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

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

1.3 Servo amplifier standard specifications ............................................................................................ 1- 4

1.3.1 Integrated 2-axis servo amplifier ................................................................................................ 1- 4

1.3.2 Integrated 3-axis servo amplifier ................................................................................................ 1- 6

1.3.3 Combinations of servo amplifiers and servo motors .................................................................. 1- 8

1.4 Function list ...................................................................................................................................... 1-10

1.5 Model designation ............................................................................................................................ 1-12

1.6 Parts identification ............................................................................................................................ 1-13

1.7 Configuration including auxiliary equipment .................................................................................... 1-14

2. INSTALLATION

2.1 Installation direction and clearances ................................................................................................ 2- 1

2.2 Keep out foreign materials ................................................................................................................ 2- 3

2.3 Encoder cable stress ........................................................................................................................ 2- 3

2.4 SSCNET III cable laying ................................................................................................................... 2- 3

2.5 Inspection items ................................................................................................................................ 2- 5

2.6 Parts having service life .................................................................................................................... 2- 6

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

above sea level ................................................................................................................................. 2- 7

3. SIGNALS AND WIRING

3.1 Input power supply circuit ................................................................................................................. 3- 2

3.2 I/O signal connection example .......................................................................................................... 3- 5

3.2.1 For sink I/O interface .................................................................................................................. 3- 5

3.2.2 For source I/O interface ............................................................................................................. 3- 7

3.3 Explanation of power supply system ................................................................................................ 3- 8

3.3.1 Signal explanations .................................................................................................................... 3- 8

3.3.2 Power-on sequence .................................................................................................................. 3-10

3.3.3 Wiring CNP1, CNP2, and CNP3 ............................................................................................... 3-11

3.4 Connectors and pin assignment ...................................................................................................... 3-13

3.5 Signal (device) explanations ............................................................................................................ 3-14

3.5.1 Input device ............................................................................................................................... 3-14

3.5.2 Output device ............................................................................................................................ 3-15

3.5.3 Output signal ............................................................................................................................. 3-18

3.5.4 Power supply ............................................................................................................................. 3-18

3.6 Forced stop deceleration function ................................................................................................... 3-19

3.6.1 Forced stop deceleration function ............................................................................................. 3-19

3.6.2 Base circuit shut-off delay time function ................................................................................... 3-21

3.6.3 Vertical axis freefall prevention function ................................................................................... 3-22

3.6.4 Residual risks of the forced stop function (EM2) ...................................................................... 3-22

3.7 Alarm occurrence timing chart ......................................................................................................... 3-23

3.7.1 When you use the forced stop deceleration function ................................................................ 3-23

3.7.2 When you do not use the forced stop deceleration function ..................................................... 3-25

3.8 Interfaces ......................................................................................................................................... 3-26

CONTENTS

1- 1 to 1-14

2- 1 to 2- 8

3- 1 to 3-38