Manual Contents
■ Safety Notice ■ 2
■ Notations Used ■ 2
■ Standards Compliance ■ 2
Manual Contents 3
1 General Specication 5
1.1 Servo Drive Name Plate 5
1.2 Model Designation 5
1.3 Servo Drive Overall Specification 6
1.4 Circuit Block Diagram 7
1.5 Encoder Specification 7
1.6 Servo Motor Pair 8
2 Connection and Wiring 9
2.1 DYN4 Servo Drive Body Layout 9
2.2 Connector Terminal and Signal Specification 10
2.3 JP4 Main I/O Terminal Details 11
2.3.1 JP4 Specification 11
2.3.2 JP4 Interface Circuit Examples 15
2.3.3 JP4 Consolidated Interface Circuit 19
2.4 JP5 Encoder Output Terminal Details 20
2.5 Main Circuit Wiring 21
2.6 Holding Brake Circuit Wiring 26
3 Start - Up 27
3.1 Preparation and Mounting 27
3.2 Multiple Drive Spacing 27
3.3 Grounding 27
3.4 Power Up Timing Chart 28
3.5 Software Communication 31
4 Operation 33
4.1 Position Servo Mode 33
4.2 Speed Servo Mode 37
4.3 Torque Servo Mode 39
4.4 RS232 Command Input Mode 40
4.5 Encoder Output 40
4.6 Servo Drive Monitor Outputs 41
5 Parameters and Tuning 43
5.1 Parameters Outline 43
5.2 Servo Drive Gain Tuning 45
6 Maintenance 47
6.1 Alarm Specifications 47
6.2 Servo Drive Maintenance 48
7 RS232 Communication Protocol 49
7.1 Interface and Format 50
7.2 Packet Definition 52
7.3 Drive Configuration and Status Register 56
7.4 Common Function Details 57
7.5 Dynamic Target Position Update ( DTPU ) 59
7.6 Packet Structure Examples 61
7.7 Application Examples 62
7.8 RS485 Network 66
7.9A Appendix : C++ Code for Serial Communication Protocol 67
8 Modbus RTU (RS485) Communication 74
9 CAN Communication 75
Appendix 76
Appendix A - Servo Drive Dimensions 76
Appendix B - Application Note# AP15-48 DYN4 Servo Drive - AC Power Supply Guidelines 77
Appendix C - Analog Input Fine Adjustments 78
Warranty and Liability 79
Product and Manual Disclaimer 80
■ Document Revisions ■ 81
