1.1 Summary ........................................................................................................................................... 1- 1

1.2 Function block diagram ..................................................................................................................... 1- 3

1.3 Servo amplifier standard specifications ........................................................................................... 1-13

1.4 Combinations of servo amplifiers and servo motors ....................................................................... 1-19

1.5 Function list ...................................................................................................................................... 1-21

1.6 Model designation ............................................................................................................................ 1-23

1.7 Structure .......................................................................................................................................... 1-24

1.7.1 Parts identification ..................................................................................................................... 1-24

1.7.2 Removal and reinstallation of the front cover............................................................................ 1-37

1.8 Configuration including peripheral equipment ................................................................................. 1-39

2. INSTALLATION

2.1 Installation direction and clearances ................................................................................................ 2- 2

2.2 Keeping out of foreign materials ....................................................................................................... 2- 4

2.3 Encoder cable stress ........................................................................................................................ 2- 4

2.4 SSCNET III cable laying ................................................................................................................... 2- 4

2.5 Inspection items ................................................................................................................................ 2- 6

2.6 Parts having service life .................................................................................................................... 2- 7

2.7 Restrictions when using this product at altitude exceeding 1000 m and up to 2000 m

above sea level ................................................................................................................................. 2- 8

3. SIGNALS AND WIRING

3.1 Input power supply circuit ................................................................................................................. 3- 3

3.1.1 200 V class ................................................................................................................................. 3- 4

3.1.2 400 V class ................................................................................................................................ 3-10

3.1.3 100 V class ................................................................................................................................ 3-14

3.2 I/O signal connection example ......................................................................................................... 3-15

3.2.1 For sink I/O interface ................................................................................................................. 3-15

3.2.2 For source I/O interface ............................................................................................................ 3-17

3.3 Explanation of power supply system ............................................................................................... 3-18

3.3.1 Signal explanations ................................................................................................................... 3-18

3.3.2 Power-on sequence .................................................................................................................. 3-19

3.3.3 Wiring CNP1, CNP2, and CNP3 ............................................................................................... 3-20

3.4 Connectors and pin assignment ...................................................................................................... 3-24

3.5 Signal (device) explanations ............................................................................................................ 3-26

3.5.1 Input device ............................................................................................................................... 3-26

3.5.2 Output device ............................................................................................................................ 3-27

3.5.3 Output signal ............................................................................................................................. 3-28

3.5.4 Power supply ............................................................................................................................. 3-28

3.6 Forced stop deceleration function ................................................................................................... 3-29

3.6.1 Forced stop deceleration function ............................................................................................. 3-30

3.6.2 Base circuit shut-off delay time function ................................................................................... 3-31

3.6.3 Vertical axis freefall prevention function ................................................................................... 3-32

3.6.4 Residual risks of the forced stop function (EM2) ...................................................................... 3-32

3.7 Alarm occurrence timing chart ......................................................................................................... 3-33

CONTENTS

1- 1 to 1-52

2- 1 to 2- 8

3- 1 to 3-46