Fuji Electric ALPHA7 User manual

i
This manual is "User's Manual for Fuji AC Servo System ALPHA7 Series".
The user's manual is in one volume and covers all handling methods of the product.
The following documents are included in the package of each device.
Device
Document name
Doc. No.
Servomotor
Operation Manual
Fuji AC servomotor (GYS/GYG/GYB Series)
ING-SI47-0863
Servo amplifier
Operation manual
Fuji AC servo ALPHA7 Series
servo amplifier (RYTF7-**□)
INR-SI47-2058-JE
The target model of this manual is shown below.
Device
Model
Servomotor
GYSD7-**or GYGC (B) 7-**or GYBD7-**
Servo amplifier
RYTF7-*S□
* "" in the model indicates a decimal point or number.
* "*" in the model indicates an alphabet or blank.
For uncertainties in the product or description given in this manual, contact the dealer or our sales
office shown at the end of this volume.
Manual
Description given in this manual may be inconsistent to the product due to improvements added to
the product. Description given in this manual is subject to change without notice.
Illustrations included in this manual show the servo amplifier or servomotor of a specific capacity
and they may be different from the appearance of the product you purchased.
This product is not designed or manufactured for use in devices or systems related to human lives.
To use this product for aeronautic devices, traffic controllers, space industry devices, nuclear reactor
controllers, medical devices or systems including those devices, contact our sales window.
To use the product for equipment in which failure of the product will be engaged with human lives or
serious material losses, install safety devices matching the equipment.
Icon
The following icons are used in the description of the manual when necessary.
Negligence of description shown with this sign will undermine the true performance of the
product.
Reference items helpful for operation and data entry of the servomotor or servo amplifier
are described.

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iii
CHAPTER 0 INTRODUCTION
0
CHAPTER 1 INSTALLATION
1
CHAPTER 2 WIRING
2
CHAPTER 3 OPERATION
3
CHAPTER 4 PARAMETER
4
CHAPTER 5 SERVO ADJUSTMENT
5
CHAPTER 6 KEYPAD
6
CHAPTER 7 MAINTENANCE AND INSPECTION
7
CHAPTER 8 SPECIFICATIONS
8
CHAPTER 9 CHARACTERISTICS
9
CHAPTER 10 PERIPHERAL EQUIPMENT
10
CHAPTER 11 ABSOLUTE POSITION SYSTEM
11
CHAPTER 12 POSITIONING DATA
12
CHAPTER 13 MODBUS RTU COMMUNICATION
13
CHAPTER 14 PC LOADER
14
CHAPTER 15 STANDARDS COMPLIANCE
15
CHAPTER 16 APPENDIXES
16

iv
CHAPTER 0 INTRODUCTION 0-1
0.1 Safety Precautions···································································0-2
■Precautions on use··················································································· 0-3
■Precautions on storage ············································································· 0-4
■Precautions on transportation ····································································· 0-4
■Precautions on installation ········································································· 0-5
■Precautions on wiring················································································ 0-6
■Precautions on operation ··········································································· 0-7
■General precautions ················································································· 0-8
■Harmonics suppression measures (for Japan)················································ 0-8
■Compliance with EU directives···································································· 0-9
■Service life of EEPROM ············································································ 0-9
■Compliance with EU Directives and UL/CSA Standard ····································· 0-9
0.2 Outline of System ·································································· 0-10
0.2.1 Servomotor ······································································· 0-10
0.2.2 Servo Amplifier ·································································· 0-11
0.3 Model Nomenclature ······························································ 0-12
0.3.1 Servomotor ······································································· 0-12
0.3.2 Servo Amplifier ·································································· 0-13
0.4 Combination between Servomotor and Servo Amplifier·············· 0-14
0.4.1 VV Type ··········································································· 0-14
CHAPTER 1 INSTALLATION 1-1
1.1 Servomotor·············································································1-2
1.1.1 Storage Environment ····························································1-2
1.1.2 Operating Environment··························································1-2
1.1.3 Installing the Servomotor ·······················································1-3
1.1.4 Water Proof and Oil Proof Properties ········································1-3
1.1.5 Servomotor Handling Precautions············································1-4
1.1.6 Notes on Stress Given to Cable···············································1-4
1.1.7 Assembling Accuracy ····························································1-5
1.1.8 Allowable Load ····································································1-6
1.1.9 Cautionary Items on Servomotor Equipped with a Brake···············1-6
1.2 Servo Amplifier ·······································································1-7
1.2.1 Storage Environment ····························································1-7
1.2.2 Operating Environment··························································1-8
Contents

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1.2.3 Installing the Servo Amplifier···················································1-9
1.2.4 Depth of Control Panel ························································ 1-11
CHAPTER 2 WIRING 2-1
2.1 Configuration·······································································2-2
2.1.1 Part Name ··········································································2-2
2.1.2 Configuration·······································································2-5
2.1.3 Sequence I/O ···································································· 2-10
2.1.3.1 Pulse Input (PPI, CA, *CA, CB, *CA)················································ 2-12
2.1.3.2 Pulse Output (FFA, *FFA, FFB, *FFB, FFZ, *FFZ) ······························ 2-13
2.1.3.3 Z-Phase Output (FZ, M5) ······························································ 2-13
2.1.3.4 Analog Input (VREF [ TREF], [P10] M5)············································ 2-14
2.1.3.5 Analog Monitor Output (MON1, MON2, M5) ······································ 2-15
2.1.3.6 Sequence Input (CONT1, CONT2, CONT3, ... COMIN)························ 2-15
2.1.3.7 Sequence Output (OUT1, OUT2, ... COMOUT) ·································· 2-16
2.1.4 RS-485 Communications (CN3) ·········································· 2-16
2.1.5 USB (CN4) ····································································· 2-17
2.1.6 Safety Function (CN6)······················································· 2-17
2.2 P-N Junction ······································································ 2-18
2.3 Servomotor········································································ 2-19
2.3.1 Motor Power Connectors ····················································· 2-19
2.3.2 Brake Connector ································································ 2-20
2.4 Encoder ············································································ 2-21
2.4.1 Encoder Wiring Cable ························································· 2-21
2.4.2 Encoder Cable Fabrication Method ········································ 2-23
2.4.2.1 Encoder cable fabrication method ··················································· 2-23
2.4.2.2 Encoder Cable With Battery Fabrication Method································· 2-24
2.5 Description of I/O Signals ···················································· 2-28
2.5.1 List of input signals ····························································· 2-28
2.5.2 List of output signals ··························································· 2-29
2.5.3 Signal Descriptions ····························································· 2-31
Input signal ······························································································· 2-31
Servo-on [S-ON]: Sequence input signal (Reference value 1)··························· 2-31
Forward command [FWD]: Sequence input signal (Reference value 2)··············· 2-32
Reverse command [REV]: Sequence input signal (Reference value 3) ··············· 2-32
Start positioning [START]: Sequence input signal (Reference value 4) ··············· 2-34
Homing [ORG]: Sequence input signal (Reference value 5) ····························· 2-36
Homing position LS [LS]: Sequence input signal (Reference value 6) ················· 2-36

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Interrupt input: Sequence input signal (Reference value 49)····························· 2-36
Over-travel in positive direction [+OT]:
Sequence input signal (Reference value 7) ·················································· 2-39
Over-travel in negative direction [-OT]:
Sequence input signal (Reference value 8) ·················································· 2-39
Forced stop [EMG]: Sequence input signal (Reference value 10) ······················ 2-41
Alarm reset [RST]: Sequence input signal (Reference value 11)························ 2-42
ACC0: Sequence input signal (Reference value 14) ······································· 2-43
Position preset: Sequence input signal (Reference value 16)···························· 2-44
Gain swtich: Sequence input signal (Reference value 17)································ 2-45
Torque limit 0: Sequence input signal (Reference value 19) ····························· 2-46
Torque limit 1: Sequence input signal (Reference value 20) ····························· 2-46
Immediate value continuation: Sequence input signal (Reference value 22) ········ 2-48
Immediate value change: Sequence input signal (Reference value 23)··············· 2-50
Electronic gear numerator selection 0:
Sequence input signal (Reference value 24)················································· 2-51
Electronic gear numerator selection 1:
Sequence input signal (Reference value 25)················································· 2-51
Command Pulse inhibit: Sequence input signal (Reference value 26)················· 2-52
Command pulse ratio 1: Sequence input signal (Reference value 27) ················ 2-52
Command pulse ratio 2: Sequence input signal (Reference value 28) ················ 2-52
Proportional control: Sequence input signal (Reference value 29) ····················· 2-53
Pause: Sequence input signal (Reference value 31)······································· 2-53
Positioning cancel: Sequence input signal (Reference value 32) ······················· 2-54
External regenerative resistor overheat:
Sequence input signal (Reference value 34)················································· 2-54
Teaching: Sequence input signal (Reference value 35) ··································· 2-55
Control mode selection: Sequence input signal (Reference value 36)················· 2-56
Position control: Sequence input signal (Reference value 37)··························· 2-56
Torque control: Sequence input signal (Reference value 38) ···························· 2-59
Override enable: Sequence input signal (Reference value 43) ·························· 2-61
Override 1: Sequence input signal (Reference value 44) ································· 2-61
Override 2: Sequence input signal (Reference value 45) ································· 2-61
Override 4: Sequence input signal (Reference value 46) ································· 2-61
Override 8: Sequence input signal (Reference value 47) ································· 2-61
Interrupt input enable: Sequence input signal (Reference value 48) ··················· 2-62
Interrupt input: Sequence input signal (Reference value 49)····························· 2-62
Deviation clear: Sequence input signal (Reference value 50)···························· 2-64

vii
Multi-step speed selection [X1]: Sequence input signal (Reference value 51)······· 2-65
Multi-step speed selection [X2]: Sequence input signal (Reference value 52)······· 2-65
Multi-step speed selection [X3]: Sequence input signal (Reference value 53)······· 2-65
Free-run [BX]: Sequence input signal (Reference value 54) ····························· 2-66
Edit permission: Sequence input signal (Reference value 55)··························· 2-67
Anti resonance frequency selection 0:
Sequence input signal (Reference value 57)················································· 2-68
Anti resonance frequency selection 1:
Sequence input signal (Reference value 58)················································· 2-68
AD0: Sequence input signal (Reference value 60) ········································· 2-69
AD1: Sequence input signal (Reference value 61) ········································· 2-69
AD2: Sequence input signal (Reference value 62) ········································· 2-69
AD3: Sequence input signal (Reference value 63) ········································· 2-69
AD4: Sequence input signal (Reference value 64) ········································· 2-69
Positioning data selection: Sequence input signal (Reference value 77) ············· 2-71
Broadcast cancel: Sequence input signal (Reference value 78) ························ 2-71
Output signal ····························································································· 2-73
Ready for servo-on [RDY]: Sequence output signal (Reference value 1) ············· 2-73
In-position [INP]: Sequence output signal (Reference value 2)·························· 2-74
Speed limit detection: Sequence output signal (Reference value 11)·················· 2-76
Over write completion: Sequence output signal (Reference value 13)················· 2-76
Brake timing: Sequence output signal (Reference value 14)····························· 2-77
Alarm detection (normally open contact):
Sequence output signal (Reference value 16) ··············································· 2-79
Alarm detection (normally closed contact):
Sequence output signal (Reference value 76) ··············································· 2-79
Point detection, area detection 1: Sequence output signal (Reference value 17)··· 2-80
Point detection, area detection 2: Sequence output signal (Reference value 18)··· 2-80
Limiter detection: Sequence output signal (Reference value 19)························ 2-81
OT detection: Sequence output signal (Reference value 20) ···························· 2-82
Cycle end detection: Sequence output signal (Reference value 21) ··················· 2-83
Homing completion: Sequence output signal (Reference value 22)···················· 2-84
Zero deviation: Sequence output signal (Reference value 23)··························· 2-85
Zero speed [NZERO]: Sequence output signal (Reference value 24) ················· 2-85
Speed coincidence [NARV]: Sequence output signal (Reference value 25) ········· 2-85
Torque limit detection: Sequence output signal (Reference value 26)················· 2-86
Overload warning detection: Sequence output signal (Reference value 27) ········· 2-86
Servo control ready [S-RDY]: Sequence output signal (Reference value 28)········ 2-88

viii
Edit permission response: Sequence output signal (Reference value 29)············ 2-88
Data error: Sequence output signal (Reference value 30) ································ 2-89
Address error: Sequence output signal (Reference value 31) ··························· 2-89
Alarm code 0: Sequence output signal (Reference value 32)···························· 2-90
Alarm code 1: Sequence output signal (Reference value 33)···························· 2-90
Alarm code 2: Sequence output signal (Reference value 34)···························· 2-90
Alarm code 3: Sequence output signal (Reference value 35)···························· 2-90
Alarm code 4: Sequence output signal (Reference value 36)···························· 2-90
+OT detection: Sequence output signal (Reference value 38)··························· 2-92
-OT detection: Sequence output signal (Reference value 39) ··························· 2-92
Home position LS detection: Sequence output signal (Reference value 40) ········· 2-93
Forced stop detection: Sequence output signal (Reference value 41)················· 2-93
Battery warning: Sequence output signal (Reference value 45)························· 2-93
Life warning: Sequence output signal (Reference value 46) ····························· 2-94
MD0: Sequence output signal (Reference value 60) ······································· 2-94
MD1: Sequence output signal (Reference value 61) ······································· 2-94
MD2: Sequence output signal (Reference value 62) ······································· 2-94
MD3: Sequence output signal (Reference value 63) ······································· 2-94
MD4: Sequence output signal (Reference value 64) ······································· 2-94
MD5: Sequence output signal (Reference value 65) ······································· 2-94
MD6: Sequence output signal (Reference value 66) ······································· 2-94
MD7: Sequence output signal (Reference value 67) ······································· 2-94
Position preset completion: Sequence output signal (Reference value 75) ·········· 2-96
Immediate value continuation permission:
Sequence output signal (Reference value 79) ··············································· 2-97
Immediate value continuation completion:
Sequence output signal (Reference value 80) ··············································· 2-98
Immediate value change completion:
Sequence output signal (Reference value 81) ··············································· 2-98
Command positioning completion:
Sequence output signal (Reference value 82) ··············································· 2-99
Range 1 of position: Sequence output signal (Reference value 83)···················2-100
Range 2 of position: Sequence output signal (Reference value 84)···················2-100
Interrupt positioning detection: Sequence output signal (Reference value 85) ·····2-101
Interference detection: Sequence output signal (Reference value 86)················2-102
Function safety SS1: Sequence output signal (Reference value 89)··················2-103
Function safety SLS: Sequence output signal (Reference value 90)··················2-103
CONTa Through: Sequence output signal (Reference value 91) ······················2-104

ix
CONTb Through: Sequence output signal (Reference value 92) ······················2-104
CONTc Through: Sequence output signal (Reference value 93)·······················2-104
CONTd Through: Sequence output signal (Reference value 94) ······················2-104
CONTe Through: Sequence output signal (Reference value 95) ······················2-104
2.6 Connection Example to Host Controller······························· 2-105
2.6.1 Connection Example
(MICREX-SX SPF Series: NA0PA24T-31C) ·································· 2-106
2.6.2 Connection Example (Positioning module: NP1F-HD2A)··········· 2-107
2.6.3 Connection Example
(Positioning module: F3YP14-0N/F3YP18-0N) ······························· 2-108
2.6.4 Connection Example (Positioning unit: QD75D1 type) ·············· 2-109
2.7 Safety Function ································································ 2-110
2.7.1 Overview ········································································ 2-110
2.7.2 Usage Precautions ··························································· 2-111
2.7.2.1 Terminal Wiring··········································································2-111
2.7.2.2 Safety Stop Function (STO) Related Precautions ······························2-111
2.7.2.3 Safety Stop (STO) Test································································2-112
2.7.3 Specifications ·································································· 2-112
2.7.3.1 Function Block Diagram ·······························································2-112
2.7.3.2 Operating Sequences··································································2-113
2.7.3.3 Description of Signals··································································2-115
CHAPTER 3 OPERATION 3-1
3.1 Signal Description (Priority among Input Signals)·····················3-2
3.2 Selection of Operation Procedure···········································3-3
3.3 Operation Check ··································································3-4
3.3.1 Power-On·········································································3-4
3.3.2 Power-On/Servo Control-Ready [S-RDY] ································3-5
3.3.3 Servo-On [S-ON]/Ready for Servo-On [RDY] ···························3-6
3.3.4 Test Operation at Keypad ····················································3-7
3.3.5 If the Servomotor Fails to Start··············································3-8
3.3.6 Shutdown·········································································3-8
3.4 Operation with VS Type·························································3-9
3.4.1 Position Control (Pulse)·······················································3-9
3.4.2 Speed Control ································································· 3-11
3.4.3 Torque Control ································································ 3-12
3.4.4 Mode Selection ······························································· 3-13
3.4.5 Extension Mode······························································· 3-14

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3.4.6 Homing·········································································· 3-16
3.4.7 Interrupt Positioning ························································· 3-17
3.4.8 Torque Limit ··································································· 3-19
3.4.9 Positioning Data Operation ················································ 3-20
3.4.10 Immediate Value Data Operation········································· 3-21
3.4.11 Interrupting/Stopping Operation ·········································· 3-22
CHAPTER 4 PARAMETER 4-1
4.1 Parameter Division ··································································4-2
4.2 Basic Parameters ····································································4-3
4.2.1 List (PA1_) ····································································4-3
4.2.2 Description of Each Parameter················································4-4
PA1_01 Control mode selection································································· 4-4
PA1_02 INC/ABS system selection ···························································· 4-8
PA1_03 Command pulse frequency, form setting ········································ 4-10
PA1_04 Rotation direction selection ························································· 4-13
PA1_05 Number of command input pulses per revolution······························ 4-13
PA1_06 Numerator 0 of electronic gear,
PA1_07 Denominator of electronic gear······················································· 4-14
PA1_08 Number of output pulses per revolution·········································· 4-16
PA1_09 Numerator of electric gear for output pulses···································· 4-16
PA1_10 Denominator of electric gear for output pulses································· 4-16
PA1_11 Output pulse phase selection at CCW rotation································· 4-17
PA1_12 Z-phase position offset ······························································· 4-17
PA1_13 Tuning mode selection ······························································· 4-18
PA1_14 Load inertia ratio······································································· 4-19
PA1_15 Auto tuning gain 1 ····································································· 4-20
PA1_16 Auto tuning gain 2 ····································································· 4-21
PA1_20 to 23 Easy tuning settings ··························································· 4-22
PA1_25 Max. rotation speed (for position and speed control) ························· 4-22
PA1_26 Max. rotation speed (for torque control)·········································· 4-22
PA1_27 Forward rotation torque limit ························································ 4-23
PA1_28 Reverse rotation torque limit ·························································· 4-23
PA1_29 Speed coincidence range ··························································· 4-24
PA1_30 Zero speed range······································································ 4-24
PA1_31 Deviation unit selection ······························································ 4-24
PA1_32 Zero deviation range/In-position range··········································· 4-25
PA1_33 to 35 In-position output signals····················································· 4-25

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PA1_36 to 40 Acceleration / deceleration selection at speed control,
Acceleration time and deceleration time settings············································ 4-27
PA1_41 to 47 Manual feed speed 1 to 7/speed limit 1 to 7 for torque control ····· 4-29
4.3 Control Gain and Filter Setting Parameters ······························· 4-30
4.3.1 List (PA1_) ·································································· 4-30
4.3.2 Description of Each Parameter·············································· 4-32
PA1_51 to 53 Command filter settings ······················································ 4-32
PA1_54 Position command response time constant ····································· 4-32
PA1_55 to 57 Response to disturbance settings·········································· 4-33
PA1_58 Feed forward gain 1··································································· 4-33
PA1_59 Torque filter time constant for position and speed control
PA1_60 Torque filter time constant for torque control······································ 4-34
PA1_61 to 67 Second gain settings ·························································· 4-35
PA1_70 to 76 Notch filter settings ···························································· 4-36
PA1_77 to 86 Vibration suppressing control settings ···································· 4-38
PA1_87 Model torque filter time constant··················································· 4-39
PA1_88 Position loop integration time constant
PA1_89 Position loop integration limiter······················································· 4-39
PA1_90 Load torque observer································································· 4-39
PA1_91 P/PI automatic change selection··················································· 4-40
PA1_92 and 93 Friction compensation settings ··········································· 4-40
PA1_94 Torque filter setting mode ··························································· 4-40
PA1_95 Model torque calculation selection, speed observer selection ············· 4-41
PA1_96 Speed limit gain for torque control················································· 4-41
4.4 Automatic Operation Setting Parameters·································· 4-42
4.4.1 List (PA2_) ·································································· 4-42
4.4.2 Description of Each Parameter·············································· 4-43
PA2_01 Decimal point position of positioning data ······································· 4-43
PA2_06 to 18 and 22 to 24 Homing settings··············································· 4-43
PA2_06 Homing speed·········································································· 4-46
PA2_07 Creep speed for homing ····························································· 4-46
PA2_08 Starting direction for homing························································ 4-46
PA2_09 Reverse traveling unit amount for homing······································· 4-47
PA2_10 Homing direction after reference signal detection ····························· 4-48
PA2_11 Reference signal for shift operation ··············································· 4-48
PA2_12 Reference signal for homing (Deceleration starting signal) ················· 4-49
PA2_13 Home position LS signal edge selection ········································· 4-49
PA2_14 Home position shift unit amount ··················································· 4-50

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PA2_15 Deceleration operation for creep speed·········································· 4-50
PA2_16 Home position after homing completion ········································· 4-51
PA2_17 Home position detection range····················································· 4-51
PA2_18 Deceleration time at OT during homing ·········································· 4-52
PA2_22 Detection time for contact-stopper
PA2_23 Torque limit for contact-stopper ······················································ 4-52
PA2_24 Selection of operation at OT during homing ···································· 4-53
PA2_19 Preset position ········································································· 4-77
PA2_20 Interrupt traveling unit amount ····················································· 4-77
PA2_25 to 27 Position operation type, software OT detection position·············· 4-77
PA2_28 and 29 Limiter detection position ·················································· 4-78
PA2_31 to 34 Point detection, area detection settings ·································· 4-78
PA2_36 to 39 Override settings ······························································· 4-80
PA2_40 Internal positioning data selection ················································· 4-80
PA2_41 Sequential start selection ···························································· 4-81
PA2_42 Decimal point position of stand still timer ········································ 4-81
PA2_43 Output selection at M code OFF ··················································· 4-81
4.5 Extended Function Setting Parameters····································· 4-82
4.5.1 List (PA2_) ·································································· 4-82
4.5.2 Description of Each Parameter·············································· 4-83
PA2_51 to 53 Electronic gear ratio numerator 1, 2, 3···································· 4-83
PA2_54 and 55 Command pulse ratio 1, 2 ··················································· 4-83
PA2_56 Speed limit selection at torque control ··········································· 4-84
PA2_57 to 60 Torque limit settings ··························································· 4-84
PA2_61 to 63 Action sequence settings····················································· 4-88
PA2_64 Torque keeping time to holding brake ············································ 4-89
PA2_65 Regenerative resistor selection ···················································· 4-89
PA2_66 Flying start at speed control ························································ 4-90
PA2_67 Alarm detection at undervoltage ··················································· 4-90
PA2_68 Main power shutoff detection time················································· 4-90
PA2_69 Deviation detection overflow value················································ 4-91
PA2_70 Overload warning value······························································ 4-91
PA2_72 Station number for communications ·············································· 4-91
PA2_73 Communication baud rate ··························································· 4-91
PA2_74 Parameter write protection ·························································· 4-91
PA2_75 Positioning data write protection··················································· 4-92
PA2_76: No.3 deceleration time································································· 4-92
PA2_77 Initial display of the keypad (Keypad) ············································ 4-93

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PA2_78 Display transition at warning detection··········································· 4-93
PA2_80 to 85 Parameter in RAM 1 to 6····················································· 4-94
PA2_86 to 88 Positioning data in RAM 1 to 3·············································· 4-94
PA2_89 and 90 Sequence test mode: Mode selection and encoder selection ···· 4-95
PA2_93 Parity/stop bit selection (for Modbus)············································· 4-95
PA2_94 Response time (for Modbus) ······················································· 4-96
PA2_95 Communication time over time (for Modbus) ··································· 4-96
PA2_97 Communication protocol selection ················································ 4-96
4.6 Input Terminal Function Setting Parameters ····························· 4-97
4.6.1 List (PA3_) ·································································· 4-97
4.6.2 Description of Each Parameter·············································· 4-99
PA3_01 to 24 CONT signal assignment····················································· 4-99
PA3_48 to 49 CONT CA assignment/CONT CB assignment ·························· 4-99
PA3_25 CONT signal inversion ······························································4-102
PA3_50 CONT CA/CB signal inversion ····················································4-102
PA3_26 to 30 CONT always ON 1 to 5·····················································4-103
PA3_31 to 34 Speed and torque command scale and offset settings ··············4-104
PA3_35 Zero clamp level ······································································4-104
PA3_36 Deviation clear input form ··························································4-104
PA3_39 Speed command fine adjustment gain ··········································4-105
PA3_40 Torque command fine adjustment gain ·········································4-105
PA3_41～44 Address free assignment 1 to 4 (for Modbus) ···························4-105
4.7 Output Terminal Function Setting Parameters ························· 4-107
4.7.1 List (PA3_) ································································ 4-107
4.7.2 Description of Each Parameter············································ 4-109
PA3_51 to 71 OUT signal assignment······················································4-109
PA3_98 OUT FZ assignment ·································································4-109
PA3_72 OUT signal inversion ································································4-112
PA3_99 OUT FZ signal inversion ····························································4-112
PA3_81 to 87 Monitor output scale and offset settings·································4-113
PA3_88 Command pulse frequency sampling time for monitor ······················4-115
PA3_89 Feedback speed sampling time for monitor····································4-116
PA3_90 Output pulse frequency error ······················································4-116
PA3_92 Range1 of position: Setting1·······················································4-116
PA3_93 Range1 of position: Setting2·······················································4-116
PA3_94 Range2 of position: Setting1·······················································4-116
PA3_95 Range2 of position: Setting2·······················································4-116
4.8 Extension Function 2 Setting Parameters ······························· 4-117

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4.8.1 List (PA4_) ································································ 4-117
4.8.2 Description of Each Parameter············································ 4-119
PA4_01 to 06 Interference detection function settings ·····································4-119
PA4_10 Enable/disable SEMI F47 compatible function ······································4-120
PA4_11 to 12 Function safety operation settings ············································4-121
PA4_21 Torque control speed limit method ·················································4-123
PA4_51 to 59 Notch filter settings ·······························································4-123
PA4_60 Cogging torque compensation ························································4-124
PA4_61 to 63 Tuningless function settings····················································4-124
PA4_64 to 65 New vibration suppressing settings ··········································4-125
CHAPTER 5 SERVO ADJUSTMENT 5-1
5.1 Adjustment Procedure ·····························································5-2
5.2 Tuningless Function ································································5-3
5.2.1 What is the Tuningless Function? ············································5-3
5.2.2 Setting Parameters ·······························································5-3
5.2.3 Operating Procedure·····························································5-4
5.2.4 Disabled Functions and Parameters ·········································5-4
5.3 Easy Tuning············································································5-5
5.3.1 What is Easy Tuning? ···························································5-5
5.3.2 Easy Tuning Operation Profile·················································5-5
5.3.3 Description of Operation ························································5-7
5.4 Auto Tuning·········································································· 5-11
5.4.1 Conditions for Auto Tuning ··················································· 5-11
5.4.2 Parameters Used for Auto Tuning ·········································· 5-11
5.4.3 Approximate Reference Value of Auto Tuning Gain 1················· 5-12
5.4.4 Auto Tuning Adjustment Procedure ········································ 5-13
5.5 Fine Tuning ·········································································· 5-14
5.5.1 What is Fine Tuning? ·························································· 5-14
5.5.2 Adjusted Parameters··························································· 5-14
5.5.3 Operating Procedure··························································· 5-15
5.6 Manual Tuning ······································································ 5-18
5.6.1 Conditions for Manual Tuning ··············································· 5-18
5.6.2 Parameters Used for Manual Tuning ······································ 5-18
5.6.3 Approximate Gain Reference Value ······································· 5-18
5.6.4 Manual Tuning Adjustment Procedure ···································· 5-19
5.6.5 Individual Adjustment ·························································· 5-20
5.7 Interpolation Control Mode ····················································· 5-21

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5.7.1 Conditions for Interpolation Control Mode ································ 5-21
5.7.2 Parameters Used for Interpolation Control Mode ······················· 5-21
5.7.3 Adjustment Procedure in Interpolation Control Mode·················· 5-22
5.8 Profile Operation ··································································· 5-23
5.8.1 What is Profile Operation?···················································· 5-23
5.8.2 Description of Operation ······················································ 5-25
5.9 Special Adjustment (Vibration Suppression) ····························· 5-26
5.9.1 What is Vibration Suppression ? ············································ 5-26
5.9.2 Automatic Vibration Suppression ··········································· 5-28
5.9.3 Manual Adjustment of Vibration Suppression···························· 5-29
CHAPTER 6 KEYPAD 6-1
6.1 Display···················································································6-2
6.1.1 Mode ·················································································6-2
6.1.2 Key ···················································································6-3
6.1.3 Flashing Display···································································6-3
6.1.4 Mode Selection ····································································6-4
6.2 Function List···········································································6-5
6.3 Sequence Mode·······································································6-9
6.4 Monitor Mode········································································ 6-15
6.5 Station No Mode···································································· 6-26
6.6 Maintenance Mode································································· 6-27
6.7 Parameter Edit Mode······························································ 6-31
6.8 Positioning Data Edit Mode····················································· 6-37
6.9 Test Operation Mode······························································ 6-41
CHAPTER 7 MAINTENANCE AND INSPECTION 7-1
7.1 Inspection ··············································································7-2
7.2 Status Display ·········································································7-3
7.2.1 Initial State··········································································7-3
7.2.2 State at Alarm······································································7-3
7.2.3 Alarm Display List·································································7-4
7.3 Troubleshooting Method ··························································7-8
7.4 Items to be Inquired upon Trouble ··········································· 7-22
7.5 Maintenance and Discarding ··················································· 7-23
7.5.1 Operating Environment························································ 7-23
7.5.2 Life·················································································· 7-24
7.5.3 Discarding ········································································ 7-25
7.6 Approximate Replacement Timing ··········································· 7-26

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CHAPTER 8 SPECIFICATIONS 8-1
8.1 Specifications of Servomotor ····················································8-2
8.1.1 GYS Motor··········································································8-2
8.1.2 GYB Motor··········································································8-6
8.1.3 GYG Motor ·········································································8-8
8.2 Specifications of Servo Amplifier············································· 8-10
8.2.1 Common Specifications ······················································· 8-10
8.2.2 VV Type Specifications························································ 8-12
8.3 Dimensions of Servomotor ····················································· 8-14
8.3.1 GYS Motor (With no Brake) ·················································· 8-14
8.3.2 GYS Motor (With a Brake)···················································· 8-16
8.3.3 GYB Motor (Connector Type)················································ 8-18
8.3.4 GYB Motor (Connector Type) (With a Brake)···························· 8-19
8.3.5 GYB Motor (Lead Wire Type)················································ 8-20
8.3.6 GYB Motor (Lead Wire Type) (With a Brake) ···························· 8-21
8.3.7 GYG Motor (2000 [r/min])····················································· 8-22
8.3.8 GYG Motor (2000 [r/min]) (With a Brake) ································· 8-22
8.3.9 GYG Motor (1500 [r/min])····················································· 8-23
8.3.10 GYG Motor (1500 [r/min]) (With a Brake) ······························· 8-23
8.4 Dimensions of Servo Amplifier ················································ 8-24
Frame 1································································································ 8-24
Frame 2································································································ 8-25
8.5 Optional Specification of Shaft Extension
[With a Key, Tapped] ··································································· 8-26
CHAPTER 9 CHARACTERISTICS 9-1
9.1 Timing Chart ···········································································9-2
9.1.1 Power-On Timing ·································································9-2
9.1.2 Each Signal Timing·······························································9-4
9.1.3 Control Mode Selection Timing················································9-5
9.1.4 Alarm Reset Timing ······························································9-5
9.2 Overload Characteristic····························································9-6
9.2.1 GYS Motor··········································································9-6
9.2.2 GYG Motor ·········································································9-8
9.2.3 GYB Motor··········································································9-9
9.3 Power Supply Capacity and Generated Loss ····························· 9-10
9.4 Inrush Current······································································· 9-11
9.5 Bending Strength of Cable······················································ 9-12

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CHAPTER 10 PERIPHERAL EQUIPMENT 10-1
10.1 Overall Configuration of Peripheral Equipment ························ 10-2
10.2 Cable Size··········································································· 10-3
10.2.1 Main Circuit Section Cable Size ··········································· 10-4
10.2.2 Encoder Cable ································································· 10-5
10.2.3 How to Calculate the Servo Amplifier Input Current ·················· 10-6
10.2.4 Conditions for Selecting Peripheral Equipment
of Servo Amplifier ······································································ 10-7
10.3 MCCB/ELCB (Molded Case Circuit Breaker/
Earth Leakage Breaker) ······························································· 10-8
10.4 Electromagnetic Contactor···················································· 10-9
10.5 Surge Absorber ································································· 10-10
10.6 Power Filter······································································· 10-12
10.7 AC/DC Reactor ·································································· 10-14
10.8 External Regenerative Resistor············································ 10-16
10.9 Optional Equipment ··························································· 10-18
Sequence I/O cable················································································10-18
Safety device connection cable·································································10-19
Encoder cable (1) ··················································································10-20
Encoder cable (2) ··················································································10-21
Encoder cable (3) ··················································································10-22
Encoder cable (4) ··················································································10-23
Encoder cable (5) ··················································································10-24
Motor power cable (1)·············································································10-25
Motor power cable (2)·············································································10-26
Brake cable (1)······················································································10-27
Brake cable (2)······················································································10-28
Sequence I/O connector kit······································································10-29
Encoder connector kit (amplifier side)·························································10-29
Encoder connector kit (motor side) (1)························································10-30
Encoder connector kit (motor side) (2)························································10-30
Connector kit for encoder (motor side) (3) ···················································10-31
Motor power connector kit (motor side) (1) ··················································10-31
Connector kit for motor power (motor side) (2) ·············································10-32
Connector kit for motor power (motor side) (3) ·············································10-32
Connector kit for motor power (motor side: with brake) (1) ······························10-33
Connector kit for motor power (motor side: with brake) (2) ······························10-33
Brake connector kit (motor side) (1) ···························································10-34

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Encoder relay cable with battery ·······························································10-35
Encoder cable with battery (1) ··································································10-36
Encoder cable with battery (2) ··································································10-37
Encoder cable with battery (3) ··································································10-38
Encoder cable with battery (4) ··································································10-39
Encoder cable with battery (5) ··································································10-40
Battery case kit for encoder cable······························································10-41
Replacement battery ··············································································10-41
Safety device connection connector (CN6) ··················································10-42
Monitor (CN7) ·······················································································10-42
External regenerative resistor (1) ······························································10-43
External regenerative resistor (2) ······························································10-44
CHAPTER 11 ABSOLUTE POSITION SYSTEM 11-1
11.1 Specifications······································································ 11-2
11.1.1 Specification List ······························································ 11-2
11.1.2 Precautions ····································································· 11-2
11.2 Battery Installation and Replacement Procedures ···················· 11-3
11.2.1 Battery Installation Procedure
(Amplifier models: RYT□□□□7-VV2) ·········································· 11-3
11.3 Starting Up Procedure ·························································· 11-5
11.4 Battery Warning··································································· 11-6
11.5 Calculation of Battery Life····················································· 11-7
CHAPTER 12 POSITIONING DATA 12-1
12.1 Operation Modes ································································· 12-2
12.1.1 Operation Method ····························································· 12-2
12.1.2 Operation Mode Selection ·················································· 12-4
12.2 Settings ·············································································· 12-6
12.2.1 Positioning Data Specifications············································ 12-6
12.2.1.1 Position data (stop position) ···························································· 12-7
PA1_06 Numerator 0 of electronic gear,
PA1_07 Denominator of electronic gear······················································· 12-7
PA2_01 Decimal point position of positioning data ········································· 12-7
12.2.1.2 Speed data (motor axis rotation speed) ············································· 12-7
12.2.1.3 Stand still timer (stop time)······························································ 12-8
12.2.1.4 Acceleration time and deceleration time············································· 12-8
12.2.1.5 Status (command system, step mode)··············································· 12-9
12.2.2 Immediate Value Data Specifications ·································· 12-12

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12.3 Startup ············································································· 12-13
12.4 Setting Change ·································································· 12-16
12.5 Response Time·································································· 12-16
CHAPTER 13 MODBUS RTU COMMUNICATION 13-1
13.1 Settings for Servo Amplifier ·················································· 13-2
13.2 Communication Specifications ·············································· 13-6
13.3 Transmission Protocol ························································· 13-7
13.3.1 Message types································································· 13-7
13.3.2 Message fields ································································· 13-7
13.3.3 Function codes (FC)·························································· 13-8
13.3.4 Addresses····································································· 13-18
13.3.5 Exceptional responses····················································· 13-26
13.3.6 CRC-16 ········································································ 13-28
13.3.7 Communication operating method ······································ 13-31
13.4 Sample Wiring with Host Controller······································ 13-32
13.5 Communications Procedures ·············································· 13-33
13.5.1 Start of communications··················································· 13-33
13.5.2 Communications timings ·················································· 13-33
13.5.3 Error processing ····························································· 13-35
13.5.4 Communication time over ················································· 13-36
13.5.5 Communications example ················································ 13-37
1. Immediate value data operation ································································13-37
2. Monitoring cycle·····················································································13-39
CHAPTER 14 PC LOADER 14-1
14.1 Operating Environment························································· 14-2
14.2 Installation Method······························································· 14-3
14.3 List of Functions································································ 14-11
14.4 Setup Procedure································································ 14-12
14.5 Detailed Function Description ············································· 14-13
14.5.1 Real-time Trace······························································ 14-13
14.5.2 Historical Trace ······························································ 14-15
14.5.3 Monitors ······································································· 14-18
14.5.4 Parameter Editing ··························································· 14-20
14.5.5 Positioning Data Editing ··················································· 14-22
14.5.6 Test Operation ······························································· 14-23
14.5.7 Servo Analyze································································ 14-32
14.5.8 Diagnosis to be Made if the Servomotor Fails to Start············· 14-33