Table of Contents
SAFETY NOTICE..................................................................................................................................2
CHAPTER I DIMENSIONS ..........................................................................................................5
1.1 INSTALLATION DIRECTION AND SPACE ............................................................................................. 5
1.2 DIMENSIONS OF SERVO DRIVERS......................................................................................................6
1.3 DIMENSIONS OF SERVO MOTORS ......................................................................................................7
1.3.1 60/80 series servo motors........................................................................................................7
1.3.2 90 series servo motors............................................................................................................. 7
1.3.3 110 series servo motors ...........................................................................................................8
1.3.4 130 series servo motors........................................................................................................... 9
CHAPTER II WIRING................................................................................................................... 10
2.1 CONNECTOR AND TERMINAL OF SERVO DRIVER .............................................................................10
2.1.1 Appearance and signal of CN3 terminal ...............................................................................10
2.1.2 Appearance and signal of CN2 terminal ............................................................................... 11
2.2 WIRING AT MOTOR SIDE ................................................................................................................. 13
2.2.1 Motor Encoder Terminal appearance and signal..................................................................13
2.2.2 Motor Power Terminal appearance and signal..................................................................... 14
2.3 STANDARD WIRINGS ......................................................................................................................15
2.3.1 Position control wiring diagrams.......................................................................................... 15
3.2.2 Speed/torque control wiring diagrams ..................................................................................16
CHAPTER III CONTROL & OPERATION ................................................................................ 17
3.1 CONTROL MODE SELECTION .......................................................................................................... 17
3.2 CONTROL SIGNALS ........................................................................................................................ 18
3.2.1 Input signals .......................................................................................................................... 18
3.2.2 Output signals .......................................................................................................................20
CHAPTER 4 MONITORING AND OPERATIONS .........................................................................22
4.1 PANEL OPERATOR........................................................................................................................... 22
4.2 MODE SWITCH ............................................................................................................................... 22
4.3 MONITORING FUNCTIONS .............................................................................................................. 23
CHAPTER 5 TROUBLESHOOTING................................................................................................ 24
5.1 ERRORS .........................................................................................................................................24
CHAPTER 6 PARAMETERS ............................................................................................................. 27
6.1 PARAMETERS.................................................................................................................................27
6.1.1 Basic parameters...................................................................................................................27
6.1.2 Function selection parameter................................................................................................27
6.1.3 Gain & filter parameters....................................................................................................... 28
6.1.4 Position control parameters .................................................................................................. 30
6.1.5 Speed control parameters...................................................................................................... 31
6.1.6 Torque control parameters .................................................................................................... 31
6.1.7 I/O parameters ...................................................................................................................... 32
