Fuji Electric ALPHA5 Smart User manual

24C7-E-0016c
FUJI SERVO SYSTEM
ALPHA5 Smart
USER’S MANUAL

i
This manual is "User's Manual for Fuji AC Servo System ALPHA5 Smart 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 (GYB/GYH/GYG/GYC/GYS Series) ING-SI47-0863
Servo amplifier
Operation manual
Fuji AC servo ALPHA5 Smart Series
servo amplifier (RYHF5-VV2)
INR-SI47-1439-JE
The target model of this manual is shown below.
Device Model
Servomotor GYBD5-**2 or GYHC6-**2 or GYGC(B)5-**2 or
GYCD5-**2 or GYSD5-**2
Servo amplifier RYHF5-VV2
* "" 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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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 RS-485 COMMUNICATIONS 13
CHAPTER 14 PC LOADER 14
CHAPTER 15 APPENDIXES 15

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CHAPTER 0 INTRODUCTION
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
■Compliance with RoHS directive ································································· 0-9
■Service life of EEPROM ············································································ 0-9
■EC Directive and UL/CSA Standard ··························································· 0-10
0.2 Outline of System ·································································· 0-11
0.2.1 Servomotor ······································································· 0-11
0.2.2 Servo Amplifier ·································································· 0-12
0.3 Model Nomenclature ······························································ 0-13
0.3.1 Servomotor ······································································· 0-13
0.3.2 Servo Amplifier ·································································· 0-14
0.4 Combination between Servomotor and Servo Amplifier·············· 0-15
0.4.1 VV Type ··········································································· 0-15
CHAPTER 1 INSTALLATION
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···············1-7
1.2 Servo Amplifier ·······································································1-8
1.2.1 Storage Environment ····························································1-8
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 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),M5) ····················································· 2-13
2.1.3.5 Sequence Input (CONT1, CONT2, CONT3, ... COMIN)························ 2-14
2.1.3.6 Sequence Output (OUT1, OUT2, ... COMOUT) ·································· 2-14
2.1.4 RS-485 Communications (CN3) ············································ 2-14
2.1.5 Analog Monitor Output (CN4: MON1, MON2, and M5)················ 2-15
2.2 P-N Junction ········································································· 2-16
2.3 Servomotor··········································································· 2-17
2.3.1 Brake Connector ································································ 2-17
2.4 Encoder ··············································································· 2-18
2.4.1 Encoder Cable··································································· 2-18
2.4.2 Encoder Cable··································································· 2-19
2.5 Description of I/O Signals ······················································· 2-21
List of input signals ····················································································· 2-21
List of output signals ··················································································· 2-22
Input signal ······························································································· 2-23
Servo-on [S-ON]: Sequence input signal (Reference value 1) ··························· 2-23
Forward command [FWD]: Sequence input signal (Reference value 2)··············· 2-23
Reverse command [REV]: Sequence input signal (Reference value 3) ··············· 2-23
Start positioning [START]: Sequence input signal (Reference value 4) ··············· 2-25
Homing [ORG]: Sequence input signal (Reference value 5) ····························· 2-26
Homing position LS [LS]: Sequence input signal (Reference value 6) ················· 2-26
Over-travel in positive direction [+OT]: Sequence input signal (Reference value 7) 2-28
Over-travel in negative direction [-OT]: Sequence input signal (Reference value 8) 2-28
Forced stop [EMG]: Sequence input signal (Reference value 10) ······················ 2-30
Alarm reset [RST]: Sequence input signal (Reference value 11)························ 2-31
ACC0: Sequence input signal (Reference value 14) ······································· 2-32
Position preset: Sequence input signal (Reference value 16)···························· 2-33
Gain swtich: Sequence input signal (Reference value 17)································ 2-34
Torque limit 0: Sequence input signal (Reference value 19) ····························· 2-34

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Torque limit 1: Sequence input signal (Reference value 20) ····························· 2-34
Immediate value continuation: Sequence input signal (Reference value 22) ········ 2-36
Immediate value change: Sequence input signal (Reference value 23)··············· 2-38
Electronic gear numerator selection 0: Sequence input signal (Reference value 24) 2-39
Electronic gear numerator selection 1: Sequence input signal (Reference value 25) 2-39
Command Pulse inhibit: Sequence input signal (Reference value 26)················· 2-39
Command pulse ratio 1: Sequence input signal (Reference value 27) ················ 2-40
Command pulse ratio 2: Sequence input signal (Reference value 28) ················ 2-40
Proportional control: Sequence input signal (Reference value 29) ····················· 2-41
Pause: Sequence input signal (Reference value 31)······································· 2-41
Positioning cancel: Sequence input signal (Reference value 32) ······················· 2-42
External regenerative resistor overheat: Sequence input signal (Reference value 34) · 2-42
Teaching: Sequence input signal (Reference value 35) ··································· 2-43
Control mode selection: Sequence input signal (Reference value 36)················· 2-43
Position control: Sequence input signal (Reference value 37)··························· 2-44
Torque control: Sequence input signal (Reference value 38) ···························· 2-47
Override enable: Sequence input signal (Reference value 43) ·························· 2-48
Override 1: Sequence input signal (Reference value 44) ································· 2-48
Override 2: Sequence input signal (Reference value 45) ································· 2-48
Override 4: Sequence input signal (Reference value 46) ································· 2-48
Override 8: Sequence input signal (Reference value 47) ································· 2-48
Interrupt input enable: Sequence input signal (Reference value 48) ··················· 2-50
Interrupt input: Sequence input signal (Reference value 49)····························· 2-50
Deviation clear: Sequence input signal (Reference value 50)···························· 2-52
Multi-step speed selection [X1]: Sequence input signal (Reference value 51)······· 2-52
Multi-step speed selection [X2]: Sequence input signal (Reference value 52)······· 2-52
Multi-step speed selection [X3]: Sequence input signal (Reference value 53)······· 2-52
Free-run [BX]: Sequence input signal (Reference value 54) ····························· 2-53
Edit permission: Sequence input signal (Reference value 55) ··························· 2-54
Anti resonance frequency selection 0: Sequence input signal (Reference value 57)· 2-56
Anti resonance frequency selection 1: Sequence input signal (Reference value 58)· 2-56
AD0: Sequence input signal (Reference value 60) ········································· 2-57
AD1: Sequence input signal (Reference value 61) ········································· 2-57
AD2: Sequence input signal (Reference value 62) ········································· 2-57
AD3: Sequence input signal (Reference value 63) ········································· 2-57
Positioning data selection: Sequence input signal (Reference value 77) ············· 2-58
Broadcast cancel: Sequence input signal (Reference value 78) ························ 2-58
Ready for servo-on [RDY]: Sequence output signal (Reference value 1) ············· 2-60
In-position [INP]: Sequence output signal (Reference value 2) ·························· 2-61
Speed limit detection: Sequence output signal (Reference value 11)·················· 2-63

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Over write completion: Sequence output signal (Reference value 13)················· 2-63
Brake timing: Sequence output signal (Reference value 14)····························· 2-63
Alarm detection (normally open contact): Sequence output signal (Reference value 16) 2-66
Alarm detection (normally closed contact): Sequence output signal (Reference value 76) · 2-66
Point detection, area 1: Sequence output signal (Reference value 17)················ 2-67
Point detection, area 2: Sequence output signal (Reference value 18)················ 2-67
Limiter detection: Sequence output signal (Reference value 19)························ 2-68
OT detection: Sequence output signal (Reference value 20) ···························· 2-69
Cycle end detection: Sequence output signal (Reference value 21) ··················· 2-70
Homing completion: Sequence output signal (Reference value 22) ···················· 2-71
Zero deviation: Sequence output signal (Reference value 23)··························· 2-71
Zero speed [NZERO]: Sequence output signal (Reference value 24) ················· 2-72
Speed coincidence [NARV]: Sequence output signal (Reference value 25) ········· 2-72
Torque limit detection: Sequence output signal (Reference value 26) ················· 2-73
Overload warning detection: Sequence output signal (Reference value 27) ········· 2-73
Servo control ready [S-RDY]: Sequence output signal (Reference value 28)········ 2-75
Edit permission response: Sequence output signal (Reference value 29) ············ 2-75
Data error: Sequence output signal (Reference value 30) ································ 2-76
Address error: Sequence output signal (Reference value 31) ··························· 2-76
Alarm code 0: Sequence output signal (Reference value 32)···························· 2-76
Alarm code 1: Sequence output signal (Reference value 33)···························· 2-76
Alarm code 2: Sequence output signal (Reference value 34)···························· 2-76
Alarm code 3: Sequence output signal (Reference value 35)···························· 2-76
Alarm code 4: Sequence output signal (Reference value 36)···························· 2-76
+OT detection: Sequence output signal (Reference value 38)··························· 2-78
-OT detection: Sequence output signal (Reference value 39) ··························· 2-78
Home position LS detection: Sequence output signal (Reference value 40) ········· 2-79
Forced stop detection: Sequence output signal (Reference value 41)················· 2-79
Battery warning: Sequence output signal (Reference value 45)························· 2-79
Life warning: Sequence output signal (Reference value 46) ····························· 2-80
MD0: Sequence output signal (Reference value 60) ······································· 2-80
MD1: Sequence output signal (Reference value 61) ······································· 2-80
MD2: Sequence output signal (Reference value 62) ······································· 2-80
MD3: Sequence output signal (Reference value 63) ······································· 2-80
MD4: Sequence output signal (Reference value 64) ······································· 2-80
MD5: Sequence output signal (Reference value 65) ······································· 2-80
MD6: Sequence output signal (Reference value 66) ······································· 2-80
MD7: Sequence output signal (Reference value 67) ······································· 2-80
Position preset completion: Sequence output signal (Reference value 75) ·········· 2-82
Immediate value continuation permission: Sequence output signal (Reference value 79) · 2-82

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Immediate value continuation completion: Sequence output signal (Reference value 80) · 2-83
Immediate value change completion: Sequence output signal (Reference value 81)··· 2-83
Command positioning completion: Sequence output signal (Reference value 82) · 2-84
Range 1 of position: Sequence output signal (Reference value 83)···················· 2-85
Range 2 of position: Sequence output signal (Reference value 84)···················· 2-85
CONT Through: Sequence Output Signal (Setting value 91 to 95)····················· 2-89
2.6 Connection Example to Host Controller···································· 2-90
2.6.1 Connection Example (Positioning terminal: NP1SF-HP4DT) ········ 2-91
2.6.2 Connection Example (Positioning module: NP1F-MP2) ·············· 2-92
2.6.3 Connection Example (Positioning module: F3YP14-0N/ F3YP18-0N) · 2-93
2.6.4 Connection Example (Positioning unit: QD75 type) ···················· 2-94
CHAPTER 3 OPERATION
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]······························3-5
3.3.4 If the Servomotor Fails to Start ················································3-6
3.3.5 Shutdown ···········································································3-6
3.4 Operation ···············································································3-7
3.4.1 Test Operation at Keypad ······················································3-7
3.4.2 Position Control (Pulse) ·························································3-8
3.4.3 Speed Control ··································································· 3-10
3.4.4 Torque Control··································································· 3-11
3.4.5 Mode Selection ·································································· 3-12
3.4.6 Extension Mode ································································· 3-13
3.4.7 Homing ············································································ 3-15
3.4.8 Interrupt Positioning ···························································· 3-16
3.4.9 Torque Limit ······································································ 3-18
3.4.10 Positioning Data Operation ················································· 3-19
3.4.11 Immediate Value Data Operation ········································· 3-20
3.4.12 Interrupting/Stopping Operation ··········································· 3-21
CHAPTER 4 PARAMETER
4.1 Parameter Division ··································································4-2
4.2 Basic Parameters ····································································4-2
4.2.1 List (PA1_) ····································································4-2
4.2.2 Description of Each Parameter················································4-4

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PA1_01 Control mode selection································································· 4-4
PA1_02 INC/ABS system selection ···························································· 4-7
PA1_03 Command pulse input method and form selection ······························ 4-8
PA1_04 Rotation direction selection ························································· 4-11
PA1_05 Number of command input pulses per revolution······························ 4-12
PA1_06 Numerator 0 of electronic gear, PA1_07 Denominator of electronic gear ··· 4-12
PA1_08 Number of output pulses per revolution·········································· 4-14
PA1_09 Numerator of electric gear for output pulses···································· 4-14
PA1_10 Denominator of electric gear for output pulses································· 4-14
PA1_11 Output pulse phase selection at CCW rotation································· 4-14
PA1_12 Z-phase position offset ······························································· 4-15
PA1_13 Tuning mode selection ······························································· 4-15
PA1_14 Load inertia ratio······································································· 4-18
PA1_15 Auto tuning gain 1 ····································································· 4-18
PA1_16 Auto tuning gain 2 ····································································· 4-19
PA1_20 to 23 Easy tuning settings ··························································· 4-20
PA1_25 to 26 Max. rotation speed ··························································· 4-20
PA1_27 Forward rotation torque limit, PA1_28 Reverse rotation torque limit······ 4-21
PA1_29 Speed coincidence range ··························································· 4-21
PA1_30 Zero speed range ····································································· 4-22
PA1_31 Deviation unit selection ······························································ 4-22
PA1_32 Zero deviation range/In-position range··········································· 4-22
PA1_33 to 35 In-position output signals····················································· 4-22
PA1_36 to 40 Acceleration time and deceleration time settings ······················ 4-24
PA1_41 to 47 Manual feed speed/speed limit for torque control ······················ 4-25
4.3 Control Gain and Filter Setting Parameter································· 4-27
4.3.1 List (PA1_) ·································································· 4-27
4.3.2 Description of Each Parameter·············································· 4-28
PA1_51 to 53 Command filter settings ······················································ 4-28
PA1_54 Position command response time constant ····································· 4-29
PA1_55 to 57 Response to disturbance settings·········································· 4-29
PA1_58 Feed forward gain 1··································································· 4-29
PA1_59 Torque filter time constant for position and speed control··················· 4-30
PA1_60 Torque filter time constant for torque control······································ 4-30
PA1_61 to 67 Second gain settings ·························································· 4-30
PA1_68 Acceleration compensation gain for position control·························· 4-31
PA1_70 to 76 Notch filter settings ···························································· 4-31
PA1_77 to 86 Vibration suppressing settings ·············································· 4-33
PA1_87 Model torque filter time constant··················································· 4-35
PA1_88 and 89 Position loop integration time constant, position loop integration limiter · 4-35

x
PA1_90 Load torque observer································································· 4-35
PA1_91 P/PI automatic change selection ·················································· 4-36
PA1_92 and 93 Friction compensation settings ··········································· 4-36
PA1_94 Torque filter setting mode ··························································· 4-37
PA1_95 Model torque calculation and speed observer selection ····················· 4-38
PA1_96 Speed limit gain for torque control ················································ 4-38
4.4 Automatic Operation Setting Parameter···································· 4-39
4.4.1 List (PA2_) ·································································· 4-39
4.4.2 Description of Each Parameter·············································· 4-40
PA2_01 Decimal point position of positioning data ······································· 4-40
PA2_06 to 18 and 24 Homing settings ······················································ 4-40
PA2_06 Homing speed·········································································· 4-43
PA2_07 Creep speed for homing ····························································· 4-43
PA2_08 Starting direction for homing························································ 4-43
PA2_09 Reverse traveling unit amount for homing······································· 4-44
PA2_10 Homing direction after reference signal detection ····························· 4-45
PA2_11 Reference signal for shift operation··············································· 4-45
PA2_12 Reference signal for homing························································ 4-46
PA2_13 Home position LS signal edge selection········································· 4-46
PA2_14 Home position shift unit amount ··················································· 4-46
PA2_15 Deceleration operation for creep speed·········································· 4-47
PA2_16 Home position after homing completion ········································· 4-47
PA2_17 Home position detection range····················································· 4-48
PA2_18 Deceleration time at OT during homing·········································· 4-48
PA2_22 Detection time for contact-stopper ················································ 4-49
PA2_23 Torque limit for contact-stopper···················································· 4-49
PA2_24 Selection of operation at OT detection during homing ······················· 4-49
PA2_19 Preset position ········································································· 4-72
PA2_20 Interrupt traveling unit amount······················································ 4-72
PA2_25 to 27 Software OT selection･position command format, software OT detection position·· 4-72
PA2_28 to 29 Limiter detection position····················································· 4-73
PA2_31 to 34 Point detection, area settings ··············································· 4-74
PA2_36 to 39 Override settings ······························································· 4-76
PA2_40 Internal positioning data selection ················································· 4-76
PA2_41 Sequential start selection ···························································· 4-77
PA2_42 Decimal point position of stand still timer ········································ 4-77
PA2_43 Output selection at M code OFF ··················································· 4-77
4.5 Extended Function Setting Parameter ······································ 4-80
4.5.1 List (PA2_) ·································································· 4-80
4.5.2 Description of Each Parameter·············································· 4-81

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PA2_51 to 53 Electronic gear ratio numerator 1, 2, 3···································· 4-81
PA2_54 and 55 Command pulse ratio 1, 2 ··················································· 4-81
PA2_56 Speed limit selection at torque control ··········································· 4-82
PA2_57 to 60 Torque limit settings ··························································· 4-82
PA2_61 to 63 Action sequence settings ···················································· 4-85
PA2_64 Torque keeping time to holding brake············································ 4-86
PA2_65 Regenerative resistor selection ···················································· 4-86
PA2_66 Flying start at speed control ························································ 4-86
PA2_67 Alarm detection at undervoltage ··················································· 4-87
PA2_69 Deviation detection overflow value················································ 4-87
PA2_70 Overload warning value······························································ 4-87
PA2_72 Station number········································································· 4-88
PA2_73 Communication baud rate (RS-485) ·············································· 4-88
PA2_74 Parameter write protection ·························································· 4-88
PA2_75 Positioning data write protection··················································· 4-88
PA2_77 Initial display of the keypad ························································· 4-89
PA2_78 Display transition at warning detection··········································· 4-89
PA2_80 to 85 Parameter in RAM 1 to 6····················································· 4-90
PA2_86 to 88 Positioning data in RAM 1 to 3·············································· 4-90
PA2_89 to 90 Sequence test mode: Mode selection and encoder selection······· 4-91
PA2_93 Parity/stop bit selection (for Modbus)············································· 4-91
PA2_94 Response time (for Modbus) ······················································· 4-92
PA2_95 Communications time over time (for Modbus)·································· 4-92
PA2_97 Communications protocol selection··············································· 4-92
PA2_98 GY******2-T2*-* motor type setting················································ 4-92
PA2_99 Encoder selection ····································································· 4-93
4.6 Input Terminal Function Setting Parameter ······························· 4-94
4.6.1 List (PA3_) ·································································· 4-94
4.6.2 Description of Each Parameter·············································· 4-95
PA3_01 to 05 CONT 1 to 5 signal assignment (turned on/off by hardware CONT signal) 4-95
PA3_26 to 30 CONT always effective 1 to 5 ··············································· 4-97
PA3_31 to 34 Speed and torque command scale and offset settings ··············· 4-98
PA3_35 Zero clamp level ······································································· 4-98
PA3_36 Deviation clear input form ··························································· 4-98
PA3_39 Speed command fine adjustment gain ··········································· 4-99
PA3_40 Torque command fine adjustment gain ·········································· 4-99
PA3_41～44 Address free assignment 1 to 4 (for Modbus) ···························· 4-99
4.7 Output Terminal Function Setting Parameter··························· 4-101
4.7.1 List (PA3_) ································································ 4-101
4.7.2 Description of Each Parameter············································ 4-102

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PA3_51 to 53 OUT 1 to 3 signal assignment (turned on/off by hardware OUT signal) ·4-102
PA3_81 to 87 Monitor output scale and offset settings·································4-104
PA3_88 Command pulse frequency sampling time for monitor ······················4-106
PA3_89 Feedback speed sampling time for monitor····································4-107
PA3_92 Range1 of position: Setting1·······················································4-107
PA3_93 Range1 of position: Setting2·······················································4-107
PA3_94 Range2 of position: Setting1·······················································4-107
PA3_95 Range2 of position: Setting2·······················································4-107
CHAPTER 5 SERVO ADJUSTMENT
5.1 Adjustment Procedure ·····························································5-2
5.2 Easy Tuning············································································5-3
5.2.1 What is Easy Tuning? ···························································5-3
5.2.2 Easy Tuning Operation Profile·················································5-3
5.2.3 Description of Operation ························································5-5
5.3 Auto Tuning············································································5-9
5.3.1 Conditions for Auto Tuning ·····················································5-9
5.3.2 Parameters Used for Auto Tuning ············································5-9
5.3.3 Approximate Reference Value of Auto Tuning Gain 1················· 5-10
5.3.4 Auto Tuning Adjustment Procedure ········································ 5-11
5.4 Auto Tuning Application························································· 5-12
5.4.1 Parameters Used for Auto Tuning Application··························· 5-12
5.4.2 Notch Filter Setting Method ·················································· 5-13
5.4.3 Adjustment Procedure with Auto Tuning Application ·················· 5-15
5.5 Manual Tuning ······································································ 5-16
5.5.1 Conditions for Manual Tuning ··············································· 5-16
5.5.2 Parameters Used for Manual Tuning ······································ 5-16
5.5.3 Approximate Gain Reference Value ······································· 5-16
5.5.4 Manual Tuning Adjustment Procedure ···································· 5-17
5.5.5 Individual Adjustment ·························································· 5-18
5.6 Interpolation Operation Mode·················································· 5-19
5.6.1 Conditions for Interpolation Operation Mode····························· 5-19
5.6.2 Parameters Used for Interpolation Operation Mode ··················· 5-19
5.6.3 Adjustment Procedure in Interpolation Operation Mode ·············· 5-20
5.7 Trace Operation Mode ···························································· 5-21
5.7.1 Conditions for Trace Operation Mode ····································· 5-21
5.7.2 Parameters Used for Trace Operation Mode ···························· 5-21
5.7.3 Adjustment Procedure in Trace Operation Mode ······················· 5-22
5.8 Short cycle time Operation Mode············································· 5-23
5.8.1 Conditions for Short cycle time Operation Mode························ 5-23

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5.8.2 Parameters Used for Short cycle time Operation Mode··············· 5-23
5.8.3 Adjustment Procedure in Short cycle time Operation Mode ········· 5-24
5.9 Profile Operation ··································································· 5-25
5.9.1 What is Profile Operation?···················································· 5-25
5.9.2 Description of Operation ······················································ 5-26
5.10 Special Adjustment (Vibration Suppression) ··························· 5-28
5.10.1 What is Vibration Suppression ? ·········································· 5-28
5.10.2 Automatic Vibration Suppression ········································· 5-30
5.10.3 Manual Adjustment of Vibration Suppression ·························· 5-31
CHAPTER 6 KEYPAD
6.1 Display···················································································6-2
6.1.1 Mode ·················································································6-2
6.1.2 Key ···················································································6-3
6.1.3 Blinking Display ···································································6-3
6.1.4 Displaying Upper/middle/lower Data ·········································6-3
6.1.5 Mode Selection ····································································6-4
6.2 Function List···········································································6-5
6.3 Sequence Mode·······································································6-9
6.4 Monitor Mode········································································ 6-13
6.5 Station Number Mode····························································· 6-27
6.6 Maintenance Mode································································· 6-28
6.7 Parameter Edit Mode······························································ 6-33
6.8 Positioning Data Edit Mode····················································· 6-39
6.9 Test Operation Mode······························································ 6-43
CHAPTER 7 MAINTENANCE AND INSPECTION
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 ··························································7-6
7.4 Items to be Inquired upon Trouble ··········································· 7-16
7.5 Maintenance and Discarding ··················································· 7-17
7.5.1 Operating Environment························································ 7-17
7.5.2 Life·················································································· 7-18
7.5.3 Discarding ········································································ 7-18
7.6 Approximate Replacement Timing ··········································· 7-19
7.7 Troubleshooting ···································································· 7-20

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CHAPTER 8 SPECIFICATIONS
8.1 Specifications of Servomotor ····················································8-2
8.1.1 GYB Motor··········································································8-2
8.1.2 GYH Motor··········································································8-4
8.1.3 GYG Motor ·········································································8-6
8.1.4 GYC Motor··········································································8-8
8.1.5 GYS Motor········································································ 8-10
8.2 Specifications of Servo Amplifier············································· 8-12
8.2.1 Common Specifications ······················································· 8-12
8.2.2 Interface Specifications························································ 8-13
8.3 Dimensions of Servomotor ····················································· 8-14
8.3.1 GYB Motor········································································ 8-14
8.3.2 GYB Motor (With a Brake)···················································· 8-14
8.3.3 GYH Motor········································································ 8-15
8.3.4 GYH Motor (With a Brake)···················································· 8-15
8.3.5 GYG Motor ······································································· 8-16
8.3.6 GYG Motor (With a Brake) ··················································· 8-16
8.3.7 GYC Motor········································································ 8-17
8.3.8 GYC Motor (With a Brake)···················································· 8-17
8.3.9 GYS Motor········································································ 8-18
8.3.10 GYS Motor (With a Brake) ·················································· 8-18
8.4 Dimensions of Servo Amplifier ················································ 8-19
8.5 Optional Specification of Shaft Extension [With a Key, Tapped]··· 8-20
CHAPTER 9 CHARACTERISTICS
9.1 Timing Chart ···········································································9-2
9.1.1 Power-On Timing ·································································9-2
9.1.2 Each Signal Timing·······························································9-3
9.1.3 Control Mode Selection Timing················································9-4
9.1.4 Alarm Reset Timing ······························································9-4
9.2 Overload Characteristic····························································9-5
9.2.1 GYB/GYC/GYS Motor ···························································9-5
9.2.2 GYH Motor··········································································9-7
9.2.3 GYG 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 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 ································································· 10-6
10.2.3 How to Calculate the Servo Amplifier Input Current ·················· 10-7
10.2.4 Conditions for Selecting Peripheral Equipment of Servo Amplifier10-8
10.3 MCCB/ELCB (Molded Case Circuit Breaker/Earth Leakage Breaker) 10-9
10.4 Electromagnetic Contactor·················································· 10-11
10.5 Surge Absorber ································································· 10-12
10.6 Power Filter······································································· 10-14
10.7 AC Reactor ······································································· 10-16
10.8 External Regenerative Resistor············································ 10-19
10.9 Optional Equipment ··························································· 10-22
Sequence I/O cable (Pulse form: Differential)···············································10-22
Sequence I/O cable (Pulse form: Open collector)··········································10-23
Sequence I/O cable (Pulse form: Open collector)··········································10-24
Encoder cable (1) ··················································································10-25
Encoder cable (2) ··················································································10-26
Motor power cable ·················································································10-27
Brake cable ··························································································10-28
Sequence I/O connector kit······································································10-29
Encoder connector kit (Amplifier side) ························································10-29
Encoder connector kit (Motor side) ····························································10-30
Encoder connector kit (Motor side) ····························································10-30
Recommended connector kit (motor side) for GYH type motor encoder wiring ··10-30
Power supply and motor power conncetor (Amplifier side) ······························10-31
Power supply conncetor (Amplifier side) ·····················································10-31
Recommended RYH type (frame 3) /UL standard compatible power supply connector (amplifier side) 10-31
DC circuit connector (Amplifier side) ··························································10-32
DC circuit connector (Amplifier side) *Provided with amplifier.··························10-32
Motor power connector (Amplifier side)·······················································10-33
Recommended RYH type (frame 3) / UL standard compatible motor power connector (amplifier side) 10-33
Motor power connector kit (Motor side)·······················································10-33
Motor power connector kit (Motor side)·······················································10-34
Recommended connector kit (motor side) for GYH type motor power wiring ·····10-34
Motor power connector kit (Motor side : With brake) ······································10-34
Recommended connector kit (motor side) for GYH type brake wiring ············10-35
Motor power connector kit (Motor side)·······················································10-35

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Motor power connector kit (Motor side : With brake) ······································10-35
Brake connector kit (Motor side)································································10-36
Battery (CN5)························································································10-36
Battery + Battery case ············································································10-36
Monitor (CN4) ·······················································································10-37
External regenerative resistor (1) ······························································10-37
External regenerative resistor (2) ······························································10-38
External regenerative resistor (3) ······························································10-39
External regenerative resistor (4) ······························································10-40
CHAPTER 11 ABSOLUTE POSITION SYSTEM
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 [Frame 1] ································ 11-3
11.2.2 Battery Installation Procedure [Frame 2, 3 and 4] ···················· 11-4
11.2.3 Battery Replacement Procedure ·········································· 11-4
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 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
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
12.3 Startup ············································································· 12-13
12.4 Setting Change ·································································· 12-15
12.5 Response Time·································································· 12-15
CHAPTER 13 RS-485 COMMUNICATIONS
13.1 Modbus RTU Communications ·············································· 13-2
13.1.1 Settings for Servo Amplifier················································· 13-2

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13.1.2 Communication Specifications············································· 13-4
13.1.3 Transmission Protocol ······················································· 13-5
13.1.4 Sample Wiring with Host Controller····································· 13-32
13.1.5 Communications Procedures ············································ 13-33
13.2 PC Loader Communications················································ 13-39
13.2.1 Station Number ······························································ 13-39
13.2.2 Communication Specifications··········································· 13-39
13.2.3 Transmission Protocol ····················································· 13-40
13.2.4 Description of Transmission Data······································· 13-41
13.2.5 Status Data ··································································· 13-41
13.2.6 Command List································································ 13-42
13.2.7 Command Transmission Specifications ······························· 13-42
13.2.8 Communications Starting Procedure ··································· 13-43
13.2.9 Regular Communications Procedure··································· 13-43
13.2.10 Protocol Level Error······················································· 13-44
13.2.11 Wiring (CN3) ································································ 13-45
13.2.12 Communications ··························································· 13-47
CHAPTER 14 PC LOADER
14.1 Operating Environment························································· 14-2
14.2 Installation Method······························································· 14-2
14.3 Communications Setting······················································· 14-6
14.4 Function List ····································································· 14-17
14.5 Use Method at Setting Up···················································· 14-18
14.6 Detail Description of Function ············································· 14-19
14.6.1 Real-Time Trace····························································· 14-19
14.6.2 Historical Trace ······························································ 14-21
14.6.3 Monitor········································································· 14-24
14.6.4 Parameter Editing ··························································· 14-25
14.6.5 Positioning Data Editing ··················································· 14-27
14.6.6 Test Running ································································· 14-28
14.6.7 Servo Analyze································································ 14-35
14.6.8 Diagnosis to be Made if the Servomotor Fails to Start············· 14-36
14.6.9 Language Selection ························································ 14-37
14.7 Servo Operator ·································································· 14-38
14.7.1 Wiring ·········································································· 14-38
14.7.2 PC Loader for Servo Operator ··········································· 14-38
14.7.3 Wizard Menu ································································· 14-39
14.8 Parameter Conversion Tool················································· 14-40

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CHAPTER 15 APPENDIXES
15.1 Status Indication Block Diagram ············································ 15-2
15.2 Main Circuit Block Diagram ··················································· 15-3
15.3 Control Block Diagram ························································· 15-5
15.4 Parameter List ····································································· 15-6
15.5 Capacity Selection Calculation ············································ 15-14
15.5.1 Type of Mechanical System ·············································· 15-14
15.5.2 Capacity Selection Calculation ·········································· 15-16
15.5.3 Capacity Selection Calculation Example ······························ 15-24
15.6 Replacement (from FALDIC-W) ············································ 15-30
15.6.1 Overview ······································································ 15-30
15.6.2 Combination with FALDIC-W Motor ···································· 15-30
15.6.3 Wiring between Motor and Amplifier···································· 15-32
15.6.4 I/O Terminal (CN1)·························································· 15-35
15.6.5 Parameter Setting··························································· 15-36
15.7 Precautions on Functions ··················································· 15-38
15.7.1 Dimension Comparison of Servo Amplifier ··························· 15-39
15.8 Revision History ································································ 15-40
15.9 Product Warranty······························································· 15-41
15.10 Service Network······························································· 15-42