2C) is supplied to the servo amplifier, the seven-segment LED of
the keypad lights up.
(2) After the main circuit power (L1, L2, L3) is supplied to the servo amplifier, the "charge LED" lights
up.

To operate the servomotor, states (1) and (2) must be arranged.

If nothing is displayed even though the power is supplied or either (1) or (2) is not arranged, perform
"13.5.9 Diagnosis to be Made if the Servomotor Fails to Start", or contact us.

Front view of servo amplifier

Keypad
7-segment LED
6

Charge LED

(Frame 1) (Frame 2) (Frame 3) (Frame 4)

6.2.2 State at Alarm

If an alarm is alerted, display of the servo amplifier will be as follows.

(1) An alarm code is displayed at the seven-segment LED of the keypad.
For the description of display, refer to the following pages.
(2) The keypad is flashing (The keypad repeatedly flashes and turns OFF in 0.5 second intervals.)

Be sure to check the alarm code to clarify the cause of the alarm.

Status Display 6-3

 CHAPTER 6 MAINTENANCE AND INSPECTION

6.2.3 Alarm Display List

When an alarm is detected, the keypad of the servo amplifier automatically shows alarm data.
The content of alarms is displayed with either 2 digits or 4 digits.
If displayed with 4 digits, 2 digits are displayed alternately every 2 seconds.
Order Display Name English Type

oc 01 Overcurrent 1 Over Current 1

1
oc 02 Overcurrent 2 Over Current 2

2 oS Overspeed Over Speed

Control power
3 Lu cn undervoltage
Circuit Low Voltage

Hu
6
4 Overvoltage High Voltage

Et 01 Encoder error 1 Encoder Trouble 1

5
Et 02 Encoder error 2 Encoder Trouble 2

6 dE Memory error Date Error Major

fault

7 cE Motor combination error Combination Error

Encoder
8 Ec communication error
Encoder Communication Error

9 co nt CONT overlap Cont (CONTrol Signal) Error

oL 01 Overload 1 Over Load 1

10
oL 02 Overload 2 Over Load 2

Inrush current
Inrush Current Suppression
11 rH 04 suppressing circuit
error
Circuit Trouble

12 SF tY Safety function error Safety Function Error

6-4 Status Display

 CHAPTER 6 MAINTENANCE AND INSPECTION

Order Display Name English Type

Main circuit
13 Lu Po undervoltage
Power Low Voltage

Internal regenerative
14 rH 01 resistor heating
Internal Resistor Heat

External regenerative
15 rH 02 resistor heating
External Resistor Heat

Regenerative transistor
16 rH 03 error
Resistor Tr Error

17 oF Deviation overflow Over Flow

18 AH Amplifier heating Amp Heat

19 EH Encoder heating Encoder Heat

Minor
dL 01
6
ABS encoder loss 1 Absolute Date Lost 1
fault

20 dL 02 ABS encoder loss 2 Absolute Date Lost 2

dL 03 ABS encoder loss 3 Absolute Date Lost 3

21 AF Multi-turn overflow Absolute Date Over Flow

22 iE Initial error Initial Error

Command pulse
23 HF frequency error
Pulse Frequency Error

24 oL 03 Overload 3 Over Load 3

Cycle communication
25 cY error
Cyclic Communication Error

To reset the alarm, perform one of the following methods.

 Turn Controlword_bit7 (Fault Reset) from “0” to “1”.
Change to another status after returning this bit to “0”.
 From the PC Loader, use alarm reset in the "monitor" command.
 Turn OFF the input power supply and then turn it back ON.

Status Display 6-5

 CHAPTER 6 MAINTENANCE AND INSPECTION

◼ Alarm reset
There are alarms that cannot be canceled by resetting. Alarms that cannot canceled by
resetting should be reset by turning the power OFF and then ON again.

Alarms that can be canceled by resetting

Display Name Display Name

oc 01 Overcurrent 1 Lu Po Main circuit undervoltage

Internal regenerative
oc 02 Overcurrent 2 rH 01 resistor overheat
External regenerative
oS Overspeed rH 02 resistor overheat
Control power
Lu cn undervoltage oF Deviation overflow

6 Hu Overvoltage

Encoder communication
AH Amplifier overheat

Ec error EH Encoder overheat

Command pulse
oL 01 Overload 1 HF frequency error
Cycle communication
oL 02 Overload 2 cY error

oL 03 Overload 3

Alarms that cannot be canceled through alarm resetting

Display Name Display Name

Et 01 Encoder error 1 dL 01 ABS encoder loss 1

Et 02 Encoder error 2 dL 02 ABS encoder loss 2

dE Memory error dL 03 ABS encoder loss 3

cE Motor combination error AF Multi-turn overflow

co nt CONT overlap iE Initial error

Regenerative transistor
rH 03 error SF tY Safety function error

Inrush current
rH 04 suppressing circuit error

6-6 Status Display

 CHAPTER 6 MAINTENANCE AND INSPECTION

6.2.4 Warning Display List

When a warning is detected, the content of the warning is automatically displayed on the servo
amplifier keypad.
A 4-digit warning is divided up into two sets of 2 digits, each of which is displayed every 2 seconds.
Display Name English

Er. 41 Battery warning Battery Warning

Main circuit capacitor life

Er. 42 warning
Main Circuit Capacitor Life

Er. 43 Cooling fan life warning Cooling Fan Life Warning

Er. 44 Overload warning Overload warning

Er. 45 OT+ +Over-travel

Er. 46 OT- -Over-travel

6

Status Display 6-7

 CHAPTER 6 MAINTENANCE AND INSPECTION

6.3 Troubleshooting Method

1. Overcurrent
[Display] [Description of detected alarm]

The output current of the servo amplifier exceeds the rated value.
oc 01 OC01: Direct detection by internal transistor of servo amplifier
OC02: Indirect detection with software of servo amplifier
oc 02
[Cause and remedy]
Cause Remedy
Wrong servomotor output wiring  Correct the wiring of power cables (U, V and W).
Short circuit or grounding fault in  Check cables visually or through continuity check
servomotor output wiring

6
and replace the defective cable.
 Measure the insulation resistance. (Several MΩ or
Servomotor insulation fault
over to ground)
 Measure the resistance across cables. (Several Ω
Failure of servomotor
between cables)
Incorrect resistance of braking resistor  Replace with the braking resistor within the rating.
Current imbalance caused by an encoder
 Replace the servomotor.
fault
Unconnected grounding cable  Connect the grounding cable.

6-8 Troubleshooting Method

 CHAPTER 6 MAINTENANCE AND INSPECTION

2. Overspeed
[Display] [Description of detected alarm]
The rotation speed of the servomotor exceeds 1.1 times the maximum
oS speed.

[Cause and remedy]

Cause Remedy
Wrong servomotor output
 Correct the wiring of power cables (U, V and W).
wiring
Check the speed waveform during acceleration with the PC
Loader or similar (see the figure below) and take the following
The rotation speed of the countermeasures.
servomotor overshoots.  Increase PA1_37 (acceleration time).
 Increase PA1_52 (S-curve time constant).
 Increase PA1_56 (speed loop gain 1).

オーバーシュート
Overshoot
6
Max. rotation
最高回転速度 speed

Time
時間

3. Control Power Undervoltage

[Display] [Description of detected alarm]
The voltage of the control power supplied to the servo amplifier
Lu cn temporarily drops below the minimum specification limit.

[Cause and remedy]

Cause Remedy
 Check the power supply environment for momentary
The source voltage drops due to power failure and improve the power supply environment.
momentary power failure or similar.  Check and improve the power supply capacity and
transformer capacity.
Poor power supply capacity of
 Replace the transformer, etc.
transformer, etc.

Troubleshooting Method 6-9

 CHAPTER 6 MAINTENANCE AND INSPECTION

4. Overvoltage
[Display] [Description of detected alarm]
The DC voltage inside the servo amplifier exceeds the upper limit.
Hu
[Cause and remedy]
Cause Remedy
 Check if the source voltage is within the specification
The source voltage is too high limits.
(immediately after power-on).  Insert a reactor if there is a power factor improvement
capacitor.
Unconnected internal regenerative  Check the short-circuit wire between the RB2 and RB3
resistor terminals.
The regenerative energy is high  Use an external regenerative resistor.

6 Unconnected external braking

resistor or wrong wiring
 Connect the external braking resistor.
 Correct the wiring of the external braking resistor.
Broken braking transistor  Replace the servo amplifier.
An overvoltage is detected when the servo amplifier internal DC voltage exceeds approximately
420 [V].
Approximately over 420 [V], overvoltage is detected.

5. Encoder Trouble
[Display] [Description of detected alarm]
There is a fault in the encoder built in the servomotor.
Et 01 (Communications are normal.)
• Et01: Single revolution position detection fault of encoder
• Et02: Encoder memory data reading fault
Et 02
[Cause and remedy]
Cause Remedy
Fault in data sent from encoder  Use shielded cables to eliminate noise effects.
Failure of encoder  Replace the servomotor.

6-10 Troubleshooting Method

 CHAPTER 6 MAINTENANCE AND INSPECTION

6. Memory Error
[Display] [Description of detected alarm]
The parameter data stored in the servo amplifier is damaged.
dE
[Cause and remedy]
Cause Remedy
 Using the PC Loader, read parameters and
enter those indicated in red.
 Initialize parameters.
Failure of stored data
 Turn the power off then on again. If
restoration is not obtained, replace the
servo amplifier.
The parameter overwriting frequency has
 Replace the servo amplifier.

6
exceeded 100,000 cycles.
The servo-on is turned on without turning
the power off and then on after the  Supply the power again.
parameter was initialized.

7. Motor Combination Error

[Display] [Description of detected alarm]
The capacity and model of the servo amplifier do not agree with those
cE of the connected servomotor.

[Cause and remedy]

Cause Remedy
The capacity and model of the servo  Check the capacity and model of the servomotor
amplifier do not agree with those of and those of the servo amplifier.
the servomotor.

Troubleshooting Method 6-11

 CHAPTER 6 MAINTENANCE AND INSPECTION

8. Encoder Communication Error

[Display] [Description of detected alarm]
Communications with the internal encoder of the servomotor fails.
Ec
[Cause and remedy]
Cause Remedy
Interrupted encoder  Check cables visually and through continuity check and
communications correct faults.
 Check for the broken wire in the encoder cable and correct.
Broken wire or poor contact
 Insert ferrite cores.

The servo amplifier and encoder communicate through high speed serial communications.
The encoder cable has a voltage amplitude of about +5 [V]. Do not route the encoder cable in a

6 strong magnetic or electric field. Route the encoder cable separately from the main body of the
servo amplifier, inverter, electromagnetic contactor or similar (reserve at least 100 [mm]).

9. CONT (control signal) Error

[Display] [Description of detected alarm]
There is duplication in allocation of sequence input terminals of the
co nt servo amplifier.

[Cause and remedy]

Cause Remedy
The same input signal is allocated to two or  Do not specify the same number among
more terminals. CONT signal settings.

6-12 Troubleshooting Method

 CHAPTER 6 MAINTENANCE AND INSPECTION

10. Overload
[Display] [Description of detected alarm]
 OL01: Instantaneous alarm such as a locked shaft.
oL 01  OL02: The effective torque exceeds the allowable limit of the
servomotor. (Detection at electronic thermal relay built in servo

oL 02 amplifier)
 Overload level: See "8.2 Overload Characteristics".

[Cause and remedy]

Cause Remedy
The servomotor fails to rotate • Check if the brake is active.
mechanically.
• Examine the servomotor capacity, based on
the load factor.
The mechanical system is too heavy • If the rotation speed can be reduced, add a

6
against the servomotor capacity. reduction gear.
• Apply the brake to retain a stopped
elevator.

The acceleration/deceleration frequency  Increase the cycle time and decrease the
and operation frequency are too high. operation frequency.
Servo amplifier is damaged.  Replace the servo amplifier.

If an OL02 alarm is caused but no damaged servo amplifier or incorrect wiring is found, the
servomotor capacity must be examined.
Check the OL thermal value at PC Loader in either case.

Troubleshooting Method 6-13

 CHAPTER 6 MAINTENANCE AND INSPECTION

11. Inrush Current Suppression Circuit Trouble

[Display] [Description of detected alarm]
The circuit inside the servo amplifier which suppresses the inrush
rH 04 current generated at the power on may be broken.

[Cause and remedy]

Cause Remedy
The servo amplifier is damaged.  Replace the servo amplifier
The ambient temperature  Keep the ambient temperature 55°C or lower (40°C or below
exceeds 55°C. is recommended).
 Move heat generating bodies near the servo amplifier as far
away as possible.
The power is frequently  Reduce the frequency of turning the power on/off.
supplied. (Reference: once an hour or less)

6 If this alarm is detected even when the ambient temperature is below 55°C, replace the
servo amplifier without attempting operating it.

6-14 Troubleshooting Method

 CHAPTER 6 MAINTENANCE AND INSPECTION

12. Safety function error

[Display] [Description of detected alarm]

• Safety input signal mismatch

SF tY • Internal circuit error
• The function safety module (WSU-ST1) output an alarm.
[Cause and remedy]

Cause Remedy

The [EN1+], [EN2+] terminal input mismatch • Check for wiring abnormalities such as
continued for 50 ms or longer.
disconnection or shorting in the [EN1+],
[EN2+] terminal wiring.
• Reduce the [EN1+], [EN2+] terminal input
mismatch time to 50 ms or less.

The function safety module (WSU-ST1) output

6
• Refer to the function safety module
an alarm.
(If function safety module LED indicator "ERR" (WSU-ST1) User's Manual.
is ON)
A servo amplifier or function safety module • When the situation is not resolved even after
(WSU-ST1) fault occurred.
turning the power ON again, replace the
servo amplifier or function safety module.
• Check the function safety module mounting
condition on the servo amplifier.

The display is the same as when a function safety module (WSU-ST1) alarm occurs.
Refer to the separate User's Manual for details.

Troubleshooting Method 6-15

 CHAPTER 6 MAINTENANCE AND INSPECTION

13. Main Power Undervoltage

[Display] [Description of detected alarm]
The power supplied to the servo amplifier falls below the minimum
Lu Po specification voltage limit.

[Cause and remedy]

Cause Remedy
• Check the power supply environment whether
momentary power failure is generated or not, and
The source voltage drops due to
improve the power supply environment.
momentary power failure or similar.
• Check and improve the power supply capacity and
transformer capacity.
 Do not turn the power on after the time specified in
The power is turned on or off
PA2_68 (main power shutoff detection time) has
intentionally.
elapsed. (Detection fails after about 2 [s].)

6 DC input is under execution.

 Set PA2_68 (main power shutoff detection time) at 1000
[ms].
If the power supply environment is adverse, PA2_67 (alarm detection at undervoltage) can be
applied to ignore undervoltage detection. In this case, operation can be continued with the setting
of PA2_66 (flying start at speed control) in the event of momentary power failure. Undervoltage
detection is set at about 200 [V] by the DC voltage in the servo amplifier.

14. Internal Braking Resistor Overheat

[Display] [Description of detected alarm]
The power consumption of the braking resistor built in the servo
rH 01 amplifier exceeds the upper limit. (Detection is made at the internal
electronic thermal relay of the servo amplifier.)

[Cause and remedy]

Cause Remedy
Excessive source voltage • Check if the source voltage is within specification limits.
(immediately after power-on) • Insert a reactor if there is a power factor improvement capacitor.
• Increase the deceleration time.
Due to vertical transfer or • Decrease the servomotor rotation speed.
winding purpose, etc. the • Increase the cycle time and decrease the operation frequency.
regenerative power cannot be
consumed. • Connect an external braking resistor.
• Install a counterweight.

6-16 Troubleshooting Method

 CHAPTER 6 MAINTENANCE AND INSPECTION

15. External Braking Resistor Overheat

[Display] [Description of detected alarm]
The external braking resistor overheat signal (normally closed contact
rH 02 signal) is turned off.

[Cause and remedy]

Cause Remedy
Excessive source voltage
 Check if the source voltage is within the specification limits.
(immediately after power-on)
• Increase the deceleration time.
Due to vertical transfer or • Decrease the servomotor rotation speed.
winding purpose, etc. the • Increase the cycle time and decrease the operation frequency.
regenerative, power cannot be
consumed. • Connect an external braking resistor.
• Install a counterweight.
Wrong wiring of external

6
braking resistor overheat  Connect correctly.
signal

16. Braking Transistor Error

[Display] [Description of detected alarm]
The regeneration handling transistor built in the servo amplifier is
rH 03 damaged.

[Cause and remedy]

Cause Remedy
The braking transistor is short  Turn the power off then on again. If the alarm persists,
circuited or damaged. replace the servo amplifier.

If the braking transistor is short circuited or damaged, fire may be caused. If the braking
transistor fault alarm signal is output, turn the power off immediately.

Troubleshooting Method 6-17

 CHAPTER 6 MAINTENANCE AND INSPECTION

17. Deviation Overflow

[Display] [Description of detected alarm]
A position deviation amount equivalent to servomotor revolutions
oF specified in PA2_69 (deviation detection overflow value) is
accumulated inside the servo amplifier.
When full-closed control is enabled, the position deviation for the
amount of pulses set in PA4_36: External/Motor deviation over
detection value has been accumulated inside the servo amplifier.

[Cause and remedy]

Cause Remedy
Wrong connection of power cables
 Check and correct the wiring of power cables
(The alarm is alerted immediately when
servo-on is turned on.) (U, V and W).

The servomotor fails to rotate mechanically.  Check if the brake is applied.

Low output torque

6
 Increase PA1_27 and 28 (torque limit values).
The deviation detection width is small.  PA2_69: Increase the deviation overflow
detection value.
 PA4_36: Increase the external/motor deviation
over detection value.
The amplifier is in the P control mode.  Turn off the P motion signal.
Low gain  Perform gain adjustment.
Acceleration/deceleration of pulse train
 Increase the acceleration/deceleration time.
frequency is too rapid.
The relationship between the external pulse
 Check the set value of PA4_32 (1st digit:
phase and the motor rotation direction is not
correct. external pulse phase selection).

The default setting of PA2_69 (deviation detection overflow value) is 15 (rev), that is, 20 bits x 15
pulses. During regular servo system operation, the deviation amount increases in proportion to the
rotation speed.

6-18 Troubleshooting Method

 CHAPTER 6 MAINTENANCE AND INSPECTION

18. Amplifier Overheat

[Display] [Description of detected alarm]

The temperature of the servo amplifier has exceeded the allowable

AH limit.

[Cause and remedy]

Cause Remedy
 Reduce the ambient temperature to 55 [°C] or lower.
(40 [°C] or lower temperatures are recommended for
The ambient temperature exceeds regular operation.)
55 [°C].
 Move heat generating bodies near the servo amplifier
as far away as possible.
Perform operation at a continuous load factor within 100%.

19. Encoder Overheat 6

[Display] [Description of detected alarm]
The encoder inside the servomotor may be overheated.
EH
[Cause and remedy]
Cause Remedy
• Reduce the ambient temperature of the servomotor to
40 [°C] or lower.
Excessive ambient temperature
• Remove shields interrupting heat radiation, if there
are any.

The effective torque exceeds the  Increase the cycle time and reduce the operation
rating. frequency.
The main body of the encoder detects this alarm according to results of self-diagnosis.

Troubleshooting Method 6-19

 CHAPTER 6 MAINTENANCE AND INSPECTION

20. Absolute Data Lost

[Display] [Description of detected alarm]

The absolute data of the encoder is lost.

dL 01  dL01: Battery voltage drop, broken encoder cable, loss of
multi-rotation data
dL 02  dL02: Multi-turn data fault in encoder
 dL03: Detection at power-on after an Et alarm

dL 03
[Cause and remedy]
Cause Remedy
• Replace the battery and preset the position.
If it still can not be solved, please check if the
dL01 alarm encoder cable is not broken and correct.

6 • A warning is displayed at the keypad if the battery

voltage is low. (If PA2_78 is set at 1)
 Perform position preset. If the alarm persists, replace
dL02 alarm
the servomotor.

 After position preset, dL03 is canceled but the Et

alarm persists.
dL03 alarm
 If the Et alarm is not canceled, replace the
servomotor.
For details, refer to "CHAPTER 10 ABSOLUTE POSITION SYSTEM."

21. Multi-turn Data Overflow

[Display] [Description of detected alarm]
Rotation of the output shaft of the servomotor exceeds the range
AF between -32766 and +32765.

[Cause and remedy]

Cause Remedy
 Check the servomotor revolutions.
Excessive servomotor revolutions  Use the PC Loader or take similar measures to
check the current position.

6-20 Troubleshooting Method

 CHAPTER 6 MAINTENANCE AND INSPECTION

22. Initial Error

[Display] [Description of detected alarm]
The initial position inside the encoder is not established.
iE
[Cause and remedy]
Cause Remedy
The encoder is damaged.  Replace the servomotor.
The power is turned on while the  Stop the servomotor and turn the power off
servomotor rotates due to an external force then on again. If restoration is not obtained,
(at 100 [r/min] or over).
replace the servomotor.

23. Command Pulse Frequency Error

[Display] [Description of detected alarm]
 GearRatio (6091H), Additional position encoder resolution (60E6H)
6
HF are changed during CSP, PP, or HM operation.
 The input frequency of the full-closed control has exceeded the
maximum input specification.

[Cause and remedy]

Cause Remedy
Gear Ratio was changed.  Review the master processing.
The set value of pulse such as electronic gear  Set the ratio of pulses to an appropriate
setting is large. setting value.

24. Overload 3
[Display] [Description of detected alarm]
OL3 = This is an alarm at output open-phase.
oL 03
[Cause and remedy]
Cause Remedy
The servomotor fails to rotate mechanically.  Check the wiring of power cables (U, V and
W) and correct faults.

Troubleshooting Method 6-21

 CHAPTER 6 MAINTENANCE AND INSPECTION

25. Cycle communication error

[Display] [Detected error]

An error occurred during EtherCAT communication.

cY
[Cause and remedy]

Cause Remedy

• Check the condition of the communication

cable (disconnection, etc.), and fix if
necessary.
• Insert a ferrite core into the communication
An error occurred during EtherCAT
cable.
communication.
• Adjustment the interval between the
communication timing and DC timing.

6 • Check whether the ESM State is other than

OP with servo-on.

6-22 Troubleshooting Method

 CHAPTER 6 MAINTENANCE AND INSPECTION

6.4 Items to be Inquired upon Trouble

If an alarm is alerted due to any cause, take corrective actions according to description given in "7.3
Troubleshooting Method." If the servo amplifier is reset to continue operation though the cause is
unknown, damage may be caused to the servomotor and/or servo amplifier. When contacting us, notify
the following information.

Item Information to Be Provided

Description of Model of servomotor and that of servo amplifier

nameplate [Example] RYT201F7-VC2
Device Host control unit, external braking resistor, etc.
configuration [Example] External braking resistor (model: WSR-401)
Configuration of Outline of configuration of mechanical system driven by motor
mechanical system [Example] Spring feed, vertical, reduction ratio 1/2
(1) Operation years, whether the equipment has functioned correctly even once

6
or not
(2) Frequency of alarm detection and control method (csp mode, etc.) and other
circumstances
[Example] An alarm is displayed whenever a certain device functions.
(3) Description of alarm display
(4) Repeatability of alarm
Details of trouble (5) Timing of alarm occurrence - during acceleration, during rotation at constant
speed, during deceleration, ...
(6) Difference in alarm occurrence between forward and reverse rotation
(7) Whether the alarm occurs under certain circumstances or not
[Example] When the servo-on (S-ON) signal is turned on
[Example] When the table advances to reach a certain point
(8) Whether the similar phenomenon is observed or not if the servo amplifier is
replaced with another one used for a machine of the same specification

Items to be Inquired upon Trouble 6-23

 CHAPTER 6 MAINTENANCE AND INSPECTION

6.5 Maintenance and Discarding

6.5.1 Operating Environment

Use in the operating environment specified in "CHAPTER 1 INSTALLATION."

(1) Power-on
Power can be supplied continuously to the servo amplifier.

WARNING
 Do not touch the servomotor, servo amplifier or cables in the power-on state.
There is a risk of electric shock.

(2) Specifications
The rating of the GYS, GYG and GYB type servomotors is continuous rating.

6 (3) Power supply

Avoid repeating power-on and shutdown of the commercial power supply to start or stop the
servomotor. The service life of parts inside the servo amplifier may be affected.
(4) Radio noise
The servomotor and servo amplifier are devices for general industrial machines and no
countermeasures against radio noise are taken. For this reason, noise effects may be observed
under the following circumstances.
 Electric noise may be observed at AM radios placed near the servo amplifier or servomotor.
 Electric noise may be added to radio broadcasting systems or similar installed near cables.
 Electric noise may be added to measuring instruments and commercial devices.

For countermeasures against electric noise and installation method, refer to "CHAPTER 9
PERIPHERAL EQUIPMENT."

6-24 Maintenance and Discarding

 CHAPTER 6 MAINTENANCE AND INSPECTION

6.5.2 Life

The servomotor and servo amplifier have service lives even if they are used under regular operating
conditions.
Contact our service division for parts replacement. Never disassemble or repair by yourself.

(1) Bearing of servomotor

The service life of the servomotor varies according to the operating conditions.
Replacement is necessary if abnormal noise or excessive vibration is found during inspection.
(2) Cooling fan built in servo amplifier
Set parameter PA2_78 (Display transition at warning detection) at 1 to show a warning on the
keypad of the front panel of the servo amplifier when the limit of the service life of the cooling fan
draws near.
The cooling fan runs normally when the control power supply is turned ON. It is necessary to
replace the cooling fan if it does not rotate in this condition.
The remaining life can be checked using the PC Loader. For details, refer to "CHAPTER 13 PC
LOADER."
(3) Brake built in servomotor
The brake built in the servomotor is a non-exciting type retention-only brake. Do not use it for 6
braking. Failure will be caused if the brake is used for braking, resulting in substantial reduction of
the service life. Use it only for retention of a stopped servomotor.
(4) Capacitor built in servo amplifier
The electrolytic capacitors used for the main circuit and control circuit of the servo amplifier have
service lives.
For capacitors used in the main circuit, set parameter PA2_78 (Display transition at warning
detection) at 1 to show a warning at the keypad on the front panel of the servo amplifier when the
limit of the service life draws near.
The remaining life can be checked using the PC Loader. For details, refer to "CHAPTER 13 PC
LOADER."
(5) Battery (for ABS system)
The battery used in an absolute position system has a service life.
If the battery voltage is lower than the rated value, a warning is displayed at the keypad on the front
panel of the servo amplifier.
Replace the battery soon while leaving the control power turned on.
In case that the battery life is extremely short, there is possibility of wrong wiring of encoder cable.

Maintenance and Discarding 6-25

 CHAPTER 6 MAINTENANCE AND INSPECTION

6.5.3 Discarding

If this product is damaged, the following two laws apply, and restrictions apply to each of the respective
laws. These law are effective inside Japan. Local laws shall take precedence if outside Japan.
Announce this for, or indicate this on the final product if required.
◼ Law for the Promotion of Effective Utilization of Resources
Please make every effort to regenerate or recycle products that are no longer required.
When recycling, it is recommended that products be separated into scrap iron and electronic
products and so on, and then sold to a suitable recycling company.

◼ Waste Management and Public Cleansing Law

It is recommended that products that are no longer required be recycled in accordance with the
previous item (Law for the Promotion of Effective Utilization of Resources), and that the volume of
waste be reduced.

6 If products that are no longer required are being disposed of because they cannot be sold,
products shall apply to industrial waste as stipulated in this law. The disposal of industrial waste
must be consigned to an industrial waste disposal company permitted by this law, and waste must
be disposed of in an appropriate manner, including the management of manifests.
Batteries used in this product apply to what are referred to as "primary batteries", and should be
disposed of in accordance with the disposal methods specified by each local government.

6-26 Maintenance and Discarding

 CHAPTER 6 MAINTENANCE AND INSPECTION

6.6 Approximate Replacement Timing

The approximate replacement timings of parts for the following operating conditions are shown below.
However, note that the timing varies according to the operation method, environmental conditions and
so on. For the replacement method, contact us.

[Operating conditions]
Ambient temperature: Annual average 30 [°C]
Load factor: Within 80 [%]
Operation rate: Within 20 hours/day

◼ Servomotor
Part name Standard service life Method

Bearing
Oil seal
20,000 to 30,000 hours
5000 hours
Send the product back
to us for repair. 6
◼ Servo amplifier
Part name Standard service life Method

Capacitors of main circuit 73,000 hours Send the product back

Cooling fan 73,000 hours to us for repair.

Battery for absolute system 35,000 hours *1 Replace with a new part.
*1 Cumulative operation hours without tuning the power on

Approximate Replacement Timing 6-27

 CHAPTER 6 MAINTENANCE AND INSPECTION

6-28 Approximate Replacement Timing

CHAPTER 7 SPECIFICATIONS 7

7-1
 CHAPTER 7 SPECIFICATIONS

7.1 Specifications of Servomotor

7.1.1 GYS Motor

200V series
◼ Standard specifications
GYS500D7 GYS101D7 GYS201D7 GYS401D7 GYS751D7
Motor type
-2 -2 -2 -2 -2
Rated output [kW] 0.05 0.1 0.2 0.4 0.75
Rated torque [N･m] 0.159 0.318 0.637 1.27 2.39
Rated speed [r/min] 3000
Max. speed [r/min] 6000
Max. torque [N･m] 0.478 0.955 1.91 3.82 7.17
Inertia moment [kg･m2] 0.0192×10-4 0.0371×10-4 0.135×10-4 0.246×10-4 0.853×10-4
Rated current [A] 0.85 0.85 1.5 2.7 4.8
Max. current [A] 2.55 2.55 4.5 8.1 14.4
Insulation class Class B
Degree of enclosure protection Totally enclosed, self-cooled (IP67, excluding the shaft-through and connectors)
Terminals (motor) Cable 0.3m (with connector)
Terminals (encoder) Cable 0.3m (with connector)
Overheat protection Not provided (The servo amplifier detects temperature.)

7
Mounting method By securing motor flange IMB5 (L51), IMV1 (L52), IMV3 (L53)
Encoder 24-bit serial encoder (absolute/incremental)
Vibration level *1 V5 or below
For indoor use (free from direct sunlight),
Installation place, environment
locations without corrosive and flammable gases, oil mist and dust
Altitude Altitude ≤ 1000m
Ambient temperature, humidity -10 to +40°C (there should be no freezing), within 90% RH max. (without condensation)
Vibration resistance [m/s2] 49
Mass [kg] 0.45 0.55 1.2 1.8 3.4
Standards UL/cUL (UL1004), CE marking (EN60034-1, EN60034-6), RoHS directive
*1: The vibration value is the property of flange type IMV1 (L52).

◼ Brake specifications (motor equipped with a brake)

GYS500D7 GYS101D7 GYS201D7 GYS401D7 GYS751D7
Motor type
-2-B -2-B -2-B -2-B -2-B
Rated output [kW] 0.05 0.1 0.2 0.4 0.75
Rated torque [N･m] 0.159 0.318 0.637 1.27 2.39
Max. torque [kg･m2] 0.0223×10-4 0.0402×10-4 0.159×10-4 0.270×10-4 0.949×10-4
Static friction torque [N･m] 0.34 1.27 2.45
Rated voltage [V] DC24±10%
Attraction time [ms] 35 40 60
Release time [ms] 10 20 25
Power consumption [W] 6.1 (at 20°C) 7.3 (at 20°C) 8.5 (at 20°C)
Mass [kg] 0.62 0.72 1.7 2.3 4.2

7-2 Specifications of Servomotor

 CHAPTER 7 SPECIFICATIONS

GYS102D7 GYS152D7 GYS202D7 GYS302D7 GYS402D7 GYS502D7

Motor type
-□□2 -□□2 -□□2 -□□2 -□□2 -□□2
Rated output [kW] 1.0 1.5 2.0 3.0 4.0 5.0
Rated torque [N･m] 3.18 4.78 6.37 9.55 12.7 15.9
Rated speed [r/min] 3000
Max. speed [r/min] 5000
Max. torque [N･m] 9.55 14.3 19.1 28.7 38.2 47.8
Max. torque [kg･m2] 1.73×10-4 2.37×10-4 3.01×10-4 8.32×10-4 10.8×10-4 12.8×10-4
Rated current [A] 7.1 9.6 12.6 18.0 24.0 30.0
Max. current [A] 21.3 28.8 37.8 54.0 72.0 90.0
Insulation class Class F
Degree of enclosure protection Totally enclosed, self-cooled (IP 67, excluding the shaft-through) *1
Terminals (motor) Cannon connector
Terminals (encoder) Cannon connector
Overheat protection Not provided (The servo amplifier detects temperature.)
Mounting method By securing motor flange IMB5 (L51), IMV1 (L52), IMV3 (L53)
Encoder 24-bit serial encoder (absolute/incremental)
*2 Up to rated rotation speed: V10 or below
Vibration level
Over rated rotation speed and up to 5000r/min: V15 or below
For indoor use (free from direct sunlight),
Installation place, environment
locations without corrosive and flammable gases, oil mist and dust
Altitude Altitude ≤ 1000m
Ambient temperature, humidity -10 to +40°C (there should be no freezing), within 90%RH max. (without condensation)
Vibration resistance [m/s2] 24.5
Mass [kg] 4.4 5.2 6.3 11.0 13.5 16.0
Standards UL/cUL(UL1004), CE marking (EN60034-1, EN60034-6), RoHS directive
*1: When using the product under such an environment as specified in IP67, make sure that the connector for wiring is
compatible with IP67.
7
*2: The vibration value is the property of flange type IMV1 (L52).

GYS102D7 GYS152D7 GYS202D7 GYS302D7 GYS402D7 GYS502D7

Motor type
-□□2-B -□□2-B -□□2-B -□□2-B -□□2-B -□□2-B
Rated output [kW] 1.0 1.5 2.0 3.0 4.0 5.0
Rated torque [N･m] 3.18 4.78 6.37 9.55 12.7 15.9
Max. torque [kg･m2] 2.03×10-4 2.67×10-4 3.31×10-4 10.42×10-4 12.9×10-4 14.9×10-4
Static friction torque [N･m] 6.86 17
Rated voltage [V] DC24 ±10%
Attraction time [ms] 100 120
Release time [ms] 40 30
Power consumption [W] 17.7 (at 20°C) 12 (at20°C)
Mass [kg] 5.9 6.8 7.9 13.0 15.5 18.0

Specifications of Servomotor 7-3

 CHAPTER 7 SPECIFICATIONS

◼ Torque characteristics drawing

(at 3-phase 200 [V] or single-phase 230 [V] source voltage*)
GYS500D7-□□2 (0.05 [kW]) GYS101D7-□□2 (0.1 [kW])

Acceleration/deceleration zone Acceleration/deceleration zone

Torque [N・m]
Torque [N・m]

Continuous operation zone

Continuous operation zone

Rotation speed [r/min] Rotation speed [r/min]

GYS201D7-□□2 (0.2 [kW]) GYS401D7-□□2 (0.4 [kW])

Acceleration/deceleration zone Acceleration/deceleration zone

Torque [N・m]

Torque [N・m]

Continuous operation zone Continuous operation zone

7
Rotation speed [r/min] Rotation speed [r/min]

GYS751D7-□□2 (0.75 [kW]) GYS102D7-□□2 (1.0 [kW])

Acceleration/deceleration zone
Acceleration/
deceleration zone
Torque [N・m]

Torque [N・m]

Continuous operation zone

Continuous operation zone

Rotation speed [r/min] Rotation speed [r/min]

GYS152D7-□□2 (1.5 [kW]) GYS202D7-□□2 (2.0 [kW])

Acceleration/
deceleration zone
Acceleration/
Torque [N・m]

Torque [N・m]

deceleration zone

Continuous operation zone

Continuous operation zone

Rotation speed [r/min] Rotation speed [r/min]

*: 0.75 [kW] or less for single-phase 230 [V]

7-4 Specifications of Servomotor

 CHAPTER 7 SPECIFICATIONS

GYS302D7-□□2 (3.0 [kW]) GYS402D7-□□2 (4.0 [kW])

Acceleration/
Acceleration/
deceleration zone
Torque [N・m]

Torque [N・m]
deceleration zone

Continuous operation zone Continuous operation zone

Rotation speed [r/min] Rotation speed [r/min]

GYS502D7-□□2 (5.0 [kW])

Acceleration/
Torque [N・m]

deceleration zone

Continuous operation zone

Rotation speed [r/min]

7
These characteristics indicate typical values of each servomotor combined with the corresponding
servo amplifier.
The rated torque indicates the value obtained when the servo amplifier is installed to the following
aluminum heat sink.
• Model GYS500, 101 : 200 × 200 × 6 [mm]
• Model GYS201, 401 : 250 × 250 × 6 [mm]
• Model GYS751 : 300 × 300 × 6 [mm]
• Model GYS102, 152, 202 : 350 × 350 × 8 [mm]
• Model GYS302, 402, 502 : 400 × 400 × 12 [mm]

Specifications of Servomotor 7-5

 CHAPTER 7 SPECIFICATIONS

7.1.2 GYB Motor

◼ Standard specifications
Motor type GYB201D7-□□2-□ GYB401D7-□□2-□ GYB751D7-□□2-□
Rated output [kW] 0.2 0.4 0.75
Rated torque [N･m] 0.637 1.27 2.39
Rated speed [r/min] 3000
Max. speed [r/min] 6000
Max. torque [N･m] 2.23 4.46 8.36
Max. torque [kg･m2] 0.33×10-4 0.57×10-4 1.53×10-4
Rated current [A] 1.4 2.7 4.9
Max. current [A] 6.0 12.0 18.0
Insulation class Class B
Totally enclosed, self-cooled
Degree of enclosure protection
(IP 67, excluding the shaft-through and lead wire connectors) *1
Terminals (motor) Connector (lead wire)
Terminals (encoder) Connector (lead wire)
Overheat protection Not provided (The servo amplifier detects temperature.)
Mounting method By securing motor flange IMB5 (L51), IMV1 (L52), IMV3 (L53)
Encoder 24-bit serial encoder (absolute/incremental)

7
Vibration level *2 V5 or below
For indoor use (should not be exposed to direct sunlight),
Installation place, environment
there should be no corrosive or flammable gases, oil mist, or dust.
Altitude Altitude ≤ 1000m
Ambient temperature, humidity -10 to +40°C (without freezing), within 90%RH max. (without condensation)
Vibration resistance [m/s2] 49
Mass [kg] 0.9 1.2 2.3
Standards UL/cUL (UL1004), CE marking (EN60034-1, EN60034-6), RoHS directive
*1: When using the product under such an environment as specified in IP67, make sure that the connector for
wiring is compatible with IP67.
*2: The vibration value is a characteristic when fitted with flange mounting IMV1 (L52).

◼ Brake specifications (motor equipped with a brake)

Motor type GYB201D7-□□2-□ GYB401D7-□□2-□ GYB751D7-□□2-□
Rated output [kW] 0.2 0.4 0.75
Rated torque [N･m] 0.637 1.27 2.39
Max. torque [kg･m2] 0.37×10-4 0.62×10-4 1.71×10-4
Static friction torque [N･m] 1.5 3.0
Rated voltage [V] DC24 ±10%
Attraction time [ms] 40 60
Release time [ms] 20 20
Power consumption [W] 7.2 (at 20°C) 8.5 (at 20°C)
Mass [kg] 1.3 1.8 3.2

7-6 Specifications of Servomotor

 CHAPTER 7 SPECIFICATIONS

◼ Torque characteristics drawing

(at 3-phase 200 [V] or single-phase 230 [V] source voltage)
GYB201D7-□□2-□ (0.2 [kW]) GYB401D7-□□2-□ (0.4 [kW])

Acceleration/ Acceleration/
deceleration zone deceleration zone

Torque [N・m]
Torque [N・m]

Continuous Continuous
operation zone operation zone

Rotation speed [r/min] Rotation speed [r/min]

GYB751D7-□□2-□ (0.75 [kW])

Acceleration/
deceleration zone
Torque [N・m]

Continuous
operation zone 7
Rotation speed [r/min]

These characteristics indicate typical values when each servomotor is combined with the
corresponding servo amplifier.
The rated torque indicates the value obtained when the servo amplifier is installed to the following
aluminum heat sink.
 Model GYB201, 401 : 250 × 250 × 6 [mm]
 Model GYB751 : 300 × 300 × 6 [mm]

Specifications of Servomotor 7-7

 CHAPTER 7 SPECIFICATIONS

7.1.3 GYG Motor

◼ Standard specifications
Motor type GYG102C7-□□2 GYG152C7-□□2 GYG851B7-□□2 GYG132B7-□□2
Rated output [kW] 1.0 1.5 0.85 1.3
Rated torque [N･m] 4.77 7.16 5.41 8.28
Rated speed [r/min] 2000 1500
Max. speed [r/min] 3000
Max. torque [N･m] 14.3 21.5 16.2 24.8
Max. torque [kg･m2] 11.8×10-4 17.8×10-4 11.8×10-4 17.8×10-4
Rated current [A] 4.7 8.9 5.4 10.1
Max. current [A] 18.0 30.0 22.0 37.0
Insulation class Class F
Rated rotation speed Continuous rating
*1
Degree of enclosure protection Totally enclosed, self-cooled (IP 67, excluding the shaft-through)
Terminals (motor) Cannon connector
Terminals (encoder) Cannon connector
Overheat protection Not provided (The servo amplifier detects temperature.)
Mounting method By securing motor flange IMB5 (L51), IMV1 (L52), IMV3 (L53)
Finishing color N1.5
Encoder 24-bit serial encoder (absolute/incremental)
*2
Vibration level V10 or below

7 Installation place, environment

Altitude
For indoor use (should not be exposed to direct sunlight),
there should be no corrosive or flammable gases, oil mist, or dust.
Altitude ≤ 1000m
Ambient temperature, humidity -10 to +40°C (there should be no freezing), within 90%RH max. (without condensation)
Vibration resistance [m/s2] 24.5
Mass [kg] 5.6 7.3 5.6 7.3
Standards UL/cUL (UL1004), CE marking (EN60034-1, EN60034-6), RoHS directive

*1: When using the product under such an environment as specified by IP67, make sure that the connector for
wiring is also compatible with IP67.
*2: The vibration value is a characteristic when fitted with flange mounting IMV1 (L52).

◼ Brake specifications (motor equipped with a brake)

Motor type GYG102C7-□□2-B GYG152C7-□□2-B GYG851B7-□□2-B GYG132B7-□□2-B
Rated output [kW] 1.0 1.5 0.85 1.3
Rated torque [N･m] 4.77 7.16 5.41 8.28
Max. torque [kg･m2] 13.8×10-4 19.8×10-4 13.8×10-4 19.8×10-4
Static friction torque [N･m] 17
Rated voltage [V] DC24 ±10%
Attraction time [ms] 120
Release time [ms] 30
Power consumption [W] 12 (at 20°C)
Mass [kg] 7.8 9.5 7.8 9.5

7-8 Specifications of Servomotor

 CHAPTER 7 SPECIFICATIONS

◼ Torque characteristics drawing (servo amplifier power supply voltage: 3-phase 200 [V])
GYG102C7-□□2 (1.0 [kW]) GYG152C7-□□2-B (1.5 [kW])

Acceleration/ Acceleration/
deceleration zone deceleration zone
Torque [N・m]

Torque [N・m]
Continuous operation zone Continuous operation zone

Rotation speed [r/min] Rotation speed [r/min]

GYG851B7-□□2 (0.85 [kW]) GYG132B7-□□2-B (1.3 [kW])

Acceleration/
Acceleration/
deceleration zone
deceleration zone
Torque [N・m]

Torque [N・m]

Continuous Continuous
operation zone operation zone
7
Rotation speed [r/min] Rotation speed [r/min]

These characteristics indicate typical values when each servomotor is combined with the
corresponding servo amplifier.
The rated torque indicates the value obtained when the servo amplifier is installed to the following
aluminum heat sink.
 Model GYG102, 851 : 300 × 300 × 12 [mm]
 Model GYG152,132 : 400 × 400 × 12 [mm]

Specifications of Servomotor 7-9

 CHAPTER 7 SPECIFICATIONS

7.2 Specifications of Servo Amplifier

7.2.1 Common Specifications

Servo amplifier capacity [kW] 0.05 0.1 0.2 0.4 0.75 1.0 1.5 2.0 3.0 4.0 5.0
Amplifier type RYT□□□F7-VC2 500 101 201 401 751 102 152 202 302 402 502
Outer frame number Frame 1 Frame 2 Frame 3 Frame 4
Mass [kg] 0.9 0.9 0.9 0.9 1.5 1.5 1.5 2.5 2.5 3.8 3.8
Protective construction/cooling Open/natural cooling Open/mechanical cooling
Phases Single-phase, 3-phase 3-phase
Main
Voltage/frequency AC200 to 240 [V], 50/60 [Hz]
power
Power supply

supply Allowable voltage 3-phase: AC170 to 264 [V], Single-phase: AC190 to 264V
fluctuation
Phases Single-phase
Control
Voltage/frequency AC200 to 240 [V], 50/60 [Hz]
power
supply Allowable voltage AC170 to 264V
fluctuation
Control system Fully-digital sinusoidal PWM drive
Carrier frequency 10 [kHz] 5 [kHz]
Overload capability Overload capability varies from motor to motor
Max voltage for Built-in resistor — — — 8 20 20 20 30 30 60 60
regenerative
*1
resistance [W] External resistor 17 17 17 17 50 50 50 260 260 300 300
Dynamic brake Built-in *2

7 Feedback
Load
fluctuation
Absolute 24-bit serial encoder, incremental 24-bit serial encoder

±0.01% or less (load fluctuation 0 to 100% at rated speed)

Speed fluctuation Power supply
0% (power supply fluctuation -10% to +10% at rated speed)
ratio *3 fluctuation
Temperature
±0.2% or less (25°C±10°C, at rated speed with analog voltage directive)
fluctuation
Closed loop control with speed regulator, acceleration/deceleration time setting,
Speed control
manual feedrate/max. rotation speed, etc.
Performance and
functionality

Position Closed loop control with position regulator, electronic gear, output pulse setting, feed forward,
control home position return, interrupt positioning, etc.
VC type
Closed-loop control by current adjuster (current and torque in open-loop control in proportional
Torque control
relation), torque limit, speed limit at torque control, etc.
Auxiliary Easy tuning, profile operation, sequence test mode, auto tuning, auto-notch filter,
function online leaning of vibration suppression control, etc.
Overcurrent (oc01, oc02), overspeed (oS), control power supply undervoltage (Lvcn),
overvoltage (Hv), encoder error (Et01, Et02), memory error (dE), motor combination error (cE),
encoder communication error (Ec), CONT duplication (cont), overload (oL01, oL02, oL03),
main circuit power supply undervoltage (LvPo), braking resistor overheating (rH01, rH02),
Protective function (Alarm display)
braking transistor error (rH03), inrush current suppression circuit error (rH04), deviation over (oF),
servo amplifier overheating (AH), encoder overheating (EH), ABS data loss (dL01, dL02, dL03),
multi-rotation overflow (AF), initial error (iE), command pulse frequency error (HF),
function safety error (SFty), EtherCAT communication error (cy)
Operation and 2-digit alphanumeric display with 7-seg LED
display section of main body Rotary switch
Indoors at altitude ≤ 1000m, free from dust, corrosive gases and direct sunlight
Installation place
In case of compliance with CE marking: Pollution Degree=2 Over Voltage Category=Ⅲ
Temperature/
Working humidity/atmospheric -10 to 55°C/10 to 90%RH (without condensation)/70 to 106kPa
conditions pressure
3 [mm]: 2 to less than 9 [Hz], 9.8 [m/s2]: 9 to less than 20 [Hz]
Vibration
2 [m/s2]: 20 to less than 55 [Hz], 1 [m/s2]: 55 to less than 200 [Hz]
Shock resistance 19.6 [m/s2]

7-10 Specifications of Servo Amplifier

 CHAPTER 7 SPECIFICATIONS

Servo amplifier capacity [kW] 0.05 0.1 0.2 0.4 0.75 1.0 1.5 2.0 3.0 4.0 5.0
Amplifier type RYT□□□F7-VC2 500 101 201 401 751 102 152 202 302 402 502
Outer frame number Frame 1 Frame 2 Frame 3 Frame 4
UL standard : UL61800-5-1
CE marking Low voltage directive : EN61800-5-1
EMC directive : EN61800-3
Machine directive : EN ISO 13849-1 : Cat.3 PL = e
Standards
EN 60204-1 : Stop Category 0
EN 61508 : SIL3
EN 61800-5-2 : SIL3 ( Functional Safety : STO )
EN 62061 : SIL CL3
Frequency response 3, 200Hz
Control function

Tuning features Auto tuning, semi-auto tuning, interpolation control mode, manual tuning
Auto adjustment features Tuningless features, easy tuning, fine tuning
Notch filter 5-step
Vibration suppression
2-step (number of steps that can be configured at the same time)
control
Compensation features Friction compensation, interference detection, cogging torque compensation
*1: This value assumes that the external resistor dedicated to each amplifier is connected.
*2: We will accept custom orders for models without a dynamic brake.
*3: This value represents the average value of the speed fluctuation that is generated from static load fluctuation, power supply
fluctuation, and temperature fluctuation as the percentage to the rated rotation speed.

Specifications of Servo Amplifier 7-11

 CHAPTER 7 SPECIFICATIONS

7.2.2 VC Type Specifications

◼ System configuration overview

EtherCAT EtherCAT
compatible
controller

Oscilloscope

Control power

Main power EtherCAT

DC reactor
DC
coupling Di/Do

External regenerative resistor

Motor power cable

24-bit ABS 24-bit INC

7 ◼ Interface specifications
Interface type Specification
Position control
Command interface Speed control EtherCAT CiA402 drive profile
Torque control
EtherCAT (for command interface, parameter editing, monitor)
Communication interface Can application over EtherCAT
100 Mbps

◼ EtherCAT communication specifications

Item Specification
Physical layer 100Base-TX [IEEE802.3]
Baud rate 100 [Mbps] (full duplex)
Topology Line
Communication cable Twisted pair cable CAT5e
Communication distance Distance between nodes: max. 100 m
65535
Number of slaves * The number of slaves which can be controlled with PDO is restricted by the
communication cycle and data length.
Communication port 2 ports (RJ45 connector)
Station alias (Station Alias) Setting: 0 to 65535
Device profile Can application over EtherCAT
pp: Profile position mode
pv: Profile velocity mode
hm: Homing mode
Cia402 drive profiles
csp: Cyclic synchronous position mode
csv: Cyclic synchronous velocity mode
cst: Cyclic synchronous torque mode
Touch probe Supported (2 inputs)

7-12 Specifications of Servo Amplifier

 CHAPTER 7 SPECIFICATIONS

Item Specification
DC: Distribute clock
Synchronization Synchronization mode
SM2: Cyclic PDO communication
method
Asynchronous mode Free run
Communication cycle 125 [μs], 250 [μs], 500 [μs], 1000 [μs], 2000 [μs], 4000 [μs]
Communication format SDO, PDO
SDO message Normal Request, Normal Response
Free PDO Mapping Supported * Only objects defined as possible with Fuji Electric specification
Max. PDO data count 4 × 16 [Entry/PDO] (RxPDO) + 4 × 16 [Entry/PDO] (TxPDO)
Max. PDO data length 128 [bytes] (Rx PDO) + 128 [bytes] (Tx PDO)

Terminal name Symbol Specification

From 0 VDC ±10 V
MON1
Analog monitor voltage Resolution: 14-bit/±full scale
MON2
output Output content is based on input parameters.
M5 M5 is reference potential (0 V).
Sequence input/output COMIN Sequence input signal common
common COMOUT Sequence output signal common
ON with contact shorting, OFF with open
12 VDC - 10% to 24 VDC +10%
Sequence input signals CONT1 to CONT6 Current consumption: 8 mA (per contact, used with circuit voltage of 24 VDC)
All signal functions are based on parameter settings.
Compatible with both sync/source input methods.
Contact shorting when ON, open circuit when OFF
Sequence output signal OUT1 to OUT2
30 VDC/50 mA (max.)
All signal functions are based on parameter settings.
Compatible with both sync/source output methods. 7

Specifications of Servo Amplifier 7-13

 CHAPTER 7 SPECIFICATIONS

7.3 Dimensions of Servomotor

7.3.1 GYS Motor (With no Brake)

Unit: mm

Encoder
wire Power
wire
[Figure A] [Figure B]

7 Rated speed Rated output Type Shaft shape

Overall length
Dimensions
(Flange) Mass [kg]
L LL
0.05 kW GYS500D7-B2 Figure A 89 64 0.45
3000 r/min
0.1 kW GYS101D7-B2 Figure B 107 82 0.55

Unit: mm

Encoder
wire Power
wire

Dimensions
Overall length
Rated speed Rated output Type (Flange) Mass [kg]
L LL
0.2 kW GYS201D7-B2 107.5 77.5 1.2
3000 r/min
0.4 kW GYS401D7-B2 135.5 105.5 1.8

* See “7.5 Optional Specification of Shaft Extension [With a Key, Tapped]” for the shaft extension
specifications of the motor with a key.

7-14 Dimensions of Servomotor

 CHAPTER 7 SPECIFICATIONS

Unit: mm

Power
wire
Encoder
wire

Rated speed Rated output Type Mass [kg]

3000 r/min 0.75 kW GYS751D7-B2 3.4

Unit: mm 7

Power supply
connector

Encoder connector

Dimensions
Overall length Terminal portion
Rated speed Rated output Type (Flange) Mass [kg]
L LL KB1
1.0 kW GYS102D7-B2 198 153 77 4.4
3000 r/min 1.5 kW GYS152D7-B2 220.5 175.5 99.5 5.2
2.0 kW GYS202D7-□B2 243 198 122 6.3

* See “7.5 Optional Specification of Shaft Extension [With a Key, Tapped]” for the shaft extension
specifications of the motor with a key.

Dimensions of Servomotor 7-15

 CHAPTER 7 SPECIFICATIONS

Unit: mm

Power supply
connector

Encode r conn ector

Dimensions
Overall length Terminal portion
Rated speed Rated output Type (Flange) Mass [kg]
L LL KB1
3.0 kW GYS302D7-□B2 262.5 199.5 125.5 11
3000 r/min 4.0 kW GYS402D7-□B2 292.5 229.5 155.5 13.5
5.0 kW GYS502D7-□B2 322.5 259.5 185.5 16

7 * See “7.5 Optional Specification of Shaft Extension [With a Key, Tapped]” for the shaft extension
specifications of the motor with a key.

7-16 Dimensions of Servomotor

 CHAPTER 7 SPECIFICATIONS

7.3.2 GYS Motor (With a Brake)

Unit: mm

Encoder
wire Power
wire
[Figure A] [Figure B]

Dimensions
Overall length
Rated speed Rated output Type Shaft shape (Flange) Mass [kg]
L LL

7
0.05 kW GYS500D7-B2-B Figure A 123.5 98.5 0.62
3000 r/min
0.1 kW GYS101D7-B2-B Figure B 141.5 116.5 0.72

Unit: mm

Power
wire
Encoder
wire

Dimensions
Overall length
Rated speed Rated output Type (Flange) Mass [kg]
L LL
0.2 kW GYS201D7-B2-B 145.5 115.5 1.7
3000 r/min
0.4 kW GYS401D7-B2-B 173.5 143.5 2.3

* See “7.5 Optional Specification of Shaft Extension [With a Key, Tapped]” for the shaft extension
specifications of the motor with a key.

Dimensions of Servomotor 7-17

 CHAPTER 7 SPECIFICATIONS

Unit: mm

Power
Encoder wire
wire

Rated speed Rated output Type Mass [kg]

3000 r/min 0.75 kW GYS751D7-B2-B 4.2

7
Unit: mm

Power supply
Encoder connector connector

Dimensions
Overall length Terminal portion
Rated speed Rated output Type (Flange) Mass [kg]
L LL KB1
1.0 kW GYS102D7-B2-B 239 194 79 5.9
3000 r/min 1.5 kW GYS152D7-B2-B 261.5 216.5 101.5 6.8
2.0kW GYS202D7-□B2-B 284 239 124 7.9

* See “7.5 Optional Specification of Shaft Extension [With a Key, Tapped]” for the shaft extension
specifications of the motor with a key.

7-18 Dimensions of Servomotor

 CHAPTER 7 SPECIFICATIONS

Unit: mm

Power supply
connector

Encoder connector

Dimensions
Overall length Terminal portion
Rated speed Rated output Type (Flange) Mass [kg]
L LL KB1
3.0 kW GYS302D7-□B2-B 304.5 241.5 127.5 13
3000 r/min 4.0 kW GYS402D7-□B2-B 334.5 271.5 157.5 15.5
5.0 kW GYS502D7-□B2-B 364.5 301.5 187.5 18

* See “7.5 Optional Specification of Shaft Extension [With a Key, Tapped]” for the shaft extension
specifications of the motor with a key.
7

Dimensions of Servomotor 7-19

 CHAPTER 7 SPECIFICATIONS

7.3.3 GYB Motor (Connector Type)

Unit: mm

Power supply
connector

Encoder connector

Dimensions
Overall length Terminal portion
Rated speed Rated output Type (Flange) Mass [kg]

7
L LL KB1
0.2 kW GYB201D7-B2-C 96.2 66.2 35.7 0.9
3000 r/min
0.4 kW GYB401D7-B2-C 114 84 53.5 1.2

Unit: mm

Power supply
connector

Encoder connector

Rated speed Rated output Type Mass [kg]

3000 r/min 0.75 kW GYB751D7-B2-C 2.3

* See “7.5 Optional Specification of Shaft Extension [With a Key, Tapped]” for the shaft extension
specifications of the motor with a key.

7-20 Dimensions of Servomotor

 CHAPTER 7 SPECIFICATIONS

7.3.4 GYB Motor (Connector Type) (With a Brake)

Unit: mm

Power supply
connector

Brake connector

Encoder connector

Dimensions
Overall length Terminal portion
Rated speed Rated output Type (Flange) Mass [kg]

3000 r/min
0.2 kW
0.4 kW
GYB201D7-B2-D
GYB401D7-B2-D
L
136.3
154.1
LL
106.3
124.1
KB1
35.7
53.5
1.3
1.8
7
Unit: mm

Power supply
connector

Encoder connector Brake connector

Rated speed Rated output Type Mass [kg]

3000 r/min 0.75 kW GYB751D7-B2-D 3.2

* See “7.5 Optional Specification of Shaft Extension [With a Key, Tapped]” for the shaft extension
specifications of the motor with a key.

Dimensions of Servomotor 7-21

 CHAPTER 7 SPECIFICATIONS

7.3.5 GYB Motor (Lead Wire Type)

Unit: mm

Power
wire
Encoder
wire

Dimensions
Overall length
Rated speed Rated output Type (Flange) Mass [kg]

7
L LL
0.2 kW GYB201D7-B2 96.2 66.2 0.9
3000 r/min
0.4 kW GYB401D7-B2 114 84 1.2

Unit: mm

Power
wire
Encoder
wire

Rated speed Rated output Type Mass [kg]

3000 r/min 0.75 kW GYB751D7-B2 2.3

* See “7.5 Optional Specification of Shaft Extension [With a Key, Tapped]” for the shaft extension
specifications of the motor with a key.

7-22 Dimensions of Servomotor

 CHAPTER 7 SPECIFICATIONS

7.3.6 GYB Motor (Lead Wire Type) (With a Brake)

Unit: mm

Power
wire
Encoder
wire

Brake wire

Dimensions
Overall length
Rated speed Rated output Type (Flange) Mass [kg]

7
L LL
0.2 kW GYB201D7-B2-B 136.3 106.3 1.3
3000 r/min
0.4 kW GYB401D7-B2-B 154.1 124.1 1.8

Unit: mm

Power
wire

Encoder wire Brake wire

Rated speed Rated output Type Mass [kg]

3000 r/min 0.75 kW GYB751D7-B2-B 3.2

* See “7.5 Optional Specification of Shaft Extension [With a Key, Tapped]” for the shaft extension
specifications of the motor with a key.

Dimensions of Servomotor 7-23

 CHAPTER 7 SPECIFICATIONS

7.3.7 GYG Motor (2000 [r/min])

Unit: mm

Power supply
Encode r connector
connector

Dimensions
Overall length Terminal portion
Rated speed Rated output Type (Flange) Mass [kg]
L LL KB1
1.0 kW GYG102C7-□B2 180.5 125.5 65 5.6
2000 r/min
1.5 kW GYG152C7-□B2 198 143 82.5 7.3

7 * See “7.5 Optional Specification of Shaft Extension [With a Key, Tapped]” for the shaft extension
specifications of the motor with a key.

7.3.8 GYG Motor (2000 [r/min]) (With a Brake)

Unit: mm

Encode r
connector
Power supply
connector

Dimensions
Overall length Terminal portion
Rated speed Rated output Type (Flange) Mass [kg]
L LL KB1
1.0 kW GYG102C7-□B2-B 220.5 165.5 67 7.8
2000 r/min
1.5 kW GYG152C7-□B2-B 238 183 84.5 9.5

* See “7.5 Optional Specification of Shaft Extension [With a Key, Tapped]” for the shaft extension
specifications of the motor with a key.

7-24 Dimensions of Servomotor

 CHAPTER 7 SPECIFICATIONS

7.3.9 GYG Motor (1500 [r/min])

Unit: mm

Encode r
connector

Power supply
connector

Overall Dimensions Terminal Shaft

length (Flange) portion diameter Mass
Rated speed Rated output Type
[kg]
L LL KB1 S
0.85 kW GYG851B7-□B2 183.5 125.5 65 19 5.6

7
1500 r/min
1.3 kW GYG132B7-□B2 201 143 82.5 22 7.3

* See “7.5 Optional Specification of Shaft Extension [With a Key, Tapped]” for the shaft extension
specifications of the motor with a key.

7.3.10 GYG Motor (1500 [r/min]) (With a Brake)

Unit: mm

Encode r
connector
Power supply
connector

Overall Dimensions Terminal Shaft

length (Flange) portion diameter Mass
Rated speed Rated output Type
[kg]
L LL KB1 S
0.85 kW GYG851B7-□B2-B 223.5 165.5 67 19 7.8
1500 r/min
1.3 kW GYG132B7-□B2-B 241 183 84.5 22 9.5

* See “7.5 Optional Specification of Shaft Extension [With a Key, Tapped]” for the shaft extension
specifications of the motor with a key.

Dimensions of Servomotor 7-25

 CHAPTER 7 SPECIFICATIONS

7.4 Dimensions of Servo Amplifier

Frame 1
Mounting hole dimension

Power supply Type Mass [kg]

RYT500F7-VC2
RYT101F7-VC2
200V series 0.9
RYT201F7-VC2
RYT401F7-VC2

7-26 Dimensions of Servo Amplifier

 CHAPTER 7 SPECIFICATIONS

Frame 2

M4 (for switching from

ALPHA5)

Mounting hole
dimension

M4 (for switching from

ALPHA5)

Power supply Type Mass [kg]

RYT751F7-VC2
200V series RYT102F7-VC2 1.5
RYT152F7-VC2

Dimensions of Servo Amplifier 7-27

 CHAPTER 7 SPECIFICATIONS

Frame 3

4×M4 Unit: mm
(5)
190±0.5

Mounting hole
dimension

5 80±0.5 (5)
5

7
200

(80)
90 (97) 185

Power supply Type Mass [kg]

RYT202F7-VC2
200V series 2.5
RYT302F7-VC2

7-28 Dimensions of Servo Amplifier

 CHAPTER 7 SPECIFICATIONS

Frame 4

4×M4 Unit: mm
(5)

Terminal block height: 185

240±0.5

Mounting hole
dimension
5

5 95±0.5 (5)

7
250

105 (80) 200

Power supply Type Mass [kg]

RYT402F7-VC2
200V series 3.8
RYT502F7-VC2

Dimensions of Servo Amplifier 7-29

 CHAPTER 7 SPECIFICATIONS

7.5 Optional Specification of Shaft Extension [With a

Key, Tapped]

Unit: mm

Motor type LR Q QK S T U W SZ
GYS motor 3000 r/min
GYS500D7-A2-* 25 — 14 6 2 1.2 2 —
25 — 14 8 3 1.8 3 —

7
GYS101D7-A2-*
GYS201D7-C2- 30 — 20 14 5 3 5 M5 depth: 8

GYS401D7-C2- 30 — 20 14 5 3 5 M5 depth: 8

GYS751D7-C2- 40 — 30 16 5 3 5 M5 depth: 8

GYS102D7-C2- 45 40 32 24 7 4 8 M8 depth: 16

GYS152D7-C2- 45 40 32 24 7 4 8 M8 depth: 16

GYS202D7-□C2-□ 45 40 32 24 7 4 8 M8 depth: 16

GYS302D7-□C2-□ 63 55 45 28 7 4 8 M8 depth: 16

GYS402D7-□C2-□ 63 55 45 28 7 4 8 M8 depth: 16

GYS502D7-□C2-□ 63 55 45 28 7 4 8 M8 depth: 16

GYB motor 3000 r/min

GYB201D7-C2- 30 — 14 14 5 3 5 M5 depth: 8

GYB401D7-C2- 30 — 14 14 5 3 5 M5 depth: 8
GYB751D7-C2- 40 — 22 19 6 3.5 6 M6 depth: 10

GYG motor 2000 r/min

GYG102C7-C2- 55 47 35 22 7 4 8 M8 depth: 16

GYG152C7-□C2-□ 55 47 35 22 7 4 8 M8 depth: 16

GYG motor 1500 r/min

GYG851B7-C2- 58 40 30 19 6 3.5 6 M6 depth: 12

GYG132B7-□C2-□ 58 40 30 22 7 4 8 M8 depth: 16

* The shaft extension of the GYS motors of 0.1kW or less is not tapped.

7-30 Optional Specification of Shaft Extension [With a Key, Tapped]

CHAPTER 8 CHARACTERISTICS 8

8-1
 CHAPTER 8 CHARACTERISTICS

8.1 Timing Chart

8.1.1 Power-On Timing

◼ If the motor power and control power are turned on simultaneously

(1) After power-on, it takes about 4.5 seconds until initialization of the servo amplifier is finished.
It may take 4.5 seconds or longer if using an option module. Refer to the option module
manual.
(2) Completion of initialization is indicated by activation of servo control ready [S-RDY].
(3) Turn the servo on after checking (2).
(4) After ready for servo-on [RDY] is turned on, the servo amplifier is ready to operate.

Main power, control power Shutoff Power-on

4.5 s.
Initialization of amplifier

Servo control ready

OFF ON
[S-RDY]

Servo-on status Servo-off Servo-on

8 Ready for servo-on

[RDY]
OFF
0.2 s.
ON

8-2 Timing Chart

 CHAPTER 8 CHARACTERISTICS

◼ If the control power is turned on first

(1) It takes about 4.5 seconds until initialization of the servo amplifier is finished since the control
power is turned on.
(2) Completion of initialization is indicated by activation of the servo control ready [S-RDY] signal
after power-on.
(3) Turn on the power supply to turn the servo on after checking (2).
(4) After ready for servo-on [RDY] is turned on, the servo amplifier is ready to operate.

Control power (L1C, L2C) Shutoff Power-on

Main power (L1, L2, L3) Shutoff Power-on

1.5 kW or less: 0.9 s

4.5 s. 2 k to 5 kW: 2.0 s
Initialization of amplifier

Servo control ready [S-RDY] OFF ON

Servo-on status Servo-off Servo-on

Ready for Servo-On [RDY] OFF ON

0.2 s.

8.1.2 Each Signal Timing

◼ Sequence input signal response time

The response time from sequence signal activation to signal recognition inside the servo amplifier
is 2 [ms]. Leave the sequence input signal turned on for at 1 [ms] or more.

CONT signal OFF ON

(sequence input signal)
2ms

Recognition by servo
amplifier OFF ON

Timing Chart 8-3

 CHAPTER 8 CHARACTERISTICS

8.1.3 Control Mode Selection Timing

Transition time for each control mode is 2 [ms].

After issuing a selection signal, wait for 2 [ms] or more before issuing next commands.
[Example] Switching from position control to speed control

6060H reference value 9 10

2ms

Modes of operation Cyclic position mode Cyclic velocity mode

8.1.4 Alarm Reset Timing

The alarm reset timing chart is shown below.

Rotation speed

8
Alarm occurrence Normal Alarm occurrence Normal

Output status Base ON Base OFF

Operation Fault reaction Switch on

Status transition Fault
enabled active disabled

RST：
Control word
(6040H-00H) (bit7)

8-4 Timing Chart

 CHAPTER 8 CHARACTERISTICS

8.2 Overload Characteristic

The detection time and load factor characteristics until an overload alarm (OL1/OL2) occurs are
indicated by rotation speed.

8.2.1 GYS Motor

OL検出時間（at
(1) In case of operation at rated 3000r/min）
rotation speed (3000 [r/min])

1000
detection time [s]
OLアラーム検出時間[s]

100

OL2アラーム
OL2 alarm
OL1アラーム
OL1 alarm
OL alarm

10

1
0 50 100 150 200 250 300

Load factor [%]

負荷率[%]

(2) In case of operation at maximum rotation speed (6000 [r/min])

OL検出時間（at 6000r/min）

1000
OL alarm detection time [s]
OLアラーム検出時間[s]

100

OL2アラーム
OL2 alarm
OL1アラーム
OL1 alarm

10

1
0 50 100 150 200 250 300
Load factor [%]
負荷率[%]

Overload Characteristic 8-5

 CHAPTER 8 CHARACTERISTICS

(3) In case of operation at max. rotation speed (5000 [r/min])

Target capacity: 1.0 [kW] OL検出時間（at 3000r/min）

OL alarm detection time [s] 1000

OLアラーム検出時間[s]

100
OL2アラーム
OL2 alarm
OL1アラーム
OL1 alarm

10

1
0 50 100 150 200 250 300
Load factor [%]
負荷率[%]

8-6 Overload Characteristic

 CHAPTER 8 CHARACTERISTICS

8.2.2 GYG Motor

(1) In case of operation OL検出時間（at 2000、1500r/min）

at rated rotation speed (1500/2000 [r/min])

1000
alarm detection time [s]
OLOLアラーム検出時間[s]

100
OL2 alarm
OL2アラーム
OL1 alarm
OL1アラーム

10

1
0 50 100 150 200 250 300

Load factor [%]

負荷率[%]

OL検出時間（at 5000r/min）
(2) In case of operation at max. rotation speed (3000 [r/min])

1000
alarm detection time [s]
OLOLアラーム検出時間[s]

100
OL2アラーム
OL2 alarm
OL1アラーム
OL1 alarm

10

1
0 50 100 150 200 250 300
Load factor [%]
負荷率[%]

Overload Characteristic 8-7

 CHAPTER 8 CHARACTERISTICS

8.2.3 GYB Motor

(1) 3000 [r/min] or less

1000
OL alarm detection time [s]

100
OLアラーム検出時間[s]

OL2 alarm
OL2アラーム
10 OL1 alarm
OL1アラーム

1
0 50 100 150 200 250 300 350
Load
負荷率[%] [%]
factor

8
(2) 6000 [r/min] or less

1000
OL alarm detection time [s]
OLアラーム検出時間[s]

100

10 OL2 alarm
OL2アラーム

OL1 alarm
OL1アラーム

1
0 50 100 150 200 250 300 350
Load
負荷率[%] [%]
factor

8-8 Overload Characteristic

 CHAPTER 8 CHARACTERISTICS

8.3 Power Supply Capacity and Generated Loss

Heat value of amplifier(Qamp)

Heat value of motor(Qmot)

Power
consumption (P)
Power supply
capacity
[kVA]

Power
Rated Power Heat value of Heat value of
Servo amplifier Capacity supply
rotation Servomotor model consumption amplifier motor
model [kW] capacity
speed (P) [kW] (Qamp) [kW] (Qmot) [kW]
[kVA]
RYT500F7-VC2 GY□500D7-□□2 0.05 0.1 0.074 0.018 0.006

RYT101F7-VC2 GY□101D7-□□2 0.1 0.2 0.13 0.021 0.011

RYT201F7-VC2 GY□201D7-□□2 0.2 0.4 0.25 0.027 0.022

RYT401F7-VC2 GY□401D7-□□2 0.4 0.8 0.48 0.038 0.044

RYT751F7-VC2 GY□751D7-□□2 0.75 1.5 0.89 0.059 0.083

3000
RYT102F7-VC2 GY□102D7-□□2 1.0 2.0 1.2 0.073 0.11
[r/min]
RYT152F7-VC2 GY□152D7-□□2 1.5 2.9 1.8 0.103 0.17

RYT202F7-VC2 GY□202D7-□□2 2 3.9 2.4 0.13 0.22

RYT302F7-VC2 GY□302D7-□□2 3 5.9 3.5 0.19 0.33

RYT402F7-VC2 GY□402D7-□□2 4 7.8 4.7 0.25 0.44

RYT502F7-VC2 GY□502D7-□□2 5 9.8 5.9 0.31 0.56

2000 RYT102F7-VC2 GY□102C7-□□2 1.0 2.0 1.20 0.073 0.11

[r/min] RYT202F7-VC2 GY□152C7-□□2 1.5 2.9 1.8 0.103 0.17

1500 RYT102F7-VC2 GY□851B7-□□2 0.85 1.7 1.00 0.065 0.094

[r/min] RYT202F7-VC2 GY□132B7-□□2 1.3 2.6 1.50 0.091 0.140

Power Supply Capacity and Generated Loss 8-9

 CHAPTER 8 CHARACTERISTICS

8.4 Inrush Current

The allowable inrush current of the servo amplifier is specified below.

Servo amplifier model Inrush current [A]

RYT500F7-VC2
RYT101F7-VC2
RYT201F7-VC2
RYT401F7-VC2 5.1
RYT751F7-VC2
RYT102F7-VC2
RYT152F7-VC2
RYT202F7-VC2
23.6
RYT302F7-VC2
RYT402F7-VC2
47.1
RYT502F7-VC2

8
 Input voltage = 200 [V] AC
 The inrush current indicates the maximum peak current.

8-10 Inrush Current

 CHAPTER 8 CHARACTERISTICS

8.5 Bending Strength of Cable

If using an option cable (for motor power wiring/encoder wiring/brake wiring) provided by Fuji at
recommended bend radius R=60 [mm] or higher, the bend life will be 5 millions times or greater under
the following test conditions.

<Testing conditions>
(1) Use testing apparatus shown in the figure below to cause the cable to be bent in a traveling
distance L = 300 [mm].
(2) Count each reciprocal test cycle. Count the bending frequency until conductors are broken.

Traveling distance L=300 [mm]

Bending Moving end

radius
R=60 [mm]

Fixed end

The cable life depends largely on the handling method. The bending life is a
reference value for the testing conditions specified above.

Bending Strength of Cable 8-11

 CHAPTER 8 CHARACTERISTICS

8-12 Bending Strength of Cable

CHAPTER 9 PERIPHERAL EQUIPMENT 9

9-1
 CHAPTER 9 PERIPHERAL EQUIPMENT

9.1 Overall Configuration of Peripheral Equipment

MCCB/ELCB
Install at the power supply side (primary side) of
the servo amplifier to prevent damage caused by
power switching and short-circuiting current.

AC reactor
Install for large power supply capacities,
imbalances in the source voltage, and for
harmonic suppression.

Surge absorber Power filter

Protects the servo system Install to suppress harmonics at the power supply
from lightning surges. side, and to protect the servo amplifier from surges
and noise from the power supply.

9
Servo amplifier EtherCAT cable

External
regenerative
resistor
①
DC reactor
Safety device cable

②
Sequence I/O cable

Motor power cable

Linear encoder/wiring
⑤ for fully closed control

Encoder cable (INC)

Encoder cable with a battery (ABS)

Servomotor

Recommended cable sizes for cables (1) to (5) above are listed in "9.2.1 Main Circuit Section Cable
Size".

9-2 Overall Configuration of Peripheral Equipment

 CHAPTER 9 PERIPHERAL EQUIPMENT

9.2 Cable Size

◼ Main circuit section

600V class 2 vinyl cable, or 600V polyethylene insulated cable (HIV cable)
When compared with the IV cable, the cable size is smaller and the cable is superior in
flexibility and the maximum allowable temperature as an insulated cable is as high as 75 [°C].
Therefore this cable is used both for the main circuit and for the control circuit.
However, if the cable is used for the control circuit, the wiring distance must be short and the
cable must be twisted.

600V cross linked polyethylene insulated cable (CV cable)

Mainly used for the main circuit and grounding circuit. When compared with the IV and HIV
cables, the cable size is smaller and the cable is superior in flexibility. Due to these features,
the cable is used for higher ambient temperatures (50 [°C], etc.), reduced cable space,
improved actuation efficiency, etc. The maximum allowable temperature as an insulated cable
is 90 [°C].
[Example]: BOARDLEX made by FURUKAWA ELECTRIC

◼ Control circuit section

Twisted shielded cable for electronic and electric devices
Used for control circuits. Use this cable for applications susceptible to (potential) radiant noise
and inductive noise. The cable has a large shielding effect. Even inside panels, use this cable
9
without fail if the wiring distance is long.
[Example]: BEAMEX S shielded cable XEBV or XEWV made by FURUKAWA ELECTRIC

◼ Encoder section
The encoder cable of the servomotor is a composite 2C (cable), 2P (pair) shielded cable
housing different cable sizes shown below.

Cross linked polyethylene vinyl sheath cable for robot travel (composite cable) (DAIDEN Co.,
Ltd.)
Wiring length ≤ 10 [m]: RMCV-SB (UL2464) AWG#25/2P + AWG#23/2C
10 [m] < wiring length ≤ 50 [m]: RMCV-SB (UL2464) AWG#25/2P + AWG#17/2C
Please inquire regarding GYB model connector connection specification/GYG model.

Cable Size 9-3

 CHAPTER 9 PERIPHERAL EQUIPMENT

9.2.1 Main Circuit Section Cable Size

The following cable sizes are recommended for parts (1), (2), (3), (4) and (5) specified “9.1 Overall
Configuration of Peripheral Equipment”.
◼ Single-phase 200V
Recommended cable size [mm2]
Servo
(1) Power supply (L1,L2,L3) (4) Control
amplifier (2) Braking resistor
(3) Motor power (U,V,W) power
capacity (RB1, RB2, RB3)
(5) Earthing (E) (L1C,L2C)
[W]
75 [°C] (HIV) 90 [°C] (CV) 75 [°C] (HIV) 90 [°C] (CV) Common

50 to 750 1.25 0.75 1.25 1.25 0.75

◼ 3-phase 200V
Recommended cable size [mm2]
Servo
(1) Power supply (L1,L2,L3) (4) Control
amplifier (2) Braking resistor
(3) Motor power (U,V,W) power
capacity (RB1, RB2, RB3)
(5) Earthing (E) (L1C,L2C)
[W]
75 [°C] (HIV) 90 [°C] (CV) 75 [°C] (HIV) 90 [°C] (CV) Common

50 to 1000 1.25

9 1500
0.75

1.25 1.25 0.75

2000 2.0
3000 1.25
4000 2.0
3.5
5000 3.5

If the servo system requires to fit the overseas standard, use the following cable size.
(Cable: 75 [°C] (HIV))

<Power supply and motor power>

(1) 1kW or less = 1.25mm2
(2) 1.5kW = 2.0mm2
(3) 2.0, 3.0kW＝5.5mm2
(4) 4.0, 5.0kW＝8.0mm2

9-4 Cable Size

 CHAPTER 9 PERIPHERAL EQUIPMENT

9.2.2 Encoder Cable

Use the specified shielded wire for the servomotor encoder wiring.
The optional cable for the servomotor is a UL-rated cable having bend resistance.
Use a regular twisted pair batch shield cable if the servomotor and cable do not move.

◼ Shield cables (twisted pair type)

 GYS model/GYB model lead wire specification
30V 80°C UL VW-1 AWG#25/2P + AWG#22/2C or AWG#23/3P shielded cable
(For wiring length of 10 [m] or shorter)
30V 80°C UL VW-1 AWG#25/2P + AWG#17/2C shielded cable or equivalent
(For wiring length > 10 [m] ≤ 50 [m])
 GYB model connector connection specification/GYG model
30V 80°C UL VW-1 AWG#24/2P + AWG#22/2C shielded cable or equivalent
(For wiring length of 10 [m] or shorter)
Please contact Fuji if using wiring of length 10 [m] to 50 [m].

The relationship between AWG and mm is shown below.

Gauge SI unit Inch unit

A.W.G In [mm2] Diameter [mm] Cross section [mm2] Diameter [mil] Cross section [CM]
16 1.25 1.291 1.309 50.82 2583
17 - 1.150 1.037 45.26 2048
18
19
-
-
1.024
0.9116
0.8226
0.6529
40.30
35.89
1624
1288
9
20 - 0.8118 0.5174 31.96 1021
21 - 0.7299 0.4105 28.46 810.0
22 - 0.6438 0.3256 25.35 642.6
23 - 0.5733 0.2518 22.57 509.4
24 - 0.5106 0.2024 20.10 404.0
25 - 0.4547 0.1623 17.90 320.4

Cable Size 9-5

 CHAPTER 9 PERIPHERAL EQUIPMENT

9.2.3 How to Calculate the Servo Amplifier Input Current

Calculate the servo amplifier input current in the following equation to select peripheral equipment.
Formula
Input current (single-phase 200 [V]): Iin = (Po + Pi) / (Vac × 1.35 × ηamp × ηmot) × 1.27 × √3
Input current (3-phase 200 [V]): Iin = (Po + Pi) / (Vac × 1.35 × ηamp × ηmot) × 1.27
ηamp (amplifier efficiency) = 0.95 and ηmot (motor efficiency) = 0.90 are common among all
models.
◼ In case of single-phase 200V
Servo amplifier Internal power Input current for
Input voltage Input current
capacity consumption selection of peripheral equipment
(Vac) [V] (Iin) [A]
(Po) [W] (Pi) [W] (Iin×1.5) [A]
50 0.7 1.0
100 1.2 1.7
200 190* 15 2.2 3.2
400 4.2 6.2
750 7.7 11.5
*-5% of 200V

◼ In case of 3-phase 200V

Servo amplifier Internal power Input current for
Input voltage Input current
capacity consumption selection of peripheral equipment
(Vac) [V] (Iin) [A]

9
(Po) [W] (Pi) [W] (Iin×1.5) [A]
50 0.4 0.6
100 0.7 1.1
200 1.4 2.1
400 2.7 4.0
750 5.0 7.4
1000 170* 15 6.6 9.8
1500 9.8 14.7
2000 13.0 19.5
3000 19.5 29.3
4000 26.0 39.0
5000 32.5 48.8
*-15% of 200V

9-6 Cable Size

 CHAPTER 9 PERIPHERAL EQUIPMENT

9.2.4 Conditions for Selecting Peripheral Equipment of Servo

Amplifier

◼ To select peripheral equipment for a single servo amplifier

Obtain "1.5 times" the input current (Iin) obtained above.

◼ To select peripheral equipment for two or more servo amplifiers

Multiply "1.5 times" the sum of the input currents (Iin) of all servo amplifiers.
[Example] In case of two 200 [W] units and three 400 [W] units (In case of 3-phase 200V)
I = {(1.4 × 2) + (2.7 × 3)} × 1.5 = 16.35 [A]
Select peripheral equipment having 16.35 [A] or a larger rated current.

Cable Size 9-7

 CHAPTER 9 PERIPHERAL EQUIPMENT

9.3 MCCB/ELCB (Molded Case Circuit Breaker/Earth

Leakage Breaker)

Install MCCB (molded case circuit breaker) or ELCB (earth leakage breaker) in the primary circuit
(power supply circuit) of the servo amplifier to protect the servo amplifier against losses caused by the
power switching current and short circuit current. Models for a single servo amplifier are described
here. Because the servo amplifier is provided with protective functions against output circuits suc h as
the overcurrent, protective devices such as the thermal relay are unnecessary.
Model of molded case circuit breaker and earth leakage breaker
◼ In case of single-phase 200V
Servo amplifier capacity ELCB
MCCB
[kW] (Sensed current: 30mA)

0.05
BW32AAG-2P003 EW32AAG-2P003
0.1
0.2 BW32AAG-2P005 EW32AAG-2P005
0.4 BW32AAG-2P010 EW32AAG-2P010
0.75 BW32AAG-2P015 EW32AAG-2P015

◼ In case of 3-phase 200V

Servo amplifier capacity ELCB
MCCB

9 [kW]

0.05
(Sensed current: 30mA)

0.1 BW32AAG-3P003 EW32AAG-3P003

0.2
0.4 BW32AAG-3P005 EW32AAG-3P005
0.75 BW32AAG-3P010 EW32AAG-3P010
1.0 BW32AAG-3P015 EW32AAG-3P015
1.5 BW32AAG-3P020 EW32AAG-3P020
2 BW32AAG-3P030 EW32AAG-3P030
3 BW50AAG-3P040 EW50AAG-3P040
4
BW50AAG-3P050 EW50AAG-3P050
5

9-8 MCCB/ELCB (Molded Case Circuit Breaker/Earth Leakage Breaker)

 CHAPTER 9 PERIPHERAL EQUIPMENT

9.4 Electromagnetic Contactor

Connect the electromagnetic contactor to disconnect the servo amplifier from the power supply with
an external signal or to turn the power on or off from a remote operation panel.
The model is to turn the primary circuit of a single servo amplifier of 500 [kVA] or less power
capacities with the designated cable size and 20 [m] or less wiring length.
If the power supply capacity exceeds 500 [kVA], connect an AC reactor.

Model of electromagnetic contactor

■ In case of single-phase 200V ■ In case of 3-phase 200V

Servo amplifier capacity Servo amplifier capacity

MC MC
[kW] [kW]
0.05 0.05

0.1 0.1
SC-03
0.2 0.2
SC-03
0.4 0.4

0.75 SC-0 0.75

1.0

1.5

2.0
SC-4-1 9
3.0 SC-N1

4.0
SC-N2
5.0

Electromagnetic Contactor 9-9

 CHAPTER 9 PERIPHERAL EQUIPMENT

9.5 Surge Absorber

◼ For protection from lightning surge

Install a surge absorber to protect servo system from the surge approaching from the power
line (induced lightning surge).
Serge absorber absorbs lightning surge, preventing malfunction or damage of a servo system.

Recommendation [Soshin Electric product］

Single phase: LT-C12G801WS *
Three-phase: LT-C32G801WS
* The product for single phase has no L2 terminals.

<External dimensions> <Internal connection diagram>

L3 L2 L1
Operation
display windows

L3 L2 Grounding terminal
Temperature fuse
Vinyl electric L1
cables ZnO element

9
Discharge gap

◼ For protection from open/close surge of peripheral equipment

To install a surge absorber to peripheral equipment (electromagnetic contactor, solenoid,
electromagnetic brake, etc.) of the servo amplifier, use the following one.
When an inductive load such as the clutch and solenoid is turned off, a counter electromotive
force of several hundreds or several thousands of volts [V] is generated. The surge absorber
suppresses the surge voltage.
For DC devices, install a diode to suppress the surge voltage.

9-10 Surge Absorber

 CHAPTER 9 PERIPHERAL EQUIPMENT

Control relay, etc.

Model: S1-B-0 (made by OKAYA ELECTRIC INDUSTRIES)

300 40±1 20±1

27.5

［mm］

Electromagnetic contactor, etc.

Model: S2-A-0 (made by OKAYA ELECTRIC INDUSTRIES)

300 40±1 30±1

37.5

［mm］

Applicable to 250 [V] AC or less voltages

A non-inductive capacitor and a non-inductive resistor are connected in series and filled in epoxy
resin.
S1-B-0: 200Ω (1/2 [W])+0.1 [μF]
S2-A-0: 500Ω (1/2 [W])+0.2 [μF]

Ｓ１－Ｂ－０
０．１μＦ－２００Ω
ＡＣ２５０Ｖ Ｂ
The purpose of the surge
absorber is suppression of the
２００Ω＋０．１μ
surge voltage.

9
Preliminary Mounting
Series connection
solder leg
(flame retardant construction)
treatment

 Protection in AC circuit  Protection in DC circuit

C-R circuit Diode
(Protection of the DC circuit is also provided.) (Be aware of the orientation of the diode.)

Load Load

Surge Absorber 9-11

 CHAPTER 9 PERIPHERAL EQUIPMENT

9.6 Power Filter

The servo amplifier performs high frequency switching under PWM control similarly to
general-purpose inverters. Therefore radiant noise, conductive noise and so on may give effect on
peripheral equipment.
The following method is effective as a countermeasure.

Radio
Radiant noise

Power transformer Servomotor

Power
supply
Servo amplifier M

Conductive
noise Static induction Electromagnetic induction noise
noise

Measuring
Sensor
instrument

Electronic
device

(1) House the servo amplifier in an iron (conductive) control panel and ground the control panel.
Do not install a PC or measuring instrument nearby.

9 (2) If devices connected to the same power supply are affected, install a power filter in the primary
circuit of the servo amplifier.
If devices in different power supplies are affected, install an obstruction wave preventive
transformer (TRAFY).
(3) Route cables between the servo amplifier and servomotor in a conductive duct and ground the
duct (multi-point grounding allowed).
(4) Use a grounding cable as thick and short as possible.
Connect the grounding cable directly from the copper bar to individual device (do not use a
jumper cable). A twisted or net cable has a larger effect.
(5) Never connect the following signals.

Grounding terminal 0 [V] of +24 [V] DC power 0 [V] of encoder power

FG (Frame ground) supply for sequence I/O supply

(6) Do not tie the main circuit cable and control circuit cable together. Do not route these cables in
parallel.
Main circuit: Commercial power supply, motor power cable between servo amplifier and
servomotor
Control circuit: +24 [V] DC or less voltage signal cable
Servomotor encoder cable
(7) Use an obstruction wave preventive transformer (TRAFY) to connect 100 [V] devices (suc h as
the programmable logic controller and general-purpose PC) to the 200 [V] power supply.

9-12 Power Filter

 CHAPTER 9 PERIPHERAL EQUIPMENT

(7)

TRAFY PLC

(2) Power E
filter
E

(5) Servo E
amplifier

Copper bar
(1)

(4)
(6)
PG M (3)

Numbers (1), (2), ... in the figure indicate the paragraph number given on the previous page.
Power filter model
■ In case of single-phase 200V ■ In case of 3-phase 200V
Servo amplifier capacity Servo amplifier capacity
Power filter Power filter
[kW] [kW]
0.05 0.05
0.1 RNFTD06-20 0.1
RNFTC06-20
0.2 0.2
0.4

0.75
RNFTD10-20

RNFTD20-20
0.4 9
0.75
RNFTC10-20
1.0

1.5
RNFTC20-20
2.0

3.0 RNFTC30-20

4.0
RNFTC50-20
5.0

The purpose of the power filter is suppression of high frequency voltage fluctuation caused by
the servo amplifier in the commercial power supply.
Because the filter effect is bi-directional, the servo amplifier is also protected against high
frequency voltage fluctuation in the power supply.

Power Filter 9-13

 CHAPTER 9 PERIPHERAL EQUIPMENT

9.7 AC/DC Reactor

Connect an AC or DC reactor in following cases.

(1) Large power supply capacity

With power supply capacities exceeding 500 [kVA], the power-on input current fed to the servo
amplifier may become too large and cause damage to the internal rectifying diode.
(The power supply capacity depends on the 20 [m] wiring length and the designated cable size.)

(2) Imbalance in source voltage

If there is imbalance in the source voltage, the current gathers to the phase of a higher voltage.
Connect the AC reactor if the ratio of voltage imbalance is 3 [%] or above.

(Max. voltage [V]) - (Min. voltage [V])

(Ratio of power supply imbalance) = × 100
(Average voltage of three phases [V])

Insert an AC reactor to balance the input current among phases. The AC reactor also provides
protection against loss of source voltage or similar hazards.

(3) Suppression of harmonics

The servo amplifier generates harmonics currents because it is a capacitor input type. The AC
reactor suppresses current distortion in the power supply system, protecting devices in the
same system against damage. Imbalance in the source voltage increases harmonics currents.

9 Insert an AC reactor in the primary circuit of the servo amplifier. Heat generation is caused with
types of a small rated conductive current, and the suppression effect is reduced with types of a
large rated conductive current.

Model of AC/DC reactor

◼ In case of single-phase 200V
Servo amplifier capacity
AC reactor DC reactor
[kW]
0.05 DCR2-0.2
ACR2-0.4A
0.1 DCR2-0.4

0.2 ACR2-0.75A DCR2-0.75

0.4 ACR2-1.5A DCR2-1.5

0.75 ACR2-2.2A DCR2-2.2

9-14 AC/DC Reactor

 CHAPTER 9 PERIPHERAL EQUIPMENT

◼ In case of 3-phase 200V

Servo amplifier capacity
AC reactor DC reactor
[kW]
0.05
DCR2-0.2
0.1 ACR2-0.4A

0.2 DCR2-0.4

0.4 ACR2-0.75A DCR2-0.75

0.75 ACR2-1.5A DCR2-1.5

1.0
ACR2-2.2A DCR2-2.2
1.5

2.0 ACR2-3.7A DCR2-3.7

3.0 ACR2-5.5A DCR2-5.5

4.0 ACR2-7.5A DCR2-7.5

5.0 ACR2-11A DCR2-11

 How to connect the AC reactor

Connect in the primary circuit of the servo amplifier as shown in the figure below.
Servo amplifier
Commercial power supply AC reactor

9
3-phase 200V
U X L1
V Y L2
W Z L3 Purpose of AC reactor
L1C (1) Improvement of input power
L2C factor
(2) Protection against imbalance
in voltage or similar
(3) Harmonics suppression
(4) Suppression of power supply
capacity

 How to connect the DC reactor

Disconnect the jumper wire from the P1 and P(+) terminals and connect the DC reactor.

Purpose of DC reactor
(1) Improvement of input power
P1 P(+) DC reactor
factor
Remove the jumper wire. (2) Protection against imbalance
in voltage or similar
P1 P(+) N(-) RB1 RB2 RB3 P1 P(+) N(-) RB1 RB2 RB3 (3) Harmonics suppression
(4) Suppression of power supply
capacity

AC/DC Reactor 9-15

 CHAPTER 9 PERIPHERAL EQUIPMENT

9.8 External Braking Resistor

The external braking resistor consumes regenerative power generated by the servomotor.
Use an external braking resistor if the elevating load is large and the operation frequency is high.

External Braking Applicable

Servo amplifier model Capacity [kW] Built-in resistor*
Resistor resistance [Ω]
RYT500F7-VC2 0.05 —
RYT101F7-VC2 0.1 — WSR-401 39 to 160
RYT201F7-VC2 0.2 — (68Ω,17W)

RYT401F7-VC2 0.4 8W/40Ω 39 to 80

RYT751F7-VC2 0.75 15 to 40
WSR-152
RYT102F7-VC2 1.0 20W/15Ω
(15Ω, 50W) 12 to 27
RYT152F7-VC2 1.5
RYT202F7-VC2 2.0 DB11-2 7.5 to 20
30W/12Ω
RYT302F7-VC2 3.0 (10Ω, 260W) 7.5 to 13
RYT402F7-VC2 4.0 DB22-2
60W/6Ω 3.9 to 8
RYT502F7-VC2 5.0 (5.8Ω, 300W)

* The allowable wattage of the built-in braking resistor varies according to the ambient
temperature.

9-16 External Braking Resistor

 CHAPTER 9 PERIPHERAL EQUIPMENT

◼ To connect the optional external braking resistor

P(+) Symbol
) example
DB

ＣＯＮＴｎ 1
Ｍ２４ 2

(Disconnect the jumper wire) External Braking Resistor

P1 P(+) RB1 RB2 RB3 N(-)

Commercial power supply
3-phase 200V
L1
L2 U U
L3 V V
W W
Ｍ
L1C
L2C E

CN2

P5 1 P5
M5 2 M5
BAT+ 3 BAT+ ＰＧ
BAT- 4 BAT-
SIG+ 5 SIG+
SIG- 6 SIG-
FG

Servo amplifier
Servomotor

To use an external braking resistor, wiring and parameter setting are necessary.
 Wiring of thermistor output of external braking resistor
 Be sure to connect to the host device, turn on the thermistor, and turn off the servo amplifier
main power.*
 Allocate external braking resistor overheat (34) to a CONT input terminal.
9
 Parameter setting
 Set PA2_65 (braking resistor selection) at 2 (external resistor).

* The external braking resistor will become excessively hot in the event of failure of the
braking transistor, possibly causing fire.

External Braking Resistor 9-17

 CHAPTER 9 PERIPHERAL EQUIPMENT

9.9 Optional Equipment

Safety device connection cable

Model: WSC-D08P01
Application range: Common to all models (for CN6)

Servo amplifier side connector

(8)

)
00
(1

(11) WSC-D08P01
20±5
(33) 1000+100
0

■ Model/manufacturer
Servo amplifier side connector
INDUSTRIAL MINI I/O D-SHAPE TYPE 1 2013595-1
TE Connectivity Corporation

Cable
CM/2464-1061/II A-SB LF 3P×26AWG

9
Taiyo Cabletec Corporation

■ Wire color
Case
Pin No. 1 2 3 4 5 6 7 8
(shield)
Insulator color - - White White Light Light Orange Orange
gray gray Black
(protective tube)
Dot mark color - - Black Red Black Red Black Red
Signal name Not Not EN1- EN1+ EN2- EN2+ EDM- EDM+ -
connected connected

• The connector manufacturer may be changed without prior notice.

• Movable cables are used for cables.

9-18 Optional Equipment

 CHAPTER 9 PERIPHERAL EQUIPMENT

Encoder cable (1)

Model: WSC-P06P02-E to WSC-P06P20-E
Applicable range: GYS/GYB (lead wire specification) model ..... 0.75 [kW] or less (for CN2)

Servo amplifier side connector Servomotor side connector

molex

3 2 1
6 5 4
9 8 7
18.8
1 35

246

19
12

18
42.5 L 47

■ Model/manufacturer
Servo amplifier side connector Servomotor side connector
Plug housing body 54180-0619 Cap housing 1-172332-9
Plug shell cover 58299-0626 Socket 170361-1
Plug shell body 58300-0626 Cover (x 2) 316455-1
Plug mold cover (A) 54181-0615 Screw (x 2) M2.6 x 10
Plug mold cover (B) 54182-0605 Nut (x 2) M2.6
Cable clamp 58303-0000 TE Connectivity Corporation
Clamp screw 59832-0009
Molex Japan LLC
■ Wire color
Servo 1 2 3 4 5 6 Shell
amplifier side
Servomotor 7 8 1 2 5 4 3

Wire
color
side
(1) Red Black Orange Orange/white Blue/white Blue
(2) White Black Yellow Brown Blue Red
Shield
Shield
The wire color will
be either (1) or (2). 9
Signal name P5 M5 BAT+ BAT- SIG+ SIG- FG
■ Length
Model L [mm]
+200
WSC-P06P02-E 2000 0
+500
WSC-P06P05-E 5000 0
+1000
WSC-P06P10-E 10000 0
+2000
WSC-P06P20-E 20000 0
• The connector manufacturer may be changed without prior notice.
• Movable cables are used for cables.

Caution
Connect two or more encoder cables, and do not extend the wiring distance.
A sudden stoppage may occur due to a voltage drop resulting from connector contact resistance.

Optional Equipment 9-19

 CHAPTER 9 PERIPHERAL EQUIPMENT

Encoder cable (2)

Model: WSC-P06P02-K to WSC-P06P20-K
Application range: GYB (connector connection specification) model (for CN2)

Servo amplifier side connector Servomotor side connector

■ Model/manufacturer
Servo amplifier side connector Servomotor side connector
Plug housing body 54180-0619 Plug JN6FR07SM2
Plug shell cover 58299-0626 Contact LY10-C1-A1-10000
Plug shell body 58300-0626 Japan Aviation Electronics Industry, Limited
Plug mold cover (A) 54181-0615
Plug mold cover (B) 54182-0605
Cable clamp 58303-0000
Clamp screw 59832-0009

9
Molex Japan LLC
■ Wire color
Servo 1 2 3 4 5 6 Shell
amplifier side
Servomotor 6 3 5 2 4 7 -
side
Wire color Red Black Orange Orange/white Blue/white Blue Shield
Signal name P5 M5 BAT+ BAT- SIG+ SIG- FG
■ Length
Model L [mm]
+200
WSC-P06P02-K 2000 0
+500
WSC-P06P05-K 5000 0
+1000
WSC-P06P10-K 10000 0
+2000
WSC-P06P20-K 20000 0
• The connector manufacturer may be changed without prior notice.
• Movable cables are used for cables.
• This cable is the type that leads out to the output shaft side.
Please contact Fuji if leading the cable out to the side opposite the output shaft.

Caution
Connect two or more encoder cables, and do not extend the wiring distance.
A sudden stoppage may occur due to a voltage drop resulting from connector contact resistance.

9-20 Optional Equipment

 CHAPTER 9 PERIPHERAL EQUIPMENT

Encoder cable (3)

Model: WSC-P06P05-C to WSC-P06P20-C
Application range: GYS model ..... 1.0 to 5.0 [kW] (for CN2)

molex
Model indication

Servomotor side connector Ｌ Servo amplifier side connector

■ Model/manufacturer
Servomotor side connector Servo amplifier side connector
L-type clamp MS3108B20-29S Plug housing body 54180-0619
Cable clamp MS3057-12A Plug shell cover 58299-0626
DDK Ltd. Plug shell body 58300-0626
Plug mold cover (A) 54181-0615
Plug mold cover (B) 54182-0605
Cable clamp 58303-0000
Clamp screw 59832-0009
Molex Japan LLC
■ Wire color
Servomotor H G T S C D
side
Servo 1 2 3 4 5 6
amplifier side
Wire
color
(1)
(2) White Black Yellow Brown Red Blue
The wire color will be either
Red Black Orange Orange/white Blue Blue/white (1) or (2). 9
Signal name P5 M5 BAT+ BAT- SIG+ SIG-
■ Length
Model L [mm]
+500
WSC-P06P05-C 5000 0
+1,000
WSC-P06P10-C 10000 0
+2,000
WSC-P06P20-C 20000 0
• The connector manufacturer may be changed without prior notice.
• Movable cables are used for cables.

Caution
Connect two or more encoder cables, and do not extend the wiring distance.
A sudden stoppage may occur due to a voltage drop resulting from connector contact resistance.

Optional Equipment 9-21

 CHAPTER 9 PERIPHERAL EQUIPMENT

Encoder cable (4)

Model: WSC-P06P05-J to WSC-P06P20-J
Application range: GYG model (for CN2)

molex
Model indication

Servomotor side connector Ｌ Servo amplifier side connector

■ Model/manufacturer
Servomotor side connector Servo amplifier side connector
Plug JN2FS10SL1-R Plug housing body 54180-0619
Japan Aviation Electronics Industry, Limited Plug shell cover 58299-0626
Plug shell body 58300-0626
Plug mold cover (A) 54181-0615
Plug mold cover (B) 54182-0605
Cable clamp 58303-0000
Clamp screw 59832-0009
Molex Japan LLC
■ Wire color
Servomotor 6 7 8 9 2 1
side

9
Servo 1 2 3 4 5 6
amplifier side
Wire color Red Black Orange Orange/white Blue/white Blue
Signal name P5 M5 BAT+ BAT- SIG+ SIG-
■ Length
Model L [mm]
+500
WSC-P06P05-J 5000 0
+1000
WSC-P06P10-J 10000 0
+2000
WSC-P06P20-J 20000 0
• The connector manufacturer may be changed without prior notice.
• Movable cables are used for cables.

Caution
Connect two or more encoder cables, and do not extend the wiring distance.
A sudden stoppage may occur due to a voltage drop resulting from connector contact resistance.

9-22 Optional Equipment

 CHAPTER 9 PERIPHERAL EQUIPMENT

Encoder cable (5)

Model: WSC-P06P05-W to WSC-P06P20-W
Application range: Common to all models (for CN2)
Servo amplifier side connector

12

0
10
13 5

246
18.8

42.5 L

■ Model/manufacturer
Servo amplifier side connector
Plug housing body 54180-0619
Plug shell cover 58299-0626
Plug shell body 58300-0626
Plug mold cover (A) 54181-0615
Plug mold cover (B) 54182-0605
Cable clamp 58303-0000
Clamp screw 59832-0009
Molex Japan LLC
■ Wire color
Pin No. 1 2 3 4 5 6 Case
(1) Red Black Orange Orange/ Blue Blue/

9
Wire white white Protective The wire color will be either (1) or (2).
color tube
(2) White Black Yellow Brown Red Blue
Signal P5 M5 BAT+ BAT- SIG+ SIG- -
name
■ Length
Model L [mm]
+500
WSC-P06P05-W 5000 0
+1000
WSC-P06P10-W 10000 0
1500
WSC-P06P15-W 15000 0
+2000
WSC-P06P20-W 20000 0
• The connector manufacturer may be changed without prior notice.
• Movable cables are used for cables.

Caution
Connect two or more encoder cables, and do not extend the wiring distance.
A sudden stoppage may occur due to a voltage drop resulting from connector contact resistance.

Optional Equipment 9-23

 CHAPTER 9 PERIPHERAL EQUIPMENT

Motor power cable (1)

Model: WSC-M04P02-E to WSC-M04P20-E
Applicable range: GYS/GYB (lead wire specification) model: 0.75 [kW] or less

Servo amplifier side Servomotor side connector

Wire size: AWG#19x4

9.8

2 1
4 3
105

11.8
50
L 23.7

■ Model/manufacturer
Servomotor side connector
Cap housing 172159-9
Socket 170362-1
TE Connectivity Corporation

■ Wire color
Servo amplifier U V W E

9
side
Servomotor 1 2 3 4
side
Wire color Red White Black Green/yellow
Signal name U V W E

■ Length
Model L [mm]
+200
WSC-M04P02-E 2000 0
+500
WSC-M04P05-E 5000 0
+1000
WSC-M04P10-E 10000 0
+2000
WSC-M04P20-E 20000 0
• The connector manufacturer may be changed without prior notice.
• Movable cables are used for cables.

9-24 Optional Equipment

 CHAPTER 9 PERIPHERAL EQUIPMENT

Motor power cable (2)

Model: WSC-M04P02-K to WSC-M04P20-K
Application range: GYB (connector connection specification) model

Servo amplifier side サーボモータ側コネクタ

Servomotor side connector

Wire size: AWG#20x4

電線サイズ： AWG＃20×4

24.5

11.4

28

■ Model/manufacturer
Servomotor side connector
Plug JN6FS04SJ2
Contact ST-JN5-S-C1B-2500
Japan Aviation Electronics Industry, Limited

■ Wire color
Servo amplifier
side
U V W E 9
Servomotor 4 3 2 1
side
Wire color Red White Black Green/yellow
Signal name U V W E

■ Length
Model L [mm]
+200
WSC-M04P02-K 2000 0
+500
WSC-M04P05-K 5000 0
+1000
WSC-M04P10-K 10000 0
+2000
WSC-M04P20-K 20000 0
• The connector manufacturer may be changed without prior notice.
• Movable cables are used for cables.
• This cable is the type that leads out to the output shaft side.
Please contact Fuji if leading the cable out to the side opposite the output shaft.

Optional Equipment 9-25

 CHAPTER 9 PERIPHERAL EQUIPMENT

Brake cable (1)

Model: WSC-M02P02-E to WSC-M02P20-E
Applicable range: GYS/GYB (lead wire specification) model ..... 0.75 [kW] or less (with brake)

サーボアンプ側 サーボモータ側コネクタ

Servo amplifier side Servomotor side connector

5.6
Wire size: AWG#19x2
電線サイズ：AWG#19×2

1
2
11.8
L 23.7

■ Model/manufacturer
Servomotor side connector
Cap housing 172157-9
Socket 170362-1
TE Connectivity Corporation

9 ■ Wire color
Servo amplifier
side
- -

Servomotor 1 2
side
Wire color Red Black
Signal name B B

■ Length
Model L [mm]
+200
WSC-M02P02-E 2000 0
+500
WSC-M02P05-E 5000 0
+1000
WSC-M02P10-E 10000 0
+2000
WSC-M02P20-E 20000 0
• The connector manufacturer may be changed without prior notice.
• Movable cables are used for cables.

9-26 Optional Equipment

 CHAPTER 9 PERIPHERAL EQUIPMENT

Brake cable (2)

Model: WSC-M02P02-K to WSC-M02P20-K
Application range: GYB (connector connection specification) model (with brake)

サーボアンプ側 サーボモータ側コネクタ

Servo amplifier side Servomotor side connector

Wire size: AWG#22x2
電線サイズ：AWG#22×2

21
13
21.5

■ Model/manufacturer
Servomotor side connector
Plug JN6FR02SM1
Contact LY10-C1-A1-10000
Japan Aviation Electronics Industry, Limited

■ Wire color 9
Servo amplifier - -
side
Servomotor 1 2
side
Wire color White Black
Signal name B B

■ Length
Model L [mm]
+200
WSC-M02P02-K 2000 0
+500
WSC-M02P05-K 5000 0
+1000
WSC-M02P10-K 10000 0
+2000
WSC-M02P20-K 20000 0
• The connector manufacturer may be changed without prior notice.
• Movable cables are used for cables.
• This cable is the type that leads out to the output shaft side.
Please contact Fuji if leading the cable out to the side opposite the output shaft.

Optional Equipment 9-27

 CHAPTER 9 PERIPHERAL EQUIPMENT

Encoder connector kit (amplifier side)

Model: WSK-P06P-M
Application range: Common to all models

■ External dimensions ■ Model/manufacturer

Unit: [m]
単位：[mm] Plug housing body 54180-0619
42.5 (max.)
42.5(最大)
Plug shell cover 58299-0626
37.4 12
Plug shell body 58300-0626
Plug mold cover (A) 54181-0615
Plug mold cover (B) 54182-0605
molex
135

24 6
18.8

18.4
Cable clamp 58303-0000
Clamp screw 59832-0009
Molex Japan LLC
ø7.8

• The connector kit model differs from the optional cable.

• The connector manufacturer may be changed without prior notice.

Encoder connector kit (motor side) (1)

Model: WSK-P09P-D
Applicable range: GYS/GYB (lead wire specification) model ..... 0.75 [kW] or less

■ External dimensions ■ Model/manufacturer

Unit: [mm] Cap 172161-9
単位：[mm]
47 Cap cover 316455-1

9 Socket (SIG+, SIG-, FG) 170365-1 (bulk)

Socket (P5, M5)

170361-1 (chain)
170366-1 (bulk)
19

14

170362-1 (chain)
TE Connectivity Corporation
8 ■ Terminal layout

3 2 1
6 5 4
14
18

12
5

9 8 7

• The connector model differs from the optional cable.

• The connector manufacturer may be changed without prior notice.

9-28 Optional Equipment

 CHAPTER 9 PERIPHERAL EQUIPMENT

Encoder connector kit (motor side) (2)

Model: WSK-P06P-C
Application range: GYS model ..... 1.0 to 5.0 [kW]

■ External dimensions ■ Model/manufacturer

Groove position L-type clamp MS3108B20-29S
Unit: [mm]
Unit: [m] Cable clamp MS3057-12A
DDK Ltd.

■ Terminal layout

37.3 Ｃ
H P5
Ｔ Ｄ
Ｓ G M5

Ｈ
C SIG+
Rubber bushing Ｇ

81 D SIG-
T BAT+
37.3
S BAT-

70.9
4
• The connector model differs from the optional cable.
• The connector manufacturer may be changed without prior notice.

Encoder connector kit (motor side) (3)

Model: WSK-P10P-J
Application range: GYG model 9
■ External dimensions ■ Model/manufacturer
JN2FS10SL2-R
Plug (Applicable wire diameter:
ø5.7 to ø7.3 [mm])
Japan Aviation Electronics Industry, Limited

ø20
■ Terminal layout
3 1
1 SIG-
7 4
2 SIG+
30.8

6 P5
10 8
ø15.6

30.8
7 M5
15.6 8 BAT+
?

9 BAT-
45.5

• The connector model differs from the optional cable.

• The connector manufacturer may be changed without prior notice.

Optional Equipment 9-29

 CHAPTER 9 PERIPHERAL EQUIPMENT

Motor power connector kit (motor side) (1)

Model: WSK-M04P-E
Applicable range: GYS/GYB (lead wire specification) model ..... 0.75 [kW] or less

■ External dimensions ■ Model/manufacturer

Cap housing 172159-1
Unit: [mm]
170362-1 (for 0.75 mm 2)
Socket
171637-1 (for 1.25 mm 2)
23.7 TE Connectivity Corporation

■ Terminal layout
11.8

1 U
2 V
3 W
4

4 E
9.8
4

• The connector model differs from the optional cable.

• The connector manufacturer may be changed without prior notice.

Motor power connector kit (motor side) (2)

Model: WSK-M04P-CA
Application range: GYS model ..... 1.0 to 2.0 [kW]

9 ■ External dimensions
Groove position
■ Model/manufacturer
L-type clamp MS3108B18-10S
Unit: [mm] Cable clamp MS3057-10A
DDK Ltd.

■ Terminal layout

34.2 A U
B V
C W
D
Rubber bushing
71.5

31.7

65.8 3.2

• The connector model differs from the optional cable.

• The connector manufacturer may be changed without prior notice.

9-30 Optional Equipment

 CHAPTER 9 PERIPHERAL EQUIPMENT

Motor power connector kit (motor side) (3)

Model: WSK-M04P-CB
Application range: GYS model ..... 3.0 to 5.0 [kW]

■ External dimensions ■ Model/manufacturer

Groove position L-type clamp MS3108B22-22S
Unit: [mm]
Cable clamp MS3057-12A
DDK Ltd.

■ Terminal layout
40.5
A U
B V
C W
Rubber bushing
D
81

37.3

72.5 4

• The connector manufacturer may be changed without prior notice.

Motor power connector kit (motor side) (4)

Model: WSK-M04P-CC
Application range: GYG model
9
■ External dimensions ■ Model/manufacturer
Groove
ミゾ位置position Plug JL10-8A18-10SE-EB
JL04-18CK(13)-R
Cable clamp (Applicable wire diameter:
A

ø11 to ø14.1 [mm])

D

B
C

Japan Aviation Electronics Industry, Limited

■ Terminal layout
35.9
W
A U
ゴムブッシュ
Rubber bushing
B V
C W
50.5

D
31.8

V U

(63) 3.2

• The connector model differs from the optional cable.

• The connector manufacturer may be changed without prior notice.

Optional Equipment 9-31

 CHAPTER 9 PERIPHERAL EQUIPMENT

Motor power connector kit (motor side: with brake) (1)

Model: WSK-M06P-CA
Application range: GYS model ..... 1.0 to 2.0 [kW] (with brake)

■ External dimensions ■ Model/manufacturer

Groove position L-type clamp MS3108B20-15S
Unit: [mm]
Cable clamp MS3057-12A
DDK Ltd.

37.3
■ Terminal layout
A U
Brake B V
C W
D
80.7
Rubber bushing Brake E Br
F Br
37.3 G -

70.9 4

• The connector model differs from the optional cable.

• The connector manufacturer may be changed without prior notice.

Motor power connector kit (motor side: with brake) (2)

9 Model: WSK-M06P-CB
Application range: GYS model ..... 3.0 to 5.0 [kW] (with brake)

■ External dimensions ■ Model/manufacturer

Groove position L-type clamp MS3108B24-10S
Unit: [mm]
Cable clamp MS3057-16A
DDK Ltd.

■ Terminal layout

43.7 A U
Brake B V
C W
Brake D
Rubber bushing E Br
90
F Br
G -
42.9

79.6 4.8

• The connector manufacturer may be changed without prior notice.

9-32 Optional Equipment

 CHAPTER 9 PERIPHERAL EQUIPMENT

Motor power connector kit (motor side: with brake) (3)

Model: WSK-M06P-CC
Application range: GYG model

■ External dimensions ■ Model/manufacturer

Groove position Plug JL10-8A20-18SE-EB
JL04-2022CK(14)-R
Cable clamp (Applicable wire diameter:
ø12.9 to ø16 [mm])
Japan Aviation Electronics Industry, Limited
■ Terminal layout
ø40.5 U
V A Br
B Brake
C A B U
D
Rubber bushing D
I
H
E
G
F W
G Br
74

F
Brake
I V
37.3

(65) 4

• The connector model differs from the optional cable.

• The connector manufacturer may be changed without prior notice.

Brake connector kit (motor side) (1)

Model: WSK-M02P-E
Applicable range: GYS/GYB (lead wire specification) model ..... 0.75 [kW] or less (with brake) 9
■ External dimensions ■ Model/manufacturer
Cap housing 172157-9
Unit: [mm]
Socket 170362-1
TE Connectivity Corporation
23.7

■ Terminal layout
1 B
11.8

2
2 B

1
5.6

• The connector model differs from the optional cable.

• The connector manufacturer may be changed without prior notice.

Optional Equipment 9-33

 CHAPTER 9 PERIPHERAL EQUIPMENT

Encoder relay cable with battery

Model: WSC-P06P0R3-BG
Application range: Common to all models (for CN2)
Servo amplifier side Servomotor side
connector connector

■ Model/manufacturer
Servo amplifier side connector Servomotor side connector
Plug housing body 54180-0619 Socket housing body 53988-0619
Plug shell cover 58299-0626 Socket shell cover 58302-0628
Plug shell body 58300-0626 Socket mold cover (A) 53989-0605
Plug mold cover (A) 54181-0615 Socket mold cover (B) 53990-0605
Plug mold cover (B) 54182-0605 Cable clamp 58303-0000
Cable clamp 58303-0000 Clamp screw 59832-0009
Clamp screw 59832-0009 Molex Japan LLC
Molex Japan LLC

■ Wire color

9 Servo
amplifier side
Servomotor
1

1
2

2
3

3
4

4
5

5
6

6
Shell

Shell
side
Wire color Red Black Orange Orange/white Blue Blue/white Shield
Signal name P5 M5 BAT+ BAT- SIG+ SIG- FG

• 1 battery is provided.
• The connector manufacturer may be changed without prior notice
• Movable cables are used for cables.

CAUTION
Connect two or more encoder cables to the relay cable, and do not extend the wiring distance.
A sudden stoppage may occur due to a voltage drop resulting from connector contact resistance.

9-34 Optional Equipment

 CHAPTER 9 PERIPHERAL EQUIPMENT

Encoder cable with battery (1)

Model: WSC-P06P02-BE to WSC-P06P20-BE
Applicable range: GYS/GYB (lead wire specification) model ..... 0.75 [kW] or less (for CN2)

Servo amplifier side connector Servomotor side connector

■ Model/manufacturer
Servo amplifier side connector Servomotor side connector
Plug housing body 54180-0619 Cap housing 1-172332-9
Plug shell cover 58299-0626 Socket 170361-1
Plug shell body 58300-0626 Cover (x 2) 316455-1
Plug mold cover (A) 54181-0615 Screw (x 2) M2.6 x 10
Plug mold cover (B) 54182-0605 Nut (x 2) M2.6
Cable clamp 58303-0000 TE Connectivity Corporation
Clamp screw 59832-0009
Molex Japan LLC
■ Wire color
Servo 1 2 3 4 5 6 Shell
amplifier side
Servomotor 7 8 1 2 5 4 3

Wire
color
side
(1) Red Black Orange Orange/white Blue/white Blue
(2) White Black Yellow Brown Blue Red
Shield
Shield
The wire color will
be either (1) or (2). 9
Signal name P5 M5 BAT+ BAT- SIG+ SIG- FG
■ Length
Model L [mm]
+20
WSC-P06P02-BE 2,000 0
0
+50
WSC-P06P05-BE 5,000 0
0
+1,00
WSC-P06P10-BE 10,000 0
0
+2,00
WSC-P06P20-BE 20,000 0
0
• 1 battery is provided.
• The connector manufacturer may be changed without prior notice
• Movable cables are used for cables.

CAUTION
Connect two or more encoder cables, and do not extend the wiring distance.
A sudden stoppage may occur due to a voltage drop resulting from connector contact resistance.

Optional Equipment 9-35

 CHAPTER 9 PERIPHERAL EQUIPMENT

Encoder cable with battery (2)

Model: WSC-P06P02-BK to WSC-P06P20-BK
Application range: GYB (connector connection specification) model (for CN2)

Servo amplifier side connector Servomotor side connector

■ Model/manufacturer
Servo amplifier side connector Servomotor side connector
Plug housing body 54180-0619 Plug JN6FR07SM2
Plug shell cover 58299-0626 Contact LY10-C1-A1-10000
Plug shell body 58300-0626 Japan Aviation Electronics Industry, Limited
Plug mold cover (A) 54181-0615
Plug mold cover (B) 54182-0605
Cable clamp 58303-0000
Clamp screw 59832-0009
Molex Japan LLC
■ Wire color
Servo 1 2 3 4 5 6 Shell

9 amplifier side
Servomotor
side
6 3 5 2 4 7 -

Wire color Red Black Orange Orange/white Blue/white Blue Shield

Signal name P5 M5 BAT+ BAT- SIG+ SIG- FG
■ Length
Model L [mm]
+20
WSC-P06P02-BK 2,000 0
0
+50
WSC-P06P05-BK 5,000 0
0
+1,00
WSC-P06P10-BK 10,000 0
0
+2,00
WSC-P06P20-BK 20,000 0
0
• 1 battery is provided.
• The connector manufacturer may be changed without prior notice
• Movable cables are used for cables.
• This cable is the type that leads out to the output shaft side.
Please contact Fuji if leading the cable out to the side opposite the output shaft.

CAUTION
Connect two or more encoder cables, and do not extend the wiring distance.
A sudden stoppage may occur due to a voltage drop resulting from connector contact resistance.

9-36 Optional Equipment

 CHAPTER 9 PERIPHERAL EQUIPMENT

Encoder cable with battery (3)

Model: WSC-P06P02-BC to WSC-P06P20-BC
Application range: GYS model ..... 1.0 to 5.0kW (for CN2)

Servomotor side connector Servo amplifier side

connector

■ Model/manufacturer
Servomotor side connector Servo amplifier side connector
L-type clamp MS3108B20-29S Plug housing body 54180-0619
Cable clamp MS3057-12A Plug shell cover 58299-0626
DDK Ltd. Plug shell body 58300-0626
Plug mold cover (A) 54181-0615
Plug mold cover (B) 54182-0605
Cable clamp 58303-0000
Clamp screw 59832-0009
Molex Japan LLC
■ Wire color
Servo
1 2 3 4 5 6

9
amplifier side
Servomotor
H G T S C D
side The wire color will be either
Wire (1) Red Black Orange Orange/white Blue Blue/white (1) or (2).
color (2) White Black Yellow Brown Red Blue
Signal name P5 M5 BAT+ BAT- SIG+ SIG-
■ Length
Model L [mm]
+20
WSC-P06P02-BC 2,000 0
0
+50
WSC-P06P05-BC 5,000 0
0
+1,00
WSC-P06P10-BC 10,000 0
0
+2,00
WSC-P06P20-BC 20,000 0
0
• 1 battery is provided.
• The connector manufacturer may be changed without prior notice
• Movable cables are used for cables.

CAUTION
Connect two or more encoder cables, and do not extend the wiring distance.
A sudden stoppage may occur due to a voltage drop resulting from connector contact resistance.

Optional Equipment 9-37

 CHAPTER 9 PERIPHERAL EQUIPMENT

Encoder cable with battery (4)

Model: WSC-P06P02-BJ to WSC-P20P20-BJ
Application range: GYG model (for CN2)

Servomotor side connector Servo amplifier side connector

■ Model/manufacturer
Servomotor side connector Servo amplifier side connector
Plug JN2FS10SL2-R Plug housing body 54180-0619
Japan Aviation Electronics Industry, Limited Plug shell cover 58299-0626
Plug shell body 58300-0626
Plug mold cover (A) 54181-0615
Plug mold cover (B) 54182-0605
Cable clamp 58303-0000
Clamp screw 59832-0009
Molex Japan LLC
■ Wire color
Servo 1 2 3 4 5 6

9 amplifier side
Servomotor
side
6 7 8 9 2 1

Wire color Red Black Orange Orange/white Blue/white Blue

Signal name P5 M5 BAT+ BAT- SIG+ SIG-
■ Length
Model L [mm]
+20
WSC-P06P02-BJ 2,000 0
0
+50
WSC-P06P05-BJ 5,000 0
0
+1,00
WSC-P06P10-BJ 10,000 0
0
+2,00
WSC-P06P20-BJ 20,000 0
0
• 1 battery is provided.
• The connector manufacturer may be changed without prior notice
• Movable cables are used for cables.

CAUTION
Connect two or more encoder cables, and do not extend the wiring distance.
A sudden stoppage may occur due to a voltage drop resulting from connector contact resistance.

9-38 Optional Equipment

 CHAPTER 9 PERIPHERAL EQUIPMENT

Encoder cable with battery (5)

Model: WSC-P06P02-BW to WSC-P06P20-BW
Application range: Common to all models (for CN2)

Servo amplifier side Servomotor side

connector

■ Model/manufacturer
Servo amplifier side connector
Plug housing body 54180-0619
Plug shell cover 58299-0626
Plug shell body 58300-0626
Plug mold cover (A) 54181-0615
Plug mold cover (B) 54182-0605
Cable clamp 58303-0000
Clamp screw 59832-0009
Molex Japan LLC
■ Wire color
Servo
amplifier side
1 2 3 4 5 6 Case 9
Wire (1) Red Black Orange Orange/white Blue Blue/white Protective The wire color will
color (2) White Black Yellow Brown Red Blue tube be either (1) or (2).
Signal name P5 M5 BAT+ BAT- SIG+ SIG- -
■ Length
Model L [mm]
+20
WSC-P06P02-BW 2,000 0
0
+50
WSC-P06P05-BW 5,000 0
0
+1,00
WSC-P06P10-BW 10,000 0
0
+2,00
WSC-P06P20-BW 20,000 0
0
• 1 battery is provided.
• The connector manufacturer may be changed without prior notice
• Movable cables are used for cables.

CAUTION
Connect two or more encoder cables, and do not extend the wiring distance.
A sudden stoppage may occur due to a voltage drop resulting from connector contact resistance.

Optional Equipment 9-39

 CHAPTER 9 PERIPHERAL EQUIPMENT

(46)
Battery case kit for encoder cable
Model: WSB-BC
Application range: Common to all models (for CN2)

28.2
Use if fabricating your own encoder cable with battery.
φ9
95

■ Battery case ■ Accessories

(1) (5)
(46)

(2) (6)

(3) (7)

(4)
28.2

(1) Battery wiring

φ9 (2) Contraction tube
95
(3) Copper foil tape
(4) Battery
(5) Nylon clip
(6) Screw
(7) Nut
• The connector manufacturer may be changed without prior notice
• Refer to “2.4.2.2 Encoder Cable With Battery Fabrication Method” for details on the wiring
processing method.

9 Replacement battery
Model: WSB-S
Application range: All models

■ External dimensions ■ Model/manufacturer

Battery ER17/33WK41 1PP
2 1

Hitachi Maxell, Ltd.

Φ17 60±5 36±1

9-40 Optional Equipment

 CHAPTER 9 PERIPHERAL EQUIPMENT

Connector for sequential I/O (CN1)

This connector is not available as an option. Recommended products are as follows.

■ External dimensions ■ Model/manufacturer

8.5
Solder plug 10114-3000PE
Shell kit 1033146-52A0-008

7
23.6 3M Japan Limited

18.2 ■ Terminal layout

1 7
41(max.)
39
23.8

8 14
29.5 12.7
5.2

Connector for linear encoder/fully closed wiring (CN5)

This connector is not available as an option. Recommended products are as follows.

■ External dimensions ■ Model/manufacturer

MUF plug kit MUF-PK10K-X
Japan Solderless Terminal

■ Terminal layout

Optional Equipment 9-41

 CHAPTER 9 PERIPHERAL EQUIPMENT

Safety equipment connector (CN6)

This connector is not available as an option.

Product name : INDUSTRIAL MINI I/O D-SHAPE TYPE 1

Form : 2013595-1
Maker : TE Connectivity
* The cable is not provided.

(8)
(11)

(33)

Monitor (CN7)
Connect a measuring instrument, etc. to servo amplifier connector 7 (CN7).
This is an analog output voltage signal for measuring instruments, and is not required for servo
amplifier operation.

9
This connector is not available as an option.

■ Model/manufacturer
Crimp socket DF11-4DS-2C
Crimp terminal DF11-2428SC
HIROSE ELECTRIC CO., LTD.

1 MON1 3 M5(0V)
3 1
2 MON2 4 M5(0V)
4
2

9-42 Optional Equipment

 CHAPTER 9 PERIPHERAL EQUIPMENT

External regenerative resistor (1)

Model: WSR-401
Application range: Amplifier models RYT500F7 to RYT401F7

182.5±1.5

172±1

150±1 1000 +100

0
42.5

20±0.3

* Attachment part thickness: 1.2 mm

Item Specification
Model WSR-401

Resistor
Resistance
Allowable power
68Ω
17W (cont.) 9
Operating temperature Open at 135 ±10 °C
Thermostat Dielectric strength 1 minute at 1.5 kVAC
Contact capacity 30 VDC, 3A

• Connect the external regenerative resistor to the servo amplifier with a 10 [m] or shorter cable.
• The external regenerative resistor becomes hot. Do not install flammable objects in the vicinity.
• Refer to "9.8 External Braking Resistor" for details on external regenerative resistors.

Optional Equipment 9-43

 CHAPTER 9 PERIPHERAL EQUIPMENT

External regenerative resistor (2)

Model: WSR-152
Application range: Amplifier models RYT751F7 to RYT152F7

345 ± 1.5

60 25
+0.3 50 18
ø15 C
-0
M3.5
10 4-
10 M4

P DB 1 2

8
76 ± 1

.3
+0-0
.5

R
3

3.
R

5
6 332 +0
-1.0 (7)

210 ± 1
94 ± 1.5

15
25

9 t2

Item Specification
Model WSR-152
Resistance 15Ω
Resistor
Allowable power 50W (cont.)
Operating temperature Open at 150 ±10 °C
Thermostat Dielectric strength 1 minute at 2.5 kVAC
Contact capacity 30 VDC, 3A

• Connect the external regenerative resistor to the servo amplifier with a 10 [m] or shorter cable.
• The external regenerative resistor becomes hot. Do not install flammable objects in the vicinity.
• Refer to "9.8 External Braking Resistor" for details on external regenerative resistors.

9-44 Optional Equipment

 CHAPTER 9 PERIPHERAL EQUIPMENT

External regenerative resistor (3)

Model: DB11-2
Application range: Amplifier models RYT202F7 to RYT302F7

142

74
R3.5

φ15 160

7.5
10

31.6
430±1
415

26.6

M5
M3.5
9
7.5

1.6
R3.5
7

Item Specification
Model DB11-2
Resistance 10 Ω
Resistor
Allowable power 260 W (cont.)
Operating temperature Open at 150 ±10 °C
Thermostat Dielectric strength 2.5 kV AC for 1 minute
Contact capacity 120 V AC/30 V DC, 0.1 A

• Connect the external regenerative resistor to the servo amplifier with a 10 [m] or shorter cable.
• The external regenerative resistor becomes hot. Do not install flammable objects in the vicinity.
• Refer to "9.8 External Braking Resistor" for details on external regenerative resistors.

Optional Equipment 9-45

 CHAPTER 9 PERIPHERAL EQUIPMENT

External regenerative resistor (4)

Model: DB22-2
Application range: Amplifier models RYT402F7 to RYT502F7

142

74
R3.5

7.5 160
φ15

31.6
10

510±1
495

9 26.6

M5
M3.5
7.5 1.6
R3.5
7

Item Specification
Model DB22-2
Resistance 5.8 Ω
Resistor
Allowable power 300 W (cont.)
Operating temperature Open at 150 ±10 °C
Thermostat Dielectric strength 2.5 kV AC for 1 minute
Contact capacity 120 V AC/30 V DC, 0.1 A

• Connect the external regenerative resistor to the servo amplifier with a 10 [m] or shorter cable.
• The external regenerative resistor becomes hot. Do not install flammable objects in the vicinity.
• Refer to "9.8 External Braking Resistor" for details on external regenerative resistors.

9-46 Optional Equipment

CHAPTER 10 ABSOLUTE POSITION SYSTEM 10

10-1
CHAPTER 10 ABSOLUTE POSITION SYSTEM

10.1 Specifications

10.1.1 Specification List

Item Description
Method Battery backup method
Battery Lithium battery (primary battery, nominal +3.6 [V])
Max. rotation range Home position ±32767 [rev]
Max. rotation speed at power failure 6000 [r/min]
Service life of battery About 35000 hours (life without power turned on)
Lithium content 0.5 [g]

It is recommended to replace the battery periodically (every three years or more

frequently) despite the power-on or shutdown state.

10.1.2 Precautions

◼ Marine or air transport of battery (lithium-metal battery)

If transporting lithium-metal batteries on their own, packaged together with devices, or installed in
devices, it may be necessary to file a dangerous object application.
Please contact the transport company if transporting lithium-metal batteries.

◼ Conditions blocking establishment of absolute position system

The absolute position system is not established under the following conditions.
 The electronic gear setting is changed after position preset.
 The command pulse ratio is changed after position preset.
The absolute position system can be established even under speed control or torque control.
◼ Encoder cable
Use an encoder cable with battery.

10-2 Specifications
 CHAPTER 10 ABSOLUTE POSITION SYSTEM

10.2 Battery Installation and Replacement Procedures

10.2.1 Battery Installation Procedure

(Amplifier models: RYT□□□F7-VC2)

Install the battery in the following procedure.

To install the battery, an encoder cable with a battery (optional) is required.
Prepare an unused battery.

Battery model: WSB-S

Encoder cable
with a battery

[1]

Unused battery

Open the battery case of the encoder cable

Battery case cover
and remove the old battery from the connector
if it’s inside.

The battery case cover can be removed.

[2]

Unused battery

Connect the unused battery to connector CN4

while pressing down the board.

[3]

Unused battery
CN4

Battery Installation and Replacement Procedures 10-3

CHAPTER 10 ABSOLUTE POSITION SYSTEM

Fix the battery with the hooks in the case, and

Hooks push in the electric wire to the side of the
connector.

[4]

Close the battery case of the encoder cable.

Check if the catches are engaged at both two
positions.

Battery installation is finished.

[5]

 An encoder cable with battery (option) is required to install the battery.

 The battery is already fitted to the encoder cable with battery.

 Be sure to leave the control power supplied when working (turn the main power off).
 Leave the encoder cable connected.

10-4 Battery Installation and Replacement Procedures

 CHAPTER 10 ABSOLUTE POSITION SYSTEM

10.3 Starting Up Procedure

Follow the procedure below to start up the absolute position system.

Connect the battery to the encoder wiring

[1] Install the battery
correctly as described in section 11.2.

Set PA1_02 (INC/ABS system) at 1 (ABS) or 2

[2] Enter PA1_02
(endless non-overflow ABS).

Turn the main power and To make new parameters enabled, turn the power off
[3]
control power off then on again. then on again.

dL 01
An absolute data lost alarm (dL1) is caused when
[4] Perform position preset
the power is turned on first after the absolute
position system is established. Execute position
preset to remove the alarm.

10
To establish the coordinate system of the absolute
[5] Perform homing
position system, execute regular homing.

Execute regular operation After above steps [1] through [5] are finished, the absolute
[6]
position system is established. You can start regular
operation.

 If the encoder cable is disconnected due to transportation or device changes, repeat the procedure
from step [4].

Starting Up Procedure 10-5

 CHAPTER 10 ABSOLUTE POSITION SYSTEM

10.4 Battery Warning

A battery warning is issued if the battery voltage is lower than the value preset in the servo amplifier.
If this warning* is issued, replace the battery immediately.
*: The battery warning is detected when the control power is turned on. If the battery is kept installed
and the system is left shut off for a long time, the battery life limit may be reached before the battery
warning is issued.

The following three methods can be used to check battery warnings.

(1) OUT signal (assignment number: 45)
(2) [Monitor] - [Warning/Forecast monitor] of PC Loader

10 (3) Keypad display

By setting PA2_78 (Display transition at warning detection) to “1: Transition to warning display”, the
keypad will automatically display the following when a warning occurs.

Er. bt

10-6 Battery Warning

 CHAPTER 10 ABSOLUTE POSITION SYSTEM

10.5 Calculation of Battery Life

The battery life elapses if the control power of the servo amplifier is left turned off for 35,000 hours.
During actual operation, the power-on and shutoff cycles are repeated. An example of calculation of the
service life in this case is shown as a reference. Note that the value is merely a calculated value and it
is not guaranteed. Note, too, that the service life becomes shorter under some ambient environmental
conditions.

◼ Operation condition
Operation No operation
1 day 10 hours 14 hours
1 year* About 261 days (= 365 days x 5 / 7) About 104 days (= 365 days x 2 / 7)
* Assumption: operation on Monday through Friday, no operation on Saturday and Sunday

◼ Current consumption
Current consumption in power-on phase: 0.0075 [mA]
Current consumption in shutoff phase: 0.0415 [mA] (= 0.0075 [mA] + 0.034 [mA])

◼ Calculation of service life

Annual battery capacity consumption
(10 [Hr] × 0.0075 [mA] + 14 [Hr] × 0.0415 [mA]) × 261 [days] + 24 [Hr] × 0.0415 [mA]
× 104 [days] = 275 [mAh]

10
Annual battery life estimation
1600 [mAh] / 275 [mAh/year] = 5.8 [years]
Hence the service life of the battery is about 5.8 years* under the above operation conditions.

* However, the battery manufacturer recommends to stop using the battery after three years of
operation. Periodic replacement within three years is recommended without relations to the
operation conditions.
* In case of wrong wiring of encoder cable, the battery life is possible to be extremely short.

Calculation of Battery Life 10-7

 CHAPTER 10 ABSOLUTE POSITION SYSTEM

10

10-8 Calculation of Battery Life

CHAPTER 11 EtherCAT COMMUNICATION 11

11-1
CHAPTER 11 EtherCAT COMMUNICATION

11.1 Display and Settings

11.1.1 Explicit Device ID

ID selector
(Left: High, right: Low)

Rotary switch value reading with AL Status Codes (Explicit Device ID)

Front panel rotary switch and PA2_72: This describes the method used to read the value set with the
ID-Selector value offset from 0134H: AL Status Code.
The value read here is not the value registered in ESC register 0012H: Configured Station Alias.

To ensure compatibility with older specification controllers, the Explicit Device ID can be
copied to 0012H: Configured Station Alias by changing the PA2_92 (5002H-5CH) setting.
Refer to “3.5 Extended Function Setting Parameters” for details.

11-2 Display and Settings

 CHAPTER 11 EtherCAT COMMUNICATION

(1) Set AL Control (0120h) bit 5 (ID Request) to “1”.

(2) The Station Alias set with the rotary switch and PA2_71 (Explicit Deice ID offset) is returned to the
AL Status Code (0134h).
(3) “1” is returned to AL Status (0130h) bit 5 (ID Loaded).
(4) Set AL Control (0120h) bit 5 (ID Request) to “0”.
(5) “0” is returned to AL Status (0130h) bit 5 (ID Loaded).
(6) AL Status Code (0134h) is cleared.

AL Control bit5 0 1 0
(ID Request)

AL Status bit5 0 1 0
(ID Loaded)

AL Status Code 0 Station alias 0

Station alias returned in response Cleared by canceling

to AL Control request. AL Control request.

If an alarm (EtherCAT communication related errors Err 80.0 to 7, Err 81.0 to 7, or Err 85.0 to 7)
defined in the AL status code occurs while Station Alias is being returned, the AL status code for that
alarm is returned.
Station Alias is returned again if the alarm defined in the AL status code is cleared.
(See “8.1.4. Alarm Reset Timing” for details on how to clear alarms.)

AL Control bit4 0 1
(Error Ind Ack)

AL Control bit5 1
(ID Request)

AL Control bit4 0 1 0
(Error Ind)

AL Control bit5 1 0 1
(ID Loaded)

AL Status Code
Station alias Alarm AL Status Code Station alias

If alarm defined in AL status code Station alias returned by

occurs, AL status code for that clearing alarm.
alarm is returned.

Display and Settings 11-3

CHAPTER 11 EtherCAT COMMUNICATION

11.1.2 Status LEDs

EtherCAT indicators
RUN (green)
L/A IN (green)
ERROR (red)
L/A OUT (green)

The display status and details of EtherCAT status LEDs are shown below.

Name Color Status Details

RUN Green OFF Initialization status

Blinking Pre-operational status
Single flash Safe operational status
ON Operational status
ERROR Red OFF No error
Blinking Communication setting error
Single flash Synchronization error, communication data error
Double flash Application watchdog timeout
Flickering Boot error
ON PDI watchdog timeout
L/A IN Green OFF Physical layer LINK not established
ON Physical layer LINK probability
Flickering Running following LINK probability
L/A OUT Green OFF Physical layer LINK not established
ON Physical layer LINK probability
Flickering Running following LINK probability

11-4 Display and Settings

 CHAPTER 11 EtherCAT COMMUNICATION

Refer to the following diagram for the LED status.

50 ms

ON
Flickering
OFF

ON
200 ms 200 ms
Blinking

OFF
ON
200 ms 1000 200 ms
Single flash
ms
OFF

ON
200 ms 200 ms 200 ms 1000 200 ms
Double flash
ms
OFF

11

Display and Settings 11-5

 CHAPTER 11 EtherCAT COMMUNICATION

11.2 CAN application protocol over EtherCAT Structure

The CAN application protocol over EtherCAT (CoE) structure for the ALPHA7 Series built-in EtherCAT
communication type is shown below.

Application
アプリケーション層 layer サーボアンプアプリケーション
Servo amplifier application

Object dictionary
オブジェクトディクショナリ

PDOマッピング
PDO mapping
PDOマッピング
PDO mapping PDOマッピング
PDO mapping
PDO(サイクリック)
PDO (cyclic)

Registerレジスタ メールボックス
Mailbox プロセスデータ
Process data

SyncManager FMMU

EtherCATデータリンク層
EtherCAT data link layer

EtherCAT physical layer

EtherCAT物理層

With EtherCAT, multiple protocols can normally be transferred. With the ALPHA7 Series built-in
EtherCAT communication type, the IEC61800-7 (CiA 402) drive profile is used.
The application layer object dictionary contains parameter and application data, and PDO mapping
information between the process data interface and application.
Process data objects (PDOs) are configured with an object dictionary that can be mapped to PDOs.
The process data content is defined with PDO mapping.

11 Process data communication involves cyclically reading and writing PDOs. With mailbox
communication (SDO), all object dictionaries can be read and written with asynchronous message
communication.

11-6 CAN application protocol over EtherCAT Structure

 CHAPTER 11 EtherCAT COMMUNICATION

11.3 Communication Status Transition

EtherCAT slave state machines are controlled with the EtherCAT master.

Init

Pre-Operational

Safe-Operational

Operational

SDO PDO PDO

Status Description
communication receipt transmission
Init Not possible Not Not possible The communication section is being
possible initialized. Communication is not possible.
Pre-Op Possible Not Not possible Only mailbox communication is possible.
possible This status follows initialization, and
involves the processing of network default
settings.
Safe-Op Possible Not Possible In addition to mailbox communication, PDO
possible transmission is possible. The status, etc.
can be sent from the servo amplifier
through cyclic communication in DC mode.
Op Possible Possible Possible This is the normal operation status. Motors
can be controlled through cyclic
communication in DC mode.

11

Communication Status Transition 11-7

 CHAPTER 11 EtherCAT COMMUNICATION

11.4 Process Data Objects (PDOs)

Real-time data transfer with cyclic communication uses process data objects (PDOs). PDOs contain an
RxPDO data input, which receives data from the controller, and a TxPDO data output, which transmits
the status from the servo amplifier to the host controller.

RxPDO
RxPDO
Operating command and target value, etc.
動作指令や目標値など
上位
Host Servo
controller
サーボアンプ
amplifier
コントローラ
TxPDO
TxPDO
Operating status and current value, etc.
動作ステータスや現在値など

Multiple objects can be held in the EtherCAT application layer, allowing all kinds of servo amplifier
process data to be transferred. The process data content is described in the PDO Mapping object and
the Sync Manager PDO assignment object.
The ALPHA7 Series supports PDO mapping for position control when the power is ON.

11.4.1 PDO Mapping Settings

PDO mapping refers to mapping for application objects (real-time process data) from the object
dictionary to the PDO.
In the mapping table, the number of mapped objects is indicated in sub-index 00H. In this mapping
table, index 1600H to 17FFH are for RxPDO, and index 1A00H to 1BFFH are for TxPDO.
With ALPHA7 Series servo amplifiers, indices can be selected for use from 1600H to 1603H for
RxPDO, and from 1A00H to 1A03H for TxPDO.

11

11-8 Process Data Objects (PDOs)

 CHAPTER 11 EtherCAT COMMUNICATION

The following diagram shows an example of PDO mapping.

Object Dictionary
Mapping Object

Index Sub Object Contents

1ZZZH 01H 6TTTH TTH 8
1ZZZH 02H 6UUUH UUH 8
1ZZZH 03H 6YYYH YYH 16 PDO-Length : 32bit

PDO_1 Object A Object B Object D

6TTTH TTH Object A

6UUUH UUH Object B
Application Object

6VVVH VVH Object C

6YYYH YYH Object D
6ZZZH ZZH Object E

11

Process Data Objects (PDOs) 11-9

 CHAPTER 11 EtherCAT COMMUNICATION

11.4.2 Sync Manager PDO Assignment Settings

Sync Manager channels can be configured with multiple PDOs. The Sync Manager PDO assignment
object describes the relationship between the PDO and Sync Manager.
In the Sync Manager PDO assignment table, the number of PDOs is indicated in sub-index 00h. In this
table, index 1C12h is for RxPDO, and index 1C13 is for TxPDO.
The following diagram shows an example of Sync Manager PDO mapping.

Object Dictionary
Sync Manager PDO

Index Sub Object Contents

Assign Object

1C1zH 1 1A00H
1C1zH 2 1A01H
1C1zH 3 1A03H
Sync Manager Entity z
PDO A PDO B PDO D
Mapping Objects

1A00H P DO A
1A01H P DO B
1 A02H P DO C
1A03H P DO D

11

11-10 Process Data Objects (PDOs)

 CHAPTER 11 EtherCAT COMMUNICATION

11.4.3 PDO Mapping

With ALPHA7 Series servo amplifiers, the objects being mapped can be changed.
PDO mapping related objects can only be changed when the EtherCAT communication status is
Pre-Op. Changed content is not saved to the EEPROM, and therefore settings must be specified each
time the power is turned ON if the servo amplifier is used with settings which differ from the default
settings.
◼ Default settings
RxPDO Controlword (6040H), Target position (607AH), Touch probe function (60B8H)
(1600H)
Error code (603FH), Statusword (6041H), Position actual value (6064H), Touch
TxPDO
probe status (60B9H), Touch probe 1 positive position value (60BAH), Touch
(1A00H)
probe 2 positive position value (60BCH), Digital inputs (60FDH)

◼ Maximum number of objects and maximum total object size that can be mapped
PDO mapping object Max. number of objects Max total object size
RxPDO (1600H to 1603H) 16 128
TxPDO (1A00H to 1A03H) 16 128

 The communication cycle that can be set differs depending on the total size of the
mapped object. Refer to “15.1.3 Communication Cycles and Corresponding
Synchronization Mode” for details.
 Refer to “15.1.11 PDO Mapping Objects” for details on mappable objects.

11

Process Data Objects (PDOs) 11-11

 CHAPTER 11 EtherCAT COMMUNICATION

11.4.4 Multiple PDO Mappings

With ALPHA7 Series servo amplifiers, PDO mappings can be combined and specified.
Specify two or more PDO mappings with 1C12H: Sync manager 2 PDO assignment and 1C13H: Sync
manager 3 PDO assignment.
The object set at sub-index 01H is mapped, and this is followed by the object set at sub-index 02H.
If the same object is mapped multiple times with TxPDO mapping, the last object value will be valid.
These objects can only be changed when the EtherCAT communication status is Pre-Op. Changed
content is not saved to the EEPROM, and therefore settings must be specified each time the power is
turned ON if the servo amplifier is used with settings different from the default settings.

 The communication cycle that can be set differs depending on the total size of the
mapped object. Refer to “15.1.3 Communication Cycles and Corresponding
Synchronization Mode” for details.

11

11-12 Process Data Objects (PDOs)

 CHAPTER 11 EtherCAT COMMUNICATION

11.5 Service Data Objects (SDOs)

ALPHA7 Series servo amplifiers support SDO communication. Use SDO communication to set
ALPHA7 Series servo amplifier objects and monitor the status. Objects can be set, and the status
monitored by writing and reading data to and from entries in the object dictionary at the host controller.

11.5.1 Abort Codes

Abort codes used when SDO communication errors occur are shown in the following table.
Value Meaning
05030000H No toggle bit change
05040000H SDO protocol timeout
05040001H Invalid/unknown client/server command designator
05040005H Outside memory range
06010000H No support access to object
06010001H Read access to write only object
06010002H Write access to read only object
06020000H Object that does not exist in object directory
06040041H Unable to map object to PDO
06040042H Mapped object quantity/length exceeds PDO length
06040043H General parameter mismatch
06040047H Device general internal mismatch
06060000H Access failure due to hardware error
06070010H Data type mismatch, service parameter length mismatch

11
06070012H Data type mismatch, service parameter too long
06070013H Data type mismatch, service parameter too short
06090011H Sub-index does not exist
06090030H Parameter value lies outside range (write access only)
06090031H Written parameter value is too big
06090032H Written parameter value is too small
06090036H Max. value is smaller than min. value
08000000H General error
08000020H Data cannot be transferred to/stored in application
08000021H Control performed locally*1, and so data cannot be transferred to/stored in application
08000022H Data cannot be transferred to/stored in application with current device status
08000023H Object dictionary dynamic generation failure, or object dictionary does not exist
*1 The slave runs locally, and cannot be controlled from the EtherCAT Master.

Service Data Objects (SDOs) 11-13

 CHAPTER 11 EtherCAT COMMUNICATION

11.6 Synchronization with Distributed Clock

A mechanism known as Distributed Clock (DC) is used for synchronization with EtherCAT
communication. The ALPHA7 Series also uses DC mode to realize high-accuracy control with
multi-axis systems.
In DC mode, synchronization is realized by having the master and slave share the same clock.
At slaves, an interrupt (Sync0) is produced in accurate cycles based on this clock.
Servo amplifiers are controlled with this accurate timing.

11.6.1 Communication Cycles (DC Cycles)

The communication cycle is determined at the master side by setting the Sync0 signal output cycle.

Setting range: 125 µs / 250 µs / 500 µs / 1 ms / 2 ms / 4 ms

The communication cycles that can be set differ depending on conditions such as the
operation mode used. Refer to “15.1.3 Communication Cycles and Corresponding
Synchronization Mode” for details on the communication cycles that can be set.

11

11-14 Synchronization with Distributed Clock

 CHAPTER 11 EtherCAT COMMUNICATION

11.7 ESI Files

Please down ESI files from the following websites.

(Member registration is required (free).)
URL: https://felib.fujielectric.co.jp/download/

Ensure that ESI files registered in the master match the servo amplifier Revision No. If
the Revision No. is no known, it can also be checked from the PC Loader Object
monitor

11

ESI Files 11-15

 CHAPTER 11 EtherCAT COMMUNICATION

11

11-16 ESI Files

CHAPTER 12 BASIC CONTROL FUNCTIONS
12

12-1
CHAPTER 12 BASIC CONTROL FUNCTIONS

12.1 Cyclic Synchronous Position Mode

In this operation mode, the controller uses a trajectory generation function (operation profile operation
function) to provide the servo amplifier with the target position with cyclic synchronization. Position
control, speed control, and torque control are performed inside the servo amplifier.

Cyclic synchronous position mode configuration

The cyclic synchronous position mode configuration is as follows.

Target position (607Ah)

(607AH) Position
位置 Speed
速度 Torque
トルク
モータ
Motor
control
制御 control
制御 control
制御

Following error actual value (60F4H)

エン
Velocity actual value (606CH) Encoder
コーダ
Torque actual value (6077H)
(=Torque demand)

Position actual value (6064H)

The configuration of cyclic synchronous position mode control functions is as follows.

Target position (607AH) Control

制御 Position actual value (6064H)
functions
機能
Following error actual value (60F4H)

Velocity actual value (606CH)

Software position limit (607DH) Control
制御
Torque actual value (6077H)
機能
functions
(=Torque demand)
Following error window (6065H)

Position torque limit value (60E0H)*1

Negative torque limit value (60E1H)*1

*1 The Position torque limit value and Negative torque limit value are not enabled when the product is
shipped from the factory. When using these parameters, set PA2_57 (5002H-39H) to “1”.

12-2 Cyclic Synchronous Position Mode

 CHAPTER 12 BASIC CONTROL FUNCTIONS

12.1.1 Related Objects

Index Sub-index Name Access Size Unit Setting range Default value
6040H 00H Controlword RW U16 0 to FFFFH - 0000H
6060H 00H Modes of operation RW INT8 - 0 to 10 00H
607AH 00H Target position RW INT32 Command -2147483648 0000H
unit to
2147483647
6065H *1) 00H Following error RW U32 Command 1 to 4294967295
window unit 4294967295
6041H 00H Statusword RO U16 0 to FFFFH - 0000H
6064H 00H Position actual value RO INT32 Command -2147483648 0000H
unit to
2147483647
606CH 00H Velocity actual value RO INT32 Command -2147483648 0000H
unit/s to
2147483647
6077H 00H Torque actual value RO INT16 0.1% -350.0 to 300.0% 0.0%
60E0H 00H Positive torque limit RW UINT16 0.1% 0.0 to 350.0% 350.0%
value
60E1H 00H Negative torque limit RW UINT16 0.1% 0.0 to 350.0% 350.0%
value
60F4H 00H Following error actual RO INT32 Command -2147483648 0000H
value unit to
2147483647
*1) The 6065H: Following error window setting range is “1 to 4294967295”. Note that Following error
detection will be disabled if “4294967295” is set for the setting value.

Cyclic Synchronous Position Mode 12-3

 CHAPTER 12 BASIC CONTROL FUNCTIONS

12.1.2 Cyclic Synchronous Position Mode Block Diagram

RY□□□F7-VC2 Series position control is configured as follows.

6062H
Position demand 606BH 60FCH
607AH
value Velocity demand Position demand
Target position
[unit] value internal value
[unit]
[unit/s] [pulse]

Command pulse Moving average Primary delay Position command

Position command «Electronic gear» smoothing S-curve time response time
function S-curve time constant constant

«2 inertia model operation

(vibration suppression)»

＋ ＋
Acceleration ＋ «1 inertia model operation» ＋
gain {1 + (load inertia ratio)}* (dv/dt)

Feed forward gain 1

Feed forward gain 2 «Friction compensation»

０ ＋ ＋＋ ＋
＋ «Position regulator»
＋
Control model «Speed regulator»
－ －
１

606CH
Position Speed Velocity actual
detection detection value
[unit/s]
＋
－ Electronic gear
reverse conversion

Model torque operation enable/disable,

Speed observer enable/disable
60F4H 6064H
Following error Position actual value
actual value [unit]
[unit]

12 606CH
Velocity actual value
60BAH or 60BCH
Touch probe 1 or
Touch probe 2
Model torque filter
time constant

[unit/s] [unit]

＋
＋
Encoder Motor «Current regulator»

6074H or 6077H
Torque demand or
Torque actual value
[0.1%]

* Refer to “15.3 Control Circuit Block Diagram” for details on the control circuit.

12-4 Cyclic Synchronous Position Mode

 CHAPTER 12 BASIC CONTROL FUNCTIONS

12.2 Cyclic Synchronous Velocity Mode

In this operation mode, the controller uses a trajectory generation function (operation profile operation
function) to provide the servo amplifier with the target speed with cyclic synchronization. Speed control
and torque control are performed inside the servo amplifier.

Cyclic synchronous velocity mode configuration

The cyclic synchronous velocity mode configuration is as follows.

Target velocity (60FFH) Speed

速度 トルク
Torque Motor
モータ
control
制御 制御
control

エン
Velocity actual value (606CH) Encoder
コーダ
Torque actual value (6077H)
(=Torque demand)

Position actual value (6064H)

The configuration of cyclic synchronous velocity mode control functions is as follows.

Target velocity (60FFH) Position actual value (6064H)

Positive torque limit value (60E0H)*1 Velocity actual value (606CH)

Control
Negative torque limit value (60E1H)*1 functions Torque actual value (6077H)
(=Torque demand)

*1 The Position torque limit value and Negative torque limit value are not enabled when the product is 12
shipped from the factory. When using these parameters, set PA2_57 (5002H-39H) to “1”.

Cyclic Synchronous Velocity Mode 12-5

 CHAPTER 12 BASIC CONTROL FUNCTIONS

12.2.1 Related Objects

Default
Index Sub-index Name Access Size Unit Setting range
value
6040H 00H Controlword RW U16 0 to FFFFH - 0000H
6060H 00H Modes of operation RW INT8 - 0 to 10 00H
60FFH 00H Target velocity RW INT32 Command unit -2147483648 0000H
to
2147483647
6041H 00H Statusword RO U16 0 to FFFFH - 0000H
6064H 00H Position actual value RO INT32 Command unit -2147483648 0000H
to
2147483647
606CH 00H Velocity actual value RO INT32 Command -2147483648 0000H
unit/s to
2147483647
6077H 00H Torque actual value RO INT16 0.1% -350.0 to 350.0% 0.0%
60E0H 00H Positive torque limit value RW UINT16 0.1% 0.0 to 350.0% 350.0%
60E1H 00H Negative torque limit value RW UINT16 0.1% 0.0 to 350.0% 350.0%

12

12-6 Cyclic Synchronous Velocity Mode

 CHAPTER 12 BASIC CONTROL FUNCTIONS

12.2.2 Cyclic Synchronous Velocity Mode Block Diagram

RYT□□□F7-VC2 Series speed control is configured as follows.

《１慣性モデル演算》
<1 inertia model operation>
{1 + (load inertia ratio)} * (dv/dt)
{１＋(負荷慣性比)}*（ｄｖ/ｄｔ）

60FFH
Target velocity <Friction compensation>
《摩擦補償》
[指令単位／s]
[unit/s]

＋
Speed
速度単位 unit Acceleration
加速度制限
＋
conversion <Speed regulator>
《速度調節器》
変換 limit
＋
606CH －
Velocity actual
value
[指令単位／s]
[unit/s] 606CH
Speed Velocity actual
速度検出
detection value
[r/min]
[unit/s]

電子ギア
Electronic gear
reverse
逆変換
conversion

モデルトルク演算有効/無効，
Model torque operation enable/disable
Speed observer enable/disable
速度オブザーバ有効/無効
6064H
Position actual 60BAH
60BAH oror60BCH
60BCH
value Touch
Touchprobe
prove1 orposition
Touch
[指令単位／s]
[unit] probe 2
positive value
[unit]
[指令単位／s]

モデルトルクフィルタ
Model torque filter time
constant
時定数

＋
エン ＋
Encoder モータ
Motor 《電流調節器》
<Current regulator>
コーダ

6074H
6074H or 6077H
or 6077H
Torque
Target demand or
torque or
Torque actualvalue
Torque actual value
[0.1%]
[0.1%]

* Refer to “15.3 Control Circuit Block Diagram” for details on the control circuit.

12

Cyclic Synchronous Velocity Mode 12-7

 CHAPTER 12 BASIC CONTROL FUNCTIONS

12.3 Cyclic Synchronous Torque Mode

In this operation mode, the controller uses a trajectory generation function (operation profile operation
function) to provide the servo amplifier with the target torque with cyclic synchronization. Torque control
is performed inside the servo amplifier.

Cyclic synchronous torque mode configuration

The cyclic synchronous torque mode configuration is as follows.

Target torque (6071H) Torque Motor

control

Torque actual value (6077H)

(=Torque demand)
Encoder

Velocity actual value (606CH)

Position actual value (6064H)

The configuration of cyclic synchronous torque mode control functions is as follows.

Target torque (6071H) Position actual value (6064H)

Positive torque limit value (60E0H)*1 Velocity actual value (606CH)

Control
Negative torque limit value (60E1H)*1 functions Torque actual value (6077H)
(=Torque demand)
Max profile velocity (607FH)*2

12 *1 The Position torque limit value and Negative torque limit value are not enabled when the product is
shipped from the factory. When using these parameters, set PA2_57 (5002H-39H) to “1”.
*2 Max profile velocity is not enabled when the product is shipped from the factory. When using this
parameter, set PA2_56 (5002H-38H) to “1”.

12-8 Cyclic Synchronous Torque Mode

 CHAPTER 12 BASIC CONTROL FUNCTIONS

12.3.1 Related Objects

Default
Index Sub-index Name Access Size Unit Setting range
value
6040H 00H Controlword RW U16 0 to FFFFH - 0000H
6060H 00H Modes of operation RW INT8 - 0 to 10 00H
6071H 00H Target torque RW INT16 0.1% -350.0 to 350.0% 0.0%
607FH 00H Max profile velocity RW U32 Command 0 to 2147483647 1677721600
unit/s
6041H 00H Statusword RO U16 0 to FFFFH - 0000H
6064H 00H Position actual value RO INT32 Command -2147483648 0000H
unit to
2147483647
606CH 00H Velocity actual value RO INT32 Command -2147483648 0000H
unit/s to
2147483647
6077H 00H Torque actual value RO INT16 0.1% -350.0 to 350.0% 0.0%
60E0H 00H Positive torque limit value RW UINT16 0.1% 0.0 to 350.0% 350.0%
60E1H 00H Negative torque limit value RW UINT16 0.1% 0.0 to 350.0% 350.0%

12

Cyclic Synchronous Torque Mode 12-9

 CHAPTER 12 BASIC CONTROL FUNCTIONS

12.3.2 Cyclic Synchronous Torque Mode Block Diagram

RYT□□□F7-VC2 Series torque control is configured as follows.

6071H
Target torque
[0.1%]

絶対値
Absolute value

Speed
速度制限 limit
value
制限値
Sign
符号

607FH
Max profile velocity Speed
速度制限 limit <Speed regulator>
selection 絶対値
Absolute value 《速度調節器》
[指令単位／s]
[unit/s] 選択
＋
－
Speed
速度制限 limit
unit単位変換
conversion

606CH
Velocity actual
value
[指令単位／s]
[unit/s]

Electronic
電子ギア gear Speed
reverse 速度検出
逆変換 detection
conversion

6064H エン
Position actual Encoder Motor
モータ <Current
《電流調節器》regulator> Torque
トルク制限 limit
60BAH or 60BCH コーダ
value Touch
Touchprove
probeposition
1 or
[指令単位／s]
[unit] positive
Touch value
probe 2
[unit]
[指令単位／s]

6074H or 6077H
6074H or 6077H
Targetdemand
Torque torque or
or
Torque actualvalue
Torque actual value
[0.1%]
[0.1%]

* Refer to “15.3 Control Circuit Block Diagram” for details on the control circuit.

12

12-10 Cyclic Synchronous Torque Mode

 CHAPTER 12 BASIC CONTROL FUNCTIONS

12.4 Profile Position Mode

When using profile position mode, PA2_25 (5002H-19H) must be changed from the
default factory setting to “1” as a rule. Refer to “3.4 Automatic Operation Setting
Parameters” for details.

In this operation mode, the servo amplifier internal trajectory generation function (operation profile
operation function) is used to perform PTP positioning. Automatic operation is performed based on
607AH: Target position, 6081H: Profile velocity, 6083H: Profile acceleration, 6084H: Profile
deceleration and so on.
軌道生成
Trajectory generation Position
位置制御 control
パラメータ
parameter parameter
パラメータ

Position demand internal

value (60FCH) or
Target position Position demand value Velocity demand
(607AH) Trajectory Position value (606BH)
軌道生成 (6062H) 位置制御
generation control
機能
function 機能
function

The trajectory generation function configuration is as follows.

Target position (607AH) Limiting

制限 Position demand value (6062H)
function
機能
Position demand internal value (60FCH)

Profile velocity (6081H) 制限

Limiting Trajectory
機能
function 軌道生成
generation
機能
function
Profile acceleration (6083H)
制限
Limiting
Profile deceleration (6084H) 機能
function

12

Profile Position Mode 12-11

 CHAPTER 12 BASIC CONTROL FUNCTIONS

Profile position mode configuration

The profile position mode configuration is as follows.

Position demand value (6062H) Position Speed Torque

Motor
control control control

Following error actual value (60F4H)

Velocity actual value (606CH)

Torque actual value (6077H)

(=Torque demand)

Position actual value (6064H)

The configuration of profile position mode control functions is as follows.

Position demand value (6062H) Limiting Position actual value (6064H)

functions
Following error actual value (60F4H)

Following error window (6065H)

Limiting Velocity actual value (606CH)
functions
Positive torque limit value (60E0H)*1
Torque actual value (6077H)
(=Torque demand)
Negative torque limit value (60E1H)*1

*1 The Position torque limit value and Negative torque limit value are not enabled when the product is
shipped from the factory. When using these parameters, set PA2_57 (5002H-39H) to “1”.

12

12-12 Profile Position Mode

 CHAPTER 12 BASIC CONTROL FUNCTIONS

12.4.1 Related Objects

Index Sub-index Name Access Size Unit Setting range Default value
6040H 00H Controlword RW U16 0 to FFFFH - 0000H
6060H 00H Modes of operation RW INT8 - 0 to 10 00H
6065H *1) 00H Following error window RW U32 Command 1 to 424967925 424967925
unit
607AH 00H Target position RW INT32 Command -2147483648 0000H
unit to
2147483647
01H Min position limit RW INT32 Command -2000000000 -2000000000
unit to
2000000000
607DH
02H Max position limit RW INT32 Command -2000000000 2000000000
unit to
2000000000
6081H 00H Profile velocity RW U32 Command 0 to 2147483647 279620267
unit/s
6083H 00H Profile acceleration RW U32 Command 0 to 2147483647 559240533
unit/s2
6084H 00H Profile deceleration RW U32 Command 0 to 2147483647 559240533
unit/s2
6041H 00H Statusword RO U16 0 to FFFFH - 0000H
6062H 00H Position demand value RO INT32 Command -2147483648 0
unit to
2147483647
6064H 00H Position actual value RO INT32 Command -2147483648 0000H
unit to
2147483647
606CH 00H Velocity actual value RO INT32 Command -2147483648 0000H
unit/s to
2147483647
6077H 00H Torque actual value RO INT16 0.1% -350.0 to 350.0% 0.0%
60E0H 00H Positive torque limit RW UINT16 0.1% 0.0 to 350.0% 350.0%

60E1H 00H
value
Negative torque limit
value
RW UINT16 0.1% 0.0 to 350.0% 350.0% 12
60F4H 00H Following error actual RO INT32 Command -2147483648 0000H
value unit to
2147483647
60FCH 00H Position demand RO INT32 Encoder -2147483648 0
internal value unit to
2147483647
*1) The 6065H: Following error window setting range is “1 to 4294967295”. Note that Following error
detection will be disabled if “4294967295” is set for the setting value.

Profile Position Mode 12-13

 CHAPTER 12 BASIC CONTROL FUNCTIONS

12.4.2 Function Description

ALPHA7 Series servo amplifiers are capable of performing PTP positioning.

Set 6040H: Controlword bit 5: Change set immediately to “1”.
By setting 607AH: Target position, 6081H: Profile velocity, 6083H: Profile acceleration, and 6084H:
Profile deceleration, and changing 6040H: Controlword bit 4: New set-point from “0” to “1”, positioning
to the set target position is started.

Speed

6040H bit 4:
New set-point ON
OFF

607AH:
Target position ON

6041H bit 12:

ON
Set-point acknowledge
OFF

6041H bit10: ON
Target reached
OFF

12

12-14 Profile Position Mode

 CHAPTER 12 BASIC CONTROL FUNCTIONS

The target value can be changed while performing PTP positioning.

By changing the 607AH: Target position and 6081H: Profile velocity values, setting 6040H: Control
word Bit 5: Change set immediately to “1”, and then changing Bit 4: New set-point from “0” to “1” during
operation, positioning is performed based on the changed values.

Speed

6040H bit 4: ON
New set-point
OFF

607AH:
Target position

Target position inside servo

amplifier

6041H bit 12: ON

Set-point acknowledge
OFF

6041H bit10:
ON
Target reached
OFF

12

Profile Position Mode 12-15

 CHAPTER 12 BASIC CONTROL FUNCTIONS

12.4.3 Controlword (6040H) in Profile Position Mode

Bit Name Description

4 New set-point Positioning is started at the “0” to “1” rising edge.
At this time, the 607AH: Target position, 6081H: Profile velocity,
6083H: Profile acceleration, and 6084H: Profile deceleration
values are read.
5 Change set immediately Use set to “1”.
Operation is not guaranteed when set to “0”.
6 Abs Use set to “0”.
Operation is not guaranteed when set to “1”.
8 Halt Positioning is started or continued when set to “0”.
Operation stops based on the 605DH: Halt option code when
set to “1”.
9 Change on Set-point This is not supported on the ALPHA7 Series.

12.4.4 Profile Position Mode Statusword (6041H)

Bit Name Value Description

Halt bit = “0”: not in position
0
Halt bit = “1”: axis is decelerating
10 Target reached
Halt bit = “0”: in position
1
Halt bit = “1”: axis speed is zero
0 Awaiting new target position
12 Set-point acknowledge
1 Receiving target position updates (overwriting)
0 No deviation counter over
13 Following error
1 Deviation counter over

12

12-16 Profile Position Mode

 CHAPTER 12 BASIC CONTROL FUNCTIONS

12.5 Homing Mode

In this operation mode, the servo amplifier trajectory generation function (operation profile operation
function) is used to perform the homing operation from the controller based on the specified homing
method.

Depending on the controller side specifications, the following two homing methods are available.
• Method 1
A homing operation profile is created at the controller side, and a command is given to the servo
amplifier in cyclic synchronous position mode (csp).
• Method 2
The servo amplifier homing mode is used. The controller side specifies the homing method
supported by the servo amplifier, and issues a homing start command.

Refer to the controller manual if performing homing using method 1.

Refer to the controller manual and “15.1.7 Homing Mode Specifications” in this manual if performing
homing using method 2.

12

Homing Mode 12-17

 CHAPTER 12 BASIC CONTROL FUNCTIONS

12.6 Full-closed Control

In full-closed control, position control is performed using the position detection value of the external
encoder connected to the mechanical end in addition to the position detection value of the motor
encoder.
When PA4_32 (Fully Closed System Setting) is set to 1□□□ (Fully Closed System Enable), Fully
Closed Control is enabled.
Fully closed control can be executed only for position control (PP, HM, CSP) (speed control (PV, CSP)
and torque control (CST) are not available).

When using in full-closed control, set the following parameters.

Default
No. Name Setting range value
Change

0000 to 1101
***□: External encoder pulse phase
PA4_32 Full-closed system setting selection 0000 Power
*□**: Origin return Z-phase selection
□***: Full-closed system enabled
PA4_35 Full-closed LPF time-constant 0.0 to 100.0[ms] 1.0 Always

12 PA4_36
External/motor deviation over
detection value
1 to 16777216[×100pulse]
25600 Always

External/motor deviation over 1 to 16777216[×100pulse]

PA4_37 12800 Always
forecast value
Frequency divider denominator for
PA4_38 1 to 100000 100 Always
external/motor deviation monitor

Default
Index Sub-Idx Name Setting range value
EEPROM

Additional position encoder resolution

60E6H 01H 1 to16777216 32768 YES
(1st additional position encoder resolution)

12-18 Full-closed Control

 CHAPTER 12 BASIC CONTROL FUNCTIONS

◼ Control block diagram when full-closed control is enabled (PA4_32=1□□□)

Position Electronic + Position + Speed + Current

command gear regulator regulator control Motor Equipment

- - - Encoder External
encoder
s

+
Full-closed control disable Compensating
ON OFF
gear

-
Full-closed +
control LPF

Full-closed control disable

+ OFF

-
Position deviation

ON

Feedback current
position Frequency division output pulse
function selection
PA4_32=*0*

Frequency division
pulse

PA4_32=*1*

External
cumulative pulse

◼ Safety Precautions
(1) UNIT QUANTITY
Since the positioning accuracy in full-closed control is an external pulse unit, adjust the unit
amount to the external pulse unit so that the same unit is used for the command pulse, target
position, current position, etc.

1st additional position encoder resolution(60E6-01H) = external pulse count per moter rotation

GearRatio (6091H) (MotorRevolutions / ShaftRevolution) =

Motor encoder pulse count/1st additional position encoder resolution (60E6-01H)
12
(2) PA1_32 (deviation zero range/positioning complete range)
Do not set the zero deviation width to less than the external pulse width.
Since the positioning accuracy in full-closed control is an external pulse unit, if the unit amount is
finer than the external pulse, positioning within the deviation zero width cannot be performed, so
the deviation zero or positioning completion cannot be detected, and the next operation cannot be
started. (Pre-operation does not end.)

Full-closed Control 12-19

 CHAPTER 12 BASIC CONTROL FUNCTIONS

12.7 Electronic Gears

Electronic gear settings can be specified from 6091H: Gear Ratio 6091H-01H: Motor revolutions and
6091H-02H: Shaft revolutions.
The following formula is used to calculate.

◼ Motor revolutions / Shaft revolutions calculation formula

Cancel down so that Motor revolutions/Shaft revolutions is an integer (67108864 or less).

(Mechanical system travel amount per servomotor revolution) Motor revolutions

× = (unit amount) *
Encoder pulse count* Shaft revolutions

* The unit amount is a value such as “1”, “0.1”, “0.01”, or “0.001”. Unit is expressed as [unit].

* The encoder pulse count is the value for “24 bits = 16777216 pulses”.

Motor revolutions Encoder pulse count

= × (unit amount)
Shaft revolutions (Mechanical system travel amount per servomotor revolution)

[Example of calculation of electronic gear ratio]

To connect the ball screw (lead 10 [mm]) directly to the output shaft of the servomotor and set the unit
amount at 1/100, the number of encoder pulses (24-bits) is 16777216 revolutions.

12 (Mechanical system travel amount per servomotor revolution)

16777216 pulses/revolution
×
Motor revolutions

Shaft revolutions
= (unit amount)

10 mm Motor revolutions
× = 1 / 100
16777216 pulses/revolution Shaft revolutions

Motor revolutions 16777216 pulses/revolution 2097152

= 1 / 100 × ＝
Shaft revolutions 10 mm 125

Consequently, the Motor revolutions will be 2097152, and Shaft revolutions will be 125.

12-20 Electronic Gears

 CHAPTER 12 BASIC CONTROL FUNCTIONS

If the mechanical system travel amount per servomotor revolution includes , you can
approximate to 355/113.
1 pulse = 0.01 mm

1,000 pulses = 10 mm (1 motor revolution)

To set with the number of command input pulses per servomotor revolution, set as follows:

Motor revolutions Encoder pulse count (24 bits = 16777216)

=
Shaft revolutions Command input pulse count per servo motor revolution

For example, to set the number of command input pulses per servomotor revolution to
1024, set the number of Motor revolutions to 1677216, and the number of Shaft
revolutions to 1024.

12

Electronic Gears 12-21

 CHAPTER 12 BASIC CONTROL FUNCTIONS

12

12-22 Electronic Gears

CHAPTER 13 PC LOADER 13

13-1
CHAPTER 13 PC LOADER

13.1 Operating Environment

A PC with the following environment is required to use PC Loader.

• Operating system
Windows 10
Windows 8.1
Windows 7
• CPU
1[GHz] or higher
• Memory environment
2 [GB] or more (1 [GB] or more for 32-bit system)
• Display
Windows compatible display with XGA (1024 × 768 [pixels]) resolution or higher
• Available hard disk capacity
200 [MB] or more

13-2 Operating Environment

 CHAPTER 13 PC LOADER

13.2 Installation Method

Exit Message Manager (MM) prior to installation.

[1] Start the ALPHA7 Series PC Loader setup program.
Click “setup.exe”.

[2] The installation preparation screen is displayed.

Click [Next].

[3] The license agreement for the ALPHA7 Series PC

Loader software is displayed.
Read the content of the license agreement carefully.
If there are no problems, click “I accept the terms of the
license agreement”, and then click [Next].

[4] Enter user information.

Enter your user name and the division you belong to.
Furthermore, specify the user(s) who will be using PC
Loader.
After entering information and selecting the applicable
user(s), click [Next].

Installation Method 13-3

CHAPTER 13 PC LOADER

[5] Select the installation folder.

Select the folder in which PC Loader is to be installed,
and click [Next].

[6] The installation preparation start screen is displayed.

Click [Install].
File copying is started.

[7] The installation complete screen is displayed.

Click [Finish] to complete the installation.

13-4 Installation Method

 CHAPTER 13 PC LOADER

◼ Message Manager (MM)

Message Manager (MM): hereinafter referred to as MM) is management software that allows
communication ports to be shared when running multiple loader software. MM starts automatically
when ALPHA7 Series PC Loader is started. Do not exit MM while ALPHA7 Series PC Loader is in
use.

If using PC Loader for the following Fuji Electric products, MM used to manage computer
communication functions starts up in addition to the Loader software for each device. If the
Loader version for each device is one of the following, start ALPHA7 Series PC Loader after
exiting MM. The versions of MM for PC Loader (versions) in the following list are old, and
therefore it will not be possible to run ALPHA7 Series PC Loader.
If ALPHA7 Series PC Loader is started first, the versions of PC Loader in the following list can be
used as is.

Applicable Applicable
Loader name/model
device model

SX Programmer Expert (D300winVer2)

/ NP4H-SEDBV2
SX Programmer Expert (D300winVer3)
Fuji integrated / NP4H-SEDBV3
MICREX-SX
controllers SX Programmer Standard
/ NP4H-SWN
SX communication middleware
/ NP4N-MDLW
FRENIC-Mini The FRENIC Loader
FRENIC-Eco
Fuji
inverters FRENIC-Multi FRENIC Loader 2
FRENIC-MEGA FRENIC Loader 3

The Windows task bar can be used to check whether MM

is running.

13

Installation Method 13-5

 CHAPTER 13 PC LOADER

The following procedure can be used to exit MM (explanation based on use of right-hand mouse).

[1] By aligning the mouse cursor with the MM icon and

right-clicking, “Exit Message Manager” is displayed.

[2] By aligning the mouse cursor with “Exit Message

Manager” and left-clicking, an exit confirmation
screen is displayed. Align the mouse cursor with
[Yes] and left-click.

[3] MM is exited (the icon disappears from the task bar).

◼ USB hardware search wizard procedure

Windows 10 edition
[1] Connect the computer and servo amplifier with a USB
cable, and select [Control Panel] - [Devices].

[2] Select Device Manager.

13

13-6 Installation Method

 CHAPTER 13 PC LOADER

[3] Right-click "Unknown device", and then left-click "Update

Driver Software...".

[4] Select the USB driver file.

Click [Browse].

[5] Select "Browse my computer for driver software".

[6] Select the USB driver file.

Click [Browse].
The USB driver is copied to the folder on which PC
Loader is installed.

[7] The file is copied, and the completion screen is

displayed.
Click [Close] to complete the driver installation.

13

Installation Method 13-7

 CHAPTER 13 PC LOADER

Windows 7 edition
[1] Connect the computer and servo amplifier with a USB cable. By connecting, the computer
recognizes the USB device, and a message is displayed.

[2] The wizard used to install the USB driver does not start
automatically, and therefore the following procedure
should be used to install the driver. Click the Start
button, right-click "Computer", and then select
"Properties" from the list that appears.

[3] Click "Device Manager".

[4] Right-click "Unknown device", and then left-click

"Update Driver Software...".

13

13-8 Installation Method

 CHAPTER 13 PC LOADER

[5] Select "Browse my computer for driver software".

[6] Select the USB driver file.

Click [Browse].

[7] Select the folder which contains the driver file.

The USB driver is copied to the folder * on which PC
Loader is installed.
* ALPHA Series PC Loader example
Select the "C:¥Program Files¥ALPHA Series 7¥Driver"
folder and click [OK].

[8] The folder is specified.

Click [Next].

13
[9] Install the driver.
By clicking [Install], the driver installation begins.

Installation Method 13-9

 CHAPTER 13 PC LOADER

[10] The file is copied, and the completion screen is

displayed. Click [Close] to complete the driver
installation.

13

13-10 Installation Method

 CHAPTER 13 PC LOADER

13.3 List of Functions

The following basic menu is displayed when PC Loader starts up.

• Real-time Trace
Speed and torque waveforms, etc. can be obtained easily with a single click.
• Historical Trace
Detailed waveforms can be obtained from real-time traces by setting triggers.
• Monitor
[I/O Check], [All Value Information], [Alarm History], [Warning, Forecast Monitor], [Automatic
Vibration Suppression Monitor], and [System Configuration] can be monitored.
• Parameter Edit
Parameters can be edited, transferred, compared, and initialized.
• Positioning Data Edit
Positioning data can be edited, transferred, compared, and initialized.
• Communication Settings
Sets communication conditions between the servo amplifier and computer.
• Test Operation
Various types of test operation can be performed between the servo amplifier and servomotors only.
• Servo Analyze
13
Investigates machine system resonance points / anti resonance points.
• Safety Loader
Safety parameters can be edited and transferred, etc.
Refer to the function safety module User's Manual for details on the operation method and so on.

Refer to PC Loader Help for a description of each screen button.

List of Functions 13-11

 CHAPTER 13 PC LOADER

13.4 Setup Procedure

Use the following procedure to ensure smooth equipment setup.

Procedure Details Check item PC LOADER operation

[1] Run the motor • Perform manual Select [Test Operation] → [Manual Operation].
independently operation [JOG], and
to ensure that it ensure that the
is running equipment functions as
normally. instructed.
Verify the operation waveform with a real-time trace.

<Acquired waveforms reference)>

Ch1: Command speed (analog)
Ch2: Feedback speed (analog)
Ch3: Command torque (analog)
Ch4: Motor current (analog)

[2] Connect to the • Perform an I/O check. Check the monitor I/O monitor.
host controller • Perform OUT forced
and perform an output/forced pulse
operation output if required.
check to
ensure that the
sequence
program is
normal.
• Issue a command from Check the command pulse frequency and input
the host, and ensure cumulative pulse at the monitor digital monitor.
that the equipment
functions as instructed.

[3] Equip the • Run the motor in its Verify the operation waveform with a real-time trace.

13 machine with a
motor and run it
to ensure that
final form, and ensure
that there are no
abnormalities. <Acquired waveforms (reference)>
the machinery Ch1: Command speed (analog)
is running Ch2: Feedback speed (analog)
normally. Ch3: Command torque (analog)
Ch4: Motor current (analog)

13-12 Setup Procedure

 CHAPTER 13 PC LOADER

13.5 Detailed Function Description

13.5.1 Real-time Trace

This function draws the servomotor operation Relationship between sampling time and trace
waveform. Data for approximately 60,000 points is time
acquired continuously. Sampling time [ms] Trace possible time [s]
1 60
The trace ends automatically when 60,000 points
2 120
are exceeded. 5 300
10 600
The waveform can be acquired by setting the
20 1200
waveform to be acquired, and then pressing the 50 3000
[START/STOP] button. 100 6000
200 12000

[Real-time Trace screen example]

Functions such as displaying between two cursors, superimposing waveforms, FFT analysis, copying
screens, acquired waveform parameter information, and waveform saving (CSV format supported) are
available at this screen.
Refer to PC Loader Help for a detailed description of each tab and button.
Tabs Buttons

The display can be switched between real-time

trace and historical trace.

Detailed Function Description 13-13

 CHAPTER 13 PC LOADER

◼ Trace procedure
[1] Select the waveform to be acquired.
[2] Select the sampling time.
[3] Press the [START/STOP] button to start the trace.
[4] Press the [START/STOP] button to stop the trace.

◼ Waveforms that can be acquired

Analog signal and digital signals can be acquired for a total of 10 channels *.
Waveforms that can be acquired are as follows (all digital input/output signals can be traced.)
* Analog signals and digital signals can be acquired for up to 5 channels in total, respectively.

[Analog signal selection screen example]

[Digital signal selection screen example]

13

13-14 Detailed Function Description

 CHAPTER 13 PC LOADER

13.5.2 Historical Trace

This function draws the servomotor operation Relationship between sampling time and trace
waveform. time
Data for approximately 500 points is acquired. Sampling time [ms] Trace possible time [s]

By setting a trigger, the waveform for the section to 0.1 0.05

0.2 0.1
be viewed can be picked up and acquired. 0.5 0.25
1 0.5
2 1
5 2.5
10 5
20 10
50 25
100 50
200 100

[Historical Trace screen]

Functions such as displaying between two cursors, superimposing waveforms, FFT analysis,
re-reading waveforms, copying screens, acquired waveform parameter information, and waveform
saving (CSV format supported) are available at this screen.
Refer to PC Loader Help for a detailed description of each tab and button.

Tabs Buttons

The display can be switched between real-time

trace and historical trace.

Detailed Function Description 13-15

 CHAPTER 13 PC LOADER

◼ Trace procedure
[1] Select the waveform to be acquired.
[2] Set trigger conditions.
[3] Select the sampling time.
[4] Set the number of traces from the trigger position.
[5] Press the [START/STOP] button to start the trace.
When trigger conditions are met, the waveform is acquired, and acquisition then automatically
stops.

◼ Waveforms that can be acquired

The waveforms that can be acquired are the same as those for real-time trace.

◼ Trigger settings
Trigger settings * can be specified for either analog waveforms or digital waveforms.
* Analog trigger setting: 1 channel only Digital trigger setting: Multiple channels are available

[Analog trigger settings]

[Digital trigger settings]

13

13-16 Detailed Function Description

 CHAPTER 13 PC LOADER

◼ Setting method example if waveform measured during stoppage

(1) Set analog waveform x 3 (command speed, position deviation, command torque), and
digital waveform x 1 (positioning complete (INP)).
(2) Set the digital trigger signal for the digital waveform (positioning complete (INP)) to “Use with ↑
edge”.
(3) Set the sampling time to “1 ms”.
(4) Set the trigger position to 75%.
After specifying the above settings, press the [START/STOP] button to start the trace.
(1) (4)
(3)

(2)

By selecting [Monitor] → [Digital Monitor], the amount of overshoot and settling time are
displayed in real time.

13

Detailed Function Description 13-17

 CHAPTER 13 PC LOADER

13.5.3 Monitors

The monitors listed in the following table are used to monitor the servo amplifier and servomotor status.
Item Details Screen example
Checks whether digital
input/output signals turn ON
and OFF.

Lamps light up to indicate that

signals are ON, and turn OFF
I/O monitor
to indicate that signals are
OFF.

Monitors all kinds of operating

condition data * (data cannot
be saved).

Digital
* Data that can be monitored
monitor
in keypad monitor mode

Displays history (incl.

supplementary information *)
for the past 20 alarms.

13 Alarm history
* This includes information
such as the feedback speed,
monitor torque command, and
intermediate DC voltage
when an alarm occurs.

13-18 Detailed Function Description

 CHAPTER 13 PC LOADER

Displays the warning and

forecast status occurring at the
servo amplifier.
Displays such information as
Warning,
forecast battery warnings, remaining
monitor
main circuit capacitor time, and
remaining cooling fin time.

Displays the automatic

vibration suppression learning
state.

Automatic
vibration
suppression
monitor

Displays such information as

the model and capacity of
connected servo amplifiers and

System servomotors.
monitor

13

Detailed Function Description 13-19

 CHAPTER 13 PC LOADER

13.5.4 Parameter Editing

Servo amplifier parameters are edited at this screen.

Select [Menu] - [Parameter Edit] to start the parameter editor.

(1) (2) (3) (4) (5) (6)

(7)

The following functions can be used at this screen.

(1) Re-read
Reads parameters from the connected servo amplifier.
(2) Send Changes
Sends changed parameters to the connected servo amplifier.
(3) Send All
Sends all parameters to the connected servo amplifier.
(4) Compare
Compares the parameters currently being edited with those in the connected servo amplifier, or
with already saved files.
(5) Initialize
Returns all of the parameters in the currently connected servo amplifier *, or parameters currently
being edited to their default values.

13
* This can only be performed while the servo is off. Turn the servo amplifier power off and on
again following initialization.
(6) File Info.
This is the information in the parameter file currently being edited. The model, date, and comments
and so on for connected servo amplifiers and servomotors can be viewed when reading.
(7) Function based display function
Parameters can be displayed based on function.

In the interests of safety, send parameters with (2) and (3) while servomotors are stopped.
Operating characteristics will change, resulting in a risk of damage to equipment.

13-20 Detailed Function Description

 CHAPTER 13 PC LOADER

◼ Automatic electronic gear calculation

By selecting [PA1: Basic Settings] - [Set Electronic Gear from Machine Configuration], a
dedicated window appears. By entering all machine system specifications, electronic gear
calculation is performed automatically.

◼ Automatic workpiece inertia ratio calculation

By selecting [PA1: Control Gain, Filter Settings] - [Set Vibration Suppressing Anti Resonance
Frequency], workpiece inertia ratio can also be automatically calculated by entering the anti
resonance frequency and resonance frequency *.

* Resonance frequency is not the resonance frequency suppressed with the notch filter.
This resonance frequency can be checked with the Servo Analyze function.
This resonance frequency is produced as the counterpart to anti resonance frequency, and the
value is approximately twice the anti resonance frequency.

[Resonance frequency example]

Resonance frequency:
approx. 90Hz
13

Anti resonance
frequency: approx. 45Hz

Detailed Function Description 13-21

 CHAPTER 13 PC LOADER

13.5.5 Object Monitor

The object monitor is used to monitor and edit setting values for each object.

(1) Screen startup

Select [Menu] - [Object Monitor], or click the icon.

(2) Monitor method and editing method

The current setting values are displayed when the screen is started at (1).
By clicking the [Read] button, monitor values are updated.

13

13-22 Detailed Function Description

 CHAPTER 13 PC LOADER

If the attribute is “rw”, setting values can be edited.

By selecting an object that can be edited, the [Write] button becomes active.
Enter a value in the “Setting value” field and click the [Write] button to write the entered value.

13

Detailed Function Description 13-23

 CHAPTER 13 PC LOADER

13.5.6 Test Operation

Turn the servo amplifier offline, and test run a servomotor from the servo amplifier.
Use this function at such times as when the servomotor does not function normally with commands
from the host, if the motor does not move, or if wishing to check the rotation direction.

*1 *1

*1

*1 *2

*1 *2

*1
*2

*1 The servo turns on automatically, and the motor rotates. Caution is advised.
*2 The system will not return to normal mode until the servo amplifier power supply is turned off.
Caution is advised.

13

13-24 Detailed Function Description

 CHAPTER 13 PC LOADER

◼ Test operation screens

(1) Manual Operation

Selects the speed (parameters PA1_41 to 47).

The motor rotates in the forward direction while clicked.

The motor rotates in the backward direction while clicked.

(2) Origin Return

This function is not supported on the VC type.

(3) Position Preset

By pressing the [Position Preset] button, the current position is rewritten
to the 607CH: Home offset parameter value.

(4) Set Z-phase Position

By pressing the [Set Z-phase Position] button, the Z-phase is output at the
current position (the PA1_12 (Z-phase position offset) parameter is
automatically rewritten).
* The Z-phase position cannot be set under the following conditions.
• When PA2_74 (parameter write protection) is set to "1: Write protect".
• When the encoder origin position (Z-phase) is not set.

(5) Offset Adjust

At such times, rotate the motor shaft twice or more.
13
This function is not supported on the VC type.

Detailed Function Description 13-25

 CHAPTER 13 PC LOADER

(6) Feedback Cumulative Pulse Clear

By pressing the [Clear]

button, the feedback
cumulative pulse count
is set to “0”.

(7) Command Cumulative Pulse Clear

This function is not

supported on the VC By pressing the [START/STOP] button, the

type. operation selected at (a) starts.

Furthermore, by pressing the [START/STOP]
button during operation, the operation stops at
(8) Easy Tuning that location.
• Slow run
(a) Operation is performed based on the (b)
parameter setting.
However, the speed is fixed at 10 [r/min].
This is for checking the travel amount and
direction.
(b)
• Easy tuning
Operation is performed based on the (2)
parameter setting, and auto tuning gain 1 is set
as the optimum value. However, the
acceleration and deceleration time is adjusted
automatically.
[Slow run NG screen] [Easy tuning NG screen]

13

13-26 Detailed Function Description

 CHAPTER 13 PC LOADER

(9) Fine tuning

(b)

(a)

Step 1.
By pressing the [Start] button, characteristics analysis is started based on the conditions set at (a).
Step 2.
The analysis result is drawn, and the recommended setting values are displayed.
Step 3.
By pressing the [Adjust Start] button, reciprocal operation is started based on the conditions set at (b),
and the adjustment result is displayed when reciprocal operation is complete.

Refer to "4.5 Fine Tuning" for details.

13

Detailed Function Description 13-27

 CHAPTER 13 PC LOADER

(10) Pattern operation By pressing the [START/STOP] button,

pattern operation starts.
Furthermore, by pressing the
[START/STOP] button during operation,
the cycle stops.
[Pattern operation NG screen]

(11) Forced OUT Signal Output

Select the OUT signal to be operated at (a), and turn the OUT signal
ON or OFF with the (b) [ON] or [OFF] buttons.

Turn off the power to cancel this mode.

(a)

(b)

13

13-28 Detailed Function Description

 CHAPTER 13 PC LOADER

(12) Forced Pulse Output

This function is not supported on the VC type.

(13) Sequence test mode

It is possible to simulate a servomotor connected state even when not connected.
Doing so allows host program debug work to be carried out efficiently.

Precautions
• The conditions under which operation is possible, as well as the input/output signal functions are
the same as when the servomotor is connected.
• One of the conditions for operation is that the main power supply (L1, L2, L3) must be supplied to
the servo amplifier.
• Simulation is carried out based on the encoder bit count, and therefore the encoder bit count
must be set.
• Current does not flow to the servomotor (furthermore, the main circuit transistor does not turn on
and off.)
• The motor current, effective torque, OL thermal value, and regenerative resistor thermal value do
not change.
• The overload forecast function does not work.
• The INC/ABS system selection (PA1_2) is handled internally as 0: INC (simulation is not
possible with ABS systems.)
• When exiting sequence test mode, turn off the servo amplifier control power (L1C, L2C).

13

Detailed Function Description 13-29

 CHAPTER 13 PC LOADER

Sequence test mode status check

When the servo amplifier is in sequence test mode, all digits on the 7-segment LED flash every
two seconds (they do not flash when performing key operations.)

Startup screen

13

13-30 Detailed Function Description

 CHAPTER 13 PC LOADER

(14) Positioning startup

This function is not supported on the VC type.

(15) Teaching
This function is not supported on the VC type.

13

Detailed Function Description 13-31

 CHAPTER 13 PC LOADER

13.5.7 Servo Analyze

Servo Analyze is a tool used to measure machinery frequency characteristics.

By running Servo Analyze, machinery resonance points and anti resonance points and so on are
displayed visually, providing the user with a guide for setting these parameters (anti resonance
frequency, notch filter related).

Running Servo Analyze performs torque vibration operation three times. The servomotor actually
moves at this time. Furthermore, by setting the vibration torque, the motor may rotate greatly, and so
caution is advised (can be limited by setting the permissible stroke).

(1) (2) (3) (4)

◼ Settings
(1) Vibration mode
Set to “Normal” for horizontal drive machines, and to “Vertical” for vertical drive machines.

13 (2) Notch filter

Set to “Disable” to verify machine characteristics such as resonance points.
Set to “Enable” to verify the notch filter effect.
(3) Vibration torque
The greater this value, the better the accuracy, however, the shock will be greater, placing a burden
on the machine.
A value of “50 [%]” of the default value should normally be used.
(4) Permissible stroke
An error will occur if the servomotor attempts to move at a value higher than this setting.
This does not mean that the servomotor will travel by this amount of rotation.

13-32 Detailed Function Description

 CHAPTER 13 PC LOADER

13.5.8 Changing the Language

This PC Loader supports Japanese, English, and Korean only.

◼ Applicable version
PC Loader supports Japanese, English, and Korean from version V1.1.0 and later.
◼ Changing the language
Select [Setup] - [Language] from the menu, and select the desired language.

The following screen appears.

Click [OK] to close PC Loader.

13
The language will be changed when PC Loader is next started up.

Detailed Function Description 13-33

 CHAPTER 13 PC LOADER

13

13-34 Detailed Function Description

CHAPTER 14 STANDARDS COMPLIANCE
14

14-1
 CHAPTER 14 STANDARDS COMPLIANCE

14.1 European Standards Compatibility ( )

CE

The CE marking on Fuji products indicates that they comply with the essential requirements of
European Council of Ministers Directive (EMC Directive) 2014/30/EU, Low Voltage Directive
2014/35/EU, and Machinery Directive 2006/42/EC relating to electromagnetic compatibility (EMC).

Table14.1-1 Compatible standards

Compatible standards

EMC Directive Note 1 EN 61800-3

Immunity: Second environment (industrial)
Emissions: Category C2 (when equipped with recommended filter)
Low Voltage EN 61800-5-1
Directive
Machine Directives EN ISO 13849-1: Cat.3 PL = e
EN 60204-1: Stop Category 0
EN 61508: SIL3
EN 61800-5-2: SIL3 (Functional Safety: STO)
EN 62061: SIL CL3
Note 1: If classified into EN61800-3 "Category C2" and used in a general household environment,
products may interfere with home appliances or office equipment.
In such cases, additional mitigation measures will be required.

◼ Device configuration example

(1) Power supply
(1) (5) (6) (7) (8) (9) (2) Servo amplifier
(3)
(3) Servomotor
(2)
(4) Control panel (metal)
(10) (5) Transformer
(4) (6) Earth leakage breaker
(7) Molded case circuit breaker
(8) Fuse
(9) Noise filter
(10) 24 VDC power supply (reinforced
insulation)

14

14-2 European Standards Compatibility (CE)

 CHAPTER 14 STANDARDS COMPLIANCE

14.1.1 Compatibility with EMC Standards

The CE marking on servo amplifiers does not certify that all machinery and equipment using Fuji
products are compatible with the EMC Directive. Consequently, if affixing CE marking to machinery and
equipment, the responsibility for doing so lies with the machinery manufacturer. The reason for this is
that the CE marking on Fuji products indicates the condition that the product is used in such a way that
satisfies certain conditions.
Various other devices other than Fuji products are generally used with machinery and equipment. It is
therefore necessary that machinery manufacturers give consideration to all equipment.

◼ Noise filters
Please use the product with an external noise filter in order to comply with standards. No matter
what the application, please install noise filters using the following recommended installation
method. It is recommended that noise filters be installed inside metal cabinets to ensure more
reliable compatibility with standards.
[Recommended filter] HF3000C-SZA Series (SOSHIN ELECTRIC CO., LTD.)

◼ Recommended installation method

Servo amplifier and servomotor wiring work should carried out by an electrician. To comply with
the EMC Directive, it is necessary to carry out installation and wiring using the following method
whenever possible.

Noise filter installation method

(1) Install servo amplifiers and noise filters on a metal plate such as a grounded panel surface. Use
shielded wires for power cables and motor cables, and make them as short as possible. Clamp
shields (20 m or shorter) securely to a metal plate. Furthermore, connect shields and motor
grounding terminals electrically.
(2) Use shielded wire for servo amplifier control terminal wiring. Clamp shields securely to a
grounded panel surface in the same manner as that for motor cables. Use cables of length no
longer than 20 m.

14

European Standards Compatibility (CE) 14-3

 CHAPTER 14 STANDARDS COMPLIANCE

14.1.2 Compatibility with European Low Voltage Directive

Servo amplifiers are subject to compatibility with the European Low Voltage Directive. The CE marking
on servo amplifiers represents a self-declaration that the product complies with the Low Voltage
Directive.

◼ Precautions
If using as a European Low Voltage Directive compatible product, compatibility with Low Voltage
Directive 2014/35/EU is achieved by installing the product as follows.

Compatible European standards

Adjustable speed electrical power drive systems.
Part 5-1: Safety requirements. Electrical, thermal and energy. IEC/EN61800-5-1

Compatibility with European Low Voltage Directive

WARNING
1. Install servo amplifiers inside metal control panels.
2. Always ground the grounding terminal E, and do not attempt to provide electric shock protection simply
with an earth leakage circuit breaker* RCD (Residual-current-operated protective) or ELCB (Earth
Leakage Circuit Breaker). Always ground grounding wires, and do not secure two or more wires
together.
* With overcurrent protection function
3. This offers protection against the risk of high voltage or accidents that may result in servo amplifier
damage, and therefore a fuse of specification indicated in the following table must be installed at the
power supply side.
∙ Breaking capacity of 10kA or higher, rated voltage of 500 V or lower, IEC/EN 60269-2
Power supply Servo amplifier output capacity [kW] Servo amplifier model Fuse rating [A]
200 V 0.05 RYT500F7-■■2 10
0.1 RYT101F7-■■2 10
0.2 RYT201F7-■■2 10
0.4 RYT401F7-■■2 10
0.75 RYT751F7-■■2 15
1.0 RYT102F7-■■2 30
1.5 RYT152F7-■■2 30
2.0 RYT202F7-■■2 50
3.0 RYT302F7-■■2 50
4.0 RYT402F7-■■2 90
5.0 RYT502F7-■■2 90

Note) The ■ in the servo amplifier model is replaced by a letter of the alphabet indicating the type.

14
MCCB Servo
Disconnect or Amplifier
RCD/ELCB, etc. Fuse MC
L1
Power
L2
supply
L3

L1C
L2C

14-4 European Standards Compatibility (CE)

 CHAPTER 14 STANDARDS COMPLIANCE

Compatibility with European Low Voltage Directive (cont.)

WARNING
4. Use a molded case circuit breaker (MCCB), earth leakage breaker (RCD/ELCB), or magnetic contactor
(MC) compatible with EN or IEC standards.
5. If using an earth leakage circuit breaker (RCD/ELCB) to provide either direct or indirect electric shock
protection, always install a Type B earth leakage circuit breaker (RCD/ELCB) at the servo amplifier input
side (primary side). If this is not the case, it is necessary to isolate servo amplifiers from peripheral
equipment with double insulation, reinforced insulation, or insulation between the servo amplifier and
main using a transformer.

Molded case circuit breaker (MCCB)

or
Servo amplifiers
earth leakage circuit breaker (RCD/ELCB) *1
rated current

Power
Output capacity
supply Model Single-phase input Three-phase input
[kW]
system

200 V 0.05 RYT500F7-■■2 3 3

0.1 RYT101F7-■■2 3 3

0.2 RYT201F7-■■2 5 3

0.4 RYT401F7-■■2 10 5

0.75 RYT751F7-■■2 15 10

1.0 RYT102F7-■■2 — 15

1.5 RYT152F7-■■2 — 20

2.0 RYT202F7-■■2 — 30

3.0 RYT302F7-■■2 — 40

4.0 RYT402F7-■■2 — 50

5.0 RYT502F7-■■2 — 50

Note) The ■ in the servo amplifier model is replaced by a letter of the alphabet indicating the type.
*1 The molded case circuit breaker (MCCB) or earth leakage breaker (RCD/ELCB) (with overcurrent protection
function) frame size and model will differ based on the power transformer capacity. Refer to the related
technical material for details on the selection method.

6. Use the servo amplifier in a pollution degree 2 environment. When using in a pollution degree 3 or 4
environment, install inside a panel offering protection of IP54 or higher.
7. To provide electric shock protection when people come into contact with live parts, install the servo
amplifier, AC reactor (ACR) or DC reactor (DCR), and noise filter inside a panel offering protection of
IP2X or higher. If the panel can be easily touched by people, ensure that the top of the panel offers
protection of IP4X or higher.
8. Do not connect copper wire directly to grounding terminals. Connect using crimped terminals with tin or
similar plating.
9. Use an interface power supply with reinforced insulation across inputs and outputs.
14
10. Abnormal heat generation may occur at regenerative resistors if regenerative circuits built into servo
amplifiers fail. Ensure that power supply side molded case circuit breakers or electromagnetic
contactors are shut off when an alarm signal is output from the servo amplifier.

European Standards Compatibility (CE) 14-5

 CHAPTER 14 STANDARDS COMPLIANCE

14.2 UL Standards and Canadian Standards (cUL

Certification) Compliance

14.2.1 General

UL Standards (Underwriters Laboratories Inc. standards) are North American safety standards used to
prevent fire and other such accidents, and offer protection to users, service technicians, and the
general public.
cUL indicates that products which comply with CSA standards are certified by UL. cUL certified
products are as effective as those certified as complying with CSA standards.

14.2.2 UL Standards and Canadian Standards (cUL Certification)

Compatibility

Compatibility with UL Standards and Canadian Standards (cUL certification) is ensured by installing
servo amplifiers with UL/cUL marking in accordance with the following.

UL Standards and Canadian Standards (cUL certification) compatibility

CAUTION
Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection
must be provided in accordance with the National Electrical Code and any additional local codes.
内蔵の電子式短絡保護回路は分岐回路保護としての機能を有していない為，米国電気工事規定及びその地域の
関連規定に従って分岐回路保護を実施してください。

1. Install the servo amplifier inside a metal control panel.

サーボアンプは金属製の制御盤内に設置してください。
2. Maximum Surrounding Air Temperature : 55°C
最高周囲温度 : 55℃
3. Overload protection
This servo amplifier is equipped with a built-in servo motor overload protective function.
(110% of motor FLA) See "Overload Characteristics" in section 9.2.
過負荷保護
サーボモータ過負荷保護機能を内蔵しています。(110% of motor FLA)
「9.2 過負荷特性」を参照してください。
4. Use Cu wire only.
電線は，銅線を使用してください。

14 5．Field wiring connections must be made by a UL Listed and CSA Certified closed-loop terminal connector
sized for the wire gauge involved. Connector must be fixed using the crimp tool specified by the connector
manufacturer.
端子配線を行う際には，推奨電線サイズを参照の上，UL・CSA 認定の丸形圧着端子を使用してください。圧
着端子は，メーカ推奨の圧着工具を使用して圧着してください。

14-6 UL Standards and Canadian Standards (cUL Certification) Compliance

 CHAPTER 14 STANDARDS COMPLIANCE

UL Standards and Canadian Standards (cUL certification) compatibility (cont.)

CAUTION

6. The protection circuit inside this servo amplifier does not conform to UL Standards' "branch circuit
protection".
It is necessary to install "branch circuit protection" conforming to the National Electrical Code or similar
standard outside the amplifier.
本サーボアンプ内部の保護回路は，UL 規格の「branch circuit protection 」に適合しません。米国
「National Electric Code」又は同等の規格に適合した「branch circuit protection」をアンプ外部に備
え付ける必要があります。
7. This servo amplifier does not offer the motor overheat protection described in UL Standards.
本サーボアンプは，UL 規格記載のモータ過熱保護を提供しません。
8. Short circuit rating（短絡定格）
"Suitable For Use On A Circuit Of Delivering Not More Than 5,000 rms Symmetrical Amperes, 240 Volts
Maximum when protected by Class J Fuses.
定格遮断容量が 5,000A 以上かつ最大定格電圧 240V 以上のクラス J ヒューズで保護したとき，最大電源電圧
が 240V の電源に接続できます。
9. Use the servo amplifier in a pollution degree 2 environment.
サーボアンプは汚染度 2 の環境でご使用ください。
10. Install UL certified fuses or circuit breaker between the power supply and the inverter, referring to the table
below.
下表を参照の上，電源とサーボアンプの間に UL 認定品のヒューズを設置してください。

Required torque
Power supply voltage 電源系列

Wire size AWG (mm2) *1

締め付けトルク
電線サイズ
Ib-in (N・m)
Class J fuse size (A)
ヒューズ定格 [A]

Servo Amplifier type

L1,L2,L3,U,V,W

Grounding wire
サーボアンプ形式
L1C,L2C

接地線
接地端子
Grounding terminal

RYT500F7-■■2 10

RYT101F7-■■2 10

RYT201F7-■■2 10
16 (1.25) 16 (1.25)
RYT401F7-■■2 10

RYT751F7-■■2 15
200V

RYT102F7-■■2 30 15.9 (1.8) 18 (0.75)

RYT152F7-■■2 30 14 (2.0) 14 (2.0)

RYT202F7-■■2 50
10 (5.5) 10 (5.5)
RYT302F7-■■2 50

RYT402F7-■■2

RYT502F7-■■2
90

90
8 (8.0) 8 (8.0) 14
*1 Use 75C (167F) Cu wire only.
最高許容温度 75℃の銅線を使用してください。

UL Standards and Canadian Standards (cUL Certification) Compliance 14-7

 CHAPTER 14 STANDARDS COMPLIANCE

14.3 Radio Waves Act (South Korea)

◼ 韓国電波法への対応
使用者案内文
本製品は業務用の環境で使用する目的で適合性評価を受けた機器であり，家庭外の地域で使用す
るのを目的とします。
本対象は，形式 RYT△△△□7-□□2 のみ対象となります。
（△にはサーボアンプ容量，□にはバリエーションを示す英数字がはいります。）

◼ 한국 전파법 대응
사용자안내문

이 기기는 업무용 환경에서 사용할 목적으로 적합성평가를 받은 기기로서 가정용 환경에서 사용하는

경우 전파간섭의 우려가 있습니다.

으로 합니다. 해당제품은 형식 RYT△△△□7-□□2 의 제품만 대상이 됩니다.

(△는 인버터용량, □는 전압시리즈를 표시하는 영숫자가 표기됩니다.)

◼ Compliance with the Radio Waves Act (South Korea)

User guidance
This product has undergone a conformity assessment for the purpose of use in a work
environment, and is intended for use in areas outside the home.
Only the following type of the products is applicable to this certification.
Type: RYT△△△□7-□□2
(△ and □ are replaced with alphanumeric characters indicating the servo amplifier capacity and
variation, respectively.)

Applicant : Fuji Electric Korea

Equipment Name : Servo amplifier
Country of Origin : Described on the nameplate
Date of Manufacture : Described on the nameplate
Manufacturer : Fuji Electric Co.,Ltd

14

14-8 Radio Waves Act (South Korea)

 CHAPTER 14 STANDARDS COMPLIANCE

14.4 Complying with "Guideline for Suppressing

Harmonics by Customers Receiving High Voltage
or Special High Voltage"

The Public Utilities Department of the Ministry of International Trade and Industry's Agency for Natural
Resources and Energy enacted the following two guidelines relating to harmonic suppression on
September 30, 1994.

(1) "Guideline to Reduce Harmonic Emissions Caused by Electrical and Electronic Equipment for
Household and General Use"
(2) "Guideline for Suppressing Harmonics by Customers Receiving High Voltage or Special High
Voltage"

These guidelines were enacted based on the assumption that the use of electronic devices generating
harmonic current would continue to rise in the future, and that they would lead to the prevention of
harmonic interference at devices connected to systems by applying regulations beforehand. These
guidelines apply to all electrical and electronic devices used with a commercial power supply and which
generate harmonic current, however, the following explanation applies only to "servo amplifiers".

14.4.1 Servo Amplifier Application

14.4.1.1 Application for Other Than Special Customers

From January 2004, servo amplifiers (input current of 20A or less) were excluded from the "Guideline to
Reduce Harmonic Emissions Caused by Electrical and Electronic Equipment for Household and
General Use" (established September, 1994) enacted by the Ministry of Economy, Trade and Industry.
Customers for whom the "Guideline for Suppressing Harmonics by Customers Receiving High Voltage
or Special High Voltage" does not apply are recommended to connect the "DC reactor" indicated in the
catalog or User's Manual to the servo amplifier as in the past.

14.4.1.2 Application for "Guideline for Suppressing Harmonics by Customers

Receiving High Voltage or Special High Voltage"
All customers receiving high voltage or special high voltage fall under the scope of the "Guideline for 14
Suppressing Harmonics by Customers Receiving High Voltage or Special High Voltage". Devices
generating harmonic current such as "servo amplifiers" are not regulated directly, but for each customer
using a power supply. It is necessary to calculate such values as the amount of harmonic current
generated by individual devices.

Complying with "Guideline for Suppressing Harmonics by Customers Receiving High Voltage or Special High Voltage" 14-9
 CHAPTER 14 STANDARDS COMPLIANCE

(1) Regulation scope

Generally speaking, regulations apply if the following two conditions are satisfied.
• The device is receiving high or extra-high voltage.
• Converter load "equivalent capacity" exceeds the standard value (50kVA when receiving 6.6 kV)
for the receiving voltage.
If calculating "equivalent capacity" in accordance with the guidelines, a supplementary description
is provided in "14.4.2.1 Equivalent Capacity Calculation".
(2) Regulation method
Regulate the size (calculated value) of the harmonic current flowing from the customer's power
receipt point to the system. Regulation values are proportional to contracted demand. Guideline
regulation values are shown in Table 14.4-1.
If calculating "harmonic current" in accordance with the guidelines, a supplementary description is
provided in "14.4.2 Complying with "Guideline for Suppressing Harmonics by Customers
Receiving High Voltage or Special High Voltage".
Table 14.4-1 Harmonic outflow current upper limit per 1kW of contracted demand (mA/kW)

Receiving 5th 7th 11th 13th 17th 19th 23rd 25th and
voltage above
6.6 kV 3.5 2.5 1.6 1.3 1.0 0.90 0.76 0.70
22 kV 1.8 1.3 0.82 0.69 0.53 0.47 0.39 0.36

14.4.2 Complying with "Guideline for Suppressing Harmonics by

Customers Receiving High Voltage or Special High Voltage"

If performing calculations for "servo amplifiers" in accordance with the guidelines, do so as follows.

14.4.2.1 Equivalent Capacity Calculation

Equivalent capacity is calculated by multiplying the (input rated capacity) by (conversion factor),
however, the input rated capacity value is not indicated in servo amplifier catalogs, and is therefore
described below.

14 (1) Servo amplifier rated capacity equivalent to Pi

• In the guidelines, a 6-pulse converter is used as a reference for conversion factor 1, and
therefore it is necessary to express the servo amplifier input rated capacity as a value including
the harmonic current equivalent to conversion factor 1.
• To be more specific, input fundamental harmonic current I1 is calculated as follows from the kW
rating and efficiency of the motor (load) and efficiency of the servo amplifier:

14-10 Complying with "Guideline for Suppressing Harmonics by Customers Receiving High Voltage or Special High Voltage"
 CHAPTER 14 STANDARDS COMPLIANCE

Three-phase input: Input rated capacity = √3 x (power supply voltage) x I1 x 1.0228/1000 (kVA)
Single-phase input: Input rated capacity = (power supply voltage) x I1 x 1.0228/1000 (kVA) Here,
1.0228 is the 6-pulse converter (effective value current)/(fundamental harmonic current) value.

The "input rated capacity" expressed here can be applied only if performing the
calculation indicated in the harmonic guidelines, and cannot be used to select servo
amplifier power supply side devices and wiring size, etc., and therefore caution is
required.

 Refer to manufacturer catalogs or technical material for information on peripheral equipment

capacity selection.

Table14.4-2 Servo amplifier input rated capacity and fundamental harmonic input current

Fundamental harmonic input current [A]

Motor rated capacity Input rated capacity
Single-phase Three-phase
[kW] [kVA]
200 V 200 V
0.1 0.22 1.05 0.61
0.2 0.35 1.70 0.98
0.4 0.57 2.81 1.61
0.75 0.97 4.76 2.74
0.85 1.10 — 3.11
1.0 1.30 — 3.66
1.5 1.95 — 5.50
2.0 2.56 — 7.24
3.0 3.77 — 10.6
4.0 4.97 — 14.0
5.0 6.17 — 17.4

14

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 CHAPTER 14 STANDARDS COMPLIANCE

(2) Ki (conversion factor) size

The conversion factors in the guidelines appendix apply based on the optional ACR (AC reactor)
and/or DCR (DC reactor) usage status. The conversion factor sizes are shown in Table14.4-3.
Table14.4-3 Servo amplifier "conversion factor Ki" determined by reactor

Circuit class Circuit type Reactor Conversion

factor

3 Three-phase bridge Not used 3.4

(capacitor smoothing)
Used (AC side) 1.8
Used (DC side) 1.8
Used (AC, DC side) 1.4
4 Single-phase bridge Not used 2.9
(capacitor smoothing)
Used (AC side) 1.3

(3) Rated input current (receiving voltage conversion value) calculation

Rated input current (receiving voltage conversion value) is calculated with the following equation.

Vi
IH = Il   103
VH

IH: Rated input current (receiving voltage conversion value) (mA)

Il: Fundamental harmonic input current (A)
Vi: Power supply voltage (V)
VH: Receiving voltage (V)

14

14-12 Complying with "Guideline for Suppressing Harmonics by Customers Receiving High Voltage or Special High Voltage"
 CHAPTER 14 STANDARDS COMPLIANCE

(4) Servo amplifier operation rate

Servomotors are run based on the operation pattern in Fig.14.4-1, and therefore servo amplifier
operation rate A is calculated with the following equation.

 Ta  2  N c 1 1
A =   a + Tc  c    
2  60 To PM

A: Operation rate
To: Time for 1 servomotor cycle when performing repeat operation (s)
Ta: Servomotor acceleration time (not necessary to consider
deceleration time) (s)
Tc: Running time when servomotor running at steady rotation speed (s)
τa: Servomotor acceleration torque (not necessary to consider
deceleration torque) (N·m)
τc: Servomotor load torque (N·m)
Nc: Servomotor steady rotation speed (min-1)
PM: Servomotor rated capacity (W)

(steady rotation speed)

Rotation speed
Torque
(torque)

Time

Fig.14.4-1 Servomotor operation pattern

14

Complying with "Guideline for Suppressing Harmonics by Customers Receiving High Voltage or Special High Voltage" 14-13
 CHAPTER 14 STANDARDS COMPLIANCE

14.4.2.2 Harmonic Current Calculation

(1) Harmonic current calculation

Generally speaking, harmonic current is calculated using "Table 3 Three-phase bridge (capacitor
smoothing)" in "Guidelines - Appendix 2". Refer to Table14.4-4 for the guidelines appendices.
Table14.4-4 Amount of harmonic current generation (%), three-phase bridge (capacitor smoothing)

Degree 5th 7th 11th 13th 17th 19th 23rd 25rd

No reactor used 65 41 8.5 7.7 4.3 3.1 2.6 1.8

Reactor used (AC side) 38 14.5 7.4 3.4 3.2 1.9 1.7 1.3
Reactor used (DC side) 30 13 8.4 5.0 4.7 3.2 3.0 2.2
Reactor used (AC, DC side) 28 9.1 7.2 4.1 3.2 2.4 1.6 1.4

• AC side reactor: 3%
• DC side reactor: Stored energy is equivalent to 0.08 to 0.15 ms (100% load conversion)
• Smoothing capacitor: Stored energy is equivalent to 15 to 30 ms (100% load conversion)
• Load: 100%

The harmonic current for each degree is obtained as follows.

Amount of nth degree

nth degree fundamental harmonic current operation
harmonic = harmonic x generation (%) x
rate
current (A) current (A)
100

14

14-14 Complying with "Guideline for Suppressing Harmonics by Customers Receiving High Voltage or Special High Voltage"
CHAPTER 15 APPENDIXES 15

15-1
CHAPTER 15 APPENDIXES

15.1 CiA402 Drive Profiles

This section describes the profiles used to control servo amplifiers.

15.1.1 Servo Amplifier Status Control

With the ALPHA7 Series built-in EtherCAT communication type, the servo amplifier status is referred
to as the “PDS status”.
The PDS status is controlled based on 6040H: Controlword.
Furthermore, the respective PDS statuses are displayed with 6041H: Statusword.

Status transition
The status transition for the ALPHA7 Series is as follows.
The text inside the boxes in the diagram indicates the statuses, and numbers 2 to 10 and 15 indicate
status control commands.
Refer to “Description of each status” for details on statuses, and “Status control commands” for details
on status control commands.
電源OFF／リセット
Power OFF/reset
制御回路
Control circuit 主回路
Main サーボ
Servo
power circuit
Start 電源
OFF/reset 電源
power
ON/OFF
ON／OFF
0: After control power ON
0：制御電源投入後

Not ready to switch

on

1: After initialization complete

１：初期化完了後
12: Emergency stop
12
operation complete １5：Fault reset ON
Fault ON or
Switch on disabled ON または
OFF
OFF
OFF

Shut down：2 7：Disable Voltage

主回路電源OFF
Main circuit power OFF
(Ready to switch on)

Switch on：3

6：Shut down

Switch on ON ON OFF
Disable Voltage：10 14: Error response
14：異常応答
operation
動作完了 complete
Enable operation：4

5：Disable operation Fault reaction active

11:16Quick stop

Quick stop Operation enabled 8：Shut down ON ON ON

active (servo ON)
（サーボON）
13：Error occurs
11
16: Enable operation 5：Disable
9: Voltage
Disable Voltage

15-2 CiA402 Drive Profiles

 CHAPTER 15 APPENDIXES

Description of each status

Status Description

Not ready to switch on The control circuit power is ON, and the servo amplifier is being
initialized.
Switch on disabled Initialization is complete.
Servo amplifier parameters can be set.
Ready to switch on The main circuit power may be turned ON.
Servo amplifier parameters can be set.
Switched on The main circuit power is ON (servo ready).
Servo amplifier parameters can be set.
Operation enabled Servo ON status
Servo amplifier parameters can be set.
Fault reaction active An error occurred at the servo amplifier, and the motor is being
stopped.
Servo amplifier parameters can be set.
Fault An error has occurred at the servo amplifier.
Servo amplifier parameters can be set.

Status control commands

The status is controlled with a combination of the 6040H: Controlword bits shown in the following
table.
fr = fault reset, eo = enable operation, qs = quick stop, ev = enable voltage, so = switch on
Controlword bit
Command Bit 7 Bit 3 Bit 2 Bit 1 Bit 0 Transition
fr eo qs ev so
Shutdown X X 1 1 0 2, 6, 8
Switch on X 0 1 1 1 3
Switch on + enable X 1 1 1 1 3 + 4*1
operation
Disable voltage X X X 0 X 7, 9, 10,
12
Quick stop X 1 0 1 1 11
Disable operation X 0 1 1 1 5
Enable operation X 1 1 1 1 4, 6
Fault reset 0 → 1*2 *3 X X X X 15
*1 Automatically changes to the Operation enabled status.
*2 Operation when Bit 7: Fault reset is rising
Fault status: The error that is occurring is reset, and the status changes to Switch on disabled.
Other than Fault status: The status changes based on the command for bits 0 to 3.
*3 After Fault reset is executed at bit 7, return to “0” prior to issuing the next command.

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CHAPTER 15 APPENDIXES

Status display
Each status is indicated with a combination of the 6041H: Statuswords shown in the following table.
Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0
Status
sod*1 qs*2 ve*3 f*4 oe*5 so*6 rtso*7
Not ready to switch on 0 0 0 0 0 0 0
Switch on disabled 1 X 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 X X 1 1 1 1
Fault 0 X X 1 0 0 0
*1 sod = switch on disabled
*2 qs = quick stop
*3 ve = voltage enabled
*4 f = fault
*5 oe = operation enabled
*6 so = switched on
*7 rtso = ready to switch on

Stop action sequences

If transitioning from Operation Enabled to another status, the servo amplifier performs deceleration
operation or stop operation. Furthermore, if the deceleration operation for each object is set to 0 (no
operation), the dynamic brake is applied based on the parameter setting. The relationship between
each status, object, and parameter is as follows.

Parameter
Status Object
When decelerating When stopping
Quick stop active 605AH: Quick stop option code —*1 —*1
Switch on disabled /
605BH: Shut down option code PA2_63 2nd digit PA2_63 1st digit
Ready to switch on
Switch on 605CH: Disable operation option code PA2_61 2nd digit PA2_61 1st digit
Fault reaction active PA2_62 4th digit
605EH: Fault reaction option code —
(minor fault) (minor fault)
Fault reaction active PA2_62 2nd digit
— —
(major fault) (major fault)
Fault — — PA2_62 1st digit
*1 The servomotor is fixed to free-run in the case of no operation.
The servo lock is applied in the case of stoppages other than free-run.

Refer to "15.1.14 Servo Amplifier Profile Objects" for details on the setting method for each object, and
to "CHAPTER 3 PARAMETERS" for details on the setting method for each parameter.

15-4 CiA402 Drive Profiles

 CHAPTER 15 APPENDIXES

15.1.2 Operation Modes

The ALPHA7 Series built-in EtherCAT communication type supports the following operation modes.

• csp: Cyclic synchronous position mode

• csv: Cyclic synchronous velocity mode
• cst: Cyclic synchronous torque mode
• pp: Profile position mode
• pv: Profile velocity mode
• hm: Homing mode

Modes of operation (6060H) is used to set the operation mode. The operation mode currently running
is displayed in Modes of operation display (6061H).
The operation modes supported by the servo amplifier can be checked in Supported drive modes
(6502H).
Do not specify unsupported operation modes.

15.1.3 Communication Cycles and Corresponding Synchronization

Mode

The available synchronization modes are restricted based on the communication cycle.
Please refer to the following table for details.

Communication cycle *1)

Synchronization mode
[μs]

125 DC, Free Run

250 DC, Free Run
500 DC, SM2, Free Run
1000 DC, SM2, Free Run
2000 DC, SM2, Free Run
4000 DC, SM2, Free Run
*1) The communication cycle is set at the controller. Refer to the manual for the connected controller
for details on the setting method.

CiA402 Drive Profiles 15-5

CHAPTER 15 APPENDIXES

15.1.4 Objects Synchronized with DC

By registering the following objects in PDO, data is returned following a DC occurrence when
performing DC synchronous communication.
With Freerun, SM2 synchronization, and objects other than the following, the most recent internal data
is sent when performing communication.

Default
Index Sub-index Name Access Size Unit Setting range
value
Position demand -2147483648 to
6062H 00H ro INT32 unit 0
value 2147483647
-2147483648 to
6064H 00H Position actual value ro INT32 unit 0
2147483647
-2147483648 to
606CH 00H Velocity actual value ro INT32 unit/s 0
2147483647
-350.0% to
6074H 00H Torque demand ro INT16 0.1% 0
350.0%
-350.0% to
6077H 00H Torque actual value ro INT16 0.1% 0
350.0%

15.1.5 Operation Modes and Advanced Functions

The relationship between the ALPHA7 Series built-in EtherCAT communication type operation modes
and advanced functions is shown in the following table.

Operation mode

Function csp
csv
pp cst
pv
hm
Notch filter (notch 1 to 5)   —
Vibration suppressing function  — —
Model torque calculation   —
Command filter for each position  — —
Auto tuning    *1)
Speed observer   —
*1) This is valid only when PA4_21 (torque control speed limit method) is set to "0".

15-6 CiA402 Drive Profiles

 CHAPTER 15 APPENDIXES

15.1.6 Changing the Operation Mode

This section describes how to change the ALPHA7 Series built-in EtherCAT communication type
operation mode.

◼ Operation mode change method

By setting the operation mode at the controller, the servo amplifier control mode can be changed
and the motor run based on the selected control mode.

The operation mode is changed by changing the 6060H: Modes of operation stetting value.

When changing the operation mode, update the object command value mapped to RxPDO at the
same time.
With cyclic synchronous position mode (csp) (a position control mode), for example, 607AH: Target
position is valid as the command value, however, with cyclic synchronous velocity mode (csv), (a
speed control mode), 60FFH: Target velocity is valid as the command value.
Consequently, a valid command value should be set for 60FFH: Target velocity at the same time
as the operation mode is changed from a position control mode to a speed control mode.

The actual servo amplifier operation mode can be checked at 6061H: Modes of operation display.

 Change the operation mode when the motor is stopped.

If changed while the motor is running, motor operation will be affected.

◼ Operation mode display

The actual operation mode can be checked at 6061H: Modes of operation display.
The operation mode display will be as follows based on the servo amplifier status.

Driver status Operation mode display

Offline status (Remote (6040h-bit9) ≠ 1) 0: Not specified
Servo OFF 0: Not specified
Servo ON Based on LPHA7 internal control mode

CiA402 Drive Profiles 15-7

CHAPTER 15 APPENDIXES

◼ Modes of operation display (6061H) dependent bit display

The 6041H (Statusword) bit contains a bit dependent on the control mode, and the relationship
with Modes of operation display is shown in the following table.

6061H: Modes of operation display

Torque
Speed control
Object Bit Position control mode control
mode
mode
csp pp hm csv pv cst
Target Target
10 0 0 — 0
reached reached
Target Target Target
Set-point Home
6041H 12 position velocity Speed bit torque
acknowledge attained
ignored ignored ignored
Following Following Homing
13 0 — 0
error error error

15-8 CiA402 Drive Profiles

 CHAPTER 15 APPENDIXES

15.1.7 Homing Mode Specifications

This section describes ALPHA7 Series (built-in EtherCAT communication type) homing mode
specifications.

Homing mode configuration

The homing mode configuration is as follows.

Controlword (6040H)
Statusword (6041H)

Homing method（6098H）
Homing Position demand value (6062H) or
Position demand internal value（60FCH）
Homing speeds（6099H）

Corresponding homing method

The homing methods supported by the ALPHA7 Series (built-in EtherCAT communication type) are as
follows.
Refer to “Homing operation” for details on each homing method.

Homing method Description

0 No setting
1 Homing based on -OT and Z-phase
2 Homing based on +OT and Z-phase
3, 4 Homing based on home position LS edge input (positive logic)
5, 6 Homing based on home position LS edge input (negative logic) and Z-phase
7 to 10 Homing based on homing LS and Z-phase (movement start in forward direction)
11 to 14 Homing based on homing LS and Z-phase (movement start in reverse direction)
19 Homing based on homing LS (movement start in forward direction)
20 Homing based on homing LS (movement start in reverse direction)
33 Homing based on Z-phase (movement start in reverse direction)
34 Homing based on Z-phase (movement start in forward direction)
35, 37 Current position home position preset *1
*1: Methods 35 and 37 have the same function, however, when designing new systems, do so in
accordance with ETG standards, and use Method 37.

CiA402 Drive Profiles 15-9

CHAPTER 15 APPENDIXES

Related objects
Default
Index Sub-index Name Access Size Unit Setting range
value

6040H 00H Controlword RW UINT16 0 to FFFFH — 0000H

6060H 00H Modes of operation RW INT8 — 0 to 10 0

6098H 00H Homing method RW INT8 — 0 to 37 0

Speed during search for

01H RW UINT32 unit/s — 139810133
switch
6099H
Speed during search for
02H RW UINT32 unit/s — 13981013
zero

0 to
609AH 00H Homing acceleration RW UINT32 unit/s2 559240533
2147483637

6041H 00H Statusword RO UINT32 0 to FFFFH — 0000H

Controlword (6040H) in homing mode

Bit Name Value Description
0 Homing stop
4 Homing operation start
1 Homing start
0 Homing continue
8 Halt
1 Stop based on Halt option code
Bits 5 and 6 are not used.
Refer to 6040H: Controlword for all other bits.

15-10 CiA402 Drive Profiles

 CHAPTER 15 APPENDIXES

Statusword (6041H) in homing mode

Bit 13, bit 12, bit 10 (operation mode specific):
Bit Name Value Description
0 Running
10 Target reached
1 Stopped
0 Homing operation incomplete
12 Homing attained
1 Homing operation successfully completed
0 No homing error
13 Homing error
1 Homing error occurred

The bit 13, bit 12, and bit 10 value combinations are as follows.
Bit 13 Bit 12 Bit 10 Description
0 0 0 Performing homing.
0 0 1 Homing has been interrupted, or has not started.
1 The motor is near the home position, but the target position
0 0
has not been reached.
0 1 1 Homing is complete.
1 0 0 A homing error occurred, but the speed is not 0.
1 0 1 A homing error occurred, and the speed is 0.
1 1 0 Reserved
1 1 1 Reserved

CiA402 Drive Profiles 15-11

CHAPTER 15 APPENDIXES

Homing operation
This section describes the corresponding homing method operations.
◼ Replacement of terminology
This chapter uses terminology based on descriptions in IEC FDIS 61800-7-201 to explain the
homing method. Consequently, when carryout wiring work or specifying settings for ALPHA7,
replace the terminology as follows when doing so.
Expressions used in this section (terminology based on Function in ALPHA7
ETG)
Index Pulse Z-phase
Home Switch Home position LS
Negative Limit -OT
Positive Limit +OT

◼ Operation after arriving at home position detection position

ALPHA7 performs deceleration based on the Homing acceleration (609AH) setting value when the
motor arrives at the home position detection position, however, the motor may pass through the
home position detection position while it is decelerating. When this occurs, the motor continues to
decelerate based on the Homing acceleration (609AH) setting value, and the overshoot is
automatically reversed at the Speed during search for zero (6099H-02H), before the motor comes
to a stop at the home position detection position.

15-12 CiA402 Drive Profiles

 CHAPTER 15 APPENDIXES

◼ Method 1
• With this method, the initial movement direction is negative if the Negative limit switch is
inactive. (The inactive status is indicated by the low level status in the drawing.)
• The home position detection position is the initial index pulse detection position at the positive
side position after the negative limit signal becomes inactive.

6099H-01H
6099H-02H

Index pulse

Negative limit

Negative direction Positive direction

Homing on negative limit switch and index pulse

◼ Method 2
• With this method, the initial movement direction is positive if the Positive limit switch is inactive.
(The inactive status is indicated by the low level status in the drawing.)
• The home position detection position is the initial index pulse detection position at the negative
side position after the positive limit signal becomes inactive. (See drawing.)

6099H-01H
6099H-02H

Index pulse

Negative limit

Negative direction Positive direction

Homing on positive limit switch and index pulse

CiA402 Drive Profiles 15-13

CHAPTER 15 APPENDIXES

◼ Method 3, 4
• With these methods, the initial movement direction changes based on the home switch status at
startup.
• The home position detection position is the initial index pulse detection position at the negative
side or positive side after the home switch status has changed. (See drawing.)

6099H-01H
6099H-02H

Index pulse

Home switch

Negative direction Positive direction

Homing on positive home switch and index pulse

15-14 CiA402 Drive Profiles

 CHAPTER 15 APPENDIXES

◼ Method 5, 6
• With these methods, the initial movement direction changes based on the home switch status at
startup.
• The home position detection position is the initial index pulse detection position at the negative
side or positive side after the home switch status has changed. (See drawing.)

6099H-01H
6099H-02H

Index pulse

Home switch

Negative direction Positive direction

Homing on negative home switch and index pulse

CiA402 Drive Profiles 15-15

CHAPTER 15 APPENDIXES

◼ Method 7, 8, 9, 10
• These methods use the home switch and index pulse.
• The method 7 and 8 initial movement direction is the negative direction if the home switch is
active when movement starts.
• The method 9 and 10 initial movement direction is the positive direction if the home switch is
active when movement starts.
• The home position detection position is the index pulse near the home switch rising edge or
falling edge. (See drawing.)

6099H-01H
6099H-02H

8 10

7 9

7 10

8 9

7 9

8 10

Index pulse

Home switch

Positive limit

Negative direction Positive direction

Homing on home switch and index pulse – positive initial motion

15-16 CiA402 Drive Profiles

 CHAPTER 15 APPENDIXES

◼ Method 11, 12, 13, 14

• These methods use the home switch and index pulse.
• The method 11 and 12 initial movement direction is the positive direction if the home switch is
active when movement starts.
• The method 13 and 14 initial movement direction is the negative direction if the home switch is
active when movement starts.
• The home position detection position is the index pulse near the home switch rising edge or
falling edge. (See drawing.)

6099H-01H
6099H-02H

14 12

13 11

14 11

13 12

13 11

14 12

Index pulse

Home switch

Positive limit

Negative direction Positive direction

Homing on home switch and index pulse – negative initial motion

CiA402 Drive Profiles 15-17

CHAPTER 15 APPENDIXES

◼ Method 19, 20
• These methods are similar to methods 3 and 4.
The difference is that the home position detection position is not the index pulse, but the
position for which the home switch has changed.
(See drawing.)

6099H-01H
6099H-02H

19

19

20

20

Home switch

Negative direction Positive direction

Homing on positive home switch and index pulse – negative initial motion

15-18 CiA402 Drive Profiles

 CHAPTER 15 APPENDIXES

◼ Method 33, 34
• These methods use the index pulse only.
• The motor moves in the direction shown in the diagram, and the detected index pulse is the
home position detection position.

6099H-01H
6099H-02H

33

34

Index pulse

Negative direction Positive direction

Homing on index pulse

CiA402 Drive Profiles 15-19

CHAPTER 15 APPENDIXES

◼ Method 35, 37
• Use if setting the servo amplifier coordinate system (position information setting).
This position is used as the reference when homing starts, and the following objects are
initialized (preset).
6062H (Position demand value) = 6064H (Position actual value) = 607CH (Home offset)
6063H (Position actual internal value) = 60FCH (Position demand internal value) = 0
(Note) 607CH (Home offset) is added to 6062H and 6064H.
• The PDS status can be run even if not in the Operation Enabled status.
• Wait 100 ms or longer after stopping the command position before running methods 35 and 37.
• Methods 35 and 37 have the same function, however, when designing new systems, do so in
accordance with ETG standards, and use Method 37.

35

37

Start homing 0 1
(Control wordbit4)
(Controlword bit4)

15-20 CiA402 Drive Profiles

 CHAPTER 15 APPENDIXES

15.1.8 Touch Probe (Latch Function)

The touch probe is a function used to latch feedback positions with external latch input signals, or with
the rising edge of the encoder Z-phase. The ALPHA7 Series is equipped with 2 latch functions.

Related Objects
Index Sub-index Name Description
60B8H 00H Touch probe function Controls the touch probe function.
60B9H 00H Touch probe status Indicates the touch probe function status.
Touch probe 1 positive This is the touch probe 1 rising edge latch
60BAH 00H
position value position.
Touch probe 1 negative This is the touch probe 1 falling edge latch
60BBH 00H
position value position.
Touch probe 2 positive This is the touch probe 2 rising edge latch
60BCH 00H
position value position.
Touch probe 2 negative This is the touch probe 2 falling edge latch
60BDH 00H
position value position.

Trigger Signal Settings

The touch probe trigger can be selected from a CONT signal or the encoder Z-phase. The function for
CONT1 to 6 can be set with PA3_01 to PA3_06.
Specify the trigger as an external latch signal or Z-phase with Touch probe function (60B8H) bit 2 or
bit 10.

(1) CONT signal assignment

Signal Parameter Setting
CONT1 PA3_01 49: Interrupt input(Touch probe 1)
59: Interrupt input 2(Touch probe 2)
CONT2 PA3_02
CONT3 PA3_03
CONT4 PA3_04
CONT5 PA3_05
CONT6 PA3_06

(2) 60B8H: Touch probe function

Bit 2 Trigger Bit 10 Trigger
0 Interrupt input 0 Interrupt input 2
1 Z-phase 1 Z-phase

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CHAPTER 15 APPENDIXES

Restrictions When Using CONT Terminals

If using a CONT terminal as the touch probe trigger, ensure a trigger pulse width of 1 ms or greater as
shown in the following diagram. If the pulse width is less than 1 ms, it will not be possible to detect the
position correctly.
OK OFF OFF OFF

ON ON ON

1ms 1ms
NG
OFF OFF OFF

ON ON ON

1ms 1ms

Action Sequences
Starting and stopping
The touch probe function is started and stopped with Touch probe function (60B8H) bit 0/8. To start
the function, set bit 0/8 to 1. By setting bit 0/8 to 0, the function stops, and all Position value (60BAH to
60BDH) values are cleared.
Furthermore, the edge to be updated can be selected with bit 4/5/12/13. The relationship between
setting and updated position is as follows.

Positive position value Negative position value

Bit 4/bit 12 Bit 5/bit 13
(60BAH / 60BCH) (60BBH / 60BDH)
0 0 Not updated Not updated
0 1 Not updated Updated
1 0 Updated Not updated
1 1 Updated Updated

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 CHAPTER 15 APPENDIXES

Update first time only [60B8H bit 1/9 = 0: initial detection retained]
This mode is used to detect the position only with the first trigger signal following startup.
It is necessary to restart the touch probe function to read the signal again.

60B8H
Bit0/8

Trigger
signal

60B9H
Bit0/8

60B9H
Bit1/9

60BAH/
60BCH
0 0 0

60B9H
Bit2/10

60BBH/
60BDH
0 0 0

Update every time [60B8H bit 1/9 = 1: updated every detection]

This mode is used to latch each time a trigger signal is detected following startup.
The read value is retained until the next trigger signal.

60B8H
Bit0/8

Trigger
signal

60B9H
Bit0/8

60B9H
Bit1/9

60BAH/ 0
60BCH
0 0
60B9H
Bit2/10

60BBH/
60BDH
0 0 0

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CHAPTER 15 APPENDIXES

15.1.9 Object Dictionary

The CAN application protocol over EtherCAT (CoE) protocol is based on an object dictionary. All
objects are assigned a 4-digit hexadecimal index, and are configured from the areas shown in the
following table.

Index Area Details

0000H to 0FFFH Data type area This is the data type definition.
This is the definition of a variable which can be
1000H to 1FFFH CoE communication area used for all servers for the purpose of dedicated
communication.
2000H to 5FFFH Manufacturer specific area This is a variable defined in the ALPHA7 Series.
For servo amplifiers, this is the variable defined
6000H to 9FFFH Device profile area
in the CiA402 drive profile.
A000H – FFFFH Reserved area This is an area reserved for future use.

Data type
With this profile, the data types in the following table are used.

Data type Abbreviation Size Range

Boolean BOOL 1 bit 0 to 1
Unsigned8 UINT8 1 byte 0 to 255
Unsigned16 UINT16 2 bytes 0 to 65535
Unsigned32 UINT32 4 bytes 0 to 4294967295
Integer8 INT8 1 byte -128 to 127
Integer16 INT16 2 bytes -32768 to 32767
Integer32 INT32 4 bytes -2147483648 to 2147483647
Visible string VS — —
Octet string OS — —

EEPROM
Object Dictionary content other than manufacturer specific areas is lost when the control power is
turned OFF, and values return to their default values when the power is turned ON again. However, by
using 1010H-01H: Store parameters (Save Objects) for content whose EEPROM attribute is Yes,
current object values are saved to the EEPROM, allowing the content to be restored when the power
is turned ON again.

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 CHAPTER 15 APPENDIXES

15.1.10 Communication Objects

Index Name
1000H Device type
Sub Name Data type Access PDO Default value EEPROM
00H — UINT32 ro No 00020192H No
Setting range

00 02 0192 H
0192H: Device profile (DS402d)
02: Servo Drive

• Indicates the CoE device profile number.

Setting value description

Bit Name Details
0 to 15 Device profile number 402 (192H): drive profile
16 to 23 Typ 02: servo amplifier
25 to 31 Mode 0: Manufacturer specific

Index Name
1001H Error register
Sub Name Data type Access PDO Default value EEPROM
00H — UINT8 ro No 00H No
Setting range
Error register
Bit 7: Reserved
Bit 6: Reserved
Bit 5: Definition device profile error
Bit 4: Communication error
Bit 3: Temperature error
Bit 2: Voltage error
Bit 1: Current error
Bit 0: General error

• Displays the type of error occurring at the servo amplifier. On the ALPHA7 Series, bit 0 is “1” when
an alarm occurs.

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CHAPTER 15 APPENDIXES

Setting value description

Bit Description Bit Description
0 General error 4 Communication error (not used)
1 Current error (not used) 5 Error specific to device profile (not used)
2 Voltage error (not used) 6 (Reserved)
3 Temperature error (not 7 Manufacturer specific error (not used)
used)

Index Name
1008H Manufacturer device name
Sub Name Data type Access PDO Default value EEPROM
00H — VS ro No — No
Setting range
Indicates the product type.
“ RYT 500 F 7 - V C 2“
Host interface
Applicable motor C: EtherCAT
capacity
500: 0.05 kW
101: 0.1 kW Series
201: 0.2 kW D: 3000 r/pm Series
C: 2000 r/pm Series
…

B: 1500 r/pm Series

F: 3000 to 1500 r/pm Series

Index Name
1009H Manufacturer hardware version
Sub Name Data type Access PDO Default value EEPROM
00H — VS ro No — No
Setting range
The display is fixed at “SP0407”.

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 CHAPTER 15 APPENDIXES

Index Name
100AH Manufacturer software version
Sub Name Data type Access PDO Default value EEPROM
00H — VS ro No — No
Setting range
Indicates the software version.
” . ”

Minor version (00 to 99)

‘.’(2EH)
Major version (00 to 99)

Index Name
1010H Store parameters
Sub Name Data type Access PDO Default value EEPROM
01H Save Objects UINT32 rw No 00000000H No
Setting range
Saves the Object Dictionary current value to the EEPROM.
Write as follows if using this object.

“save” (ISO8859/ character)

MSB LSB string
65h 76h 61h 73h

Index Name
1011H Restore default parameters
Sub Name Data type Access PDO Default value EEPROM
01H Restore all default UINT32 rw No 00000000H No
parameters
Setting range
Restores the ALPHA7 default parameters, except the Object Dictionary.
Write as follows if using this object.

“load” (ISO8859/ character)

MSB LSB string
64h 61h 6Fh 6Ch

Turn the power OFF and back ON again after writing is complete.

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CHAPTER 15 APPENDIXES

Index Name
1018H Identity object
Sub Name Data type Access PDO Default value EEPROM
00H Number of entries UINT8 ro No 04H No
Setting range
04H
Sub Name Data type Access PDO Default value EEPROM
01H Vendor ID UINT32 ro No 0000025EH No
Setting range
0000025EH: Fuji Electric Co.,LTD
Sub Name Data type Access PDO Default value EEPROM
02H Product code UINT32 ro No 00010002H No
Setting range
00010002H: ALPHA7
Sub Name Data type Access PDO Default value EEPROM
03H Revision number UINT32 ro No 00000000H No
Setting range
Manages the product revision number. With ALPHA7, the Revision No. is updated each
time the Object Dictionary specifications or setting ranges change.
Sub Name Data type Access PDO Default value EEPROM
04H Serial number UINT32 ro No 00000000H No
Setting range
With this product, this object is not supported.
This is fixed at "0".

Index Name
10E0H Device identification reload object
Sub Name Data type Access PDO Default value EEPROM
00H Number of entries UINT8 ro No 03H No
Setting range
03H
Sub Name Data type Access PDO Default value EEPROM
01H Configured Station UINT16 rw No 0000H No
Alias register value
Setting range
0000H to FFFFH
This is a copy of the Configured station alias (0012H) value.

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 CHAPTER 15 APPENDIXES

Sub Name Data type Access PDO Default value EEPROM

02H Write Configured BOOL rw No 0000H No
Station Alias persistent
Setting range
FALSE: Do not update the value set in 10E0-01H to the SII Configured Station Alias.
TRUE: Update the value set in 10E0-01H to the SII Configured Station Alias.
Sub Name Data type Access PDO Default value EEPROM
03H Reload ID-selector UINT16 rw No 0000H No
value
Setting range
0000H to FFFFH
The value set as the ID-Selector (panel front rotary switch, PA2_72) is displayed.
PA2_92: If EtherCAT extended function bit 0 is set to “1”, this value is copied to Configured
station alias (0012H) when writing 0000H.
It is not possible to write values other than 0000H, or write when PA2_92 (EtherCAT
extended function) bit 0 is set to “0”.

Index Name
10F1H Error settings
Sub Name Data type Access PDO Default value EEPROM
00H Highest Sub-index UINT8 ro No 02H No
Setting range
02H
Sub Name Data type Access PDO Default value EEPROM
02H Sync error counter limit UINT16 rw No 0000H No
Setting range
0000H to FFFFH

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CHAPTER 15 APPENDIXES

15.1.11 PDO Mapping Objects

PDO mapping is set using the 1600H to 1603H, 1A00H to 1A03H, 1C12H, and 1C13H objects. Set the
values set for objects 1600H to 1603H and 1A00H to 1A03H as follows.

(Upper byte) (Lower byte)

・Bit length of mapped

object
UNSIGNED8/SIGNED8:08
UNSIGNED16/SIGNED16:10
UNSIGNED32/SIGNED32:20

Sub-Index of mapped object

Sub-Index

Index of mapped object

Index

Index Name
1600H 1st receive PDO mapping
Sub Name Data type Access PDO Default value EEPROM
00H Number of entries UINT8 rw No 03H No
Setting range
00H to 10H
Sub Name Data type Access PDO Default value EEPROM
01H Mapping entry 1 UINT32 rw No 60400010H No
Setting range
60400010H: Controlword
Sub Name Data type Access PDO Default value EEPROM
02H Mapping entry 2 UINT32 rw No 607A0020H No
Setting range
607A0020H: Target position
Sub Name Data type Access PDO Default value EEPROM
03H Mapping entry 3 UINT32 rw No 60B80010H No
Setting range
60B80010H: Touch probe function

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 CHAPTER 15 APPENDIXES

Sub Name Data type Access PDO Default value EEPROM

04H Mapping entry 4 to 16 UINT32 rw No 00000000H No
to 10H
Setting range
Set the 4th to 16th RxPDO mapping data length and address.

Index Name
1601H 2nd receive PDO mapping
Sub Name Data type Access PDO Default value EEPROM
00H Number of entries UINT8 rw No 00H No
Setting range
00H to 10H
Sub Name Data type Access PDO Default value EEPROM
01H Mapping entry 1 to 16 UINT32 rw No 00000000H No
to 10H
Setting range
Set the 1st to 16th RxPDO mapping data length and address.

Index Name
1602H 3rd receive PDO mapping
Sub Name Data type Access PDO Default value EEPROM
00H Number of entries UINT8 rw No 00H No
Setting range
00H to 01H
Sub Name Data type Access PDO Default value EEPROM
01H Mapping entry 1 to 16 UINT32 rw No 00000000H No
to 10H
Setting range
Set the 1st to 16th RxPDO mapping data length and address.

Index Name
1603H 4th receive PDO mapping
Sub Name Data type Access PDO Default value EEPROM
00H Number of entries UINT8 rw No 00H No
Setting range
00H to 10H
Sub Name Data type Access PDO Default value EEPROM
01H Mapping entry 1 to 16 UINT32 rw No 00000000H No
to 10H
Setting range
Set the 1st to 16th RxPDO mapping data length and address.

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CHAPTER 15 APPENDIXES

Index Name
1A00H 1st transmit PDO mapping
Sub Name Data type Access PDO Default value EEPROM
00H Number of entries UINT8 rw No 08H No
Setting range
00H to 10H
Sub Name Data type Access PDO Default value EEPROM
01H Mapping entry 1 UINT32 rw No 60410010H No
Setting range
60410010H: Statusword
Sub Name Data type Access PDO Default value EEPROM
02H Mapping entry 2 UINT32 rw No 60640020H No
Setting range
60640020H: Position actual value
Sub Name Data type Access PDO Default value EEPROM
03H Mapping entry 3 UINT32 rw No 60B90010H No
Setting range
60B90010 H: Touch probe status
Sub Name Data type Access PDO Default value EEPROM
04 H Mapping entry 4 UINT32 rw No 60BA0020H No
Setting range
60BA0020H: Touch probe 1 positive position value
Sub Name Data type Access PDO Default value EEPROM
05H Mapping entry 5 UINT32 rw No 60BC0020H No
Setting range
60BC0020H: Touch probe 2 positive position value
Sub Name Data type Access PDO Default value EEPROM
06H Mapping entry 6 UINT32 rw No 603F0010H No
Setting range
603F0010H: Error code
Sub Name Data type Access PDO Default value EEPROM
07H Mapping entry 7 UINT32 rw No 60FD0020H No
Setting range
60FD0020H: Digital inputs

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 CHAPTER 15 APPENDIXES

Sub Name Data type Access PDO Default value EEPROM

08H to Mapping entry 8 to 16 UINT32 rw No 00000000H No
10H
Setting range
Set the 8th to 16th TxPDO mapping data length and address.

Index Name
1A01H 2nd transmit PDO mapping
Sub Name Data type Access PDO Default value EEPROM
00H Number of entries UINT8 rw No 00H No
Setting range
00H to 10H
Sub Name Data type Access PDO Default value EEPROM
01H Mapping entry 1 to 16 UINT32 rw No 00000000H No
to 10H
Setting range
Set the 1st to 16th TxPDO mapping data length and address.

Index Name
1A02H 3rd transmit PDO mapping
Sub Name Data type Access PDO Default value EEPROM
00H Number of entries UINT8 rw No 00H No
Setting range
00H to 10H
Sub Name Data type Access PDO Default value EEPROM
01H Mapping entry 1 to 16 UINT32 rw No 00000000H No
to 10H
Setting range
Set the 1st to 16th TxPDO mapping data length and address.

Index Name
1A03H 4th transmit PDO mapping
Sub Name Data type Access PDO Default value EEPROM
00H Number of entries UINT8 rw No 00H No
Setting range
00H to 16H
Sub Name Data type Access PDO Default value EEPROM
01H Mapping entry 1 to 16 UINT32 rw No 00000000H No
to 10H
Setting range
Set the 1st to 16th TxPDO mapping data length and address.

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CHAPTER 15 APPENDIXES

15.1.12 SyncManager Communication Objects

The way in which the EtherCAT communication memory is used is set at objects 1C00H to 1C33H.
Index Name
1C00H Sync manager communication type
Sub Name Data type Access PDO Default value EEPROM
00H Number of entries UINT8 ro No 04H No
Setting range
04H
Sub Name Data type Access PDO Default value EEPROM
01H Communication type sync UINT8 ro No 01H No
manager 0
Setting range
1: Mail Box Transmit (Master to slave)
Sub Name Data type Access PDO Default value EEPROM
02H Communication type sync UINT8 ro No 02H No
manager 1
Setting range
2: Mail Box Transmit (Slave to master)
Sub Name Data type Access PDO Default value EEPROM
03H Communication type sync UINT8 ro No 03H No
manager 2
Setting range
3: Output Process Data
Sub Name Data type Access PDO Default value EEPROM
04H Communication type sync UINT8 ro No 04H No
manager 3
Setting range
4: Input Process Data

• The following settings are specified at SyncManager.

SM0: Mailbox receipt (master → slave)
SM1: Mailbox transmission (slave → master)
SM2: Process data output (master → slave)
SM3: Process data input (slave → master)

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 CHAPTER 15 APPENDIXES

Index Name
1C10H Sync manager 0 PDO assignment
Sub Name Data type Access PDO Default value EEPROM
00H — UINT8 rw No 00H No
Setting range
Number of PDO assignments at SM0
00H: This is fixed.

Index Name
1C11H Sync manager 1 PDO assignment
Sub Name Data type Access PDO Default value EEPROM
00H — UINT8 rw No 00H No
Setting range
Number of PDO assignments at SM1
00H: This is fixed.

Index Name
1C12H Sync manager 2 PDO assignment
Sub Name Data type Access PDO Default value EEPROM
00H Number of entries UINT8 rw No 01H No
Setting range
00H to 04H
Sub Name Data type Access PDO Default value EEPROM
01H 1st PDO mapping Object UINT16 rw No 1600H No
index of assigned PDO
Setting range
1600H (RXPDO 1st) to 1603H (RXPDO 4th)
Sub Name Data type Access PDO Default value EEPROM
02H 2nd PDO mapping Object UINT16 rw No 0000H No
index of assigned PDO
Setting range
Same as 1st PDO mapping Object index of assigned PDO (1C12H: 01H)
Sub Name Data type Access PDO Default value EEPROM
03H 3rd PDO mapping Object UINT16 rw No 0000H No
index of assigned PDO
Setting range
Same as 1st PDO mapping Object index of assigned PDO (1C12H: 01H)

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CHAPTER 15 APPENDIXES

Sub Name Data type Access PDO Default value EEPROM

04H 4th PDO mapping Object UINT16 rw No 0000H No
index of assigned PDO
Setting range
Same as 1st PDO mapping Object index of assigned PDO (1C12H: 01H)

Index Name
1C13H Sync manager channel 3 PDO assignment
Sub Name Data type Access PDO Default value EEPROM
00H Number of entries UINT8 rw No 01H No
Setting range
00H to 04H
Sub Name Data type Access PDO Default value EEPROM
01H 1st PDO mapping Object UINT16 rw No 1A00H No
index of assigned PDO
Setting range
1A00H (TXPDO1st) to 1A03H (TxPDO4th)
Sub Name Data type Access PDO Default value EEPROM
02H 2nd PDO mapping Object UINT16 rw No 0000H No
index of assigned PDO
Setting range
Same as 1st PDO mapping Object index of assigned PDO (1C13H: 01H)
Sub Name Data type Access PDO Default value EEPROM
03H 3rd PDO mapping Object UINT16 rw No 0000H No
index of assigned PDO
Setting range
Same as 1st PDO mapping Object index of assigned PDO (1C13H: 01H)
Sub Name Data type Access PDO Default value EEPROM
04H 4th PDO mapping Object UINT16 rw No 0000H No
index of assigned PDO
Setting range
Same as 1st PDO mapping Object index of assigned PDO (1C13H: 01H)

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 CHAPTER 15 APPENDIXES

Index Name
1C32H Sync manager channel 2 synchronization
Sub Name Data type Access PDO Default value EEPROM
00H Number of entries UINT8 ro No 20H No
Setting range
20H
Sub Name Data type Access PDO Default value EEPROM
01H Synchronization type UINT16 rw No 02H No
Setting range
00H: Not synchronized (free run)
01H: SM2 Synchronized
02H: DC Sync0 (Sync0 hardware signal synchronous)
03H: Reserved
Sub Name Data type Access PDO Default value EEPROM
02H Cycle time UINT32 ro No 000F4240H No
(1ms)
Setting range
125000 ns (125 μs): 0001E848H 1000000 ns (1 ms): 000F4240H
250000 ns (250 μs): 0003D090H 2000000 ns (2 ms): 001E8480H
500000 ns (500 μs): 0007A120H 4000000 ns (4 ms): 003D0900H

DC synchronization is possible for any of the above cycles.

Transition from Pre OP to Safe OP is not possible for values other than the
above.
For SM2 synchronization, communicate in any of the above cycles of 500
μs or greater.

Sub Name Data type Access PDO Default value EEPROM

03H Shift time UINT32 ro No 00000000H No
Setting range
This object is not supported. (fixed at 0 μs)
Sub Name Data type Access PDO Default value EEPROM
04H Synchronization types UINT16 ro No 0007H No
supported
Setting range
Bit 0: Free run (supported)
Bit 1: SM2 event
Bit 2: DC Sync0 event
Bit 3: DC Sync1 event
Bit 4: Slave application cycle
Bit 5 to 6: Output shift support
Bit 7 to 15: Reserved
“0”: Not supported “1”: Supported

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CHAPTER 15 APPENDIXES

Sub Name Data type Access PDO Default value EEPROM

05H Minimum cycle time UINT32 ro No 0001E848H No
(125μs)
Setting range
125 μs (0001E848H)

Use SM2 synchronization in communication cycles of 500 μs or greater.

Sub Name Data type Access PDO Default value EEPROM

06H Calc and copy time UINT32 ro No 0000EA60H No
(60μs)
Setting range
60 μs
* This is a reference value. Operation is not guaranteed.
Sub Name Data type Access PDO Default value EEPROM
08H Get cycle time UINT16 rw No 0000H No
Setting range
This object is not supported. (00H) (fixed))
Sub Name Data type Access PDO Default value EEPROM
09H Delay time UINT32 ro No 00000000H No
(0μs)
Setting range
This object is not supported. (00H) (fixed))
Sub Name Data type Access PDO Default value EEPROM
0AH Sync0 cycle time UINT32 ro No 00000000H No
Setting range
The same value as that for Cycle time is displayed.
Sub Name Data type Access PDO Default value EEPROM
0BH SM-event missed UINT16 ro No 0000H No
Setting range
With Sync0 events, SM-event missed objects increase by 3 when process output data is
not updated (when (SM2) events are not received). When process output data is updated
successfully, the internal error counter decreases by 1.
SM-event missed objects are reset when the ESM status changes from OP to SAFEOP.
Sub Name Data type Access PDO Default value EEPROM
0CH Cycle time too small UINT16 ro No 0000H No
Setting range
This object is not supported.

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 CHAPTER 15 APPENDIXES

Sub Name Data type Access PDO Default value EEPROM

0DH Shift time too short UINT16 ro No 0000H No
Setting range
This object is not supported.
Sub Name Data type Access PDO Default value EEPROM
0EH RxPDO toggle failed UINT16 ro No 0000H No
Setting range
This object is not supported.
Sub Name Data type Access PDO Default value EEPROM
0FH Minimum cycle distance UINT32 ro No 00000000H No
Setting range
This object is not supported.
Sub Name Data type Access PDO Default value EEPROM
10H Maximum cycle distance UINT32 ro No 00000000H No
Setting range
This object is not supported.
Sub Name Data type Access PDO Default value EEPROM
11H Minimum SM sync UINT32 ro No 00000000H No
distance
Setting range
This object is not supported.
Sub Name Data type Access PDO Default value EEPROM
12H Maximum SM sync UINT32 ro No 00000000H No
distance
Setting range
This object is not supported.
Sub Name Data type Access PDO Default value EEPROM
20H Sync error BOOL ro No 00H No
Setting range
00H: No error
01H: Sync error

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CHAPTER 15 APPENDIXES

Index Name
1C33H Sync manager channel 3 synchronization
Sub Name Data type Access PDO Default value EEPROM
00H Number of entries UINT8 ro No 20H No
Setting range
20H
Sub Name Data type Access PDO Default value EEPROM
01H Synchronization type UINT16 rw No 0002H No
Setting range
00H: Not synchronized (free run)
01H: Reserved
02H: DC Sync0 (SYNC0 hardware signal synchronous)
03H: Reserved
Sub Name Data type Access PDO Default value EEPROM
02H Cycle time UINT32 ro No 000F4240H No
Setting range
125000 ns (125 μs): 0001E848H 1000000 ns (1 ms): 000F4240H
250000 ns (250 μs): 0003D090H 2000000 ns (2 ms): 001E8480H
500000 ns (500 μs): 0007A120H 4000000 ns (4 ms): 003D0900H

DC synchronization is possible for any of the above cycles.

Transition from Pre OP to Safe OP is not possible for values other than the
above.
For SM2 synchronization, communicate in any of the above cycles of 500
μs or greater.

Sub Name Data type Access PDO Default value EEPROM

03H Shift time UINT32 ro No 00000000H No
Setting range
This object is not supported. (00H) (fixed))
Sub Name Data type Access PDO Default value EEPROM
04H Synchronization types UINT16 ro No 0007H No
supported
Setting range
Bit 0: Free run (supported)
Bit 1: SM2 event
Bit 2: DC Sync0 event
Bit 3: DC Sync1 event
Bit 4: Slave application cycle
Bit 5 to 6: Output shift support
Bit 7 to 15: Reserved
“0”: Not supported “1”: Supported

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 CHAPTER 15 APPENDIXES

Sub Name Data type Access PDO Default value EEPROM

05H Minimum cycle time UINT32 ro No 0001E848H No
Setting range
125 μs (fixed)

SM2 synchronization should be used with a communication cycle of 500μs

or more

Sub Name Data type Access PDO Default value EEPROM

06H Calc and copy time UINT32 ro No 000124F8H No
(75 μs)
Setting range
75μs
* This is a reference value. Operation is not guaranteed.
Sub Name Data type Access PDO Default value EEPROM
08H Get Cycle Time UINT16 rw No 0000H No
Setting range
This parameter is not supported.
Sub Name Data type Access PDO Default value EEPROM
09H Delay time UINT32 ro No 00000000H No
(0 μs)
Setting range
0 μs
Sub Name Data type Access PDO Default value EEPROM
0AH Sync0 Cycle time UINT32 ro No 00000000H No
Setting range
This parameter is not supported.
Sub Name Data type Access PDO Default value EEPROM
0BH SM-event missed UINT16 ro No 0000H No
Setting range
This parameter is not supported.
Sub Name Data type Access PDO Default value EEPROM
0CH Cycle time too small UINT16 ro No 0000H No
Setting range
This parameter is not supported.
Sub Name Data type Access PDO Default value EEPROM
0DH Shift time too short UINT16 ro No 0000H No
Setting range
This parameter is not supported.

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CHAPTER 15 APPENDIXES

Sub Name Data type Access PDO Default value EEPROM

0EH RxPDO toggle failed UINT16 ro No 0000H No
Setting range
This parameter is not supported.
Sub Name Data type Access PDO Default value EEPROM
20H Sync error BOOL ro No 0 No
Setting range
This parameter is not supported.

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 CHAPTER 15 APPENDIXES

15.1.13 Manufacturer Objects

This section describes objects unique to Fuji Electric.

Index Name

3002H Vibration suppressing anti resonance frequency

Sub Name Data type Access PDO Default value EEPROM

00H — UINT16 rw Yes 0BB8H No

Setting range

0.0 Hz: Disable

1.0 to 300.0 Hz

Index Name

3003H Vibration suppressing workpiece inertia ratio

Sub Name Data type Access PDO Default value EEPROM

00H — UINT16 rw Yes 0000H No

Setting range

0 to 80%

If enabling Anti-resonance frequency (3002H) or Workpiece inertia ratio (3003H) with vibration
suppression, set PA1_77 (Vibration suppressing function selection) to “2: IQ area”.

Index Name
5001H Parameter (PA1)
Sub Name Data type Access PDO Default EEPROM
value
00H Highest sub idx supported UINT8 ro No 63H No
Setting range
63H
Sub Name Data type Access PDO Default EEPROM
value
00H Parameter (PA1) 1 to 99 UINT32 rw No 00000000H No
Setting range
00000000H to FFFFFFFFH

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CHAPTER 15 APPENDIXES

Index Name
5002H Parameter (PA2)
Sub Name Data type Access PDO Default value EEPROM
00H Highest sub idx supported UINT8 ro No 63H No
Setting range
63H
Sub Name Data type Access PDO Default value EEPROM
00H Parameter (PA2) 1 to 99 UINT32 rw No 00000000H No
Setting range
00000000H to FFFFFFFFH

Index Name
5003H Parameter (PA3)
Sub Name Data type Access PDO Default value EEPROM
00H Highest sub idx supported UINT8 ro No 63H No
Setting range
63H
Sub Name Data type Access PDO Default value EEPROM
00H Parameter (PA3) 1 to 99 UINT32 rw No 00000000H No
Setting range
00000000H to FFFFFFFFH

Index Name
5004 Parameter (PA4)
H
Sub Name Data type Access PDO Default value EEPROM
00H Highest sub idx supported UINT8 ro No 63H No
Setting range
63H
Sub Name Data type Access PDO Default value EEPROM
00H Parameter (PA4) 1 to 99 UINT32 rw No 00000000H No
Setting range
00000000H to FFFFFFFFH

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 CHAPTER 15 APPENDIXES

Servo amplifier parameters can be set and monitored with objects 5001H to 5004H.
Each object is linked to each parameter based on the following rule.
Index = 50□□ Sub = xx
• □□
Data indicates the written (or read) parameter type.
01H: PA1
02H: PA2
03H: PA3
04H: PA4

• xx
Indicates the parameter number.

* Example: PA2_1 → Index: 5002 Sub0x01

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15.1.14 Servo Amplifier Profile Objects

This section describes objects defined in the CiA402 drive profiles supported by the ALPHA7 Series.
Index Name
6040H Controlword
Sub Name Data type Access PDO Default value EEPROM
00H — UINT16 rw Yes 0000H No

Bit Name Description

0 Switch on Refer to “Bit 7, bit 3 to 0 command definition” below.
1 Enable voltage Refer to “Bit 7, bit 3 to 0 command definition” below.
2 Quick stop Refer to “Bit 7, bit 3 to 0 command definition” below.
3 Enable operation Refer to “Bit 7, bit 3 to 0 command definition” below.
Operation mode This is a bit peculiar to each operation mode.
4 to 6
specific Refer to "Definition of bit 9, bit 6 to 4 for each operation mode".
7 Fault reset Refer to “Bit 7, bit 3 to 0 command definition” below.
8 Halt Specify the halt method with Halt option code (605DH).
Operation mode These bit definitions are dependent on the control mode.
9
specific These bits are not supported.
10 Reserved Set this bit to "0".
11 CONT7 Function assignment is possible with PA3_07.
12 CONT8 Function assignment is possible with PA3_08.
13 to Set this bit to "0".
Reserved
15

• Bit 7, bit 3 to 0 command definition

Controlword (6040)
Operation Transition No.
b7 b3 b2 b1 b0
Shut Down 0 X 1 1 0 2，6，8
Switch on 0 0 1 1 1 3
Disable Voltage 0 X X 0 X 7，9，10，12
Quick Stop 0 1 0 1 1 11
Disabled Operation 0 0 1 1 1 5
Enable Operation *1 0 1 1 1 1 4，16
Fault Reset 0⇒1 X X X X 15
*1: When the status is “Ready to switch on”, and the servo amplifier receives commands for which
operation is possible, the status automatically changes to “Enable Operation”.

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• Definition of bit 9, bit 6 to 4 for each operation mode

Operation Control word

mode Bit 9 Bit 6 Bit 5 Bit 4
pp — *1 — *1 Change set immediately New set-point
pv — — — —
hm — Homing operation start
csp — — — —
csv — — — —
cst — — — —
*1: Operation for these bits is not supported.

Index Name
6041H Statusword
Sub Name Data type Access PDO Default value EEPROM
00H — UINT16 ro Yes 0000H No

Bit Name Description

0 Ready to switch on Refer to "FSA status (bit 6 to 5, bit 3 to 0)".
1 Switch on Refer to "FSA status (bit 6 to 5, bit 3 to 0)".
2 Operation enabled Refer to "FSA status (bit 6 to 5, bit 3 to 0)".
3 Fault Refer to "FSA status (bit 6 to 5, bit 3 to 0)".
4 Voltage enabled When this bit is “1”, it means that the main power supply is "ON”.
5 Quick stop Refer to "FSA status (bit 6 to 5, bit 3 to 0)".
6 Switch on disabled Refer to "FSA status (bit 6 to 5, bit 3 to 0)".
7 Warning This bit is “1” when warnings have occurred.
8 Manufacturer specific This bit is not used.
9 Remote This bit is “1” while operation from the controller is possible.
10 Operation mode specific Refer to "Definition of bit 10, 12, 13 for each operation mode".
This bit is “1” while a torque limit is applied, or when an OT has
11 Internal limit value
occurred.
12 Operation mode specific Refer to "Definition of bit 10, 12, 13 for each operation mode".
13 Operation mode specific Refer to "Definition of bit 10, 12, 13 for each operation mode".
14 OUT3 Function assignment is possible with PA3_53.
15 OUT4 Function assignment is possible with PA3_54.

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• FSA status (bit 6 to 5, bit 3 to 0)

Statusword bit
No. FSA status
Bit 6 Bit 5 Bit 3 Bit 2 Bit 1 Bit 0
[A] Not ready to Switch on 0 X 0 0 0 0
[B] Switch on Disabled 1 X 0 0 0 0
[C] Ready to Switch on 0 1 0 0 0 1
[D] Switch on 0 1 0 0 1 1
[E] Operation enabled 0 1 0 1 1 1
[F] Quick stop active 0 0 0 1 1 1
[G] Fault reaction active 0 X 1 1 1 1
[H] Fault 0 X 1 0 0 0

• Definition of bit 10, 12, 13 for each operation mode

Status word
Operation mode
Bit 13 Bit 12 Bit 10
pp Following error Set-point acknowledge Target reached
pv — *1 Speed — *1
hm Homing error Homing attained Target reached
csp Following error Target position ignored *2 — *1
csv — Target velocity ignored *2 — *1
cst — Target torque ignored *2 — *1
*1: Operation for these bits is not supported.
*2: Target value ignored is “0” if unable to follow the command.

Index Name
603FH Error code
Sub Name Data type Access PDO Default value EEPROM
00H — UINT16 ro Yes 0000H No

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The following table is a list of error codes.

Alarm display Error register
Alarm details Error Code
(7SEG LED) (1001H)
No alarm (during normal operation) — — 0000H —
Overcurrent 1 oc 01 FF01H Bit 0
Overcurrent 2 oc 02 FF02H Bit 0
Overspeed oS FF03H Bit 0
Control power undervoltage Lu cn FF04H Bit 0
Overvoltage Hu FF05H Bit 0
Encoder error 1 Et 01 FF06H Bit 0
Encoder error 2 Et 02 FF07H Bit 0
Memory error dE FF09H Bit 0
Motor combination error cE FF0BH Bit 0
Encoder communication error Ec FF0DH Bit 0
CONT overlap co nt FF0EH Bit 0
Overload 1 oL 01 FF0FH Bit 0
Overload 2 oL 02 FF10H Bit 0
Inrush current suppressing circuit error rH 04 FF11H Bit 0
Safety function error SF tY FF12H Bit 0
Main circuit undervoltage Lu Po FF21H Bit 0
Internal regenerative resistor overheat rH 01 FF22H Bit 0
External regenerative resistor overheat rH 02 FF23H Bit 0
Braking transistor error rH 03 FF24H Bit 0
Deviation over oF FF25H Bit 0
Amplifier overheat AH FF26H Bit 0
Encoder overheat EH FF27H Bit 0
ABS data loss 1 dL 01 FF28H Bit 0
ABS data loss 2 dL 02 FF29H Bit 0
ABS data loss 3 dL 03 FF2AH Bit 0
Multi-turn overflow AF FF2BH Bit 0
Initial error iE FF2CH Bit 0
Command pulse frequency error HF FF2DH Bit 0
Overload 3 oL 03 FF2EH Bit 0
Cycle communication error cY FF2FH Bit 0

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CHAPTER 15 APPENDIXES

Index Name
605AH Quick stop option code
Sub Name Data type Access PDO Default value EEPROM
00H — INT16 rw No 1 Yes
Setting range
Stipulate operation when inputting an EMG signal, or when the status changes to Quick
stop active.
0: Free run (automatically changes to Switch on disabled).
1: Decelerates and stops based on Profile deceleration (automatically changes to Switch
on disabled).
2: Decelerates and stops based on Quick stop deceleration (automatically changes to
Switch on disabled).
3: Decelerates and stops based on Third torque limit (automatically changes to Switch on
disabled).
4: Reserved *1
5: Decelerates and stops based on Profile deceleration.
6: Decelerates and stops based on Quick stop deceleration.
7: Decelerates and stops based on third torque limit.
*1: Do not set.

Index Name
605BH Shut down option code
Sub Name Data type Access PDO Default value EEPROM
00H — INT16 rw No 1 Yes
Setting range
Set the deceleration operation when the main power supply is turned OFF. Following
deceleration, operation is based on the PA2_63 (1st digit) setting.
0: Decelerates based on PA2_63 (2nd digit).
1: Decelerates and stops based on Profile deceleration.

Index Name
605CH Disable operation option code
Sub Name Data type Access PDO Default value EEPROM
00H — INT16 rw No 1 Yes
Setting range
Set the deceleration method when the servo is OFF. Following deceleration, operation is
based on the PA2_61 (1st digit) setting.
0: Operation is based on PA2_61 (2nd digit).
1: Decelerates and stops based on Profile deceleration.

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Index Name
605DH Halt option code
Sub Name Data type Access PDO Default value EEPROM
00H — INT16 rw No 1 Yes
Setting range
Set the deceleration method when the Halt command is input..
1: Decelerates and stops based on Profile deceleration.
2: Decelerates and stops based on Quick stop deceleration.
3: Decelerates and stops based on third torque limit.

Index Name
605EH Fault reaction option code
Sub Name Data type Access PDO Default value EEPROM
00H — INT16 rw No 2 Yes
Setting range
Set the deceleration method when an alarm occurs. The motor stops immediately (base
OFF) when a major failure occurs.
Setting When decelerating After deceleration
value Minor fault Major fault stop

0 Operation is based on the PA2_62 Operation is Operation is based

(4th digit) setting. based on the on the PA2_62 (1st
PA2_62 (2nd digit) setting.
1 Decelerates and stops based on
digit) setting.
Profile deceleration.
2 Decelerates and stops based on
Quick stop deceleration.
3 Decelerates and stops based on
Third torque limit

Index Name
6060H Modes of operation
Sub Name Data type Access PDO Default value EEPROM
00H — INT8 rw Yes 0 No
Setting range
Set the control mode to be used for this object.
Begin operation after setting this object.
0: No mode
1: Profile position mode
3: Profile velocity mode
6: Homing mode
8: Cyclic synchronous position mode
9: Cyclic synchronous velocity mode
10: Cyclic synchronous torque mode
Other than above: Do not set.

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CHAPTER 15 APPENDIXES

Index Name
6061H Modes of operation display
Sub Name Data type Access PDO Default value EEPROM
00H — INT8 ro Yes 0 No
Setting range
0: No mode
1: Profile position mode
3: Profile velocity mode
6: Homing mode
8: Cyclic synchronous position mode
9: Cyclic synchronous velocity mode
10: Cyclic synchronous torque mode

Index Name
6062H Position demand value
Sub Name Data type Access PDO Default value EEPROM
00H — INT32 ro Yes 0 No
Setting range
-2147483648 to 2147483647 units
Displays the internal position command value.

Index Name
6063H Position actual value
Sub Name Data type Access PDO Default value EEPROM
00H — INT32 ro Yes 0 No
Setting range
-2147483648 to 2147483647 pulses
Displays the internal feedback position in pulse units with the home position as 0.

Index Name
6064H Position actual value
Sub Name Data type Access PDO Default value EEPROM
00H — INT32 ro Yes 0 No
Setting range
-2147483648 to 2147483647 units
Displays the feedback position.

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Index Name
6065H Following error window
Sub Name Data type Access PDO Default value EEPROM
00H — UINT32 rw No FFFFFFFFH UINT32
Setting range
1 to 4294967295 units
Sets the Controlword (0x6040) Following Error (bit 13) detection value in CSP and PP
mode.
The servomotor will not run when the default value of 4294967295 is set, and therefore
this object should be used after setting to the desired value.

Index Name
6066H Following error time out
Sub Name Data type Access PDO Default value EEPROM
00H — UINT16 rw No 0000H Yes
Setting range
0 to 1000 ms
Sets the Controlword (0x6040) Following Error (bit 13) detection time in CSP and PP
mode.
The Following Error will be 1 if the condition in which the position deviation exceeds the
Following error window (0x6065) setting value continues for the Following error timeout
(0x6066) time.

Index Name
6067H Position window
Sub Name Data type Access PDO Default value EEPROM
00H — UINT32 rw No 00000064H Yes
Setting range
1 to 2000000 units

Set the Controlword (0x6040) Target reached (bit 10) detection value in PP mode. If the distance from
the current position to the target position drops below this setting value, the value will be 1.
Furthermore, the following ALPHA7 output signal (OUT signal) levels should also be set.
• Zero deviation range
Set the activation level for the "zero deviation" output signal (OUT signal).
The signal is turned on at position deviation within the reference value.
• In-position range
Set the deviation condition for the "in-position (INP)" output signal (OUT signal).
The in-position (INP) signal is turned on if position deviation is within this reference value and the
motor rotation speed is within the reference value of the "zero speed range."

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CHAPTER 15 APPENDIXES

However, conditions also apply to the completion of pulse elimination inside the servo amplifier when
performing a position control trial run in PP mode or HM mode.

◼ In-position signal
The in-position signal is turned on if position deviation is within the reference value of
"zero deviation range" and the motor rotation speed is within the reference value of "zero
speed range" (AND condition of zero speed and zero deviation).
Refer to the following timing chart.

◼ Timing chart

Rotation speed

Zero speed range

Time

Deviation
Position window (6067H)

Time

Zero speed OFF ON

ON
OFF
Deviation zero

ON
Positioning OFF
complete
Position window time (6068H)

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 CHAPTER 15 APPENDIXES

Index Name
6068H Position window time
Sub Name Data type Access PDO Default value EEPROM
00H — UINT16 rw No 0000H Yes
Setting range
0 to 1000 ms
Set the judgment time until in-position [INP] is recognized.

Index Name
606BH Velocity demand value
Sub Name Data type Access PDO Default value EEPROM
00H — INT32 ro Yes 0 No
Setting range
-2147483648 to 2147483647 unit/s
Displays the internal speed command value.

Index Name
606CH Velocity actual value
Sub Name Data type Access PDO Default value EEPROM
00H — INT32 ro Yes 0 No
Setting range
-2147483648 to 2147483647 unit/s
Displays the motor feedback speed.

Index Name
6071H Target torque
Sub Name Data type Access PDO Default value EEPROM
00H — INT16 rw Yes 0 No
Setting range
-350.0% to 350.0%
Adjust in 0.1% units with motor rated torque of 100% as the reference.

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CHAPTER 15 APPENDIXES

Index Name
6074H Torque demand
Sub Name Data type Access PDO Default value EEPROM
00H — INT16 ro Yes 0 No
Setting range
-350.0% to 350.0%
The value is output in 0.1% units with motor rated torque of 100% as the reference.
The value is the same as that for Torque actual value (6077H).

Index Name
6077H Torque actual value
Sub Name Data type Access PDO Default value EEPROM
00H — INT16 ro Yes 0 No
Setting range
-350.0% to 350.0%
The value is output in 0.1% units with motor rated torque of 100% as the reference.
The value is the same as that for Torque demand (6074H).

Index Name
607AH Target position
Sub Name Data type Access PDO Default value EEPROM
00H — INT32 rw Yes 0 No
Setting range
-2147483648 to 2147483647
Set the absolute target position.

Index Name
607CH Home offset
Sub Name Data type Access PDO Default value EEPROM
00H — INT32 rw No 0 Yes
Setting range
-2000000000 to +2000000000
Set an offset for the Homing Mode stop position.

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Index Name
607DH Software position limit
Sub Name Data type Access PDO Default value EEPROM
00H Number of entries UINT8 ro No 02H No
Setting range
02H
Sub Name Data type Access PDO Default value EEPROM
01H Min position limit INT32 rw No 2000000000 Yes
Setting range
-2000000000 to 2000000000 unit
Sub Name Data type Access PDO Default value EEPROM
02H Max position limit INT32 rw No -2000000000 Yes
Setting range
-2000000000 to 2000000000 unit

Index Name
607FH Max profile velocity
Sub Name Data type Access PDO Default value EEPROM
00H — UINT32 rw Yes 64000000H No
Setting range
0 to 2147483647 unit/s
Set the maximum speed. (This is common, regardless of the control mode.)
* Set PA2_56 to “1” when this object is enabled.

Index Name
6081H Profile velocity
Sub Name Data type Access PDO Default value EEPROM
00H — UINT32 rw Yes 10AAAAABH No
Setting range
0 to 2147483647 unit/s
Set the operating speed in PP mode.

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CHAPTER 15 APPENDIXES

Index Name
6083H Profile acceleration
Sub Name Data type Access PDO Default value EEPROM
00H — UINT32 rw Yes 21555555H No
Setting range
0 to 2147483647 unit/s2
Set the acceleration during operation when in PP mode or PV mode.

Index Name
6084H Profile deceleration
Sub Name Data type Access PDO Default value EEPROM
00H — UINT32 rw Yes 21555555H No
Setting range
0 to 2147483647 unit/s2
Set the deceleration during operation when in PP mode or PV mode.

 If Profile deceleration is assigned to the PDO, an unexpected operation may occur

when the program at the host side stops, and so caution is advised.

Index Name
6085H Quick stop deceleration
Sub Name Data type Access PDO Default value EEPROM
00H — UINT32 rw No 21555555H Yes
Setting range
0 to 2147483647 unit/s2
Set the deceleration when performing a rapid deceleration stop.

Set the deceleration time in deceleration units when bringing the motor to a decelerated stop with a
forced stop, etc.

The motor decelerates based on this parameter setting under the following conditions.
• When performing a forced stop (if Quick stop option code (605AH) set to deceleration stop with
Quick stop deceleration)
• When OT detected (if deceleration operation set for deceleration time with PA2_63)
• When function safety module SS1 function active (if servo amplifier SS1 sequence enabled with
PA4_11)

If the motor is decelerated based on the deceleration time following OT detection, take care not to
exceed the machine system range of motion.

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 CHAPTER 15 APPENDIXES

Index Name
608FH Position encoder resolution
Sub Name Data type Access PDO Default value EEPROM
00H Number of entries UINT8 ro No 02H No
Setting range
02H
Sub Name Data type Access PDO Default value EEPROM
01H Encoder increments UINT32 ro No 00000001H No
Setting range
By setting this parameter, the servomotor encoder resolution is set automatically.
Sub Name Data type Access PDO Default value EEPROM
02H Motor revolutions UINT32 ro No 00000001H No
Setting range
This parameter is fixed at "1".

Index Name
6091H Gear ratio
Sub Name Data type Access PDO Default value EEPROM
00H Number of entries UINT8 ro No 02H No
Setting range
02H
Sub Name Data type Access PDO Default value EEPROM
01H Motor revolutions UINT32 rw No 00000001H Yes
Setting range
1 to 67108864
Sub Name Data type Access PDO Default value EEPROM
02H Shaft revolutions UINT32 rw No 00000001H Yes
Setting range
1 to 67108864

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CHAPTER 15 APPENDIXES

This setting defines the relationship between the command unit amount and encoder pulse count.
The following equation is used to calculate.

[Motor revolutions / Shaft revolutions calculation formula]

Cancel down so that Motor revolutions/Shaft revolutions is an integer (67108864 or less).

(Mechanical system travel amount per servomotor revolution) Motor revolutions

× = (unit amount) *
Encoder pulse count* Shaft revolutions

* The unit amount is a value such as “1”, “0.1”, “0.01”, or “0.001”. Unit is expressed as [unit].

* The encoder pulse count is the value for “24 bits = 16777216 pulses”.

Motor revolutions Encoder pulse count

= × (unit amount)
Shaft revolutions (Mechanical system travel amount per servomotor revolution)

[Calculation example]
To connect the ball screw (lead 10 [mm]) directly to the output shaft of the servomotor and set the unit
amount at 1/100, the number of encoder pulses (24 bits) is 16777216 revolutions.

(Mechanical system travel amount per servomotor revolution) Motor revolutions

× = (unit amount)
16777216 pulses/revolution Shaft revolutions

10 mm Motor revolutions
× = 1 / 100
16777216 pulses/revolution Shaft revolutions

Motor revolutions 16777216 pulses/revolution 2097152

= 1 / 100 × ＝
Shaft revolutions 10 mm 125

Consequently, the Motor revolutions will be 2097152, and Shaft revolutions will be 125.

If the mechanical system travel amount per 1 pulse = 0.01 mm

servomotor revolution includes , you can

approximate to 355/113.

1,000 pulses = 10 mm (1 motor revolution)

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 CHAPTER 15 APPENDIXES

Index Name
6092H Feed Constant
Sub Name Data type Access PDO Default value EEPROM
00H Highest sub-index UINT8 ro No 02H No
supported
Setting range
02H
Sub Name Data type Access PDO Default value EEPROM
01H Feed UINT32 ro No 00000001H No
Setting range
By setting this parameter, the same value as that for Encoder increments (608FH-01H) is
set automatically.
Sub Name Data type Access PDO Default value EEPROM
02H Driving shaft revolutions UINT32 ro No 00000001H No
Setting range
This parameter is fixed at "1".

Index Name
6098H Homing method
Sub Name Data type Access PDO Default value EEPROM
00H — INT8 rw No 0 Yes
Setting range
Select the homing (Homing mode) operation mode (method).
Internal parameters change based on this mode.

Index Name
6099H Homing speeds
Sub Name Data type Access PDO Default value EEPROM
00H Number of entries UINT8 ro No 02H No
Setting range
02H
Sub Name Data type Access PDO Default value EEPROM
01H Speed during search for UINT32 rw No 08555555H Yes
switch
Setting range
0 to 214783647 unit/s
Set the speed up to the point where operation changes to creep conditions when
performing homing.

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CHAPTER 15 APPENDIXES

Sub Name Data type Access PDO Default value EEPROM

02H Speed during search for zero UINT32 rw No 00D55555H Yes
Setting range
0 to 214783647 unit/s
This is the creep speed when performing homing.

Index Name
609AH Homing acceleration
Sub Name Data type Access PDO Default value EEPROM
00H — UINT32 rw No 21555555H Yes
Setting range
0 to 2147483647 unit/s2
Set the acceleration and deceleration time when performing homing.

Index Name
60B8H Touch probe function
Sub Name Data type Access PDO Default value EEPROM
00H — UINT16 rw Yes 0000H No
Setting range
Bit 0: Touch probe 1 switch -0: Disable Touch probe 1
-1: Enable Touch probe 1
Bit 1: Behavior of touch probe trigger -0: Maintain initial detection
-1: Update each time detected
Bit 2: Select touch probe 1 trigger -0: Touch probe 1 signal
-1: Z-phase input
Bit 3: Reserved *1
Bit 4: Touch probe 1 switch at rising edge -0: Disable
-1: Enable
Bit 5: Touch probe 1 switch at falling edge -0: Disable
-1: Enable
Bit 6-7: Reserved *1
Bit 8: Touch probe 2 switch -0: Disable Touch probe 2
-1: Enable Touch probe 2
Bit 9: Behavior of touch probe trigger -0: Maintain initial detection
-1: Update each time detected
Bit 10: Select touch probe 2 trigger -0: Touch probe 2 input
-1: Encoder Z-phase
Bit 11: Reserved *1
Bit 12: Touch probe 2 switch at positive edge -0: Disable
-1: Enable
Bit 13: Touch probe 2 switch at negative edge -0: Disable
-1: Enable
Bit 14, 15: Reserved *1
*1: Set this bit to “0”.
This sets touch probe function operation.

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Index Name
60B9H Touch probe status
Sub Name Data type Access PDO Default value EEPROM
00H — UINT16 ro Yes 0000H No
Setting range
Bit 0: Touch probe 1 switch -0: Disable Touch probe 1
-1: Enable Touch probe 1
Bit 1: Touch probe 1 positive edge -0: No detection
-1: Detection complete
Bit 2: Touch probe 1 negative edge -0: No detection
-1: Detection complete
Bit 3-7: Reserved *1
Bit 8: Touch probe 2 switch -0: Disable Touch probe 2
-1: Enable Touch probe 2
Bit 9: Touch probe 2 positive edge -0: No detection
-1: Detection complete
Bit 10: Touch probe 2 negative edge -0: No detection
-1: Detection complete
Bit 11 - 15 Reserved *1
*1: Do not use these bits.
This sets touch probe function operation.

Index Name
60BAH Touch probe 1 positive position value
Sub Name Data type Access PDO Default value EEPROM
00H — INT32 ro Yes 0 No
Setting range
-2147483648 to 2147483647 unit
This is the Touch probe1 rising detection position.

Index Name
60BBH Touch probe 1 negative position value
Sub Name Data type Access PDO Default value EEPROM
00H — INT32 ro Yes 0 No
Setting range
-2147483648 to 2147483647 unit
This is the Touch probe1 falling detection position.

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CHAPTER 15 APPENDIXES

Index Name
60BCH Touch probe 2 positive position value
Sub Name Data type Access PDO Default value EEPROM
00H — INT32 ro Yes 0 No
Setting range
-2147483648 to 2147483647 unit
This is the Touch probe2 rising detection position.

Index Name
60BDH Touch probe 2 negative position value
Sub Name Data type Access PDO Default value EEPROM
00H — INT32 ro Yes 0 No
Setting range
-2147483648 to 2147483647 unit
This is the Touch probe2 falling detection position.

Index Name
60C2H Interpolation time period
Sub Name Data type Access PDO Default value EEPROM
00H Number of entries UINT8 ro No 02H No
Setting range
02H
Sub Name Data type Access PDO Default value EEPROM
01H Interpolation time period UINT8 rw No 03H Yes
value
Setting range
0 to 255 *1*2
Sub Name Data type Access PDO Default value EEPROM
02H Interpolation time index INT8 rw No -3 Yes
Setting range
-6 to -3 *1*2
*1: Any time value of 12 ms or higher will be regarded as 12 ms.
*2: This object is automatically set when in DC synchronous mode or PA2_92 ≠ 0.

The command delay time is set with the following definitional equation.

指令遅延時間
Command [s] = IntepolationTimePeriodValue  10
delay time [s]
( InterPolationTimeIndex )

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Index Name
60E0H Positive torque limit value
Sub Name Data type Access PDO Default value EEPROM
00H — UINT16 rw Yes 0DACH No
Setting range
0.0% to 350.0%

Index Name
60E1H Negative torque limit value
Sub Name Data type Access PDO Default value EEPROM
00H — UINT16 rw Yes 0DACH No
Setting range
0.0% to 350.0%
Adjust the Positive torque limit value and Negative torque limit value in 0.1% units with motor rated
torque of 100% as the reference. The definition of torque limit positive and negative is as follows.
The Positive torque limit value and Negative torque limit value settings are not enabled when the
product is shipped form the factory. When using the product, set PA2_57 (5002H-39H) to “1”.

CCW Torque

Positive Torque
Limit Value CCW Rotate
CW Rotate

Negative Torque
Limit Value

CW Torque

Index Name
60E3H Supported homing methods
Sub Name Data type Access PDO Default value EEPROM
00H Number of entries UINT8 ro No 14H No
Setting range
14H
Sub Name Data type Access PDO Default value EEPROM
01H 1st supported homing method INT8 ro No 1 No
Setting range
1: Homing based on -OT and Z-phase

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CHAPTER 15 APPENDIXES

Sub Name Data type Access PDO Default value EEPROM

02H 2nd supported homing method INT8 ro No 2 No
Setting range
2: Homing based on +OT and Z-phase
Sub Name Data type Access PDO Default value EEPROM
03H 3rd supported homing method INT8 ro No 3 Yes
Setting range
3: Homing 1 based on home position LS (positive logic) and Z-phase
Sub Name Data type Access PDO Default value EEPROM
04H 4th supported homing method INT8 ro No 4 Yes
Setting range
4: Homing 2 based on home position LS (positive logic) and Z-phase
Sub Name Data type Access PDO Default value EEPROM
05H 5th supported homing method INT8 ro No 5 No
Setting range
5: Homing 1 based on home position LS (negative logic) and Z-phase
Sub Name Data type Access PDO Default value EEPROM
06H 6th supported homing method INT8 ro No 6 No
Setting range
6: Homing 2 based on home position LS (negative logic) and Z-phase
Sub Name Data type Access PDO Default value EEPROM
07H 7th supported homing method INT8 ro No 7 No
Setting range
7: Homing - positive direction startup 1 based on +OT, home position LS, and Z-phase
Sub Name Data type Access PDO Default value EEPROM
08H 8th supported homing method INT8 ro No 8 No
Setting range
8: Homing - positive direction startup 2 based on +OT, home position LS, and Z-phase
Sub Name Data type Access PDO Default value EEPROM
09H 9th supported homing method INT8 ro No 9 No
Setting range
9: Homing - positive direction startup 3 based on +OT, home position LS, and Z-phase
Sub Name Data type Access PDO Default value EEPROM
0AH 10th supported homing method INT8 ro No 10 No
Setting range
10: Homing - positive direction startup 4 based on +OT, home position LS, and Z-phase

15-66 CiA402 Drive Profiles

 CHAPTER 15 APPENDIXES

Sub Name Data type Access PDO Default value EEPROM

0BH 11th supported homing method INT8 ro No 11 No
Setting range
11: Homing - negative direction startup 1 based on -OT, home position LS, and Z-phase
Sub Name Data type Access PDO Default value EEPROM
0CH 12th supported homing method INT8 ro No 12 No
Setting range
12: Homing - negative direction startup 2 based on -OT, home position LS, and Z-phase
Sub Name Data type Access PDO Default value EEPROM
0DH 13th supported homing method INT8 ro No 13 No
Setting range
13: Homing - negative direction startup 3 based on -OT, home position LS, and Z-phase
Sub Name Data type Access PDO Default value EEPROM
0EH 14th supported homing method INT8 ro No 14 No
Setting range
14: Homing - negative direction startup 4 based on -OT, home position LS, and Z-phase
Sub Name Data type Access PDO Default value EEPROM
0FH 15th supported homing method INT8 ro No 19 No
Setting range
19: Homing 1 based on home position LS (positive logic)
Sub Name Data type Access PDO Default value EEPROM
10H 16th supported homing method INT8 ro No 20 No
Setting range
20: Homing 2 based on home position LS (positive logic)
Sub Name Data type Access PDO Default value EEPROM
11H 17th supported homing method INT8 ro No 33 No
Setting range
33: Homing (negative direction) based on Z-phase
Sub Name Data type Access PDO Default value EEPROM
12H 18th supported homing method INT8 ro No 34 No
Setting range
34: Homing (positive direction) based on Z-phase
Sub Name Data type Access PDO Default value EEPROM
13H 19th supported homing method INT8 ro No 35 No
Setting range
35: Current position home position preset (old standard)

CiA402 Drive Profiles 15-67

CHAPTER 15 APPENDIXES

Sub Name Data type Access PDO Default value EEPROM

14H 20th supported homing method INT8 ro No 37 No
Setting range
37: Current position home position preset

Index Name

60E4H Additional position actual value

Sub Name Data type Access PDO Default value EEPROM

00H Number of entries UINT8 ro No 01H No

Setting range

01H

Sub Name Data type Access PDO Default value EEPROM

01H 1st additional position actual value INT32 ro YES 0 No

Setting range

-2147483648 to 2147483647 unit

15-68 CiA402 Drive Profiles

 CHAPTER 15 APPENDIXES

Index Name

60E6H Additional position encoder resolution

Sub Name Data type Access PDO Default value EEPROM

00H Number of entries UINT8 ro No 01H No

Setting range

01H

Sub Name Data type Access PDO Default value EEPROM

01H 1st additional position encoder UINT32 rw No 32768 Yes

resolution

Setting range

1 to 16777216 pulse/rev
Set the resolution of the external encoder pulse as the resolution per revolution of the servo motor. If
the deceleration mechanism is in the device, compensate it by considering the reducer ratio.

(e.g) Reduction gear (1/15)，Ball screw (Lead 10 [mm/rev]),

When using linear scale (1000 [pulse/mm] (4times))

60E6H-01H = Reduction ratio × Lead length × External encoder resolution

1
= ×10×4×1000≒2667 [pulse/rev]
15

Index Name
60F4H Following error actual value
Sub Name Data type Access PDO Default value EEPROM
00H — INT32 ro Yes 0 No
Setting range
Displays the position deviation.
-2147483648 to 2147483647 unit

Index Name
60FCH Position demand internal value
Sub Name Data type Access PDO Default value EEPROM
00H — INT32 ro Yes 0 No
Setting range
Displays the internal position command value in pulse units with the home position as 0.
-2147483648 to 2147483647 pulse

Index Name
60FDH Digital inputs

CiA402 Drive Profiles 15-69

CHAPTER 15 APPENDIXES

Sub Name Data type Access PDO Default value EEPROM

00H — UINT32 ro Yes 00000000H No
Setting range

Bit 31 Bit 30 Bit 29 Bit 28 Bit 27 Bit 26 Bit 25 Bit 24

OUT12 OUT11 OUT10 OUT9 OUT8 OUT7 OUT6 OUT5

Bit 23 Bit 22 Bit 21 Bit 20 Bit 19 Bit 18 Bit 17 Bit 16

EN2 EN1 CONT6 CONT5 CONT4 CONT3 CONT2 CONT1

Bit 15 to bit 3 Bit 2 Bit 1 Bit 0

Reserved Home [LS] +OT -OT

Index Name
60FEH Digital outputs
Sub Name Data type Access PDO Default value EEPROM
00H Number of entries UINT8 ro No 0 No
Setting range
02H
Sub Name Data type Access PDO Default value EEPROM
01H Physical outputs UINT32 rw Yes 00000000H No
Setting range

Bit 31 to bit 18 Bit 17 Bit 16

Reserved Digital output 2 Digital output 1

Bit 15 to bit 0
Reserved

*1: Use this object if performing OUT signal operations using EtherCAT.
When using this object, set “91 (Digital Output 1)” and “92 (Digital Output 2)” for
PA3_51 and PA3_52.
Sub Name Data type Access PDO Default value EEPROM
02H Bit mask UINT32 rw No 00030000H No
Setting range
The definition for bit position is the same as that for Physical outputs (60FE: 01).
Digital output is enabled while the Bitmask applicable bit is “1”, and disabled while the bit is
“0”.

15-70 CiA402 Drive Profiles

 CHAPTER 15 APPENDIXES

• Example: If PA3_51 = 91 (OUT1 signal set to Digital Output1)

Bit Mask (60FE:01) Physical output (60FE:01) OUT1
00000000H 00000000H OFF
00010000H OFF
00010000H 00000000H OFF
00010000H ON

Index Name
60FFH Target velocity
Sub Name Data type Access PDO Default value EEPROM
00H — INT32 rw Yes 0 No
Setting range
-2147483648 to 2147483647 unit/s
Set the command speed in PV and CSV mode.
Index Name
6402H Motor type
Sub Name Data type Access PDO Default value EEPROM
00H — UINT16 ro No 0003H No
Setting range
0003H: PM synchronous motor
Displays the corresponding motor.

Index Name
6403H Motor catalogue number
Sub Name Data type Access PDO Default value EEPROM
00H — VS ro No — No
Setting range
Indicates the applicable model type.

GYS 500 D 7 - E * 2
Basic format Encoder
S: ultra-low inertia E: 24bit ABS
B: medium inertia N: 24bit INC
G: medium inertia
Series
Rated output D: 3000 r/pm Series
500: 0.05 kW C: 2000 r/pm Series
101: 0.1 kW B: 1500 r/pm Series
201: 0.2 kW

CiA402 Drive Profiles 15-71

CHAPTER 15 APPENDIXES

Index Name
6502H Supported drive modes
Sub Name Data type Access PDO Default value EEPROM
00H — UINT32 ro No 000003A5H No
Setting range
Bit 0: PP
Bit 1: VL
Bit 2: PV
Bit 3: TQ
Bit 4: Reserved *1
Bit 5: HM
Bit 6: IP
Bit 7: CSP
Bit 8: CSV
Bit 9: CST
Bit 10 to bit 32: Reserved *1
*1: These bits are not used.
Displays control modes that can be used.

15-72 CiA402 Drive Profiles

 Applicable models

P1 P(+) N(-) RB1 RB2 RB3

RYT500F7 to RYT401F7

RY

L1 U
1PH C
L2 + V
3PH M
AC200 to 240V L3 CHARGE W
50/60Hz LED
15.2 Main Circuit Block Diagrams

Power supply Voltage Overcurrent Braking transistor Gate Current Dynamic

monitor detection detection failure detection drive detection brake
L1C R
1PH PT
AC200 to 240V C +
50/60Hz L2C Control power
CHAPTER 15

Main Circuit Block Diagrams

APPENDIXES

15-73
15-74
CHAPTER 15

P1 P(+) N(-) RB1 RB2 RB3

Applicable models
RYT751F7 to RYT502F7

RY

L1 U
APPENDIXES

Main Circuit Block Diagrams

1PH* C
L2 + V
3PH M
AC200 to 240V L3 CHARGE W
50/60Hz LED

Fan

Fan Power supply Voltage Overcurrent Braking transistor Gate Current Dynamic
drive monitor detection detection failure detection drive detection brake
L1C R
1PH PT
AC200 to 240V C +
50/60Hz L2C Control power

*: RYT751F7 only
 <Electronic gear> PA1_53: PA1_52: Low-pass
Position 6091H-01H: Motor revolutions PA1_51: Moving
Command pulse filter (for S-curve)
command 6091H-02H: Shaft revolutions average S-curve time
smoothing function time constant

<Inertia model calculation (vibration control)>

PA1_78: Vibration suppressing anti resonance frequency 0
PA1_79: Vibration suppressing workpiece inertia ratio 0
PA1_80: Vibration suppressing anti resonance frequency 1
PA1_81: Vibration suppressing workpiece inertia ratio 1
PA1_82: Vibration suppressing anti resonance frequency 2
PA1_83: Vibration suppressing workpiece inertia ratio 2
PA1_95: Model torque calculation
PA1_84: Vibration suppressing anti resonance frequency 3 selection, speed observer selection
PA1_85: Vibration suppressing workpiece inertia ratio 3
PA1_86: Vibration suppressing damping coefficient

PA1_54: Position PA1_68: Acceleration

＋ <Inertia model calculation> ＋ PA1_87: Model
command response compensation gain for
＋ [1+(PA1_14: Load moment of inertia ＋ torque filter time
ratio)]
time constant position control constant
*(dv/dt)

<Friction compensation>
PA1_92: Speed range for friction compensation
PA1_93: Coulomb friction torque for
compensation

<S peed adju ster> PA1_59:Torque filter time constant

０ <P osition ad juster> ＋ ＋
＋ ＋ PA1 _56: S peed loop ga in 1 ＋ for position and speed control ＋
PA1 _55: P osi tion loo p g ain 1
＋ PA1 _57: S peed loop integr atio n time ＋
15.3 Control Circuit Block Diagram

Control PA1 _64: P osi tion loo p g ain 2 PA1_71: Notch filter 1 frequency
constan t 1 Motor
model PA1 _88: P osi tion loo p i nteg ration time PA1_72: Notch filter 1 attenuation
PA1 _65: S peed loop ga in 2
－ constan t － PA1_73: Notch filter 1 width
PA1 _66: S peed loop integr atio n time
１ PA1 _89: P osi tion loo p i nteg ration limiter
constan t 2 PA1_74: Notch filter 2 frequency
PA1 _90: L oad to rque observer PA1_75: Notch filter 2 attenuation
PA1 _91: P /PI automatic ch ange selectio n PA1_76: Notch filter 2 width
Position Speed Encoder
detection detection
PA1_58: Feed forward gain 1
PA1_67: Feed forward gain 2
CHAPTER 15

Control Circuit Block Diagram

APPENDIXES

15-75
CHAPTER 15 APPENDIXES

15.4 Parameter List

◼ PA1_: Basic setting parameters

Power Record of reference
No. Name
supply value
02 INC/ABS system selection 
04 Rotation direction selection 
12 Z-phase offset 
13 Tuning mode selection —
14 Load moment of inertia ratio —
15 Auto tuning gain 1 —
16 Auto tuning gain 2 —
20 Easy tuning: stroke setting —
21 Easy tuning: speed setting —
22 Easy tuning: timer setting —
23 Easy tuning: direction selection —
25 Max. rotation speed (for position and speed control) —
26 Max. rotation speed (for torque control) —
27 Forward rotation torque limit —
28 Reverse rotation torque limit —
29 Speed coincidence range —
30 Zero speed range —
37 Acceleration time 1 —
38 Deceleration time 1 —
41 Manual feed speed 1/torque control speed limit 1 —
42 Manual feed speed 2/torque control speed limit 2 —
43 Manual feed speed 3/torque control speed limit 3 —
44 Manual feed speed 4/torque control speed limit 4 —
45 Manual feed speed 5/torque control speed limit 5 —
46 Manual feed speed 6/torque control speed limit 6 —
47 Manual feed speed 7/torque control speed limit 7 —

15-76 Parameter List

 CHAPTER 15 APPENDIXES

◼ PA1_: Control gain and filter setting parameters

Power Record of reference
No. Name
supply value
51 Moving average S-curve time —
52 First order lag S-curve time constant —
53 Command pulse smoothing function —
54 Position command response time constant (Kpt) —
55 Position loop gain 1 —
56 Speed loop gain 1 —
57 Speed loop integration time constant 1 —
58 Feed forward gain 1 —
59 Torque filter time constant for position and speed control —
60 Torque setting filter —
61 Gain changing factor —
62 Gain changing level —
63 Gain changing time constant —
64 Position loop gain 2 —
65 Speed loop gain 2 —
66 Speed loop integration time constant 2 —
67 Feed forward gain 2 —
70 Automatic notch selection —
71 Notch filter 1 frequency —
72 Notch filter 1 attenuation —
73 Notch filter 1 width —
74 Notch filter 2 frequency —
75 Notch filter 2 attenuation —
76 Notch filter 2 width —
77 Vibration suppression function selection —
78 Vibration suppressing anti resonance frequency 0 —
Vibration suppressing workpiece inertia ratio 0 (vibration
79 —
suppressing antiresonant frequency)
80 Vibration suppressing anti resonance frequency 1 —
Vibration suppressing workpiece inertia ratio 1 (vibration
81 —
suppressing antiresonant frequency)
82 Vibration suppressing anti resonance frequency 2 —
Vibration suppressing workpiece inertia ratio 2 (vibration
83 —
suppressing antiresonant frequency)
84 Vibration suppressing anti resonance frequency 3 —

Parameter List 15-77

CHAPTER 15 APPENDIXES

Power Record of reference

No. Name
supply value
Vibration suppressing workpiece inertia ratio 3 (vibration
85 —
suppressing antiresonant frequency)
86 Vibration suppressing damping coefficient —
87 Model torque filter time constant —
88 Position loop integration time constant —
89 Position loop integration limiter —
90 Load torque observer —
91 P/PI automatic change selection —
92 Friction compensation: speed range —
93 Friction compensation: torque setting value —
94 Torque filter setting mode —
Model torque calculation selection, speed observer
95 —
selection
96 Speed limit gain for torque control —

15-78 Parameter List

 CHAPTER 15 APPENDIXES

◼ PA2_: Automatic operation setting parameters

Power Record of reference
No. Name
supply value
09 Reverse traveling unit amount for homing —
14 Home position shift unit amount —
Software OT selection/
25 
position command form

◼ PA2_: Extended function 1 setting parameters

Power Record of reference
No. Name
supply value
56 Speed limit selection 
57 Torque limit selection 
60 Third torque limit value —
61 When servo-on = OFF 
62 Action sequence at alarm 
63 Action sequence at main power supply OFF, OT detection 
64 Brake holding time —
65 Braking resistor selection 
66 Speed control flying start selection 
67 Alarm detection at undervoltage 
68 Main power shutoff detection time 
69 Deviation detection overflow value —
70 Overload warning value —
72 ID-Selector offset 
74 Parameter write protection —
78 Display transition at warning detection 
80 Parameter in RAM 1 
81 Parameter in RAM 2 
82 Parameter in RAM 3 
83 Parameter in RAM 4 
84 Parameter in RAM 5 
85 Parameter in RAM 6 
89 Sequence test mode: mode selection 
90 Sequence test mode: encoder bit selection 
91 Position command delay time —
92 EtherCAT extended function 

Parameter List 15-79

CHAPTER 15 APPENDIXES

◼ PA3_: Input terminal function setting parameters

Power Record of reference
No. Name
supply value
01 CONT1 signal assignment 
02 CONT2 signal assignment 
03 CONT3 signal assignment 
04 CONT4 signal assignment 
05 CONT5 signal assignment 
06 CONT6 signal assignment 
07 CONT7 signal assignment 
08 CONT8 signal assignment 
25 CONT signal inversion 
26 CONT always ON 1 
27 CONT always ON 2 
28 CONT always ON 3 
29 CONT always ON 4 
30 CONT always ON 5 

15-80 Parameter List

 CHAPTER 15 APPENDIXES

◼ PA3_: Output terminal function setting parameters

Power Record of reference
No. Name
supply value
51 OUT1 signal assignment 
52 OUT2 signal assignment 
53 OUT3 signal assignment 
54 OUT4 signal assignment 
55 OUT5 signal assignment 
56 OUT6 signal assignment 
57 OUT7 signal assignment 
58 OUT8 signal assignment 
59 OUT9 signal assignment 
60 OUT10 signal assignment 
61 OUT11 signal assignment 
62 OUT12 signal assignment 
72 OUT signal inversion 
81 Monitor 1 signal assignment —
82 Monitor 2 signal assignment —
83 Monitor 1 scale —
84 Monitor 1 offset —
85 Monitor 2 scale —
86 Monitor 2 offset —
87 Monitor 1/2 output form —
89 Feedback speed sampling time for monitor —

Parameter List 15-81

CHAPTER 15 APPENDIXES

◼ PA4_: Extended function 2 setting parameters

Power Record of reference
No. Name
supply value
01 Interference detection level —
02 Interference detection return amount —
03 Interference detection return speed —
04 Interference detection LPF time constant —
05 Interference detection HPF time constant —
06 Interference detection selection —
10 SEMI F47 support function selection 
11 Functional safety body action selection 
12 Functional safety SLS speed limit value —
21 Torque control speed limit selection 
32 Full-closed system setting 
35 Full-closed LPF time-constant —
36 External/motor deviation over detection value —
37 External/motor deviation over forecast value —
38 Frequency divider denominator for external/motor deviation —
monitor
51 Notch filter 3: frequency —
52 Notch filter 3: attenuation —
53 Notch filter 3: width —
54 Notch filter 4: frequency —
55 Notch filter 4: attenuation —
56 Notch filter 4: width —
57 Notch filter 5: frequency —
58 Notch filter 5: attenuation —
59 Notch filter 5: width —
60 Cogging torque compensation —
61 Tuningless function selection 
62 Tuningless level —
63 Tuningless load level —
64 New vibration suppressing control damping coefficient —
65 New vibration suppressing control workpiece inertia ratio —

15-82 Parameter List

 CHAPTER 15 APPENDIXES

15.5 Capacity Selection Calculation

15.5.1 Mechanical System Types

Mechanical systems driven by a variable speed motor generally include the following types.
Mechanism Features
Ball screw (direct coupling)

Used for relatively short distance, high-accuracy positioning.

The motor and ball screw are connected only via a coupling, and no play
is included.

Ball screw (geared)

A speed reducer is used to increase the torque transferred to the

mechanical system.
Compensation is required to counter gear backlash.

Rack & pinion

Used for positioning over relatively long distances (carrier drive, etc.)
Compensation is required to counter the π value contained in each
pinion rotation.

Timing belt (conveyor)

This type has a relatively large degree of freedom compared with the
chain, and is used mainly for light loads.
Compensation is required to counter the π value contained in the
travel distance for each pulley rotation.

Be aware of the following points when applying the servo system to a mechanical system.
(1) Reduction ratio
Use close to the rated speed of the motor to take advantage of the servomotor power. The
continuous output torque at maximum rotation speed is smaller than the rated torque.
(2) Pre-load torque
Rigidity increases by applying a pre-load to the ball screw, however, the load torque value
increases.
Refer to the ball screw specifications for friction torque caused by the pre-load.
(3) Holding torque
With lifting equipment, the servomotor continues to output holding power when stopped.
Use of a holding brake is recommended if time allows.

Capacity Selection Calculation 15-83

CHAPTER 15 APPENDIXES

Mechanism Features
Chain drive

This type is used mainly for transfer lines, and requires

countermeasures to counter elongation of the chain itself. It is used
mainly for relatively large reduction ratios, and the traveling speed of the
mechanical system is low.

Feed roll

Material on a plate (band) is sandwiched between rollers and fed.

As the roller diameter is not accurately obtained, errors tend to occur
over long distances, requiring π compensation.
Sudden acceleration causes slippage, resulting in insufficient feed.

Table indexing

A sufficiently large reduction ratio is required due to the large moment

of inertia of the table.
The table rotation speed is low, and a worm gear is often used.

Spindle drive

Wire material windings result in greater moment of inertia, requiring a

sufficiently large reduction ratio.
To ensure a constant peripheral speed, a study must be conducted that
includes peripheral equipment.

◼ Approximate machine constants

Approximate friction Material density
Mechanism Friction coefficient Material Density kg/m3
Rail and iron wheel Copper 8.96×103
0.05
(carrier and crane) Brass 8.54×103
Linear guide Stainless steel 7.91×103
Ball spline Iron 7.85×103
0.05 to 0.2
Roller table Aluminum 2.7×103
Roller system Polyacetals 1.43×103

15-84 Capacity Selection Calculation

 CHAPTER 15 APPENDIXES

Approximate mechanical
Mechanism Mechanical efficiency
Trapezoidal screw thread 0.5 to 0.8
Ball screw 0.9
Rack & pinion 0.8
Gear reducer 0.8 to 0.95
Worm reducer
0.5 to 0.7
(starting)
Worm reducer
0.6 to 0.8
(during operation)
Belt transmission 0.95
Chain transmission 0.9

Module
(Pitch circle diameter of gear)
(Module) ＝
(Number of teeth)

* Module
0.5 0.75 0.8 1 1.5 2 2.5 3 4 5 6 7
* Metric gear

Chain size
No. Pitch No. Pitch
15 4.762 80 25.4
25 6.35 100 31.75
35 9.525 120 38.1
40 12.7 140 44.45
50 15.875 160 50.8
60 19.05 180 57.15

15.5.2 Capacity Selection Calculation

Capacity selection calculation is performed to obtain the servomotor capacity necessary for the
machine specifications (configuration).
Items necessary for capacity selection calculation include the following.
• Load moment of inertia (mechanical system moment of inertia)
• Load torque (torque necessary to move the machine)
• Acceleration/deceleration time
• Operation profile
In general, there is no way to measure the mechanical system moment of inertia and load torque,
and therefore approximate values must be calculated based on the machine configuration.

Capacity Selection Calculation 15-85

CHAPTER 15 APPENDIXES

Use the procedure below to perform the capacity selection calculation.

Capacity selection flow chart

(1) Calculate the load moment of inertia

Start based on the machine configuration.

(2) Calculate the load torque based on the

(1) Calculate the moment of machine configuration.
inertia of the load
(3) Temporarily select the motor capacity.
(2) Calculate the load torque (4) Verify the shortest
TL acceleration/deceleration time. If
the time is specified, calculate the
required acceleration/deceleration
torque.
(3) Temporarily select the
(5) Create a torque profile based on the
motor capacity
operation profile.

(4) Calculate the shortest acceleration/ (6) Calculate the effective torque based
deceleration time (calculate acceleration/
deceleration torque) on the torque profile.

(5) (7) If the effective torque (Trms) is smaller

Create the torque pattern than the rated torque (TR), operation
can be performed with the specified
operation profile.
(6) Calculate the effective
torque (8) Calculate the regenerative electric
power and, if necessary, select a
braking resistor.
No
(7) Trms≦TR
(9) Review the machine specifications as
Yes best as possible.
⑨
(8) Calculate the regenerative Review machine specifications and
power change the operation pattern

End

15-86 Capacity Selection Calculation

 CHAPTER 15 APPENDIXES

◼ Moment of inertia calculation

Shapes

2
Ｗ Ｄ
Ｊｚ＝
８ １０3

4
πρ Ｌ Ｄ
＝
３２ １０3 １０3

2 2
Ｗ Ｄ Ｗ Ｌ
Ｊｘ＝ Ｊｙ＝ ＋
１６ １０3 １２ １０3

W ： [kg]
2
πρ Ｌ Ｄ D ： [mm]
Ｗ＝ L ： [mm]
４ １０3 １０3 ρ： [kg/m3]

2 2
Ｗ Ｄ２ Ｄ1
Ｊｚ＝ ＋
８ １０3 １０3
4 4
πρ Ｌ Ｄ２ Ｄ1
＝ －
３２ １０3 １０3 １０3

2 2 2
Ｗ Ｄ２ Ｄ1 Ｗ Ｌ
Ｊｘ＝ Ｊｙ＝ ＋ ＋
１６ １０3 １０3 １２ １０3

πρ Ｌ Ｄ２
2
Ｄ1
2
W ： [kg]
Ｗ＝ － D ： [mm]
４ １０3 １０3 １０3
L ： [mm]
ρ： [kg/m3]

2 2
Ｗ Ａ Ｂ
Ｊｚ＝ ＋
１６ １０3 １０3
2 2
Ｗ Ｂ Ｗ Ｌ
Ｊｘ＝ ＋
１６ １０3 １２ １０3
2 2
Ｗ Ａ Ｗ Ｌ
Ｊｙ＝ ＋
１６ １０3 １２ １０3 W ：[kg]
L ：[mm]
πρ Ａ Ｂ Ｌ A : [mm]
Ｗ＝ B : [mm]
４ １０3 １０3 １０3
ρ： [kg/m3]

2 2
Ｗ Ｂ Ｌ
Ｊｘ＝ ＋
１２ １０3 １０3
2 2
Ｗ Ｌ Ａ
Ｊｙ＝ ＋
１２ １０3 １０3
2 2
Ｗ Ａ Ｂ
Ｊｚ＝ ＋ W ：[kg]
１２ １０3 １０3
L ：[mm]
A : [mm]
Ａ Ｂ Ｌ B : [mm]
Ｗ＝ ρ ρ： [kg/m3]
１０3 １０3 １０3

2 2 2 2
Ｗ2 Ｂ2 Ｌ Ｗ1 Ｂ1 Ｌ
Ｊx＝ ＋ － ＋
１２ １０3 １０3 １２ １０3 １０3
2 2 2 2
Ｗ2 Ａ2 Ｌ Ｗ1 Ａ1 Ｌ
Ｊy＝ ＋ － ＋ W ：[kg]
１２ １０3 １０3 １２ １０3 １０3
L ：[mm]
2 2 2 2
Ｗ2 Ａ2 Ｂ2 Ｗ1 Ａ1 Ｂ1 A : [mm]
Ｊz＝ ＋ － ＋
１２ １０3 １０3 １２ １０3 １０3 B : [mm]
ρ： [kg/m3]
Ａ2 Ｂ2 Ａ1 Ｂ1 Ｌ
Ｗ＝ ρ －
１０3 １０3 １０3 １０3 １０3

Ａ2 Ｂ2 Ｌ Ａ1 Ｂ1 Ｌ
Ｗ2＝ ρ Ｗ1＝ ρ
１０3 １０3 １０3 １０3 １０3 １０3

Capacity Selection Calculation 15-87

CHAPTER 15 APPENDIXES

Conversion

Ball screw
2
１ ＢＰ
Ｊ1＝ Ｗ × × ＧＬ2
２π １０3

W: Total weight of moving parts [kg]

BP: Screw lead [mm]
GL: Reduction ratio (no unit)

Rack & pinion, conveyor and chain drive

2
Ｗ Ｄ
Ｊ2＝ × ＧＬ2
４ １０3

W: Total weight of moving parts [kg]

D: Pinion diameter [mm]
Sprocket diameter [mm]
GL: Reduction ratio (no unit)

Feed roll
2
Ｗ Ｄ
Ｊ3＝ × ＧＬ2
４ １０3

W: Total weight of moving parts [kg]

D: Roll diameter [mm]
GL: Reduction ratio (no unit)

Rotating body and table drive Obtain the moment of inertia for the sum of each shape.
Moment of inertia of body located at distance from
rotational axis（Ｊ４）
2

Ｊ4＝ Ｌ × ＧＬ2
Ｊ ＋ Ｗ
１０3
J: Moment of inertia passing through body center of
gravity
W: Weight of body [kg]
L: Distance between body and rotational axis [mm]
GL: Reduction ratio (no unit)

15-88 Capacity Selection Calculation

 CHAPTER 15 APPENDIXES

◼ Load torque (TL) calculation

Ball screw

Moving part weight

Travel speed V
W （μＷ＋Ｆ）×９．８１ ＢＰ
ＴＬ＝ × ＧＬ
２πη １０3

Reduction ratio GL μ: Friction coefficient BP: Screw lead [mm]

Screw lead L W, W1: Weight of moving parts [kg]

W2: Weight of counterweight [kg]

Motor shaft speed
N GL: Reduction ratio (no unit) F: Thrust [kg]

（（μ＋１）Ｗ1－Ｗ2）×９．８１ ＢＰ
・Lifting (vertically) ＴＬ＝ × ＧＬ
２πη １０3

（（μ－１）Ｗ1－Ｗ2）×９．８１ ＢＰ
・Lowering (vertically) ＴＬ＝ × ＧＬ
２πη １０3

（ Ｗ1－Ｗ2）×９．８１ ＢＰ
・At stop (vertically) ＴＬ＝ × ＧＬ
２πη １０3

Conveyor, rack & pinion

Moving
可動部質量part
weight W
Ｗ

（μＷ＋Ｆ）×９．８１ Ｄ １
ＴＬ＝ × × ＧＬ
移動速度
Travel η ２ １０3
ＶV
speed

Reduction
減速比 μ: Friction coefficient D: Diameter [mm]
ratio GL
ＧＬ

W, W1: Weight of moving parts [kg]

Motorモータ軸回転速度
shaft speed N
Ｎ
W2: Weight of counterweight [kg]
Pinion diameter
ピニオンの直径
D Ｄ GL: Reduction ratio (no unit)

・Lifting (vertically) （（μ＋１）Ｗ1－Ｗ2）×９．８１ Ｄ １

ＴＬ＝ × × ＧＬ
η ２ １０3

・Lowering (vertically) （（μ－１）Ｗ1－Ｗ2）×９．８１ Ｄ １

ＴＬ＝ × × ＧＬ
η ２ １０3

・At stop (vertically) （ Ｗ1－Ｗ2）×９．８１ Ｄ １

ＴＬ＝ × × ＧＬ
η ２ １０3

Capacity Selection Calculation 15-89

CHAPTER 15 APPENDIXES

(1) Calculate the load moment of inertia (JL).

Calculate the load moment of inertia (JL) for the mechanical system converted to the motor shaft.
Calculate the moment of inertia of parts rotating (moving) together as the motor rotates, and obtain
the sum of all of these values.

(2) Calculate the load torque (TL).

Calculate the load torque converted to the motor shaft.

(3) Temporarily select the motor capacity.

Select the motor capacity satisfying the following two conditions.

• Permissible load moment of inertia

JL ≤ JM × 100 (30) ···················· In case of slow travel under speed control
JL ≤ JM × 30 (10) ······················ In case of positioning under position control
JL ≤ JM × 10 (-) ························ In case of frequent positioning
(Guideline: Starting and stopping once every 0.5 seconds or
more)
Values in ( ) parentheses indicate operation with the GYG motor.
• Load torque
TL ≤ TR × 0.9 ··························· 0.9 indicates a typical safety factor.

(4) Calculate the shortest acceleration/deceleration time (calculate the acceleration/deceleration

torque).
Verify the shortest acceleration/deceleration taking load conditions into consideration. If the
acceleration/deceleration time has been specified, calculate the acceleration/deceleration torque.

• Shortest acceleration/deceleration time

(JＭ + JL) × 2π × (N1 - N0)
tAC =
60 (TAC - TL)
• Acceleration/deceleration torque

(JＭ + JL) × 2π × (N1 - N0)

TAC = +TL
60 (tAC)
tAC: Acceleration/deceleration time [s]

JM: Servomotor moment of inertia [kgm2]

JL: Load moment of inertia converted to motor shaft [kgm2]

TL: Load torque converted to motor shaft [N·m]

TAC: Acceleration/deceleration torque [N·m]

N1: Rotation speed after speed change [r/min]

N0: Rotation speed before speed change [r/min]

15-90 Capacity Selection Calculation

 CHAPTER 15 APPENDIXES

(5) Create a torque profile.

Create an output torque profile based on the operation profile.

・Operation profile

Travel
speed

Time

・Torque profile

Output
TAC : Acceleration torque
torque tDC tR

TL : Load torque

Time

tAC tL

TDC : Deceleration torque

tcyc

(6) Calculate the effective torque (Trms).

Calculate the effective torque for each cycle of the operation profile.

(TAC2 × tAC) + (TL2 × tL) + (TDC2 × tDC)

Trms =
tCYC

This is the value obtained by taking the product of the square of each output torque multiplied by
the output time and dividing it by the time for each cycle, and obtaining the square root of the result.

(7) Trms ≤ TR
If the effective torque is equal to or lower than the rated torque, continuous operation is possible
with the specified operation profile.

Capacity Selection Calculation 15-91

CHAPTER 15 APPENDIXES

(8) Calculate the regenerative electric power.

Regenerative operation is generally performed under the following conditions.
Horizontal feed: during deceleration
Vertical feed: during constant speed feed or while decelerating when lowering

Regenerative electric power during deceleration (P1)

P1 [W] = (2π/60) × TDC [N·m] × N1 r/min] × (1 / 2)

Lowering at constant feedrate (P2)

P2 [W] = (2π/60) × TDC [N·m] × N1 [r/min]

Calculate the average regenerative electric power (P) for each operation profile cycle, and ensure
that it is below the braking resistor capacity.
If not, an external braking resistor will be required.

(9) Review the operation profile and mechanical configuration.

If Trms exceeds TR, review the following items.
・ Increase the acceleration/deceleration time a little within the permissible range.
・ Increase the operation frequency (cycle time for 1 cycle).
・ If the rotation speed allows, increase the reduction ratio.
・ Increase the motor capacity.
・ If stopping lifting equipment for long periods of time, employ a mechanical brake.
・ If performing high-frequency operation, increase the reduction ratio as much as possible, and
reduce the moment of inertia.

15.5.3 Capacity Selection Calculation Example

◼ Machine configuration

Reduction ratio of 1/1 (direct coupling)

servomotor
サーボモータ

Screw pitch 10 [mm], transfer weight 20 [kg], thrust 0 [kg] (none)

15-92 Capacity Selection Calculation

 CHAPTER 15 APPENDIXES

(1) Max. travel speed (v)

With reduction ratio of 1/1, and motor shaft rotation speed of 3000 [r/min]

v = (3000/60) × 10 × (1/1) = 500 [mm/s]

(2) Load moment of inertia converted to motor shaft (JL)

A screw (J1) with diameter of ɸ20 and length of 500 [mm] is assumed.
4
πρ L D1
J1 = ×GL2
32 1000 1000
4
π × 7.85 × 103 500 20
= × (1/1)2
32 1000 1000

= 0.6 × 10-4 [kg/m2]

A moving part (J2) with transfer weight of 20 [kg] is assumed.

2
1 BP
J2 ＝ W × (GL)2
2π 1000
2
1 10
= 20 × (1/1)2
2π 1000

= 0.5 × 10-4 [kg/m2]

JL = 1.1 × 10-4 [kg/m2]

(3) Load torque converted to motor shaft [TL]

A transfer weight of 20 [k], friction coefficient (μ) of 0.1, and machine efficiency (η) of 0.9 are
assumed.

(μW + F) × 9.81 BP
TL = × GL
2πη 1000

(0.1 × 20 + 0) × 9.81 10
= × (1/1)
2π × 0.9 1000
GL
= 0.03 [N·m]

Capacity Selection Calculation 15-93

CHAPTER 15 APPENDIXES

(4) Capacity selection conditions

TL ≤ TR × 0.9
JL ≤ JM × 5 (high-frequency feed)

TL = 0.03 [N·m]
JL = 1.1 × 10-4 [kg/m2]

(5) Temporary selection

GYS201D7-HB2 (0.2 [kW]) is obtained based on the capacity selection conditions.
(JM = 0.135 × 10-4 [kg/m2], TR = 0.637 [N·m], TAC = 1.91 [N·m])

(5) Shortest acceleration/deceleration time (tAC)

(JM + JL) × 2π × N
tAC =
60 (TAC - TL)

(0.135 × 10-4 + 1.1 × 10-4) × 2π × 3000

=
60 (1.91 - 0.03)

= 0.021 [s]

Acceleration/deceleration torque at acceleration/deceleration time of 0.05 seconds

(JM + JL) × 2π × N
TAC = +TL
60 (tAC)

(0.135 × 10-4 + 1.1 × 10-4) × 2π × 3000

= +0.03
60 × 0.05

= 0.78 [N·m]

15-94 Capacity Selection Calculation

 CHAPTER 15 APPENDIXES

(7) Operation profile

500 [mm/s]
Speed

50 [mm]
Time

0.05 0.05 0.05

Torque 0.78

0.03
Time

0.78

This is the profile used for capacity selection. An operation time per cycle of 0.5 seconds is
assumed.

(8) Effective torque (Trms)

This is the time-average for output torque.

TAC2 × ta + TL2 × tL + TDC2 × td

Trms =
tcyc

(0.782 × 0.05) × 2 + (0.032 × 0.05) × 1

=
0.5

= 0.25 [N·m]

As the result is equal to or lower than the rated torque for the GYS201D7-HB2 type, operation can
be continued with the specified profile.

(9) Selection result

Servomotor: GYS201D7-HB2 (0.2 [kW])

Capacity Selection Calculation 15-95

CHAPTER 15 APPENDIXES

(10) Regenerative electric power

Regenerative electric power is returned during deceleration.

P1 [W] = (2π/60) × T [N·m] × N [r/min] × (1/2)

= (2π/60) × 0.78 × 3000 × (1/2)

≈ 123 [W]

Average regenerative electric power for 1 cycle of operation

P = (123 × 0.05)/0.5
≈ 12.3 [W]
The RYT201D7 type servo amplifier is not equipped with a built-in braking resistor.

Use the following procedure to determine whether a braking resistor is required.

[1] Obtain the amount of energy (EG) held by the mechanical system during deceleration.

1
EG = (JＭ + JL) · (2πN/60)2
2
2
1 2π × 3000
= (0.135 × 10-4 + 1.1 × 10-4) ×
2 60

= 6.1 [J]

[2] Calculate the amount of energy (EL) consumed by the load torque.
EL = (2π/60) × TL × N × tDC × (1/2)

= (2π/60) × 0.03 × 3000 × 0.05 × (1/2)

= 0.24 [J]

[3] Calculate the amount of energy (EM) consumed by the servomotor coil.
EＭ = 3 × (R × I2) × tDC

= 3 × R × ((TDC/TR × IR)2) × tDC

= 3 × 2.3 × ((0.78/0.637 × 1.5)2) × 0.05

= 1.2 [J]

GYS201D7-HB2 type phase resistance: 2.3 [Ω]

15-96 Capacity Selection Calculation

 CHAPTER 15 APPENDIXES

Calculate the energy (ES) that can be absorbed by the servo amplifier.

1
ES = C (VDB2 - VDC2)
2
1
= (300 × 10-6) × (3902 - (200 × √2)2)
2

= 10.8 [J]

• DC intermediate capacitor (RYT201): 300 [μF], power supply voltage: 200 [V] (effective
value)
• The capacitor for a servo amplifier of 0.2 [kW] or smaller is 300 [μF].
• VDB: DB transistor ON level (390 [V]), VDC: DC intermediate voltage (200 x √2 [V])

The amount of energy that can be processed by the mechanical system, servo amplifier and
servomotor is:
EL + EM + ES = 0.24 + 1.2 + 10.8 ≈ 12.2 [J]
As EG = 6.1 [J], no external braking resistor is required.

Capacity Selection Calculation 15-97

CHAPTER 15 APPENDIXES

◼ Constants
■ 200V Series
Rated Phase
Capacity Moment of inertia Capacitor capacity
Series current resistance
[kW] 10-4 [kg/m2] [μF]
[A] [Ω]
0.05 4.7 0.0192
0.85
0.1 7.8 0.0371 440
0.2 1.5 2.3 0.135
0.4 2.7 1.1 0.246 720
0.75 4.8 0.36 0.853 940
GYS 1.0 7.1 0.35 1.73
1360
1.5 9.6 0.25 2.37
2.0 12.6 0.19 3.01 2,040
3.0 18 0.07 8.32 2,400
4.0 24 0.05 10.8 4,000
5.0 30 0.05 12.8 4,000

Rated Phase
Capacity Moment of inertia Capacitor capacity
Series current resistance
[kW] 10-4 [kg/m2] [μF]
[A] [Ω]

GYG 1.0 4.7 0.54 11.8 1,360

2000 r/min 1.5 7.1 0.25 17.8 2,040

GYG 0.85 5.4 0.54 11.8 1,360

1500 r/min 1.3 10.1 0.25 17.8 2,040

Rated Phase
Capacity Moment of inertia Capacitor capacity
Series current resistance
[kW] 10-4 [kg/m2] [μF]
[A] [Ω]
0.2 1.4 3.5 0.33 440
GYB 0.4 2.7 1.8 0.57 660
0.75 4.9 0.5 1.53 1,360

15-98 Capacity Selection Calculation

 CHAPTER 15 APPENDIXES

15.6 Revision History

Print date Index Revision details

December 2018 None First release

October 2019 a Capacity increased (up to 5 kW)
August 2020 b Full-closed function added

Revision History 15-99

CHAPTER 15 APPENDIXES

15.7 Product Warranty

15-100 Product Warranty