自

.
、
‘
ー
ー電

INSTRUCTION/ MAINTENA'NCE
MANUALFORVIGOSERVOAR
SERIES

DearARs
eri
esc
ust
ome
rs

TMF94005心 4

ClibPDF - www.fastio.com
ClibPDF - www.fastio.com
 DearARs
eri
escustomers
Servod
riv
erandc
ont
rol
IeronARs
eri
esa
reu
pda
ted
.
AIso，
TUVc
ert
ifi
edequipmentsa
readdedt
oth
eli
neu
p.

INPORTANT : 1
) R
.eadcautionaryi
nst
ruc
tio
nsi
nth
emanualb
efo
reo
per
ati
ng.
2
) TUVc
ert
ifi
eda
ctu
ato
rsmustb
eusedont
heequipmenti
nte
nde
dfo
rre
cog
nit
ion
byt
heEuropeanS
tan
dar
d.
3
) Thismanualmustbehandedt
ofi
nalu
ser
s.
4
) Maintaint
hismanualc
are
ful
lys
oth
ati
tisa
vai
lab
1ewhenevern
eed
ed.
5
) Thisp
rod
ucti
sde
sig
nedt
obeusedo
n1ybye
xpe
rie
nce
dpe
rso
nne
lort
rai
ned
e
lec
tri
cale
ngi
nee
rs.

ClibPDF - www.fastio.com
 CONTENTS

1
. Spe
cifi
cationsforARs eri
esVIGOSERVO . .
....
...
...
...
...
...
....
....
....
. ~-1
1ぺ.8 asic5tructure .
...
.....
.....
...
...
...
....
....
...
...
...
....
....
....
...."三1
1
ト2. Indica
tionsofModels . .....
...
...
...
....
....
...
...
...
...
.:..
....
..... 1・2
12・1
咽. Servoactuator . ....
...
...
...
....
....
...
...
...
...
....
....
....
. 1 ・2

12之. 5ervoc
噛 o
ntroll
er. ...
...
...
...
....
....
...
...
...
...
....
....
....
. 13 帽

1-
3. TablefortheS pecif
ication
s. ..
...
...
....
....
...
...
...
...
....
....
....
. 1 -4
1-
4. &UsingEnvironment . .....
...
...
...
....
....
...
...
...
...
....
....
..... 1・5

1-
5. BlockDiagramofServoController . .
...
....
...
...
...
...
....
....
....
. 1 ・6

2
. I
nsta
llation，TestOperationandAdjustments . ........................... 2
- 1
2
-1. &InstallationoftheServoActuator. .....
........................... 2・1

Lト1 . Clampingtorqueoff ixi

ngb oltsandallowabletorque . ... 2
- 1
2ぺ岨2 . Aligning .......
.....
........
.......
...........................2 -2
L ト3 . Conicals pr
ingwashers . ...
......
............................ 2-2
22
岨. Install
ingtheServoController . ....
.......
........................... 2-2
22 -1
岨 . &Methodsofi nstal
lation. .......
...........................2 -2
2-2-2. Environmentofthei ns
tallinglocation .....................エ 3
2
-3. WiringandConnections ......・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・・ 2-4
2ふ 1 . Wiringt otheservod river/contr
oller. ....................... 2-4
L子 2 . Connectiondiagramwhenusingtheabsoluteencoder .，.込 6
233帽 . S
噛pecifi
c a
tionsofr eceptacl
es. ....
........................... 2-10
234岨 . S
帽pecifi
c a
tionsofsignallineconnectors . .................... 2-13
2
-4. Cautionsf orWiring . ..
.....
........
.......
...........................2 -15
2-41 . &Connectionofthemainc
圃 ir
cuitpower ....................込 1 5
Lι2. P ro
tectionofpowersupplies . ....
........................... 2・15
2-43 . Mainc
喧 ircui
tpowersupplyconditions . ...................... 2・16
2-4-4. Applicablewiresands ize
s. .......
........................... 2-16
2-45 . &Grounding .
岨 .
.....
........
......
............................2 ・17
2-46 . Wiringofs
帽 ig
nallines. .....
.......
...........................2 ・17
247岨 . Noisesuppression .
唱 .
........
......
............................2 -18
2-48. &Cautionsontheholdingbrake.
咽 .............. .
.... .
.. .. ..乙 18
2
-5. 丁r剖 Operation . .
......
.....
........
.......
...........................2 =19
2-5-1. &Inspectionsbeforeoperation . ..
.......................... 2-19
2ふ 2 . &Startingtheoperation . ..
......
........................... 2-19
L子 3 . Sequencea fte
rapplyingthepower. ........ ..
... .
.. ......" 2・20
2
-6. ReferencePointAdjustment. .....
......
....... .
.. .
.. .... ...
... ..
. 2-21
2
-7. Operation . ......
.......
.....
........
.......
..........................2 ・22
2-7-1. &Inspectionsbeforeoperation . ..
.......................... 2・22
2-7・2. Startingtheoperation . .....
......
........................... 2・22
273唱 . Cautionsduringtheoperation .
岨 ...
.......................... 2・23

-1-

ClibPDF - www.fastio.com
 3
. ExplanationsoftheServoController. ......
... ... .
.....
.....
.....
.....
.. . 31
畑

31.S
帽 peci
fica
tions...
..........
.......
.......
... .. ....
......
......
......
...3 ・1

3之. D riveMode . .
........
......
......
......
... ... .
......
......
.....
.....
..3 ・2

L ﹂与
.
2
.:1

内べ
3
-: . Timingc h
art. ，

unO
3-3
. InputandOutputS i
g n
al s..
3-31. Inputs
鴫 ignal
s(CN2) . .....
......
... ... .
.....
......
.....
.....
...3 ・8

332 . Outputs
帽 帽 ign
als(CN2) . ...
......
... ... .
.....
......
....
.....
....3- 9
3-3・3
. &Inputs ignalspecific
ations.... 3・1
0
3ふ 4. &Outputs igna
ls pecif
ications .・・・ 4 31
鴫 2
3-4
. ExplanationsandS ettingUpoftheParameter . .
.. 3-14
3-41. Outlineoftheparameter.
帽 3-14
子4・2. S et
tingtheparameter ' " 3・15
3-4-3
. Checkingandchangingtheparameters ettings 31
咽 8
34・4. S
司 e
ttingtheabsoluteencodercoordinatezeropoint. 32
欄 0
Lι5. Itemsofparameters etting. 3-2
1
3-46. Itemsofparameters
帽 electi
ons. .. .
. .... 3
暢 27
3-ι7.. St
atusi ndic
ationsbyparameters. .... 33
輔 2
Lふ8 . Servoparameters . 3-34
子ι9. Alarmh is
tory. 33
勾 9
35. D
軸 riverSection 3-40
3・51. D riv
e
岬r(CN4)inputandoutputs ig nal. 3-40
352 . CN4ainputandoutputs
帽 由 igna
lconnector . 3-42
3-6
. MeasurementofServoMotorShaftTorque
andSpeed( Revolution). 3-43
子ふ 1. Measuringmethod . 3
咽 43
362 . C
明 alc
岬u
latingthetorque. . 34
輔 3
3・6-3
. C alcu
latingthespeed . 34
鍋 4

4
. Troubleshooting . ..
....
...
......
......
....
......
.....
.....
......
........... 41 置

41.I
岨 nspect
io ninTrouble .....
......
....
......
....
......
......
...........4 -1
41 ぺ. Inspectioni
帽 ntrouble. ...
....
......
....
......
......
........... 41 咽

4ぺ
圃2 . Actionsrequireda toccurrenceofabnormality . ........... 4-2
ι1・3. I ncaseofimproperpositioning . ..
....
.....
......
........... 4・3

ι1-4. I ncaseofabnormalsound， vibratio

norheatgeneration. . 4-5
4♂. DiagnosisandCountermeasuresf orAbnormalityi nControl . ..... '
4二7
4・2 1
. Explanationsofc
岨 ontro
lalarm . ....
....
.....
......
........... 4-7
ι2-2. Releasingthealarms ta
te. .....
......
.........
...............ι8
4之・ 3
. Dynamicbrakingfunction . .
......
....
.....
......
...........4 ・8
42 -4
. Diagnosis.andcountermeasuresf
帽 o
rthec ontrolalarms . ... 4・10
4之輔 5
. Diagnosisandcountermeasuresf o
r
cont
r o
lalarm( Dr
iver). ..
....
......
.....
.....
......
...........4 -14
4・2・6
. Diagnosisandcountermeasuresf o
rc o
ntrolleralarm ......ふ 1 7
ι3. Abnormalitiesi ntheBatteryandwhentoRenewi t.......
.... ....
.ι18
4-3ぺ. Whentorenewthebattery ................................. 4-18
4-3-2
. Cautionswhenrenewingtheb attery. ..
....................ι18
4ふ 3. &Applicabletypesoftheb atte
ryandconnector . ......... 4-19

-11-

ClibPDF - www.fastio.com
 5
. ARSeri
esDimensionalOutlineDrawings .
....
....
.....
...
....
....
...
...
.. 5・1

51. DimensionalOutlineDrawingsf
噛 o
rServoActuator ..
...
....
...
...
.. 5・1
5之. DimensionalOutlineDrawingsfo
rServoContro
ller. ...
...
...
...
.. 5-14
子2. DimensionalOutlineDrawingsfo
rOption. .
.....
...
....
....
...
...
.. 5-1
8

6
. S
elec
tingtheServoActuator . ............................................. 6-1
61
司. MechanicalChara
cteri
stics. .......................................... 6-1
ふ1 ・1
. R i
gid
ity(sprin
gconstantandl ostmotion)andbacklash . .. 6・1
ふト 2. Anglet rans
missionaccuracy ・・・・・・ 4 ・・・・・・・・・・・・・・・・・・・・・・・・・ 6-2
62
噛.S electi
onoftheServoActuator .....................................ふ 3
62ぺ . Studyofloads ................................................ 6-3
司

6-2
- 2
. S i
mplif
iedselectio
nmethod. ................................ 6-5
ふ2・3. Studyingthed et
ailsandmakingthes election .............ふ 6

7
. OperationfromPersona
lComputer.. ..
..". .
...
.. .
...
.....
.，. ••.•• • • • ••• 7-1
プペ. I ntr
oduct
ion......
......
.....
....
....
....
......
......
.....
.. ..... . . .. . 7-1
7-2
.S p
eclf!
cat
lon
s...
.......
.....
.....
.....
....
........
......
...... ... . . .. . 7-1
咽3
プ . Operation ...
......
.....
.....
....
.....
...
......
......
.....
.. ..... . . .. . 7・2

8
. DisassemblingProceduresofServoActuator . .
...
.....
...
.....
........
... 8-1
8-1
. &PrecautionsConcerningDisassembling . ..
.....
...
.....
.......
.... 8-1
82. &DisassemblingProcedures .
四 ......
....
...
...
.....
...
.....
.........
.. 8-1
8-3
. &PrecautionsConcerningReassembling...........................ふ 5
岨

8-4
. &Re-assemblingProcedures. .....
.....
...
...
.....
...
.....
.........
.. 8-5
8-5
. ExplodedViewofServoActuator . ....
...
...
.....
...
.....
........
... 8・9
8-. L
6 istofJ i
gsandToolsf orDisassemblingandAssembling .......
.... 8-12
8唱. L
プ istofB oltClampTorque . ...
......
....
...
...
.....
...
.....
..........
. 8-12
88. L
岨 istofWeightsofServoActuatorandServoD ri
verlCon
troller. .
.. 8-12
89. L
帽 istofShapesofJ igsandTools . ...
....
...
...
.....
...
.....
........
... 8・1 3

9
. L
ist.....
.....
...
....
.....
...
....
.................
............................9 -
1
9
-1. L
istofConnectors ...
....
.............
...........................
..... 91 明

92. Parameters .
噛 .
.....
...
....
............
......................'......... 9・6
9
-3. ContentsofControlAlarm ...........................................仏 1
1

-111-

ClibPDF - www.fastio.com
 CautionaryI
nst
ruc
tio
ns

ド1
. 0
efin
-
itionsandsymbols
川ど~w，組fMUrNJ@l 1. : Thisi
ndi
cat
esadangerwhichmayc
aus
ede
atho
rse
rio
u !
si}
j町i
f
n
ota
voi
ded
.

T
hisi
ndi
cat
esadangerwhichmayc
aus
esI
igh
ttor
ath
ers
eri
ous
i
nju
rie
sifn
ota
voi
de. And，i
d taI
soi
ndi
cat
esadangerwhichmay
c
aus
eph
ysi
caldamages.

ト2.1&~組側OrNJ@ I

1
) Avoidu
sin
gARs
eri
esi
nal
oca
tio
nwherec
orr
osi
veo
rex
plo
siv
ega
sisp
res
ent
.

2
) Whenadangeri
san
tic
ip，t
aedfromr
ota
tin
goft
hes
erv
oac
tua
tor，p
rop
erp
rot
ect
ivemeasures
mustb
e~mplèmented.

3
) Forp
rev
ent
inge
lec
tri
calshock，powermustb
ecu
tof
fdu
rin
gin
sta
lla
tin，removalo
o rwi
rin
g
o
per
ati
ons
.

4
) Forp
rev
ent
inge
lec
tri
cals
hoc
kandm
alf
unc
tin，p
o rot
ect
ivec
ond
uct
ort
erm
ina
l*onL1，L2and
L3t
erm
ina
lsi
deont
hes
erv
oco
ntr
oll
erf
ron
tpa
nelt
erm
ina
lbo
ardmustb
egroundeda
tle
asti
n
C
las
s3(
100ohmso
rle
ss，1
.6m mdiameterminimum) groundingandwiths
ing
le-
poi
nt
g
rou
ndi
ng.
Thegroundingw
ires
hou
ldbe40m mo
rmorel
ong
erthanpowerl
in fL1，L2andL
eo 3.
C
Spe
cif
ica
tio
nfo
requipmentt
obec
ert
ifi
edbyTUV.)

5
) Forp
rev
ent
inge
lec
tri
cals
hok，
c groundingt
erm
ina
loft
hes
erv
oac
tua
tormustbec
onn
ect
edt
o
t
hep
rot
ect
ivec
ond
uct
ort
erm
ina
lont
hes
ideofmotorpowerl
inec
onn
ect
ingt
erm
ina
lsU，
Vand
Wt
hata
rei
nst
all
edont
hes
erv
oco
ntr
oll
erf
ron
tpa
nelt
erm
ina
lbo
ard
.
Groundingw
ires
hou
ldb
e40m mo
rmorel
ong
erthanpowerl
ineo
fU，VandW. (
Spe
cif
ica
tio
n
f
ore
quw
i:nentt
obec
ert
ifi
edbyTUV.)

6
) I
nst
all
ati
on，
dis
ass
emb
ly，
removalo
rtr
ans
por
tat
iono
fth
ese
rvoa
ctu
ato
rsh
oul
dbedonei
nsu
ch
mannert
hatadangerbyi
tsf
all
ingo
ffi
sav
oid
ed.

7
) Forp
rev
ent
inge
lec
tri
csh
ock，t
het
erm
ina
lbo
ardont
hes
erv
oco
ntr
oll
erf
ron
tpa
nels
hou
ldb
e
u
sedo
nlya
fte
rte
rmi
nalb
oar
dco
veri
sin
stal
Iedt
oit
.

8
) Forp
rev
ent
inge
lec
tri
csh
ock，powerf
orh
old
ingbrake，i
nput
Jou
tpu
tpowerandi
npu
tlo
utp
ut
s
ign
almusthav
ere
inf
orc
edi
nsu
lat
ion(
pri
mar
yands
eco
nda
ry)(SELV
). (
Spe
cif
ica
tio
nfo
r
equipmentt
obec
ert
ifi
edbyTUV.)

ClibPDF - www.fastio.com
 9
) Forc
ert
aint
imea
fte
rth
epoweri
stu
rne
dof
f，t
hec
ont
rol
Ieri
sch
arg
edw
ithh
ighv
olt
age
. Make
s
ureCHARGELEDi
sof
fbe
for
est
art
ingaw
ork
.
Don
ott
ouc
hte
rmi
nal
sont
het
erm
ina
lbo
ardn
ori
nsi
deo
ftec
h o
ntr
oIle
run
tilCHARGELED
g
oeso
ff
.

1
0)T
hisp
rod
uctu
sesb
att
ery
.
Paya
tte
nti
ont
oha
ndl
ingo
fth
eba
tte
ry.
Improperh
and
lin
gmayc
aus
ebu
rst，f
iri
ngo
rbu
rn. Suchh
and
lin
gha
sadangero
fge
tti
ngt
he
b
att
eryc
ont
ent
sin
toy
oure
yes，t
oo
.

① Don
oth
eatb
att
eryupt
o10
00Co
rmo
re.A
lso，a
voi
dth
rowi
tin
tof
ir
e.(
Suc
hac
tio
nsc
oul
d
c
aus
eadangero
fbu
rst，f
iri
ngo
rbu
rn.
)
② Don
ott
ryt
odi
sas
sem
ble
.(B
att
eryc
ont
ent
smightg
eti
ntoy
oure
yes
.)
③ Don
otc
har
ge.(
Ith
asadangero
fbu
rsto
rle
ake
dfl
uidg
ett
ingi
ntoyoure
yes
.)

1
1)Atanemergencys
top，t
hes
erv
oco
ntr
oll
erpower(
ter
min
alsL1，L2andL
3) mustb
ecu
tof
fso
t
hatt
hes
erv
oac
tua
tori
sse
cur
elys
top
ped
.

1
-3.I&CAUTIOi
ll
¥
1
) Forp
rev
ent
ingburn，d
ono
tto
uchs
erv
oac
tua
torands
erv
oco
ntr
oll
erh
eats
inko
rre
gen
era
tiv
e
r
esi
sto
rdu
rin
gop
era
tio
nandf
orc
ert
aint
imea
fte
rth
epowerh
asbeenc
uto
ff
.Wheni
tisneeded
t
oto
uchthem，
dos
oaf
terp
rot
ect
ivemeasureshavebeeni
mpl
eme
nte
d.

2
) Observef
oll
owi
ngi
nst
ruc
tio
ns，o
the
rwi
set
hes
erv
oac
tua
toro
rse
rvoc
ont
rol
lermightbe
damaged.

① Don
otc
onn
ectpowerd
ire
ctl
ytot
hes
erv
oac
tua
torU，VandW t
erm
ina
ls.
tmayburnt
I hes
erv
oac
tua
tor
.
② Don
otg
ives
hoc
ktot
hes
erv
oac
tua
tor，
forexamplebyahammer.
Encoderi
nsi
det
hes
erv
oac
tua
tormightbedamaged.
③ Don
otc
onn
ec oU，
tpowert VandW t
erm
ina
lsont
hes
erv
oco
ntr
oll
ert
erm
ina
lbo
ard
.
④ Whe
.
t_c
; o
ndu
cti
ngv
olt
agew
ith
sta
ndt
esto
rmeggert
est，removea
llt
erm
ina
lsont
hes
erv
o
c
ont
rol
lert
erm
ina
lbo
ardandc
onn
ect
orsb
efo
ret
het
ests
oth
a七t
het
estv
olt
agemayn
otb
e
a
ppl
iedt
oth
ese
rvoc
ont
rol
ler
.
⑤ Avoidu
sin
gth
ese
rvoa
ctu
ato
randt
hes
erv
oco
ntol
r 1e
rinanimproperc
omb
ina
tio
n.
⑤ Makes
uret
hes
erv
oac
tua
tori
sno
tdi
rec
tlye
xpo
sedt
ofromo
ilo
rwaterd
rif
t.
l
Vla
kes
urew
ate
roro
ild
oesn
ote
nte
rin
tot
hes
erv
oac
tua
torv
iai
tsl
eadw
ire
.
I
nst
allt
hes
erv
oac
tua
tors
ucht
hatt
hec
onn
ect
orf
ace
sdownward. Wirings
hou
ldb
edone
froml
owe
rpo
sit
ion
.
⑦ Thes
erv
oac
tua
torands
erv
oco
ntr
olIe
rmustbeusedo
nly undert
hes
pec
ifi
ed using
e
nvi
ron
men
t.

ClibPDF - www.fastio.com
 ClibPDF - www.fastio.com
1-1
.
Soll
ddns nou.
1
1popnpu1OUs
1o:
:
>1AoP: :
>U
oOJol
qu
:: j
:
'
>u01 :
i:>o
uuo
O ・ 可 .
1
l j
:
' i1
.opaapU01 s
ods
uJa
po:
:>u
aadA onlu
Aonj
:
'
losq
uuu 0 apo
:j
:
'
:>
uoIUua aJ
::
>u
1U o 3la
s ・ .
1 .
1 j
:
' 山 l
3':
j
.
Jo1 :
'U
1j
l0. OO・
/la
AppOA.
1aSauoS
all
3
':
j!S
SaO
aU.
1O'
:
j
な np
なOA
.1a
saUQ
・
- - - 申 曲 目 即 時 田 町 臨 時 世 田 由 時 即 時 、
「 目 白 世 田 時 E 四 時 四 四 四 回 - - -
一一一一 _
L_
j JanOJ~U∞ OA18s i i
田 町 田 即 時 開 ー ー 即 時 酬 ， - -
B'
:
jUp :
pUB山 田 00 :
Od/ こ)N
ilnO
J l
O
，
SJa山 oj
:
'sno
L_ 時 冊 目 白 山 田 世 田 町 山 田 ー 山 田 』 由 田 町 四 時 四 ー ー 町 ー
-
-
_.
1
sapas'
HY ・
.
1ao
npo
Jpaads
.
1Oi
Oi.
UOA.
1aSOV
.
1opOOU3
:
.
1Oj
:
'tmiOuOAJ3S
J
aI10ユiUOOOAJaS
J
lo
IIO j
:
'
JUOOω ぉ 1 puu IJOiunpUO
A.l
吋 uJ
OSj
:
'S
1SU∞saposl
TV •
e
1.
Jn
+)nJ
.+S
つ!s
e8 ・
レl
0八日ヨ S091八 s
a!J
a J
st¥1JOよ SUo!+eコ~:J- !)ads L
.
 1
-2. I
ndi
cat
ion
sofModels
1之
噌1.Servoactuator

AR135A128 BAO X 醐 醐

Se
訂ri
e
凶山…
吋
巾均

Framenumber 且

事Seeth
espec
ifi
cat
ion
tab
le(pa
ge14) 司

Typeindi
cati
ons TI
TUVc
ert
ifi
edequipment
事 Seethediagramb
elo
w:
Typeso
fth
een
cod
er
R
edu
ctiongea
rrati
o
Seet
宰 h
espec
ific
ati
ont
abl
e Absoluteencoder
(pa
ges1-
4) 1 IIncrementalencoder

Brake
With

おお;;問中出't~~attached Tl
JV
。 I
ndi
cat
iono
fty
pes

(
Typ
eA) (
Typ
eB) (
Typ
eC)

¥旦主主d 思説/
。 D
ire
cti
ono
fro
tat
ion
D
ire
cti
ono
fro
tat
iono
fth
ese
rvoa
ctu
ato
riswheni
tiss
eenfromt
hee
nco
der
.

ピ
む
k¥ij/

¥1111/-F
V

r
p
v
pu

w
け
'v

S
erv
oac
tua
toro
utp
uts
haf
t

1-2
ClibPDF - www.fastio.com
 12
-
喝2.Servoc
ont
rol
ler

-ARS135 25 F 醐 醐

:
:
;
::
ニ _j。ム :ber
RIRegenerativer
esi
sta
nce(ARS15，30)
司.

・
.
明 暗

(ARS135) Noce1
Powerc
apa
cit
y

06 0
.6K可V

1
0 .OKW
l

1
5 1
.5KW

25 2.5KW

Note1:Whenαi
rt e
ndstor e
sideωit
hiπ60αrddue
t
oexhαu
stheαt，thetyp
e6einginst
αll
ed
ωi
t九thef
a凡 should6euse
d.

I
ncaserecog
nit
ionfromtheEuropeanstandard

U
ssought，
i theactu
atormustbeTUVc ert
ifie
d.

TE
TkaT 引
-
-
m 山山崎U F

ne
ws-hd
'知山 O五
トuzdN 、
、J .、
川 ( 如 日V
冶 U'nc 河

-2
岱M門川OUOM門

﹃ドし '

ム apU 門
pu-
-A
-q

司
ι む
引
A
u

• Switchingbetweent
hea
bso
lut
eandincrementale
nco
der
s
Switchingbetweent
hea
bso
lut
eandincrementale
nco
der
sisdonebys
ett
ingt
hes
wit
che
sont
he
s
erv
oco
ntol
r 1e
rsi
deandbyparameters
ett
ing
.
Witht
hea
bso
lut
een
cod
er，t
heswitchi
sonABSTYPEs
ideandwitht
hei
ncr
ern
ent
alencoderi
t
i
sonINCTYPEs
ide
. Seepage3
-21f
orp
ara
rne
ters
ett
ing
.

ー
ト I
ftheswi
t c
hisirnprop
erl
yset，
thee五cod
er
εNC口RDER w
illnotbeabl
et obackupth
ec o
ord
i n
ate
4b
(
forth
eabsolut
et y
pe).
ICTYPEI r
N -.睡 I
ABSTYPE
SF ・ 百 戸 E

Vl6DXERVDARX 岡

MODEL ARS30-10
P口¥
.IER 1
.Ok¥
.
1
ACINPUT 200-230V 50-60H之
口UTPUT 6 .3A MAX1 9
.0A
SERIAL
DA了E
i
ITEIJINSEIKI
ShlnjukuNSB Ultdl
ng4叩l
CJIr
a
.
.L
.Nlshlshlnjuku
2-<:hO門 eSlnjuku ku
司 .Tokyo.Japan.160

1-3
ClibPDF - www.fastio.com
 13
.Ta
bl
唱ef
ort
heS
pec
ifi
cat
ion
s

Modcls AR1
5 八日 3
0 ^R60 ^R-
1'3
5

Scrvo Ratcdout
putofthcserv
o kW 0.
4 0
.8 .5
1 2
.5
口lo
tor
actu・
H
.cduct
iongearra
tio(R) 1
:R 5
6 0 104 1
8 20 56 80 1
04 1
20 8
0 1
00 1
20 1
52 8
0 1
00 1
28 1
70
alo
r
fr^andst
o yp
es
Redu
ctiong
eal
'ra
tio(R) 1
:氏 5
7 8
1 1
05 1
21 57 1 1
8 05 1
21 1 1
8 01 1
21 1
53 8
1 1
01 1
29 1
71
f
ol
'Ct y
pe
Rutedo
utp
utt
orq
ue N'm 6
1 87 115 1 31 127 186 2
45 284 372 4
71 564 637 755 9 41 1206 1324
k
gf.
m G 9 1 1 1 3 1 3 1 9 25 2 9 3 8 48 58 6 5 77 9 6 1 23 1 35
八llo
wableacc
elen
ltion N'm 272 2
7 5 、275 275 439 627 8
15 833117714
71 1589 1
5891881 2352 3010 3305
anddcc
clcr
ationtor
quc k
gf.
m 28 2 8 2 8 2 8 45 64 8 3 8 5 120 150 162 1 2 198 248 317 337
6
I
tut
cdo
utp
utl
'cv
olu
tio
ns rpm 44 3
1 24 2
0 44 3
J 24 2
0 3
1 2
5 2
0 1
6 2
5 2
0 1
6 1
2
Maximumout
pu七 rpm 5
3 37 2
8 2
5 5
0 37 2
8 2
5 37 30 2
5 2
0 2
5 2
5 20 1
6
re
vol
uti
ons
B
acl
<la
sh a
rc.
rnm
L
ostmotion a
rc.口1In 1
R
igi
dit
y N'm/ 34 78 1
57 353
釘1
1n
. kgf.m/ 3
.5 8 1
6 36
πIn
l

^l
1owablel
oadih
ert
Ia kg.m2 5 11 18 24 15 3 1 5 3 7 1 76 1 19 171 274 254 396 649 1 1
150
11
Al
Iowablel
oadGD2 kg f.m2 2
0 42 71 95 61 125 211 282 303 474 682 1095 1014 1
585 2596 458
Servoloc
kallowable N.m 5
9 88 1
08 127 118 167 216 245 333 412 490 628 657 824 1049
torque k
gf.
m 6 9 11 13 1 2 1 7 22 2 5 3 4 42 50 64 6 7 8 4 1 07 1 43
Holding Holdingbrake N'm 98 1
37 177 206 206 294 382 441 588 735 883 1118 1177 1
4711 8832 501
brake power k
gf.
m 10 14 18 21 2 1 3 0 39 4 5 6 0 75 90 1 14 1 20 150 1 92 255
V
oll
age V DC24V土10%
Current A 0
.25 0.
4 0
.5 0
.75
Speedandp
osi
tio
nse
nso
r p
/re
v A
bso
lut
een
cod
er:2048p
/re
v(However，
iti
sus
eda
t8192p
/re
vbc
ingi
nte
rnal
1yq
uad
rup
led
.)
Weight kg 1
2.5 27 37 7
3.5
Servo C
ont
rolmethods T
ran
sis
lorPWMc
ont
rol
s
co. I
n nput Mainc ir
cuitandc
ont
rolT
hrc
e.p
has o230V+10%，-15%
eAC200t 5
0/6
0Hz
.
power ci
rcui
tpower
t
rol
sup
ply Powerc
噌

ler apac
ity kVA 0
.8 .2
1 .8
1 3
.5
Continuouso
utputcurret Arms
n 3
.0 4
.6 8
.0 1
6.0
Maximumo utp
utcurrent Arms 11 17 2
8 42
P
osi
tio
nin
gfu
nct
ion
s Forcqu
ipa
rtit
ionandin
dcxin
g，maximuJ1l255pa
rli
Lio
nsofi
ndcxin
g(8biLb
ina
ryc
ode
)，i
nde
xedI
addr
cssins
truc
Lin
gmcLhod，
andparumctcrs c
LLi
ngofo
pcr
aLionc
ondit
ion
s.
I
npu
Lsi
gna
Is 'CSSc
Addl ommand，
opc
ruLio
nstar
t，modcse
lcct
ion，manuaIcommandCW/CCW，
opc
rat
ion
pre
parati
oncommand，sc
rvoon，in
ler
loc
，
<lres
ct，.e
7 r
op o
intLS
.
Outputs
ign
als P
resen
taddr
essind
icat
ion，p
ositi
oni
ngli
nis
h，operat
ionpre
par
ationli
nis
h，homepos
itio
n，s
erv
o
a
ctu
atori
nopera
tion，
cont
rola1arm，
con
troHeraIarm，d
riv
eralarmandbatt
erya1
arm.
P
roL
ect
io
一
nf
unc
Lio
ns IPMalarm，o ver-vo
ltagc，opcns igna ll i
ne，lowv olta
gc，o ver
load，over
hea
ゅ

t，openpowerl ine，
brakepowersupplyfail
u r
c，con~roller alarm，b
at t
eryalarm，p osi
tio
naldevia
tionlimit，a
bsolu
te
encodercommunicationa bnormalit y，c x
ccssdrift，ovcrf1ow，unknown7 .eropoint，abso
lute
encodern
bnormuliLy
.
(Opcra
tionstopsa tappearanceo ft heabove~(Upon appearance o f the above alarms，
alarm
s.) ~dynamic brakeisa p
plied and th
eo p
cration
~stops.)

Weigt
山 f
thcs
erv
oco
n.r
tol
ler Ikg 2
.1 2.
4 3
.G 4
.2

Nole1:Wil九八 R 15，lh
er ed
uclion
.geαrral
ioo(140(14
1( rCl
o yp
e)isaloαu
s ail
ableolhe
rl hαn
.l h
erαliogi
UCfliLl
l eαb
h ouelαb
le.
Nole2:Wit九八 R30， th
er ed
uction
.geαrrαloo
i (152(153(rCl
o yp
e)isaloα
s u
αi la
bleolhc
rt tα凡 l
! h
erαt
i οgiuen
.i.αb
n ouelαbl
e.
Nole3:Withi¥R 60，l
lt
er ed
uclion
.geαrrat
io0(65(66(orClyp
e)isalsoα
uαi la
bleol1
te
rlhα凡 llt
erati
og iu
en.i.l
n 1
telαbleαboue.
Nole4:WiltAR135
l ，1
ter
l edu
clion
.geαrral
ioo(144(145(rCl
o yp
e)i.
.alsoαu
αi la
bleot
lterlhα凡 α
rlio .egiυ
on e.i
n .l
n helαbleαbo
ue.
.t
Con αClus(or(ur
tlte
rd e
tai
ls.

1-4
ClibPDF - www.fastio.com
 ト4
. UsingEnvironment

。 ARs
err
esa
red
esi
gne
dfo
rin
doo
rus
e.

i&CAUTIONI Usingt
he equipmentunderimproper environmentcan cJ~.use a
t
rou
ble
. Alwaysu
seunderf
oll
owi
n !e
genvironl
1 n
talc
ond
iti
ons
.

Servoa
ctu
ato
r Servoc
ont
roI
ler
)
0 Ambienttemperaturef
o1
'us
e: oto+40C 0
oto+55C 0

ト Ambienttemperaturef
ors
tor
age o+800C
: -20t -20t
o十 6
50C
)
0 Humidity: 80%RHo
rle
ss 90%RHo
rle
ss
(Dewc
ond
ens
ati
onsshouldn
oto
ccu
r.)
)
0 Atmosphere:
(
1)I
ndo
orI
oca
tio
nwithoute
xis
ten
ceo
fco
rro
siv
ega
sore
xpl
osi
veg
as.
(
2 i
) Wellvent1atedI
oca
tio
nwithl
essi
ronpowder，
dus
tandh
umi
dit
y.
(
3) Al
oca
tio
nawayfromas
our
ceo
fvi
bra
tio
ns.
ホItcausesimperfectcontactsi
nth
eco
nne
ctr，
o e
lec
tro
-ma
gne
ticc
ont
act
or，
andr
ela
y.
)
0 Water-proofingando
il-
pro
ofi
ng:
(
1) Servoa
ctu
ato
rpr
ote
cti
onstandardI
P-4
3eq
uiv
ale
nt.
* Provideac
ove
rwhens
ubs
tan
tia
lamounto
fwaterd
rip
soro
ild
rip
sfl1
a.
(
2) Theinput
Jou
tpu
tco
nne
cto
ront
hes
erv
oac
tua
tori
sco
ate i1
dbysico
ne.
Facet
hec
onn
ect
ordownwardwheni
nst
all
ing
. d
!l
sn
n
of

n
-
円
u

-
以g
-
v戸

n
a・
冶
u

u
p

OM
h山

iv
h
h
比
、
円
M
Cpa

hyo
a

e
rbd
c
mt
1
・

CU u
山d m
r
'

CMOM
‘ρ
p

h
iv
e
tr

a
V

s
コ

FL
喝 dd

O
u
E
‘

， a
OS

-
m
uV帽、A九人C M
z， .

叶
r
.0W

)
0 No
te: Refert
oth
ech
αpt
er2f
orα
cut
ion
sinαs
sem
bli
es，i
nst
all
ati
onsαndωL
r仇 g
.

1-5
ClibPDF - www.fastio.com
 ト5
. 810ckDiagramofServoController

; l ; : n

-
st 句

告と出 cu l
l i
c
戸
由 ii;;;

I
I I I， I
('nnm nni..ntinn RS232C ic~:;~::~'s

，
.
.-
-.
.・
幽・
・・
・・
・・
幽・
・・
・・
・・
・・
旬、
( :
: C
ustom
er's :
ci
rcui
t :
'--嶋崎唱噂・・ー----咽 d

ロ
ロ

1-6
ClibPDF - www.fastio.com
 2
. I
nst
all
ati
on，TestOperationandAdjustments

2ぺ
. InstaHationoftheServoActuator
Wheni
nst
aIli
ngt
hes
erv
oac
tua
tor，e
xer
cis
eca
ret
oav
oida_
dan
ger
c
aus
edbyi
tsf
all
ingo
ff
.

)
> Thes
erv
oac
tua
tora
IIo
wsb
otho
fho
riz
ont
alandv
ert
ica
lin
sta
lla
tio
ns.

)
> 2
i
IS--CAUTIONI I
nth
eho
riz
ont
ali
nst
all
ati
ono
fth
ese
rvoa
ctu
ato
r，i
nst
aIIt
he
c
onn
ect
ors
ucht
hati
tfa
cesdownward. And，t
hew
iri
ngs
hou
ldb
e
donefrom t
he lower p
osi
tio
nfo
rbo
thh
ori
zon
tal and v
ert
ica
l
i
nst
all
ati
on.

(
Typ
eA) (
Typ
eB) (
Typ
eC)

"
，
.. .Rotati時ノ~
. .' U_ Rぬ白星
主語/
F R
ota
tln
g ¥主主主d 主回/
F

21イ.C
岨 lam
pin
gto
rqu
eoff
ixi
ngb
olt
sanda
llo
wab
let
orq
ue
)
> Usehexagons
ock
etheadc
aps
cre
ws(
JIS
B11
76)f
ori
nst
all
ati
on.
)
> F
ixi
ngb
olt
ssh
oul
dbeclampeda
tth
ec1ampingt
orq
ueg
ive
nint
het
abl
ebe
low
.
N
ot: ① D
e αtαg
iue
nbe
loω
αr nα
ei cs
eth
eob
jec
tfo smαd
rmountingi eofs
tee
lorα
csti
ron
.
② I
fus
ingaluminummαt
ingpαr
ts，α
cre
ful
lyd
ete
rmi
nth
eti
ght
eni
ngαndt
rαn
sfe
r
t
orq
ue.

(Whenμ =0
.15
)
一
・
ー A
llowab
le
B
olts Clamping
F
asten
ing t
ran
sfer
Types Q
uanti
ties torque B
olt
stob
eus
ed
sec
tions tor
que
andSize
s N'm N.m
AR1
5 咽 R
ota
tin
gse
cti
on 8-M6 1
5.6土0
.78 1068 • Hexagon
socke
thead
F
ixe
dse
cti
on 6-M8 3
7.2土1.86 1724 capscrews
AR30 R
ota
tin
gse
cti
on 8
暢お18
' 3
7.2土1.86 2508 JISB1176
• Strength
咽

F
ixe
dse
cti
on 6
-I
VI10 7
3.5土3.
43 3596 JISB105112.9
• Threading
AR-60 R
ota
tin
gse
cti
on 1
2-l
YI
8 3
7.2土1.86 4439 JISB02056g
F
ixe
dse
cti
on ふMIO 7
3.5土3.
43 5478 orClass2

AR1
晦35 R
ota
tin
gse
cti
on 1
2-I
VI1
2 128.
4土6
.37 12887
F
ixe
dse
cti
on 1
2幡町
'Il2 1
28.
4土6
.37 14876

2-1
ClibPDF - www.fastio.com
 2
ぺ咽2
.Al
ign
ing
)
> Outerp
ath
loa
dbe
ari
ngi
nte
gra
tedi
ntos
erv
oac
tua
tor
.
)
> A
lig
nin
gac
cur
acys
hou
ldb
e30μto5
0μ.

2
-ト 3
.Co
nic
als
pri
ngw
ash
ers
)
> Usec
oni
cals
pri
ngw
ash
ersf
orhexagons
ock
etheadc
aps
cre
wsf
ori
nst
all
ati
on fn
.I o
t，l
oos
eni
ng
o
fors
cra
the
sonb
oIt
sar
eca
use
d.

Name: C
oni
cals
pri
ngwashers
(
Man
ufa
ctu
redbyHeiwaH
ats
ujoC
o.，
Ltd
.)
A
bbr
evi
ate
dname: SaraSW
・2H-手D(
siz
eofhexagons
ock
etheadc
aps
cre
w)
M
ate
ria
l: 一 S50CMt
oS65CM
H
ard
nes
s: HRC40t
o48

22
. I
岨 nst
all
ingtheServoC
ont
rol
ler

2
-21
.Methodso
司 fin
sta
lla
tio
n
)
> I
ff
iW
M !
組 問DM@
I B
efo
rei
nst
all
ingo
rremovingt
hes
erv
oco
ntr
oll
er，
powermustbec
ut
o
fft
oav
oide
lec
tri
cals
hoc
k.

)
> 100mrnminimumc
lea
ran
ces
hou
ldbep
rov
ide
dtot
opandbottomo
fth
ese
rvoc
ont
rol
ler
.
)
> 3
0m mminimumc
lea
ran
ces
hou
ldb
epr
ovi
dedonb
oths
ide
soft
hes
erv
oco
ntr
oll
er.
)
> I
fex
hau
sth
eatw
ith
int
heb
oar
dre
str
ict
sai
rci
rcu
lat
iononARS1
35，s
pec
ifyt
het
ypeb
ein
g
i
nst
all
edw
itht
hef
an.
)
> Thes
erv
oco
ntr
oll
eri
sve
rti
cal
1yi
nst
all
ed. Don
ott
ryt
oin
sta
lli
tho
riz
onaI
t ly
.

Upper
日刊附附肌叫肌跡事言明一
州側側側側側側側室一一芸品一
m
日

m川刈阿川川叩日開川州川刊川川山一四一四四﹄同一
nnMHHUH-nHHHUAHHUHHunHHHU冊目HHU冊目日Hu
nuHHHUM-nuHMMUHURHHUHunHHMUH-nuHHUH- 出HHHu
n
nHHuunHHUH-nuMMUu-muuH"unMMHUH-刊日HHu
nnHU"uunHHHHHunHHHUH-nHHHHWAHHHHHHWRHHHHu
nHHuunuHuuunHHHunHHHunuHHHH nHHHu
m
HURHunHuonu

@-
H

MM
U

M
H

M
H

U
H

M・ 舟H
Hua"
u

H
H

M
u

M
"

U
H

"
-

u
m

•
a
HH

H
H

u
H

u
H

n
H

M
u

H
n

Wall
u
M

n
H

H
U

H
M

H
H

H
U

M
H

H
-

u
nH

n
H

u
H

M
H

M
H

H
U

U
自

H
-

-
n

a
場
H

u
M

u
U

M
U

U
M

M
U

M
u
-

Bottom
Fault X

2-2
ClibPDF - www.fastio.com
 )
> O
ut-
of-
boa
rdh
eatr
adi
ati
on(ARS6
0andARS1
35)
Thes
erv
oco
ntr
olIe
rca
nbei
nst
aIle
dinsucht
hate
xha
usth
eati
sra
dia
tedo
uto
fth
ebo
ard
.
Witht
hisa
ppr
oac
h，a
ppr
oxi
mat
ely70%o
fhe
atg
ene
rat
edbyt
hes
erv
oco
ntr
oll
erc
anb
era
dia
ted
o
uto
fth
ebo
ard
.
4同 -

Withinb
oar
d Outo
fbo
ard

P
ane
lcu
tdr
awing

合………印刷
2
-2-
2.Environmentofthei
nst
all
ingl
oca
tio
n
.
. Temperaturec
ond
iti
ons
Ambientt
emp
era
tur
eov
er5
50C mayc
aus
eabnormalo
per
ati
on，
res
ult
ingi
ndamagesont
he
p
rod
uct
.Makes
uret
hatt
heambientt
emp
era
tur
est
aysl
esst
han5
50C
.
Us
eth
efa
ntoc
irc
ula
tea
ire
ntr
app
edi
nth
ecl
ose
dbo
ard
. Don
ota
llo
wai
rtor
esi
dew
ith
int
he
b
oar
d.Don
oti
nst
alIh
eate
lem
ent
ssucha
sre
gen
era
tiv
eop
tio
nsneart
oth
ese
rvoc
ont
rol
ler
.

(
Hea
tge
ner
ati
ono
fse
rvod
riv
er允o
ntr
oll
er)
C
alo
rifi
cpower
Types Output
(
Out
-o二b
f o
ardheatrad
iat
iona
ppr
oac
h)
一
AR-15 4kw
0. 60W
AR-30 0.8kw 100W
AR6
0
暢 .5kw
1 140W(
50W)
AR-135 2
.5kw 180W(
60W)
.
. V
ibr
ati
ons
Don
oti
nst
al tn
li e
aras
our
ceo
fgr
eatv
ibr
ati
on.I
fin
sta
lli
ngi
tins
uchap
lac
e，p
rov
idei
twi
tha
shocka
bso
rbe
rfo
rab
sor
bin
gvi
bra
tio
n.
.
. Atmosphere
S
inc
eim
per
fec
tco
nta
ctsmayo
ccu
rbetweent
hec
onn
ect
orandc
ont
act
or，d
ono
tus
eiti
nah
igh 噌

temperature，
humid，
dus
tyo
rco
rro
siv
ega
sex
ist
ingp
lac
e.

2-3
ClibPDF - www.fastio.com
 2
-3. WiringandConnections

2ふ 1
.Wiringt
othes
erv
odr
ive
r/c
ont
rol
ler

Servomotorpowerl
ine

Wiringtoservoc
ont
rol
ler(
Spe
cif
ica
tio
nfo
requipmentt
obec
ert
ifi
edbyTUV)

Forh
old
ingbrake

2-4
ClibPDF - www.fastio.com
 ト
こ
@

、
uuu
EEE吋tEZJ
炉
@ TB2p
inN
o.s
.

NamesofTerminals
Terminal
board S
t
ye
rm
-
mb
io
nl
sof Names C
ont
eri
ts
Nos als

LIC L2C C
ont
rolpoweri
npu
tte
rmi
nal S
i1
十1
。
1
g i
ephase200to230V
0% 1
噌 59ら(5
0/60H
z)
L1 L2 L3 Mainci
rcu
itpoweri
npu
t Threephase200t
o230V
ter
min
al 十1 0% 15%(50/60Hz)
輔

-
・・
・・
・・
・・
・・
・・
・・
..
..
..
..
..
.
③ Groundingt
erm
ina
l Groundf
ormainc
Irc
uitpower
TB-l DCP DCC AR15，
30 R
egenera
tive Terminalforconn
ectin
gt he
r
esi
stance exter
nalr e
gene
rativ
er es
istan
ce
-
・・
・・
・・
・・
・・
・・
・・
..
..
DCP DCC AR60，1 35 c
onnec
tion t
erm
ina
l (Donot s
hortDC PandD CC)
RI
U V w S
erv
omotorpowerl
inet
erm
inl UmotorAt
a er
minal，VmotorB
t
erminlandW motorC
a
t
ermina
l
-
・.
・.
..
..
..
..
..
..
..
..
..
..
⑤ Groundingt
erm
ina
l Groundf
ormotorDt
erm
ina
l
1
.A lB Brakepoweri
npu
tte
rmi
nal i
n+
p:
utsbhebrakepowerDC24V
TB-2 (+:lA，
-:lB
)
2A 2B Brakec
onn
ect
iont
erm
ina
l Connectstot
hemotorbrake-
‘
"
terminal
3A 3B E
xtern
alreg
he
en
rm
er
Jat
ive Connectsth
eex
terna
l
r
esi
stanc
et her
mal regenera
tiv
ether
malli
ne

2-5
ClibPDF - www.fastio.com
 4aau宮古。品首ヨ$234424岬=品目.・岨22・1・34・云342・=32Z.帽
・31J442-rduτ首E・44@﹄33ヲ5Eg--30
.四$225ωhM24aahZZZ223﹄・4a=44233百gas-a唱田34az.噛
-hzt唱。，hω= 吾、温惹 EZEE-4圃哨沼孟
isdd32・EZh@也語。品-aaha曽2・・明石茸dshm晶色3・LEB雪国﹀噌mnua・噌
423ht-gush--・4咽3322=S40gaz-M4utass-S-ap・円
.2戸・aZ3唱zhω叫MrdZ2・2-2・輔司
・14g・22dHgr=32E曹三@ぎ235re33hgω33輔Z こ25言。品・N
4d噌・aコ。﹃dg・︿コ。22送電﹄官官岨苫
国﹀咽
SON--H
岬晶司
・
.。Q54・3・LF・tzg自由M ・3Ln43422522ζ2ι023・0U223芯ahSSE-4唱
2・33332ZOL--df 。，sgd-z，羽haa﹃s・a・-H74L.ぢ宝2・32・・.22。・︿202@ha4223・a3・ZUz--h4・3﹄
︿2・$222S32tu ‘ 'gqお一332g一 -E32霊ZZ342M4Je32gt・g・-・3522hah322匂2322 也記 ω 乏 24hh
Mza--。友之﹄.a・咽-zu叩抽3 之“
・2--
2g望・3叫SUSM-H23Zu--32539ゐ匂JM叫433 -
匂宮
. ω
.句 d
hea--
A帽。SJ
23a-hu
--コ.鴫4
・g宮崎唱し
百一-
三言匂占4括弓師包唱刊詰拘剖祭円2.司司認円司三唱3q2岬円お珂z/一hニ一 心 い
h
以一暗
箆目
向 ta・
噌四“
.官﹃
叫
き己主 3Mea-2222JZロロコ︿U4﹃乏之 ・322切舗、，コ君主畠岨22・叫2・Fasoω勾宝石LUGS2凶・-
1111111111111111111111isS3
さの 〆 H2432
同師四帥 ーム唱﹃唱山刷工ロ l S 4 F 3 3岳4-喜望室Sw・-四222ヨ S
﹃喧田恒 ー
ム n-n- 草月︼
い一mE32苫主=22E・ g
- 三
Z Z
四 由 門司門司戸﹀骨
.同4mJ 川司
一削 S H 4悶
mM 町出 吋明白-zuhaa l 副議選
3・
2z - 回吋四﹁ o四
一-M
叫町U﹂戸
恒 El
﹂戸崎6﹀ 帥γ
UO暗唱︿.圏直唱喧︿ed、由唱暗︿14 国主叩沼 晶閉山酢自由
H ﹄︻¥由民
恒園調 la﹂戸コロ﹀刷司令
MH門町︿，唱団内匂︿.，、。門田︿'4iq?司門帥 田口問切 明白個目白河﹂戸¥白H国
U帥園田，、，
圃帥叫唱︿，
，、師団信︿
。‘.u 川一 ) Z 3 2 3 2 = Z U 4 5 3 4 u ・ 2 A
目﹄由﹄ 的
ZnZN色弱
・
32z - 町凶﹃凶 ヱ一ヱ一NL -E暗 ま 司 ︿ 凶 -
U足日曜︿・圃O門司4，︿O門司︿，a 由回目白 ma由也漏 tsda・r・﹃叫da---223・39hS 2
国・
z，、
l唱qs師団
一同 山
UEU 咽ぶ由明白園内h la43a4ち・望書2@u-e一Zι・?422︿
un司自︿e蝿帥叫喧︿.司師団Z41、
中
ー 田園同園 h g
s 白ZU
az--22・321Z2 1・ b，r
taz
--a
M・ 田︿四︿ 一
-
酌円四一A色円W昌3司4色調
唱曲由 弘 ー‘白zu
--se
ra-
3z-
aa-
-8・
ha 守山千四﹀。 l‘
﹂戸﹃
MM﹀
回
‘
司 ﹂戸
田H 門町門司﹀。 tthコロ﹀n
L山色 制-畑山﹀回
明田崎町﹀回 -eω543よ 3522
32・﹃芯噛哨コ・Zu--zau
崎両唱曲羽・zu-ug--
噛
掴 噛
品目唱
伊国・
明du
ad2
2hu
・3M
L由4
4 間，
rp唱・門32ezコZa--sh533254
円・3gFZ-﹄ョ2・2ζ翠︿ 4竜 町
11111111111111111 a
-z-
z
は
同 哲言-aJJ
て lili--lil--
aga--a四
az
--叩 品 目
白色同33ea--20=一
Z44同窓=2・明。=zeUF
咽﹂戸︿白色柿，r町
hh司白血崎町一
唱﹂F4晶弘岡山町
帥﹂戸司自也同由22ZZ﹃42﹃叩
2-6

噌H4aA也柿一一Z"さヨ苫zz-町一
円﹂F4白色刷m-
旬
。=。
LZg
ouw
@‘，向
hwm
w M﹂戸︿園内山崎町四
ごさ段、、﹄一言宮崎343 会
3
244圃ZE--222一
﹀コEgaz・、主24ョ35・23・回一
2Ea--er・tau-em
﹄F白剛山﹀帥522Z-Mar・2daz--3 一 喝
gJ4同'・-sitzta一
定J︿ug=2・M23=aeUE
告主 Uz--a2325明言。と
﹀守叫、。﹀。宮a書室内Wu--44E30 ﹂
¥与吋咽22u﹄一up﹄aS33Q
agZ唱，r
as・﹃唱一
由凶凶弘同・.auf-苦言明日。宝田町
司﹂F4同固定U M J J 一
h﹂︻︿自由XU町一
喝﹂戸︿自由zu- 一
回﹂戸司自由XM四一
-
v﹂戸︿自由xu一司44322=s・a・匂苛苛司一
円悼司副白XU四
制﹂戸司自由xum

rconnectiondiagramwhenusingtheincrementalencoder)
同H4白白xu、、、

o
M d a t - - ぜ2L苫明 セ噌匂岡山崎43ac 叫
﹀uusoQ﹃42・222@u・23g34

sf
﹀U注匂宮崎・22書232・34
噌 a ﹀ 同 勺 ・ 2 0 2 =悶
﹂戸師国.申e・2・z
L同居︿LF帥4Z3・2・3・M・品。
﹄F白血弘;宝石22・2
圃包qX53Z232 2
4Maqxc 3
ミ
H
w・
4h
w-
--4
3咽
品

(Contactu
.Connectiondiagramwhenusingtheabsoluteencoder
コ

2・子 2
〈之コ
cv
Lぷ“t

叫〈
にと三
に出
-<
ClibPDF - www.fastio.com
 ..
﹃
dd
. 3uahu司。国t32U22ヨ22hJat--a・ha古223u噌“MGZLE一岨﹀コM・
哨
﹀コドh品目暢UZ3hSω﹄SL2aa--﹄SS34ugE3、ah24・hhsω叫gsaU3唱Z-"コ叩
42232品h3u-Z 咽 asd@﹄31岡三百u
z ・
s・。
υ
-mヨza--34bZ冨﹂﹄@Mg古望書sh4a 2 匂232唱SUE-両Su--a唱43虫3a・叫
4zt噌OES-- 芝 22ah・3244噌2
旬。agZu--44HZEE- 三 Ma・442332h-2322孟﹄'NOG-噌
咽oq・0
︿肘咽・
0N円。
--
ssJ一-E2245Ez--・4422SE--34223・Mtg-gh司君戸・円
.同﹀資活司・02a
ァ .zH・23ヨZQ3312沼吉宮崎包
.。02門書:3tzd明 zho叫dmwzsgコha回g224叩苫角田旬。﹄唱“高崎dh“wa“ZJ3 輔E-ご。g333ら . 何
回!副司 gva-- ヨ 32・S3522A﹃22
イZω23鳴書3・hSM﹄α242・3ag・u-コaw--咽明ea--Lua-42・uuaz--、54Hwas-"3"と23
-duu・23HW2=.220︿=。雲@柏崎支dZ2苛宮コωzaZH・22山田

';;
:
縛

1
;
:
l'ヨ2 4 凶 イ 諸 2 2 t ・ 3 ヨ = 司 君 = Z u-MahSEEM-hコヨ宝石崎句、望32uZ主

:
.

.
何

，
'dZE--"・43343aZhu--3.2・・za-- 3

~三
.

:~] ~
.
t- o
ミ号界

d=3
n

3
s，
=
同
主

J 輔
・3332232un-- Z E 喝24hg。υυa﹃芸・品川V0・日=明・-
。一

3
elF﹃ 吉 野 M 4 宮 高 主 主 s g 2 3 3 2 a w H Z 苫 Z
-
n哨
.os
=包::::箆

，
、

U 355322ω35354

1
I
1
I

1
3
ztg再逮
Ithコロ
n--
﹀

J
:
.
Q

周 珊
，
i M叫筒﹀闘な
属

T
司Q\ 2=~ !:Z
帽0\ 2 コ~!:!
ee~~!::~
....同出埠周
><x
¥ 、 、 周旬 回由
Z 巴

I i
I :
I
川 YZ苫22咽叫ZU324・33323羽

1
.
.

. I.7X'"):W:...J芯喧同窓

町
.
Ei 司寄当地

J
1
.
:
1
:
.
14ヨ
両也
号﹄
r 33E
ω
窃“幽
.
咽2
r﹄
=。日
輔 ﹃

¥
﹃ 縛ι叫
苛
宮
4
=掃
=
.
喜.
ヨ
岬
ヨ
書縛
g
5
崎=
芸
膚
$
書噌
2 3岬噛子4
a
a-=
喜
"
需噌
︿

.
.
.
ii432 噛

~主主 jl~ 霊君主 l

l 由喜

I
1 i
1 ;
.

ー
! 量 ! き l 当日
;
τ
ミ
11 副Zu

lT
;
i
j
1

l
--hコロ﹀n

匂は
=

引， 1
ミ IÆI さ~ ~~ J ~ ~ g~ I
j 由
三l
flhE刷、r
n

_ -<咽 U 回
，_ -<且 ua...1.. ロヱ'"):W:...JX e;:帥芯
.，
.
e
也
l J引剥副引削叫引円高司四ha

咽同門守~~~~ヱ!!
回同門守~~~~ヱ!!
>>>>!C!C園周~~
師自由。Q..a..恥Q..1l.色丹><....巴-<;:，席指且
，唱・243崎3・MG-24
万四司咽叫暗闇OLrz
的)﹀3332eSEM--hMU3244224
訓尚
喜 四国 f
訓2
・ 叩司 d
2
﹄ 3園 町
aa -
- 叩園田
刷。弘時間ga--句。品“z・32一
Z44同g=・-・唱。句圃g。GM
岨﹄司昌弘伺，r 由
邑円﹂︻喧昌弘柿山田
唱﹂戸︿田弘同問﹃
2-7

咽﹄︿白色同一23コshZ22一
-
v﹂ 同 司 白 血 帥 由 . ・ 由
門﹂戸司自色 Z2柿3田35
司
個2 目p- 同
旬
mW2
。・3
認。旬
。、，
hu悶 制﹂戸︿白色同町・同
ニ4aaL 一
一 国百ぢ内明言。 g
寓44圃gza明・h=3・回目{
﹀g-23・zaEZZag--zz・崎町
F
﹂開国﹀同ZA--22・・2ZE--瓦- -Je
r・=3
目
玄4︿儲 zz“.‘ .4・3 四
X 4 4 U z - - Z ZZ 怠言 ・Mm
2HZUz--2・2予告・4・2・h一
恥
﹀話、oZ3333品言。 L 弓 343どU F﹄曲S33Q
assaJd
当= z a -
同一凶一宮崎PS 陶芸3 3 Z 町 一
剖﹂戸司自由zufdm
hh唱曲闘志u-m

i
:
I

I
i
e

i
i
咽﹂戸︿自由XU回目

'
1
柿﹂戸︿同闘志um 向

~ !
'
ト叶
斗

''
'H4白goy--253司23Jh

言 i
.

~~苦i
~::

モ
:
'
Z

'
nH4自由ZM 叩田

1
I
1
I !
1

-~~..1
。~
=号
-~
j

1
:
、
制﹂戸︿白血友U甲山

;
=:
=

:
句

-
'-四曲目『吋
:

Ir
i

II
II
"
・

S
=

3♂ 明 。
言宅 t

-.~Q
ニ

"
三<~
;
p

5
泊 ".

Sまさ
.

J 1t~1!
4dM記 ¥2tud乙吉岡明一23安鳩山

.
2ト
.
I
I
σ、

.
2
﹀UH3QU叫eg--22222g・2

ー
・I
J
.
唱。内

，
﹀U3U﹃es--5233232

T II
.由

1
.
h
帥帥

.
噌a﹀凶之33=同

.
﹂戸岬唱4・・・園田

・
~~I--， I 記!
之 3叶

咽
温ζ

.hE
，
ぞ
三三¥l
4
白白』同ぜ

:
~]
M~

He.ll1

，_
I
9雪

:
﹂︻ぽ︿﹂戸帥JZst="。コ・ιZ品。

:
¥
﹄自由nh-
3F
・・228
・

¥.
圃凶aC怠 2 ・
4Z--一
-‘
zgaz
---.
岬3

望
34 ト
2きヨむ什- J I
i'g ::i ~O ・ T

~~
izi121:Hli
白 血
ど還請さま YG
︿Mag-$22323M4

: '
o 主賓

n
ー 向 門 申 帥 、0
畑町門ザ明暗

ベ0-;￨さ￨H I -o
6
さ

-
g

;:
:
¥

~ ~ 二

:
:.:_，~斗 ~II

:
-

'

:~

!
i

「明司『ー一ー由叩・三""・叩ーー明白『一二時可
!

i
i
!

! 長 ; ;
; 日 「 一 「 33i
iき

!
!ミミ:;~âæ ~

! 宝 ①
i
iV271:i ぜ-
:i3 白山J、~r-..l

".晶、旦:r:c..甲
~ :~
; 1~ -
;i
羽 . =句
言 l五
き iき

竺 i
.~
< t.崎町一一一.;:l_・『明『司司ム叩司--司自-..1

・
i
﹀ D'Fkn 門戸 }Mmw 吋
泊ZOUC332ωgbロヴむ旬。﹄∞ロ ozgロ刀ω仏の
のめ何回︿山口足。句、出︿
ClibPDF - www.fastio.com
ClibPDF - www.fastio.com

lAR60 AR13 什

・
・

・
MA叫 GHP副M M h
d H M1 凶
品 山a。
uFpe

崎凶開幻郎
昨
i例 制

a
M

刷同副

・，
区間見附副総
制凶

hs
崎市

山肌例∞
a"L
Fι

，冒
H 刷
nrMU

av--a-anamamananan n
lFW
ub
U

Tm回 v
刷

w
a払a"u
・
t

ω
・
““

α 例 制 印 印 印 印 印 印 印mM
{，.SLag-"
““町"“刷
e a1i - - 刷

dddi
・州制
川町四刷副
暗唱

kmmωmmmmm 江
・

f
。u
t
‘.
a

・ ・
u

JUU
“

i
a

“は
g

asg
・?
l
・
E
uepis

V-T T
‘唱 da'R4
i
-a-H ，
-
削

haeM
L巾i
凶

・20'
・ a'
T 7v
K

噌a
企 a内
suu

s
u
n u
明
﹄a
a
M
Cuslomer'sc
irc
u;t$
idl
l 。 叫p叫同制川副. o
v町 Z4V

'
C
.
o
.
l
a
l
i
l
l
r
hu
l
.l
i
I.
n ω川
r.1g
，1 .
11 ，
・
CNTlJP
CALH ・
.
lhi vlI .
.
.
，帥 DALH

叫r ・
0
1，
，"110"I 'r
cp.ro
llos • • ~ SVRDY

SM o・・
・・l
A
r
Ilu
Cu，
，
‘1
U 01 HCIV
p."li."BALH
S
or“
・u姐
v ・ g

OuLpuls
ign
lll U.I Ir y山 川 SPDATI
I SPDAτ2 5
or.
.oO
lll
rol
lor
I SPDAT3
I，e川
“
‘“.
ti
.
.
w
..
.
.
.
“.
.
.
“
，
島
句
.
I.
.d
i
ε. 1
ω凶‘
a“i
a I SPDAT5
I SPDAT
ぬ

I SPDAT7
i∞

SPDATB 、
、
C
1
o
1
n
0
l
m
rl 1.
.伊・ i
.
l
1
1
i
o
.
n
・
・ SAL純
IDPOS
U
D
II
la
I
n
k
k
・
Dla..k
目i副市

山
““
Ea，
1
e加‘a
仙
g“叫
一
"
1.
，
唱
， "CII.560.1
潟
軍
・

sssap岬P 岬P 岬 白 川 町MMMmuma 削
VVVVAABEZZEBECTV 叫gdR
I.
5

t234Mη
1234M同H
.
C...I
'C
II. 6
01
...
."， .d
by1I0
.
!
!
!!主主ぽ血血ι
PIP
:WOUT T1T
:
SVOUT
GHD

同
AIA

円 ωωuna-MWUMU22emy
・ GHD BIB

凶閥均H M
Auulul'Pcdcouuu4udl
up ul CIC
"
'..
oIO
I，"II
IU 6 mand~I~p'~l! ・・
U
l DID

…
以 訓a (I(

同 aa'ωu 同国
flf
叫
山
..
…
5crv o
r-l
!凶
1 B
xX4
JJ ・
11
@HOHH

凶.
山g
.
M'

GIG
B -h
叫15VOU
舎 I
汀 HIH
斗15VOU
幽 汀I JIJ
hω4
ゆB KIK
門
LIL
M内 24mω7

HIH
E1 .“
温
町rn.h町
nεo
d.rlllp
uU.r II抽.
s
h 11 “
・

RIR
節句

叫 ‘
耐 帥

“
rz

“ 伽
tFul.
.1r
a.
i
、 SIS
m

斜
仰 凶 川川
骨

“叫叫
I ・，luid・
副

1
. S
h
:
ば
i.‘
ε低 t

'lUi
υ
uL
Whe"lh.r
>
lJ
C
J
a
'
.
n
削

l
.
‘
刷

c
“
a
I
I
h
o
e
IJ

.
lCC副
yu
.
.
a
ro
‘
uI
l
。“

i
v
a
.
.
.
T
u
I
‘
l
IIl
b.h
Iror'l
u
r
，.
l
c.
:
'
l
cr~si.lor fru
酎
'
“B
.
時e

le
r
r

u
a

.
li
v

l
l
cr

llo
cs

u
I
s

n
lo

li
r

.u 6
.d.
5hiId ・ u
.
'f
.:d{
ur(
)
u&IU
，
'
u
・
，
川 N ihCAUTION K.y1
u
'0
i
uo
&
i1
lU
a
l0
1
.t
n
lO
c
ru
o
Jcrl
&・・
ni

.・，
l
il
lop
lU CHl5 b
KI )(N
ulo2
1i.
Z
自同 1 r...
.ovc，
" I
. h
ω.
. . ruuOI lA.()IIU
.. udε
o.u¥&:ε
t
・
・ 凶・
‘
Ih.r csiit
ur.te協
'
.
l.
" .
"
.
1 IlCC I .lCI'a.
..
1U凶 1 1
1.(11
10$
1.1
MURayt2凶 a
1
115Ul
lll
lu"
o l
dc
03MCo
r
cd
・
J . i
山， .
，
aiGlld.lelW.CIIOIlAAnd0 1111.
2
. 1
'
討I
0
.
$
;
.
.
I
I
;
n.
・
.
i
I
.u
p
f
l
l
u
h
t
c.
，
:
u
:CN1
i.l
.koy1臼 dr
6.
.)ja"
へ
llrJ'o.
i'io"i"
Cω(ll!cen
cchler IOJ20.3000VI
t
C
.
.
3
. Th.d)
'抽 出j Ob.
..koi ..
..
.
1同 u'
-li
I nediul hoc ・
rl
iUω叫印lI.r. 1
032
0・62A ooa I
o
. I
4 .
lC2tVf Iwera
" U
jlpl
)'i
.m.du U I
.brukcp" U ，
.
¥ (Ihcaε
lu..l
or

5
..
.
. 1&，
1
1I
lI
h
o
u
cr
ll
C刷 川 凶 I
I
t
l.
t
I
I
la
yf

Cil
"Iw

o.
l
ero(lhc5
e印 刷 陪 dcd1
Iulhor
0.
c1
i
c

・
l
h
1
1
r
c
(
1
vod
rU^
1)
'J
r
i
，f
Iω
>
v
Qr.
・ 印 刷 日 山I

Ii
l bil
.d.
torLuucryl!n
l u
tlul
l .
 』
。
唱
。
.
4
﹀DFVhAMvmwG3hgcA34MMωgb

_
gN
‘
、
s・
"
ヱ
竺
，"
・ 0
崎 ・4
・
~ ~
--
，.
ha
.."司
3引 訓 引 剖 剖 叫 引 幻 訓 引 幻 訓 剖 刻 叫

・‘.，
.
.
.
..
﹂戸︿間'珂︿
﹂戸︿副，.司園自門司匂︿
﹂戸︿両，‘
﹄︿由，虜由。唱匂︿1 申t 肺
﹂︻︿同'濁
﹂︻︿同'M︿口唱ぽ︿i

コ噌 d駒 司
。ιJ
』 句
un門由記4 ，﹂

a・ 甲
1
3 2。之帽
u

n門司喧︿t
訓叫封叫幻刻刻引訓叫叫︿

.~
a唱明︿td

司唱・

0
;:.
e
s

~ ~
-z
、
I+nM'n内司同母︿

F、三
-
，
h

:
c
...
G
，~
四回

;;
・0唱抑留︿

】 泊
のの州、出︿何M

目 柿
~-ヨ
コ雪
〈孟
当3
弘同 〈圃U 由凶』 ロ
ヱ..
..:
.cJx c
. ぽ帥:::
a
.
..
. < 圃 U 白凶... ~:r....:.c.J X 信伺之
MH
.句。。凶︿
コ
ゲ
。
，。ト
判
明
口H
。 25ロちω
∞
仏

ヱ
コ

2 2 帯S
2 一円四一﹀0 .

ヱ
n

一
。
m 叫 酢 一 回 VA﹄戸、自H喧属
h四戸内四四 4

- 一昨叫﹃阿内向調

。山町内回向四官四UZ ﹃肉付
コ
M 四叫一﹀回

団四一司﹃山由内 h

同四一向Z F
師団一酢司由晴弘嵐

削
h - h田町﹃品
円 四 円 四 ﹀O

国 - 司 自 由H﹂戸¥由同信
守
甲甲甲山﹀。
冊目帽﹃﹀同

唱明白﹂

，
Z ZN

唱 剛-----︽
WZ4弘

AM-町

U同信薦
UHE
ι

﹂4同
弘

ロ
4
園周
E-=@3
し2@uw@
，
﹄
. hm-
崎
!
4
1
マ
司S
~ II IIIIIIIII.~ IIIIII ~~
2
2d
Jh
2i
ii
i:
li
ig j3
3
33ミi
i
ii
ii
i
ii議 場i￨5
3
33芸3
7i3
3 7
3
3
望F2己Z
Z F5税 gsm a
33
a 11. !
o J
~ i~il 除 制 劫
i
~~
; ~g '
-一一一一J
~ _ 1~ '-守一} 5
_;
5 ~H '
ミ23W2
-
一一
2一一_
/!.~
~乏~;~1
;
き 32
ãã'~
32 ミ
.
g
τ1
2
i i
.!~a:~ 1 f !~d i~ 三 i ~:1
~ ~~ j 1!
jj 詰~ i~~ if
H
.
!j 1 ljJ~lJ f
J i~ ~ ~ ~~
¥ おお必至三 ミ ノ \:!ð~5l~ 喧 /5 ! ミ忌ィ : ~ j ~j
SE崎市aH42a=

2 言~• ~ ~~1:~3 ヨ
四

. =
-
去三~ ~ :
ミ 3 ヨぎ
_.‘4 ・-・~ U:..
空 苦 3
三
~
吉
:
:
3
一
5 言~
-
i= 三
= .:t家苫
岡 高 " "
三
ω司
;
さ
E 三
で=
-::
: ~ ~ ~~ヲ=
: ~ ~ 1~~ ~ご 33 章。
叩
;
'
5
~
主-=: o.
..
. ~~孟句~
ぞ>...吉ヨ
_
;
きヨ
ョ
o~ -; a
i ~ ~j
~ ~ i
: '-与- '!'宅句 :
::
3 51f 主主~ ~ 三 . 3空532
~ !~1~1~ ヨト f 3 33さ き
:~ :ご λ と
; ::I
.!t
: ;~ '
o ~ ~ミ
~ ~ ~~g 1j~"~ ミミ~'~ ~
8
:
:
:
~'~j ~ささ言言 83 言 i ~
l =豆=ま:: ?.
._a~さ τ 己売
:
・
さ?主云] ~ -;1 =:e.~
3 勾 !'τξ"::: c.): :
i
-?
Ju u':;~
さぜ~ ~ ~ ;~ .~ _~ :~ "
3]
き
雪~ ~ ~.~ミ 3 ミ;'-s l~~!
若 ξ 五百ー孟喜三パ守-;;室。~~
~èñ3 :t~三王::ま 3;.:::ú ニ::~
。
:
;:咽 刊 吋 ザ 叫 岨
2-9
ClibPDF - www.fastio.com
 2
-33
.Sp
e
咽ci
fic
ati
onso
fre
cep
tac
les

(
1)S
pec
ifi
cat
ion
sofc
onn
ect
ion
s
Layoutso
fpi
nso
fth
ese
rvoa
ctu
ato
rre
cep
tac
lesa
reshownb
elo
w.
。 Fors
erv
omotorpowerl
ine(CN14a)

~ (
ForAR15)

P
inN
os. S
ign
alnames
A U
B V
C W
D さ
('i(Frameground)
E 日1(
Hol
din
gbr
ake
)
L
___
_._
__竺
一日主
空oldingb凶 te)
AR15 MS3102A14S-6P
(MadebyJapanA
via
tio
nEl
ect
ron
icsI
nd.，
Ltd
)

)
0 (
ForAR30t
oAR135)

P
inN
os. S
ign
alnames
A U
B V
C w
D ③ (Frameground)
E B1(
Hol
din
gbr
ake
)
F B2(
Hol
din
gbr
ake
)
G 一
AR30 JAEMS3102A16S-1P
AR60 JAEMS3102A20-15P
AR135 JAEMS3102A24-10P
(MadebyJapanA
via
tio
nEl
ectr
oni
csI
nd.，
Ltd
)

φFore
nco
ders
ign
all
ine(CN15a)

ト (
Abs
olu
tee
nco
der
) (
Con
tac
tusf
ort
hei
ncr
eme
nta
len
cod
er.
)

P
inN
os. S
ign
alnames P
inN
os. S
ign
alnames
A PA K 湘 RTC
B >
4
0 PA L BAT
C PB M OV
D 事 PB N S
hie
ld
E PZ P +5V
F 市 PZ 民 OHl
G バ'XO
RXD S OH2
H 市 Rxorrxo T OV
J RTC

Hll
'
vrS3102A20-29PZ
(MadebyH iro
seE l
ect
ricC
o.)

2-10
ClibPDF - www.fastio.com
 ・
(
2) Typeso
S
erv
fre
cep
tac
lesandp
omotorpowerl
in
Iug
s
e(CN14)

CN14a CN14b

~ Typeso
fre
cep
tac
les L
-sh
apep
Iugs S
tra
igh
tpl
ugs C
abl
eclamps
AR15 1
¥
'IS3102A14S6P曙 MS3108B1
4S-
6S l
YIS3106B14S-6S. l
YIS
305
7-6A
AR30 MS3102A16S-1P l
YIS
3108B1
6S-
1S MS3106B16S-1S l
YIS
305
78A
暢

AR60 l
VIS3102A2015P
噌 MS3108B20-15S MS3106B201
5S 帽 1
tIS3057-12A
AR135 MS3102A24-10P MS3108B2410S ‘ MS3106B24-10S l
VIS3057-16A

。 Encoders
ign
all
ine(CN15)

CN15a CN15b

~ Typeso
fre
cep
tac
les L
-sh
apep
lug
s 8
tr.
aig
htp
lug
s C
abl
eclamps
Common
日/MS3102A20-29PZ 日/MS3108B20-29SZ H/MS3106A20-29SZ 日
/ll
VS3057-12A
oal
t 1ty
pes

S
pec
ifi
cat
ion
sofr
ece
pta
cle
s(S
pec
ifi
cat
ionf
orequipmentt
obec
ert
ifi
edb
yTOV)

(
1)S
pec
ifi
cat
ion
sofc
onn
ect
ion
s
Layoutso
fpi
nso
fth
ese
rvoa
ctu
ato
rre
cep
tac
lesa
reshownb
elo
w.
φFors
erv
omotorpowerl
ine(CN14a)

PinNos. S
ign
alnames
A U
B V
C W
D ③ (Fran
AR15，30 JL04V-2E18-10PEB 咽

AR60，135 JL04HV-2E22-22PE-B
(MadebyJapanAviationEl
ectro
nicI
nd.，
Ltd
)

• Fore
nco
ders
ign
all
ine(CN15a)

-
) (
Abs
olu
tee
nco
der
) (
Con
tac
tusf
ort
hei
ncr
eme
nta
len
co1
ce
r.
)
P
inN
os. Signalnames P
inNos. S
ign
alnames
A PA K 増 RTC
B 潮 PA L BAT
C PB M OV
D 喰 PB N S
hie
ld
E PZ P +5V
F 桐 PZ R OHl
G 庁 XD
RXD S OH2
H 構 RXDrrXD T OV
J RTC
HfMS3102A20-29PZ
(MadebyHiroseEl
ect
ricC
o.)

2-11
ClibPDF - www.fastio.com
 • Forh
old
ingb
rak
e(CN16a)

S
ign
alnames
B1(
Hol
din
gbr
ake
)
82(
Hol
din
gbr
ake
)

HIMS3102AI0SL.4P
ルC
adebyH
iro
seE
lec
tri
cCo
.

・
(
2) Typeso
S
erv
fre
cep
tac
lesandp
omotorpowerl
in
lug
s
e(CN14)

CN14a CN14b
Typeso
fre
cep
tac
1es L
-sh
apep
lug
s S
tra
igh
tpl
ugs C
abl
eclamps

-
-
-
--
-
--
-AR15
AR30
JL04V2E18
噛10PEB
咽

値
JL04V-8A18
-10SE-EB
JL04V6A18
噌
咽

lOSEEB 岨
JL04-18CK(
13)

AR60
AR135
JL04HV- 2
E
-22PE-B
22 JL04V-8A22
-22SE-EB
JL04V-6A22
-22SEEB “
JL叫 (
凶
022CK￨
φEncoders
ign
all
ine(CN15)

CN15a CN15b
Typeso
fre
cep
tac
les L
-sh
apep
lug
s S
tra
igh
tpl
ugs C
abl
eclamps

-
-
-
--
-
-
t
-
-
Common
oal
lty
pes
H/MS3102A20-29PZ H/MS3108B20-29SZ H/MS3106A20-29SZ H/MS3057-12A

φHoldingb
rak
eli
ne(CN16)

CN16a CN16b
Typeso
fre
cep
tac
1es L
-sh
apep
lug
s S
tra
igh
tpl
ugs Cableclamps

-
-
-
--
-
-
t
-
-
Common
oal
lty
pes
OSL-4P H!MS3108B10SL-4S H/MS3106AIOSL-4S
H&IS3102A1 H!MS3057-4A

2-12
ClibPDF - www.fastio.com
 234
岨.Sp
eci
f
鴫ic
ati
onsofs
ign
all
ineconnectors

(
1) Encoders
ign
all
ine(CN1)
• Layoutso
fpi
nso
fth
eco
nne
cto
r(CNla)

)
0 Absolutee
nco
der (
Con
tac
tth
ecompanyf
ort
hel
ncr
eme
nta
len
cod
er.
)

2 3 4 5 6 7 8 9 1
0
5V 5V OV OV OHl OH2 D
IR RXD RXD RTC 場

rr
XD IEXD -岡

11 2 1
1 3 1
4 1
5 1 6 1
7 1
8 19 2 0
事 RTC BAT OV P
Z 市PZ PA 市 PA PB 嚇 PB S
hie
ld

Theenc
oderu
sesDC5Vasi
tspowers
upp
ly.
Sett
hecab
lelen
gths
oth
atvol
tagedr
opduetot
hec
abl
eis0
.2Vmaximum.

0.30XRX2L 0.30: Encodercurre

ntconsumption(
A)
0.2>
n R :R esist
anceoncable(D/m
)
L : Cablel en
g t
h( m)
n : Numbero fcabl
estobebundled
(Nnumbero fca
ble)

φTypeso
fth
eco
nne
cto
randa
ppl
ica
blep
lug
s(CN1)

Typesofconn
ect
ors Typesof
app
licabl
epl
ugs(CN1b)
(CNla) S
old
ere
dty
pe Caulkedtyp
e Case Nameo ft
hemanu
fac
tur
er
PCR-E20LMDET-SL PCR-S20FS PCR- ManufacturedbyHonda
Righta
ngl
e20P LS20LA1 TsushinKogyoCo.，Lt
d.
ーしー

(
2)I
npu
tando
utp
uts
ign
all
ine(CN2)
φLayoutso
fpi
nso
fth
eco
nne
cto
r(CN2a)

l 2 3 4 5 6 7 8 9 10 11 12 13
Inp
ut In p
ut CMD CMD CMD CMD CMD CMD CMD SP SP SP I
commonc
omロ10n DATl DAT2 DAT3 DAT4 DAT5 DAT6 DAT7 DATl DAT2 DAT3
14 15 16 17 18 19 20 21 22 23 24 25 26
SP SP SP OVor OVor CMD CW CCW START INLK MODE MODE
DAT4 DAT5 DAT6 24
V 24
V DAT8 A B _
27 28 29 30 31 32 33 34 35 36 37 38 39
SP SP SALM I
DPO
S CNTUP MOV SVON PRDY SPEED REFLS AUX1
DAT7 DAT8 叫

40 41 42 4
3 44 45 46 47 48 49 50
Ex
ter
nalb
att
ery
RESET AUX2 AUX3 SVRDY DALM CALM BALM AUX4 AUX5
3
.6V- 3.6V+
N
ote
: ;
Vhent
l heex
ternαlbαtt
eryter
minαl49pin， sused，
50p仇 i BATc
onn
ect
orshouldl
to
tbe
con
nec
ied.Eit
he roneofth
eexte
rnαlbαtte
ryterm
inalorBATco
nne
cto
rshouldbecon
nec
ted
.

2-13
ClibPDF - www.fastio.com
 。 Typeso
fth
eco
nne
cto
randa
ppl
ica
blep
lug
s(CN2)

Typesofconn
ect
ors Typesofa
ppl
icabl
epl
ugs(CN2b)
(CN2a) Sol
der
edt
ype Caulkedtyp
e Case Nameo ft
hemanu
fac
tur
er
PCR♂ 50LMDET-SL PCR-S50FS PCR-LS50LA ManufacturedbyHonda
Rightang
le50P TsushinKogyoCo.，Lt
d.

(
3) Brakepower(
TB2
)

lB 2B 38
24N BrB OHB
1A 2A 3A
24P BrA OHA

TB2p
inN
os.

φTypeso
fth
eco
nne
cto
randa
ppl
ica
blep
lug
s(T
B2)

Typeo
fconn
ect
or Typeso
fap
pli
cab
lep
lug(
TB2
)
(TB
2) l
VIa
nuf
act
ure
rname
1783035
噌 R
isehou
sing R
isec ont
act MadebyNipponAMPCO.，L
td.
178
289-3 1-1752185
噌

2-14
ClibPDF - www.fastio.com
 2
-4. CautionsforWiring

2
-4ぺ.Connectionofthemainc
irc
uitpower

ト &o/j(]~民間ßfM@1
l Forp
rev
ent
inge
lec
tri
cals
hoc
k，powermustb
ecu
tof
fbe
for
ewi
rin
g.

)
0 I
&o/}!j~悶悶| Forp
rev
ent
inge
lec
tri
cals
hok，t
c hes
erv
oco
ntr
oll
ert
erm
ina
lbo
ard
mustb
eus
edw
ithi
tsc
ove
ron
.

)
0 l
Vla
ket
hepowerc
onn
ect
ion
sasshowni
nth
ediagramb
elo
w.

C
ust
ome
r'sc
irc
uits
ide
:P
owe
t's
upp
ly:
Thr
ee-
pha
seAC200Vl
o230V 5
0/G
OIIf
z :
: RIsITI

!はzお問総
iぎ主先
b?
知
b
怠Iとω
ω沼町別
似~B(N
町別
mω:
B(1:N'日、マ伶J例凶〉
〉
:〉〉
:〉
〉 ι
:
2
:
: :
鼠
ご
忠;
:
ご訟
; U
:
むm
詑;
r
綜
応
出ぷ
絞
;一
;
:
z叩
r
!
a
叫山
I
川
山山
n
山
山o
山i…
田
s
e 1
羽

1 。“
戸一一申斗 尚
N uef
J畑 il
lrト
e 壬
f
品
.山泊
...
.
ム噌
‘噌U;‘M.
町i
n
川lc
ir
m
問c
川 u
叫i
， P
or.
nll
kin!
lll
ndl
千千平踏3
5
dL喧 Fly 支出!
i 川 削 九
色

! I
臥叩

3U
13
i

γIrirlセ苧1
!
!
1 1H
c
lHc
lHc
l
I I f f fInstallsergekiIJerst
oel
ect
rom
a
I !
gn
eti
c!
\.._-~ 1I III
co
ntr
nct
orsl
lndr
山 y s . i
I I I t t t I

TBl

S
erv
oco
ntol
r 1c
r

2
-4之. P
rot
ect
ionofpowers
upp
lie
s

.
. Bes
uret
oin
sta
llamoldedc
asec
irc
uitbreaker(NFB)o
raf
usea
tth
ein
tak
eoft
hemainc
irc
uit
p
owe
r.
)
0 Don
otu
seaq
uic
kme
lti
ngf
usea
sitmaymeltwhent
hepoweri
stu
rne
don
.
)
0 Whenc
ert
ifi
cat
ionfromt
heEuropeanStandardsi
sin
ten
ded，u
sep
rod
uct
sde
sig
nedf
or_
theEN
2a
StandardsEN60947- ndEN60934.

S
erv
odr
ive
rpowerc
apa
cit
yandNFBo
rfu
sec
apa
cit
y
Servodr
iverpower NFBorfu
se
Types
capac
ity(KVA) ca
pac
ity(
A)
ARS15 0
.8 5
ARS30 1
.2 8
ARS60 .8
1 1
0
ARS135 3
.5 1
5

2-15
ClibPDF - www.fastio.com
 2
-4-
3.Mainc
irc
uitpowersupplyconditions

)
0 Thepowers
upp
lyf
ort
heARs
eri
esi
s"t
hre
e-p
has o230V+10%，-15%5
e200t 0/6
0Hz
".
)
0 Whena
vai
lab
lepowers
upp
lyv
olt
aged
iff
ersfromt
heabove，i
nst
allapowert
ran
sfo
rme
rtomeet
t
heabover
equ
ire
men
t.
)
0 Makingandbreakingo
fth
epowers
upp
lys
hou
ldb
edoneont
heprimarys
ideo
fth
epower
t
ran
sfo
rme
r.

2
-4-
4.Applicablewiresands
ize
s

)
0 Recornmendedw
ire
sands
ize
sar
egi
veni
nth
eta
bleb
elo
w.

(
HIV
: S
pec
ialh
eatr
esi
sta
ntPVCw
ireJISC3
317
)
Encodersi
gnal
恥f
ainc
irc
uitpower
Motorpowerl
ine l
ine
: CNl
l
ine u.Y.w Brakepower1
ine Groundingl
ine
Types Inputandoutp
ut
RS.T Al.A2{mm2) (mm2)
(mm2) s
ignallin
e: CN2
(mm2)
(mm2)

AR15 日lY0
.75o
rmore HIY0
.75o
rmore HIV0
.75o
rmore Twistedpairw i
reorshi
eld
ed HIY2
.0o
rmore
twist
edp airwirewitht
he
AR30 HIV1
.25o
rmore .25o
HIV1 rmore cor
ew iresofO.2mm2
equival
en tormore
.
AR60 HIV2
.0o
rmore HIV2
.0o
rmore Tinnedan nealedco
pper
HIV3
.5o
rmore HIV3
.5o
rmore twist
edw ires
.
AR135

• Condi
tioniswhenrat
edc ur
renti
spass
eda tenviromentalter
npera
tnr
eof40Candw
ith3 0

lea
dw ir
esb e
ingbu
ndled
.
・ (KIV…V i
nylcoa
tedwire)canbewed，t
oo.Sizeisequivate
ntw i
thHIV.

2'-16
ClibPDF - www.fastio.com
 2
・4・5G
rou
ndi
ng
)
> I&W~lRUMOIM~ I Forp
rev
ent
inge
lec
tri
caIshock，m
alc
esu
ret
hatD t
erm
inIont
a he
motorpowerl
inec
onn
ect
ori
sco
nne
cte
dtot
hep
rot
ect
ivec
ond
uct
or
t
erm
inl ⑤ ont
a hemotorpowerl
inec
onn
ect
ingt
erm
ina
lsU，Vand
Ws
ide
.
Thegroundingw
iremustb
e40m mI
ong
eri
nminimumt
hant
he
powerl
ineonU，VandW.

l
&Wfl!J~附ßIM@! Forp
rev
ent
inge
lec
tri
calshockandm
alf
unc
tio
n，makes
uret
hat
p
rot
ect
ivec
ond
uct
ort
erm
inl③ ont
a hes
erv
oco
ntr
oll
ermainc
irc
uit
poweri
npu
tte
rmi
nasL1，L2andL3s
l idea
regroundedi
natl
eas
t
C
las
s3grounding(
100ohmso
rle
ss，1
.6m mdiameterminimum)
w
iths
ing
lep
oin
tg
嶋 r
oun
din
g.
Groundingw
iremustb
e40m ml
ong
eri
nminimumthant
hepower
l
insonL1，L2andL
e 3.(
Spe
cif
ica
tio
nsf
orequipmentt
obec
ert
ifi
ed
TUV.)

Groundingt
erm
ina
l

Groundingt
erm
ina
l

2
-ι.W
6 i
rin
gofs
ign
all
ine
s

)
> Typeso
fsi
gnl1
a ines
Alwaysu
set
wis
tedw
ire
sors
hie
lde
dtw
ist
edp
airw
ire
s.
)
> Lengtho
fsi
gna
lli
nes
I
npu
tando
utp
uts
ign
all
ine
s: Max.3m (Analogi
npu
tfo
rth
emotort
erm
ina
landCN4
a)
Encoders
ign
all
ine
s: Max.20m
)
> Connecta
lls
ign
all
ine
sin
clu
din
gth
osewhicha
ren
oti
nus
etoc
onn
ect
ors(CNlb，CN2b，e
tc
.)
.
)
> Thes
ign
alc
ond
uct
ori
s0.
2to0
.3m m2i
nse
cti
ona
lar
ea.A g
rea
tte
nsi
lef
orc
eap
pli
edont
he
c
ond
uct
orc
aus
esd
isc
onn
ect
ion
.

2-17
ClibPDF - www.fastio.com
 2-4・7
.Noisesuppression

.
， Donotp
asst
hes
ign
alc
ond
uct
orn
earah
ighv
olt
agec
abl
e
咽.O
the
rwi
se，n
ois
eisg
ene
rat
edi
nth
e
c
ond
uct
or，
cau
sin
gma
lfu
nct
ion
.In
sta
llae
lec
tro
mag
net
ics
hie
ldi
ngp
lat
ebetweent
hec
ond
uct
or
andc
abl
e.
.
， Don
otu
sepowers
upp
lie
sincommonw
ithn
ois
ege
ner
ati
ngs
our
ces(
suc
hase
lec
tri
cwe
lde
rsand
e
lec
tri
cdi
sch
arg
ema
chi
nes
).
炉 Whent
her
eisan
ois
ege
ner
ati
ngs
our
cenearby，
ins
tal
lan
ois
efi
lt
er
.
.
， Alwaysi
nst
alls
urg
eab
sor
berc
irc
uit
stoc
oil
sofr
ela
ys，e
lec
tro
mag
net
icc
ont
act
orsand
s
ole
noi
ds.
)
0 I
nsal
t Ipowerf
ilt
ersi
nth
epowerl
ine
.If
not，
rad
ioi
nte
rfe
ren
cemayo
ccu
r.

248
司.Cautionsontheholdingbrake
崎

)
0 Handlingt
heh
old
inge
lec
tro
rna
gne
ticbrake
• i
Thebu1t
-inb
rak
eoft
hes
erv
oac
tua
tori
sfo
rho
ldi
nge
xcl
usi
vel
y.
• Donotr
ele
aset
heb
rak
epowero
rtu
rno
fft
hes
erv
oONs
ign
ald
uri
ngr
ota
tio
noft
hes
erv
o
a
ctu
ato
r.O
the
rwi
se，
thec
ont
acto
fth
eel
ect
ror
nag
net
icb
rak
ewi
llb
eworna
bno
rma
lly
.
• I
fyour
ele
aset
heb
rak
epowero
rtu
rno
fft
hes
erv
oONs
ign
ald
uri
ngr
ota
tio
noft
hes
erv
o
a
ctu
atr，
o e
lec
tro
mag
net
icb
rak
eisa
cti
vat
edr
esu
lti
ngi
nex
ces
siv
ewearoni
tsc
ont
act
.
)
0 S
pec
ifi
cat
ion
soft
heh
old
inge
lec
tro
mag
net
icb
rak
es

Holdingtorq
ueN'rn V
olt
ageDC(V
) Current(A)a
t
Types
(Servomotorsh
aft
) 土 10% 200C
AR15 .3
1 7 0
.25
AR30 2
.94 24 0
.4
AR60 5
.88 0
.5
AR135 .7
11 6 0
.75

N
ot: f&w組問~@j
e l Forp
rev
ent
inge
lec
tri
cals
hoc
k，t
hepowers
upp
lyf
ort
hen
old
ing
brakes
hou
ldhaver
ein
for
cedi
nsu
lat
ion(
pri
mar
yands
eco
nda
ry)
(
SEL
V).(
Spe
cif
ica
tio
nsf
orequipmentst
obec
ert
ifi
edbyTUV)
.
，
. Theb
rak
epowers
hou
ldb
eta
kenfromanindependentpower
s
upp
ly.
ト Thepowerr
nus
tbes
epa
rat
efromt
hei
npu
tlo
utp
uts
ign
alp
owe
r.
)
0 Theb
rak
epowermustb
eful
1ys
moo
the
d.

2-18
ClibPDF - www.fastio.com
 ト Timingo
fho
ldi
ngb
rak
e

ONr

o
N

a
n
、
qu

σ
v

向
。
ρ

nu
v
FA

M
OPPI

OFP:
Brake
ON:

ON
、
vs

a
oa

、
pAhu

問
[n

•
トω σ b

， ‘
n1A

nu'
訂

ι'UJM
Cud-

F
.

MAH
B
A帽 向 J W
m
a
e

虚
偽
可
.

OPF

之t-Almostsimultaneously ;時十+ト Approx.50miliseconds

:
-OO
E-一
一炉ヤApprox.70m
ili
sec
ond
s 司 令 ←-
j Approx.30m
ili
sec
ond
s

.T
25
咽 r
ia
lOp
era
tio
n

25 1
咽 .In
s
帽pe
cti
onsb
efo
reo
per
ati
on
》 Checki
fco
nne
cti
onsa
rec
orr
ect
.(S
eepages2・1t
o2・1
9)
》 Checki
fth
emainc
irc
uitv
olt
agei
sap
pro
pri
ate
.(2
0 o230V+10%，-15%)
0t
》 Checki
fanNFBo
rfu
sei
sin
sta
lle
d.
》 Makes
uret
hemotorc
onn
ect
iont
erm
ina
ls(U，V & W)andt
hemotort
erm
ina
ls(U，V& W)a
re
m
atc
hin
g.
》 Makes
uret
heo
per
ati
onp
rep
ara
tio
ncommands
ign
alOFF.

lffi~w~trufMOfM@ I Whenr
ota
tio
noft
hea
ctu
atrcancause adanger，a
o ppr
opr
iat
e
p
rot
ect
ivemeasuresmustb
eimplemented.

2
帽子 2
.5t
a内i
ngt
heo
per
ati
on

(
1) Applyingt
hec
ont
rolpower
S
etupparameters，
aft
eri
nak
ings
uret
hatt
hec
ont
roIpowerh
asbeenappI
ie
d.
Compareyours
pec
ifi
cat
ion
swi
tht
hei
nit
ial
iza
tio
nva
lue
s(s
eepages3
-21t
o3-
39)t
oco
rre
ct
d
iff
ere
nce
s.
[
Ati
nit
ialt
urnono
fth
e power，an encoderr
ela
ted alarm mightbe generated(
bec
aus
e
c
oor
din
ateo
fth
een
cod
eri
sno
tde
fin
ed)
.Pr
esst
hemodeb
utt
onf
or1s
eco
ndo
rmoret
oer
aset
he
alarmd
isp
lay，andt
henp
erf
ormt
hez
erop
oin
tse
tti
ng(
seepage3
-2)t
0 oe
ras
eth
een
cod
er
alarm]

2-19
ClibPDF - www.fastio.com
 (
2)A
fte
rth
eparameters
ett
ing，t
urnt
hec
ont
roIpowero
[fo
nceandt
urni
tona
gai
n，o
ren
terr
ese
t
s
ign
a.l Withoutt
hiso
per
ati
on，
thes
etparameteri
sno
tvaI
id
.

(
3) Mainc
irc
uitpoweron
Applymainc
irc
uitpowera
fte
rtu
rni
ngt
heo
per
ati
onp
rep
ara
tio
ncommands
ign
alt
hes
erv
oON
s
ign
aIo
ff(
seepage3
-8)
.
S
pec
ifyt
hebrakepowerb
efo
ree
nte
rigt
n h
eop
era
tio
npr
epa
rat
ioncommands
ign
al.

(
4) Entert
heo
per
ati
onp
rep
ara
tio
ncommands
ign
al(PRDY)ands
erv
oONs
ign
al(SVON).

(
5)S
ele
ctmanualJOGo
per
ati
onmode(
pag
e3-
2)byt
hemodes
ele
cti
ons
ign
alt
ost
arto
per
ati
on.

(
6 ol
) CheckfIowingi
tem
s.
① Thes
erv
oac
tua
torr
ota
tesi
nth
esamed
ire
cti
ona
sshownonpage11
.
② N0 v
ibr
ati
ono
ccu
rs.
① N0abnomalsoundi
she
ard
.
③ Theatomospheraroundt
h ft
emotoro h
ese
rvoa
ctu
ato
risn
ots
oho
t.

(
7) Whena
bno
rma
lit
iesa
ren
otf
oun
d，performz
erop
oin
tad
jus
tme
nt.(
seepage2・2
1)

(
8) Whenr
efe
ren
cep
oin
tad
jus
tme
nti s
scompleted，ta
rta
uto
mat
ico
per
ati
ons
.

i & O/J!l綿IMn~@1 Whenr

ota
tio
noft
hea
ctu
atrcancause adanger，a
o ppr
opr
iat
e
p
rot
ect
ivemeasuresmustb
eimplemented.

2
-5-
3.Sequencea
fte
rapplyingthepower

J
‘

Powerono
rre
sets
ign
aI
s:.c~~ds
。0.m

:
，
-
.I
，

.r -
「
ー (thetimeneededt
.

1
( .
a
a
n
a
n

obev
ali
d)
ι-
-

n
ι

D‘
r‘

n
E

'FU
n
u
uu問

r
u
r
u

白﹄

A
，

-
u
。
σ

o
N

a
、

n
qu
eF‘
o
v

円
σ
b
M

ロ
o

，
，

.
t司

a
.
p
1y

a
n
nd

nn
oσb

n
DAa

v
n

SPLV
HL

2s
eco
nds
ド・‘，EA

0
.
M
白﹄

A
‘
.
，S EA
山川

a
A

hm
A.出
otu
ba
↑

! LJ呼 ー 0.03seconds(thetime
CMιし

uqM
v
n

ー争
d
ρ
n
M
u

neededt
obev
ali
d)

2-20
ClibPDF - www.fastio.com
 2
-6. ReferencePointAdjustment

(
1)I
nca
seo
fth
eab
sol
utee
nco
der

S
ett
her
efe
ren
cep
oin
t. ￨〉 S
ett
hec
o
a
o
b
r
d
s
o
i
l
n
a
u
t
tez
ee
e
n
c
r
o
op
de
r
o
.
i
nto
fth
e

)
> S
ett
her
efe
ren
cep
oin
t.
l
Vot
e: Whens
ett
ingt
her
efe
ren
cep
oit，
n s
eti
tint
heo
pti
onαls
tepf
eed
ingmode(
pαrameterNo.P-
67，
pαge3
-29
)or6yminutes
tepo
per
αti
o凡 仇 t
hel
o pαrameterNo.P-69，
cαlmode( pαge3・
31
).

~ Whent
her
efe
ren
cep
oin
tiss
et，p
res
sth
epushbuttons
wit
che
sfo
rab
sol
utee
nco
deront
he
s
erv
oco
ntr
oll
er.
Note: Makes
uret
heαb
sol
uteencoderofpαram
αtrNo.P-13，
e pαge3
-23，P-60，pαge3-27
b
efo
rer
efe
ren
cep
oin
tαd
jus
tme
nt.

一
一二三
〉

① Pressth
e4s wit
che
s
Jωtaneo叫 山hed i
spl
ay
(LED4)iri
dic
ats 回
e 8
目出回目
/
っち
「

② PressUPandDOWN
simultaneoLls
lyunti
lthedisp
lay
(LED4)i n
d icats 制同同同同.
e
Thec oo
rdin atezer
opo-
inti
sset
bythisoperation.

ぞ υ

Nole: ・[αchinezeropointreferstothestαteinwhichpositioninghαsbeendonetothe
j
1
(

i
nde
xedp
osi
lon6
ein
gsp
eci
fidαsindexingN
e o.l
.
• Recordt
h αl
eu u
eofPα
rα meterNo.P-14(
pαg
e3-
23)
.

2-21
ClibPDF - www.fastio.com
 2
-7. Operation

2・7 1
咽.In
spe
cti
onsbeforeoperation

)
> Checki
fco
nne
cti
onsa
rec
orr
ect(
seep
age
s2・1t
o2-
19)
.
)
> Checki
fmainc
irc
uitv
olt
agei
sco
rre
c o230V，+10%and-15%)
t(200Vt
I
トl¥Iak
esu
reNFBo
rfu
sei
sin
sta
lle
d.
)
> l
¥
IIa
kes
uret
hemotorc
onn
ect
iont
erm
ina
ls(U，VandW)andt
hemotort
erm
ina
ls(U，VandW)
m
atc
hes
.
ト 品I
Iak
esu
ret
heo
per
ati
onp
rep
ara
tio
ncommandi
stu
rne
dof
f.

l
&O/fl!J.畑 I
M
U[@
MI .Whenr
ota
tio
nof
thes
erv
oca
nca
useadangera
ppr
opr
iat
epr
ote
cti
ve
measuresmustb
eim
ple
men
ted
.

2
-72.Sta代 i
哩 ngtheoperation

(
1) Applyingt
hec
ont
rolpower

(
2) Applyingt
hemainc
irc
uitpower
Applyt
hemainc
irc
uitpowera
fte
rtu
rni
ngo
fft
heo
per
ati
onp
rep
ara
tio
ncommands
ign
aland
t
hes
erv
oONs
ign
al(
seepage3
-8)
.

(
3)I
npu
tth
eop
era
tio
npr
epa
rat
ioncommands
ign
al.
Thes
erv
oco
ntr
oll
erw
illo
utp
utt
heo
per
ati
onp
rep
ara
tio
nre
adys
ign
al
.
S
pec
ifyt
heb
rak
epowerb
efo
ree
nte
rin
gth
eop
era
tio
npr
epa
rat
ioncommands
ign
a.
l

(
4) Entert
hes
erv
oONs
ign
al
.
Thes
ign
alp
rov
ide
sth
eop
era
tio
nre
adys
tat
eandt
hes
erv
oac
tua
torp
roc
eed
stot
hes
erv
olo
ck.

(
5)S
tar
top
era
tio
nbys
ele
cti
ngd
riv
emode(
pag
e与 2
)wi
thmodes
ele
cts
ign
a.l

2-22
ClibPDF - www.fastio.com
 2・73
.Cautionsduringtheoperation
司

(
1) Checkt
het
hef
oll
owi
ngp
oin
tsd
uri
ngo
per
ati
on.

① Abnormalv
ibr
ati
ono
ccu
rs
② Abnormalsoundi
she
ard
③ Abruptt
emp
era
tur
eri
sei
sre
cog
niz
ed

(
2)F
oll
owi
nga
cti
onsd
uri
ngo
per
ati
onw
ills
topt
hes
erv
oac
tua
tor
.

① S
erv
oof
f: Thes
erv
oco
ntr
olIe
rcu
tso
ffb
ases
ign
alands
top
s.
v
Vit
hARS6
0andARS1
35，t
hedynamicb
rak
eisa
cti
vat
ed.
② R
ese
t: Thes
erv
oco
ntr
oll
erc
utso
ffb
ases
ign
alands
top
s.
0andARS135，
WithARS6 thedynamicb
rak
eisa
cti
vat
ed.
③ S
tro
kel
i_
mi
t: Gradual
Iyd
ece
ler
ate
sandt
hens
tos，
p t
husg
ene
rat
ingt
healarm"
E-4
".
④ Alarm: Thes
erv
oco
ntr
oll
erc
utso
ffb
ases
ign
alandt
hens
top
s.Alarmi
sac
tua
ted
.
WithARS60andARS135，t
hedynamicb
rak
eisa
cti
vat
ed.
⑤ Mainc
irc
uitpowero
ff
:
Thes
erv
oco
ntr
oll
erc
utso
ffb
ases
ign
alands
top
s.
WithARS60andARS135，
thedynamicb
rak
eisa
cti
vat
ed.

2-23
ClibPDF - www.fastio.com
 3
. ExplanationsoftheServoController

3
-1.S
pec
ifi
cat
ion
s
I
tem
s E
xpl
ana
tio
ns
O
utlin
eso f
the @
Forequip
artitionin1
cexingbyinpu
toftheindexadd
ress( n
umbe
rs).
f
uncti
ons @
Themaximum255p arti
tionsof
indexin
g(8bitbinar
yc o
de).
@
Operat
i n
gc onc
1itio
nsaresetupbyt h
eparam
ete r
.
@
Thetimec o
ns t
a n
td urin
ga cc
ele
ratio
nissamea sth
atc1uri
ngdece
ler
ati
on.
@
Lithiumbatteryisbui
lt-i
ntobackupt h
eabsoluteencod
erandthe
para
meter.
D
riv
emode • Thed r
ivemodesc ons
istsoffo
llowin
gmodes:
Sele
ctionofeachofthedrivemodesismac
1ebyext
ern
almodesel
ecti
on
sign
als(inputsi
gnals
).
① Automaticoperati
onmode.( Sh
ort-
cutop
eratio
noronewayo
咽 p
erati
onis
sele
ctedbythep a
rameter.
)
② Manuals te
p'oper
ationmode.
③1'IanualJOGo perat
ionmode.
④ Zeropointretu
rnmode.
I
npu
tsi
gna
ls • E
b
x
e
t
l
o
er
w
:
na
li nputsigna
lsneededforope
rati
ono
fth
eco
ntr
olle
rar
egi
ven

① Operationpreparati
oncommands igna
l 1bit
② ServoONs ig
nal 1bit
③ Modes elec
tionsigna
l 2bit
s
④ Addresscomrnands ign
al 8bit
s
⑤ Operationstar
ts i
gnal 1bit
⑤ ManualcommandCW/CCWs i
gnal 2bit
s
⑦ Resetsignal 1bit
③ Int
erlocksignal 1bit
① ZeropointLSC Limi
ts w
itc
h)signal 1bi七
Outputs
ign
als •
①
Outputs
Operatio
ig
n
np
a
r
l
e
scomingo
parat
ionfi
u
n
tfromt
is
hec
ont
r
hcommands
o
i
l
l
g
n
e
a
ra
l
r
egi
venb
e
1b
l
i
t
ow
:

② Servoa c
tuatorinoperat
io nsi
gnal 1bi
t
③ Posi
tio n
ingfinis
hs i
gnal 1b
it
③ Homep o
sitio
ns ig
nal 1b
it
⑤ Presentaddressindic
ationsigna
l 8bi
ts
⑤ Contr
o lalarms i
gnal 1bi
t
⑦ Cont
rolleralarms ign
al 1bi
t
③ Driveralarms ig
nal 1bi
t
③ Batteryalarms i
gnal 1bi
t
Parameter • Themainparameters ett
ingi te
msa reg
ivenb
elow
:
① Reduct
io ngearrati
o
② Thenumbero fp a
rtition
so findexi
ng
③ Thenumbero fg ea
rso fthesprocket
④ Operatingspeed(automaticandmanual)
⑤ Acc
eleratio
nandd ec
elerationtimeconst
antCa
utoma
ticanc
1manual
)
⑤ Pos
itionloopgain
⑦ AIIow
abl ep
o s
itionl1
a ceviati
on
③ Therang eo
fi np
司ositi
on
③ Thenumbero fe nco
derp ulses
⑮ Gri
tshiftva
lu e
⑪ Backlashcorrec
tionvalueando thers

3-1
ClibPDF - www.fastio.com
 子2
. DriveMode

• Thed
riv
emodei
sel
ect
edbyi
npu
tti
ngt
hemodes
ele
cts
ign
alfromane
xte
rna
lso
urc
e.
• S
eet
hei
npu
tsi
gna
lse
cti
on(
onp
age3
-8)f
ort
hemodes
ele
cts
iga.
n I

Modet
ype E
xpl
ana
tio
ns
Automatic ① Whent heoper
ationsta
rtsign
al(se
epage3 -
8)isinp
ut，thecon
trol
lerreadsthe
operation add
ressi n
stru
ctedfromtheNC/Port h
es e
quence
r.
② Thecontr
olle
rd r
ivestheser
voactuat
orto_p
osit
ionatth
ei n
struc
tedi n
dexin
g
po
siti
on.
① Uponc o
mpletionofp
ositi
oning，
thecont
rolle
routpu
tsthepositi
oningendsigna.
l
Manualstep ① Whent h
emanualC Ws igna
lo rCCWs ig
nal(se
epage3 -8)i
si np
ut， t
heser
vo
o
p e
ratio
nmode act
uat
orr o
tatesclo
ckwis
eorc ou
nt e
rclockw
iseasl on
ga sthesigna
lisinpu
t.
(se
enote
) ② Whent h
esignalinpute
nds，theservoactuat
orstopsafte
rrotatingtothene
arest
add
ressintherota
tiondi
rect
ion.
① Uponcompleti
o no
ftheposi
tioning，th
eservocont
rollerout
p u
tst hepos
iti
onin
g
endsi
gnal
.
Manualjog ①. WhenthemanualC Wsigna
lo rCCWs ign
alisi
nput，t
h eser
voa
ctuat
orrot
ate
s
o
perat
ionmode clo
ckw
iseorcoun
tercl
ockwis
ea slon
gasthesig
nalisi
n pu
t.
② Whenthesig
nalinp
ute n
ds，theser
voactuat
ordec
eler
a te
sandthe
nstop
s.
③ Theco
ntr
olle
rdoesnotoutputthep
osit
ionin
gendsignal
.
Zer
op o
int Withtheincrementa
le ncoder(alwaysperformeda tthemainc ircui
tpowero n)
r
esetmode ① Whent heoperat
ions t
artsignalisinput，th
es ervoac t
uatorstartsanddepress
es
th
ez er
op o
intlimitswitchinstalle
dneart heindexingpositio
n.
② Ast hezeropointlimi
ts witchisdepressd，
e th
es e
r v
oa ctuatorisdecele
ratedto
th
ec ree
ps pee
dands topsatt hefir
stdete
ctedZp has eposi
t i
onint heenco
der.
Th
isp os
itioni
st herefer
encep oin
t.
③ Ifthereferenc
ep oin
tisd ev
ia t
e dfromtheindexingp osi
tion，corr
ectitby
in
puttinggri
tshift(se
eParameterN o.P-15page3 ♂3 )
.
④ Witht heabsoluteencoder(per for
medasd e
sired)
① Whent heoperat
i o
ns t
artsignalisinput，th
es ervoac t
uatorrotesands to
psatthe
st
oredcoordin
atesorigi
n.
②、Af te
rt h
eendo foperati
on，thec ont
roll
ero u
t p
utst hepositioni
ngends ignal
.

N
ote
: Feedingofon
et imeshouldnotexc
e e
d255αddres
sesinthemαnuαloperαt
ioη.Whenαfeedi
ng
beyond255αddr
essesisr e
qui
red[
1α
IαrmE-6( s
eepαge4・3
)occu
rs]，turnth
emα九 ualcommαnd
C WorCCWo f!on
ceαndt henr
e-s
tαrttheo
per
αti
on.

3-2
ClibPDF - www.fastio.com
 .Timingc
3・2 1 咽 har
t

A
uto
rna
tico
per
ati
onr
noe(WhenparameterP62，
d l
¥IFIN 0i
t sse
t(s
eepage3
-28日 噌 =
Fornormalo
per
ati
on

AUTOmode
MODE!A MODE^ on
・

AUTOl1Iode
MOOE
:B MODEO f
)F"
F"

In
tor
loe
k INTLILAso
fpa
rll
lll
ete
rP.
62川 畑 tb
ese
t(INTL I.INAs謂lJ 担

INLK

Po
sit
ionc
Oll1ll1anddota
CMODATl・ 8
8 1
0
Ope
rnt
ions
tnr
t
STA氏?

Po
sit
ion
ingt
ini
sh
CNTUP

Pre
sen
tposi
tio
ndotn
8
SPDATl・

A
etu
atori
nOf
ler
:1l
ion
MOVE!

A
ctu
olo
rSf
lee
d

A
uto
rna
tico
per
ati
onmode(whenparameterP-62MFIN=0i
sse
t.(
seepage3
-28
))
I
nte
rlo
ckON

AUTOl1Iode
MODEA MODEA OFF
"

AUTOmode
MODE!B M ロε
BOFF
ln
ter
10ek
INTLILABofparnmeterP
.62
111
us escL(INTL 1.INAB l
tb } 置 謂
l
nte
rlo
e ・
kOFF
INLK ・ 回 噸 四 ・ 醐 ・m 叫 働 輔 副 - - ・ 輔 副 嶋 崎 咽 明 ・ 咽 ・ ・ 幽 ・ ー ・ ・ 輪 唱 制 帽 幽 ・ ・ 四 ・ ・ ・ 幽 嗣 ・ . 司 綱 嶋 ゐ 嶋 崎 崎 ・ 四 ・ 四 咽 唱 ・ ・ ・ 岨 嶋 崎 町 司 同 制m ・ ・ ・ 曲 輔 剛 ・ - ・ ・ ・m 咽 嶋 崎 幽 ・ ・ω -明 細 咽 四 ・ ー ・ 幅 四 ・ - -

Po
sit
ioneommnnddatn
CMODATl.8

or1
ernt
ions
tnr
t
START

Po
sit
ion
ingt
ini
sh
CNTUP

Pre
sen
ιflo
sit
iondoLa
SPDATl.8

Ae
tua
tori
nop
ero
tio
n
MOVE:

A
ctu
ato
r!J
(leed

3-3
ClibPDF - www.fastio.com
 AutomaticO
per
ati
onmode(Whenparameterp
-6 MFIN=0i
2， sse
t(s
eepage3
-28
))
Fors
wit
chi
ngt
hed
riv
emodeduringo
per
ati
on

^UTO1110‘
l
e
T
MODE^ O'
f
MOOI
!:^

AUTOI11刷l
e
MOOEs 口 DEB Of
川 "f
"

In
ler
lac
k INTLlLADorparanle~er P
.62
1IlWlt.UOs
e lNTL"I，
l( IN^B..1
)
INしK 叩叩由一司ー叩一四叩一一一ー叩司叩ーーーー---一明司--ーーー『一一一一『時一一一一叩ー-1--ー一一一一一一一ド町一ー一ー一一一一時一一『一一ー一明
Po
sit
ioncamnl町，，1daU
i
CMDO^ r
・t・8

Op
ernl
ions
Uir
t
START

Prl
1se
ntpo
sit
iandaUi
SI
'OATl.8

^
ctu
ato
rspeed

Automatico
per
ati
onr
nod
e(Whenp
ara
rne
te MFIN=1i
rp・62， sse
t(s
eepage3
-28
))
Fornormalo
per
ati
on

^UTOmode
MODEA 州ODEA 口
f"F
'

AUTOmode
MODI
!:s MODEB ロ
F'F
'

In
ter
loc
k
INLK INTLILAsO
rpo
rol
llu
terP
.62mustbeset(INTL=I，
INAB 1
) 冨

Po
sit
ianc
all1l
CMODATl.8
llo
nddata
8 12
Op
eral
ians
tar
t
START

Po
sil
ian
ingC
ini
sh
CNTUP

Pres
entpo
sit
iond
ata
SPDAT1.8

Ac
tun
tori
nat
era
lio
n
MOVE
:

^
ctu
atol"s
pee
d

3-4
ClibPDF - www.fastio.com
 Automatico
per
ati
onmode(Whenparameterp・62，
MFIN =1isset(seepage328))
・

I
nte
rlo
ckON

^UiOm刷 J
e
MOOI
!
:八 H(]O(A OFF

八UiO川 副J
e
MOOI
:s
'
! MOOEs OF
''
F

In
ter
loc
k INiLI
LAl
lofparomotor1
'.6
2I1USもu
1 ose
L(INiL.
r1
: ，
IN^s担 1
)
INLK

P
osi
tio
ncO
lll
lll
on
C~IDOAil ・ 8
ddato
8 1
2
Op
era
tio
lls
Llr
< t
SiART

Po
sit
ion
ingl
ini
sh
CNiUP

Pre
sentpo
sit
iond
ota
SPOAil.8

Homepos
iti
ons
ign
ol
10POS

Ac
tuo
tori
no[
ler
ati
on
MOYC;

A
ctu
oto
r81
lee
d

Automaticeo
per
ati
onmode(Whenparameterp
-6 MFIN=1i
2， sse
t(s
eepage3
-28
))
Whent
hed
riv
emodei
ssw
itc
hedd
uri
ngo
per
ati
on

Whene
ith
ero
rbo
thofMODEA 則 l
dMOOEsi
sch
ong
ed.

^UiOll10de
MOOEA HOOEA OFF

AUTOmode
MOOEB MOD定BOFF

ln
ter
loc
k
INiしILAsofporametor1
'.6
2mustu ，
eseL(INiL器 lINAs=I)
INLK

Po
sit
ionconunondd
ota
CMOOATl.8

O
per
ati
ons
lar
t
Si
ARi

Po
sit
ion
ingl
ini
sh
CNiUP

Pre
sen
tposi
tio
ridata
SPDAil・
8

HO
lll
epos
ili
ons
ign
ol
IOPOS

^c
tuo
t ori
no[
ler
ati
oll
MOY[O
;

^
ctu
ato
rslo
[ o
d

3-5
ClibPDF - www.fastio.com
 Manuals
tepo
per
ati
onmode(WhenparameterP
-62，
MFIN 0i
sse
t(s
eepage3
-2=
8
))

whenc
ilh
ero
rlJo
lhofMODEん刷、 dMODE
:si
sch
onl
;od
.
，ヴ
一-r一
一四
AUTOl
l10de
MODE
:A ~司一一ー一司--叩一司叩『一一四明一司ー『司ー一一『一一司叩『ー一一世--司一一一一一一司申『

AUTOlIIodo
MODE
:s

ln
lor
loc
lミ
lNLK

Mnnualclockwise
CW
ManuolCoul1t
cr.
clockw悶 e
GCW

Prc
sentp
osit
iol
1dnlo
SPDATl・8

li
Oll
lep
osi
tio
nsi
gnn
l
lDPOS

Ac
tun
tori lo
no[ r
nti
on
MOVE:

AcLuators
[lced

Manuals
tepmodeo
per
ati
on(
iNhenparameterP
-62，
1V
IFIN 1i
sse
t(s
e =
epageふ 2
8))

AUTOmode
MODE
:A

AUTOlIIode
MODE
:B

ln
ter
loc
k
INLK

Manualclockwise
CW
Mnnuulco
unl
er.
clo
ckwi
se
GCW

Po
sit
ion
ingl
ini
sh
CNTUP

Pre
sentpo
sit
iondota
SPDATl.8

I
-
Iorne[
los
iti
ons
ign
ol
lDPOS

A
cLu
lll
o 1o
r1
1 !o
， r
uli
u，¥
MOVF:

A
ctu
oto
rspeed

3-6
ClibPDF - www.fastio.com
 Manualj
ogmodeo
per
ati
o MFIN=0i
n(WhenparameterP-62， sse
t(s
eepage3・2
8))

Whene
ith
ero
rbo
thofMOOEA anuMOOE
:UI
ach
ung
ed.

AUTO川 町l
e
MOOEA

AUTOmoue
MOOEB

IIt
l a
rlo
clc
INしl(

Manualc
10ckwise
CW
MnnualcO
UII
Lc・
r
c
lockwi
se
じC W

Po
sit
ion
ingf
ini
sh
CNTυp

Prc
scntp
osi
tio
lldnta
SPDATI・
8

八c
luof
ori
. nop
ern
tic
川

島IOVE

Actuntorspeed

Manualj
ogmodeo
per
ati
o MFIN=1i
n(WhenparameterP-62， sse
t(s
eepage3
-28
))

Whene
i山 e
l"o
rbo
thofMOOEA andMOOEBi
sch
ang
ed.

Aυγomode
MOOEA

AUTOI
llode
MOOEB

I
ntc
rlo
ck
INLK

Manualclockwise
CW
MunualCO
lll
ltc
r.
cl
ockwi
se
CCW

Po
sit
ion
ingf
ini
sh
CNTUP

Pre
sent(
los
iti
ondata
SPOATl・8

A
cll
lllt
.
ori
l
lOl
lor
nLi
oll
MOY巴

Actuatorspeed

3-寸
ClibPDF - www.fastio.com
 33
. InputandOutputS
咽 ign
als

331
司.Inputsignals(CN2)
帽

Sig
nal Pin Explanations
S
yrn
bol
s
names No.
Opera
tioロ PRDY 36 • As i
gnalfori
pg
r
ne
ap
ia
ir
sa
et
n
io
tn
esofo
tp
he
era
tio
n-
pre
parat
command
i
on • Whent
ci
rcui
h
to
iss
fth
ig
n
es
a
e
li
r
v
se
od
n
r
t
iv
e
e
r
r
e
.
d，th
epoweriss
upp
lie
dtot
hemain

ServoON SVON 35 • As
thi
i
ss
g
na
i
g
lt
na
oa
li
ct
se
u
n
a
t
t
e
r
et
e
h
d，
ec
t
h
on
t
es
r
e
o
r
lc
v
i
oa
r
c
c
u
t
i
u
to
at
ft
o
h
rp
es
ro
e
c
e
r
e
v
d
od
r
st
iv
ot
e
h
r. When
eservoloc
k
sta
te.
• Whent hi
ss i
brakeworks.
g
nalisinterr
upted，theholdin
ge le
ctrom
agnetic

• S
i
i
g
t
n
e
n
t
Ia
er
l
sfromt
r
upted.
heencoderarekepbcountedeven江 t
hissigna
li s

Mode
se
lec
tio
n
MODEA 24
l
VI0DEB 25
• As
ign
alt
ose
lec
tth
edr
ivemode.

Drivemodes
S
¥iE
naM
lso
¥de
¥
s Automatic Manual Manu
Ga
l Zeropo
int
step JO re
turn

MODEA OFF ON OFF ON

l
VIODEB OFF OFF ON ON

• S
ele
cte
dbyturningonando
fft
hes
ign
alsofModeAandModeB.
Address CNIDDAT 3t
o • Asi
gl
nna
lt oent
erthenumberofbheindexedad
dress.
command 9，19 • Theinputst
yleis1
・255inthebi
na r
yc ode(8b
its
).

s
O
tP
ae
r
rta
bio
n START 22 • A
c
T
oh
sm
e
ig
m
cn
o
aa
n
nl
tr
d
t
oo
s
li
g
lg
e
i
vr
netimingfort
al
.
h
ec o
ntr
olle
rtoreadth
eaddress
• ri
singedgeoft
r
h
ea
eo
d
p
st
er
h
a
ea
ti
d
o
dr
ns
t
e
a
s
scornmands
rtsi
gnal
.
ig
nalduringth
e

Manual
cornmand
CW 20 • S
mi
og
dn
ea
l
s
l
s(tM
og
ai
I
v1
1e
1t
. (Manual
h
)
eo
per
abi
oncommanddurings
tepandJOG
CW
Manual CCW 21
command
CCW
Reset RST 40 • As
dri
i
v
g
n
e
a
ra
lt
l
or
a
rm
e
.
leas
et heoutputsta
tusofthecon
tro
lalarmand

• Thzsn
sd
i
l
gg
sn
C
ua
lISreadduri
tn
iog，
nrI
S I
nt
gf
to
il
m
lo
ew
• DuringCPUi
LEDd isplay
n
itial
iza
s"HELLO".
ti
on，thatfol
lowsi
n p
utofther
ese
tsig
nal，

I
nte
rlo
ck INLK 23 • Asigna
lt otent
a tiv
elystoptherot
ationofth
es ervoact
uator.
• Whent
de
celer
h
a
i
ss
te
i
sa
g
i
-
n
n
n
d
alentersduringo
dt hens
tops
.I tre
p
s
u
e
r
r
n
a
t
e
io
so
n，
pe
t
r
h
a
t
es
i
o
ervoacMator
nwhent h
issign
al
di
scont
i n
ues.
• H
o
s
n
i
g
l
d
n
a
i
a
i
ni
g
li
sunders
sentere
e
r
d.
volockstatusi
smaintainedw h
il et
hei nt
erlo
ck

Zerop
oin
t REFLS 38 • Us
edf o
rrese
ttingtot
hezer
ロo
1p
1oi
ntw i
ththeincrementale
nco
der
.
LS • Asig
nalfo
rt hez
e r
opoin
tlimitswi
tchise
n t
ered.

S
c
sh
i
pg
a
en
n
ea
d
g
le
SPEED 37 • Thisr
sT
l
ia
g
tn
iale
automatico
n
p
e
a
r
b
a
l
t
e
i
o
ss
n.
ele
ctionofspeedsandtimecon
sta
ntint
he

• I
s
ti
e
sreadi
lec
teda
nris
i
tOFFa
nl
g
1
1e
dd
gPeo
・2
fthestartsignal.P4andpdare
4andP-25a rese
lect
edatON.

3-8
ClibPDF - www.fastio.com
 33・2
噛.Outputs
ign
als(CN2)

Sig
nal P
i
Symbols Nn E
xpl
ana
tio
ns
names o.
Ope
ratin SVRDY
o 4
3 • As
bo
t
i
hg
t
ht
n
h
h
a
elo
es
u
e
t
r
p
v
u
od
L
te
r
dwheno
i
verandc
pe
o
r
n
t
a
r
t
o
i
l
l
o
np
er.
re
parabi
onsa
refi
nishfo
r
i
p
I
rr
l
ei
p
sah
rat
lon @
Whene ith
erofthes e
rvodriverandcontol
r Ie
risn
otfi
nishfo
r
op
erati
o t
h
n，t
hi
s
iss
s
iigna
lisn o
to utp
utted.Also，
whenanalarmis
ac
tuated，th
issignalwil
lb einte
rrupt
ed.
S
a
c
e
t
r
v
u
o
at
orin
l
¥
tIOV 3
2 • O
utp
utt
edwhent
hes
erv
oac
tua
tori
si
ー
no
per
ati
on.
o
perat
ion
P
ositi
oni
ng CNTUP 3
1 @

f
ini
sh • T
A
a
uh
s
te
io
g
s
mn
i
ga
a
nt
li
a
o
cl
u
oz
ts
D
p
op
e
o
ur
u
t
ab
t
et
pi
d
u
owt
th
een
dwhth
e
en
n，manuals
p
o
ps
i
t
o
t
t
l
o
s
e
O
o
ip
I
t
pp
1
r
ie
i
l
oi
n
r
n
in
a
ng
g
ti
i
i
s
io
n
sE
E
n
fa
n
ii
i
ns
s
d
i
sh
h
zd
er
u
ri
opno
g
intret
urn
mode.
@
T
l
Wg
h
ci
e
to
h
pm
o
th
D
s
li
ee
bioningEnishsignalturnsonwhenb h
ep o
sitioni
ngacti
on
t
ed，andi tturnsoffwhent heacti
onstart
s.
• p
ositio
ni
a
b
sw
s
o
i
l
t
u
h
t
i
ee
nth
n
i
co
ss
d
e
e
r，
tra
t
h
n
i
g
ss
ea
a
i
f
f
g
t
t
n
ea
e
li
rt
so
h
utp
utt
epowerh
edi
a
fthes
sbeent
t
u
o
p
rned
o
n.
Home IDPOS 3
0 ⑧

po
sit
ion S
H
Wa
d
i
o
gi
d
m
bn
r
ha
e
ts
l
h
p
so
ep
o
s
a
au
i
b
st
i
p
もs
s
o
eo
u
n
s
lt
u
s
tt
e
i
b
hg
e
d
en
e
w
ia
n
n
hl
c
d
so
e
ea
d
n
x
r
ep
e
en
d
o
ps
p
t
r
ih
o
o
ti
i
s
v
so
i
in
t
s
d
ii
i
o
en
g
n
d
ng
.
wa
i
ls
ibei
ngmadeo reachtimean
@
t
heachoftheaddr
esses
.
@
s
ai
gi
tn
e isoutpub
tedifth
es t
op
pos
itioni
sw ith
inthissetrangeafte
rt h
epowerh a
sbeent urned
on
.
@
Theextentofthehome3p8
osi
tionsigna
lsissetupbytheparameter
numberP -12(se
epage3 8
).
P
resent SPDAT 1
1 @ As ig
naltoo utpu
tt hepre
se n
ta ddre
ssnumberf orind
ica
tiono
fthe
a
ddres
s t
o16， pT
r
he
esen
ba dd
ress.
i
ndi
cation 22
78
@
， @ o
ut
ht
p
eua
tb
ss
toy
1l
eis1・255inbina
5e
rn
ytc
ao
dd
d
er
(
t8b
iit
ss
d)i
Witht h
ea bsolu
tee nco
der，pr e
sentaddres
sisd is
play
edsta
rtin
g
fromthet imeof
app
tal
i!c
abi
orlofthepi
on
wd
ie
e
rzs
ource-
@
Witht h
ei ncrement
ale ncoder，th
ei n
dicat
ionisdisp
laye
dafte
r
zeropoin
tr e
t u
rn.
Contr
ol SALM 2
9 @
Asign
alo u
tputtedwhenabn
orma
liti
esoccurinc
ontr
叫s .
alarm • Thealarmmbo
af
yt
berelea
sedd
b
iy
Sth
erese
bsLi
Eg
nD
a4
l
.
• Thecont
entofthealarmisd
ispl
aye
da tLED4ont h
ec o
ntro
lle
r.
Cont
roll
er CALM 4
5 @

alarm A
p
W
rS
o
hI
pe
g
en
n
ra
t
o
hl
fi
o
s
tu
h
at
el
p
ac
u
ro
t
mn
t
et
i
d
r
so
w
al
l
hc
eenabnormal
iti
esocc
uri
nthehardware
• a tr
u.
art
en
de
，d
theCPUALonbhec
ont
rolle
r1ig
Lh七s
.
• Thi
ss i
gnalmayn otbet urnedoff
byent
eri
ngt
heres
etsigna
Drive
r
alarm
DALM 44 • T
h
f
u
i
n
ss
ct
i
i
o
g
n
.
n
ali
sout
putt
edwhenatr
oubl
eocc
ursont
hed
riv
er

• Ex
plana
tion
softh
ealarmi
sdi
spla
yedonLED.
Batte
ry BALl
¥
tI 46 @
Asigna
loul
at
lp
au
rb
t
medwhenthevo
lta
BgA
eTo
f
Ath
Lebackupdri
verr
d
lr
io
g
ph
st
.s
alarm • Whent h
isalarmisaduated，
theBATALont hecon
tro
lle
(Batte
ry) • G
a
e
t
t
n
e
e
r
n
a
t
l
i
o
lyi
no
ts
fwo
h
o
r
u
k
l
e
db
rs
.
eusedasani n
dicat
ionlamptoal
ert

Note: Theses
ign
αlsmαymoment
αri
lygo0九 α
tαpplyingt
hec
onl
rolp
owe
r.

3-9
ClibPDF - www.fastio.com
 3
-33
.I
噛n
put
sig
nals
pec
ifi
cat
ion
s

I
npu
tsi
gna
ls(DC) means
ign
alscomingfrom e
xte
rna
lso
urc
es such a
ssi
gna
ls comingfrom
pushbuttons，l
imi
tsw
itc
hes，
&c.(
Allt
hei
npu
tsi
gna
lsa
rei
nsu
lat
edbyp
hot
oco
upl
ers
.) 喝

)
0 R
ega
rdl
essi
fth
esi
gna
lsa
refromc
ont
act
sornot，
fol
low
ingc
ond
iti
onsmustb
esa
tis
fie
d:
① C
apa
cit
y: DC30V，
16mAo
rmore
② Leakc
urr
entduringc
uto
ff: 1mAo
rle
ss(
26.
4Vo
fvo
lta
ge)
③ V
olt
aged
ropwhent
urn
edo
n: 1Vo
rle
ss(
app
rox
.13mAo
fcu
rre
nt)

)
0 I
npu
tsi
gna
lwaveform: The chattering time and holding time should be with t
he
f
oll
owi
ngc
har
act
eri
sti
csduringo
per
ati
ons
:
① I
npu
tsi
gna
lal
low
abl
ech
att
eri
ngt
ime
: T く 5msec
② I
npu
tsi
gna
lho
ldi
ngt
ime
: 30m s
ecminimum

ト I
npu
tci
rcu
its
Thei
npu
tci
rcu
itsa
reshownb
elo
w:

IC口M 2.
4KO

C
usl
ome
r'sc
irc
uitI C
ust
ome
r'sc
irc
uitI

I
nca
seo
f24Vcommon 1
nca
seofOVcommon

3-10
ClibPDF - www.fastio.com
 ト Powers
upp
lys
hou
ldbepreparedbyt
hec
ust
ome
r:
DC24V土 10% Approx.0.
4A(powers
upp
lyf
ori
npu
tando
utp
uts
ign
als
)
Remarks: - ThePE(
fra
meground)o
fth
epowers
upp
lys
hou
ldb
econnectedt
oth
eframe
groundo
fth
edr
ive
r.
- S
epa
rat
eso
urc
eso
fpowers
hou
ldb
epr
epa
redf
ort
hei
npu
tando
utp
uts
ign
al
powerandt
hebrakep
owe
r.

i
&o/fl!J!fo.(民間]fi[M@
1 For preventing e
lec
tri
cal shock，t
he power
s
upp
lyf
OI・
.
inputandoutputsignalsshouldhave
r
ein
for
cedi
nsu
lat
ion(primaryands
eco
nda
ry)
(SELV).
(
Spe
cif
ica
tio
nfo
requipmentt
o be c
ert
ifi
edby
TUV.)

3-11
ClibPDF - www.fastio.com
 334
.Outputs
圃 司 ign
als
pec
ifi
cat
ion
s

Theo
utp
uts
ign
als(DC)a
ref
ora
ctu
ati
nge
xte
rna
lre
lay
sandI
igh
tem
itt
ingd
iod
es.
(
Allt
heo
utp
uts
ign
alsa
rei
nsu
lat
edbyp
hot
oco
upl
ers
.) 司

)
> Ratingso
fth
eou
tpu
ttr
ans
ist
orss
hou
ldbea
sfo
llo
ws:
Appliedv
olt
age (Vmax)孟 30V
Condudedc
urr
ent Im
( ax)~ 60mA

)
> Forani
ndu
cti
vel
oad(
suc
hase
xte
rna
lre
lay
s)，alwaysc
onn
ectad
iod
e(w
itht
hep
erm
iss
ibl
e
v
olt
ageo
f100Vo
rmoreandc
urr
ent100mAo
rmo
re)
.
l
¥
tla
keverys
uret
hatt
hep
ola
rit
yisc
orr
ect，
aso
the
rwi
set
hei
nte
rna
lci
rcu
itw
illb
edamaged.

Diode

)
> Forac
apa
cit
ivel
oad(
suc
hasl
amp
s)，b
esu
ret
oco
nne
ctap
rot
ect
iver
esi
sto
rins
eri
eswitht
he
l
oadt
ore
str
ictrushc
urr
ent
.
Bes
uret
hatt
hemax.c
urr
enti
ncl
udi
ngi
nst
ant
ane
ousc
ase
sisr
est
ric
tedw
ith
int
hec
ond
uct
ive
c
urr
entrangea
ssp
eci
fie
dab
ove
.

. Outputc
irc
uit
s
Outputc
irc
uit
sar
eshownb
elo
w:
(TheDC24Vpowers
upp
lys
hou
ldb
epreparedbyt
hec
ust
ome
r.)(
Seepage3
-10
)

l
&Wfl!J.細IMn~@1 Forp
rev
ent
inge
lec
tri
calshock，t
hepowersupplyf
ori
npu
tand
.o
utp
uts
ign
alsshould have r
ein
for
cedi
nsu
lat
ion(
pri
rna
ryand
s
eco
nda
ry)(SELV
).(
Spe
cif
ica
tio
nfo
requipmentt
obec
ert
i丘e
dby
TUV.)

3-12
ClibPDF - www.fastio.com
 (
C) (C)
C
usL
ome
r'sc
irc
uit でe
iji
nSe
ikis
ide C
ust
ome
r'sc
irc
uit T
eij
inS
eik
isi
de

I
nca
seof24Vcommon I
nca
seofOVcommon

Condudedc
urr
ents
hou
ldalw~ys ， evenmomentarily，
bebelowt
heabovei
ndi
cat
ion
s.

3-13
ClibPDF - www.fastio.com
 34
. ExplanationsandS
帽 ett
ingUpoftheParameter

Theparameteri
sus
edt
ose
tupt
heo
per
ati
ngc
ond
iti
onsandt
och
ecke
acho
fth
eco
ntr
ols
tat
us
d
uri
ngo
per
ati
ons
.

3-4・1
.Outlineoftheparameter

Parameternumbers 時 O
utl
ine
s
Control P
-lt
oP-
29 I
I
temsf
orparameters
ett
ing
s
parameter
. Reductiongearratio ・Accelerationand
円
dec
eIer
ationt
ime
cons
tant

・
」 • Numbero
Op
erati
n
fi
gs
n
p
d
e
e
e
d
xi
ng • Pos
it
ando
i
t
o
nl
he
rs
o
opgai
n
由

P
-6 oP6
0t 9 噌 I
I
temsf
orparameters
ele
cti
ons
・
戸 8
elec
tionoftheencode
r
，
.
.
.

• 8
elec
tionofinte
rlocksig
nals
• 8
elec
tionbetweenshort
-cutope
rati
onor

・
」 o
S
e
n
l
ewayo
ec
tio
咽p
no
er
fi
a
n
t
d
i
o
e
n
xi
ngdirect
ionandoth
ers -岡

P-70toP-79 I
•
・IInnddiiccaattiioonnoofftthheeianbspoultuatnedeonuctopduetrsailganralmssttaattuuss
P
-80t
oP-
99 I ・ I
r
n
e
g
d
i
i
c
s
a
t
e
t
i
r
ono
fth
eco
ntent
soft h
etime
randDAc on
ver
ter

• I nd
icat
iono
fth
epr
esentcoor
dina
tevalu
e(p
uls
e)
-Indicationo
fth
eer
rorpuls
e
(Alarmhi
sto
ry) • I
ndi
cat
est
hel
ast9a
lar
ms.
A-OtoA-9
(
Ser
vopa
ram
ete
rs) Typesofmotorc o
nnect
edtothes
ervocon
tro
ller
.
・
•
8-0t
o8-
49 Loadiner
tia

・
• S
8
e
e
r
r
v
v
og
a
oo
p
i
e
r
n(
at
i
n
i
c
o
ludings
nmode
pe
edandcur
ren
t)

Note:Ford
eta
ilsofthep
αrαmeter，
ref
ert
opαge3-21αηdαf
ter
.

3-14
ClibPDF - www.fastio.com
 3
-42
.S
咽e
tti
ngt
hep
ara
met
er

》 The LED and push button switches i

nfr
onto
fth
ese
rvoc
ont
rol
ler allow checkingand
m
odi
fic
ati
ono
fth
eparameters
ett
ins，s
g tat
usd
isp
lay，alarmcheckandmanualo
per
ati
on.
》 Ont
hec
ont
rol
lerf
ron
t，t
heLEDands
wit
che
s
a
rep
rov
ide
da nt
sshowni h
edrawingt
oth
eri
ght
.
》 Normald
isp
lay
s

。
• LEDi
ndi
cat
esp
res
enta
dcl
res
s.
~I 副 811 副副 al 。
。
MODE 口 口A
s
εT
口 口v
》 T
ran
sit
iono
fdi
spl
ay
Byp
res
sin
gth
esw
itc
hes，d
isp
laychangesa
sfo
llo
w:

Power0Xo
rre
se:
1

↓ P悶 吋 出 山
将e
1
f
orロl
oret
han5s
eco
nds
Press 宕[
:と
. :.
rOD
EJ Pr
essch
eユ:
(.fO
DE] P
ressth
e('MODEl
formorき t
h証n5sec
ond
s f
ormorethan5se
con
ds f
ormorech
a n5se~

llPr郎 と ω
泊叫
叫
(a
口:
.
r∞
o
ωODE] ~ I 付
￨
作Press州
o 問 詰∞ :
-
I.
r 吋r
oDEJ .r 叩

十、
lp. 0I l
A・ ow
ltym
l
pels・ oI
1 0
1 I 2
5ol
十 、￨ 十lLod 、
A・ 117inertia i
、
s・
証
1I

1 0 1 I 吋
J 、 十 、
A・ 2I T Is
・ 2I

C
oロt
ro
lpa
ram
ete
rs A
lar
mhi
sto
rv S
erv
opa
ram
ete
rs F
ori
nsp
ect
iona
tpl
ant
P
res
sth
e
日ODEJ(UP]
[
iop
，
l
A・ 9 I
ll ~
、
託
i
s・ 49 I ldl024 I

3-15
ClibPDF - www.fastio.com
 ，
. I
nit
ial
iza
tio
noft
heparameter
.
， Wheno
per
ati
ngf
ort
hef
irs
tti
mea
fte
rin
stal
1at
ion，p
ara
met
ersmustb
ein
iti
ali
zed
.
ト Ford
eta
ilso
fin
iti
ali
zat
ionv
alu
es，r
efe
rtot
heparameters
ett
ings
ect
ion(
onpage3
-21 and
a
fte
r).
ト Whenu
sin
g，t
hes
ett
ingv
alu
ess
hou
ldb
emo
dif
iedt
omeets
pec
ifi
cat
ion
soft
hec
ust
ome
r.
，
. Typeo
fth
ese
rvoa
ctu
ato
riss
e oAR15，s
tt ope
rfo
rmf
ol
Iowings
erv
oparameteri
nit
ial
iza
tio
n
a
cco
rdi
ngt
oyours
pec
ifi
cat
ion
s.

制同州同:
ぷ:;煩口合
よJ
Oq
j;
;s
)
I
nit
ial
iza
tio
npr
oce
dur
es(
1)
① P
res
sfo
urs
wit
che
ssi
mul
tan
eou
slyu
nti
Ith
edi叩 l
ay(LED)i
ndi何 回 ￨
8 81
181 81
81
② P
res
sth
eMODE，DOWNandSETs
wit
che
ssi
mul
tan
eou
slyf
ormoret
han1s
eco
ndand
t
hed
isp
lay(LED)i
ndi
cat
esI
HI日 IHIHIHI.(
Not
e)
③ Att
het
imewhenIHIHIHIHIHlindicationa
ppe
ars0川 ed
isp
lay(LED)，t
he
i
nit
iaI
iza
tio
noft
heparameteri
sco
mpl
ete
.
I
nit
ial
iza
tio
npr
oce
dur
es(
2.I
nit
iaI
iza
tio
natt
urnono
fth
epo
wer
)
② Turnt
hepoweronw
hil
epr
ess
ingt
heDOWNandSETb
utt
onss
imu
lta
neo
usl
y.
Thed
isp
lay(LED)d
isp
lay
sIHIHIHIHIHI i
ndi
cat
ion
s.(
Not
e)

N
ot: TheIHIHIHIHIHI i
e r此 ωi
on :
sαp
peαr
smomentαr
ily

3-16
ClibPDF - www.fastio.com
 ~ I
nit
ial
iza
tio
noft
hes
erv
oparameter
S
ett
hef
oll
owi
ngv
alu
est
ose
rvoparameter0a
cco
rdi
ngt
oth
emodelo
fyours
erv
oac
tua
torands
erv
o
c
ont
rol
ler
.
Servoparameters1t
hro
ugh49a
rea
uto
mat
ica
llys
et
.

Modelof
s
ervo 5 ARS15 ARS30 ARS30 ARS30 ARS60 ARS60 ARS60 ARS135ARS135
ARS1
c
ontro
ller
l
¥
IIo
delof
serv
o AR15 AR30 AR15 AR30 AR60 AR~O AR60 AR135 AR60 AR135
a
ctuator
S
ett
ing
s 1
5 1
8 2
5 30 40 45 6
0 80 1
00 1
35
Notes:" I
nit
ial
izαt
iono
fth
epαr
ame
ter
sαnds
eru
opαr
ame
ter
sshouldb
edoneαf
tert
urn
ingt
he
s
eru
oo.
fOtherwise，alαrmE-7i
f sgener
αte
d.
. Don
ott
urnt
hepowero
ffd
uri
ngi
nit
ial
iza
tio
norr
elo
adi
ng.I
fth
epoweri
stu
rne
dof
f，
d
atamightb
edamaged.
• Reloadedd
atabecomesv
ali
dbyt
urn
ingt
hepoweronando
ff，o
rbye
nte
rin
gth
ere
set
r
npu
t.
A
fte
rth
elo
adi
ng，t
urnt
hepoweronando
ffo
ren
tert
her
ese
tsi
gnal
.
• Backupo
fth
eparameteri
sdonewithEEPROM(
ele
ctr
ica
llyr
elo
ada
bleROM). L
imi
tis
s
ett
oth
enumbero
fre
loa
din
gEEPROMcanperform(
upt
o10000t
ime
s).
Whenf
req
uen
tre
loa
din
gisr
equ
ire
dsucha
sfradjustment，
o set
tin
gwi
tho
utEEPROMi
s
a
lsoa
vai
lab
le.
(
SeeparameterNo.P-66onpage3
-29
.)
Forparameters
ett
ingw
ith
out日目 PROM，t
hes
etparameter i
she
ldbyt
heb
att
eryand
RAM.

3-17
ClibPDF - www.fastio.com
 3-4-3.Checkingandchangingtheparametersettings

~ Whencheckingandchangingparameters
ett
ins，
g oI
flowt
hep
roc
edu
resb
elo
w:
)
0 Whend
isc
ont
inu
ingo
per
ati
ons，
rel
eas
eth
epush-buttons
wit
ch
The i
ndi
cat
ion
sint
hed
isp
lay(LED) w
ill be automatically r
ese
ttot
he presentaddress

…一………… …叶
i
ndi
cat
ion，
30minutesl
ate
r.

…
en
[ 川川山川 C
parameterNo.P-68(
se
t
epage3
-30
). 時
eneeω
l

(
1) ・ Whenchangingtheparameterset
ting，
presste4
h
脳出回目出:
sw
itc
hessimulta
neouslywi11th
ed is
play(LED)
i
ndi
cat
e _8I
sI81 8I8I8
-'
(PregpqQJL)
• Thiso
per
ati
oni
sno
tne
ces
sar
yfo
rch
eck
ing
.

υ よ;
JOq
t)
(
2)Presst
heMODEb
utt
onandp
res
entparameter
numberw
illb
ein
dic
ate
d. 日
刊
づ JU
DJ ~
口舎
(PreZfP9

r口 口 t
p
U :
e
s

(
3) Whenr
ais
ingt
heparameternumber:
① PresstheUPb uttonwhil
ekeepingp re
ssingthe
MODEb
onebyo n
u
e
t
.
ton，andth
eparameternumberg o
esup 日
間
づ jU.
2
I~
② Keepp ressingth
simultaneously，
eMODEandUPb
andth
u
ttons
eparameternumberg oe
s (PresPOQ え s
)
upc ont
inuously.
町口口 1
J
N
_
il

。
(
4) Whenb
rin
gin
gdownt
heparameternumber:
① P
t
r
h
esstheDOWNb
eMODEb utto
u
n，
tto
andt
nw
h
hi
lekeepingpress
i
eparameternumber
ng 日間づ Jj
日:
comesdownonebyo
② Keepp ressingthel
¥
I
ne.
IODEandDOWNb utt
ons (
Pre
;; 口舎
simultaneouslyandt
downc ontinuou
sly.
heparameternumbercomes
卜 εT口
尽を:)
丈
左
(
5)I
ndi
cat
iono
fth
eparameters
ett
ing
• Whens e
lecti
onoftheparameternumberi
s 日j
己四回目:
completed，
0.5sec
.l at
e
t
r
heparameters
ettingi
sind
ica
tedi
n
口口舎
川口ε

S
C口口 V
T

3-18
ClibPDF - www.fastio.com
 (
6) Toi
ncreas
et h
esettin
gva
lue
① PresstheUPs wit
chandth
esetv
alueisi
ncrem
entedbyone 日J己到到日;
D口 Qht)
atat i
me.
② Keept heUPs w
itchpr
ess
edandthese
tvalu
eisin
cr e
men
ted ε
問

suc
cessive
ly.
口口 V
(
7) Tod
ecreasetheset
tingva
u
lue
S
:T
E

① PresstheDOWNs witchandt h
esetv
alueisdecrementedby 日J何回日:
oneatat ime
.
② Keept heDOWNs witc
hp res
sedandthese
tv a
lueis 叩庇口口合

口
decrementedsuc
cess
ively.
γノ
Oa¥lN
1
4

J
.
"'E
¥

~(
Pre
ss)

(
8) Tos
tor
eth
eset
tin
gvalu
e
① Keept
heSETswi
tchpr
ess
edu
nti
lth
edi
spl
ay(LED) 日出削刊刊刊 :
indiωes I
HIHI
HIHI
HI
￨
irf
HIH
IHl
HIい
い
w
川川
i
江
山
凶1b
州 ei
r
叫 ω
M
ODE 口口舎
② Thenew叩
set
凶t
ingv
時 alu
eiss
tor
edwhent
hed
isp
lay仏
LED)
( )

c
han
gesIHIHIHIHIHI 口V

~J
mぽ
N

e
••
O
a
3M
r

一H一 剛 山
sν

(
9) Toendmodif
icati
onof thes
etvalue ﹂

一
一
一
寸t11

日
日
日一 ωb
一
一 ?
• Whent h
esetvalueismodifid，
e turnthemainci
rcu
itpower

α
ω
-um

'品
叫

α
r
nn
・

、
円
ρ
of
fonceandturnitonagain，orent
ertherese
tsign
al.
h

向、叫叶リ
m

u
切
• Theparameters e
t t
ingvalueisn
otva!ida
tedunl
essthe A

maincir
cui
tpoweri sturn
edona gain，
orentert
hereset
si
gna
l.

3-19
ClibPDF - www.fastio.com
 34・4
鴫 .Se
tti
ngthea
bso
lut
eencodercoordinatez
erop
oin
t

~ Thiso
per
ati
oni
sfo
rad
jus
tin
gth
eze
rop
oin
toft
hea
bso
lut
een
cod
er.
ト Ther
efe
ren
cep
oin
tist
hes
tat
ewheret
hemachinei
spo
sit
ion
eda
tin
dexNo.1
.
)
> S
ett
hec
oor
din
atez
erop
oin
toft
hea
bso
lut
een
cod
era
fte
rse
tti
ngt
her
efe
ren
cep
oin
t.

Methodfo
rse
① Keept
tt
h
i
ngt
efo
u
hec
rsw
o
i
o
t
r
d
c
i
h
n
e
a
sp
t
ez
re
e
s
s
r
e
op
o
da
in
t
tthesamet
imeu
nti
lth
e a
t
iトi
/H
/K
/H
/
d
i
② P
s
r
p
e
l
a
匂

s
y(LED)加
勾

sth
i
n
以dωi
凶
吋
l
C

eUPandDOWNs wit
chesatth
esamet im
efo
r1 口 Q注
HODE s
s)
second01'moreandt
l
HI
HIHI
HIH
hed
Itoindiωethe
isp
lay(LED)changest
似 i山 附d
ina
t
o
ez
erop
oin
t S
ET 口時記)
s
ett
ingf
ort
hea
bso
lut
een
cod
er.

N
ote
} lfthep
αrαmetersαr eno
tse
tiπth
eαb s
olutee
xpres
sioninth
e
operαt
ionαb
o u
e， α凡 α
Jαrmwil
lre
sul
t.[ S
eepααm
r ete
rsNo.P-
13(onpαge3・23}andNo.P-60(onpαge3・27
).]

3-20
ClibPDF - www.fastio.com
 3
-4-
5.I
tem
sofparameters
ett
ing

Para- I
nit
iali
za 岨

meter C
ont
ent
soft
hep
ara
rne
ter S
ett
ingr
ang
es ti
on
numbers val
ues
P
-O P
res
enta
ddr
essi
ndi
cat
ion
P1 噌 Red
uctiongearratio(R)
(1:R
) 1
20
Set
tingr
ange
s:2to1000
• I
t
n
h
p
u
es
tt
er
h
er
v
oa
e
c
t
d
u
u
c
at
t
i
o
o
r
ng
.
earrati
oo f
AandBt y
pes
:
@ Whenr educingthespee
do fthe R
edu
ctiσngearr
atio(R
)bytyp
e
se
rvoa c
tuatoroutputsha
ft
fu
rther，inp
utt heove
ral
l AR15 5
6 80 1
04 1
20
re
ductiongearrati
o. AR30 5
6 8
0 104 1
20
(Exam
p l
e) AR60 8
0 1
00 1
20 1
52
11
120x1 12= 1/2
40( I
npu
t" 24
0")
AR135 8
0 1
00 1
28 1
70

Cty
pe:
R
edu
cti
ong
earra
tio(
R)byt
ype

AR15 5781 1
05 1
21
AR30 5781 15 1
0 21
AR60 1 1
8 01 1
21 1
53
AR135 8
1 1
01 1
29 1
71

P
-2 Numberofindex
ing S
ett
ingr
ang
e 2t
o255 1
5
@ I
nputthenumberofind
exing
.
(
Exa
rnple)
. Wheni ndexi
ngonet u
rnofthe
tabl
eto1 0eq
uipa
rtit
ions
.
Input"10
"
- I ncaseof60uni
tsofATCt o
ol
magazlne
Input"60
"
P3
‘ Numberofgea
rsofthesproc
ket S
ett
ingrange 2t
o255 1
5
• I
s
n
p
p
r
u
o
c
tt
ke
h
en
t
.
ur
nberofgear
softhe

@ Whent hesproc
ketisno
tused，
inputth
enumbero fin
dexin
g.
P4
崎 Automaticop
erat
ionspeed(r.
p.m.
) Se
ttin
grang
e 2000
• I
d
n
u
p
r
u
i
ts
n
e
r
ga
v
u
omotorr
t
omatico
p
e
e
v
o
r
l
a
u
t
i
t
o
i
n
o
s
n
.
AR15to6
0 5
0to3000
AR135 5
0to2500
P5
暢 Acc
elerat
ionandd e
celerat
iontime Set
tingrange 50t
o1000 500
con
stantduringautoma
tico p
era
tions (Theacc
elera
tio
ntimecon
sta
nti
s
(msec
) sameast h
edece
ler
atio
ntime
@ Inp
uta c
celer
ationand co
nsta
nt.)
de
celerat
iontimeduring
au
tornat
icopera
tions.
P
-6 Manualo pe
rat
ionspeed(r
.p.m
.) Set
tin
grang
e 1000
• Inputt
motord
h
u
er
r
e
i
v
n
olut
ionof
gmanualo
t
p
h
es
e
rat
e
i
r
v
o
o
n
s.
AR15t
AR135
o6
0 5
0t
5
0t
o3000
o2500
@ Step，JOGandZ e
ropointret
urn
modes.

3-21
ClibPDF - www.fastio.com
 Para‘ I
nit
iali
za
I
帽

meter Conte山 o
ftep
h arameter S
ett
ingr
ang
es ti
on
numbers val
ues
P
-7 I
Ac
cel
era
tio
nan
cld
ece
le 悶 ti
ontime Set
tingrange 50to1000 500
co
nstan
td uri
ngmanualo p
erat
ions (Theacc
eler
atio
nt im
ec o
nst
anti
s
(mse
c) sameasthecle
cele
rati
ontime
• Inputaccele
rat
iona
ncl co
nsta
nt.)
d
eceler
ationti
meduringmanual
o
perat
ions.
P
-8 Creepspeeddur
ingreset
tingt
oz er
o S
ett
ingr
ang
e 5
0to300 5
0
poin
t(r.p
.m.)
• Us edf o
rres
etti
ngtozeropoi
nt
withtheincr
ement
alt y
pe.
• T hisisther
otat
ingspeedaft
er
stepp
i n
gonthezer
op oi
ntlimit
swi
tch.
P
-9 Po
sit
ionlo
opgain[KpJ
(se
c-1) Se
tti
ngrange 100
0to5000 2000
• Sele
cttheoptimumloo
pgain
. (
10to50sec-1)
• Conver
tedas0.01se-1 1
c = =
Kp 20s hou
ldbeinp
utte
da s
"2
000
".
P
-10 Al
lowabl
ep o
siti
onaldevi
ation(p
uls
e) S
ett
ingr
ang
e 1to6553 2000
• Meanst hemax.fol
1owべlperr
ors (
10to65530p
uls
e)
du
ringrot
atio
n.
• Settothevalueobta
inedfromthe
f
ollow
ingequati
onorm o
re:

Usedmax. Puls
e
rev
olu
tionoft
he numberof
ser
v rlOt
oτ or X theenc
ode
r X1
.5

KpX600

• 1
0pu
lse
sar
eco
nve
rte
das1
P
-11 Rangeof
irトpos
ition(pul
se) S
ett
ingrange(
T) 1
0to9999 400
• Meanst herangeofposit
i.o
nin
gs.

i:
ti
• Thep os
itioni
ngf i
nishsig
nalis
ou
tputte
dwhenp os
ition
edwithin
th
erangeofin-po
sitio
n.

/卜¥

Commanclp
osi
tio
n

P-12 Rangeofthehomep ositio

nsigna
l S
ett
ingr
ang
e(L
) 1
0to9999 800
(p
ulse
)
• T
a

b
h
d
i
d
r
• Ther
ew
ss
e

i
s

c
i
s
a
l
e
g
.
n
n
a

g
eo
rt
li

h
so

ft
a
h
i
nt
u
t

ss
h
p
u

er
t

i
g
a
t

n
n
e

a
g
da

l(
eo
te

L
a

)s
fin
c

h
-
h

o
uld
:
l
、
工ti F

pos
ition，andIes
st han114pi
tch
.
，
.mA
n

，
m
m

P、

=
n
u

G ﹀

0
afk
rTU

aFU
n

(
1p it
ch d ist
ancebetweenan
・句
v

4
b
J
司
TlJ

ad
clres
stot henextaddre
ss)

3-22
ClibPDF - www.fastio.com
 Para- I
nit
iali
za 綱

meter C
ont
ent
soft
heparameter S
ett
ingr
ang
es ti
on
numbers val
ues
P1
3綱 Numberoftheenco
derpuls
e(p
uls
e) Absoluteenco
der 8192 8192
• I
n
r
o
p
t
u
a
t
tt
io
henumbero
noftheenc
o
fp
de
r
u
.
l
sef
orone (Quadrupledint
ern
ell
y .2048P/氏)

P-14 D e
vi a
tionfromt hezerop o
intofthe Set
tin
grange oto8192 一
absolutee nco
derontheo ner ot
atio
n.
• Indica
tesd e
viationfromt h
ez e
ro ー
pointinoner o
tationofthe
encode
r.
• Whenrenewingt
boardandROM，
h
r
e
ep
c
o
r
r
in
dt
te
h
e
dcir
cuit

previousparameterNo .P-14
figu
res，anda f
terr en
ew a
l，setthe
日gurestoparameterN o.P -1
4.
@ Renewingmayb edonew ithout
changingt h
ec o
ordinatezeropoin
t.
P1
5
岨 Gri
tshiftvalue(puls
e) S
ett
ingrange ot
o9999 。
• Meanse r
betweenz
ro
e
ra
r
op
dj
o
u
i
n
st
to
m
en
ft
tv
h
a
ee
lue
nco
der
andt h
er efere
ncepoi
nt.
@ Calculatethemovementamount
(mi
n.)a ttheoutputsh
aftbythe
foll
o w
ingf or
mula:

Gri
ts h
iftval
ueX 360X 60
Numberof X R e
duct
ion
encod
erp u
lse ge
arrati
o
P-16 Backlashcorrect
ionvalue(puls
e) Set
tin
grange oto9999 G
• Thisisu se
df o
rcorrec
tionoferrors
causedbyb ackla
s hwitheithe
ro f
C Wr ot
ationorCCWr ota
tion.
• C
(
a
m
l
i
c
n
u
.
la
)a
tet
tth
hemovementamount
eservoactuat
oro utp
ut
shaftbyt h
ef o
llowin
gf orm
ula:

Backlash
corr
ectio
nv al
ueX 360X 60
Numberof X Reduc
tion
encoderpul
se gearrat
io

3-23
ClibPDF - www.fastio.com
 Para 咽 I
nit
iai砕￨
l
ロ1e
ter C
ont
ent
soft
heparameter S
ett
ingr
ang
es tio
n
numbers valu
es
P 17
咽 S
tepf
ee d
ingamount( pu
lse) Set
tin
gra
nge ot
o9999 2
00
• T
f
h
e
e
i
d
si
i
n
suse
di
gmode(
nt
s
h
e
eo
ep
p
a
t
g
io
n
e4
a
3
lstep
)andin
th
eI oc
aImode( se
ep age44)
.
• C
(
a
m
i
l
c
n.
u
la
)a
tet
tth
hemovementamount
eservoactuato
ro ut
put
sh
aftbyt h
ef oI
Iowingformul
a: ー

Ste
pf e
edi
ng
amount x360x60
Numberof X Reduc
tion
enco
derpul
se gea
rr at
io
P
-18 C Wrotationsidestrokelimi
t • Set
tingrangew i
tht he
r ot
一
• Thisisu sedwhent hereisast ro
ke incr
ernentale
ncode o65535
end. (0，
1 000to665，350，000pulse
s)
• 1
.
t
0，
0
o1
.
.
00p u
lsess ho
uldb econverted • Absolu
tee n
c
Amaxirnumv
od
a
e
l
r
u
・
et otheset
• Witht
sett
i n
h
gv
ea
a
b
l
s
u
ol
eo
u
f
t
t
ee
h
n
es
c
t
o
r
d
o
e
k
r，
el
a1
im
imit
it，in
con
ditio
Whenres
帽
n
si
e
sa
tt
u
i
to
g，
n
r
t
n
h
at
ev
i
ca
a
l
II
u
yset.
emust
accordancew i
t htheoperatin
g beequaltoorles
sthant histhis
cond
i t
i o
ns，willbei n
dicatedinthe maximumv a
lue.
disp
l ay(LED).S ettingshouldbe
madet oav alueequaltoo rIe
ss
thant h
isvalue. N
ote
)
P
-19 CCWrotationsid
es trokelimit • Set
tingrangew iththe 一
• T
e
h
n
i
d
.
sisusedwhent her
eisas trok
e i
(
nc
0，
1
re
men
000t
ta
o6
le
6
n
5，
code
350，
r 0t
000pu
o66535
lse
s)
• 10，
000p uIse
sa rec o
nvertedt
r，
o1
a1
ir
. • Absol
utee nc
oder
• Witht h
ea bso
lutee ncode n
it Amaximurnv a
luet otheset
set
tingvalueo f
th estrok
el im
it，in con
dition
sisa ut
o mati
callyse
t.
accorda
nc ewiththeo per
a t
ing Whenr e-s
ettin
g， th
ev aluernu
st
con
ditions，wi
llb eindica
t e
dinthe beequaltoorlessthant h
isthis
dis
play( LED
).S ettingshouldbe maximumv a
lue.
rnadeequaltoorl e
sst ha
nt hi
s
val
ue. N
ote
)

Notes:
1. Thei n
iti
ali
zαtionvalu
eisin
dicαtedi凡 t
hedisplα:y(LED)eveπi fpαrame
t erNo.P-18α凡dP-19
αrenotused，butdonotchαn
get hein
itial
izαtionvαluewhenn otu sin
gt hem.
① 1 ncrementalencoder : 9 999αr eindicαtedinthedispα
l y(LED).
② A bsoluteencode
r : t helimitsett
ingv al
ueo f
thes t
ro k
el i
mitisαutom αt
ica
lly
α
cl culαtdαndi
e nd
icαtedi凡 t
hed isp
lay(LE D).
2. When' り勺ss e
t，thestro
keli
mittαkesthevalueo fhomepositionsignalraπge(seepαramete
r
NO.P-12o凡 pa
ge3-22).

3-24
ClibPDF - www.fastio.com
 Para・ I
nit
iali
za-
meter C
ont
ent
soft
heparameter S
ett
ingr
ang
es ti
on
numbers val
ues
P-20 Powersavet imer(sec
) Set
tin
gra
n ge 30t
o9999 3
0
@ Usedtoav oi
du selessh e
at
generat
iono fthemotor，when
inter
ruptingforlongt ime
.
@ Wheni tcomest othes ett
ingtime
inthepowers avet imer，these
rvo
幽.
ONs ignalturnsoffaut o
matica
lly
andthebuilt-inholding
elect
romagneticb rakew o
rks.
Meanwhile，whent heo p
eratio
n
sta
rtsignalen t
ers，the
elect
romagneticb rakeisrelea
sed
andtheo pe
ra tio
nisr esumed.
• Thes
tim
e.
e
rvol o
c kholdsdu r
ingtheset

@ Sel
ectu s
eo fthepowers a
vetimer
.r
bypa ameterNo .P -65(inpage3-
'
28
).
P2
1
咽 O v
ers hoo
t( pu
lse) S
ett
ingr
ang
e ot
o9999 。
• Whent
theser
h
v
ea
olo
b
c
r
as
kh
i
o
o
l
nI
d
in
oa
gt
di
o
r
sl
q
u
ar
ge，
emay
incr
easeorp os
ition
ingac c
uracy
mayd et
e r
ioratebymechanical
dis
tort
ions.
@ Insuchcases，makeo v
ershoot
ing.
@ Setuptheoptimumo v
ershoot
checkin
gt heholdi
ngt or
q u
e
(e
lect
riccurrentva
lue).
P-22 Numbero ffol
1owupp ulse(pul
se) S
ett
ingrange ot
o400 。
• C
o
o
c
r
c
r
u
e
r
c
t
r
sminuted
e
da tthese
e
r
v
viat
i
oono
ons
roff.
Correc
tionisdoneati npu
to fthe
servoonsign .C
al o
rrectionisdone
onlytoadeviati
onb elowthe
set
ting
.
(Donotsetava l
uetothisparameter
whenav alueissett
oP -21(overshoo
t
val
ue)
.)
P-24 Automatico pe
rationspeed2( rpm
) Se
ttin
grang
e 2000
• E
i
nt
nt
ert
h
ea
h
u
es
to
e
m
r
a
v
t
i
omotorr
cop
e r
at
e
i
v
o
o
n
.
luti
on AR15to6
0 50t
o3000
AR135 50t
o2500
@ Operationisdone"atthi
ss p
eedo f
thisparameterwhent h
es pee
d
changes ign
alh asbeenturnedon
att h
et imethestar
ts ig
nalis
entered
.

3-25
ClibPDF - www.fastio.com
 Para 咽 I
nit
iali
za 帽

ロ1
ete
r Contentso
fth
eparameter S
ett
ingranges ti
on
numbers va
lues
P 25
咽 A
cce
leratio
nandd e
celerati
o ntime S
ett
ingrange 50t
o1000 500
c
onst
antintheautomatico peratio
n2
(
mse
c) (Theacc
elera
tint
o im
econstantand
• Entert
decel
er
h
a
ea
ti
c
o
c
e
nt
l
i
e
m
ra
ei
ti
o
nt
nand
h
eautomatic
d
i
e
d
c
e
e
l
n
t
e
i
r
c
a
t
al
i
.
)
ontim
eco
nsta
ntis

oper
ation.
• Operationisdoneatt imeconstan
t
四・

ofthi
sparameterwhent hespeed
changesignalhasbeent u r
nedon
atthetimet hesta
rtsignalis
ente
red.

3-26
ClibPDF - www.fastio.com
 子ι6.Itemsofparameters
ele
cti
ons

Para・ I
nit
iaI
iz
a・
ロle
ter C
ont
ent
sofparameters
ele
cti
ons ti
on
numbers val
ues
P
-60 S e
lectionbetweent hea bs
olutee n
co d
erandi ncrementa
l '(LED 0000
e ncoder i
ndi c
ati
on)
@ Absolutee ncoderwitht h
ec oo
rdinateshifti
ngfuncti
on 0000
Byu seoft h
ec oordina
tes hi
ftingfuncti
on，endles
s
indexingmayb emadew ith
outm echanicalrest
cict
ions
ofreductiongearr a
tio，numbero findexingandnumber
ofgearsofs pr
ocket.
@
Absolutee ncoderwithoutthec oo
rdinateshift
ing
functio
n
(Thecoorclina
tes h
iftingfunct
ionisu sedwhenmaking 0010
positio
ningw iththeendlessrotati
on.)
@ Incrementale ncoderwithther efe
rencepointretur
n 0001
dire
ctioninCWr o
tatio
n .
Seep age1-2fort h
ed ir
e c
tionofrota
tion. 0011
• Inc~emental e
dire
ctioni
n
nCCWr
code
o
rw
ta
t
i
i
t
o
ht
n.
her ef
erencepointretur
n

Seep age1・2 f
ort h
ed ir
e c
tionofrotat
ion.
P6
1
咽 S
ele
ctingthedi
rectio
ni nwhichthenumberoft
heindex
ed (LED 0000
a
ddre
ssg o
esup. i
ndic
ati
on)
• I
c
nc
ou
a
n
t
set
e
rc
h
l
eo
oc
k
r
w
d
e
is
rofnumberingt
e(CCW).
heinde
xedadd
res
sesis 0000

Seepage1-2forthedirect
ionofr
otat
ion. 0001
• I
c
nc
lo
a
c
k
s
w
et
is
heo
e(C
r
W
d
e
).
rofnumberingtheindex
edadd
res
sesis

Seepage12f咽orthedirec
tionofro
tat
ion.

3-27
ClibPDF - www.fastio.com
 Para 岨 I
nit
iali
za-
meter C
ont
ent
sofparameters
ele
cti
ons ti
on
numbers valu
es
P-62 Sel
ectionofi
nterl
ocksig
na1
. (LED 0001
i
ndic
ati
on)

L
Parameterdisp
lay(LED)

置 m
E

E
一
一
0000
一一
臼
日
口口

一
一
一アlL

ん⋮て
」
一一一 Interlock て Aconta山

nU141AnU
put
s
ign
ali
s Bc
ont
acti
npu
t
I
nte
rlo
ck て Used
s
ign
alis Notused

(
1) Whenb
iti
s0 (
2) Whenb
iti
s1

S
TA
RT 円 l 」
側T J
C く 側 TJ
C く
C
NTU
P 「
一 C
NTU
P n_
No
te:
CNTUPiso u
tpu
ttedwhen
STARTsignαli
s0凡 αndwi
thin
th
epos
itio
ningc
omplet αn
er ge
.

P
-63 I
Sel
ect
ionbetweens
hor
t-c
uto
per
ati
onandone-way (LED 0000
op
eration i
ndic
ati
on)
• S hor
t-cu
tindexi
ng 0000

・
• F

・
in
iteind
One-wayi
One-wayi
e
x
n
n
i
d
d
n
e
x
e
x
g(whent
i
i
n
n
h
g(CWr
e
o
g(CCWr
r
ei
t
a
o
t
t
sas
i
a
t
o
n
i
)
on
)
tr
okee
nd) 0001
0010
0011
I
P64
噌

・
S
ele
c
(
t
A
i
d
o
no
d
C Wr
r
o
e
t
fi
s
a
ndex
sNo.1
tion-
ingdir
ec
)→CCWr
争(Ad
d
t
io
o
.No.1
nw
ta
i
t
i
t
o
ha2・p
n→( Ad
o
s
d
itioni
.No.2
n
)→
d
ex i
ng
i
nd
(LED
ic
atio
n)
0000

・ 0000
)
(Add
.No.1 )→C Wrotation~(Add. No.2)→ 0001
CCWrotation~(Add. No.1)→
(Incas
eo fone-wayindexi
ng，makeo utt h
es e
ttingby
useofparameterNo.P -
63.
P-65 I
Sel
ect
ingu
seo
fth
epowers
avet
ime
r(ParameterNo.P♂ 0， (LED 0000
inpage3・25) i
ndic
atio
n)
• Notu s
ingthepowersa
vetime
r. 0000
• Usingt hepowersaveti
mer
. 0001

3-28
ClibPDF - www.fastio.com
 Para- I
nit
iali
za 岨

meter C
ont
ent
sofparameters
ele
cti
ons ti
on
numbers val
ues

P-66 Usingthedirec
tionbacklashcor
rection，di
recti
onofg
ridsh江t
.S -
shape 0000
ac
celer
ationJd
eceler
ationandEEPROM.
Se
lecti
ono fth
ed i
recti
onofbacklashco r
recti
onandthedi
rect
ionofgri
d
sh
i氏
Se
lectthedirec
tionofrota
tionofbacklashcorre
cti
onandofgr
idshif
t.
キDir
ectionofrota
tion:Refertopage1 -2 _

Parameterd
isp
lay(LED)

白I
目 lI
EEl I
B
IB1
.
， 小
L 1""1_!-l _L!J
L
rrI
C1Shl!t
:'L

て;
;
V
Lr
_ _l
""1
"tlT
。
1
。
1
」
一一一 AccelerationJγStraight 。
d
ece
ler
ati
onc
urv
e '-S-shape 1
(
Not
e)

EEPROM rUsed 一 。
'-Notu
sed 1

N
ote
: Whenth
ebαckla
shcor
recti
onαndg r
ids
hif
tαr
eno ，
tusedse
t0t
o
p
αrαme
ternumbersP-15αndP-16.

P 67
噂 0000
S
elec
tionofth
eoption
alstepmode
I
feith
erC WorCCWs ig
nalisONunderthefol
lowin
gs e
ttin，
gfeed
ing
ta
kesplac
esasspec
ifie
dtoeachpa
rarnet
er[rev
olu
tion(P-)，
6
a
ccel
erat
ion/d
ece
ler叫 io
ntimecon
stant(P7)andminutef
輔 eedin
gamount
(
P-1
7)]
.

r
(LED
幽・

l
…∞
i
ndic
ati
on)

[
…→→
l
¥
IIODEB
(Manuals
te
OFNFi
pmode)
+ Minutes
Ste
t
e
pmode
pmode 0001
0010
Jogmode 0011

• Setti
ngs h
ouldbedoneinthemanualrnod
e.
• Thes e
tvalueisval
idrig
htafteri
tisse
t.
• Thes e
tv a
lueisres
etwhent h
er e
fere
ncepoin
tsett
ingi
sdoneusi
ngthe
parameterset
tingswi
tch，whenpowerisre-
appl
iedorwhenth
erese
t
sign
alisente
red.

N
ote
: Ashockα
tαcce
ler
αtio
no rd
ecele
rαt
ionc
α nb
ereducedb
yse
lec
tin
gS-sh
α:p
e
αc
cele
rαt
ion
Jde
cele
rαti
oncuru
e.

3-29
ClibPDF - www.fastio.com
 Para 咽 I
nit
iali
za・
meter C
ont
ent
sofparameters
ele
cti
ons ti
on
n
u rn
bers val
ues
(Con
- 事 Whenitisd
esiredtoop
eratet
heabso
lut
ee nc
ode
raf
ters
wit
chi
ngt
he 0
000
t
inued modefromtheminuteste
ptothed
rivemod
e.
from

[
…→

-
p6
7)

40
E
n
u
a
，

n
ム
，
.
FiIBilli--M

、
，
T

C0
u
帽

μ
、

n
ahau
o
I

v
A
IODEB → O Nj

噌'・品
l
V ON I 十
(Re
sett
o I
re
fer
encep
oin
t)
(
Re-
set
tin
gisr
equ
ire
daf
terr
ele
asi
ng.
)

P-68 Sele
ctionoft
healarmnumbere
xte
rna
lou
tpu
tandd
isp
layd
ura
tio
noft
he 0
000
parameterse
tti
ngs
.

Parameterd
isp
lay(LED)

8
18
.8.8
.8
1.8
. 1 1 1

…
一
1

g てむ口弘!
y

(
1)S
ele
cti
onofparameterse
ttingsdis
playd u
r a
tion
3
0secondd
暢 isplay→ s et
tingsaredisplayedfor30seco
ndsupon
pressi
n gt
heb ut
t o
nandt h
endispla
ys w
itch
esto
presen
ta d
dress.
• Thes e
tv alueisvali
dr i
ghtaf
terthese
ttin
g
iscomple
te.
• Thes e
tv alueisres
etto0a tre
-appl
ica
tion
ofpowero rinputoftheres
etsignal
.

(
2)Se
lec
tio
nofthealarmnumbere
xter
n a
lo ut
pu t(se
epageι7)
Whenthec
ontro
lalarr
n(SALM)isgener
ated， i
tsalarmnumber(E 樹

xx
x)iso
utpu
ttedthrought
hepr
esentaddressindic
atio
nsigna
lin
bi
nar
y.

3-30
ClibPDF - www.fastio.com
 Para 噂 I
nit
ial
iza
-
meter C
ont
ent
sofparameters
ele
cti
ons ti
on
numbers val
ues
P
-69 Sel
ecti
onoftheloca
lmode 0000
• Thel
onth
oc
a
ec
lmodei
on
trol
ler
sf
.
o
rmanualop
erationbyu s
eo fp
ush-
buttons
'wi
tch
es

@ I
tisusedwhenmakinga dju
stmen
tsora tthetimeoft
esto
pera
tio
ns.
@ Oper
ationsmayb ecar
rie
doutskipp
ingt h
ei np
utandoutpu
tsign
al
li
nes(CN2)
. 時

(LED
i
ndic
ati
on)
① Notusingth
el o
calmode. 0000
② Sel
ectin
gtheJOGo peratio
noftheloca
lmode. 0001
③ Sel
ectin
gthestepoperat
ionoftheloc
almode. 0010
[
1p i
tch(t
othenextaddress
)feedin
g]
③ Sel
ectin
gtheminutes t
epopera
tionoftheloc
al 0
011
mode.
[Feed
ingintheset-
upamountbyParameterN o.P 噂

.17
]

@ Methodsofoper
ation(These
tv alueisvali
dr i
ghtaft
erthesett
ingis
com
plete.
)
① WhenUPo fth
epushb
咽 uttonswitchesispres
sed，i
trotat
es
clock
wise(CW)
.
② WhenDOWNo fthepushb
噂u t
to nsw
it c
hesispressd，
e i七r
otate
s
countrc
e咽 l
ockw
is e(CC"
，^
り.
(Seepage12f
輔ort h
edire
ctionofrot
ation.
)

@ Parameterindic
ati
on
Duringoperat
ion，t
hep ara
rne
terd
isp
lay(LED)i
ndi
cat
est
hei
nde
x
addre
ssa f
ter"LX X X "
.

• Rele
a
Thel
s
o
i
c
a
ng
lmodei
sre
lea
sedbys
imu
lta
neo
usl
ypr
ess
ingMODEandSET
oft
hepushゐutt
ons
wit
che
s.
求
Theint
erlo
cki
svali
dwhenusedi
nth
elo
calmode，
too
.Checks
tat
eof
thei
nter
lockb
efo
reuse
.

3-31
ClibPDF - www.fastio.com
 3-ι7.S
tat
usi
ndi
cat
iosb
n yparameters

Whenf
oll
owi
ngparameternumbersa
red
esi
gna
ted，s
tat
uso
fth
ein
putando
utp
uts
ign
als(CN2)
andalarms
tat
uso
fth
eab
solu
teencodera
rei
ndi
cat
edi
nth
eparameterd
isp
lay(
LED
).

Para 輔
Co
nte
ntsofin
dic
atio
ns(LED) D
isp
lay(LED)
meter D
igi
t4 D
igi
t3 D
igit2 D ig
it1

8
1B
IBI
BIB
IBI
numbers
P-70 I
npu
tsi
gna
ls
I
npu
tsi
gna
l
ICMDOAT41叩 DAT31CMDDAT21~~~~~_~1~1
CMDDAT1
C1
VIDDAT2

AU
dn

m
m
a
n
，
d
αub
Cl
VIDDAT3

口a
P-71 I
npu
tsi
gna
ls

qu
守

n
、
CMCM

ph
u
a''a-EA
CMDDAT4
Cl
VIDDAT5
LCMODAT81CMDDAT71CMD~_~~~~JC~DOAT51 CMDDAT6
CMDDAT7
CMDDAT8
P72
噌 Inputs
ign
als
CW l
VlanualcommandC W
INLK ISTART I CCW CW signa
l
CC-
VV ManualcommandCCW
signa
l
P73
暢 I
npu
tsi
gna
ls START Operations七artsi
gnal
INLK lnter
locksignal
PRDY MODEA Modes elec
tionsigna
ls
IMODEB IMODEAI MODEB Modes elec
tionsigna
ls
SVON ServoONs ig
nal
PRDY Operationpreparati
on
P-74 Inputs
ign
als commands ig
nal
REFLS : ZeropointL8s ig
nal
IREFLS ISPEED I SPEED Speedchanges ign
al

P-75 Outputs
ign
als Outputs
ign
als
SPDAT1
ISPDAT41SPDAT31SPDAT21SPDAT1I SPDAT2
SPDAT3
SPDAT4
P-76 Outputs
ign
als SPDAT5 Presentadd
ress
SPDAT6 indi
catio
ns i
gna
ls
ISPDAT81SPDAT71SPDAT61SPDAT51 SPDAT7
SPDAT8

P77
輔 Outputs
ign
als SALM Controlalarmsigna
l
IDPOS Homep o
siti
ons i
gnal
MOV ICNTUP IIDPOS CNTUP Posit
io n
ingfini
shsigna
l
MOV Servoactuatorin
opera
ti o
nsignal
P-78 Outputs
ign
als

I AUX4 I AUX3
ENALl
¥
If Presence/absenceof
alarms ig
nal
P-79 I
ndi
cat
esalarms
tat
uso
fth
eab
sol
ute BATALM1 Batteryvoltagedrop
e
nco
der. BATALM2 Builtぺncapacitor
voltagedrop
I ENALM IBA CNTOVF Countero ve
rf low

3-32
ClibPDF - www.fastio.com
 P
ararn
eter
C
ont
ent
s I
nit
ialv
alu
es
。
numbers

。
P-30 V
alu
epr
ese
tbymaker

。
P
-31 Valuep
res
etb
ymaker
P-40 V
aIu
epr
ese
tbymaker
P
-41 l
¥
II
oni
toro
utp
uts
ele
cti
on 1
03
P-42 Notused
P-
43 Numbero
fpoweron
Jof
fti
mes 旬畠

P44
帽 Encoderv
ers
ion(
Pre
sen
tve
rsi
on:"
0"，
M/Cv
ers
ion
:"1
")
P-45 Valuep
res
etbymaker
P-46 Valuep
res
etbymaker
P-47 Valuep
res
etbymaker
P-48 Valuep
res
etbymaker 2
0
P-49 Valuep
res
etb
ymaker 4080
P-50 D
rif
tco
rre
cti
ont
imec
ons
tan
t(lowerr
ang
e) 2
5
P5
幽 1 D
rit:
f e
orr
ect
iont
imec
ons
tan
t(u
ppe
rra
nge
) 5
P52
咽 D
"r江t
'co
rre
cti
onp
lusg
ain 2
P-53 D
rif
tco
rre
cti
onminusg
ain 1
P54
噌 Valuep
res
etbymaker 5
0
P55
輔 Valuep
res
etbymaker 400
P-56 S
erv
oIo
ckmode 1
20
P-57 P
err
nis
sib
lep
osi
tio
ner
rori
nse
rvoI
ockmode 400
P-58 1
110v
alu
eofe
rro
rpu
lsef
ore
xce
ssi
vep
osi
tio
nchange
P59
噌 Nurnbero
fco
ntr
叫Ie
ralarmo
ccu
rre
dju
stb
efo
re
P-80 Monitoro
utp
utd
ata(ChA)
P8輔1 Monitoro
utp
utd
ata(ChB
)
P82
縄

P-83 I
ndi
cat
esc
ont
ent
soft
ime
r3r
egi
ste
r(20rn
sec.
)
P84
咽 I
ndi
cat
esc
ont
ent
soft
ime
r4r
egi
ste
r(1se
c.)
P-
85 D
ivi
din
gpi
tchf
rac
tio
n
P86
喝 C
orr
ect
iono
fdi
vid
ingp
itc
hfr
act
ion
P-87 Numbero
fco
nti
nuo
uss
tepf
eed
ingt
ime
s
P88
鴫 S
hif
tofc
oor
din
atei
nac
oor
din
ates
hif
t
P89
帽 Operat
ionmoder
egi
ste
r
P90
帽 SpeedIim
it 12000
P
-91 E
qua
l-s
pee
dcommandv
alu
e 30000
P-92
P-93
Speedcommandv
Devia
tionfrome
q
a
u
l
u
a
ei
I
-s
ns
p
ee
er
volo
ckmode
dcommandva
Iue 。
30000

P-94 S
pee
clcommandv
alu
e 30000
P95
崎 E
rro
rpu
lse
P96
帽 I
ndi
cat
est
hec
oor
din
atev
alu
e(o
flo
werr
ang
e).
P-97 I
ndi
cat
est
hec
oor
din
atev
alu
e(o
fmi
ddl
era
nge
).
P.
:.
98 Ind
icat
esth
ecoor
din
atev
alu
e(o
fhi
ghe
rra
nge
).
P-99 Programv
ersi
on 110

3-33
ClibPDF - www.fastio.com
 3
-48
.S
崎e
rvop
ara
met
ers

-
) P
rin
cip
aly，
l a
llp
ara
met
erse
xce
pt8
-0and8
-1s
hou
ldb
eus
eda
tth
eiri
nit
ial
iza
tio
nva
lue
s.

Parameter I
nit
ial
izat
ion
E
xpl
ana
tio
nofparameter 8
ett
ingr
ang
es.
No
s. value
8
-0 Ac
tuatortype (8
ettingran
ges) 1
5
ROMo nthedigi
talse
rvosto
re st
hes tan
dards er
voparamet
erso fth
e
a
ctuato
r.Whent h
emotorparametersaresetaccordi
ngtothetabl
e
belw，
o const
antsfort
hespeedandc ur
rentloopareautom
atical
lyset
a
tt h
et im
et h
epoweristurn
e donnexttime.
8
erv
oco
ntr
oll
er 8
erv
oac
tua
tor Parameter
AR815心6 亡
二 AR15* 1
5
AR30* 1
8
E AR印象 2
5
AR830・10 AR30* 30
AR60* 40
EAR3V 45
AR860-15 AR60* 6
0
AR135* 80
AR8135-25 亡
二 AR60* 1
00
AR135* 1
35

S1
噌 I
Loadi
ner
tiar
ati
o 8ett
ingra
nges: 2t o4096 256
C
alcul
aterat
ioofth
emachinel
oad
i
ner
tiara
tioaga
instth
emotorro
tori
ner
tiausi
ngthefo
llo
win
g
e
xpres
sionandsett
heval
ue.

Machinel
oadi
ner
tiaX 2
56
Loadi
ner
tiar
ati
o = MotorrotorinertiaxReductiongearratio2
8
-2 8peedloo
pp ro
porti
onalgai
n 8et
tin
gra
nge
s: 1t
o16384 71
Uset h
evaluethathasbeen
autom
atical
lysetuponsett
ingt
hemotort
ype
8
-3 Speedloo
pi n
teg
ralgain Set
tin
gra
nge
s: 1t
o16384 458
Uset h
evaluethathasbeen
autom
atical
lysetuponsett
ingt
hemotort
ype
8
-4 I
mperf
ecti n
tegr
alcoe
ffi
cien
t 8
ett
ingr
ang
es: 1t
o16384 16384
T
hiscoef
fici
entmakesrig
idit
y
o
ftheservofi
nit
e. 8tandards
ett
ing
: 1t
o16384

8
-5 Accel
erationfeed
backgain 8et
tingrange
s: 0t O16384 。
Thisstab
ili
z e
stheservosystemwhen
i
tbecameu nstabl
eb ec
ausetheextern
aline
rti
ai sg
reate
rthanthe
motoriner
tia.Ifanexcess
ivelylar
geval
ueisset，t
hemotormight
generaeanabnormalsound，
t the
refor
etheval
u eshou
ldbesetata
le
velwheres uchsoundisavoi
dabl
e.
S6
司 PI-IPcoef
fici
ent S
ett
ingr
ang
es: 1t
o16384 16384
Usethevaluethathasbeen
auto
matical
lysetuponsett
ing 8
tan
cla
rds
ett
ing
: 1t
o16384
themotortyp
e.

3-34
ClibPDF - www.fastio.com
 Parameter I
nit
ial
iza
tio
n
E
xpl
ana
tio
nofparameter 8
ett
ingr
ang
es
No
s. value
8
-7 Torquecommanclf
Thet o
rqu
il
te
ecommanclf
r
il
tera
ppl
iesI
ow
8e
ttin
gr a
nges: o to16384 。
passfi
lte
rtothetorquecommandou
tpu
tfromthespe
edIo
op.
S
-8 Speed1imit 9830
Overspeedalarr
n"E-ll
l"isgen
erat
ed
whent herota
tioni
scont
inu
eelf
ormoret
han1s
eco
nela
tar
evo
lut
ion
beyondt h
esetvalu
e. ー

8peedl
imi
tre
vol
uti
on(
rpm
)X 8192
8
etvalue=
3000

S9 司 Torquelim
it Se
tti
ngran
ges: 50t
o2507 2257
Useav a
lueles
sthant
heval
ueth
at
hasbeenauto
mati
cal
1yse
tupons
ett
ingt
hemotort
ype
.
8
-10 Curre
ntloopga
in1 Set
tingr
ang
es: 9
79
Usetheval
u et
hathasbeen
.
aut
omati
callyse
tuponsett
ingt
hemotort
ype.
S
-11 Curr
entloopga
in2 8et
tingr
ang
es: 50t
o10
00 1092
Usethevaluet
hathasbeen
au
tomati
ca l
lys
etuponsett
ingt
hemotort
ype.
8
-12 Curre
ntlooppr
opor
tion
algain 8et
tingr
ang
es: 10985
Usetheval
u et
hathasbee
n
aut
omati
callyse
tuponsett
ingtemotort
h ype.
8
-13 Curre
ntloopin
tegr
algain 8et
tingr
ang
es: 50t
o10
00 3373
Usetheval
u et
hathasbeen
aut
omati
callyse
tuponsett
ingt
hemotort
ype.
8
-14 Currentloo
pintegra
llimi
t 8et
tingr
ang
es: 4096
Usethevaluethathasbeen
automa
t i
cal
1ysetuponsetti
ngt
hemotort
ype.
8
-15 Ratedcur
rentparameter 8et
tingr
ang
es: 50t
o2058 532
Usethevalueth
a thasbeen
automa
tical
1ysetuponsett
ingt
hemotort
ype.
8
-16 Curre
ntdeadzonec
orrecti
on 8et
tingr
ang
es: ot
o256 。
Usetheval
uethathasbeen
aut
omati
callys
etuponsettin
gth
emotort
ype.
8
-17 Encoderpul
senumber S
ett
ingr
ang
es: .8000t
o10000 8192
8etav a
lueequ
alto4tim
es
thenumberofpul
seonenco
der
S1
8嶋 Encodertype 8et
tingr
ang
es: oto6553 。
Uset h
ev al
u et
hathasbeen
automati
caIlys
etuponsett
ingt
hemotort
ype.
S1
9
岨 Ext
ern
almountenc
od e
rp u
lsenumber Set
tingr
ang
es: oto65535 65535
Usetev
h al
uetha
th asbeenauto
matic
all
ys e
t

3-35
ClibPDF - www.fastio.com
 Parameter I
nit
ial
iza
tio
n
E
xpl
ana
tio
nofparameter S
ett
ingr
ang
es
No
s. value
5
-20 E
xte
rna
lmounte
nco
dert
ype 5
ett
ingr
ang
es: 0t
o15 1
5

O
per
ati
onmode E
E
c伊 s
e附 r ISetting
Up/downc
oun
tmode R ほ
i叫町“叫
i仰
ges
Fa
叫l
l
i時 e
dges
郎 rI
o 6
Phased
iffere
ncemode Bothr
匂ing
/fa
llin
g 1
1
Doubled ed
ges
ensor
'

ほQ

nk
a

m
n

ud
n
DA

d
'

2D
、

.HU

C1i
問

間以

'FU
ρ

引u
ρ

nuOM

nu

OM
噌
1
5
M

M
M

円
u

• Donotsetavalueotherthanthosegi
venabove.
• Intheup/downcountmode，PAI，*PAI，PBIand*PBIi nputon
CN4aarecounted.PAIand*PAIinputscontrolupcount，andPBI
and牢PBIinputscont
roldownc o
unt.
.• Whenp hasedif
ferenc
eexiss，
t ifPAIand叩 AIt erm
inalisear
lie
r
upcounti
sp e
r for
medand江 PBIand*PBIi searl
ierdownc ou
ntis
per
formed.
-Thes et
tingsarenotvali
du nl
ess1issett
obitOofS-49
.
S2
1
醐 Over
loadprot
ectio
nlim
it Se
ttingr
ang
es: 0t
o32767 32000
Usetheval
uet h
athasbeen
au
tomati
callyse
tuponsett
ingt
hemotort
ype
.
5
-22 Ovetl
oadprote
ctioncoe
ffic
ient1 5e
ttingr
ang
es: 0t
o32767 16376
Usetheval
uet hathasbeen
aut
omati
callysetuponsettin
gthemotort
ype
.
5
-23 Ove
rloadpro
tec
tionco
eff
ici
ent2 Set
tingr
ang
es: 0t
o32767 2458
Useth
ev a
luethatha
sbeenautoma
tial
c 1yse
t

8
-2 o526I
4t Blank
鳴

5
-27 I
Braket
imi
ng 5
ett
ingr
ang
es: oto32767 I 19200
Useth
evalu
ethath
asbeen
aut
oma
tic
allys
et
.
5
-28 I
Rel
ayt
ime
r 8e
ttingr
ang
es: ot
o32767 65280
Useth
evaluet
hathasbeen
au
tom
atic
a l
lys
etuponsett
ingt
hemotort
ype
.
S29
輔 I
Cur
ren
tli
mit 5e
ttingr
ang
es: ot
o2407 2257
Useth
evalu
ethathasbeen
aut
oma
tic
allys
etuponsett
ingt
hemotort
ype
.
5
-30 I
Obs
erv
ers
pee
dlo
opmodel 5e
ttingr
ang
es: ot
o32767 357
Useth
evaluet
hathasbeen
au
tom
atic
a l
lys
etuponsett
ingt
hemotort
ype
.
5
-31 I
Obs
erv
ermotorr
nod
el 8e
ttingr
ang
es: ot
o32767 29569
Useth
evalu
ethathasb
een
aut
oma
tic
allys
etuponset
tin
gth
emotort
ype
.

3-36
ClibPDF - www.fastio.com
 Parameter I
nit
iali
zat
ion
E
xpl
ana
tio
nofparameter 8
ett
ingr
ang
es
N
os. v
alue
8
-32 In
erti
aiden
t i
fic
ationIe
vel 8et
tingr
ang
es: 0t
o32767 2
56
Usetheval
u eth
a thasbeen
aut
omati
calIysetuponsett
ingt
hemotort
ype.
8
-33 Speedide
ntifi
catio
nlev
el 8ettingr
ang
es: 0t
o32767 2
56
Uset h
evaluethathasbeen
autom
atical
lys e
tuponsett
ingt
hemotortype.
S34
噌 Obser
verposi
tionl
oopg
ain 8
ett
ingran
ges: 1000t
o5000 2000
Usetheval
uet h
athasb
een
aut
omati
callyse
tuponset
tin
gth
emotorty
pe.
8
-35 Po
sit
ionlo o
pgain 8
ett
ingran
ges: 1000t
o5000 2000
Usethevaluet
hathasb
een
au
tomati
ca l
lyse
tuponset
tin
gth
emotorty
pe.
8
-36 Imp
osi
tionrange Se
ttin
granges: 0t
o1000 1
00
Useth
ev al
uet h
athasbeen
aut
Dma
ticallyse
t.
.
Thi
sparameterisno
tvalidun
les
sbi
tOo
f8-49iss
et.
S37
崎 Zer
ospeed Se
ttin
grange
s: 0t
o1000 1
28
Useth
eautoma
tica
llysetva
lue.
Thi
spara
rnet
erisnotv
alidunl
essb
it2o
f8-49iss
et
.
8
-38 8peedc
oef
fici
entH S
ett
ingr
ang
es: 0t
o2048 1024
Usetheaut
omatic
all
yse
tva
lue
.
8
-39 Speedc
oef
fic
ietL
n S
ett
ingr
ang
es: 0t
o2048 512
Usetheau
tomat
ica
llys
etv
alu
e.
8
-4 o8-42I
0t Bla
nk
S43
暢 Exter
naltorq
uecommando ff
set Se
ttin
gr an
ges: 0t o4095 2048
Thisset
stheof
fse
tvaluefo
r
theexte
rna
Itorquecommand(CN4・6
).Whent hevolt
agecal
culat
ed
fromthese
ttin
gisente
red，tor
queg
ener
ationgoest
oz e
ro.
O
ffs
etv
olt
age(V)X2048
Set
tin
gva
lue= 十2048
1
0
T
hisparameteri
sno
tva
lidu
nle
ssb
it3o
rbi
t4o
f8-
49i
sno
tse
t.
8
-44 Ext
ernaItorquecommandv a
riable Se
ttingran
g s: 0t
e o32767 16384
Thi
ss e
tstheratiobetween
th
ee xt
ernaltorquecommand(CNι6)andt h
eg e
neratedtor
que.
Setti
ng=( 0to1.99
99)X 16384
Whens et
tingis16384，thevalu
eismax.torqu
e/10V
Th
isparameteri snotval
idunlessbit
3orbi
t4ofS-49isno
tset.
8
-45 E
xtern
als p
eedcommando ff
set 8et
tingra
ng e
s: 0t o4095 2048
S
etsof
fse
tv a
lueofth
ee xt
ernal
s
peedcommand(CN4 ・5
).Ther ev
olu
tiongo
estozerowhent
hevolt
age
b
eingcal
culat
edfromthesetti
ngvaluei
sinp
ut.
v
。ゐ一U
，
O一

白
、
，同一

nom
、一
a
、
-

一
FA-

spu-

Aιz
E
o
p'Ah

V一
'pbm

O一

z
r

円
Z
u
内冶由

a
E

'
、町噌
-

一
'
-

o'A
-

S
ett
ingv
alu
e= 2048
山

T
hisparameteri
sno
tva
lidi
fbi
t2o
f8-
4 sn
9i o
tse
t.

3-37
ClibPDF - www.fastio.com
 Parameter I
nit
iali
zat
ion
E
xpl
ana
tio
nofparameter S
ett
ingr
ang
es
No
s. v
alue

S
-46 Ext
ernalspeedcommandv ari
able Settingranges: 0t
o32767 16384
I
tsetsra
tiooftheexte
rnaI
spe
edcommand(CNι5)t otherevo
luti
on.
Se
ttingvale=(
u 0t
o1.9999)X16384
Whent h
es e
ttin
gv a
lueis16384，ther
atiois3000rpmJIOV
.
Th
isparameterisnotvaI
idifbit
2ofS-49isnotset
.
S47
咽 F
unc
tio
nse
lec
tio
n 。
24 2
3 2
2 2
1 20
。 。 。 lMDLENA I
PLPENA I

Dl
i b
i
p
osit
ion
all
oop
Modela
dap
tat
ion

0
:Vali
d
1
:In
valid

• Seteachbi
taft
ercon
ver
tin
gthemint
od ec
imalval
ues
.
Forexample，
set"
1"whenthep
osi
tiona
lloopco
ntr
olisv
ali
d.
S
-48 Alarmo
utp
utc
ond
iti
ons 。
24 23 2
2 2
1 2
0

[ o RO一l
一一三日￨… I
BRKPy~; 1 E

￨t
i と
土
政土
ω
叫土
t
加
仰町
伽
引r
吋
町.
川
寸
伽
川
:;;LOt
川
LLO

S
oft
war
eth
erm
al
R
egene
rat
ive
r
esi
sto
rover
hea
t
0
: Checked
1
: Notchecke
d

• BRKPWR:S e
t" 1
"whenu s
ingtheactua
tornotinst
alledw
iththe
brakeorwhenthebrakeco
ntro
lisdonefromas ep
arateci
rcu
it.
• Seteachbi
tafte
rc o
nver
tingthemint
od ec
imalvalue
s.
Forexample，s
et"1"whenthebrakepowerisno
tc hec
ked.

3-38
ClibPDF - www.fastio.com
 Parameter I
nit
iaI
iza
tio
n
E
xpl
ana
tio
nofparameter 8
ett
ingr
ang
es
N
os. va
lue
8
-49 Alarmo
utp
utc
ond
iti
ons 。
24 23 2
2 2
1 2
0
|r~~ωMDLM 同
T
I
冗C
M山 C
I化
v一1
… 2
一
E
ム
一一 一
一
一一
一一
→
-一
一一
-
一一
一→
一
一-
一}

P
uls
etr
ain∞
c
ommand

し
に 01:: l川nvaldid
」一一世 M
oto
rro
tat
iond
ire
cti
on

比Lc~配:…叫
c
loc
kwi
ser
ota
tio
n
1
: P
osi
tivevol
tage
c
ounterc
lock
wis
e
r
ota
tion
E
xte
rna
lsp
eedcommand
』 o1::hIlnvialdid
m
101uvb
hw

qm

m
n
a
a

，
ロ ﹄ ﹄‘

d
1
別ほぃ山
日 u m m
い凶

山 V K Aル ほ
VAV
l﹂

四幅円

，HU
41 ・

・刊祉問
μno

i
x

r1
pu

ーに
u--

ほ，u
l

. l
¥
IITRDIR:Val
idwhenb i
t2(VCMDIE)isse
t.
• Don o
tsetTCMDLMandTCMDENs i m
ultane
ously.
• 8eteachbi
tafte
rconv
ertin
gthemintodecim
alv a
lues
.
Forexample，
set"8
"tomaket h
eexte
r n
altorquecommandv
ali
d.

3ι9.Alarmh
司 ist
ory

ParameterN05. E
xpl
ana
tio
ns I
nit
ialv
alu
e
A-O L
ate
stalarm
A-l F
irs
tla
tes
talarm
A2嶋 2ndl
ate
stalarm
A3咽 3
rdl
ate
stalarm
A-4 4
thl
ate
stalarm
A-5 5thl
ate
stalarm
A6喝 6
thl
ate
stalarm
A-7 7thl
ate
stalarm
A8嶋 8
thl
ate
stalarm
A-9 9
thl
ate
stalarm

3-39
ClibPDF - www.fastio.com
 3
-5. DriverSection

3・5 1
.Oriver(CN4)inputandoutputs
鴫 ign
al
g一V

mu
m
U
， W

nnumbers I
町匂一

0M
SymboIs P
i C
ont
ent
s
.

3
﹃ 1 n u

・
DA

I Built-inpower.
Mhυ

5V 1，2
DGND 3，4 I
・十1 5V土5%，max.ou
tpu
tcu
rre
nt200mA.
土1
5Vpower 十15V 11 ・InternalE._owersupplyforcommandsignal
I
-15V 12 I 15V 5%，max.outputcurrent30mA.
・土 土
AGND 7，13
Speedi
np
command
u
t VCl
VID 5 ・speed.
I Analogcommandinputo
fth
emotorr
ota
tio
n

I
tis0t
o土 1
0V/
Oto土3000rpm.
However，themotorrotat
ionspeedwhen10V
isenter
edcanb evar
iedbyt h
es e
rvo
parameterS-46
.
• Inputimpedanceisapp
rox.10kohms.
• Thisinputisval
idwhen4i sse
ttothese
rvo
parameterS-49
.

Analogi np
u ti n
ter
fac
e
on
Speedc _
:
t
_nandャ--nVCz
lD
..よ 一円引
が li
iAG
U-x
菅Th1一
"
:
:"
'.
.
..
JI 7
.l3Y

Torquecommand-;-~ TCHDよ
老 li
i
A品
G工 ^P.{l[8~.ri
畑
町・田
If 7
.l
3

c
i 20
hmh-m
m.mmAm
eae
unut

TCMD 6 . I
tisananalogi
npu
toft
hes
erv
oco
ntr
oll
er
u，
nc
・
d
。
1n
やれ
'?hw
守

o
utp
utc
urr
ent
.
門uι-U

UH

，
n
. 、

凶・泊
m
iσb
四

Actuator
v、‘.，，
回

S9
( /
S-1
5)
・
A
v
，
X

帽
宅

、
r

generatd =
e
、
r
白u
z
E
a-

torque(%) 1
0.0V

However，theo u
tputc urr
entwhen10Vi sentere
d
canbevariedbyt heservoparameterS-4
4.
• Inputimpedanceisa pp
rox.10kohms.
• Thisinputisvalidwhen8o r16issettoser
vo
parameterS-49.
• Inputvolta
ger angeis0to10Vduringt h
e
exte
rnalt o
rquec on
trol
.
• Fortheinputi n
terfac
e， r
efe
rtot h
espeed
commandi nput.

3-40
ClibPDF - www.fastio.com
 S
ign
alnames SymboIs Pinnumbers I C
ont
ent
s

Pu
Isetrai
n • PuIsetraincommand，upt o200K pps.High
s
igna
linput speedphotoco
upleri npu
t.

P 叩p 叩
刈A m B
1
.Externalmountencodersignalinput.

oI722A
Aphase

Bphase
1
1
1
4
5
6
・
I Setthepullupresistorso.thattheinput
I currentii
sw i
thint herangeo f8mAt o16mA.
=

，
17 I LEDforwardvoltagedropf 1 .4V

EaA
(
a)I
nca
seo oI
fopenc le
cto
r
Opel
1'
"co1e
l c
tormethodMa.
x
.200kpps

A.s.C
.0 '"(
PI剣士 (
P181
Outyr
ati
o((t
P21 /
土(P41
1

(
b)I
nca
seo
fli
ned
riv
er
D
iff
ere
nti
alr
ece
ivrmethodMa.
e x
.200kpps

壬
n-r
工 ~r :çp同士一-ALァ亡エ~

正叫ん
ー

B
a
。、.
，
-

、
'
，
Uぜ か

、
ふ-

s
‘

m
a

m
w
""“，

A，s.C，口調 (P/4)士CPI
8)
，﹄勾

-09

，Outyrat
Jo(
(PI2)土CP
/411
JW

3-41
ClibPDF - www.fastio.com
 s・屯m

mω
a
a i 苧
n 1U
n m川

q
ρM.
Pinnumbers I

一
SymboIs Contents

u
・
一
一山町 ・
四

剛
DA 釦

I Signaloutputofthemotorencoder
OJ1
Al
¥
tI 8 .
・
凶 g
I Opencollectoroutput.

，
BM 9
2M 1
0 ・
I L
imi
tc
t
u
rr
o24V
.
e
nte
qua
ltoo
rle
ssthan35mAa
t5

P
uls
etr
aino
utp
uti
nte
rfa
ce
Pulsclrainoulpulinlerfacc

Phoser
el“
。
a
Li
Ouringc
oul
lfer
. c
loc
kwi
..r
oto
tio
no(lI10
tar

州 1叫ゐ~
加九苛__rt_
ZH
• AM.sMS ignn
lA.B.C.0 <
誼 P/ 1
)土(P
4 81
OutyrnUo(
(P1
21土I
P/4
11
.
.
.
1-24V ZMc … 阿 川 山o 'p
l r
oxIIllO凶 yIc
ycJo
.
.
L o(AMorsM
Approx.3511A_
1 _!
rJI'hotaco竺主
ア・ orI 闘志~"'Z担ト
一 一 ー

工相〉

S
hie
ld G 20 • Connectt
hes
hie
lds
ign
alw
ire

352
四.CN4ainputandoutputs
帽 ign
alconnector

A
ppl
ica
bleplugt
ype(CN4b)
Connectortype
(CN4a) Case(Nons h
iel
ds eI
h lki
tand
Manufacturer
耐

(Onprinte
d groundp
lateareatt
ached
)
S
oId
ere
dty
pe name
wiringboard
si
de) Jackscrew Onetouc
h
M2.6type l
ockt
ype
10220-52A2JL Sumitomo3l
VI
10120-3000VE 10320-52Aふ 008 10320-52FO-008
Rightangle20P Co.Ltd
.

3-42
ClibPDF - www.fastio.com
 子6
. MeasurementofServoMotorShaftTorqueandSpeed(Revolution)

3
-61
.Measuringmethod
噛

Thes
pee
dfe
edb
ackv
alu
eiso
utp
utt
oth
emo
nit
ort
erm
ina
lA c
handt
hec
urr
entf
eed
bac
kva
luet
o
t
hem
oni
tort
erm
ina
lBc
h.
l
¥
tleasurementi
sdonew
ithano
sciI
los
cop
eus
ingt
hemotort
erm
ina
landCOMt
erm
inal
.

Monitort
erm
ina
lse
cti
on

口
口
AW
ET 口口 i
p

362
四.Ca
lc
圃u
lat
ingthetorque

~ C
alc
ula
tin
gth
eto
rqu
eont
hes
erv
omotors
haf
t
C
alc
ula
tet
hes
erv
omotors
haf
tto
rqu
ebye
nte
rin
gth
emeasuredv
olt
aget
oth
efo
llo
win
g
e
xpr
esSlOn
.
S
erv
omotors
haf
tto
rqe =Measuredv
u olt
age(AJVv
alext
u orq
uec
ons
tan
tX1
八12
)
(N・cm) =MeasuredvoltageXConstant

Type AR15 AR30 AR60 AR135

Aノ
Vva
lue 6
.5 9
.8 1
6.3 2
4.5
Torquec
ons
tan
t 54 64 72 78
C
ons
tan
t 2
48.
2 4
43.
5 8
29.
9 1
3 .3
51
。
ω

'
c
rq

d 可
aau
os
c
a'a

m加

a
qu

n
u aM
u

pI
vFE

r
+

v
u
u'E

M‘u
D

、
'vb

ιiu
o

r
U T

aFU

円
AM-A

F
u

R
edu
ctiongea
r v0.8
判

》
a

X
‘

M
n

一
一
円

r
ati
o(R) (
Eff
ici
enc
y)
OM

ハ
ム

3-43
ClibPDF - www.fastio.com
 363
.Calcufatingthespeed
帽 岨

一
、
門

he
d ，出
sp-
o'i

E
、J a p b

-
m，

旧
apu
v

u
enu

FAPO
Measured 3000

& ﹄l
ト

.Fl
M

n
一

、
×

O
vol
tage
FA

EA

1A
2
.5

》 Outputsh
aft S
erv
omotors
haf
tro
tat
ion
als
pee
d
r
otati
onalspe
ed
一
一 R
edu
cti
ong
earr
ati
o(R
)

Them
oni
toro
utp
utt
erm
ina
lal
low
sou
tpu
tfromo
the
rmo
nlt
ort
erm
ina
ls.S
etf
oll
owi
ngv
alu
est
o
parameter4
1anda
fte
r.However，t
heya
res
eta
gai
nto1
03a
tpowero
n. 日下￨
1=
Parameter4 但了 。 Speedcommand l Speedf
eed
bac
k
v
alu
e
2 Torquecommand 3 Torquef
eed
bac
k
N
Ionit
orB value
ter
minal
MonitorA
4 Ratedc
urr
entr
ati
o 5 M叫 o
rth
erm
ald ね[
termina
l 6 E
xte
rna
lsp
eed 7 E
xte
rna
lto
rqu
e
i
npu
tva
lue i
npu
tva
lue
Forexample，
set"814"toparameter41 8 Uphasef
eed
bac
k 9 Vp
has
efe
edb
ack
whent h
eUp hasefeedbac
kv al
u eandt
he v
alue v
alu
e
numberofmotorrot
ationaretob e
out
puttedtomon
itorAt erminaland 0 W phasef
1 eed
bac
k 1
1 Uphasecur
ren
t
monit
orBt ermi
nal，res
pectiv
ely. va
l u
e o
utputva
lue
1
2 Vphasecur
ren
t 1
3 W phasecur
ren
t
ou
tputva
lue o
ut p
utv a
lue
14 Motorro
tat
ion
al
speed

3-44
ClibPDF - www.fastio.com
 4
4 Troubleshooting

41
. I
噌nsp
ect
ioni
ntrouble

ι1・1
.Inspectioni
ntr
oub
le.

Whenat
rou
bleo
ccu
rs，
che
ckt
hef
oll
owi
ngi
tem
s:

(
1) Kindo
ftr
oub
lei
nde
tai
l
(
2)I
fanyalarmd
isp
laya
ppe
arso
ranyalarms
ign
ali
sou
tpu
t.
(
3)S
itu
ati
onsunderwhichat
rou
bleh
aso
ccu
rre
d.

Whenat
rou
bleo
ccu
rs，t
hedynami~ b
raeworks，andt
k hes
erv
oac
tua
torcomest
oanemergency
s
to. Att
p hesamet
ime，analarmd
isp
laya
ppe
arsont
hed
isp
layo
fth
ese
rvod
riv
er允o
ntr
叫1e
r，and
analarms
ign
ali
sou
tpu
tou
tsi
de.

-
) I
nth
eca
seo
fco
ntr
olalarms，alarmnumbers(AlarmE-2t
o17
)appearont
heLED，andc
ont
rol
alarms
ign
als(CN2-29p
in)a
reo
utp
ut.
)
0 I
nca
seo
fdr
ivralarms，
e alarmnumbers(AlarmE 1
01t
噂oE 1
1
鴫6)appearont
heLED，andd
riv
er
alarms
ign
als(CN2-44p
in)a
reo
utp
ut.
> Inthecaseofcontr叫 l
era
lar
ms，
READYg
oesono
rfl
ick
eri
ngandc
ont
rol
leralarms
ign
als(CN2
・45p
in)a
reo
utp
ut.
.
) I
nth
eca
seo
fba
tte
ryalarmBATALg
oesonandb
att
eryalarms
ign
als
.(C
N2-
46p
in)a
reo
utp
ut.

N
ote
: DuringCPUi
nit
ial
zat
ionw
ithi
πputo
fre
sets
ign
alαtt
het
im r0九， LEDdisphys
eofpoωe
"HELLO".

Layoutso
fSe
rvoD
riv
er/
Con
tro
lle
rDi
spl
ays

MONA
R古~
￨
副副副
副包 ~ 1
MONB
COM
口口舎
叩 DE

口口 V
SET

ClibPDF - www.fastio.com 4-1

 ι1・2
.Actionsrequireda
toccurrenceofabnormality

Checkthesta
teatthetimewhen
a
bnormal
it yocc
urredoralarml
igh
t
i
sactu
at e
d

Developandimplement
eountermeasuresbase
don4 .
2.4(o
n
page4-1
0)，4.2
.5(onpage4-1
4)and
4.2
.6( o
npage4-17
)

Developandimplement
countermeasuresbasedon4 .3(
.1 on
page4 ・3
)and4 .1
.4( o
npage45
司 )

R
ese
tth
ealarmanda
cti
vat
eit Incasethealarmi sIPMalarmo r
agaln o
verload，checkthecausecare
full
y
b e
for e
eI・-act
ivati
on.
Otherwisedamageont h
es e
rvo
con
trol
Ierorburno utofthemotor
mightb ecaus
ed.

4-2
ClibPDF - www.fastio.com
 4・1
-3.I
ncaseofimproperpositioning

C
orr
ecttheset
tin
gsandpe"
rfo
rm
zer
op o
intadju
stme
nt

O
per
atei
nth
eauto
mat
ico
rmanual
ste
pmode

Dozeropoi
nta d
just
ment.
S
etzer
op o
intfortheab
solu
te
en
coder(seepage2-
16)

Carryo
utn
ece
ssa
ryc
orr
ect
ion
s

Readandrec
ordthepres
ent *
1 Powerl
inerefe
rstot h
es ervomotor
c
oordin
atev
aluebytheparameter powerl
ine
.
numbersP-
96，P-9
7andP98勺
咽

*
2P -9
6: Presentcoordinatevalue
1e
( astsi
gnific
antf o
urdigi
ts)
p9 7
: P
岨 resentcoordinatevalue
Turnt
hemainci
rcu
itpowero
ffo
nce (fo
urdigi
tsint hemiddl
e)
andt
henturni
ton P-9
8: Presentcoordinatevalue
(m
ostsignif
icantfourdig
its
)

Readandr e
cor
dt h
ep r
ese
nt
c
oord
in a
tevalueaga
inby
P-96，P97andP
帽 -9
8

4-3
ClibPDF - www.fastio.com
 Impropere
ncod
er
s
ignal
linecon
nec
tio
n

F
ail
ureonth
eser
vo
co
ntr
oll
er

F
ail
ureont
hee
nco
der

Readtheerrorpu
lseamountby F
ailu
reonthehol
ding
parameternumberP95 bra
keinth
ea c
tuato
r

3
:E
ホ rro
rof1to2pu
lse
s
a
reapp
rov
e d

Outputsh
afts
ideis
mec
hanic
allyloc
ked
NO
Largefrict
ion
unbalancedload
Largel oadin
erti
a

Fai
1ureonth
eser
vo
c
ontr
oll
er

F
ail
ureonth
eser
vo Checkc1amping
co
ntr
oll
er torqueofthe
f
aste
ningboltonth
e
se
rvoa c
tuato
r

Clampthefaste
nin
g
bo
ltaccor
d i
ngtoth
e
sp
eci
fiedtor
que

F
ail
ureonthese
rvoac
tua
tor R
epl
aceorrep
airth
e
r
edu
ctio
ng e
ar s
erv
oa c
tuato
r

4-4
ClibPDF - www.fastio.com
 4ペ
ー4 ncaseofabnormalsound，
.I v
ibr
ati
onorheatgeneration

Checktheser
voa
ctua
tor
redu
cti
o ng
ears
ect
ion

u
ai 、、
p

ロ8
'hu
0 ・
，

、
A

ιvu

ρ
Ria
噌
.噌
R
eplac
eorrep
airth
e

E
••.

M
dd''E'A
e
日
s
ervoac
tuato
r

Reduceth
earnb
ien
t
YES ter
npe
rat
ure

'-o
hp
R
se

aa
a
uum

n
mk

'
-T-aa?b

o
p
‘
OMYF

u o
u
T
・r
u
YES

Reducet
hel
oad
YES

4-5
ClibPDF - www.fastio.com
 C
larnpt hefastenin
g
b
oltacc ordi
ngtot h
e
g
ear II specifiedtorque

-mjr-
Amt

t 同庁仏
出"七 h

w-mM
o
かい河 m
児ヌ副
U03
CM 十1

'
h
v
d
u
円-

・
any
w

C
orr
ectt
hee
rro
r

N0 a
bno
rrn
ali
ty a
ctu
ato
r

4-6
ClibPDF - www.fastio.com
 4
-2. DiagnosisandCountermeasuresforAbnormalityi
nControl

4
-2-
1.E
xpl
ana
tio
nso
fco
ntr
ola
lar
m

Ala
rrnnu
rnber
E
xpl
ana
tio
ns
(
Ind
icate
dondi
spla
y)
E2 司 P
osi
tio
nald
evi
ati
oni
nex
ces
soft
ole
ran
ce
E3 蝿 Ana
ddr
essbeyonds
ett
ingr
ang
eisd
esi
gna
ted
E-4 C
oor
din
ateval
uese
xce
edt
hec
oor
din
ateI
imi
toft
hec
ont
rolsystem
E5 嶋 E
xce
ssdri
ft
E6 帽 O
per
ati
onr
esu
ltso
ver
flo
w
E7 噌
Whend
atabeyondt
hes
ett
ingr
ang
eiss
ett
oth
epa
rar
net
er
E
-8 Z
erop
oin
tisn
otd
ete
cte
d(w
itht
hei
ncr
eme
nta
len
cod
er)
E
-9 E
xce
ssi
vep
osi
tio
nald
evi
ati
ond
uri
ngs
erv
oIo
ck
E-10 MAEc
orn
mun
ica
tio
ner
ror
.Inc
aseo
fda
tat
ran
sfe
rer
ror
.
E-11 MAEframinge
rro
r.I
nca
seo
fdatat
ran
sfe
rer
ror
.
E-12 MAEoverrune
rro
r.I
nca
seo
fda
tatran
sfe
rer
ror
.
E-13
・ MAEp
ari
tye
rro
r.I
nca
seo
fda
tat
ran
sfe
rer
ror
.
咽1
日 4 V
olt
aged
ropi
nMAEb
att
ery
.
E-15 WhenMAEb
uil
t-I
nca
pac
ito
rvo
lta
ged
rop
stos
uchl
eve
lth
ati
tca
nno
t
ho
ldda
ta
E1
6 輔 M
ult
itu
rns
ect
ionc
oun
tero
fth
eMAEo
ver
flo
ws
E-17 MAEc o
ordi
nat
eandc
oor
din
ateh
eldbyt
hes
erv
oco
ntol
r 1e
rdon
otr
nat
ch
E・1
01 IPMalarm
E-I02 O
ver
-vo
lta
ge
E-I03 Opene
ncode
rsi
gna
lli
ne
E-I04 Lowvo
lta
ge
E-I05 O
ver
loa
d
E-I06 Overheat(Se
rvoa
c七u
ato
r)
E・107 Undefined
喝1
日 08 S
erv
oac
tua
toropenpowerl
ine
E-I09 Brakepowerf
ail
ure
E・111 Overspeed
E-112 A
bno
rrn
ali
tyi
nth
eUphasec
urr
ents
ens
oro
ffs
et
E1
輔 13 A
bno
rrn
ali
tyi
nth
eW phasec
urr
ents
ens
oro
ffs
et
E-114 Abnormalityi
nADc onv
erter
E-115 Abnor
_malityi
nr e
gen
erati
v er
esi
stor
E-116 Overh ea
ting(Re
gene
rativere
sis
tor
)
N
ote
s: ① MAE…Abbr
引 J
iαt
ion
forMultiturnAbsoluteEncoder.
② AlarmnumbersE・14toE・170utputαlarmsωh
e九 t
heαbnormαl
it
yωαse
xpe
rie
nce
di凡 t
he
αs
p t，
eue
nthought
her
eisnoCUlγe
ntproblem.
① IPM-
-Ab
bre
uia
tio
nfo
rIn
tel
lig
entPowel
・Module.

4-7
ClibPDF - www.fastio.com
 ι2-2.Releasingthealarms
tat
e

)
0 Alarms
-ex
cep
talarmnumbersE-101，E-I03，芯 1
06 andE-116c
anb
ere
lea
sedfromt
hemode
b
utt
onont
hes
erv
oco
ntr
oll
er.
~ AlarmnumbersE
-2t
oE-13andE-101t
oE・1
03canb
ere
lea
sedbye
nte
rin
gth
ere
sets
ig五al
.
ト Whenalarmnumbers芯 1
4toE・1
7oc
cur，
cle
art
healarmi
ndi
cat
ionbyp
res
sigt
n h
emodeb
utt
on
f
ora
tle
ast1s
eco
nd，andt
henchecki
fth
emachineryo
rig
ini
sac
tua
tedbyi
nde
xin
gth
ein
dex
ing
No.l(
seepage2
-21
).
)
0 Whent
hemachineryo
rig
ini
sno
tac
tua
ted，
performt
hez
erop
oin
tadjustment(
seepage2
・21
).
)
0 C
ont
rolalarmcann
otb
ere
setbye
nte
rin
gre
sets
igal
n . Turnt
hepowero
ffonceandt
urni
t
a
gai
n.I
fth
ealarmr
ecu
rs，t
hereasonmaybe，
①th
ere
sets
ign
ali
ske
pte
nte
rig，o
n r② s
topo
f
c
ont
rolf
unc
tio
n.Checkt
hes
itu
ati
onandt
akep
rop
ers
tep
s.
Note: Whenalarma
ppe
ars，
ch~ck i
tscauseandimplementa
ppr
opr
iat
emeasures.
I
fpropers
tep
sar
eno
tex
ecu
ted，
alarmw
illr
ecu
reveni
falarms
tat
eisr
ele
ase
d.

4
-2-
3 .
.Dynami
cbrakingfunction

WithARS 60and 135s

erv
oco
ntr
oll
ers，dynamicbrakingf
unc
tio
nisprovidedf
ors
top
pin
g
o
per
ati
onswhena
bno
rma
lit
ieso
ccu
r.

Thedynamicbrakeworksunderf
oll
owi
ngs
tat
us:
~ Whenanalarma
ctu
ate
d.
.
. Whent
hes
erv
oons
ign
alI
sturnedo
ffduringo
per
ati
on.
.
. Whent
heo
per
ati
onp
rep
ara
tio
nsi
gna
list
urn
edo
ffduringo
per
ati
on.
~ Whent
hemainc
irc
uitpoweri
sturnedo
ffduringo
per
ati
on.

Note: ARS15・06αndARS30-10don
othαu
eth
ebu
ilt
-indyn
αmicb
rak
e. Dyn
αmicb
rαk
ing
f
unc
tio
ncα九 b
eαddedt
othemw
itht
hef
oll
owi
ngc
irc
uit
.
Turnt
heo
per
ati
o九 prepαr
αti
ons
ign
al0
1アsimultαneouslyωi
tht
ur九 ingo
ftoft
he
e
lec
tro
mag
net
icc
ont
αct
orMC.
Useα凡 e
lec
tro
mαg
net
icc
ont
αct
orM C0九 whichAc
ont
actd
oesn
oto
uer
lα:pBc tc
o九α t
.

4-8
ClibPDF - www.fastio.com
 司
，
-F

-
，
Foremergencys
top，
etc
.

a
.•.

，，
，
，
EE
，
..•

S
ervo
S
erv
oco
ntoI
r le
r a
ctua
tor

Actuatort
ype Rdb
AR15 Approx.3n
Approx.20W
AR30 Approx.1n

4-9
ClibPDF - www.fastio.com
 4 2・4
岬 .Diagnosisandcountermeasuresforthecontrolalarms

AlarmNos.
- S
tatu
swhen
C
orτe-
In
( d
i c
atdon alarm1
e igh
tgo
es Presumesc
aus
es Check R
epa
ir Remarks
cti
on
LED) on
一 ‘
副
咽輔司

明2
日
P
ositi
onaI
Ate
op
er
n
a
t
e
t
i
r
o
in
gt
nsta
r
h
e
t
• Improper
ini
tiali
zatio
n
•
d
e
e
v
x
c
i
e
a
e
t
d
i
o
s
n si
gna
l • I
o
mp
ft
e
h
rfec
tc o
epowerl
nn
e
i
n
c
e
tion
•
t
o
(
P
l
o
e
s
r
i
t
a
n
i
c
o
e
na
I
• I
o
mp
ft
e
h
rf
ee
e
n
c
tc
cod
o
e
nn
e
rs
c
i
t
g
i
n
o
a
n
l ーー •
d
eviati
on lin
e

••
e
xceedsthe • Failur
eont hes e
rvo
v
aluesettoP- cont
roller
1
0) • Failur
eont heservo
actuat
or
Ata
ord
e
c
c
c
e
e
l
l
e
e
r
r
a
a
t
t
i
i
o
o
n
n • Improperset
t
parametersP
i
-
ngto
9and
•
1
0.
• E
i
x
n
e
c
r
e
t
s
i
s
a
.
iveload
•
• A
d
c
e
c
c
e
e
l
le
e
r
ra
a
t
t
i
i
o
o
nand
nt ime
•
constantistoosmall
.
• Holding
electromagneti
cb rake
• @ Replac
motoru
et
n
i
he
tぜ
sn
i otrelease
d. holdin
gt or
que
• Failureont heservo @ sn
i otenoughat
actuatorreductio
n turningthe
gea
r. serv
oo[f.
• Fai
ac
1ureont
tuator.
heservo
•
•
E-3
Whenan
Ate
add
r
n
e
t
e
s
r
s
in
gthe • Improperset
parameterP2
ti
n
.
gto
• •
•
嶋

addres
sOor commandsig
nal• Abnormali
tiesin
beyondP2is NC/PCprogram.
•
咽

design
ate
d • Wrongw iringofin
put
sign
alline
.

『
• F
c
a
o
i
n
l
t
r
u
o
r
eont
lle
ri
h
n
t
es
er
e
f
a
r
c
v
o
e
.
• R
e
s
e
p
r
l
v
a
oc
c
et
o:
h
nt
r
e
ol
1e
r.

4-10

ClibPDF - www.fastio.com
 AlarmN
os. S
tatu
swhen
C
orre-
In
( d
ica
tedon alarmlig
htg
oes Presumesc
aus
es Check Repair Remarks
cti
on
LED) on
E4
輔

一 Atpoweron • I
mperfectcon
nection 4
島 輔幽『 、
(Whenp rese
nt o
ft h
eencodersign
al 姐
=

coor
di n
ate l
ine
.
valuesexc
eeds • Er
rorsinrefere
nce 4
島 Setthe
therangesetto p
ointsetti
ng refer
encep
oin
t.
P-18andP-19) o
perati
on.
During • Errorsins ett
ing ー @
oper
ation strokelimitfor
clockwiseand
counterclockwise
rotat
ion(Parameters
P-18andP -
19).
• Thec oordinat
es hi
ft @
functio
ni snotused
(ParameterP6
暢 0
).
• Operatione rr
orsin @ Operatesot
hat
themanualo per
ation
. thest
r叫celi
rni
t
i
sn otexc
eed
ed.
E5
幡 Atent
eri
ngt h
e • Irn
perfectconnect
ion e
se
rvoonsig
nal ofthepowerl i
ne.
• Irn
perfectadj
ustrnent @
oftheservocontr
oller.
• Thepowerl ineis e 4
島
thinnerandlo n
ger
thanthes p
ecifie
d
sl
ze.
• Fai
lu r
eont hes ervo 唱
静
actu
ator.
• Imperfec
tc onnect
ion @ @
oftheencodershield
wlr
e.
E6
噌 Ate
se
rv
nt
eri
n
oons
gt
ig
na
h
e • Manuals
l
t
hasbeenc
e
o
pf
nt
i
e
n
e
d
u
i
o
n
u
s
g
ly
• co
Numbero
nti
nuouss
f
tep
donemorethan255 f
e e
dingi
ss to
red
time
s. onparameter
• Fai
1ureonthe @ P8 7
.
一
咽

ー cont
roI
ler
. 一
一 @
E7
噌 • Whendatabeyondth
e
se
tti
ngrangeisse
tto
th
eparameter.
E8
岨 Duringzer
o • Fai
1urei nthezero @
poi
ntadjustment poi
ntl im
itswitch.
ofthe • Opens ign
all i
ne 信
静 @
increme
ntal comingfromt hez er
o
enc
oder. poi
ntl im
itswitch.
• Errorsinthesig n
al 4
島
inputlog
icoft hezero
poi
ntl im
itswitch.
• Errorsont h
es ervo @
co
ntroll
er.

4-11
ClibPDF - www.fastio.com
 AlarmNos
. Statu
swhen
C
orre
(
Ind
ica
tedoll alarmlig
htg
oes Presumesc
aus
es Check R
epa
ir Remarks
噛

cti
on
LED) on
E-9
(Po
siti
onal
一 Atenteringthe • Imperfectconnection
s
erv
oons ignal ofthepowerl in
e.
• • ‘
副
・輔『

d
a
ev
tt
i
a
h
ti
es
o
e
nv
rv
a
ol
lu
o
c
e
k
• Ane
torq
x
u
ce
eh
ss
a
iv
ee
sbeen
xterna
l
• •
i
sbeyondP -5
7) appli
ed.
• Thepowerl
thinnerandl
i
nei
on
s
ger ー
ー
• •
thant hespe
cified
sl
ze.
E1
0t
輔 o1
3 • I
o
mp
ft
e
h
rf
ee
ec
n
c
tc
od
o
e
nn
rs
ec
i
t
g
n
i
a
o
n
l
• Ifpowerf
occurso
ai
rt
1u
he
r
e

1
ine. resetsign
alis
• I
f
nt
o
h
rt
es
hei
p
e
n
c
c
i
r
f
e
i
m
c
a
e
t
n
i
t
o
a
n
l
s
• e
t
n
h
te
es
r
e
e
r
dw
vo
hile

encoder，sett
ingsfor actuatori
s
theabsoluteencoder rotatin
g，E-10
arespecifi
edto .maybe
parametersP -13and outputt
ed.I n
P-60. thatcase，turn
• F
e
a
n
i
c
l
o
u
d
r
e
r
eont
.
h
e
• t
a
h
g
epoweron
ainore nt
er
• F
c
a
o
i
n
l
t
r
u
o
r
l
eont
ler
.
h
es ervo
• t
a
h
g
er
al
es
n.
etsigna
l

1
E-14，5 Atpoweron • I
m
o
p
ft
e
h
rf
ee
e
n
c
c
tc
od
o
e
nn
rs
ec
i
t
g
i
n
o
a
n
l • E-14w
outp
ut
i
t
llb
e
d，
e
江t h
e
l
ine
. encodersign
al
• I
t
h
m
p
e
erfectsettingto
• l
c
i
n
o
ei
nn
sn
e
ct
o
e
t
dat
ab
solute/in
cr e
me n
tal poweron.
en
codersselecto
r
s
witch
.
• B
a
• F
a
t
i
t
l
e
u
r
r
yvol
eont
ta
h
ged
eser
r
o
v
p
o
.
••
c
ontr
oller
.
• F
a
e
n
i
c
l
o
u
d
r
e
eont
r.
he
• ・
-

E1
6
圃
ー
明
Atpoweron • R
a
o
c
t
t
a
u
t
a
i
t
o
o
no
re
ft
xc
h
e
es
ed
er
st
v
h
e
o
• 一

coordinatelim
itfor
theabsoluteencoder
dues e
ttingerrorst
o
parametersP-18and
P1 9
.
•
噛

• ParameterP60i
帽 snot
settohavec oord
inate
sh
iftfu nc
tionwhichis
neededf o
roneway
indexinginthe
endlessrota
tion.
• F
e
a
n
i
c
l
o
u
d
r
e
r
eont
.
h
e
•

4-12
ClibPDF - www.fastio.com
 AlarmNos
. Statu
swhen
C
orre-
(
Ind
ica
ted0旦 alarmlig
htg
oes Presumesc
aus
es Check R
epa
ir Remarks
cti
on
LED) on

E 17
咽 一 Atpoweron • Coo
rdinateofthe 、
吋輔『

ー
=
encod
erandt he
c
oordinateheldi
nt h
e
s
ervoc o
ntrol
lercl
oes
n
otm atch.

、
=
ー
) vVhenalarmnumbersE-14t
- o芯 17areactuated，performpositioningt
oth
ein
dex
edp
osi
tio
n
beingd
esi
gna
teda
sin
dex
ingp
osi
tinN0
o .1andmakes
uret
hemachineo
rig
inp
oin
tisa
ctu
ate
d.
Thens
ett
hec
oor
din
atez
erop
oin
tbyp
res
sin
gth
epushb
utt
onont
hes
erv
oco
ntr
oll
er.
-
) Whent
hemachineo
rig
inp
oin
tisn
ota
ctu
atd，
e d
oth
eze
rop
oin
tadjustment(
seepage2
-21
).

4-13
ClibPDF - www.fastio.com
 4 2δ.Diagnosisandcountermeasuresforcontrolalarm(Driver)
句

AlarmNos
:
- Statu
swhen
Corre・
In
( d
ica
tedon alarmlig
htg
oes Presumesc
aus
es Check Repair Remarks
c
tion
LED)
一 on 唱副刷-、~

8-101
IPMalarm
Atpoweron • F
a
c
o
i
n
l
t
r
u
o
r
eont
lle
r
h
ese
rvo
• R
s
e
e
r
p
l
v
ac
et
ocon
t
h
r
e
ol
1er
.

Ate
op
er
n
a
t
e
t
r
i
i
o
n
ngth
e • F
a
c
o
i
n
l
t
r
u
o
r
eont
lle
r
h
ese
rvo
• R
s
e
e
p
r
l
v
ac
et
ocon
t
h
r
e
oI
le
r.
pre
parati
on 』町

command
Ate
se
rv
nt
eri
n
oons
gt
ig
na
h
e • F
l c
a
o
i
n
l
t
r
ureont
oI
ler
heservo
• R
e
s
e
p
r
l
v
a
oc
c
et
on
t
h
r
e
oI
1e
r.
• I
o
mp
ft
e
h
rf
ee
e
n
c
c
tc
od
o
n
e
ne
rs
c
i
t
g
i
n
a
o
l
n
• @

li
ne.
• I
o
mp
ft
e
h
rfec
tc o
n
epowerl
n
i
e
n
c
e
.
tion
• •
• I
o
mp
ft
e
h
rfec
tgrounding
epowers u
pply •
andpower1ines.
During
oper
ation
• Shieldwi
encoders
r
i
eo
g n
a
ft
ll
h
i
e
neis
•
notconnected.
• Excessivel o
ad. @
• Brakepowerf
momentari 1y.
ai
led
• @
• Abnormalitiesint h
e Rep
lac
et h
e
currentlimiting s
ervoco
ntr
oII
er.
cir
cuit
.
B 102
備
Atpoweron .J
¥
lIa
inc
irc
uitc
apa
cit
or Turnthemain
Over-vo
lta
ge i
sno
tdi
sch
arg
ed. powerofffor￨
(
De te
ctedat about1minute，
ap
p ro
x.400V) thenturni
ton
agaln.
Ate
ope
r
n
a
t
t
e
i
r
i
o
n
ngth
e • Fai
co
n
!u
tr
o
r
l
eont
le
r.
h
ese
rvo
•
prepa
ratio
n -
-
一
喝
command. ー

Atent
eri
ngthe • Inp
utsup
plyv
olt
age @ @ Inputsu
pply
se
rvoonsig
na1
. st
i ooh
igh. vol
tageis
230V+I0%.
During
oper
ation
• E
• A
x
c
c
c
e
e
s
l
s
e
i
r
v
a
el
t
i o
o
adin
nand
erti
a
••
decele
rati o
nt im
e
constantistoosmall
.
• I
o
mp
ft
e
h
rf
eo
e
p
c
t
tc
io
o
n
n
a
n
l
ectio
n
• Checkclamping
ofDCPand
regenerat
iv eres
isto
r. DCNon
• Abnormalitiesi
regenerativepr
nt
oc
h
e
s
e
s
• ter
TBl
m
.
i
nalb oar
d

cir
cuit
. Replacethe
serv
oc on
trol
Ier.

4-14
ClibPDF - www.fastio.com
 AlarmN
os. S
tatu
swhen
C
orre・
In
( d
ica
tedon alarm1
ightg
oes Presumesc
aus
es Check R
epa
ir Remarks
cti
on
LED) on

E1噌0
3 一 . Atpoweron .Imp
erfectcon
necti
on 4
静 ‘
司副帽明噌旬.

『噂

Opensi
gna
lli
ne o
ft h
eencodersi
gnal
l
ine
.
.F
ailureonthe @
e
ncocl
er.
E-104 . Atpowero
n. • F
ailu
reont h
ese
rvo 噛 軸
@ Inputsu
pply
Lowv ol
tag
e . Atente
rin
g c
ont
rolIe
r. vol
tageis
(Dete
ctedat theope
ratio
n . Supplyv
olt
agei
sto
o @ @ 200V- 15%
.
appro
x.120V) prep
arati
on low
.
command.

Ate
nte
rin
gth
e . Poweri
npu
tci
rcu
it @ @
s
erv
oon I
"
fFBt
rip
s.
During .Imperfectpower
oper
atio
n supplyconnectio
n ー
(disco
n n
ectio
no f
phase，loosene
d
terr
ninal，e
tc.
)
.Failureonthemain 4
静 R
eplac
et h
e
cir
cuitdiode s
erv
oc o
ntro
lle
r
咽1
日 05 Atpoweron . Fai
Iureonth
ese
rvo Rep
lac
et he
Overload co
ntrol
ler ー s
ervocon
trol
ler
Atent
eringth
e • Failureonthe @ R
eplac
et he
op
erati
on .
regenera
tiv
ec i
rcu
it s
erv
oc on
trol
Ier
pre
parati
on
command
Atent
eri
ngt h
e • I
mperf
ectcon
nect
ion @ @ Checkand
se
rvoonsig
nal o
ftherege
nera
tiv
e modifythe
r
esi
stor acce
lerati
onJd
ec
eler
ationtime
consta
ntand
loa
d.
During • Regeneration @
ope
ratio
n frequencyisto
ohigh ー

一 一
一During •
『

• E
xce
ssi
vel
oad(
loc
k) Elect
ronic
o
per
ati
on thermalis
actuate
d

4-15
ClibPDF - www.fastio.com
 AlarmNos
. S
tatu
swhen
C
orre-
(
Ind
ica
tedon alarml
_ ig
htg
oes Presumesc
aus
es Check R
epa
ir Remarks
cti
on
LED) on
、
時1
日
Ser
0
v
6
oactua
to
一 Atpoweron
r
• Heats
actu
at
i
o
nkont
rorsu
h
p
es
pl
e
y
rvo
• 岨刷明

ove
rh eat uni
t，orrege
nerative
Appr
o x.1200C res
istri
o sheatedtoo
(mot
o rthermal
) hig
h.

E-116
Regenerat
ive
Ate
se
rv
n
t
o
e
o
r
n
i
n
s
gt
ig
na
h
e • I
l o
f
mp
e
t
r
h
e
fe
e
c
n
tc
co
o
d
e
n
r
ne
s
i
c
t
g
i
n
o
a
l
n
- •
res
istor 1
ine
overheat
Approx.lOOOC
• I
o
m
f
p
e
T
r
B
f
2
e
，
c
2
tc
4
o
V
nnec
tion
• Checkp
et
c.
ola
rit
y，

• I
o
m
ft
p
er
h
f
er
ec
e
tc
g
en
o
e
n
r
n
a
e
t
c
t
i
v
i
e
on
•
re
sisto
rt her
malline
During
oper
atio
n
• E
• E
x
l
c
e
e
c
s
t
s
i
r
v
o
el
ma
gn
o
a
e
d
tic •• •• Whenf
lo
adist
r
i
o
ct
ol
i
a
o
r
n
a
g
l
e，
brakeisnotrelease
d us
ep ara
"meter
• E
t
x
o
c
r
e
q
u
ss
i
ea
veh
tse
o
l
r
d
v
i
n
ol
g
ock • • 21
.
Usepowers ave
• Ambientt emperat
ure time
r(P2輔0)
i
stooh igh
E-I08
Openpowerl
in
Atpoweron.
e Atenterin
gt h
e
• Fa
co
i
1u
n
tro
r
eont
ll
er.
h
es e
rvo
•
oper
ation • Imperfec
tconne
ctio
n @
prep
aration ofthepower1
ine.
command.
Atenterin
gt h
e
serv
oons iga.
n1
E1
醐 09 Atpoweron. • Fai
lureontheservo @ Connect
Openbrake Atenter
ingthe co
ntro
lle
r. DC24Vbrake
powerli
ne o
p
p
r
e
r
e
p
a
a
t
r
i
a
o
n
tio
n
• Openbrakepower
li
neorbrakeli
ne.
• lin
etoTB2.

commando r
ser
vosignal
.

E-ll1 Duringr
ota
tio
n • Beingrota
tedfo
r1 一
secon
dormorebeyond
Overspe
ed
一
司

『
thespee
dl im
it
一

E-112
Uphasec u
rren
t
Atpowero
n • F
a
c
o
i
n
l
t
r
u
o
r
eont
lle
r
h
ese
rvo
•
sensoro
ffs
et
error
E-113
W phase
Atpoweron • F
a
c
o
i
n
l
t
r
u
o
r
eont
lle
r
h
ese
rvo
•
curren
tsenso
r
of
fseterr
or

4-16
ClibPDF - www.fastio.com
 AlarmN
os. S
tat
uswhen
C
orre崎
In
( d
ica
te . a
don
. larml
igh
tgo
es Presumesc
aus
es Check R
epa
ir Remarks
cti
on
LED) on
帽1
日 14 一 Atpoweron • F
ailur
eonth
ese
rvo @ 崎
圏‘
、
帽
ヨ
嶋

Abnormalityin c
ont
rolle
r
ADc onverte
r
E-115 Atent
eringth
e • F
ailur
eonth
ese
rvo @
Abnormalityin op
erat
ion c
ont
rolle
r
regene
rative pre
parat
ion
tran
sistor command
一
一

4・2
-6.Diagnosisandcountermeasuresforc
ont
rol
leralarm

C
ont
rol
leralarmsc
ann
otb
ere
lea
sedbye
nte
rin
gth
ere
sets
ign
al.Turnt
hepowero
ffo
nceandt
hen
t
urni
tag
ain
.Ift
healarms
ti
llremainsa
fte
rth
iso
per
ati
on，
per
for
mth
efo
llo
win
gme
asu
res
.

AlarmNos
. S
tatu
swhen
C
orre-
(
Ind
icat
edon alarmlig
htg
oes Presumesc
aus
es Check R
epa
ir Remarks
cti
on
LED) on
READYf
las
hes • R
esetsigna
lisbei
ng @ @
e
nter
ed.
• F
ailureonthes
ervo @ R
eplac
et h
e
c
ont
rolle
r. s
erv
oc o
ntr
oll
er.
Indi
cati
on • I
nterna
lparameter @ Checkthe
"HELLO"sti
ll s
ettin
gsdisa
ppear. bat
teryvolta
ge，
reロla
lns • B
atteryvo
ltageis @ thenini
tia
liz
eit
l
ost
. (31
蝿 6)
.

4-17
ClibPDF - www.fastio.com
 . Abnormalitiesi
43
時 ntheBatteryandwhentoRenewi
t

Us
eth
eli
th
.iumb
att
eryt
obackべl
pparameters
ett
ing
sanda
bso
lut
een
cod
erd
ata
.

4
-3・1
.Whent
orenewt
heb
att
ery

ト Whent
heb
att
ery(
lit
hiu
mba
tte
ry)v
olt
aged
ros，t
p hed
isp
lay(BATAL)l
igh
tsande
xte
rna
l
o
utp
uts
ign
al[
bat
ter
yalarm(BALN
I.i
) so
utp
utt
ed.
》 Evena
fte
rth
eba
tte
ryalarma
ppe
ars，t
heb
att
erymays
upp
ortf
ora
botaweek
u .
Datad
isa
ppe
ara
fte
raweekandrenewt
heb
att
eryi
nane
arl
iers
tag
efo
rpr
eca
uti
ons
.
》 Witht
hei
ncr
eme
nta
len
cod
er
Renewa
fte
r4y
ear
sof
use
.
ト Witht
hea
bso
lut
een
cod
er
Renewa
tth
eea
rli
erd
ateo
fei
the
r2y
ear
sofu
seo
r12
000h
our
sint
ota
lofpowerf
ail
ure
.

ι子 2
.Ca
uti
orls
. whenrenewingtheb
att
ery

Bec
are
fult
hatt
hee
lec
tro
nicp
art
sint
hec
ont
rol
lermayn
otb
eaf
fec
tedbys
tat
ice
lec
tri
cit
y.
》 Groundt
hebodyo
fth
epe
rso
nto
uch
ingt
heb
att
ery
.
》 Don
ott
ouc
hth
eco
ndu
cti
ves
ect
ion
sande
lec
tro
nicp
art
sdi
rec
tly
.
》 Af
terr
ene
wal，
che
ckt
heparameters
ett
ing
s.
ト I
fparameters
ett
ing
sdi
sap
per，
a s
etthema
gai
n.
I
fpa
rar
net
ers
ett
ing
sdi
sap
per，
a LEDd
isp
layk
eep
soni
ndi
cat
ingHELLOe
vena
fte
rth
e
mainc
irc
uith
asbeent
urn
edo
n.)

・
‘
.・・
1
a
--P
B‘l
‘r'
a-a
'z-
Bt・
-t﹃Z41s
・l・

4-18
ClibPDF - www.fastio.com
 4
-3-
3.Applicablet
ype
softheb
att
eryandconnector

~ Thef
oU>w
t ingb
att
eryi
sus
ed:
Name: Lithiumb
att
ery
Typeandr
ati
ng: ER6VC4(MadebyT
osh
ibaD
enc
hiC
o.L
td.
)
3
.6V 2000mAhWithc
onn
ect
or
S
pec
ifi
cat
ion
soft
hec
onn
ect
or:Housing1L-2Sδ3(
N)
C
ont
act1
LC2
-1
輔

MadebyJapanA
via
tio
nEl
ect
ron
icsI
ndu
str
yLt
d.

|どß~tZ鯛fMUlM~ 1 A
tte
nti
ons
hou
ldbep
aidt
oth
efo
llo
win
gpo
int
swhenhandlingt
he
b
att
ery
. 1mproperhandlingc
oul
dca
usee
xpl
osi
on，b
urt，f
s iri
ngo
r
b
urn
ing
. Takec
ares
oth
atyoure
yesmayn
otb
eex
pos
edt
oth
eba
tte
ry
c
ont
ent
s.

① Don
oth
eatt
heb
att
erybeyond1
0QoCn
ore
xpo
sei
ttof
ir
e.A
lso，d
o
n
ott
ryt
oin
cin
era
tei
t
.(T
hes
eco
uldb
eac
aus
efo
rbu
rst，f
iri
ngo
r
b
urn
ing
.)
② Don
otd
isa
sse
mbl
e.(
Bat
ter
yco
nte
ntsmightg
eti
ntoyoure
yes
.)
③ Don
ott
ryt
och
arg
eth
eba
tte
ry.(
Thi
sco
uldc
aus
ebu
rst
. Leakageo
f
b
att
eryc
ont
ens，
t adangert
oyoure
yes，
isa
lsoa
nti
cip
ate
d.)
③ D
isp
osa
lofusedb
att
erys
hou
ldbed
onea
cco
rdi
ngt
oth
ein
str
uct
ion
s
p
rov
ide
dbyt
hem
anu
fac
tur
er.

4-19
ClibPDF - www.fastio.com
 . ARS
5 eri
esD
ime
nsi
ona
lOu
tli
neD
raw
ing
s
51
. DimensionalOutlineDrawingsforServoActuator
明

AR15A

2
34.
6
o
(Frmountingo
( 1
.6
1 1
59.
5
t
het
ixe
d~idω
6 O9
唱

I
?owcrl
ine

AR15B

(
Formountingof
t
herot
.at
ingsid
e)
8-M6P
l.0 I
?ower1
ine

5-1
ClibPDF - www.fastio.com
 AR15C

(
Forl
10
l unl
ingoC 240
t
heli
x e
dsi
de) Powerl
ino ~ßllin8
8 φ6.8
四
35 . 135

AR15A TUVc
嶋 ert
ifi
edequipment

1
1.6
Powerline

5-2
ClibPDF - www.fastio.com
 AR15B-TUVc
ert
ifi
edequipment

244
1
43.
5
!
'ow
erl
ine S
ign
nll
inE
!

AR15C-TUVc
ert
ifi
edequipment

240
Powerl
ine

5-3
ClibPDF - www.fastio.com
 AR30A

262.5
ぼll
f_
l1o
I un
tingof
t
hl
lfixodsi
dol

Powerl
ino S
ign
nll
inp

AR30B

(
ForIl¥o
unt
in宮
t
horo ta
tin
gside
) 273.5
8 M8 P1
.25
1
43.
5
叩

5-4
ClibPDF - www.fastio.com
 AR30C

AR30A・TUVc
ert
ifi
edequipment

乏6
2.5
-
154 Powerline S
ign
all
ine

5-5
ClibPDF - www.fastio.com
 AR30B TむVc
岨 ert
ifi
edequipment

2ア3
.5
14
3.5 Powerl
ine S
ign
all
ine

AR30C-TUVc
ert
ifi
edequipment

269.5
48 1
28.
5 Powerl
ine S
ign
nll
ine

5-6
ClibPDF - www.fastio.com
 AR60A

l
for
_lIo
I un
lingo
f
t
heli
8O
l
喧
x
l
eus
ide
i ~_I. 55

。、
‘
r
コ
c
oc
コ
ト
、
￡
o
小
s
-
‘
-

AR60B

2
91.
5
(
F
t
h
orlI10
ero t
u
n
n
t
i
t
n
i
nl
gs
ro
id
e
f
) 9
7.豆 1
61
1
2 M8 P1
四.25 55

5-7
ClibPDF - www.fastio.com
 AR60A TUVc
er
咽t
ifi
edequipment

綱同晒‘

"
'
Powerl
ino S
igl
1Rl
lil
10

。唱
ω事

AR60B TUVc
帽 ert
ifi
edequipment

291
.5
4
回
一
・四
・--.
1
PD

Powerline

5-8
ClibPDF - www.fastio.com
 AR60C

l
匂 rI
Il1u
1 n
till
gof
U
U!rot.aL
ingsid
e

AR135A

5-9
ClibPDF - www.fastio.com
 AR60C-TUVc
ert
ifi
edequipment

之91
1
70 守
唱
、
Powerl
ine S
ign
all
ine

.
-

AR135A TUVc
帽 ert
ifi
edequipment

336
230

5-10
ClibPDF - www.fastio.com
 AR135B

AR135C

344

5-11
ClibPDF - www.fastio.com
 AR135B TUVc
er
岨t
ifi
edequipment

3
"'1
.5

AR135C TUVc
姻 ert
ifi
edequipment

34.

5-12
ClibPDF - www.fastio.com
 AR15 Dimensionso
帽 fin
ser
tedmembers:
Paya
tte
nti
ont
oth
efol
IowingdimensionswhenAR15a
ctu
ato
risi
nse
rte
dfrom t
hed
ire
cti
on
i
ndi
cat
ec
lbァt
hea
rro
w.

一
AR15 A B C D E

At
ype
件124H7 。
+0.0040 R
w
e
i
s
l
t
lb
r
ict
es
i
e
on
s
tby
dimensionsof
MAX110

。
plug
Bt
ype +0
.00
40 MIN170 時
l
VIAX20 l
VIAX9
5
件140H7

Ctype +0.0040 MAX85

~124 H7 0

亡之>

5-13
ClibPDF - www.fastio.com
 5
-2. QimensionalOutlineDrawingsforServoController

ARS15-06-

〈 5_Q)~_~.~_~_. ___~ 172

(30)I

一
『
国

5-14
ClibPDF - www.fastio.com
 ARS30-10

TB2
DC24Vinput
でBrakelin~ I
1nde早:.tern~l -
:
:ー
rege
neratlv er
eslsto rt ner
tno
l

一
，

5-15

ClibPDF - www.fastio.com
 ARS60・15

ロ
一x
O 9
u
m 士

8一
刊一m
何一旬
巾 }mr

H
qM

山一川

叩一

相一諸
悶‘目 3

v‘.一回作 i?
問問釦
n1

n
4a
. 山守

M 嗣恥J
ー
、
目m

剛司
川

一勧

回
u
由、

白川崎。コ旬。仏
。 。
円{)円

。 。 。 。 時
骨

︿ロ。コ﹄。ι
Cヱ
ヱヱコ
ココ Cごご
ごごごコ
。。
Cご -ココ Cコ--コ c
:コ
コ
ココ
::
::
;:
) Cコヱコ-コ <===コ
一一一一一一一一一
一一一一一一一一一
c:=
一一一一一一一一一
=ココ c:ココヱヱコ <
==ご
ヱヱヱ
コ c :::
=:=
コ c:
:::ご
-コ c::=コヱココ c :
::=
:=コ
c:
=
::
:=:
:コ
コ c:=ヱコ コ c
::
:==
::
コ c ::==
:コ c==:コ c:::=
:=:コ Cご ご
コヱヱコ
c:::=口 ===ヱコ c
:=ご=ご
コ c:::=コ <===コ c:=::=:::> c:
=ごコ
コD
Cごご
=ココ
ヱコ c:===::l <
==
ご口
::
::
;:
) Cヱヱ-ごコ =コ Cヱコ ココ=コ c==ココ
c:::=コ c:===::l ~ < ===コ c:=ごごコ Cココ ココこコ Cヱコ-ココ
c
c
:
:
:
:
:
:
:
ご
:
:
ご
=
コ
=
コ
コ c
口 c
:
:
=
コ
コ
=
コ
こ
ご
ヱ
ご
コ
コ 。
小ψ

Cごごごご=: :l Cヱコ
コ=ごコ
cヱコ=> c :
::=
=ココ
。 cココ =ごごコ Cコ =コヱご3
日

Cココエコヱ=コ c :=
ココ=コ
<==ここコ-
c:
::
:=ご
ごコ
=コ
c:=
ココココ
<==ごココ
。
ハ
omv

、
-
、・
-
v ﹄曲

百
o
3-vquZ白3323︿

四
u岡田曲目ddgomgohug

50 云 ﹄33 明暗﹄由﹀コ司同国岡崎曲明
ぷu-一、手咽﹄Suo

目盛岡﹃ト輔副剖一回世旬
43肉﹄乞吋ロコロー-由回一コ内向

ω向ト
一

43
向
寸

山
Z
白

岡
一
書

υ
崎何

gdogzoM一国﹄勾
吉弘同ぷ﹀芝山口。
日

J
吉一a
z︿

M
記

(
.
l 1unowa
}U! 1U!paUualllI:
uoj
1lasV)OLZ
:

(
.
l}unun ua
Ol 1官!paUl
. 1U{:
1a UO!
1laSV)09Z
:

(~22)
凶戸国コ岡崎30HZ04a

一M 切公司、sdHM
曲一。目白

沼
J24u-叫同国唱仏
Um
-
﹄国4C 同

o
:z
c
oc乙

5-16
ClibPDF - www.fastio.com
 ARS135・25

(
u官j官-ffU
!^百
句1t
l<HI
IU!
nbaJ
OJ[
.
li
)JPi
! )US5
!.
3U!
1un
otl
l有3
官q.町叶:lo
q'¥
(UO
l
3U
(
. !
1un
Oll
ll{
:
l百q・
0 f
1・log:
l: uo!
1la
: s m09(;
Smgf

国同-。コ回。円凶
3u!
(
. 1unoml
{lO
: q・
0 ・3
1可 百g:
UO!
1la
: :
(;

。
。 。 。 。
円{)円

。 。 。 。 司.
..

︿
岡崎2 2。仏
@ @
ohω

コ
cココ
コココ Cご--
ココ Cご
ココヱ
ココ cコ
コココ
ヱココ Cご
コココ
ココ Cコ=コココ コ
cココ
コココ
一一一一一一一一一
一一一一一一一一一 cご
ごごコ
コ Cご
ごご
ごごD
一一一一一一一一一
C コ--コ Cコ
コ=コヱ
コ
c::==コ Cごココココ Cコ
コヱコ
ココ
Cご--コ c=ココ==コココ =コヱ-コ Cご~ cココ-コ cコ
コヱコ
ごコ
c==ココ C コココ
コ::
J Cごご-ココ c :
::
:コ
コ=コ Cごココ~ c
= コ
ヱ=コ cご
コ ご
ごごコ
コ
c:
::=
コヱコ c:
:エヱ
ココ c ::
==コ
コロ c :
:==
コ=ロ c=コエ= cコ--コ =ごご=:J
Cご=
ココココ Cココ~ c =ご
=口::
:> c:ココヱ= c=
コ=
::
::
::
> コ
Cココご
ココ Cご
ご--
コ
c
:
コ
c
:
-
コ
ヱ
-
コ
ヱ
ご
ヱ
コ
:
Cヱ
コごご
ごコ
) C::==::::J 。
小

c= =コ ココ Cコ ココ
ココ
c::= コココ c =コヱコ
コ
JWH

。 c::= コヱコ Cヱ
c=ご::::::> c:
Cコ
=
=
:
コ
ご
=
コ
ご
=
コ
ヱ
コ
コ
Cごご
こ=ヱコ
Cコ
ヱコ=
ごごコ
Cご
ごご=
ご=コ
Cココ
コヱココ
。
ハOMUV
o
ハm
﹀

2MOUC由一edg曲四国明暗hug
﹄
、﹄

司
40UZ4

ロ
Z33zhSU22

』
<
1
1
a玉
・
3218︿

三己
申 よ3
令占悶
z
g
・同

1
"11
' 1 司

i
:
ol g~
い

1-
:
;'
" :
::l
'::
<1I
叩

ト l
fF3
ζ
.
>
::
==
::
d

噌竺_
e喝 副 竺 目
。ご~
(
. 1u
3U! no則 的 百 !
pal
tl，
Jau
I:川 1
la
: SvJOLa Q悶 ζ

3U
(
. !
1t1nO山 町 官!
pal
lUa
1UI:UO!1 0日 Vlo~a

(~aa)

l
l
.O
再

._悶
d 四

cO
2・
0
:
.
.
2
T
::
匂 2
-
叫

-
.世
剖向。回目

司"0
ー
・
ぺ，~
g
;
-
zii
.
四
一.
』 剖 t
母~
d コ。
ロ
.
:
:
・
『 向 。
1

0乞乙
ocz

5-17
ClibPDF - www.fastio.com
 52
. OimensionalOutlineDrawingsforOption
噛

ExternaIregenerativer
esi
sto
r

RFIOO 50QKHLIWAKI

X020F
170:
t1.
5
。 。 。 。 。

の
。

.F
判的の
。 。 。 。 。
170土 10
DimensionaIo
utl
ineofregenerativer
esi
sto
r

R
ege
ner
ati
ver
esi
sto
rmountings
cre
w
Clampingtor
quel
.O3
唱f
..n
y;
'
(10
.5kg.cm
) P
I吋 刈 t
t y
pe ， S
c r
ewty
pe
ARS15心 6 I M4X8
ARS30-10 I M4X20

C
lam
ping-t
olq江e
' iλ7N
:r
n-o_ …
(
15kgc
・ m
)

@
@

@
@

『
同"
@

ToTB23Aand3B

TB2p
inn
05.

I
nst
all
ingt
heregenerativer
esi
sto
r

5-18
ClibPDF - www.fastio.com
 6
. S
ele
ctingtheServoActuator

61
. Mech
帽 -an
ica
lCh
ara
cte
ris
tic
s

ふド 1
.Ri
gid
ity(
spr
ingconstantandl
ostmotion)andbacklash

Whent
orq
uei
sap
pli
edt
oth
eou
tpu
tsh
aftwitht
hei
npu
tsh
afts
ide(
ser
vomotors
haf
toft
hes
erv
o
a
ctu
ato
r)f
ixd，
e t
ors
ion
sco
rre
spo
ndi
ngt
oth
eto
rqu
eoc
curg
ene
rat
ingt
heh
yst
ere
sisc
urv
easshown
b
elo
w. Ther
igi
dit
yoft
hes
erv
oac
tua
tori
sin
dic
ate
dbyt
hes
pri
ngc
ons
tan
t，l
ostmotionand
b
ack
las
h.

B
acJ
das
h寸

し
Lot
s.
1l
l0山 n
.

uU Ju
h

%園
土中一
吋

川円

内
d
24V
ω
HH
b
一
一
一
u-

‘
Rat
edt
orq
ue

%
国

+
門UW
円HM
-100%

Ratedto
rque/2
• S
pri
ngc
ons
tat=
n
Angleofto
rsion - 50%a n
gleof
tor
sio
n
whenr a
ted whenratedt
orq
ueis
torqu
eisappl
ied. a pp
lied
.

• Los
tmotion
Theto
rsi
onang
le t土3%o
sa fra
tedt
orq
ue.

• Backlash
Thet o
rsi
ona
ngl
esa
twhent
het
orq
uee
qua
lsz
ero(
0)
.

ト C
alc
ula
tio
noft
hea
ngl
eof
tor
sio
n(t
het
a)andt
heamounto
fto
rsi
on
Theanglιoft
ors
ionandt
heamounto
fto
rsi
onwhenal
oadt
orq
ue(
unb
ala
nce
dlo
ad，&
c.)i
s
a
ppl
iedt
oth
ese
rvoa
ctu
ato
rfromas
ing
led
ire
cti
onmayb
eob
tai
nedbyt
hef
oll
owi
nge
qua
tio
ns.
Theo
ver
alla
ngl
eoft
ors
ionwhenl
oad
sar
eap
pli
edi
nfo
rwa
rdandr
eve
rse，
meanwhile，
becomes
ad
oub
leo
fth
efi
gur
eob
tai
nedfromt
hef
ol
1owinge
qua
tio
nsp
lust
heb
acl
das
h.

みバて S
pri
(
N
ngc
'm
o
n
!m
i
s
n
t
.
)
an
t L
ostmotion
(m
in.)
Backlash
(
min.)
AR15 34
AR30 7
8 1 l
AR60 156
AR135 3
53

6-1
ClibPDF - www.fastio.com
 一
。ru一

，
.
一
m2
o
n一
mA
a

O
apb-
qu
p
Loadtorq
ue

u-
@ Angleo
fto
rsi
on(
8)(
min
.)=

閏
十
Springc
onsta
nt

@ Amountoftorsion(mm)=extan(~)
¥ 60 I

ふト 2
.Anglet
ran
smi
ssi
ona
ccu
rac
y
{-U剖叫}﹄

4
0 Anglet r
ansm
issio
na cc
uracyre
fersto ad
iffer
enc
e
o h﹄唱曲一切Z 司coコ ョ 一 。 ﹀ 申 出

2
0 betweenthethe
ore
tic
alo u
tputrev
olu
tionang
leand
。 actu
alrevol
uti
ona ngle( 8out
)whenanyr evol
ution
angle(
8in)isinput，anditsaccuracyisind ica
tedby
-
40 ANGLETRANSMIS-SIONERROR( 8er) expressed
1
0' 9
0・ 1
80・ 2
70・ 3
60・1 withanangletran sm
issionerror(8er). Thea ngle
I
戸山由同一一一
Oner
evo
lut
iono
fou
tpu
tsh
aft !
一一四叩閉山曲一・ 山由一ー四一畑町一一一』・一一一「
4
tran
srn
iss
ionerro
ri sfoundinthefol
1owinge quatio
n.

(Anexampleofa
ctu
nl 円 -

mea
surel
llent
:AR60)
ト Aゆ

[
R:Reductiongearr
atoJ
i

@ Theanglet
ran
smi
ssi
one
rro
r(8er)o
fth
eARs
eri
esi
soner
nin
ute(
ina
ngl
e)o
rle
ss.

6-2
ClibPDF - www.fastio.com
 62
. SelectionoftheServoActuator
唱

Fors
ele
cti
ono
fth
emosta
ppr
opr
iat
ese
rvoa
ctu
ato
r

Studyo
flo
ads i
Sim
pli
fie
dse
lec
tio
nmethod

Studyingt
hed
eta
ilsandmakingt
hes
ele
cti
on

621
叩.Studyo
司 flo
ads
-
(
1) Studyingt
hel
oadc
ycl
e

T1: Maximumt
orq
ueduringa
cce
ler
ati
on
(N.m)
Tl
T
2: Constants
pee
dto
rqu
e(N'm)
一

T
3: Maximumt
orq
ueduringd
ece
ler
ati
on
﹁
f

一一切一一
!

(N.m)
っ
﹂
l i↑ト円 iiiトら
nunM

iベiHill-

VHJ1¥¥

T
4: Holdingt
orq
uedurings
top
pag
e.(N'm)
t
l: A
cce
ler
ati
onandd
ece
ler
ati
ont
ime
t
2
: Constants
pee
dop
era
tio
ntime
t
3
: Stoppingtime
﹂/一

ζ
i : A
N1 veragerev
oluti
onduringa
cce
lera
tio
n
円

v
M川

anddecel
erati
on(rp
m)N1=N2 /2
Time N2
:Revolu
tionduringc
ons
tan
tsp
eed
o
per
ation(rpm)
N
ote
: WithARs eri
es，t
heαccel
e r
ationt
ime
equαl
stothedec
eler
αtiontimeαndthe
revo
luti
onduringαcce
lerαtio
nissαme
ωo neduringdec
eler
αtion
.

(
2)C
alc
ula
tio
nof
1oadt
orq
ue

)
> Calc
ula
tiono
fthemaximumt
orq
ue
dur込gacc
ele
rat
ion Loadi
ner
tia(kg.m2
f
I
xNヮ GD2
T
l(N.m)= 9
_~.. .
.
6Xt -
l +T 2
~- .
.
ム
4

-
) C
alc
ula
tio
noft
hec
ons
tan
tsp
eed
t
orq
ue

T2(N'm) =Fr
icti
onto
rque十 unbalancedloadtorque μ : F ri
ctio
nc oe
ffi
cien
t
=(μw1e+W2e)X9.8 W 1: Load(kg)
W2 : Unbalancedload(kg
)
e : Distancebetweenthe
cent
erofrotat
ionandth
e
poi
ntofload(m)

6-3
ClibPDF - www.fastio.com
 )
> Ca
l cul
ationoft
hemaximumt
orq
ue
dw:ingcl
ecel
era
tio
n

I
xNっ
_"3(
N'=T2一9
m
) 一
.6xtl

)
> Calcul
ationoftheh
old
ingt
orq
ue
duringstoppage

T4(N.
m) =Unbalancedloadtorque
コ 8
W2eX9.

6-4
ClibPDF - www.fastio.com
 ふ 2・2
.Sjmpljfjeds
ele
cti
onmethod

φSelectt
hemodelo
fth
ese
rvoa
ctu
ato
rint
hef
oll
owi
ngmanner.
φWhent
her
equ
ire
dsp
eci
fic
aio
nva
luee
xce
edst
her
ati
ngsandt
ole
ran
ceso
fth
emodelo
fthe
t
ent
ati
vel
yse
lec
teds
erv
eac
tua
tor，
shi
ftt
oahighergrademodelo
rdegradet
hel
oadc
ond
iti
ons，
s
oth
att
her
equ
ire
dsp
eci
fic
ati
onv
alu
emays
tayw
ith
int
her
ati
ngandt
ole
ran
ceo
fth
ese
lec
ted
s
erv
oac
tua
tor
.

S
tar
t
ー
副島

From t
her e
sultsofs
tudyin
gthel
oad
s(req
uireds
pec
ifi
cati
onvalu
e)
Tent
ative
lys e
lectamodel= R
efert
oth
et ab
leof
spe
cifi
cati
ons(i
npage1
-4)

Ref~r t
oth
eta
bleo
fsp
eci
fic
ati
ons(
inpage1
-4)

N2~ Ratedoutputr
evo
lut
ion

R
efe
rtot
het
abl
eofs
pec
ifi
cat
ion
s(i
npage1
-4)
T2~ Ratedoutputt
orq
ue

R
efe
rtot
het
abl
eofs
pec
ifi
cat
ion
s(i
npage1
-4)
Tl~三 2 XRatedo
utp
utt
orq
ue
T3~ 2XRatedoutputt
orq
ue

R
efe
rtot
het
abl
eofs
pec
ifi
cat
ion
s(npage14
i ) 帽

T4~ Servol ockperm

issib
let o
rque
(Whent hepowerisapp
lied)
T4 芸~ Holdingbrakefor
ce
(Whent hepowersupplyi
si nt
err
upt
ed)

Seet
hemechanicalc
har
act
eri
sti
cs(
inpage6
-1)
C
alc
ula
tedvalueo
ftheang
leof
tor
sio
n謡 Requiredv a
lue
C
alc
ulat
edamountofto
rsio
n 話 Requiredamount

R
efe
rtot
het
abl
eofs
pec
ifi
cat
ion
s(i
npage1
・4)
Loadi
nat
ia~ AI
lowablel
oadi
nat
ia

Determiningont
he (Note)
fi
nalmodel!
① Whent h
ea cc
elerat
iont i
meandd e
celera
tio
ntime(t
l)i
s
lesthan0
s .3se.，
c checkthemotorsha
f tmaximum
torqu
einpage6 -
12.
② Checkthebearingcapa
cityinpage6-9andreg
ener
ativ
e
brakeca
pacityinpage6-13.

6-5
ClibPDF - www.fastio.com
 ふ2
-3.Studyingthed
eta
ilsandmakingthes
ele
cti
on

φWhens
rud
yin
gde
tai
lsands
ele
cti
ngt
heoptimummodelo
fth
ese
rvoa
ctu
ato
rina
cco
rda
ncew
ith
t
her
equ
ire
dsp
eci
fic
ati
onv
alu
e，f
oll
owt
hep
roc
edu
resbelow
争 A
fte
rst
udy
ing，whenanyo
neitemo
fre
qui
reds
pec
ifi
cat
ionv
alu
eex
cee
dst
het
ole
ran
eeo
fth
e
s
erv
oac
tua
tor，
gra
deupt
hemodelf
ors
ele
cti
ono
rde
gra
det
hec
ond
iti
onss
ucha
sof
Ioadt
orq
ue.

S
tar
t Studyingtheloads
C
alcu
latio
noft
heaverage . C alc
ul a
tiono
ftheaverage
l
oadtor
que outputrev
olu
tio
n

C
alc
ula
tio
noft
hes
erv
icel
if
e

T
ent
ati
ves
ele
cti
ono
fth
emodel

Determiningont
hef
ina
lmodel

6-6
ClibPDF - www.fastio.com
 (
1) Studyingt
hel
oad
s
• Thel
oad
sap
pli
edt
oth
ese
rvoa
ctu
ato
rar
eno
tinas
tat
eofc
ont
inu
ouss
tea
dyl
oadb
utt
he
l
oac
tto
rqu
eflu
ctu
ateg
rea
tly
.
Studyo
fth
eIo
adss
hou
ldt
her
efo
reb
emadea
fte
rco
nve
rti
ngt
hes
eva
rio
uss
tat
uso
flo
ad
t
orq
uet
oth
eav
era
geI
oadt
orq
ue.

-
) C
alc
ula
tio
noft
heav
era
gel
oadt
orq
ue

t
1.N1
・T1
IO/ 2・N2・T21
3+t 0/ 句 .N3・T31
3十 0/3
Tm= (N'm)
2・t
lNl+t2N2

)
0 C
alc
ula
tio
nof
thea
ver
age
'ou
tpu
tre
vol
uti
on

Nl+t2N2
Nm =2tl
~ .
・
... .
.(rpm)
2
.tl
+t2

(
2)C
alc
ula
tio
noft
hes
erv
icel
if
e
)
> C
alc
ula
tio
noft
hes
erv
icel
if
e
• C
alc
ula
tet
hes
erv
icel
if
efromt
heaveragel
oadt
orq
ue(
Tm) andt
heaverageo
utp
ut
r
evo
lut
ion(Nm)'

Models Standardt
orq
ue(
To)
m﹁1114
内
一

5一m

T一

d
l一
一m

﹁
x

AR15 137N'm
llL

H
X

O山 口
n
n
n
mO
TU

民
u
u
u

AR30 333N'm
AR60 6
37N
'ff
i
AR135 1323N
'ff
i
一

)
0 C
al叫 l
ati
ngt
heneededs
erv
icel
if
e

• Howmanys e
condsofact
ualop e
ration
con
sti
tuteacycl
e?( A:se
c/cyc
le)
AXBxCXD • Forhowmanyc ycle
sadayi sitoperat
ed?
Lw= (H~
3600 (B:cyc
le/day
)
• Onhowmanydaysi nayearactualopera
tions
aremade? (C:days
/year)
• Forhowf f
ian
yyearstheactua
lo per
ationswiI
1
beconti
nued? (D:year
s)
I
…
l
Ten
tat
ives
el叫 ono
fth
emodel

￨
s l
if
e 山 w に二 >
1 S
ele
ct山 …d
el

6-7
ClibPDF - www.fastio.com
 (
3) Checkingt
hes
top
pin
gac
cur
acy
+ Calculatetheangleoftorsion(8)andtheamountoftorsionwhenunbalancedloadsare
app
-
l
.iedr
efe
rri
ngt
oth
ecl
aus
efo
rth
emechanicalc
har
act
eri
sti
cs(
inpage6
-1)，andmake
s
uret
hec
alc
ula
tedv
alu
esa
rew
ith
int
hee
xte
nto
fth
ere
qui
redv
alu
es.

(
4) Checkingt
hemaximuma
llo
wab
let
orq
ue(Emergencys
top，
etc
.)

φWhenv erylar
get o
rquei
sappliedins
tantaneo
uslyat 1
VI
ode
ls Maximumall
owa
ble
t
hetimeofanemergencystoporbye xt
ernalshock
s， t
orq
ue
t
heser
voa c
tuato
rmayb edamaged. AR15 686N.m
φMakes ur
et hes
ev alu
esofveryl a
rgei ns
tantan
eous AR30 1667N'm
t
orq
ue mayn o
te xceedthe maximum allowable AR60 3187N'm
t
orq
ue. AR135 6619N'm

(
5) Checkingt
heb
ear
ingc
apa
cit
y(F
orh
old
inge
xte
rna
llo
ads
)
φBearingsa
rep
rov
ide
dtos
upp
orte
xte
rna
llo
adsd
ire
ctl
y.
争 Theb
ear
ingc
apa
cit
yisi
ndi
cat
edbyt
hea
llo
wab
lemomentc
apa
cit
y.
争 C
alc
ula
tet
hemomentv
alu
esandmakes
uret
hec
alc
ula
tedv
alu
esa
rew
ith
int
hel
imi
toft
he
r
ate
dmomentc
apa
cit
y.
φContactu
sinc
asel
arg
eth
rus
tlo
adsa
ree
xpe
cte
dtob
eap
pli
edo
rinc
aset
ors
iono
fth
e
o
utp
uts
haf
tca
use
ssomep
rob
lem
s.

ト C
alc
ula
tio
nofmoment(MC)

h
MC=(W1イ1+W2
イ2)
X9.
8

MC Moment (N'm)
W2: E
Wl，
e
l，e
2 D
x
i
t
s
t
e
r
a
n
n
a
c
e
l
s
l
oad
s(
(
k
m
g
)
)
w，

一-
R
.2 I
W2 ~
v ・
.蜘
・ー
-

←
-

6-8
ClibPDF - www.fastio.com
 )
0 Ac
ond
iti
onf
ort
hes
ele
cti
on
• MC~ Ratedmomentc
apa
cit
y

Types A
llo
wab
lemomentc
apa
cit
y Allowablet
hru
sti
ngf
orc
e
AR15 608N-m 1960N
AR30 1
157N-m 2940N
AR60 1735N-m 3920N
AR135 3255N-m 5880N
ー
ー
・
Note:
Whe九 th
eαcs
eisαsill
ust
rαte
dtotheb
el oω，ca
lcu
lat
eth
eto
rqu
ereαc
tio
n
for
ceαndαddtheua
luetoth
ee x
ter
nαlloαd_

Torque Maximumt o
rqueduring
reac
tionf
orc
e=ac
cel
era
t
匂ionandde
!cel
erat
iL(
N)
Radius(
r)
一
ノ
エ

(
6) Checkingt
hemaximumt
orq
ueduringa
cce
ler
ati
onandd
ece
ler
ati
on
.
. Makes
uret
hemaximumt
orq
uev
alu
esduringa
cce
ler
ati
onandd
ece
ler
ati
on(TbT
3)a
re
w
ith
int
hee
xte
nto
fth
eal
low
abl
eac
cel
era
tio
nandd
ece
ler
ati
ont
orq
ue(
seepage1
-4)
_

6-9
ClibPDF - www.fastio.com
 (
7) Checkingt
hec
ons
tan
tsp
eedt
orq
ue
争 Bes
uret
hemaximumc
ons
tatspeedt
n orq
ue(
T2)i
swi
thi
nth
erangeso
fth
e maximum
t
orq
ued
iag
ram
s.
争 The
..
.
Q
.ut
putr
evo
lut
ion
sint
hisc
asea
ret
hev
alu
esofN2・

Maximumt
orq
uediagrams

AR15 1/~20 1
ノ141/80 1
0 156 AR30 1I ~20 1
1;0
41ノ80 1
/お

1
II
I1
1aI
(
i
ll
900 F ど
国 '
/
800
1
¥ /
700 1
F
t
orq
ueI600 ¥1
¥ 1
¥
1¥
500 l
¥¥

400
300 1
¥ 代
¥
¥
200 ¥
1
00

1
0 20 30 40 50 1
0 20 30 40 50

Outputr
evo
lut
ion(
r.p
.m) Outputr
evo
lut
ion(
r.p
.m)

AR60 1
ノ1521
ノ12
01ノ1
001
ノ80 AR1351ノ1701/128ν100 1ノ80
/
"
'/ ./

i~>~/
/
/
F ，
.
，
戸
ノ
、/
1
/
~ /
1
500 3000
¥1
¥ /
Output 1 ¥1
¥ Output
torq
ue 切r q
ue
¥
1¥ P
¥1
¥ 1 1 1
¥
1¥ 1
1
000 ¥
1¥ 1 2000
"
叩
円 ¥
1¥ N-"

500 1
¥ 1
000

ーi-

L 一一

1
0 20 30 40 50 5 1
0 1
5 20 25 30

Outputr
evo
lut
ion(
r.p
.m) Outputr
evo
lut
ion(
r.p
.m)

6-10
ClibPDF - www.fastio.com
 (
8) Checkingt
hee
ffe
cti
vet
orq
ue
φCalculatet
hee
ffe
ctiv
eto
rqu
e(T
)in
cIu
siv
eth
epe
rio
dofs
top
pag
eand makes
uret
he
c
alC
Qla
tedv
alu
eisw
ith
int
hee
xte
nto
fth
era
tedo
utp
utt
orq
ue(
seep
age1
-4
).

b
1.T12十 t .T32十 t
2・T22十 t
l 3・T42
T= (
N.m
)
l+t
2・t 2+t
3

(
9) Checkingt
heh
old
ingt
orq
ue
φTorqued
uri
ngt
hes
urv
olo
cki
ngp
eri
od
• Whenh
old
ingb
yth
esu
rvol
ock，
bes
uret
heh
old
ingt
orq
ued
uri
ngs
top
pag
est
aysw
ith
in
t
hee
xte
nto
fth
ese
rvol
ocka
llo
wab
let
orq
ue(
seep
age1
-4
).
• Whenh
old
ingf
oro
neminuteo
rmorew
ithal
eve
loft
orq
uee
xce
edi
ngt
hes
erv
olo
ck
a
llo
wab
let
orq
ue(
seep
ag ・4
e1 )，
setupt
hepowers
avet
ime
rCParameterNo
.P-
65:r
efe
rto
page3
-2)t
8 oa
ctu
atet
heh
old
inge
lec
tro
mag
net
icb
rak
e. Bys
erv
olo
ck，h
old
ingo
fup
to
t
hel
imi
tso
fth
eal
low
abl
eac
cel
era
tio
nandd
ece
ler
ati
ont
orq
ue(
seepage1
-4)i
spo
ssi
ble，
b
uto
ver
hea
tin
goc
cur
swhenh
eldwithh
ight
orq
ue.
φCheckingt
heh
old
ingb
rak
eca
pac
ity
Whenpowers
upp
lyi
nte
rru
pti
ono
ccu
rs，t
heh
old
inge
lec
tro
mag
net
icbrakew
illb
ead
uat
ed.
Makes
uret
heh
old
ingt
orq
ued
uri
ngpoweri
nte
rru
pti
ons
tay
swi
thi
nth
eex
ten
toft
he
h
old
ingb
rak
epower(
seepage14
). 醐

(
10)
Che
cki
ngt
hel
oadi
ner
tia
. 1
YIa
kes
uret
hatt
hel
oadi
ner
tiai
swi
thi
nli
mit
soft
hea
llo
wab
lel
oadi
ner
tia
.

Models AR15 AR30

R
edu
cti
ong
earr
ati
o(R
)1:
R 56 8
0 1
04 1
20 5
6 80 104 1
20
A
llo
wab
lel
oadi
ner
tia kgm2 5 1
1 1
8 2
4 1
5 3
1 5
3 7
1
Models AR60 AR135
R
edu
cti
ong
earr
ati
o(R
)1:
R 8
0 1
00 1
20 1
52 8
0 1
00 128 170
「

A
llo
wab
lel
oadi
ner
tia kgm2 76 1
19 1
71 274 254 396 649 1115

6-11
ClibPDF - www.fastio.com
 (
1l)Checkingt
hemotors
haf
tmaximumt
orq
ue
.
.Ca
lcu
lat
emax.t
orq
ueo
nth
ese
rvomotors
haf
tandmakes
uret
hatt
hec
alc
ula
tedv
alu
eis
w
it応 nl
imi
tso
fth
emo
tors
haf
tmax.t
orq
ue.

)
0 C
alc
ula
tio
nofi
ner
tiaont
hes
erv
omotors
haf
t

Loadi
ner
tia
1m(
kg・cm2
)= 十 R
edu
cti
ong
eari
ner
tia+R
oto
rin
ert
ia
(
R)2

[R:Redu山 …M e ]
Loadin
ert
ia : (
kgcm2
)

l
¥
tl
ode
Is AR15 AR30 AR60 AR135I
R
edu
cti
ong
earr
ati
o(R
)1:
R 0
.08 0
.25 0
.5
R
oto
rin
ert
ia kgcm2 3
.33 9
.8 2
3.7

.
. C
alc
ula
tio
nofmaximumt
orq
ueont
hes
erv
omotors
haf
t
① Max.t
orq
uea
tac
cel
era
tio
n(T
al)
。
一
T
×
M
一
Tム 町 〆 ¥
一
Im2XNm
小 L
VR
q
品目.

T
at(N・cm)= ___
_ +
A • 955Xt
l

② Max.t
orq
uea
tde
cel
era
tio
n(T
a2)

TっX102 Im2XNm
Ta2(N・cm)= “
- 0.7XR 955Xtl

S
tead
ytorq
ue(N.m)
S
erv
omotorrevo
luti
on(
r.p
.m)
(S
eepage63)
叩

~ S
ele
cti
onc
ond
iti
ons
Tal~ Motors
haf
tmax.t
orq
uev
alu
e
T古2
謡Motors
haf
tmax.t
orq
uev
alu
e

Models AR15 AR30 AR60 AR135

Max.to
rqu
eat 540 980 1
960 3038
a
cceler
ati
on(N.
cm)

6-12
ClibPDF - www.fastio.com
 (
12)
Che
cki
ngt
her
ege
ner
ati
veb
rak
eca
pac
ity
。 ARS60and1
35haveb
uil
t-i
nre
gen
era
tiv
ere
sis
tor
. WithARS15and30，i
nte
rna
lca
pac
ito
r
r
eg訂 l
era
tio
nisu
sedf
ort
hatp
urp
ose(
reg
ene
rat
iver
esi
sto
riso
pti
onal
)
.

，
旬

e
au
n

r
vL
，

apu--A
晶

--aA

n
ぽ'hu

spb
ρ

qM
PM
、

FA
C
Models R
esi
sta
nce A
IIo
wab
leh
eatgeneratmn

u
，

J
- '
，

H
，，

・
、
‘

り
、

1
s'A
AR60 50n 120W
AR135 25n 240W
一 一 一 一 一 一 一 一 一

。
I
t i
sno
tpo
ssi
blet
omakec
ont
inu
ouso
per
ati
ono
fth
eac
tua
tor，whichi
stu
rne
dfromt
hel
oad
s
ide，a
ppl
yin
gre
gen
era
tiv
ebr
aki
ng.
φWhent
hea
bov
epr
oce
dur
esa
reneededo
rwhena
cce
ler
ati
onandd
ece
ler
ati
onneedt
obe
donef
req
uen
tly，
iti
sne
ces
sar
ytoi
nst
allt
her
ege
ner
ati
ver
esi
sto
rex
ter
nal
1y
.Co
nta
ctu
sin
suchc
ase
s. Uset
hef
oll
owi
nge
xpr
ess
iona
sar
ul。
e帽ιthumb.Externalregenerativer
esi
sto
r
i
sneededwhent
hef
oll
owi
ngc
ond
iti
oni
sme
t.

(WithAES15and3
0)

Theene
rむ，Pctha
tcanb ea b
sorvedwit
houttherege
nerat
iver
egi
ste
ris3
2[J
].
Whilet
heen
ergygeneratedinonerege
nerat
iveactio
nPmi s;
J+
Pm=[mghT (1mω2)/2]XO.8
WhenPm>Pc， th
er ege
nerativegen
erato
risneed
ed.
WhenPmくれ， t h
er ege
nerativegen
erato
risnotneede
d.

Where，m: Unbalancedl oad

h: Height
ワ: E ff
icie
ncy(appr
ox.0.8
)
ω: Angles peed
α=Nm6
， X2π
0
Nm :Motorspeed
1m: Motoraxi
sc on
verte
di ne
rti
a

C
ond
iti
onsf
ortheaboveexpr
essio
n: I n
p u
tv olt
age 200V 幅

Loadcond
ition・Loadwithlessfric
tio
n，suchasdrumtypemag
azine.
1fin
putvolt
ageislowerorfri
ctionisgre
ateri
ntheaboveco
nditi
ons，needf
or
thereg
enerat
iveresi
storwouldb ereduc
ed.

6-13
ClibPDF - www.fastio.com
 7
. OperationfromPersonalComputer

哩1
プ . Introeuction

ARScanp
erf
orms
eri
alcommunicationw
ithp
ers
ona
lco
mpu
ter
sav
ail
abl
eint
hemarket4;hrough
RS232C. T
hisf
unc
tio
nal
low
stoi
nit
ial
ize，s
eto
rmo
dif
ypa
ram
ete
rs，andt
omonitort
heARS
o
per
ati
onfromt
hep
ers
ona
lcomputerCRT.

72
. S
岨pec
ifi
cat
ion
s

(
1)A
ppl
ica
blep
ers
ona
lco
mpu
ter
s
PC9801s
咽eri
esmadebyNihonDenkiC
o.，L
td.

(
2) Pinl
ayo
ut

S
erv
oco
ntr
叫le
rco
nne
cto
r(CN3a)

Typeo
fre
cep
tac
1eandapp1
ica
blec
onn
ect
or
CN3a CN3b

ド¥ Typeo
r
fr
e
ce
i
p
t
g
a
h
ta
c
Common FCN675J009L/G#UD
“ 岨
l
n
e
gl
e
Pinc
onn
ect
or

17JE-23090-02(
Dl)
Hoodc
abl
eclamp

17JE09HlA
咽 咽

toal
l Fu
jits
uC o
.，L
td. D
aiich
iDenshiKogyo D
aii
chiDenshiKogyo
typ
es Co.，Lt
d. Co.，L
td.

(
3)S
oft
war
e
OS(
To}
}色p
rep
are
dbyu
ser
)
• MS-DOS.lV
er.
3.0o
rla
terv
ers
ion
• I
nco
rpo
rat
eRS232c
ont
rolf
il
eandp
rin
terc
ont
rolf
il
etoMS-DOSa
sth
ede
vic
edr
ive
r.
• N88BASIC.LIB
ARScommunications
oft
war
e
• TARS98
・PARAM.DOC
ARScommunications
oft
war
eisa
vai
lab
lea
sano
pti
on..
Con
tac
tou
rsa
leso
ffi
ce.

牢 1 MS-DOSi
sth
etr
ad fl
emarko Y
I
icr
oso
ftC
o.，L
td.i
nUS. Youa
rea
dvi
sedt
opay
r
eas
ona
blec
arewhent
aki
ngt
hiss
oft
war
eou
tofUSs
inc
eth
eRe
-ex
por
tre
gul
ati
ons
o
fth
eUSE
xpo
rtC
ont
rolmightb
eap
pli
ed.

7-1
ClibPDF - www.fastio.com
 7
-3. Operation

(
1)S
tar
tin
lf
Turnt
h旦_
per
son
alcomputerpoweront
ost
artMS-DOS. Prompt"A> a
ppe
arsont
heS
川Cfe
enand
t
hens
ett
hef
10ppyl
oad
edw
ith"TARS98"t
oth
epe
rso
nalcomputerande
nte
r
A>TARS98

(
2) Commando
per
ati
on
When"TARS98"i
sst
art
e f
d，ol
low
ingmenuw
illb
edi
spl
aye
dons
cre
enl
.

S
cre
enmenu1

Readallparameters Ini
tial
izeparameter
Writeparameter Resetsigna
li np
ut
万
iVri
teallparameters Pararn
eterp r
intout
WritetoEEPROM Wav ef
orrngraphicmode
Verify Fileoper
ation
Ini
ticd
izeservoparar
net
er 忠廷銭安泌総議滋3

S
ele
ctcomrnandu
sig回巴 k
n ey r日日 keysandp
so res
sre
tunkey囚.
r

(
3) Reada
llp
ara
rne
ter
s
Whenyous
ele
ctt
hiscomrnand，
fol
low
ingd
isp
layw
illa
ppe
ar:

Readallparameters (Spacekey)
Returntomenus creen1 (ESCkey )

P
res
ssp
acekeyt
ore
adc
ont
ent
sofa
llARp
ara
rne
ter
sth
epe
rso
nalc
orn
put
er.P
res 国 keyt
s o
r
etu
rnt
ornenus
cre
en1
.
Whent
her
ead
ingi
sco
mpl
ete，
con
tro
lau
tom
ati
cal
lyp
roc
eed
stot
hew
rit
eparametero
per
ati
on.
Youcannotr
etu
rnt
osc
ree
n1d
uri
ngt
her
ead
ingo
oer
ati
on.P
res
sin夜 間 kevi
nth
ere
adi
ng
o
oer
ati
oncanc
aus
eer
rort
oth
epa
rar
net
erv
alu
e.

(
4) Writepaf
a.meter
Thes
cre
end
isp
lay
s10p
ara
rne
ter
satonet
irn
e.

N
os. I
nit
ial
iza
tio
n S
ett
ing
s C
ont
ent
sofparameter
P
-0 1 1 Presentaddressindicati
on
Rf.ltlt~ 120 120 Reductiong ea
rr a
tio
P
-2 15 15 Nu rnb
ero findexing
p
-3 15 15 SprocketgearN os.
P
-4 2000 2000 Automatico pera
tions pe
e d1
P
-5 500' 500 Acceler
ation/dece
lerationti
rnecon
sta
nt1
(Automatico p
eration)
P
-6 1000 1000 Manualo perationspeed1
P
-7 500 500 Accele
ration/dece
lerationtimecon
sta
nt
(l
Vlanualo
p e
ration)
P
-8 50 50 Creeps peedatresettozeropoin
t
p
-9 2000 2000 Positiona
l l
oopg ain

7-2
ClibPDF - www.fastio.com
 民'
Iak
esu
ref
oll
owi
ngsa
red
isp
lay
eda
tbottomo
fth
esc
ree
n:

_Setparameternumber (Returnkey)
Returntomenus cr
een1 (ESC key)

S
ele
ctnumbero
fth
eparametert
obem
odi
fie
dus
ing回目 keyso
r 目白 k
eysandp
res
sre
tur
n
key白.P
res国 keyt
s ore
tur
ntomenus
cre
en1
.
Enterparameterv
alu
ewhenf
oI
lowingmessagei
sdi
spl
aye
dandp
res
sre
tunkey囚.
r

Setparamet
erv
alue

Parameternumber Set
tin
grange

① Enter4d
igi
tsi
nbi
nar
ytom
odi
fyparametersfromP60t
oP-
68. 帽

② WhenA
心toA-9i
sse
lec
ted，
alarmc
ont
ent
sar
ein
dic
ate
d.
① Someparametersd
ono
tal
lowm
odi
fic
ati
on.
③ Wheriyouc
anc
elw
rit
ingo
per
ati
ona
fte
rse
lec
tin
gteparameternumber，
h pre
ss"Q"f
oll
owe
d
byr
etu
rnkey臼.
M
odi
fie
dparameteri
sva
lido
nlya
fte
rpoweri
stu
rne
donag
-ai
norr
ese
tsi
gna
lise
nte
red
.
WhenEEPROMi
sus
ed，w
rit
eth
eva
luet
oEEPROM a
fte
rth
euarameterv
alu
ehasbeen
r
nod
ifi
ed.

(
5) Writea
llparameters
F
oll
owi
ngsa
red
isp
lay
edwhent
hiscommandi
sse
lec
ted
:

Writeal
lparameters (Spacekey)
Returntomenus cre
en1 (ESC key)

P
res
ssp
βcekeyt
owr
itea
llparameterc
ont
ent
sont
hep
ers
ona
lcomputert
oARS.
P
res
sESCkeyt
ore
tur
ntot
hemenus
cre
en1
.
Youc
aI1
.
..
.
Il_
Q
tI_
eht
Jnt
oteIJleJlj.l_~_reeD 1w
h hil
ewr
iti
ngo
per
ati
o scODtiIl1..leci_.__ Er~_$ing，問 kev
ni
d
uri
ng-w
rit
ingmayc
aus
eer
rort
oth
eparameterv
alu
e.

(
6) Writet
oEEPROM
S
ele
ctt
hiscommandt
owr
itec
ont
ent
soft
heparametert
oEEPROM. F
oll
owi
ngsa
red
isp
lay
ed
a
tse
lec
tio
noft
hiscommand:

WritingtoEEPROMsta
rts (Spacekey)
Returntomenusc
ree
n1 (ESC key)

7-3
ClibPDF - www.fastio.com
 P
res
ssp
acekeyt
owr
itet
oEEPROl
Y
I.P
res
sESCkeyt
ore
tur
ntomenus
cre
en1
.
B
efo
rew
rit
inl
!toEEPROM，t
hes
erv
omustb
etu
rne
dof
f.O
the
rwi
seE-7o
ccu
rs.
A
ppr
o;<
ima
tel
γ2~ec_Qn cLs_ rn_().;gmtl ffi_'Njl1be r
equ
ire
dfo
rwriting_to_EEPROM.I
fyoup
res
s問!日 γ
c
lur
ingt
hew
rit
i_n
g
_，
__w
rQ_
!l_Q
g p
.rame
Je
; rv
aLt
le_I
11i
ghtbew
rit
ten
.

Followingmessagesa
red
isp
lay
edwhent
hew
rit
inge
nds
:
P
res
sre
tunkey囚 t
r ore
tur
ntomenus
cre
en1
.

W
ritin
giscompl
ete -世

ー
P
res
sr et
urnkey

(
7)V
eri
fy
Thiscommandcomparest
hep
are
;m
l eterv
alu
esont
hep
ers
ona
lcomputerRAl
¥
tIandw
itht
haton
t
heARS.F
oll
owi
ngd
isp
laya
ppe
arswhent
hiscommandi
sse
lec
ted
:

Verif
yst
art
s (Spacekey)
Returnt
omenus
cre
en1 (ESC key)

P
res
ssp
acekeyt
ope
rfo
rmv
eri
fic
ati
on.P
res
sESCkeyt
ore
tur
ntomenus
cre
en1
.
Youcann
otr
etu
rnt
oth
emenus
cre
en1duringt
hev
eri
fy.P
res
sin宮 間 kevw
hil
eth
eve
rif
vis
c
ont
inu
edcanc
aus
eer
rort
oth
eparameterv
alu
e.

① Whent
her
eisnoe
rro
ront
heparameter，
fol
low
ingd
isp
laya
ppe
ars
:

Noerr
or
Pr
essret
urnkey

P
res
sre
tunkey臼 t
r ore
tur
ntomenus
cre
en1
.
② I
fth
erei
ser
roront
heparameter，numbero
fer
ror
sandt
heparameternumberwheree
rro
r
o
ccu
rre
dar
eshowna
sfo
llo
ws:

Communicationerr
or
Doyouwantp rin
tout(
Y/)?
N

P
res
s"Y"t
ohavep
rin
tou
toft
henumbero
fer
ror
sandt
heparameternumberwheree
rro
r
o
ccu
rre
d.
P
res
s"N"t
ore
tur
ntomenus
cre
en1
.

7-4
ClibPDF - www.fastio.com
 (
8)I
nit
ial
izes
erv
oparameter
I
nit
ial
izet
hes
erv
oparametera
fte
rmodelo
fth
ese
rvoa
ctu
ato
rands
erv
oco
ntr
oIle
rus
edh
as
beens
ef'F
. o
llo
win
gdi
spl
aya
ppe
arswhent
hiscommandi
sse
lec
ted
.

s
~electer
voac
tua
tormodel
:ARHt AR30 AR60 AR135

S
ele
ctt
hes
erv
oac
tua
tormodelu
sig白白 keysandt
n henp
res
sre
tunkey回.
r
P
res国 keyt
s ore
tur
ntomenus
cre
en1
.
Ats
ele
cti
ono
fth
ese
rvoa
ctu
atrmodel，i
o tsmodelnamei
sdi
spl
aye
dinr
eve
rseandf
oll
owi
ng
d
isp
lay
app
ear
s:

S
ele
cts
erv
oac
tua
tormodel
泌R去
: 髭 AR30 AR60 AR135
S
elects
erv
oco
ntr
oll
ermodel
涜
i iR
S安5ARS30ARS60ARS135

S
ele
cts
erv
oco
ntr
oll
ermodelu
sig日臼 keysandt
n henp
res
sret
urnkeyg.
P
res
sbackspacekeyt
ore
tur
ntot
hes
erV
Qac
tua
tormodels
ett
ing
.
P
res国 keyt
s ore
tur
ntomenus
cre
en1
.
Ats
ele
cti
ono
fth
ese
rvoc
ont
rol
ler，
it
smodelnamei
sdi
spl
aye
dinr
eve
rseandf
oll
owi
ngd
isp
lay
a
ppe
ars
.

S
ele
cts
erv
oac
tua
tormodel
滋!
i R
主髭 AR30 AR60 AR135
S
ele
cts
erv
oco
ntr
oll
ermodel
滋
;iRS主5ARS30ARS60ARS135
Ares
ett
ing
sri
ght(
Y/N
)?

P
res
s"N"t
ost
arts
ett
inga
gai
nfromt
hes
erv
oac
tua
tormodel
.
P
res"
s Y"whent
hes
ett
ing
sar
eri
ght
.Ift
hes
erv
oac
tua
torands
erv
oco
ntr
oll
era
rei
mpr
ope
rly
combined，message:Therei
sse
tti
nge
rro
r. OK?:i
sdi
spl
aye
d.P
res
sre
tunkey臼 t
r odos
ett
ing
againfromt
hes
erv
oac
tua
tor
-
・

he
Whent :
.
settingsforthetheservoactuatorandservocontrollerarefinished，following~display
a
ppe
ars
:

Ini
tial
ize
sserv
oparameter (Spacekey)
Returntomenusc
reen1 (ESC key)

P
res
ssp
acekeyt
oin
iti
ali
zet
hes
erv
oparameter.P
res国 keyt
s ore
tur
ntomenus
cre
en1
.
I
nit
ial
iza
tio
noft
hes
erv
oparametermustbedonea
fte
rtu
rni
ngt
hes
erv
oof
f. OtherwiseE-7
o
ccu
rs.

7-5
ClibPDF - www.fastio.com
 Youc
ann
otr
etu
rnt
omenus
cre
en_
l duringt
hei
nit
ial
iza
tiQ
n._Eressing 間 kevw
hil
e
i
nit
ial
iza
tiol
1
.Isc
_ ont
inu
edcan
_ca
_us
eer
rort
oth
eparameterv
alu
e.
A
fte
rin
i
.ti
'!l
iza
tio
noft
hes
erv
oparametgr t
urnt
hepowero
Iffore~nt~r _r eset s
ign
a.l

(
9)I
nit
ial
iza
tio
nofparameter
F
oll
owi
ngd
isp
laya
ppe
arswhent
hiscommandi
sse
lec
ted
:

Ini
tial
izeparameter
(Absoluteencode
r => A + Return~ey)
(Inrern
entalencoder =
:> 1 + ReturnKey)
ReturntornenuscreenI (ESCKey)

Witht
hea
bso
lut
een
cod
er，
pre
ss"A"+Returnkeyg t
ost
arti
nit
ial
iza
tio
n.
Witht
hei
ncr
ern
ent
ale
nco
der，
pre
ss"
I"+Returnkey日 t
ost
artt
hei
nit
ial
iza
tio
n.
I
nit
ial
iza
tio
flo[p~I'am~ler m ill5_t_Qe~done a
fte
rtu
rni
ngt
hes
erv
oof
f.OtherwiseE7
剛 0cc
urs
.
Youc
an1
lQ
" tr
etu
rnt
omenus
cre
en1duringi
nit
ial
iza
tio
n..
Pressing 岡 kevw
hil
eth
e
i
nit
ial
iza
tio
nisc
ont
inu
eclcancausee
rro
rtot
heparameterv
alu
e.
A
fte
rth
e-p
ara
met
erh
asb
_eeni
nit
i.
al
ize
d，t
urnpowero
ffo
ren
tert
her
ese
tsi
gnal
.

(
10)
Res
ets
ign
ali
npu
t
F
oll
owi
ngd
isp
laya
ppe
arswhent
hiscommandi
sse
lec
ted
.

Enterres
ets
ignal (Spacekey)
Return
stornen
us cr
een1 (ESC key)

P
res
ssp
acekeyt
oen
tert
her
ese
tsi
gnal
.Pr
essESCt
oreturnt
oth
emenus
cre
en1
.
I
npu
tof
ther
ese
t_s
ig1a
_
l _
lmustb
edonea
fte
rtu
rni
ngt
hes
erv
oof
.OtherwiseE・7
f 0cc
urs
.
Youc
ann
otr
etu
rnt
ornenuscreen1duringt
her
ese
tsig
-na
lin
put
.Pr
ess
inz図 keyd
uri限 t
he
r
ese
tin
putcanc
aus
eer
rort
oth
eparameterv
alu
e.

7-6

ClibPDF - www.fastio.com
 (ll)Parameterp
rin
tou
t
lowingd
FoI isp
laya
ppe
arswhent
hiscommandi
sse
lec
ted
:

P
rin
tal
l
P
rin
tala
rrnh i
story
P
rin
tservoparameters
P
rin
tpartofparar
neters

泌総硲¥
民泊1 ri
ie
ii 泌 総enn
註i

S
ele
ctp
ara
rne
tert
obep
rin
tedu
sig巴囚 keysandt
n henp
res
sre
tunkey臼 t
r ost
artp
rin
tin
g.
• Whenp
rin
tin
gpa
rtofparameters
Whent
hef
oll
owi
ngd
isp
laya
ppe
ars，e
nte
rth
efi
rstandl
astnumbero
fparameterst
obe
p
rin
tedandp
res
sre
tunkey臼.
r
(Example:0，
10)← Parametersw
ithNo.Ot
o10a
rep
rin
ted
.
0，
Enter" 0
"ont
hiss
cre
ent
ore
tur
ntomenus
cre
en1
.

務総綴謀議:議機;綴援護複をき
Enterf
irs
tandla
stparameters
(St
art，
Stop)?

(12)Waveformg
rap
hicmode
Waveformo
fmotors
pee
dandt
orq
uecanbed
isp
lay
edonCRTi
nth
ismode. Followingmenu
s
cre
en2a
ppe
arswhent
hiscommandi
sse
lec
ted
.

Menus
cre
en2

Torquewaveformmeasurernent
Speedwaveformmeasurement
Loadwaveformdata
Savewaveformdata
Spec
ifydri
ve (Curre
nt A :D
riv
e)
Spec
ifydir
ector
y (Curre
nt￥ )

-22・泌総泌総泌総鷲:~~泌官:言語民主

S
ele
ctt
hecommandu
sig回目 k
n eysandp
res
sre
tunkey囚. Youcanr
r etu
rnt
omenus
cre
en1
byp
res
sin
gESCkey，t
oo.
(Operatingproceduresf
ors
pec
ify
ingt
hed
riv
e andd
ire
ctl
yae explained i
r n~(1 3) File
O
oer
ati
on"
.)

① Torquewaveformrneasurement
Timeandt
orq
uea
rei
ndi
cat
edonh
ori
zon
tala
xisandv
ert
ica
lax
is，r
esp
ect
ive
ly. Thes
cre
en
d
isp
lay
sth
egraphanda
tth
ebottomf
oll
owi
nga
ppe
ars
:

Inp
utCOMMAND( I
fyoudo
n'tknowi
t:HELPk
ey)
(ESCkey:Tomenuscr
een2)

7-7
ClibPDF - www.fastio.com
 Entercommandf
oryourd
esi
redo
per
ati
on.
I
nca
seyoud
ono
tknowc
ont
ent
soft
hecommand，p
res
she
lpkeyt
odi
spl
ayc
ont
ent
soft
he
c
omf
uan
d.

ca

hyh
mHdaa
ぬ山⋮m a u

ou は 記
a
et
v

l
n
!PEpn
M h 削hmv
u

um

ιし ﹁
M a mtu

'vb
[
FJ十 [
RetKeyJ :

山口
a-ua'n

叩
sssc
m 中ma

d
ah

n
3n

山 ι
[
CJ

﹁J ' T L P

drC
・
D‘x
ロnv

g
at
[
S]

er
daC
[
NJ

i
、
・
出
[
DJ

︽‘
[ESCJ Returnt
oor
igi
nals
cre
en .
.1
1・
'

E
xpl
ana
tio
nso
fcommand
[
F]+[
RetKey]: I
tsa
veso
nes
cre
enf
ullwaveformd
atat
otef
h i
le
. Datai
ssa
vedt
oth
e
d
ire
cto
ryandd
riv
ebe
ings
pec
ifi
edi
nth
edr
iveandd
ire
cto
ryd
esi
gna
tio
n
o
per
ati
on.'
Esc
apec
har
act
erGRPi
sau
tom
ati
cal
lya
dde
d.
[
C] Sampled
atac
ont
inu
ous
ly.
[
S] Duringc
ont
inu
oussampling，
sto
psamplingn
extd
ata
.
[
Nl Samplen
extd
ata
.
[
D] Changev
ert
ica
lax
iss
cal
e.
Torquew
ave
for
rn o300%，
: Upt inc
rem
ent
edby25%b
asi
s.
Speedw
ave
for
rn o5000rpm，
: Upt inc
rem
ent
edby500rpmb
asi
s.
[ESC] R
etu
rnst
oor
igi
nalg
rap
hicd
isp
lays
cre
en.
② Speedwaveformmeasurement
Timeands
pee
dar
ein
dic
ate
donh
ori
zon
talandv
ert
ica
lax
es，r
esp
ect
ive
ly. Command
o
per
ati
onsa
rei
den
tic
alw
itht
hatf
ort
orq
uewaveformr
nea
sur
eme
nt.
Torquewaveformands
pee
dwa
vef
orr
ncann
otb
edi
spl
aye
dsi
mul
tan
eou
sly
.
③ Loadwaveformd
ata
Thiscommandl
oad
swaveformd
atasavedi
nth
efi
leandd
isp
lay
sitg
rap
hic
s. Datai
slo
ade
d
fromt
hed
riv
eandd
ire
cto
rybeings
pec
ifi
edi
nth
edr
ive andd
ire
cto
ry designation
o
per
ati
ons
.
④ Savewaveformd
ata
T
hiscommands
ave
son
esc
ree
nfu
llwaveformd
atat
oth
efi
le
. Datai
ssa
vedt
oth
edr
iveand
c
lir
ect
oryb
ein
gsp
eci
fie
dint
hed
riv
eandd
ire
cto
ryd
esi
gna
tio
nop
era
tio
ns.
Escapec
har
act
erニ
GRP"i
sau
tom
ati
cal
lya
dde
d. Waveformd
atacanb
esavedfromt
he
g
rap
hicd
isp
lays
cre
en，
too
.
N
ote
: I
nth
eωυe
α (ormg
rap
hicmode，dα
tα i
ssαmpledα
tαp
p
，ro
x.20msc
yce，t
l her
e(o
re
d
isp
lay
e αu
dω e
(or
mcα凡 b
edi
(fe
ren
tfroma
ctu
aldα
tα.

7-8
ClibPDF - www.fastio.com
 (
13)
Fil
eop
era
tio
n
F
oll
owi
ngmenus
cre
en3i
sdi
spl
aye
dwhent
hiscommandi
sse
lec
ted
:

S
pec
ifyd
riv
e (
Cur
ren
t A :D
riv
e)
-Sp
eci
fyd
ire
cto
ry (
Cur
ren
t￥ ) 『

司剛.
.幽『‘

Loadparameter -
=
Saveparameter

Re~U長滋::t(f註í益滋ti道己主益語:b?宰

S
ele
ctcommandu
sig回 目 k
n eysandp
res
sre
tur
nke
y'包. P
: res
sESCkeyt
ore
tur
ntomenu
s
cre
en1
.

① S
pec
ifyd
riv
e
I
tsp
eci
fie
sth
edr
ivef
ors
avi
ngd
ata
.Cu
rre
ntl
ysp
eci
fie
ddr
ivei
sin
dic
ate
dtot
her
igh
t.
I
nit
ial
iza
tio
nva
luei
ssa
vedt
odr
iveA
.
② S
pec
ifyd
ire
cto
ry
S
pec
ifyt
hed
ire
cto
ryf
ors
avi
ngd
ata
.Cu
rre
ntl
ysp
eci
fie
ddi
rec
tor
yisi
ndi
cat
edt
oth
eri
ght
.
Therei
snod
ire
cto
ryf
ori
nit
ial
iza
tio
nva
lue
.
③ Loadparameter
I
tlo
adsd
atas
ave
dint
hef
il
e. Datai
slo
ade
dfromt
hed
riv
eandd
ire
cto
ryb
ein
gsp
eci
fie
din
t
hed
riv
eandd
ire
cto
ryd
esi
gna
tio
nop
era
tio
n.
Af
terl
oad
ingo
fda
ta，
scr
eenr
etu
rnst
omenus
cre
en1
.
④ Saveparameter
T
hiscommands
ave
spa
ram
ete
rst
oth
efi
le
. Datai
ssa
vedt
oth
edr
iveandd
ire
cto
ryb
ein
g
s
pec
ifi
edi
nth
edr
iveandd
ire
cto
ryd
esi
gna
tio
nop
era
tio
n.
Escapec
har
act
er:.PAR:i
sau
tom
ati
cal
lya
dde
d.
Af
terd
atai
ssa
ved，
scr
eenr
etu
rnst
omenus
cre
en1
.

(
14)
Endprogram
Select"Endprogram:onmenus
cre
en1andp
res
sre
tur
nke
y. Prompt"Aと
こisd
isp
lay
edand
c
ont
rolr
民ur
nst
oMS-DOS.
Whenyouwantt
ostart:TARS98:a
gai
nen
ter
:
A>"TARS98"

7-9
ClibPDF - www.fastio.com
 8
. DisassemblingProceduresofServoActしlator

8
-1. Preca6JtionsConcerningDisassembling

(
1) Bes
uret
ous
eaworkbenchf
ord
isa
sse
mbl
ingt
hes
erv
oac
tua
tor
. Fors
afe
ty'
ssa
lr，never
e
d
isa
sse
mbl
eth
ese
rvoa
ctu
ato
rwheni
tiss
etonm
ach
ine
ry.

I
tisv
erydangeroust
odi
sas
sem
blet
hes
erv
oac
tua
torwhenb
ein
gse
ton
machinery，b
eca
us tmaydropduri
ei Dgdisassembly.

(
2) Bes
uret
odi
sas
sem
blet
hes
erv
oac
tua
tora
cco
rdi
ngParagraphふ2，
DisassemblingP
roc
edu
re.

(
3) Whend
isa
sse
mbl
in，
gdon
otd
ropands
tri
ket
hes
erv
oac
tua
torandi
tsp
art
sag
ain
sto
the
rs.

(
4) Whent
hes
erv
oac
tua
tors
hou
ldb
ele
fta
lon
eaf
tero
rdu
rin
gdi
sas
sem
bly，humidityandd
ust
s
c
aus
eru
s . 80，
toni
t b
esu
ret
ota
keap
rop
ermeasuret
opr
eve
nti
tfromb
ein
gru
ste
dandt
o
p
rot
ecti
tfromd
ust
s.

(
5) Disassemblet
hes
erv
oac
tua
tora
sfa
rast
hee
xpl
ode
dvi
ews，Paragraphふ5(
8eePage8
・9切 ら

1
1)，
sho
w.

ふ2
. DisassemblingProcedures

Thed
isa
sse
mbl
ingp
roc
edu
resa
r oTypeA，
ecommont BandC
. Fort
hef
oll
owi
ntge
xpl
ana
tin，
o
p
hot
osofTypeBa
reu
sed
.

(
1)8
ett
ingo
f8e
rvoA
ctu
ato
ronWorkbench

① 8crewtwoe
yeb
olt
sine
yeb
olth
ole
sont
ner
ear
o
fth
ese
rvoa
ctu
ato
r.

Fore
yeb
olts
izs，
e s
eeParagraph86C
Pa
欄g
e8-
12)
.

8-1
ClibPDF - www.fastio.com
 ② S
ets
lin
gss
ecu
rel
ytot
het
woe
yeb
olt
s.

&W~fmlMafM@ I
i Bes
uret
osecu~ s
lin
gs
t
oth
ese
rvoa
ctu
atrt
o o
p
rev
enti
tfromd
rop
pin
g.

③ L
iftt
hes
erv
oac
tua
torw
itht
hec
ran
eho
istand
c
onv
eyi
ttot
hew
ork
ben
ch.

堅
金~，;:句、"
2
lsW~rrufMafM@ I Do not approach the
ヨ
t
1
.
，，t
.
. .‘
servo actuator during
宮
、ミ1・ t
hec
onv
eya
nce
.
2
主守二
~..

写
さ:-
r
- - A

をふ;戸: ④ S
ett
hes
erv
oac
tua
toron t
he workbencht
o
t
app
edh
ole
s.

⑤ T
igh
tent
wohexagons
ock
etheadc
aps
cre
ws
w
ithah
exa
gon
alwrenchk
ey.

Fors
cre
wsi
zes，s
eeParagraph86(
Pag
e8
咽 -
12)
.

(
2) RemovalofMotorUnit

① Removeth
ehexagonsoc
ketheadca
pscrews
fromth
eseromotorw
v 噂ithahexag
ona
lwrench
key
.

Forsiz
eso
fhexag
onlwrenchkey，s
a eeParagraph
8-6(
Pag ・1
e8 2
).

② Removethese
rvo
-mo
toru
nitfromt
hes
pee
d
red
uceru
nit
.

l
Int
hec
as fAR15I
eo

1
) Wipeo
uto
ilont
hes
urf
aceandl
if
tth
emotor
u
nits
tra
igh
twi
thb
othhandst
oremovei
t
.

8-2
ClibPDF - www.fastio.com
 l
f
fiO/fl!J~附O[M@! Whent
hes
urf
acei
soi
ly，
the motor unit i
sin
dangero
fdr
opp
in&
.

l
Int
hec
as fAR30，
eo 60and1
35 I
1
) Screwtwoe
yeb
olt
sine
yeb
olth
ole
sont
her
ear
o
fth
ese
rvoa
ctu
ato
r.

) S
2 ets
lin
gst
oth
etw
oey
ebo
ltss
ecu
rel
y.

3
) L
iftt
hemotoru
nits
tra
igh
tsl
owl
ywith t
he
craneh
ois
ttoremovei
t
.

__/ (
3) Removalo
fO-
rin
g

① Takeo
utt
heO
-ri
ngw
itht
hes
pat
ulafromt
he
&
- I 0・巾

No
te: Don
otu
set
he0・r
ingt
αke九 o
ut.

ぽ
:
よ
(
4) RemovaIofWaveWasher

① Takeout t
he wave washerfrom t
he speed
r
edu
ceru
nit
.

No
te: Don
otu
set
h αv
eω eω
αsh
ert
αke九 o
utァ

(
5) RemovalofSpeedReducerUnit

① Us
eahexagonalwrenchkeyandremovet
he
twohexagons
ock
etheadc
aps
cre
wsw
ithwhich
the speed reducer unit i
s fixed on the
workbench.

8-3
ClibPDF - www.fastio.com
 ② Screwtwoe
yeb
olt
sint
app
edh
ole
sont
hes
pee
d
r
edu
ceru
nit
.

For t
hes
ize
sofe
yeb
olt，s
eeParagraph86
“

(
Pag
e8-
12)
.

③ S
ets
lin
gst
oth
etwoe
yeb
olt
sse
cur
ely
.

&WJ!J.組fMsf
l M@1 Bes
uret
ose
cur
esl
ing
s
t
o the speed reducer
u
nit，
buti
twi
lld
rop
.

③ L
iftt
hes
pee
dre
duc
eru
nits
tra
igh
tsl
owl
ywi
th
t
hec
ran
eho
istt
oremovei
t
.

ト
..
..
..
..
._ 、ぷ型~一
_

8-4
ClibPDF - www.fastio.com
 Re-assemblingProceduresofServoActしlator

8
-3. Preca
七Jt
ion
sConcerningRゃ assembling
ー
“
司嶋崎・‘

(
1) Bes
uret
ous
eth
eworkbenchf
orr
eas
sem
bli
n
噌g.

(
2) Rか 羽 田 mblet
hes
erv
oac
tua
tora
cco
rdi
ngt
oParagraph8
-4，
Rか a
sse
mbl
ingP
roc
edu
res

(
3) Don
otd
ropands
tri
ket
hes
erv
oac
tua
torandi
tsp
art
stoo
the
rdu
rin
gre
・-
・as
sem
bli
ng.

(
4)R
epl
acet
he0r
ingandwavewasherw
耐 ithnewo
nes
.

(
5) Tightenhexagons
ock
etheadc
aps
cre
wsw
itht
het
orq
uess
pec
ifi
edi
nth
eLi
sto
fClampT
orq
ue.
SeeParagraph86(
P
崎ag
e8-
12)
.

l&WI組問~ U
nle
sst
igh
ten
edwitht
hes
pec
ifi
edt
orq
ues，
scr
ewsmaybecomel
OGs
eorb
e
broken，
andt
hes
pee
dre
duc
erandt
hes
erv
o-m
oto
rmayb
ese
par
ate
d.

ふ4
. ReassemblingProcedures
四

Ther
e-a
sse
mbl
ingp
roc
edu
resa
r oTypeA，
ecommont BandC
. Fore
xpl
ana
tin，
o p
hot
oso
fTypeB
a
reu
sed
.

(
1)S
ett
ingofSpeedReducerUnit

① Screwtwoeye
boltsi
ntappedhole
sonth
espee
d
reduc
eruni
t.
Foreyebo
ltsizs，s
e eeParagraph8-
6(Pag
e8-
12
).

② S
ets
lin
gss
ecu
rel
ytot
het
woe
yeo1
b ts
.-.

i&W~rmrMO[M@ì I :Besuretosecure山 g
sto
t
hes
pee
dre
duc
eru
nitt
o
p
rev
enti
tfromd
rop
pin
g.

③ Carrythespe
edreduc
eru
nitt
oth
eworkbench
withth
ec r
aneho
ist
.

8-5
ClibPDF - www.fastio.com
 ④ S
ett
hes
pee
dre
duc
eru
nitont
heworkbencht
o
t
app
edh
ole
s.

ー
ミ
⑤ T
igh
tentwohexagons
ock
etheadc
ap-
=sc
rew
s
w
ithah
exa
gon
alwrenchk
ey.
Forscrews
izs，s
e eeParagraph8
-6(
Pag
e81
2)
. 句

(
2)F
itt
in f0r
go ing
噂

① F
itanO
-ri
ngs
ecu
rel
yint
heO
-ri
ngg
roo
veo
f
t
hemotoru
nit
.

Note: U
nle
ssb
ein
gfi
tte
dco
rre
ctl
yint
heO-ring
grooue，t
he 0ィ ing w
ill be brokenα凡 d
becomei
nef
fec
tiu
eag
ain
stl
eakαgeofo
ilo
r
wαt
er
.

(
3)F
itt
ingofWave羽T
ash
er

① F
itawav
ewasheri
nth
ebe
ari
nghousingo
fth
e
s
pee
dre
duc
eru
nit
.

(
4)S
ett
ingofMotorUnit

① Bringt
hemotoru
nito
vert
heworkbench
.
.

l
Int
hec
ase0川 1
51

searinghousing
1
) Wipeo
uto
iI on t
hes
urf
ace，thenc
arr
yth
e
motoru
nitr
igh
tov
ert
hespeedr
edu
cerwith
b
othh
and
s.

l !L~細N附@I :Ifthesurfaceisoily，the
motoru
niti
sindanger
o
fsl
ipp
ing down from
b
othh
and
s.

8-6
ClibPDF - www.fastio.com
 l
1nt
hec
aseo
fAR30，60and135 I
) S
1 crewtwoe
yeb
olt
sintappedh
olsont
e hemotor

，
.
n
u
、
司

apb
・
剛
、

A
) S
2 ets
lin
gss
ecu
reyt
l ot
hetwoe
yeb
olt
s.

企 W組 問 悶@
￨ I:.
: Secure t
hes
lin
gst
oth
e
motoru
nit，
butt
hemotor
unit i
s in danger of
s
lip
pin
gdown.

3
) Carryt
hemotoru
nitwitht
hecraneh
ois
tri
ght
o
vert
hespeedr
edu
ceru
nit
.

Note: Usec
αreπo
ttos
tri
kethewindingo
fth
e
motoru
nitt
oot
her
s.

② Lett
hemotors
haf
tsp
lin
ege
tint
hes
pli
neh
ole
ont
hespeedr
edu
ceru
nitw
hil
eloweringt
he
motoru
nit
jus
toni
t
.

P
osi
tio
nin
gfo
rassembling
Note: Since motor b
eαringαndspeedreducer
housingαr
eint
her
elαt
iono
fcl
eααn
r c ，
eβt
do notf
orc
eth
e motor b
eαring i
九 t
he
h
oui九g
s . Wheni
tdo
esn
otg
et仇 s
moo
thy，
l
l
iβt
hemotoru
nitα
gαi
nfo
rre
-se
tti
ng. Do
n
otu
seα九αmmert
ofo
rcet
hemotorb
eαr
ing
i
nth
eho
usi
ng.
Correctp
osi
tio
nin
g らVrongP
osi
tio
nin
g
Note: When αssembling，align t
heb
olth
ole
s
b
etw
eenc
onn
ect
orso
fth
emotoru
nitωi
t九
mountingh
ole
s0九 t
hespeedr
edu
ceru九i
t
.

③ Tightenhexagons
ock
etheadcapscrewsw
ith
s
pec
ifi
edt
orq
ues
.

Forclampt
orq
ues，s
eeParagraphふ6(Page8
-
1
2).

A、

8-7
ClibPDF - www.fastio.com
 (
5) RemovaIo
fSe
rvoA
ctu
ato
r

① Removet
hehexagons
ock
etheadc
a，
p:
:screws
w
ithah
exa
gon
alwrenchk
ey.

Fors
ize
soft
hehexagonalwrenchkeys，s
ee
1
Paragra2
T8-6(Page8-12).

② Remove the servo actuator from the

w
ork
ben
ch.

1
) Wipeo
uto
ilont
hes
urf
acef
irs
tandr
ais
eth
e
s
erv
oac
tua
torw
ithb
othhandst
oremovei
t
fromt
hew
ork
ben
ch.

l
&w~nfM@t Whent
hes
urf
acei
so1y，
i
t
hes
erv
oac
tua
tori
sin
dangero
fsl
ipp
ingdown.

i
Int
hec
aseo
fAR3刊 and1
35 I
1
) Screwt
woe
yeb
olt
sint
hee
yeb
olth
old
sont
he
r
earo
fth
ese
rvoa
ctu
ato
r.

2
) F
its
lin
gss
ecu
rel
ytot
het
woe
yeb
olt
s.

b 恥
・ i
ffi
w @
組問fM1 Besure t
O secure t
he
slings t
o the servo
a
ctu
atr，
o b
uti
twi
lld
rop
.

3
) L
iftt
hes
erv
oac
tua
torj
ustaboves
low
lyw
ith
t
hec
ran
eho
istt
oremovei
t
.

8-8
ClibPDF - www.fastio.com
 85
. ExplodedViewofServoActuator
晴

① TypeA

PartName
古 educeru
spee nit
Motoru
nit

Par七 M
ode
l/Q
'ty
PartName
No. AR15 AR30 AR60 AR135
③ Wavewasher BWW-6200 BWW6202
噂 BWW咽6303 WW-40
1pc
.( Oc
hia
i 1pc
.(Och
iai 1pc
.(Och
iai 2pcs
.( Och
iai
Se
isakus
ho) Se
isak
usho) Se
isak
usho
) Se
isak u
sho)
③ 咽r
。 i
ng AS568-045-70 K-90 AS568-160-70 AS5681
崎71-
70
1pc. 1pc. (
Kee
per
) 1p
・ c. 1pc
.
③ Hexagonsocke
t M4X60-12.9 l
YI4X65-12.9 l
YI
5X8 0-12.9 M5x90-12.5
headcapscrew 6pc
s. 6pcs
. 6pc
s. 8p
cs.

8-9
ClibPDF - www.fastio.com
 ② TypeB

﹄
。
N
h1 一
E7M .

m M一
・
比一町一
一
一u一
-C
匂
d

u 一七

m
一
ρ

一
れ一 u
v
一川
一
一
﹃ け NF

m
叩
川
-

Part /Q
Model '
ty
PartName
No. AR15 AR30 AR60 AR135
③ Wavewasher BWW6200 鴫 BWW6202
岨 BWW6303
嶋 WW-40
1pc
.(Och
iai 1pc
.( O
chi
ai 1pc
.(Och
iai 2pc
s.(Ochi
ai
Se
isak
usho
) Se
isak
usho) Se
isak
usho) Se
isakus
ho)
④ O
-ri
ng AS568-045-70 K-90 AS568-160・70 AS568-171-70
1pc. 1pc. (
Kee
per
) 1pc. 1pc.
⑤ Hexagonsocke
t M4X60-12.9 l
¥
Il4X65-12.9 l
¥
II
5X8 0-12.9 M5X90-12.5
headcapscrew 6pc
s. 6pcs
. 6pc
s. 8pc
s.

8-10
ClibPDF - www.fastio.com
 ③ TypeC

/〆ヘ

P
artName
Speedr
edu
ceru
nit
Motor
_un
it

P
art l
VIo
del
/Q'
ty
PartName
No. AR15 AR30 AR60 AR135
③ Wavewasher BWW6200
嶋 BWW-6202 BvVW-6303 WW-40
1pc
.(Och
iai 1pc
.(Och
iai 1pc
.( O
chiai 2pc
s.(Ochi
ai
Se
isak
usho
) Se
isak
usho) Se
isak
usho) Se
isakus
ho)
④ O
-ri
ng AS568-0457
0帽 K-90 AS568-160-70 AS568-171-70
1pc. 1pc. (
Kee
per
) 1pc. 1pc.
⑤ Hexagonsoc
ket M4X60-12.9 M4X65-12.9 M5X80-12.9 M5X90-12.5
headcaps
crew 6p c
s. 6pc
s. 6pc
s. 8pc
s.

8-11
ClibPDF - www.fastio.com