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3-1-4
Control I/O Specifications (CN1)................................................................................... 3-5
3-1-5
Control Input Circuits .................................................................................................... 3-7
3-1-6
Control Input Details ..................................................................................................... 3-8
3-1-7
Control Output Circuits ............................................................................................... 3-10
3-1-8
Control Output Details ................................................................................................ 3-10
3-1-9
Encoder Connector Specifications (CN2) ................................................................... 3-11
3-2
Servomotor Specifications ........................................................................... 3-13
3-2-1
General Specifications ................................................................................................ 3-13
3-2-2
Characteristics ............................................................................................................ 3-14
3-2-3
Encoder Specifications ............................................................................................... 3-16
3-3
Decelerator Specifications ........................................................................... 3-17
3-3-1
Standard Models and Specifications .......................................................................... 3-17
3-4
Cable and Connector Specifications ............................................................ 3-18
3-4-1
Control Cable Specifications....................................................................................... 3-18
3-4-2
Servomotor Power Cable Specifications .................................................................... 3-19
3-4-3
Encoder Cable Specifications..................................................................................... 3-21
3-4-4
Connector Specifications ............................................................................................ 3-22
3-5
Regeneration Resistance Unit...................................................................... 3-24
3-5-1
Regeneration Resistance Unit (R88A-RG08UA) Specifications ................................ 3-24
3-6
AC Reactors ................................................................................................ 3-26
3-6-1
AC Reactor Specifications .......................................................................................... 3-26
Section 4
System Design
4-1
Installation Conditions.................................................................................... 4-2
4-1-1
Servo Drivers ................................................................................................................ 4-2
4-1-2
Servomotors.................................................................................................................. 4-3
4-1-3
Decelerators.................................................................................................................. 4-5
4-2
Wiring ............................................................................................................ 4-6
4-2-1
Connecting Cables........................................................................................................ 4-6
4-2-2
Selecting Connecting Cables........................................................................................ 4-7
4-2-3
Peripheral Device Connection Examples ..................................................................... 4-8
4-2-4
Wiring the Main Circuit and Servomotor Connections.................................................. 4-9
4-2-5
Conforming to EMC Directives ................................................................................... 4-11
4-3
Regenerative Energy Absorption ................................................................. 4-21
4-3-1
Calculating the Regenerative Energy ......................................................................... 4-21
4-3-2
Servo Driver Regenerative Energy Absorption Capacity............................................ 4-23
4-3-3
Absorbing Regenerative Energy with an External Resistor........................................ 4-23
Section 5
Operation
5-1
Operational Procedure................................................................................... 5-2
5-1-1
Operational Procedure.................................................................................................. 5-2
5-2
Switch Settings .............................................................................................. 5-3
5-2-1
Switch Names ............................................................................................................... 5-3
15
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