Page 1 M0005349L TYPE Analog / Pulse InputType for Rotary Motor...
Page 3 Preface This product corresponds with the shipping regulations given in the Export Trade Control Ordinance (Table 1, item 16) and the Foreign Exchange Ordinance (Table 1, item 16). When these products are exported by customers, and when exported including the other freight or together with other freight, it is recommended to fulfill the requirements related to Security Export Control with the relevant authorities, including “Information Requirements”...
Page 4 Each time the Instruction Manual is upgraded, the modifications are recorded. Since these modifications are functional additions to equipment already in use, modifications such as parameter modification, etc., are not required. Additionally, these additional functions are displayed as new functions in this Instruction Manual. Model name Common specifications Specifications...
Page 5 Modification in material quality with air permeability. The material color changes to white with the modification of material quality. The software has been upgraded to version “P0.01.0” (from “P0.00.5”). Check the software version currently in use by the following methods: ...
Page 6 4. Extension of function related to brake operation start time After a status change from servo ON to servo OFF, the brake (holding brake and dynamic brake) operation function is extended, so that the motor does not stop even if the prescribed time is elapsed.
Page 7 6. Addition of analog monitor output signal Signal that can be selected as analog monitor output is added. Parameter setting G5-00：MON1 P0.00.5 P0.01.0 G5-01：MON2 Torque monitor ［2V/TR］ Same condition as on the left Torque command monitor ［2V/TR］ Same condition as on the left Velocity monitor 2mV/min-1 Same condition as on the left...
Page 8 Each time the Instruction Manual is upgraded, the modifications are recorded. Since these modifications are functional additions to equipment already in use, modifications such as parameter modification, etc., are not required. Additionally, these additional functions are displayed as new functions in this Instruction Manual. 1.
Page 9 1-3. Added functions related to servo amplifier I/O  PY compatible alarm output (4bit) is added to the General Purpose selection items General parameter Group 9- Page 00 to 07：OUT1 to OUT8 50：Output PY compatible alarm code 1 (positive logic) 51：Output PY compatible alarm code 1 (negative logic) 52：Output PY compatible alarm code 2 (positive logic) 53：Output PY compatible alarm code 2 (negative logic)
Page 10 ② Addition of application of incremental encoder (7 pairs) with CS signal This feature is also compatible to the BL865 motor made by SANYO DENKI. Add a connector (for receiving CS signal) of full close, etc., and new hardware for the servo amplifier. It is also necessary to set Page 2 of the system parameters to 01:_7Pairs_INC.
Page 11 [Note] The relationship between the Q-SETUP setup software and servo amplifier is as follows. List of compatible versions of Q series servo amplifier and Q-SETUP software Software version of Q series Version of Q-SETUP software servo amplifier P0.00.2 Version 0.1.7-0.00.8 Release 2 (Note 1) (Amplifier revision: A) P0.00.5 (Amplifier revision) ：...
Page 12 3. Changes to Instruction Manual The following Instruction Manual is revised according to the modifications of the amplifier software and Q-SETUP software. Refer to the Instruction Manual for more details about these modifications. Servo Amplifier Before modification After modification Japanese version M0005313E M0005313F English version...
Page 13 The Instruction Manual is updated when the product is upgraded. Versions that you have already purchased do not require any changes to the parameters and so on. New functions are shown as “ “ ” in this ” Instruction Manual. There are no changes to the Q setup software as a result of the 300A addition.
Page 14 The Instruction Manual is updated when the product is upgraded. Versions that you have already purchased do not require any changes to the parameters and so on. “ “ ” ” 1. Changes to the servo amplifier 1－1. Relevant model number Software version Common Type name...
Page 15 Table of Contents 4.7 Wiring method for full closed control (option) 4-23 Safety Precautions 1.1 Introduction 4.7.1 Full closed control 4-23 1.2 Location of warning labels on the product 4.7.2 Encoder connection diagram 4-23 1.3 Interpretation of the warning labels 4.7.3 Parameters 4-24 1.3.1 Label description...
Page 16 Operations Maintenance 7.1 Operation sequence setup 7 - 2 9.1 Disposal at the time of Alarm Generating 7.1.1 Power ON / Servo ON sequence 7 - 2 9.1.1 Alarm Reset 7.1.2 Servo OFF / Power OFF sequence 7 - 3 9.1.2 Alarm /Warning List 7.1.3 Sequence when power is 9.2 Trouble Shooting at the time of Alarm Generating...
Page 17 12.3 UL / cUL / TÜV Standards Conformity 12-4 12.3.1 UL / cUL Conformity and file Numbers 12-4 12.3.2 TÜV Conformity and file Numbers 12-4 12.4 European of EC Directives 12-5 12.4.1 Outline of EC Directives 12-5 12.4.2 Compliance with EC Directives 12-5 12.4.3 CE Marking Conformity Standards 12-6...
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Page 19 1. Safety Precautions Safety Precautions This document is a summary of the safety precautions regarding the use of the Q-series S-type amplifier. Please read it carefully prior to use. ･･･････････････････ 1-2 1.1 Introduction 1.2 Location of warning labels on the product ･･･････････････････...
Page 20 1. Safety Precautions 1.1 Introduction The Q-series servo amplifiers and servo motors were designed for use with general industrial equipment. The following instructions should be followed: ・ Read the User Manual carefully before any installation or assembly work, and to ensure proper use.
Page 21 1. Safety Precautions 1.3 Interpretation of the warning labels This documentation uses the following annotation. Read “1.4 Safety precautions” after you understand the meanings of the warning labels. 1.3.1 Label description Section 1.4 uses the following annotation. ① ① : Safety precaution level Danger ②...
Page 22 1. Safety Precautions 1.3.3 Graphic symbols There are eight different graphic symbols. Symbol Type Sample symbols Danger symbols Danger/Injury Electric shock Caution symbols Caution Fire Burn Prohibition symbols Prohibited Disassembly prohibited Mandatory symbol Mandatory 1－4...
Page 23 1. Safety Precautions Safety Precautions Danger <General> 1. Do not use this device in explosive environment. Injury or fire could otherwise result. 2. Do not touch the inside of the amplifier. Electric shock could otherwise result. 3. Do not perform any wiring, maintenance or inspection when the device is hot-wired.
Page 24 1. Safety Precautions Danger <Operation> 8. Do not touch the rotating part of the motor during operation. Bodily injury could otherwise result. 9. Do not touch or get close to the terminal while the device is powered up. Electric shock could otherwise result. 10.
Page 25 1. Safety Precautions Caution <General> 1. Please read the User Manual carefully before installation, operation, maintenance or inspection, and perform these tasks according to the instructions. Electric shock, injury or fire could otherwise result. 2. Do not use the amplifier or the motor outside their specifications. Electric shock, injury or damage to the device could otherwise result.
Page 26 1. Safety Precautions Caution <Wiring> 9. Do not measure the insulation resistance and the pressure resistance. Damage to the device could otherwise result. Contact your dealer or our sales office if you wish to perform such testing. 10. Wiring should follow electric equipment technical standards and indoor wiring regulations.
Page 27 1. Safety Precautions Caution <Operation> 21. There is no safeguard on the motor. Use an over-voltage safeguard, short-circuit breaker, overheating safeguard, and emergency stop to ensure safe operation. Injury or fire could otherwise result. 22. Do not touch the radiation fin of the amplifier, the regenerative resistor, or the motor while the device is powered up, or immediately after switching the power off, as these parts generate excessive heat.
Page 28 1. Safety Precautions Caution <Maintenance> 31. Be careful during maintenance and inspection, as the body of the amplifier becomes hot. Burn could otherwise result. 32. It is recommended to replace the electrolytic capacitors in the amplifier after 5 years, if used at an average temperature of 40°C year round.
Page 29 1. Safety Precautions Prohibited <Storage> 1. Do not store the device where it could be exposed to rain, water, toxic gases or other liquids. Damage to the device could otherwise result. <Operation> 2. The built-in brake is intended to secure the motor; do not use it for regular control.
Page 30 1. Safety Precautions Mandatory <Storage> 1. Store the device where it is not exposed to direct sunlight, and within the specified temperature and humidity ranges {－20°C to＋65°C， below 90% RH (non-condensing)}. 2. Please contact our office if the amplifier is to be stored for a period of 3 years or longer.
Page 31 Prior to Use Prior to Use ･･･････････････････ 2-2 2.1 Package opening ･･･････････････････ 2-2 2.2 Product verification ･･･････････････････ 2-3 2.3 Precautions related to use ･･･････････････････ 2-6 2.4 Interpretation of the model number ･･････････ 2-6 2.4.1 Servo motor model number ･･････････ 2-7 2.4.2 Servo amplifier model number ･･･････････････････...
Page 32 3000min 3φ－・ CI.F IP40 SER No.090206001 2002 Serial No SANYO DENKI MADE IN JAPAN 00482921-01 Interpretation of the serial number Month (2 digits) + Year (2 digits) + Day (2 digits)+ Serial number (4 digits) + Revision ("A" is abbreviation)
Page 33 Prior to Use 2.3 Precautions related to use Use the product with the following precautions in mind: ・ Do no subject the servo motor or servo amplifier to shock during installation; damage to the device could otherwise result. Be especially careful when handling the servo motor as it has a encoder attached.
Page 34 Prior to Use ・ Use the device within the specified operating temperature of 0-40°C (sub-amp is 0-55°C) and relative humidity below 90%. ・ Prevent water, cutting fluid or rain from contacting the servo motor or servo amplifier; a short circuit or electric shock could otherwise result. 104°F 32°F Fault !
Page 35 Prior to Use ・ Wiring should be performed after reading “4. Wiring” to ensure correct connections. Incorrect wiring could result in damage to the device, or fire. ・ The servo motor is not an induction motor. Therefore, reversing the phases of the motor will not result in reverse rotation.
Page 36 Prior to Use 2.4 Interpretation of the model number 2.4.1 Servo motor model number Ｑ ○ ＡＡ ○○ ○○○ △ □ ◇ ▽▽ ★ ☆ ① ② ③ ④ ⑤ ⑥ ⑦ ⑧ ⑨ ⑩ ⑪ ⑫ ① Series name Q-series ②...
Page 37 Prior to Use 2.4.2 Servo amplifier model number ＱＳ１ □ ○○ ＡＡ０ＸＸ △△ ▽ ００ ① ② ③ ④ ⑤ ⑥ ⑦ ⑧ ⑨ ⑩ ① Q-series servo amplifier ② Power input, power part description Power input, power part details Model numbers by amplifier capacity Internal Input...
Page 38 Prior to Use 2.5 Standard combinations The following table shows the standard combinations of rotary motors and servo amplifiers according to the motor and amplifier model numbers. Incorrect combination of rotary motors and servo amplifiers will result in incorrect operation. Table 2-1 Q-series rotary motor and servo amplifier combinations (AC 200V input type) Rotary motor...
Page 39 Prior to Use The following table shows the combinations of servo amplifiers and P-series servo motors (200V, 100V) according to the motor and amplifier model numbers. Incorrect combination of servo motors and servo amplifiers will result in incorrect operation. Table 2-3 P-series rotary motor and Q-series servo amplifier combinations (AC 200V input type) Servo motor...
Page 40 Prior to Use Table 2-4 P-series rotary motor and Q-series servo amplifier combinations (AC 100V input type) Servo motor Servo amplifier Servo motor Servo amplifier Ｐ☆Ｂ○○○○○○□◇▽▽ ＱＳ１Ｅ○○ＡＡ０ＸＸ△△▽００Ｐ☆Ｂ○○○○○○□◇▽▽ ＱＳ１Ｅ○○ＡＡ０ＸＸ△△▽００ Flange angle Flange angle Amplifier Amplifier Series Rated output Motor type Rated output Motor type Series...
Page 41 3. Servo System Configuration Servo System Configuration ･･･････････････････３－２ 3.1 Block diagram ･･･････････････････３－３ 3.2 External wiring diagram ･･････････３－４ 3.2.1 Peripherals ･･･････････････････３－５ 3.3 Servo amplifier part names ･･････････３－５ 3.3.1 Part names for QS1 01, QS1 03 and QS1 05 ･･････････...
Page 42 3. Servo System Configuration 3.1 Block diagram External regenerative resistor (QS1 05) The block diagram is shown below. Optional for QS1 01 and QS1 03 DC reactor Input:3φ AC200~230V +10%,-15% 50/60Hz (3-phase input) Short-bar for internal regenerative resistor (only for QS1 10 and QS1 15) DL1 DL2 ｰ...
Page 43 3. Servo System Configuration 3.2 External wiring diagram The following diagram shows the external wiring. 3φ AC200~230V +10%,-15% 50/60Hz 1φ AC200～230V +10%,-15% 50/60Hz 1φ AC100～115V +10%,-15% 50/60Hz (Only QS1 01 and QS1 03 are supported.) ① Circuit breaker ⑦ Setup software Q-Setup ②...
Page 44 3. Servo System Configuration 3.2.1 Peripherals Standard peripherals connected to the Q-series products are shown below. ① Circuit breaker ⑥ Host device (controller) Will cut off the power to Connects not only our host device but other protect the power line, in manufacturer’s devices.
Page 45 3. Servo System Configuration 3.3 Servo amplifier part names The servo amplifier part names are explained in two sections; one for QS1 01, QS1 03 and QS1 05, and the other for QS1 10 and QS1 15. 3.3.1 Part names for QS1 01, QS1 03 and QS105 1.
Page 46 3. Servo System Configuration 3.3.2 Part names for QS1 10, QS1 15and QS1 30 1. 5-digit 7-segment LED LED display for the Digital Operator. 2. Digital Operator Performs “Status display”, “Monitoring”, “Tests/Adjustments”, “Parameter editing” and “Alarm display” on the servo TION amplifier.
Page 47 3. Servo System Configuration 3.4 Battery space, analog monitor The cover of the Digital Operator can be opened and closed. A battery can be inserted into the space under the cover, and there is a connector for analog monitor output as well. 3.4.1 Battery space, analog monitor Pull the bottom of the cover to open up the Digital Operator.
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Page 49 4. Wiring Wiring ･･････････････････ 4-2 4.1 Electric wire sizes ･･････････････････ 4-4 4.2 Encoder cable specifications ･･････････････････ 4-5 4.3 External wiring diagram 4.3.1 External wiring diagram (AC 200V input type 15A～50A) 4.3.2 External wiring diagram (AC 200V input type 100A～300A) 4-6 4.3.3 External wiring diagram (AC 100V input type) ･･････････...
Page 50 4. Wiring 4.1 Electric wire sizes ・ The following table shows the electric wire sizes used with the external connectors of the servo amplifier. ・ The electric wire and the size should be selected based on the wiring distance, the environment and the current capacity.
Page 51 4. Wiring Recommended wire size Motor power wire Main power Control Regenerative resistor, size supply wire power DC reactor wire size Input (U・V・W・ size supply voltage Servomotor Associated wire size (R・S・ model number servo T・ amplifier －－ Q1AA04003D Q1AA04005D AWG 16 QS1□01 1.25...
Page 52 4. Wiring 4.2 Encoder cable specifications Table 4-2 Cable specifications Specifications Wire-saving incremental encoder Wire-saving incremental encoder (INC-E: wiring length 20m～30m) (INC-E: wiring length max. 20m) Connection Soldering Soldering method Manufacturer Tonichi Cable, Ltd. Tatsuta Electric Wire And Cable Co., Ltd. Outline 6 pairs x 0.2mm (tin-plated soft copper...
Page 53 4. Wiring 4.3 External wiring diagram 4.3.1 External wiring diagram (AC 200V input type 15A～50A) 4－5...
Page 54 4. Wiring 4.3.2 External wiring diagram (AC 200V input type 100A～300A) ＊ There is no terminal RB4 in QS1□30 Note 2) Note 3) Terminal Note 4) block Terminal block Terminal block 4－6...
Page 55 4. Wiring 4.3.3 External wiring diagram (AC 100V input type) 4－7...
Page 56 4. Wiring Note 2) QS1□01/QS1□03/QS1□05/QS1□30: Connect a regenerative resistor between terminals RB1 - RB2. When using an external regenerative resistor, first remove the internal regenerative resistor wiring between terminals RB1 and RB2, and then connect an external regenerative resistor between terminals RB1 - RB2. QS1□10/QS1□15: When using an internal regenerative resistor, short circuit terminals RB1-RB4.
Page 57 4. Wiring 4.3.4 Encoder wiring diagram (INC-E wire-saving incremental encoder) Wire-saving incremental encoder (INC-E), lead wire type SERVO AMPLIFIER SERVO MOTOR Encoder:Incremental encoder Optical +DC 5V Encoder GND(0V) +DC 5V GND(0V) SHIELD Plug:10120-3000PE, Shell:10320-52A0-008 Wire-saving incremental encoder (INC-E), cannon plug type SERVO AMPLIFIER SERVO MOTOR Encoder:Incremental encoder...
Page 58 4. Wiring 4.3.5 Encoder wiring diagram (ABS-E Absolute encoder with incremental output) SERVO MOTOR Encoder:Absolute encoder ABS-E EBAT+ EBAT+ ERES ERES Plug：10120-3000PE, Shell：10320-52A0-008 SERVO MOTOR ABS-E EBAT+ EBAT+ ERES ERES Plug:10120-3000PE, JL04V-6A20-29S-J1(A72), Shell:10320-52A0-008 JL04V-8A20-29S-J1-EB, JL04V-6A20-29S-J1-EB, MS3108B20-29S, MS3106B20-29S (Pins 9, 12, 17 don't need (Pins 9, 12 don't need (Pin 9 doesn't need to be connected)
Page 59 4. Wiring 4.3.6 Encoder wiring diagram (ABS-RII and RA062M Request method absolute encoder) Request method absolute encoder, Lead wire type SERVO AMPLIFIER SERVO MOTOR ERQ+ ERQ+ ERQ- ERQ- EBAT+ EBAT+ 0V,EBAT- 0V,EBAT- ECLR ECLR Plug:10120-3000PE, Shell:10320-52A0-008 Request method absolute encoder, Canon plug type SERVO AMPLIFIER SERVO MOTOR ERQ+...
Page 60 4. Wiring 4.3.7 Encoder wiring diagram (PA035C Battery backup method absolute encoder & RA062C Absolute encoder without battery) Battery backup method absolute encoder/ Absolute encoder without battery, lead wire type SERVO AMPLIFIER SERVO MOTOR Encoder:Absolute encoder EBAT+ EBAT+ EBAT- EBAT- Plug:10120-3000PE, Shell:10320-52A0-008 Battery backup method absolute encoder/...
Page 61 4. Wiring 4.4 Connector terminal layout, I/O signal diagram 4.4.1 CN1 interface connector CN1 is the interface connector to the host controller, etc. The connector on the amplifier side is a “10250-52A2PL” (made by Sumitomo 3M Ltd). Note 3 Note 5 Note 5 Note 1 Note 1...
Page 62 4. Wiring 4.4.2 CN2 encoder connector The connector on the amplifier side is a “10220-52A2PL” (made by Sumitomo 3M Ltd). ● Wire-saving incremental encoder (INC-E) connector layout diagram Fig. 4-9 CN2 connector (INC-E Wire-saving incremental encoder) layout diagram ● Absolute encoder with incremental output (ABS-E) connector layout diagram １...
Page 63 4. Wiring ● Request method absolute encoder (ABS-RII, RA062M) connector layout diagram １０８６４２ＳＧＳＧＳＧ REQ- BAT- ９７５３１５Ｖ REQ+ BAT+ ２０１８１６１...
Page 64 4. Wiring 4.5 Wiring method The servo amplifier is a control device processing signals under a few millivolts. Therefore, observe the following instructions when wiring: 1. Input/output signal line, encoder signal line Use the recommended cables or equivalent twisted pair and multi-core single shield twisted pair cables for the input/output signal line and the encoder signal line.
Page 65 4. Wiring 4.6 Wiring precautions Observe the following precautions when wiring: 1. Noise processing The main circuit of the servo amplifier uses the IPM for the PWM control. Incorrect grounding can cause switching noise, due to di/dt and dv/dt during IPM switching. Since the servo amplifier contains electric circuits such as a CPU, it is extremely important to prevent the penetration of external noise by wiring or other means.
Page 66 4. Wiring 4.6.1 Suggested surge protector You can directly request the following items from the manufacturer, or buy them as optional equipment through your dealer or sales office. Item Specifications Product model number R･A･V-781BXZ-2A (Manufacturer) Okaya Electric Industries Co., Ltd. Dimensions Unit: mm Maximum circuit voltage...
Page 67 4. Wiring 4.6.2 CN1, CN2 shielding method The following diagram shows the shielding on the CN1 and CN2 connectors. There are two shielding methods: by using a clamp, or by soldering. ● Using a clamp Remove the external layer of the cable.
Page 68 4. Wiring ● Soldering Item 1.2 is identical to using a clamp. Fig. 4-15 CN1 and CN2 shielding (b) ● CN2 proper ØA dimensions The following table shows the appropriate ØA dimensions for CN1 and CN2. If the dimensions are within the proper ØA dimensions, the compression insert is unnecessary.
Page 69 4. Wiring 4.6.3 CN2 compression insert application example The following table lists the suggested compression inserts for the CN2. Table 4-4 CN2 compression inserts Appropriate cable outer Compression insert diameter Manufacturer product number (ØA) Ø4.0～5.0 mm 10607-C058 Ø5.0～6.0 mm 10607-C068 10607-C078 Ø6.0～7.0 mm Sumitomo 3M Ltd.
Page 70 4. Wiring 4.6.4 Inserting the CNA~CNC wire 1. Insert the wire into the ferrule, and crimp it with the special crimping tool. 2. Inset the end of the ferrule fully into the connector, and tighten it with a special flat-head screwdriver. The recommended torque is 0.5~0.6 N m. Crimping tool Wire Ferrule...
Page 71 4. Wiring 4.7 Wiring method for full closed control (option) Carry out the wiring paying close attention to the following. 4.7.1 Full closed control With full closed control, the external encoder receives position loop feedback signals enabling it to correctly ascertain the position of the machinery, thereby permitting high precision positioning control.
Page 72 4. Wiring 4.7.3 Parameters ・Full closed settings System parameter page 09 Position loop control encoder selection Selected value Content 01:_Ext-ENC(CN2) Full closed/external encoder (CN2 input signal) 02:_Ext-ENC(CN-EXT) Full closed/external encoder (CN-EXT input signal) The full closed control shipping setting is “02:_Ext-ENC(CN-EXT)”. External encoder resolution settings ・...
Page 73 4. Wiring 4.7.5 CN-EXT encoder connection procedure The connection procedure for the CN-EXT connector is shown in the diagram. Relevant product: 3540-10P-CV (Hirose Electric) Connector x 1, ground shell x 1, locking spring x 1, Cover A x 1, Cover B x 2, screw x 2 Connection procedure Operation...
Page 74 4. Wiring Connection procedure Operation Using the specified harness tool, clamp the 7. Cable clamp locking spring cable. The recommended cable clamping strength is 80.0 N or more. Product name Harness tool 3540-10P-CV 3530-10/CA-MP(01) AWG28 (7/0.127) UL20276 Cable outer diameter 5.0 C/H4.9±0.1 8.
Page 75 5. Installation Installation ･･･････････････････ 5-2 5.1 Servo amplifier installation ･･････････ 5-2 5.1.1 Installation location ･･････････ 5-3 5.1.2 Mounting method ･･･････････････････ 5-4 5.2 Servo motor installation ･･････････ 5-4 5.2.1 Installation location ･･････････ 5-4 5.2.2 Mounting method ･･････････ 5-5 5.2.3 Waterproofing and dust proofing ･･････････...
Page 76 5. Installation (Servo amplifier) 5.1 Servo amplifier installation Please note the following points regarding the servo amplifier installation location and mounting method. 5.1.1 Installation location Install the servo amplifier in compliance with the following precautions: Issue Precautions ● The device should be installed on non-flammable surfaces only. Installation on or near flammable materials can cause fire.
Page 77 5. Installation (Servo amplifier) 5.1.2 Mounting method ● Mounting direction and location ① Mount the servo amplifier standing upright as shown in Fig. 5-1. ② Refer to Section 10 (Options) regarding the front and back panel mounting hardware (PY2 mounting compatible). Front panel mounting hardware Front-mounting...
Page 78 5. Installation (Servo motor) 5.2 Servo motor installation The servo motor is designed for indoor use. Please note the following regarding the installation location and mounting method for the servo motor. 5.2.1 Installation location Install the servo motor indoors, within the following environmental conditions: ①...
Page 79 5. Installation (Servo motor) 5.2.3 Waterproofing and dust proofing ① The protection inside the motor conforms to IEC standards (IEC34-5). However, such protection is suitable only for short-term use. For regular use, additional sealing measures are required. Be sure to handle the connector carefully, as damage to the exterior of the connector (painted surface) can reduce its waterproofing capability.
Page 80 5. Installation (Servo motor) ⑦ If it is not possible to install the connectors (lead outlets) facing downwards, create a sag in the cable to prevent water or oil from entering the motor. Gear Shaft outer Motor Oil level Oil seal lip Fig.
Page 81 5. Installation (Servo motor) ② Do not subject the motor shaft to shock, as the precision encoder is directly connected to it. If it is absolutely necessary to hit the motor for position adjustment or other reasons, use a rubber or plastic hammer and hit the front flange area.
Page 82 5. Installation (Servo motor) 5.2.7 Allowable bearing load ① Table 5-1 shows the allowable bearing load of the servo motors. Maximum thrust load and radial load values should not be exceeded. The thrust load and radial load tolerance values assume individual application to the shaft. Table 5-1 Q-series radial load and thrust load tolerances Assembly Operation...
Page 83 5. Installation (Servo motor) ･The radial load tolerance LR/3 value is the maximum load that Thrust load can be applied at the point F direction measuringed 1/3 of the distance from the tip of the F1 direction output shaft. (Refer to Fig. 5-8.) Radial load F Fig.
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Page 85 6. Operation and functions Operation and Functions This section explains parameter settings to enable test runs and various functions. 6.1 Parameter configuration ･･････････ 6.1.1 Parameter configuration and tools ･･････････ 6.1.2 Parameter description table ･･････････ 6.1.3 Control mode block diagram ･･･････････････････ 6-6 6.2 System and motor parameters ･･････････...
Page 86 6. Operation and functions 6.1 Parameter configuration The servo amplifier has various parameters for setting functions, adjustments and characteristics. This section explains the required settings and the use of each function. Refer to the Parameter Quick Reference List in 8.2 of Section 8. 6.1.1 Parameter configuration and tools ●...
Page 87 6. Operation and functions 6.1.2 Parameter description table ・ System parameters Generic parameters (Group1) Page Name Description page Page Symbol Name Description page Amplifier capacity In-position conclusion range 6-6, 6-38 Motor structure NEAR Near range 6-39 Control power input voltage OFLV Fluctuation counter overflow value 6-38...
Page 88 6. Operation and functions Generic parameters (Group3) Generic parameters (Group7) Page Symbol Name Description Page Symbol Name Description Fluctuation clear selection 6-29 Fluctuation clear function 6-29 PA300 Position command pulse digital filter 6-27 Control mode switch function 6-42 Encoder pulse division output polarity 6-33 PCON Velocity loop proportional control switch function...
Page 89 6. Operation and functions 6.1.3 Control mode block diagram 6－5...
Page 90 6. Operation and functions 6.2 System and motor parameters System parameters modify the specifications of the servo amplifier and the servo motor. Unless there is a problem with the factory settings, it is not recommended to modify these specifications. Incorrect settings may cause irregular operation and servo motor interruption.
Page 91 6. Operation and functions 6.2.3 Servo amplifier and servo motor specification setting values ● The following parameters can be modified, but settings different from the specifications can result in irregular operation and servo motor interruption. Take care when modifying these settings. After modifying the parameters, turn the power off and back on again to enable the changes.
Page 92 6. Operation and functions ・The control mode can be modified as shown in the table. Page Name Setting range Control mode 6 types Setting Explanation Setting Explanation 00：_Torque Torque control 03：_Velo－Torq Velocity-Torque control switch 01：_Velocity Velocity control 04：_Posi－Torq Position-Torque control switch 02：_Position Position control 05：_Posi－Velo...
Page 93 6. Operation and functions Setting value: 02 Setting Explanation 02：_Ext－ENC (CN-EXT) Full-close control/external encoder (CN-EXT input signal) Servo amplifier Motor encoder EXT-CN External encoder Position Velocity Torque ＋＋ Motor encoder CN-EXT 【Position loop control/encoder selection】 External encoder ・ Incremental encoder Servo motor encoders connectible to CN2 ・Absolute encoder (sensor) ・The resolution of the external encoder can be set as shown in the table.
Page 94 6. Operation and functions 6.3 Test run 6.3.1 Servo motor standalone test run Do not connect the servo motor shaft to any machinery! Step 1: Check the wiring: ・ Check the input power wiring Setup software ・ Check the servo motor wiring Q-Setup ・...
Page 95 6. Operation and functions Step 2. Control power ON ・ Disconnect CN1 and turn ON the control power (r, t). ・ Check the 7 segment LED display on the servo amplifier front panel. TION ▲ ▼ Go to Step 3 Control power (r, t) is ON, amplifier ready (RDY) shows ON status If an alarm is issued, the last 2 digits are the alarm code.
Page 96 6. Operation and functions Step 5. Input the servo on signal for a test excitation of the servo motor ・ Check that the position command pulse, analog velocity and analog torque commands are not input. ・ Input the servo on signal. ・...
Page 97 6. Operation and functions 3. Check the position command pulse monitor, command position monitor, velocity monitor, position fluctuation monitor and the current position monitor using the monitor functions. ・Check for the position command pulse input. ob 0D Position cmd. pulse monitor Monitor Page 0D:FMON Displays the frequency of the position command pulse input from the host device.
Page 98 6. Operation and functions 4. Check that the polarity of the position command pulse sent from the host device matches the servo motor rotation direction. ・With standard factory settings the servo motor rotates forward (counterclockwise) when the input command is positive (+) (forward pulse sequence), and reverse (clockwise) when the input command is negative (-) (reverse pulse sequence).
Page 99 6. Operation and functions M0006024* 3.18”. The Q-Setup-Setup Software Instruction ManualM0006024*” is available on our website; please go to http://www.sanyodenki.co.jp to download the manual. 3. Check that the polarity of the analog velocity command sent from the host device matches the servo motor rotation direction.
Page 100 6. Operation and functions 6.4 Servo adjustment parameters 6.4.1 Servo system This section explains the servo motor gain setting parameters. A detailed Control Block Diagram can be found in section 6.1. ・ The servo system consists of three sub-systems: the position loop, the velocity loop and the current loop. High responsiveness is required for the internal loops.
Page 101 6. Operation and functions 6.4.4 Servo adjustment parameters JRAT: Load inertia moment ratio setting. Set the value calculated by the following equation: Motor shaft conversion load inertia【JL】 JRAT1＝ ×100% Servo motor inertia【JM】 KVP: Velocity loop proportional gain setting. The higher this value is set, the higher the responsiveness will be. Set it to a value that does not cause vibration or oscillation in the mechanism of the device.
Page 102 6. Operation and functions 6.5 Description of functions This section explains the various functions of the servo amp. Some functions are common to all control modes, while some are unique to particular modes. 6.5.1 Functions related to machinery control ● Servo motor operation selections for servo off and servo motor stop Position control Velocity control ・...
Page 103 6. Operation and functions ・ If “Stop motor using servo brake” was selected for overtravel, then the torque for the servo brake operation can be set by using the sequence torque operation limit value. Parameter Group 1 Page 0F SQTCLM: Sequence torque operation limit 10～500% If the value is set higher than the maximum output torque (T ) of the servo motor, it will be limited by (T...
Page 104 6. Operation and functions ● Internal torque limit function Velocity control Position control Torque control There are two areas where selections for the torque limit function can be made: the internal torque limit and the external torque limit. The two selections have different settings, and affect the operation of the device in different ways. ・...
Page 105 6. Operation and functions The input voltage specification and the input signal specification can be used in three ways. In Parameter Group 3 Page 03, select from the host torque limit. ・External torque limit selection: Parameter Group 3 Page 03 = 1*H, 2*H, 3*H Parameter Group 3 Page 03 Host: torque limit input PA303...
Page 106 6. Operation and functions ● Torque limit function in sequence operation Velocity control Position control Torque control ・ During the sequence operation the output torque is limited. Limiting the output torque protects the device mechanism. ・ The torque limits during sequence operation support the following sequence operations: ・...
Page 107 6. Operation and functions ● Holding brake operation delay function (BONDLY) Velocity control mode Position control mode This function is enabled during servo brake operation at servo OFF. It is disabled for dynamic brake and free-run. Servo ON signal Servo ON Servo OFF Holding brake exc.
Page 108 6. Operations / Functions 6.5.3 Input command functions Analog speed command Speed control mode ・ The analog speed command is the input command used for speed control, via the CN1 analog speed command input. Analog speed command input (V-REF): CN1-21 [Input voltage range -10V～+10V] Analog speed command input SG: CN1-20 Upper unit Servo Amplifier...
Page 109 6. Operations / Functions 4. If the above conditions are valid, run the servo motor with the selection combinations listed below. RUN: internal speed operation start signal input Valid Servo motor moves forward DIR: internal speed operation direction selection input. Invalid RUN: internal speed operation start signal input Valid...
Page 110 6. Operations / Functions Analog torque command Torque control mode ・ The analog torque command is the input command used for torque control. Connect to CN1 analog torque command input. Analog torque command input (V-REF): CN1-21 [Input voltage range -10V~+10V] Analog torque command input SG: CN1-20 Upper unit Servo Amplifier...
Page 111 6. Operations / Functions Location command pulse Position control mode ・ The location command pulse input command is the input command used for location control. Connect to CN1 location command pulse input. Forward Reverse Forward pulse (F-PC): CN1-26 Reverse pulse (R-PC): CN1-28 Forward pulse (F-PC): CN1-27 Reverse pulse (R-PC): CN1-29 Forward pulse SG: CN1-47...
Page 112 6. Operations / Functions Electronic gear Position control mode ・ This function allows a distance setting on the servo motor in reference to the location command pulse from the device. 1/32767～32767/1 Parameter Group 1 page 04 GER1: Electronic gear 1 1/32767～32767/1 Parameter Group 1 Page 05 GER2:...
Page 113 6. Operations / Functions Location deviation clear function Location control type This function is used for changing the location deviation counter in the servo amplifier from the upper unit to zero. ・ Make these settings after selecting the “location deviation clear” method. Parameter Group 3 page 00 Upper: Deviation clear selection Selection...
Page 114 6. Operations / Functions Speed addition function Location control type The speed addition function is the fast-forward function in the speed control system. The speed addition command input function has 2 settings: the internal speed addition command and the analog speed addition command. The internal speed addition command is used when the speed addition command value is a fixed value.
Page 115 6. Operations / Functions Torque addition function Speed control mode Position control mode The torque addition function is the fast-forward function of the torque control system. There are 2 types of settings for the torque addition command input function: the internal torque addition command and the analog torque addition command. The internal torque addition command can be used when using the torque addition command value as a fixed value.
Page 116 6. Operations / Functions 6.5.4 Encoder Functions Encoder Pulse Divider Output Incremental Output The encoder signals (Phase A / Phase B) used in the host unit can be output according to a ratio formula. When using in the host unit’s position loop control, input the result (obtained after dividing the number of encoder pulses) as an integer. However, when using this function to monitor the host unit, input a ratio that is as close as possible to the setup value.
Page 117 6. Operations / Functions Encoder Pulse Divider Output Changeover selection function Incremental Output The Encoder Pulse Divider Output can be selected from 2 types, the Motor Encoder and the External Encoder. Parameter Group 3 Page 01 Low: Encoder Pulse Output Changeover Selection Explanation Motor Encoder...
Page 118 6. Operations / Functions External encoder pulse polarity selection function External encoder You can select external encoder pulse (CN-EXT) polarity. Parameter Group 4 Page 01 Lower: External encoder (CN-EXT) polarity Selection EX-Z/not reversed EX-B/not reversed EX-A/not reversed EX-Z/not reversed EX-B/not reversed EX-A/reversed EX-Z/not reversed EX-B/reversed EX-A/not reversed EX-Z/not reversed EX-B/reversed...
Page 119 6. Operations / Functions Encoder signal output format function When using an absolute encoder, the location data can be displayed serially from the servo amplifier. The types of signal output formats are “Binary code output”, “Decimal ASCII code output” and “Encoder direct output”. Therefore, select this format in compliance with the specifications of the upper unit.
Page 120 6. Operations / Functions 6.5.5 All functions 1 Functions signal ● This feature has the capability to import upper unit signals through the servo amplifier general input signals (CONT1~CONT8). To enable general input signals, first set the conditions for enabling the functions. There is no fixed method for allocating the functions.
Page 121 6. Operations / Functions The signals to the upper unit can be output from the servo amplifier general output signal (OUT1~OUT8). The general output signals (OUT1~OUT8) of Group 9 are randomly allocated, and the logic can also be set simultaneously. Signals are output with the selected conditions: symbol Name and contents...
Page 122 6. Operations / Functions Positioning completion signal output Position control mode ● The positioning completion signal is output from the selected output terminal when servo motor movement is completed (reaches the set deviation counter value) during location control mode. Setting the positioning completion range 1～65535 Pulse Parameter Group 1 Page 00 INP: Positioning completion range...
Page 123 6. Operations / Functions NEAR signal output Position control mode ● Outputs signal indicating proximity to position completion. NEAR range settings 1～65535 Pulse Parameter Group 1 Page 01 NEAR: near range NEAR signal output settings Parameter Group 9 Page 0＊ OUT*: general output＊...
Page 124 6. Operations / Functions Positioning system Position control mode ● Select the position at the time of positioning stop between encoder pulses from the edge. The positioning system can also be selected. Parameter Group 4 page 03 Lower: Positioning system Selection Specify positioning between pulses Specify edge positioning...
Page 125 6. Operations / Functions Low speed settings: Low speed signal is sent if speed goes below the set value. Parameter Group 1 Page 07 LOWV: Low speed settings 0～65535min Low speed setting value ｔ Output [LOVW] Output [LOVW] Speed transport settings: Speed transport signal is given if speed exceeds the set value. Parameter Group 1 Page 08 VA: Speed transport settings 0～65535min...
Page 126 6. Operations / Functions ● Control mode switching function Position control mode Speed control mode Torque control mode Two types of control modes can be used alternately. Switching is enabled on the control mode switching function (MS) after selecting the matching control type via the system parameters. ・...
Page 127 6. Operations / Functions ● Speed loop comparison control switchover function Position control mode Speed control mode Speed loop PI control / P control can be used alternatively. Activate switching by enabling the speed loop comparison control switching function (PCON). PI control (comparison / integral control): Speed loop comparison gain (KVP) / Speed loop reset time constant (TVI) P control (Comparison control): Speed loop comparison gain (KVP) ＊...
Page 128 6. Operations / Functions ● Servo ON function Position control mode Speed control mode Torque control mode This function enables the sending of a servo ON signal from the upper unit. The servo motor can be set to “ready” status by enabling the servo ON function (SON).
Page 129 6. Operations / Functions ● Position command pulse inhibition / zero speed stop function Position control mode Speed control mode The position command pulse inhibition function (INHIBIT function) can be used in position control mode, and the zero speed stop function can be used in speed control mode. If enabled during servo motor operations, these functions lead to input command inhibition and servo motor stops in servo motor excitation status.
Page 130 6. Operations / Functions 6.5.6 All functions 2 ● Power failure detection delay time function Position control mode Speed control. mode Torque control mode This function allows setting of a delay period, after power off of the control power supply, for detecting problems in the control power supply.
Page 131 6. Operations / Functions ● Overload warning function Position control mode Speed control mode Torque control mode This function will send a warning before reaching overload alarm status. Set the ratio corresponding to the overload alarm value to 100%. When set to 100%, the overload warning and overload alarm are given simultaneously. Set the overload warning level.
Page 132 6. Operations / Functions 6.6 Description of monitor output function All signals from the servo amplifier can be displayed on the analog monitor (2 channels) and digital monitor (1 channel). The analog monitor (CH1) can also be displayed on CN1. CH1, CH2 and the digital monitor can be viewed simultaneously by connecting the optional monitor box and a dedicated cable to the connector for the analog monitor (located inside the access cover on the front surface of the servo amplifier).
Page 133 6. Operations / Functions 6.6.2 Digital monitor Digital monitor output settings Parameter Group 5 Page 02 DMON: Digital monitor output selection Selection Explanation Always_OFF Output is always OFF. ALM7_ON Output alarm code bit 7 (positive logic) Always_ON Output is always ON. ALM7_OFF Output alarm code bit 7 (negative logic) S-ON...
Page 134 No Text on This Page.
Page 135: Table Of Contents
7. Operations Operations 7.1 Operation sequence setup ……………… 7 - 2 7.1.1 Power ON / Servo ON sequence ………. 7 - 2 7.1.2 Servo OFF / Power OFF sequence ………. 7 - 3 7.1.3 Sequence when power is turned OFF when servo is ON ………. 7 - 3 7.2 Sequence-related functions ………………...
Page 136: Operation Sequence Setup
7. Operations 7.1 Operation sequence setup Various sequences are managed by setting various parameters in the Q series servo amplifier. This section outlines the “Power ON / Servo ON” and “Servo OFF / Power OFF” sequences during standard parameter setup. The functions, setup, and sequences of various parameters are explained in “7.2 Sequence Functions”.
Page 137: Servo Off / Power Off Sequence
7. Operations 7.1.2 Servo OFF / Power OFF sequence “Control source OFF” Control source min.= 0msec “Main power supply OFF” Main power supply “Power ON, output OFF” Power ON signal “S-RDY” “S-RDY2” Operation setup completion signal “Servo OFF” Servo ON signal “Dynamic brake ON”...
Page 138: Sequence-Related Functions
7. Operations 7.2 Sequence-related functions To locate detailed information on managing sequences by setting various parameters in the Q series servo amplifier, refer to the following table. Related parameters Q-Setup Q-Setu Function Explanation Sequence group Digital operator page Forced electric discharge function PA808 7.2.1 PA110...
Page 139: Brake Function And Sequence
7. Operations 7.2.3 Brake function and sequence This function is valid from the start of operation (Servo ON status), until a Servo OFF signal is received. The method for stopping the servo motor (free run operation / dynamic brake operation / servo brake operation) is selected when specifying the Servo OFF signal.
Page 140 7. Operations 7.2.3.1 When servo is OFF: Free run operation After stopping the motor: Motor free operation When the servo is off After stopping the motor When servo is on “Servo OFF” “Servo ON” Servo on signal “Dynamic brake OFF” Dynamic brake signal Motor speed ZV setting value...
Page 141 7. Operations 7.2.3.3 Servo OFF: Dynamic brake operation After motor stop: Motor free operation After stopping the motor When servo is on When servo is off “Servo OFF” “Servo ON” Servo on signal “Dynamic brake ON” “Dynamic brake OFF” Dynami brake signal BONDLY Motor speed ZV setting value...
Page 142 7. Operations 7.2.3.5 Servo OFF: Servo brake operation After motor stop: Motor free operation When servo is off After stopping the motor When servo is on “Servo OFF” “Servo ON” Servo on signal “Dynamic brake OFF” Dynamic brake signal Motor speed ZV setting value “Zero speed”...
Page 143: Forcible Stop Function And Sequence
7. Operations 7.2.4 Forcible stop (Power OFF/ emergency stop) function and sequence This function is valid from Servo ON status (operating) until the main circuit power supply is disconnected and an emergency stop (EMR) signal is received. When the main circuit power is disconnected or when an emergency stop (EMR) signal is received, the operation method for stopping the servo motor (servo brake stop or dynamic brake stop) is selected.
Page 144 7. Operations 7.2.4.1 Forcible stop operation: Servo brake operation (When main circuit power is disconnected) “Main power supply OFF” Main power supply “Power OFF” Power ON signal “Servo ON” Servo ON signal “Dynamic brake OFF” “Dynamic brake ON Dynamic brake signal Motor speed ZV setting value “Zero speed”...
Page 145 7. Operations 7.2.4.3 Forcible stop operation: Dynamic brake operation (when main circuit power is disconnected) “Main power supply OFF” Main power supply “Power OFF” Power ON signal “Servo ON” Servo ON signal “Dynamic brake ON” Dynamic brake signal Motor speed ZV setting value “Zero speed”...
Page 146 7. Operations 7.2.5 Brake operation start time (BONBGN) This function is used to control the gravitational axis (vertical axis) Brake operation start time: Parameter Group 1 Page 19 (Refer to “Chapter 8”, 8-37) Setting range ：”0～65535” msec ( “0” msec function is invalid) Zero velocity range (ZV) ：...
Page 147: Brake Operation Start Time
7. Operations 7.2.5.1 If free run or servo brake operations are selected, when servo is off and motor does not stop within brake operation start time “Servo OFF” Servo on signal “Dynamic brake ON” Dynamic brake signal Motor speed ZV setting value “Zero velocity”...
Page 148 7. Operations 7.2.5.3 During powerOFF: When forced stop operation seletion is servo brake selection “Main power OFF” Main power supply “Power OFF” Power ON signal “Servo ON” Servo ON signal “Dynamic brake ON” Dynamic brake signal Motor speed ZV setting value “Zero velocity”...
Page 149: Output Signal Function
7. Operations 7.2.6 Output signal function It is possible to output various output signals from the general purpose output (OUT1~OUT8) by setting its parameters. Parameter Group 9 (Refer to “Chapter 8”, 8-58) Sequence signal name Parameter group 9 A-RDY_ON Output is ON when power-on is allowed Power ON permission signal A-RDY_OFF Output is OFF when power-on is allowed...
Page 150: Alarm Sequence
7. Operations 7.3 Alarm sequence There are 2 different sequences for stop operation (DB, SB) available at the time of alarm detection. As the stop operation differs per the alarm type, confirm the selected stop operation in “Chapter 9, List of Operations at the Time of Alarm Detection”.
Page 151: Sequence During Dynamic Brake
7. Operations 7.3.1 Sequence during dynamic brake “Power ON permission OFF Power ON permission signal “Main power supply OFF Main power supply “S-RDY” “S-RDY2” Operation setup completion signal “Servo ON” Servo ON signal “Dynamic brake ON” Dynamic brake signal Motor speed ZV setting value “Zero velocity”...
Page 152: Stop By Dynamic Brake At Alarm
7. Operations Alarm sequence（When setting up the brake operation beginning time） When brake operation start time (Group 1 page 19: BONBGN) is set up, make holding brake operate and servo motor stop before suspending servo motor. When using it by a vertical axis, in order to prevent that the machine continues falling, set up brake operation start time.
Page 153: Alarm Reset Sequence
7. Operations 7.3.5 Alarm reset sequence The procedure to reset an alarm by the alarm reset signal input will follow the sequence described in the figure below. The alarm cannot be reset unless the power is switched ON, following a power OFF based on the conditions of the alarm.
Page 154 No Text on This Page.
Page 155 8. Description of parameters Description of Parameters ････････････････ Digital operator ･･････ 8.1.1 Digital Operator name ･･････ 8.1.2 Table of Functions ･･････ 8.1.3 Operations ･･･････ 8.1.3.1 Status display mode ･･･････ 8.1.3.2 Monitor mode ･･･････ 8.1.3.3 Trial operations, Adjustment mode ･･･････ 8.1.3.4 Basic parameter mode 8-12 ･･･････...
Page 156 8. Description of parameters 8.1 Digital Operator This section outlines the basic operations of the digital operator. In the Q Series, it is possible to change the parameters, monitor the speed/electric current, trace alarms and the various test operations, and adjust the servo amplifier with the built-in digital operator.
Page 157 8. Description of parameters 8.1.3 Operations The mode changes in the following order by pressing the MODE Key as shown in the figure below. Status Display mode Test operation, Adjustment mode Monitor mode Basic mode MODE MODE MODE MODE Parameter Editing mode Alarm Trace mode System Parameter Editing mode MODE...
Page 158 8. Description of parameters 8.1.3.2 Monitor mode 1. Display Monitor mode ob by pressing MODE Key. 2. The display changes as shown below [Page Selection Display screen] Display the page to be monitored by pressing the Up/Down Keys. The numeric value increases with the Up Key and decreases with the Down Key.
Page 159 8. Description of parameters Decimal data display: The data on the page given below is displayed in decimal numbers. However, when displaying values of more than ±10000000, it is displayed in hexadecimal numbers. Symbol Name Unit Display range Page -32768 ～ +32767 VMON Speed monitor min-1...
Page 160 8. Description of parameters Hexadecimal data display: The data on the following pages (of values above +10000000) is displayed in hexadecimal. Symbol Name Unit Display range Page APMON Current position monitor Pulse 8000 0000H～ FFFF FFFFH 8000 0000H～ FFFF FFFFH CPMON Command position monitor Pulse...
Page 161 8. Description of parameters 8.1.3.3 Trial operations, Adjustment mode Trial operations, tuning, alarm reset, and encoder clear of the servo amplifier can be performed through trial operations and the adjustment mode. Name Page Analog speed command / torque command auto offset adjustment Analog torque addition command auto offset adjustment Alarm reset Encoder clear...
Page 162 8. Description of parameters [Operation method for trial operations and adjustment mode] Display the Trial Operations and Adjustment Mode Ad by pressing the MODE Key. The display changes as shown below [Page Selection Display Screen]: Display the page to be edited by pressing the Up/Down Key. The numeric value increases with the Up Key and decreases with the Down Key.
Page 163 8. Description of parameters Page Name Encoder clear Executing encoder clear Move dots to the right or left within 4sec Encoder clear end Encoder clear error 8. Return to rdy status by pressing the MODE Key. Page Name Fixed excitation (Linear motor) The servo motor can be used in the case of the linear motor.
Page 164 8. Description of parameters Page Name Speed Jog operation Displays a number 8 in servo ON status.The display will show “overtravel” when this condition occurs. The servo motor rotates in a CCW direction by pressing the Up key, and rotates in a CW direction by pressing the Down key.
Page 165 8. Description of parameters Page Name Auto Notch filter tuning Displays a number 8 in servo ON status. Start Auto Notch tuning by pressing the Up Key Dot moves to right & left Auto Notch tuning end Auto Notch tuning error If the MODE Key is pressed, an alarm rings and the Auto Notch tuning is completed.
Page 166 8. Description of parameters 8.1.3.4 Basic parameter Mode 1. Display basic parameter mode bA by pressing the MODE Key. 2. The display changes as shown below. [Page Selection Display screen] 3. Display the page to be edited by pressing the Up/Down Key. The numeric value increases with the Up Key and decreases with the Down Key.
Page 167 8. Description of parameters 8.1.3.5 Alarm Trace Mode 1. Display the alarm trace mode “AL” by pressing the MODE Key. 2. The display will change as shown below. [Page Selection Display screen] 3. Display the selected page by pressing the Up/Down Keys. Increase the numeric value with the Up Key, and decrease it with the Down Key.
Page 168 8. Description of parameters 8.1.3.6 Parameter editing mode 8.1.3.6.1 [General parameter] 1. Enter the parameter editing mode PA by pressing the MODE key. 2. The display changes as shown below. [Page Selection Display screen] 3. Display the page to be edited by pressing the Up/Down Keys. Increase the numeric value with the Up Key, and decrease it with the Down Key.
Page 169 8. Description of parameters 8.1.3.6.2 [General parameter/special settings] The following 3 parameters affect the numerator / denominator settings. Group page 1.04: Electronic gear 1 Group page 1.05: Electronic gear 2 Group page 1.06: Ratio of encoder pulse circumference output 1. Enter the parameter editing mode “PA” by pressing the MODE Key. The display changes as shown below.
Page 170 8. Description of parameters 8.1.3.7 System parameter editing mode 1. Display the system parameter editing mode “ru” by pressing the MODE Key. 2. The display changes as shown below. [Page Selection Display screen] 3. Display the page to be edited by pressing the Up/Down Keys. Increase the numeric value with the Up Key, and decrease it with the Down Key.
Page 171 8. Description of parameters 8.1.3.8 Password function The password function allows selection of a password, and protection against unauthorized parameter changes (lock function). When setting the password, be sure to make a note of it for future reference, as it is impossible to release the lock function without the password. The password function is enabled or disabled by turning OFF the control power and then once again switching it ON.
Page 172: Csu Ｕ-Phase Electrical Angle Deg 0
8. Explanation of Parameters 8.2 Simplified Parameter Chart Table 8-2. Monitor Symbol Name Unit Display Range Remarks Moni t or Page STATUS Servo Amplifier Status ----- WARNING1 Warning Status 1 0000-0000 ～ 1111-1111 WARNING1 Warning Status 2 0000-0000 ～ 1111-1111 CONT8-1 General Input CONT 8 ~ 1 Monitor 0000-0000 ～...
Page 173 8. Explanation of Parameters Table 8-3. System parameters System Page Name Control mode Setting Range Remarks Parameter ------ Amplifier Capacity Indicates the capacity of servo amplifier. (Note 1) ------ Motor Structure Indicates the structure of the combined motor. (Note 1) ------ Control Power Input Voltage Indicates the voltage supplied to the control power.
Page 174 8. Explanation of Parameters Table 8-5 General Parameter Group 1 [Miscellaneous Settings Values] Parameter Symbol Name Control mode Standar Unit Setting Range Remarks Group Page Note 6 Note 6 Level d Setting Value Basic Positioning Completion Range Pulse 1～65535 Basic NEAR Near Range Pulse...
Page 175 8. Explanation of Parameters Table 8-6. General Parameter Group 2 [Observer Parameter Settings] Group Page Parameter Symbol Name Standard Unit Setting Range Remark Advanced OBLPF1 Observer Output Low-pass Filter 1 1～2000 Advanced OBLPF2 Observer Output Low-pass Filter 2 1～2000 Observer Compensation Gain Advanced 0～1000 Anti-Resonance Frequency...
Page 176 8. Explanation of Parameters Table 8-11 General Parameter Group 7 [Assigning valid conditions to miscellaneous functions (1)] Parameter Symbol Name Control mode Standard Setting Value Setting Range Remarks Group Page Level Note 1 Note 1 Basic Deviation Clear Function 08:_CONT4_ON 00h～1Fh Basic Control Mode Switchover Function...
Page 177 8. Explanation of Parameters 8.3 Monitor List 8.3.1 Monitor Moni t or Page Symbol Name and description Unit Setting Range Remarks STATUS Servo amplifier status ----- ----- ・Main circuit power supply status. Power ON/ Power OFF ・Operation preparation status. Servo Ready OFF/ Servo Ready ・Servo ON status: Servo ON Displays the status of servo amplifier, as mentioned above.
Page 178 8. Explanation of Parameters Symbol Name and description Unit Setting Range Remarks Moni t or Page OUT8-1 General output OUT8~1 monitor ----- 0000-0000 ～ Displays status of general output terminal. 1111-1111 “1” Output transistor ON “０” Output transistor OFF Bit 7: OUT 8 Bit 6: OUT 7 Bit 5: OUT 6 Bit 4: OUT 5...
Page 179 8. Explanation of Parameters Symbol Name and Description Unit Setting Range Remarks Moni t or Page RegP Regenerative resitance run rate 0.00 ～ 99.99 Displays run rate of regenerative resistance. TRMS Effective torque monitor 0 ～ 499 Displays effective torque.This value is an accurate numerical value, but may take several hours to stabilize based on the operation pattern TRMS_EST Effective torque monitor (Estimate)
Page 180 8. Explanation of Parameters 8.4 System Parameters , Motor Parameters List 8.4.1 System Parameters Name and Description Setting Range Remarks System Page Parameter Amplifier capacity ------ Indicates the capacity of the servo amplifier; this is a fixed setting. Motor structure ------ Indicates combined motor structure;...
Page 181 8. Explanation of Parameters Name and Description Setting Range Remarks System Page Parameter Absolute encoder function selection Setting ranges differs per the Selects the detailed functionality of the absolute encoder.This setting value is valid only type of hardware. when motor encoder mode is set to “Absolute encoder”. Setting Explanation PA035 asynchronous 2.5Mbps...
Page 182 8. Explanation of Parameters Name and Description Setting Range Remarks System Page Parameter Control mode 6 values Selects control mode. Setting Explanation 00:_Torque Type of torque control format 01:_Velocity Type of velocity control 02:_Position Type of position control 03:_Velo-Torq Velocity control – Type of torque control switchover 04:_Posi-Torq Position control –...
Page 183 8. Explanation of Parameters 8.5 General Parameters List 8.5.1 Parameters of Group 0 Symbol Parameter Name and Description Standard Unit Setting Remarks Group Page Level Setting Range Value Basic Position loop proportional gain 1 1～ · Proportional gain of position controller. 3000 TPI1 Advanced...
Page 184 8. Explanation of Parameters Symbol Parameter Name and Description Standard Unit Setting Remarks Group Page Level Setting Range Value JRAT1 Basic Moment of inertia ratio of the load 1 0～ · Moment of inertia of the load device is set for the moment of 15000 inertia of the motor.
Page 185 8. Explanation of Parameters Symbol Parameter Name and Description Standard Unit Setting Remarks Group Page Setting Level Range Value PCFIL Standard 0.0～ Position command filter · Parameter for inserting a primary Low-pass filter for the 2000.0 position command pulse · Filter settings are a fixed value; filter is invalid when the settiing is 0.0ms.
Page 186 8. Explanation of Parameters Symbol Parameter Name and Description Standard Unit Setting Remarks Group Page Level Setting Range Value TCFIL1 Standard Torque command filter 1 1～ · Parameter for inserting low-pass filter for torque command. 2000 · The cut-off frequency is a fixed value. TCFIL2 Standard Torque command filter 2...
Page 187 8. Explanation of Parameters 8.5.2 Parameters of Group１ Symbol Parameter Name and Description Standard Unit Setting Remarks Group Page Setting Level Range Value Basic Positioning Completion Range Pulse 1～ • Parameter for setting the range to output the positioning 65535 completion signal.
Page 188 8. Explanation of Parameters Symbol Parameter Name and Description Standard Unit Setting Remarks Group Page Level Setting Range Value GER2 Advanced Electronic gear 2 1/32767 • Setting contents are similar to electronic gear 1. ～ • Valid during electronic gear switchover. 32767/1 Division ratio of encoder pulse division output ENRAT...
Page 189 8. Explanation of Parameters Symbol Parameter Name and Description Standard Unit Setting Remarks Group Page Level Setting Range Value VCLM Standard Velocity limit command 65535 min-1 1～ • Parameter for restricting the velocity command. 65535 • The maximum value of velocity command is a fixed value. •...
Page 190 8. Explanation of Parameters Symbol Parameter Name and Description Standard Unit Setting Remarks Group Page Level Setting Range Value VCGN Standard Analog velocity command scaling min-1/V 0～4000 • Parameter for setting the scaling of the analog velocity command. Standard Analog torque command scaling 0～500 ＴCGN •...
Page 191 8. Explanation of Parameters Symbol Parameter Name and Description Standard Unit Setting Remarks Group Page Setting Level Range Value BONBGN Standard msec 0～ Brake operation start time For 0msec = • Parameter for setting motor free operation time, dynamic 65535 “infinity”, is brake operation time, and servo brake operation time.
Page 192 8. Explanation of Parameters Symbol Parameter Name and Description Standard Unit Setting Remarks Group Page Level Setting Range Value INCEDAT Advanced Abnormal setting value while calculating incremental encoder Pulse 4～ • Parameter for detecting errors in calculating incremental 65535 encoder. •...
Page 193 8. Explanation of Parameters 8.5.3 Parameters of Group 2 Symbol Parameter Name and Description Standard Unit Setting Remarks Group Page Level Setting Range Value OBLPF1 Advanced Observer output low-pass filter 1 1～ • Primary low-pass filter is set for observer output as default 2000 •...
Page 194 8. Explanation of Parameters 8.5.4 Parameters of Group 3 Symbol Parameter Name and Description Standard Setting Remarks Group Page Level Setting Range Value PA300 Basic Amplifier Function Selection 300  Upper: Deviation clear selection 0*～ "Edge Select a method for clearing a position deviation from the following: detection"...
Page 195 8. Explanation of Parameters Symbol Parameter Name and Description Standard Setting Remarks Group Page Level Setting Range Value PA301 Basic Amplifier Function Selection 301  Upper: Encoder pulse division output polarity 0*～ Select the polarity of th eencoder pulse output division from the following: Selection Explanation A phase signal/ Not reversed:...
Page 196 8. Explanation of Parameters Symbol Parameter Name and Description Standard Setting Remarks Group Page Level Setting Range Value PA302 Basic Amplifier Function Selection 302  Upper: Command input polarity 0*～ Select command polarity from the following: Selection Explanation Forward rotation with ‘Position command / + Input’: Forward rotation with ‘Velocity command / + Input’: Forward rotation with ‘Torque command / + Input’...
Page 197 8. Explanation of Parameters Symbol Parameter Name and Description Standard Setting Remarks Group Page Level Setting Range Value PA303 Basic Amplifier Function Selection303 0*～  Upper: Torque limit input Select torque command limit (input) method from the following: Limit values when torque command limit function is enabled Selection Explanation ...
Page 198 8. Explanation of Parameters Symbol Parameter Name and Description Standard Setting Remarks Group Page Level Setting Range Value PA304 Basic Amplifier Function Selection304  Upper: Over travel operation 0*～ In the case of over travel, select operations from the following: Selection Explanation ...
Page 199 8. Explanation of Parameters Symbol Parameter Name and Description Standard Setting Remarks Group Page Setting Level Range Value PA305 Basic Amplifier Function Selection305 ・ Upper: Analog monitor output polarity 0*～ Output polarity of analog monitor outputs MON1and MON2 are selected from the following contents.
Page 200 8. Explanation of Parameters Symbol Parameter Name and Description Standard Setting Remarks Group Page Level Setting Range Value PA306 Basic Amplifier Function Selection 306  Upper : Speed addition command input 0*～ Select speed addition command input from the following: Selection Explanation Speed addition function...
Page 201 8. Explanation of Parameters Symbol Parameter Name and Description Standard Setting Remarks Group Page Level Setting Range PA307 Basic Amplifier Function Selection 307 Upper: Absolute encoder clear function selection 0*～ This function is used for clearing the absolute encoder warning, which does not clear automatically.
Page 202 8. Explanation of Parameters 8.5.5 Parameters of Group 4 Symbol Parameter Name and Description Standard Setting Remarks Group Page Level Setting Range Value PA400 Basic Amplifer function selection 400.  Upper : Command.Pulse Selection 0*～ Select the form of position command pulse from the following: Selection Explanation Clockwise pulse + anticlockwise pulse...
Page 203 8. Explanation of Parameters Symbol Parameter Name and Description Standard Setting Remarks Group Page Level Setting Range Value PA401 Basic Amplifier Function Selection 401  Upper : Reservation 0*～ Do not change the setting value. Selection Explanation reserveｄ The setting is enabled after turning ON the control power again.. ...
Page 204 8. Explanation of Parameters Symbol Parameter Name and Description Standard Setting Remarks Group Page Level Setting Range Value PA402 Basic Amplifier Function Selection 402  Upper :Setup software communication baud rate. 0*～ Selct the baud rate for communicating with the PC, from the following: Selection Explanation 1200 bps...
Page 205 8. Explanation of Parameters Symbol Parameter Name and Description Standar Setting Remark Group Page Level Range Setting Value  Upper : Reservation 0*～ Do not change the setting value. Selection Explanation reserveｄ The setting is enabled after turning ON the control power again.. ...
Page 206 8. Explanation of Parameters 8.5.6 Parameters of Group 5 Symbol Parameter Name and Description Standard Setting Remarks Group Page Level Setting Value Range MON1 Basic Analog monitor output 1 selection 02H: VMON_2mV/min-1 00H～  Select the signal to be displayed in analog monitor output 1.
Page 207 8. Explanation of Parameters 8.5.7 Parameters of Group 6 Symbol Parameter Name and Description Standard Setting Remarks Group Page Level Setting Value Range PA600 Advanced Observer function selection 00: _ OFF 00H～ (Parameter for selecting observer function) Selection Explanation Observer function disabled ON / Func1 ‘Observer function enabled’...
Page 208 8. Explanation of Parameters 8.5.8 Parameters of Group 7 Name and Description Symbol Parameter Standard Setting Range Remarks Group Page Level Setting Value Parmeters of Group 7.  Select the conditions (Input signal) to enable/disable various functions.  Selection contents are as given in the following table. It is common for all parameters of Group 7.
Page 209 8. Explanation of Parameters 8.5.9 Parameters of Group 8 Symbol Parameter Name and Description Standard Setting Range Group Page Ｒｅｍａｒｋｓ Level Setting Value Parameters of Group 8.  Select the condition (Input signal) to enable various functions  Selection contents are given in the following table, and common to all parameters of Group 8.
Page 210 8. Explanation of Parameters Symbol Parameter Name and Description Standard Setting Remarks Group Page Level Setting Value Range F-OT Basic Forward over travel function 0D:_CONT6_OFF 00h～1Fh  Select the condition to enable the forward over travel function. R-OT Basic Reverse over travel function. 0B:_CONT5_OFF 00h～1Fh ...
Page 211 8. Explanation of Parameters 8.5.10 Parameters of Group 9 Symbol Parameter Name and Description Standard Setting Range Remarks Group Page Level Setting Value Parameters of Group 9  Select the signal to be output from the general output terminal.  Selection contents are as given in the following table. They are common for all parameters of Group 9.
Page 212 8. Explanation of Parameters Symbol Parameter Name and Description Standard Setting Range Remarks Group Page Level Setting Value Description of available contents for paramters of Group 9 (continued) Selection Explanation CONT1_ON When general CONT 1 is ON, the output is ON CONT1_OFF When general CONT 1 is ON, the output is OFF CONT2_ON...
Page 213 9. Maintenance Maintenance ･････････ 9.1 Disposal at the time of Alarm Generating ･･････････ 9.1.1 Alarm Reset ･･････････ 9.1.2 Alarm /Warning List ･････････ 9.2 Trouble Shooting at the time of Alarm Generating ･････････ 9.3 Corrective Actions for Problems During Operation 9-30 ･････････...
Page 214 9. Maintenance 9.1 Disposal at the time of Alarm Generating When an alarm is issued, the 7-segment LED blinks and the alarm code is displayed. It is possible to output the higher 3 bits of the Alarm code (bits 7, 6, 5) and the PY amplifier compatible alarm code 4 bits (ALM 8, 4, 2, 1) from CN 1 as a general output.
Page 215 9. Maintenance Table 9-1 Alarm list table Alarm code Operatio 3 bits output PY compatible code Alarm Alarm name Alarm contents ns while clear Display detecting Bit7 Bit6 Bit5 Excess voltage  DC Excess voltage of main circuit Main circuit under voltage Note 1) ...
Page 216 9. Maintenance Table 9-1 Alarm List Alarm code Operations 3 bits output PY compatible code Alarm Alarm title Alarm contents while Clear Display detecting Bit7 Bit6 Bit5 Encoder Abnormality 1  Breakdown of Encoder internal device Absolute Encoder Battery Abnormality ...
Page 217 9. Maintenance Table 9-2 Warning List Warning Title Warning Contents  When the effective torque exceeds the set Overload Warning torque Load system Regenerated Overload Warning  In case of overload of regenerative resistance  Ambient temperature of the amplifier is out of Amplifier Overheating Warning range of the set temperature Power supply system...
Page 218 9. Maintenance 9.2 Trouble Shooting at the time of Alarm Generating When the alarm is generated, take measures and perform the process depending on the corrective actions for all alarm displays as given below. 1. An “ “mark represents the cause number under “Status when the alarm rings’ in the charts below.
Page 219 9. Maintenance Alarm code 21H (Power Device Abnormality / Over current) Cause Status at the time of alarm Issued when control power is turned ON. ∆  ∆ Issued at servo input.    Issued while starting and stopping the motor. ∆...
Page 220 9. Maintenance Alarm code 22H (Electric current abnormality 0) Cause Status during alarm Issued when the control power is turned  ∆ Issued after the power is turned ON. ∆  Corrective actions Cause Investigation and corrective actions Defect in control print panel ...
Page 221 9. Maintenance Alarm code 41H (Overload 1) Cause Status during alarm Issued when power supply control is  turned ON. Issued at input of servo ON.    After command input, issued without      rotating the motor. After command input, brief motor rotation ...
Page 222 9. Maintenance Alarm code 43H (Regeneration abnormality) Cause Status during alarm Issued when power supply control is  turned ON. Issued when power supply of main    circuit is turned ON.  Issued during operation.    ...
Page 223 9. Maintenance Alarm code 51H (Amplifier temperature abnormality) Cause Status during alarm Issued when power supply control is ∆  ∆ turned ON. Issued during operation. ∆    Issued after emergency stop.  Corrective actions Cause Investigation and corrective actions ...
Page 224 9. Maintenance Alarm code 53H (DB Overheating) Cause Status during alarm Issued when power supply is turned ON.  Issued during operation. ∆  Corrective actions Cause Investigation and corrective actions  Defect in internal circuit of servo  Replace the servo amplifier. amplifier.
Page 225 9. Maintenance Alarm code 55H (External abnormality )  When external regenerative resistor and output terminal of upper device are not connected Cause Status during alarm Issued when power supply control is ∆  turned ON. Corrective actions Cause Investigation and corrective actions ...
Page 226 9. Maintenance Alarm code 61H (Over voltage ) Cause Status during alarm Issued when power supply control is  turned ON. Issued when power supply of main   circuit is turned ON. Issued at the time of motor start/stop. ∆...
Page 227 9. Maintenance Alarm code 63H (Main power supply line -drop) Cause Status during alarm Issued when power supply control is  turned ON. Issued when power supply of main   circuit is turned ON. ∆ Issued during motor operations. Alarm issued during single-phase power ...
Page 228 9. Maintenance Alarm code 72H (±12 V Power supply abnormality) Cause Status during alarm Issued when power supply control is turned ON. ∆  Corrective actions Cause Investigation and corrective actions Defect in internal circuit of the servo Replace the servo amplifier. amplifier.
Page 229 9. Maintenance Alarm code 85H (Abnormality in initial process of encoder) Cause Status during alarm Issued when power supply control is ∆     turned ON. Corrective actions Cause Investigation and corrective actions For encoder wiring: Improper wiring ...
Page 230 9. Maintenance Alarm code A1H (Encoder Abnormality 1) When abnormalities are detected in the internal part of the absolute position detector (RA062M) for the Manchester encoding system. Cause Status during alarm Issued when power supply is turned ON.  Issued during operation. ...
Page 231 9. Maintenance Alarm code A3H (Encoder overheating ) When abnormalities are detected in the internal part of the absolute position detector for the start-stop synchronization system. Cause Status during alarm Issued when control power supply is ∆  turned ON. Issued while stopping the motor.
Page 232 9. Maintenance Alarm code A6H（Encoder abnormality 4） “New Features 2” When abnormalities are detected in the internal part of the absolute position detector for the start-stop synchronization system. Cause Status when alarm rings. Issued when power supply is turned ON. ...
Page 233 9. Maintenance Alarm Code B2H (Encoder abnormalities 2) When abnormality is detected in the internal part of the absolute position detector (RAO62M) of the Manchester system. Cause Status during alarm Issued during operation. ∆  Corrective actions Cause Investigation and corrective actions Turn ON the power supply again;...
Page 234 9. Maintenance Alarm code B5H (Over speed and multiple rotations generation abnormality) When abnormalities are detected in the internal part of the absolute position detector for the start-stop synchronization system. Cause Status during alarm Issued when power supply is turned ON. ...
Page 235 9. Maintenance Alarm code C1H (Over speed) Cause Status during alarm Issued when control power supply is turned ON.  ∆ Issued if command is entered after Servo ON ∆  Issued when the motor is started.   Issued other than operating and starting the motor ...
Page 236 9. Maintenance Alarm code C2H (Speed control abnormality) Cause Status during alarm Issued when control power supply is  turned ON. Issued while due to input of Servo ON   Issued if command is entered.    Issued while starting and stopping the ...
Page 237 9. Maintenance Alarm code D1H (Excessive position deviation) Cause Status during alarm Issued when control power  supply is turned ON. Issued when servo ON is   stopped. Issued immediately after entering ∆ ∆ ∆     ...
Page 238 9. Maintenance Alarm code D2H (Position pulse frequency abnormality 1) Caus Status during alarm Issued after entering position command  pulse. Corrective actions Cause Investigation and corrective actions Command for the digital filter Decrease the frequency of the command  ...
Page 239 9. Maintenance Alarm code E1H (EEPROM abnormality) Cause Status during alarm Issued when control power supply is  ∆ turned ON. Issued during display key operation or  setup software operation. Corrective actions Cause Investigation and corrective actions Correct value not read by CPU by ...
Page 240 9. Maintenance Alarm code E3H (Internal RAM abnormality) Alarm code E4H (Abnormality in process between CPU and ASIC) Cause Status during alarm Issued when control power supply is  turned ON. Corrective actions Cause Investigation and corrective actions Defect in the servo amplifier control ...
Page 241 9. Maintenance Alarm code E6H (Parameter error 2) Cause Status during alarm Issued when control power supply is   turned ON. Issued after changing any of system  parameters. Corrective actions Cause Investigation and corrective actions Confirm the model number of servo ...
Page 242 9. Maintenance 9.3 Corrective Actions for Problems During Operation Causes, investigation and corrective actions, when problems occurred and alarm is not displayed, are shown in the following table. If problem is not resolved even after taking the corrective actions, contact our company. Conducting investigations or corrective actions without turning the power OFF is dangerous, and could lead to injury.
Page 243 9. Maintenance Table 9-3 Corrective Actions for problems during operation Problems Investigation Assumed causes and corrective actions 1. Check the motor power Phase order of motor power line does  line. not match. Motor is accelerated. 2. Check the wiring of Wiring of A phase and B phase of the ...
Page 244 9. Maintenance Maintenance For maintenance purposes, a daily inspection is typically sufficient. A summary and schedule of Inspection items are shown in the following table. 1. As there is a possibility of damage during a megger test of the servo amplifier, a cable check (depending on the test) is recommended.
Page 245 9. Maintenance 9.5 Overhaul Parts Parts indicated in Table 9-5 may deteriorated over time. Perform periodic inspection for preventive maintenance. Table 9-5 Periodic inspection of parts Number of Part name average Corrective measures / usage conditions replacement years Replacement with new part is necessary. Condenser for smoothing main Load ratio ：50% of rated output current of amplifier 5 Years...
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Page 247 10. Specifications Specifications ･･･････････････････ 10-2 10.1 Servo amplifier ･･････････ 10-2 10.1.1 General specifications ･･････････ 10-4 10.1.2 CN1 General input/output interface ･･････････ 10-9 10.1.3 Position of signal output ･･････････ 10-29 10.1.4 Monitor output ･･････････ 10-32 10.1.5 Position command input ･･････････ 10-36 10.1.6 Velocity command input ･･････････...
Page 248 10. Specifications 10.1 Servo Amplifier 10.1.1 General specifications General specifications Model number QS1       Control function Speed control, torque control, or position control (Parameter change) Control system IGBT PWM control Sinusoidal drive Three-phase AC200~230V+10, -15%, 50/60Hz±3Hz ＊...
Page 249 10. Specifications 1 Source Voltage should be within the specified range. AC200V Power input type Specified power supply range AC170V～AC253V Never raise the power supply above AC230V+10% (253V) AC100V Power input type Specified power supply range AC85V～AC127V Never raise the power supply above AC115V+10% (127V) Install a step-down transformer if power supply exceeds the specified power supply.
Page 250 10. Specifications 10.1.2 CN 1 General input / output interface Structure of input circuit Type 1: General (two way / insulating) input (Photo coupler input) IN-COM This type of input circuit is a non-contact circuit as DC power 2.2k supply shown in the figure on the right.
Page 251 10. Specifications Structure of input circuit Type 4: Analog input 1 1.8kΩ Shown in the figure on the right, this input circuit only V-REF/T-REF (V-COMP) permits analogue speed and torque commands (speed compensation) as input signals. Type 5: Analog input 2 Shown in the figure on the right, this input circuit only permits forward rotation/reverse rotation current limit as F-TLA...
Page 252 10. Specifications Structure of output circuit Type 7: Open collector output 1 This type of output circuit is a non-contact circuit as 5V～24V shown in the figure on the right. 24V±10%　　　　 max50mA External power supply specification: DC5V±10% or 12V～15V±10%　max30mA DC12V～24V±10%, 5V±5%　　　　　...
Page 253 10. Specifications Specifications of CN1 input/output signal Circuit type Signal name Code number Outline of the specifications Forward rotation F-PC pulse string Type 3 Pulse string to be rotated in forward direction command (47) F-PC Reverse rotation R-PC pulse string Type 3 Pulse string to be rotated in reverse direction command...
Page 254 10. Specifications Specifications of CN1 input/output signal Circuit type Signal name Code number Outline of specifications This is an input terminal to be used as a condition to enable the following internal functions: One input terminal enables multiple functions. CONT Refer to Page 8-54 for how to select the internal General input 1 32～37...
Page 255 10. Specifications 10.1.3 Position of signal output Details of signal output position specifications Chapter Contents Related encoder 10.1.3.1 Pulse output Wire-saving incremental encoder (INC-E) Absolute encoder with incremental output (ABS-E) Request method absolute encoder (ABS-RII, RA062M) Battery backup method absolute encoder (PA035C) Absolute encoder without battery (RA062C) 10.1.3.2 Serial output...
Page 256 10. Specifications 10.1.3.2 Serial output ( While using Absolute encoder incremental output ABS-E ) Output of the position signal can be selected from 3 transmission methods. When the parameter group 4, page 4 (PA 404) is “0H”, output is Asynchronous. For “1H”, output is in ASCII code output in decimals, and synchronous Manchester encoding (Encoder signal direct output) when set to “2H”.
Page 257 10. Specifications (2) Transfer format (2-1) Asynchronous (9600bps)  Structure of Frame 1 Frame 1 (11 bit) ↑ ↑ ↑ Start signal Position signal Address signal Parity stop (1bit) (5bit) (3bit) signalsignal (1bit) (1bit) Figure 10- 1 (1) Frame structure of Asynchronous (9600bps) Structure of each frame ...
Page 258 10. Specifications “New function 2” (2-2) ASCII code output in decimals (9600bps) Structure of Frame 1 Frame 1 (10bit) D0 D1 D2 D3 D4 D5 D6 0/1 ↑ ↑ ↑ Start signal Position signal Parity Stop (1bit) (7bit) signal signal (1bit) (1bit) Table 10-2 (1)Frame structure of output for ASCII code in decimals...
Page 259 10. Specifications (2-3) Synchronous Manchester encoding (1Mbps)  Structure of Frame 1 Frame 1 (25 Bit) ↑ ↑ ↑ ↑ ↑ ↑ Start Signal position Frame Stop Signal Address Signal Signal Address Signal (3bit) (2bit) (15bit) (1bit) (3bit) (1bit) Figure 10-3 (1) Frame structure of synchronous Manchester encoding (1Mbps) ①...
Page 260 10. Specifications (3)Transfer period (3-1) Asynchronous (9600bps) Serial transfer Power supply control Approx. 1s Approximately 11 ms Serial output Indefinite “H” 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 PS, PS Approximately9.2ms Frame 1 Frame 2 Frame 3...
Page 261 10. Specifications 10.1.3.3 Serial output (When using Request method absolute encoder ABS-R II and RA062M) Output of the position signal can be selected from 3 transmission methods. When the parameter group 4, page 4 (PA 404) is “0H”, output is Asynchronous. For “1H”, output is in ASCII code output in decimals, and synchronous Manchester encoding (Encoder signal direct output) when set to “2H”.
Page 262 10. Specifications (2) Transfer format (2-1) Asynchronous (9600bps)  Structure of Frame 1 Frame1 (11 bit) ↑ ↑ ↑ Start signal Position signal Address signal Parity Stop (1bit) (5bit) (3bit) signalsignal (1bit) (1bit) Figure 10 -5 (1) Frame structure of Asynchronous (9600bps) Structure of each frame ...
Page 263 10. Specifications “New function 2” (2-2) ASCII code output in decimals (9600bps) Structure of Frame 1  Frame1 (10 bit) D0 D1 D2 D3 D4 D5 D6 0/1 ↑ ↑ ↑ Start signal Position signal Parity stop (1bit) (7bit) signal signal (1bit) (1bit) Figure 10 -6 (1) Frame structure of output for ASCII code in decimals Structure of each frame...
Page 264 10. Specifications (2-3) Synchronous Manchester encoding (1Mbps) Structure of Frame 1  Frame 1 (25 bit/ 27 bit) ↑ ↑ ↑ ↑ ↑ ↑ Start Position signal Frame Stop signal Address address signal signal signal signal (3bit) (2bit) (15bit) (1bit) (3bit) (1bit) Figure 10 -7 (1) Frame structure of Synchronous Manchester encoding (1Mbps)
Page 265 10. Specifications (3) Transfer period (3-1) Asynchronous (9600bps) Serial transfer Approx. 11 ms Power supply control Approx. 1 s Serial output "H" 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 Indefinite PS, PS Approx.
Page 266 10. Specifications (4) Request method absolute encoder RA 062M Handling precautions ・Number of rotations -4096 to +4095 rotations are continuously counted, by centering on 0 and increasing the count by 1 rotation during an operation. –8192 to +8191 rotations are maintained by centering on 0 with the mutual position relation of gear-combined resolver, when the power supply is OFF.
Page 267 10. Specifications 10.1.3.4 Serial output (While using Battery backup method absolute encoder PA035C and Absolute encoder without battery RA062C) Output of the position signal can be selected from 3 transmission methods. When the parameter group 4, page 4 (PA 404) is “0H”, output is Asynchronous. For “1H”, output is in ASCII code output in decimals, and synchronous Manchester encoding (Encoder signal direct output) when set to “2H”.
Page 268 10. Specifications (2) Transfer format (2-1) Asynchronous（9600 bps）  Structure of Frame 1 Frame 1 (11bit) ↑ ↑ ↑ Start signal Position signal Address signal Parity Stop (1bit) (5bit) (3bit) signalsignal (1bit) (1bit) Figure 10-9 (1) Frame structure of asynchronous (9600 bps) ...
Page 269 10. Specifications “New function 2” (2-2) Output for ASCII code in decimals (9600 bps) Structure of frame 1 Frame 1（10bit） D0 D1 D2 D3 D4 D5 D6 0/1 ↑ ↑ ↑ Start signal Position signal Parity Stop signa sign (1bit) (7bit) (1bit) (1bit)
Page 270 10. Specifications (2-3) Encoder direct output Frame structure 3～4 frames Information field Data field 0 Data field 1 Data field 2 Figure 10-11(1) Frame structure of encoder direct output Frame structure Information field (IF) Frame 1 (18bit) ↑ ↑ ↑ Start Sink Encoder...
Page 271 10. Specifications Data field (DF0~DF2) Frame 1 (18bit) ↑ ↑ Start Data field Stop signal (LSB fast) signal (1bit) (15bit) (1bit) Figure 10-11(3) Format of data field Compatibility table of command and data Command Data Frame CC[4:0] length DF0 D0[0:15] DF1 D1[0:15] DF2 D2[0:15] D2[0:7]=ABS[32:39]...
Page 272 10. Specifications (3) Transfer period (3-1) Asynchronous（9600 bps） Serial transfer Power supply control Approx. 1 s Approx. 11ms Serial output Not fixed "H" 1 2 3 4 5 6 7 8 1 2 3 4 5 6 7 8 _ _ _ _ PS, PS Approx.
Page 273 10. Specifications 10.1.3.4 Serial output (While using Wire-saving incremental encoder) When using the incremental encoder, the actual position monitor value is output, irrespective of the selected value in Parameter Group 4, Page 4 (PA 404). The specifications are shown below. (1) Serial output specifications Asynchronous method output (9600bps) specifications Transmission method...
Page 274 10. Specifications 2）Transfer format （2-1）Asynchronous(9600bps) Structure of Frame 1 Frame 1(11bit) ↑ ↑ ↑ Start signal Signal position Address signal Parity Stop (1bit) (5bit) (3bit) Signal Signal (1bit) (1bit) Fig.10-13（1） Frame structure of Asynchronous (9600bps) Structure of each frame Start Address Parity Stop...
Page 275 10. Specifications 10.1.4 Monitor output The command/ feedback/ General output signal can be monitored in Analog Monitor  Output 1 (MON1), Analog Monitor output 2 (MON2), or Digital Monitor Output (DMON). It is possible to change the analog monitor output polarity/ output contents as via the parameter selection settings.
Page 276 10. Specifications (1) Speed, Torque and Deviation Monitoring Refer to the following figure. The speed command outputs data from the internal amplifier. The monitor output value is 0 in SOFF status. When the power supply control is turned on / cutoff, monitor output becomes irregular. Speed command and speed feed back monitor output.
Page 277 10. Specifications (2) Example of monitor application The following is an application example of the speed and torque monitor. Rotation speed measurement and torque measurement: When a meter is connected to the speed feedback monitor and torque feed back monitor, use both deflection types with a direct current voltmeter, and connect as shown in the following figure.
Page 278 10. Specifications 10.1.5 Position command input Position command pulse input signal during position control is explained. 10.1.5.1 Upper level device output type The upper level device output type can be either “Line driver output” or “Open collector output”. When upper level device is line driver output type Twisted pair Servo Amplifier Upper level device...
Page 279 10. Specifications 10.1.5.2 Selection of position command pulse type and related parameters Position command pulse can be selected from 3 types. Command pulse selection: Parameter Group 4 [PA400] Upper level (Refer to “Chapter 8”, 8-48) OH: Forward rotation pulse string + reverse rotation pulse string 1H: 90 two-phase difference pulse string 2H: Code + Pulse string...
Page 280 10. Specifications 10.1.5.3 Timing of command pulse The timing of each command pulse is shown in the following figure. Timing of command pulse Command pulse F-PC Forward (Reverse rotation pulse) rotation pulse Ｔ string (Forward rotation pulse) Reverse rotation pulse string F-PC ( phase A)
Page 281 10. Specifications 10.1.5.4 Position command pulse digital filter setting Position command pulse digital filter: Parameter Group 3 [PA300] Upper level (Refer to “Chapter 8”, 8-39) If the minimum pulse width time is less than the selected value of the digital filter for position command input maximum frequency, the alarm “AL D2”...
Page 282 10. Specifications 10.1.6 Velocity command input Velocity command and motor rotation speed characteristics are shown in the following figure. “Velocity command voltage” is the voltage to be input from Velocity command input terminals CN1-21 and 20. “Motor forward rotation (+)” is anticlockwise rotation, as seen from load side. The polarity can be changed by the Group 3 amplifier function Selection 302 parameter setting.
Page 283 10. Specifications 10.1.8 External torque restricted input It is possible to externally restrict the forward rotation drive torque and reverse rotation drive torque independently. Thetorque limit scale is 2V/ rated torque (TR) in applicable motors. While using the external torque limit, select the input method in amplifier function setting 303.
Page 284 10. Specifications 10.1.10 Power capacity The following table shows input power capacity and recommended wiring tools for the rated output under load. Power Capacity and Wiring Tool Examples Main circuit Main Power Power Noise filter power circuit supply Input Amplifier Rated supply (EMC...
Page 285 10. Specifications Incoming current values: Incoming current Input Control circuit (Maximum value between Main circuit (Maximum value between 1.2 Amplifier model name voltage 1ms after input)*3 seconds after input) QS1□01A 40A (0-P) 18A (0-P)*1 QS1□03A 40A (0-P) 18A (0-P)*1 QS1□05A 40A (0-P) 18A (0-P)*1 200V...
Page 286 10. Specifications 10.1.12 Calorific value The calorific value under the rated load is shown in the following table. Calorific value list table Total calorific value of Servo amplifier Input voltage Amplifier capacity Motor model number Q1AA 04003D Q1AA 04005D Q1AA 04010D Q1AA06020D Q2AA04006D QS 1 A 01...
Page 287 10.Specifications 10.2 Servo Motor 10.2.1 General Specifications General specifications of servo motor Series Name Time Rating Continuous Insulation Type F Classification Dielectric Strength AC 1500V 1 minute Voltage DC 500 V, More than 10M Ω Insulation Resistance Fully closed, Auto cooling Protection method IP 67 IP 67...
Page 288 10.Specifications 10.2.2 Rotation Direction Specifications The rotation characteristics for the servo motor and encoder are explained in this section. (1) Servo Motor When a command to increase the position command is entered, the servo motor rotates in a counterclockwise direction from the load side (Normal rotation). Rotation direction during normal motor operation (2) Encoder Signal Phases...
Page 289 10.Specifications 10.2.3 Mechanical Specifications of the Motor (1) Vibration Resistance Install the servo motor in a horizontal direction (as shown in the following figure), so that when vibration is applied in any 3 directions (up/down, back/forward, left/right) it can withstand the vibration acceleration up to 24.5m/s Up/down Left/right Backword...
Page 290 10.Specifications (3) Working Accuracy The following table shows the accuracy of the servo motor output shaft and precision (Total Indicator Reading) of the parts surrounding the shaft. Items T.I.R. Reference Figure Vibrations of output shaft 0.02 terminal α β Eccentricity of the external diamete 0.06 (Below□86) r of the...
Page 291 10.Specifications (6) Oil seal A Type S oil seal (as described in the following table) is fixed to the output shaft of the servo motor. This oil seal is produced by NOK Corporation; please contact your dealer or sales representative for replacement of the oil seal. Servo Motor Model Oil Seal type（Type S）...
Page 292 10.Specifications 10.2.4 Holding brake specifications An optional holding brake is available for each motor. Since this brake is used for holding, it cannot be used for braking, except for an emergency. Turn brake excitation ON or OFF by using the holding brake timing signal output. When using this signal, set the command for －...
Page 293 10.Specifications Q2AA13150 H 12.0 Q2AA13200 H 12.0 Q2AA18200 H 32.0 Q2AA18350 H 32.0 Q2AA18450 H 54.9 Q2AA18550R 90.0 Q2AA22550B 90.0 Q2AA22700S 100ＶSpecifications Static friction Braking delay time Release time Model torque msec msec Varistor Diode Q1EA04003D 0.098 0.157 Q1EA04005D 0.32 Q1EA04010D 0.637 Q1EA06020D...
Page 294 10.Specifications Brake operating time is measured in the following circuit. 100VAC 60Hz E DC E DC 100% 100% Note: The brake release time and braking delay time refer to those mentioned in the above tables. The brake release time is the same for both the varistor and diode. 10 - 48...
Page 295 Specifications 10.2.5 Motor Data Sheet ･ This section displays motor data sheet (characteristics). ･ By combining the servo motor and servo amplifier in the table, values for AC200V, 3 phases when the amplifier power supply is 200V, and for AC100V, single phase when the power supply is100V, are shown respectively. ･...
Page 296 Specifications Specifications for 200V Servo Motor model Q1AA 13400D 13500D 18450M 18750H Servo Amplifier model QS1□ *Rated output *Rated rotation 3000 3000 1500 1500 speed *Maximum 4500 4500 1500 3000 rotation speed ･ 12.7 15.7 28.5 *Rated torque *Continuous stall ･...
Page 297 Specifications Specifications for 200V Servo Motor model Q2AA 04006D 04010D 05005D 05010D 05020D 07020D 07030D Servo Amplifier model QS1□ 0.05 *Rated output 0.06 3000 3000 3000 3000 3000 3000 3000 *Rated speed min- 5000 5000 5000 5000 5000 5000 5000 *Maximum speed ･...
Page 298 Specifications Specifications for 200V 13050H 13100H 13150H 13200H 18200H 18350H 18450H Servo Motor model Q2AA Servo Amplifier model QS1□ *Rated output 2000 2000 2000 2000 2000 2000 2000 *Rated rotation speed 3500 3000 3500 3500 3500 3500 3000 *Maximum rotation speed 9.55 16.7 21.5...
Page 299 Specifications Specifications for 100V Servo Motor model Q2EA 04006D 04010D 05005D 05010D 05020D 07020D Servo Amplifier model QS1□ 0.06 0.05 *Rated output 3000 3000 3000 3000 3000 3000 *Rated rotation speed 5000 5000 5000 5000 5000 5000 *Maximum rotation speed 0.191 0.318 0.159...
Page 300 Specifications Speed – torque characteristics Speed – torque characteristics Speed – torque characteristics 速度－トルク特性速度－トルク特性速度－トルク特性 Q1AA10250D （ 2.5kW ） Q1AA12100D （ 1kW ） Q1AA12200D （ 2kW ） Instantaneous zone Instantaneous zone Instantaneous zone Continuous zone Continuous zone Continuous zone 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000 1000 2000 3000 4000 5000 6000...
Page 301 Specifications Q1EA Motor speed-torque characteristics indicate the values in combination with operation amplifier for single phase when amplifier power supply is AC100V. Instant domain decreases when amplifier power su pply is below 100V. Speed – torque characteristics Speed – torque characteristics Speed –...
Page 302 Specifications Speed – torque characteristics Speed – torque characteristics Speed – torque characteristics 速度－トルク特性速度－トルク特性速度－トルク特性 Q2AA07030D （ 300W ） Q2AA07040D （ 400W ） Q2AA07050D （ 500W ） Instantaneous zone Instantaneous zone Instantaneous zone Continuous zone Continuous zone Continuous zone 1000 2000 3000...
Page 303 Specifications Speed – torque characteristics Speed – torque characteristics Speed – torque characteristics 速度－トルク特性速度－トルク特性速度－トルク特性 Q2AA18200H （ 2kW ） Q2AA18350H （ 3.5kW ） Q2AA18450H （ 4.5kW ） Instantaneous zone Instantaneous zone Instantaneous zone Continuous zone Continuous zone Continuous zone 1000 2000 3000...
Page 304 Specifications The Q2EA motor speed-torque characteristics indicate the values in combination with an amplifier, when the amplifier power supply is AC100V, single phase. When amplifier power supply is below 100V, the instantaneous zone decreases. Speed – torque characteristics 速度－トルク特性 Speed – torque characteristics 速度－トルク特性...
Page 305 Specifications 10.3 External appearance diagram 10.3.1 External appearance diagram of servo amplifier Servo amplifier: QS1A01 Weight: 0.9kg 10 － 59...
Page 306 Specifications Servo amplifier: QS1A03 5±0.5 Direction of wind 70max. 135.5 SAN MOTION AC SERVO SYSTEMS SANYO DENKI MODE ▼ ▲ CHARGE POWER Direction of installation Main Note5 nameplate ○ － Air Intake Note1 Note1: Earth Terminal screw M4 Note3: Main　nameplate (Scale 1/1) Tightening torque 1.18N.m...
Page 307 Specifications Servo amplifier: QS1A05 Note2 Direction of wind 5±0.5 70max. Exhaust 135.5 SAN MOTION AC SERVO SYSTEMS SANYO DENKI MODE CHARGE POWER Direction of installation ○ － Note1 Note3: Main nameplate (Scale 1/1) Note1: Earth Terminal screw M4 Exhaust Tightening torque 1.18N.m Terminal Layout Note2: Mounting panel working drawing OUTLINE...
Page 308 Specifications Servo amplifier: QS1A10 Note７ 70max. Note２ Note３ Note４ Note１ TION QS1A10AA ▲ ▼ Main nameplate Note１ FAN MOTOR Note５ Note6 Note１ Wind direction With fingerguard (75) Terminal Layout Note1, Terminal screw M4 Note4. Regenerative resistance Tightening torque 1.18N・m Note5.Main nameplate(left side) Note2, Mounting panel working drawing M TION Scale 1/1...
Page 309 Specifications Servo amplifier: QS1A15 Note７ 70max. Note２ Note３ Note４ Note１ TION QS1A15AA ▲ ▼ Main nameplate Note１ FAN MOTOR Note６ Note５ Wind direction Note１ With fingerguard (50) Terminal Layout Note1, Terminal screw M4 Note4, Regenerative resistance Tightening torque 1.18N・m Note5, Main nameplate(left side) Note2, Mounting panel working drawing M TION Scale 1/1...
Page 310 Specifications Servo amplifier: QS1L01 Note2 5±0.5 70max. 10max. 135.5 TION ▲ ▼ CHARGE POWER Direction of Main installation nameplate Note5 ○ － Note1 Note3: Main　nameplate (Scale 1/1) Note1: Earth Terminal screw M4 Terminal Layout Tightening torque 1.18N.m TION Note2: Mounting panel working drawing Main nameplate would be changed on the case of standard acquisition OUTLINE...
Page 311 Specifications Servo amplifier: QS1L03 Note2 5±0.5 70max. 10max. 135.5 TION ▲ ▼ CHARGE POWER Direction of Main Air Intake installation nameplate Note6 Note5 ○ － Note1 Note1: Earth Terminal screw M4 Terminal Layout Tightening torque 1.18N.m Note3: Main　nameplate (Scale 1/1) TION Note2: Mounting panel working drawing Main nameplate would be changed...
Page 312 Specifications Servo amplifier: QS1A30 Note6 70max. 注２ Note3 TION QS1A15AA ▲ ▼ CHARGE POWER Main Note2 FAN MOTOR Note4 Note2 Note1 Note5 With fingerguard Note1.Terminal screw M4 Note4.Main nameplate(left side) Terminal Layout Tightening torque 1.37N・m TION Scale 1/1 Note2.Terminal screw M6 Tightening torque 3.73N・m Note3.Mounting panel working drawing (in case of rear-side-mounting)
Page 313 Specifications 10.3.2 External appearance diagram of Servo motor Servo motor external appearance diagram 0.07 □ＬＣ LLMAX. 0.02 0.06 M QE Tap Depth LT Teflon cable(for fixing) Shield cable(for fixing) (For motor,ground,brake) (For sensor) Incremental Absolute Without With Without With Incre Abso Brake Brake...
Page 314 Specifications Servo motor external appearance diagram Q1 Series γ □LC α (LG) (IL2) (IF) 4- LZ1 2-M8 β M QE Tapping Oil seal Depth LT (S type) (IL1) (IL2) (KB1) (KB2) (IF) Eyebolt MS3102A20-29P 2-LZ2 2-M8 (Sensor) Section H-H MS3102A□□-□□□ (Motor,Ground,Brake) Connector Note 1 Incremental...
Page 315 Specifications Servo motor external appearance diagram 0.07 □ＬＣ LLMAX. 0.02 0.06 M Ｏｉｌ　ｓｅａｌ QE Tapping Depth LT （Ｓ　ｔｙｐｅ） Teflon cable(for fixing) Shield cable(for fixing) (For motor,ground,brake) (For sensor) 04006～05010 05020～08100 Incremental Absolute Without With Without With Brake Brake Brake Brake MODEL Q2□A04006△□◇...
Page 316 Specifications Servo motor external appearance diagram Q2 Series γ M □LC α (LG) (IL2) (IF) 2-M8 β QE Tapping Oil seal Depth LT (S type) (IL1) (IL2) (KB1) (KB2) (IF) Eyebolt MS3102A20-29P 2-LZ2 2-M8 (Sensor) Section H-H MS3102A□□-□□□ (Motor,Ground,Brake) Incremental Absolute Connector Note 1 Brake(only...
Page 317 Specifications 10.4 Option The following optional peripheral equipment is available for the Q series servo amplifier.  Input/Output connector Plug and housing for the input/output connector (Standard sizes are listed for this optional equipment) Connector list for QS1A, L, M, B (AC200V Input type) Model Manufacturer’s Application...
Page 318 Specifications Connector list for QS1E, F, N, P (AC100V Input type) Model Manufacturer’s Application Contents Manufacturer number model number Single item AL-00329461-02 Phoenix Contact Co. Ltd. CNA plug MSTB2.5/4-STF-5.08 10150-3000PE 10350-52A0-008 Amplifier capacity Sumitomo 3M Ltd. CN1,CN2 Plug and housing 10120-3000PE QS1 ...
Page 319 Specifications Model number AL-00582788-01 QS101 Front surface Metal Fitting Material SPCC, Surface processing Green chromate plating Thickness 2mm Model number AL-00582789-01 QS103 Front surface Metal fitting Material SPCC, Surface processing Green chromate plating Thickness 2mm 10 － 73...
Page 320 Specifications Model number AL-00582792-01 QS105 Back surface Metal fitting Material SPCC Surcafe processing Green chromate plating Thickness 2mm Model number AL-00582790-01 QS105 Front surface Metal fitting SPCC Surface processing Green chromate plating Thickness 2mm 10 － 74...
Page 321 Specifications Setup software Q setup Provided for communication with a personal computer. Model number Remarks AL-00490833-01 Special purpose cable Communication program ―― (Can be downloaded from our home page.) Model number AL-00490833-01 Special purpose cable 2850mm-10 cable length Refer to Q- SETUP Setup Software Instructions Manual for the wiring diagram. ...
Page 322 Specifications Parameter settings Operations such as parameter settings, saving, and reading tasks can be performed from a PC.  Drive trace function Speed and current of the servo motor are displayed in a graphical format. Test operations It supports Jog operation function. 10 －...
Page 323 Specifications System analysis function Monitor box For analog monitor and digital monitor output. Model number Remarks Q-MON-1 Monitor box + Special purpose cables (2) AL-00496726-01 Special purpose cables (1) Model number Q-MON-1 (main unit) The following two (2) special purpose cables are attached to the monitor box. CN-L CN-R LEFT...
Page 324 Specifications  EMC countermeasures kit For EMC countermeasures. Refer to Chapter 12 for details. Model number Remarks Noise filter: 3SUP-HK30-ER-6B QS-EMC-KIT1 Toroidal core:251-211 Model number: 3SUP-HK30-ER-6B Unit: mm General intersection: +1.5mm Mass:2.5kg Model number: 251-211 ●Battery A battery for use with the amplifier is available. It can be installed inside the digital operator cover.
Page 325 Specifications Precautions for safe handling of the batteries Lithium batteries contain lithium, organic solvent and other combustible substances. Mishandling of the batteries may result in injury and fire through heat generation, rupture and ignition. To prevent accidents, take the following precautions. 1) Shorting If both the plus and minus terminals of the battery come into contact with conductive matter such as metal, a short circuit may occur.
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Page 327 11. Selection Details Selection Details 11.1 Time of Acceleration and Deceleration ••••••••••••••••••• 11-2 11.2 Permitted Repetitions •••••••••••••••••••• 11-3 11.3 Loading Precautions •••••••••••••••••••• 11-6 11.4 Dynamic Brake •••••••••••••••••••• 11-7 11.5 Regeneration Process •••••••••••••••••••• 11-11 11 - 1...
Page 328: Time Of Acceleration And Deceleration
11. Selection Details 11. 1 Time of Acceleration and Deceleration The motor’s acceleration time (t ) and deceleration time (t ) when under a constant load is calculated by following method. These expressions are for the rated speed values, but exclude the viscous torque and friction torque of the motor.
Page 329: Permitted Repetitions
11. Selection Details 11.2 Permitted repetitions There are separate limitations on repetitive operations for both the servo motor and servo amplifier, and the conditions of both must be fulfilled simultaneously.  Permitted repetitions for the servo amplifier When START / STOP sequences are repeated frequently, confirm in advance that they are within the allowed range.
Page 330 11. Selection Details (1) When continuous-speed status and motor stop status is repeated In operating conditions such as those shown in Figure 11-2 below are considered, the effective value of the armature current of the motor is at a frequency below the rated armature current of the motor. If the operating cycle is considered as ‘t’, the usable range can be determined as follows: Ｉ...
Page 331 11. Selection Details (2) When the motor repeats acceleration, deceleration, and stop status For the operating status shown in figure 11-3, the value of permitted repetitions n (times/min) is displayed by following equation. n=2.86×10 × 　　　　　　　　×　　　　　　　 ×T [times/min] : Rated torque Motor current...
Page 332: Loading Precautions
11. Selection Details 11.3 Loading Precautions (1)Negative load The servo amplifier cannot perform negative load operations for more than several seconds, as that causes the motor to rotate continuously. [Examples] : -Downward motor drive (when there is no counter weight.) -When usinglike a generator, such as the wind-out spindle of a winder.
Page 333: Dynamic Brake
11. Selection Details 11.4 Dynamic brake (1) Slowing down the revolution angle by the dynamic brake １ N: Motor speed (min Speed : Slow-down revolution angle (rad) by amplifier internal process time t : Slow-down revolution angle (rad) by on dynamic brake operation : Delay time from signal display to operation start (s) (Depending on amplifier capacity;...
Page 334 11. Selection Details (2) Instantaneous tolerance of dynamic brake If the load inertia (J ) substantially exceeds the applicable load inertia, abnormal heat can be generated due to dynamic brake resistance. Take precautions against situations such as an overheat alarm or the failure of dynamic break resistance, and consult your dealer or sales representative if such a situation occurs.
Page 335 11. Selection Details (4) Dynamic brake constant table. Table11-10 Dynamic brake constant table (for AC200V) α β Amplifier capacity Motor model number (kg-m Q1AA04003 Ｄ 92.0×10 0.01×10 Q1AA04005 Ｄ 34.3×10 0.0134×10 Q1AA04010 Ｄ 35.0×10 0.0233×10 Q1AA06020D 32.0×10 0.141×10 Q2AA04006D 87.8 25.6×10 0.057×10 Q2AA04010D...
Page 336 11. Selection Details α β Amplifier capacity Motor model number (kg-m 0.96 4.77×10 52×10 Q1AA18750H 1.15 2.29×10 73×10 Q2AA18550H 0.725 2.30×10 95×10 QS1A30 Q2AA18750L 0.475 2.47×10 186×10 Q2AA2211KV 0.335 1.96×10 255×10 Q2AA2215KV Table 11-11 Dynamic brake constant table (in case of AC100V) α...
Page 337: Regeneration Process
11. Selection Details 11.5 Regeneration process This servo amplifier has a built-in regenerative resistor. Therefore, as the regeneration capacity of the amplifier depends on the allowable power of the built-in regenerative resistor, calculate the regeneration power PM , and be sure to confirm that PM < PR1 (allowable power of the amplifier’s built-in regeneration resistor) is fulfilled.
Page 338 11. Selection Details  In case of operations along vertical axis (with a gravitational load) ＥM＝ＥVUb＋ＥVD＋ＥVDb ２ＴUb １ＴUb 　　＝　　Ｎ×３･ＫＥφ×　　　 ×ｔUb－　　　　　×３･Ｒφ×ｔUb ２ＫＴＫＴ２ＴD ＴD 　　＋Ｎ×３･ＫＥφ×　　　 ×ｔD－　　　　 ×３･Ｒφ×ｔD ＫＴＫＴ２ＴDb １ＴDb 　　＋　　Ｎ×３･ＫＥφ× 　×ｔDb－　　　　...
Page 339 11. Selection Details Step 2. Calculate the effective regeneration power. Confirm the regeneration capacity of regeneration resistance connected to amplifier from the calculation result during regeneration.  For operations along horizontal axis ＥM ＰM＝ｔo PM: Effective regeneration power [W] EM: Regeneration energy during deceleration [J] to: Cycle time [s] ...
Page 340 11. Selection Details (2) Confirmation method of regeneration power PM in actual operation Regeneration power PM can be easily confirmed in the digital operator or by Q-SETUP setup software. Digital operator ······· Monitor mode Page 11 / Regenerative Resistor Operation Percentage Setup software ·······...
Page 341 11. About selection (3) External Regenerative Resistor Combination Table In in Table 11-12 below, determine the type, number of, and connection method of the external regenerating resistor based on the model of servo amplifier and the effective regenerating power (PM) of the operation pattern. Table 11-12 External Regenerative Resistor Combination Table Up to Up to...
Page 342 11. About selection (4) Conenection and setting methods of the external regenerative resistor Use the external regenerative resistor for regenerative power calculated in “[1] Calculation method for regenerative power PM”). The usage method is explained below. Regenerative Servo amplifier resistor (When connected to thermostat to CONT1～CONT6) －...
Page 343 11. About selection Usage Precautions Regenerative resistance terminals differs according to amplifier capacity. ・ For amplifier capacity of 15A / 30A / 50A: Connect the external regenerative resistor between terminals RB1 nd RB2. (When connecting external regenerative resistance to an amplifier with built-in regenerative resistance, first removing the built-in regenerative resistance wiring in the RB1 and RB2 terminals, connect the external regenerative resistance.
Page 344 11. About selection (5) Regenerative Resistor Connection Method The connection method of the external regenerative resistor is shown in the following figure. Regenerative process not required SIngle external regenerative resistor Without Connection connection (III) (Thermostat: contact point b) Thermostat Amplifier contact External Amplifier...
Page 345 11. About selection (6) Regenerative Resistance Parameter Setting With the Q series servo amplifier, the regenerative resistance protection function is specified by parameter selections. Appropriate protection for regenerative resistance is applied by setting parameters according to the type of regenerative resistance to be connected. Set the appropriate parameters by following the instructions given below.
Page 346 11. About selection (7) External appearance diagram of the external regenerative resistor Unit: mm Thermostat 122±0.4 Model number Detection temperature 6±1 (Contact specification) 6±1 135℃±7℃ φ4.3 1 REGIST-080W100B (contact point b) 135℃±7℃ 2 REGIST-080W50B (contact point b) Mass:0.19kg ２ Silicon rubber glass braided wire 0.5mm　White (Thermo start) ２...
Page 347 11. About selection Unit:mm Thermostat Model number Detection temperature 250±0.8 (Contact specification) +0.4 8±0.3 -1.2 Earth mark 100℃±5℃ 1 REGIST-500W20B (contact point b) 2 REGIST-500W20 None 100℃±5℃ 3 REGIST-500W10B (contact point b) 4 REGIST-500W10 None Thermo stat 0.2mm White Crimping terminal M5 2-φ4.5 100℃±5℃...
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Page 349 12. International Standards International Standards 12.1 International Standards Conformity ····················································· 12-2 12.1.1 Outline of International Standards Conformity ··········································· 12-2 12.1.2 International Standards Conformity of the QS1 servo system ·················· 12-2 12.2 Cautions for Internationals Standards conformity······························ 12-3 12.2.1 Common precautions for UL / TÜV standards conformity ·························· 12-3 12.3 UL / cUL / TÜV Standards Conformity··················································...
Page 350: International Standards Conformity
12. International Standards 12.1 International Standards Conformity 12.1.1 Outline of International Standards Conformity North America UL (Underwriters Laboratories, Inc.) UL is a non-profit test organization, established by the US cooperative for Fire Insurance companies in 1894. In many states and municipalities throughout the United States, UL approval is mandated as a necessity by the local laws and ordinances.
Page 351: Common Precautions For Ul / Tüv Standards Conformity
12. International Standards For the P series servo motor, the following international standards may be displayed: International Display Standard number Certification Organization standards UL1004 UL standard UL1446 (Underwriters Laboratories, Inc.) IEC-34-1 TÜV IEC34-5 EN standards (TÜV Product Service Japan, Ltd.) IEC34-9 Standard servo motor products are classified by model number.
Page 352: Ul / Cul / Tüv Standards Conformity
12. International Standards 12.3 UL / cUL / TÜV Standards Conformity 12.3.1 UL / cUL Conformity and File Numbers Servo amplifiers of the QS1 servo system are approved by UL (Underwriters Laboratories, Inc.) to display the UL RECOGNITION mark (for the US)and cUL (for Canada). Additionally, the servo motor is approved by UL to display the UL RECOGNITION mark for its built-in parts.
Page 353: Outline Of Ec Directives
12. International Standards 12.4 European EC command conformity 12.4.1 Outline of EC Directives The European EC Directives were issued for the purpose of smooth circulation of products whose safety has been guaranteed by unifying the regulations of all the affiliated countries. It fulfills all basic safety conditions of the Machine, EMC, and Low-voltage Directives for products sold in EU-affiliated countries, and fulfills the conditions necessary for displaying CE markings.
Page 354: Ce Marking Conformity Standards
12. International Standards The QS1 servo amplifier has been authorized to display CE marking (as shown at left) based on the recognition certificate issued by a separate, third-party certifying authority. Accordingly, customers are instructed to perform the final conformity tests for all instruments and devices in use.
Page 355: Cautions For Emc Directive Conformity
12. International Standards 12.4.4 Cautions for EMC Directive Conformity Use the following guidelines below for the QS1 servo system in order to conform the customer’s equipment and devices to the EMC Directives. (1) Structure of control panel 1. A metallic material must be used for the door and main body of control panel. 2.
Page 356 12. International Standards 6. Use a conducting metal P clip or U clip Grounding by U clip or P clip Grounding by soldering to ground and clamp the shield wire, and fix it directly with metal screws. Do not ground by soldering electric wire to the shield wire.
Page 357 12. International Standards  Recommended EMC countermeasures and their installation (The Notes above correspond to the following figures) (Note 1) Noise filter Model Number Specifications Manufacturer 3SUP-HK30-ER-6B Rated voltage: Line-Line 500 V Okaya Electric Industries Co. Ltd. Rated current: 30 A 3SUP-HK50-ER-6B Rated voltage: Line-Line 500 V Okaya Electric Industries...
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Page 359 Release Revision A Feb. 2003 Revision E Jun. 2003 Revision F Jun. 2003 Revision H Jul. 2007 Revision J Oct. 2008 Revision K Mar. 2009 Revision L Dec. 2013...
Page 360 ■ ECO PRODUCTS Sanyo Denki's ECO PRODUCTS are designed with the concept of lessening impact on the environment in the process from product development to waste. The product units and packaging materials are designed for reduced environmental impact. We have established our own assessment criteria on the environmental impacts applicable to all processes, ranging from design to manufacture.

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