MABUCHI MOTOR DS-34EC1 User manual

1
DS-34EC1
Instruction Manual
Notice to users
The unauthorized reproduction or replication in whole or in part of this operation manual is prohi ited. The prod-
uct’s performance, specifications, and appearance may e modified for improvements without advance notice.
Thank you for your understanding.
DS
-
34EC1
Controller
MABUCHI MOTOR CO., LTD.
Pu lication Num er: TKS-A10-000184
Date of Pu lication: Fe . 24. 2021

1
〇 Features
Please refer to 「1. Functions and characteristics」 for details.
Notes
This instruction manual descri es the functions and characteristics of the controller unit.
You should also refer to the respective instruction manual for detailed characteristics and
specifications of the motor you intend to use it with.
■24V and 36V attery powered drive
・Allowa le voltage range: 17 to 45V DC constant
■Rated output current: 9Arms
■Maximum output current: 50A
■Sinusoidal drive
■Speed control function
■Maximum regenerative current: -10A
■Function to protect the controller system
- Power supply undervoltage/overvoltage protection
- Overheat protection
- Overcurrent protection
- Sensor wire disconnection detection
- Motor lock detection
■CAN communication function (CAN2.0B compliant)
■Waterproof: IPx4 equivalent
■Mass: 220g
〇 Applica le products
Mo ility/AGV devices, etc.
〇 Product overview
This product is a controller that drives the Ma uchi Motor rushless motor IS-94 and MS-94 series.
It presumes use with mo ility or AGV devices equipped with 24V or 36V atteries, with speed
control and direction of rotation switching possi le through CAN communication.

2
FOR YOUR SAFTY
Read the safety warnings for proper use of this product.
Ma uchi Motor Co., Ltd. has no lia ility to indemnify damages, including any malfunction of the
motor resulting from failure to follow this operation manual. Thank you for your understanding.
Safety Precautions
- This controller is a device used to drive a specific motor.
Check that the motor type and model are compati le efore use.
If the wrong motor is used in conjunction with the controller, not only is performance not guaran-
teed, ut there is a risk of accidents and fire.
- Use a power supply that meets the specifications of the product in which this controller is used.
Misuse can lead to damage y urnout, electric shock, or fires.
- Use a wire size that conforms to the specifications. Misuse can lead to damage y urnout, electric
shock, or fires.
- This controller is not equipped with a reverse connection protection circuit. If necessary, select the ap-
propriate protection circuit for your needs.
Failure to protect the circuit can lead to fires or malfunction.
- Do not insert lead wires or motor terminals into household electrical outlets. This carries the risk of
causing electric shock, injury, or damage to the device.
- Do not install near corrosive or inflamma le gases, or inflamma le materials. Failure to protect the cir-
cuit can lead to fires or malfunction.
- Do not touch conductive parts such as powered terminals when the power is on. This carries the risk
of causing electric shock or urns.
- Note that the temperature of the device may remain hot while turned on, and some time after power
is cut. This carries the risk of causing urns.
- Do not enter the range of motion of the machine while it is in operation. In addition, do not touch the
moving parts of the motor or machine. This carries the risk of causing injury.
- Should the controller e damaged, deformed, corroded, or otherwise roken, refrain from using it.
This carries the risk of causing fires or damaging the product.
- When an a normality or failure occurs, immediately send a system stop command to the controller
and cut off the power supply to the controller. Failure to do so may result in fire, electric shock, or in-
jury.
- Do not disassem le, repair, or modify the controller. This carries the risk of causing fires or damaging
the product.
Warning

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- The controller is intended as a general purpose product. It cannot e used with medical, military,
aerospace, automotive, or other specialty equipment.
- Although the controller is protected y a case, carefully consider its handling and installation location
to avoid excessive electrical and mechanical stress.
- Leads, switches, relays, etc., should e used with sufficient consideration of electrical capacity and
heat resistance.
If they do not meet the applica le standards, it can lead to malfunctions such as urnout.
- Matching checks and lifetime checks for set implementation should e performed y the user, and
quality assurance carried out.
Example Checklist for Set Installation:
Laws and standards applica le to the mounting product. Service life, electrical characteristics, me-
chanical characteristics, mechanical/electrical noise, storage environment, atmosphere gases, etc.
- Depending on the internal resistance and capacity of the motor drive power supply (including circuit),
start-up and rotational sta ility may e affected.
In addition, please perform tests under actual use conditions, not only at room temperature, ut
also under low or high temperature.
- Do not use the controller outside the range of the specifications.
- Do not mix inflamma le foreign matter such as oil, or conductive foreign matter such as metal pieces,
into the controller.
- Design a configuration for the controller that takes into account the maximum input current.
- When handling the controller, pay attention to sharp parts such as corners to prevent yourself from
getting injured.
- Install the controller within a housing.
- Do not place heavy o jects on the controller. This can lead to malfunction.
- When attaching the controller into place, do not apply force to deform the controller ody.
When tightening screws, ensure that all sides are equally tightened.
Failure to do so can adversely affect the product's characteristics.
- If the wiring of the main power supply or motor power line is too long or thin, motor torque will
decrease due to the impedance of the wiring. When selecting a motor, ensure sufficient margins
for acceleration and deceleration torque, and check the final product condition.
- Do not install an advancing phase capacitor or noise filter etween the controller and the motor.
This carries the risk of causing overheating or urnout.
- Be sure to set up safety devices such as emergency stop rakes such that machines and equipment
do not fall into a dangerous state even if the controller fails.
Usage and handling

4
- Set up an additional mechanism for emergency stop (power off and emergency stop rakes, etc.).
Note that even if a drive stop is triggered, the output may not stop due to the setting state or
external forces.
- Before installing on a machine and starting operations, set the parameters according to the machine
eing used.
- Do not configure extreme parameter settings. This can cause operations to ecome unsta le,
damage the machine, or cause injuries.
-Design the system so that safety can e ensured even in the event of a pro lem such as a roken
signal line.
- Do not turn the controller power on and off frequently.
- When an error is detected, the motor stops free running. Because the moment of inertia of the load
and the speed of rotation of the motor changes the coasting distance, consider the appropriate
safety devices to use on the machine.
- Ensure that the ca le connector is fully plugged in until it is secured y the locking mechanism.
If excessive force is applied to the ca le connector in a semi-plugged in state (not secured y the
locking mechanism), the connectors on the controller may e damaged.
When unplugging, release the locking mechanism and e careful not to exert excessive force on
the plug side.
- Do not damage the ca le connector, pull it strongly, apply excessive force, put heavy o jects on it,
or pinch it.
-Wiring and testing/maintenance must e performed y a professional technician who has expert
knowledge of the target electrical equipment.
- When performing wiring work or inspections, check the voltage with a tester or other device after
more than 5 minutes have elapsed since the power is cut off.
Voltage may remain in the controller, which can cause electric shocks.
- Ensure that the polarity of the power supply (＋－) and the wiring of the signal lines are correctly
installed. Misuse can lead to damage or reakage.
- To prevent damage caused y static electricity, efore touching the product, touch a near y metal
surface to discharge static electricity from your ody.
When working, take measures to prevent electrification.
- If necessary, purchase connection ca les separately.
- Turn on the power connected to the controller only after all wiring is complete.
- When operating the controller after long-term storage, perform checks and commissioning tests.
- The controller is a precision instrument. Do not drop or su ject the product to strong shocks.
- Never remove connectors while the motor is in operation. Also, ensure that the power supply is
turned off when inserting into a device.
Failure to do so can cause reakage of the controller.

5
- When an error is detected, rectify the cause of the error and ensure safety.
After that, release the error state, turn on the power again, and restore operations.
- When disposing of this product, do so according to laws and regulations, and applica le directives
from local governments.
- When storing the controller, avoid direct sunlight, high temperatures, humid places, and corrosive
gases.
The recommended operating environment is +10 to +30°C and relative humidity of 30 to 85%
(no condensation). Exercise due care with long-term storage, as pin contacts may deteriorate.
- Agents used for fumigation and disinfection can contaminate the metal parts of the controller and
electronic components.
When fumigating packaging materials (pallets, etc.) containing the controller or a product that incor-
porates the controller, ensure that the controller is not exposed to fumigation materials and gases.
- The am ient temperature when using the controller has an impact on performance and longevity.
Use the product
within the operating temperature and humidity range stated in the specifications.
１．Functions and characteristics
1-1. Standard use conditions
The standard use conditions are conditions or states indicating allowa le use, ut not a guarantee of charac-
teristics or performance.
1 Applica le motors IS-94BZC and MS-94BZA/BZB/BZC (*1)
2 Drive method Sinusoidal drive/PWM drive system (carrier frequency 20kHz)
3 Control method Speed control system (Control y CAN communication)
4 Speed and position detection
method Hall effect sensor
5 Power supply voltage 24V/36V (*1) DC constant
6 Maximum regenerative
current
-10A (max.)
Connect a power source that does not cause any a normality
due to the regenerative current.
7 Maximum input current 25A (max.)
8 Direction of rotation CW & CCW as seen from the output shaft side
9 Speed setting range 60 r/min to 3,000 r/min (*1)
Operating and Storage Environment

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10 Operating temperature range -10℃ to +50℃
11 Operating humidity range 30%RH to 95%RH (without condensation)
12
Connector lead terminal
temperature 105℃ (max.)
*1: The power supply voltage, speed, or speed range specified in this instruction manual are descri ed
with reference to characteristics when used in com ination with IS-94BZC.
The characteristics and specifications of MS-94BZA/BZB/BZC must take into account the gear reduction ratio.
Please refer to the motor instruction manual separately to check the characteristics and specifications efore
use.
1 2. Electrical characteristics (initial state)
1 Power supply voltage range 17V to 45V
2 Power supply current (Stand y mode)
CN_D Pin 1-Pin 2 = open
0.5mA (max.)
Power supply voltage: 36V
3 Power supply current (Stop mode)
CN_D Pin 1–Pin 2 = short
20mA (max.)
Power supply voltage: 36V
when motor sensor is not connected
.
4 Rated input current 10.5A (24V)
8.5A (36V)
5 Output current limit 1 (*1) 37A (Typ.)
6 Output current limit 2 (*1, *2) 50A (Typ.)
7 Insulation resistance
*Applica le to power supply part only
10MΩ (min.) (DC500V)
Between power input and housing.
8 Withstand voltage
*Applica le to power supply part only
AC500V, 1 minute
Between power input and housing.
*1:・The output current limit value is the current that can e instantaneously flown out of the controller
when starting the motor, etc.
・This current cannot e used continuously at all times.
・Read the instruction manual of the motor (IS-94BZC, MS-94BZA/BZB/BZC) efore use, and use it with
the torque less than the instantaneous maximum torque.
・If the motor output shaft is locked, or a load exceeding the instantaneous maximum torque is applied to
the motor, the motor winding and ca le connectors may heat up and urn out depending on the current
value, operating time, and operating environment.
Check the temperature of the motor and connector under the operating conditions of the
product in which the motor is mounted.
・For details on how to check the temperature of the motor, refer to "3.CAN Communication > 3-2.
Communication details > Drive status notification 2 > Motor temperature."

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・For details on how to check the temperature of the connector terminals, refer to "5-5. Notes on
ca le connector terminals ".
・To keep the motor and connector temperature at the specified value (motor 100°C max, connector 105°C
max), limit the drive current value y changing the current limit value or forci ly cool down the motor
and connectors.
*2: For protection of the main circuit, there is a limit on the time and speed that can e used.
In the case of setting 50A in "3. CAN communication: 3-2. Communication details: Motor drive
command: Current limit ", the current limit will e 50Apeak for up to 2 sec when the motor
speed is 1,000r/min or less.
In order to drive again at 50 Apeak, the following cooling time is required.
- In the case of motor stop, cooling time of 30sec is required.
- In the case of continuous operation, the cooling time is longer.
1-3. ON_OFF signal, CAN communication circuit
①ON_OFF signal input circuit
CN_D Pin 1: ON_OFF signal input pin
System active: Pin 1 – Pin 2 = short or low level
System stand y: Pin 1 – Pin 2 = open or high level
Type Item: Sym ol Condition min typ max Unit
System
active
ON_OFF pin threshold voltage: V IL Supply voltage = 17-45V -0.3 0.3 V
ON_OFF pin input current: I IL Supply voltage = 17-45V -300 uA
System
stand y
ON_OFF pin threshold voltage: V IH Supply voltage = 17-45V 1.6 V
ON_OFF pin input current: I IH Supply voltage = 17-45V -10 uA
Only open collector (NPN type), open drain (N-channel), and mechanical contact switches can e connected to the
ON_OFF pins.
・When an a normality or failure occurs in the controller, immediately open the ON_OFF terminal
to stop the system (system stand y state) and cut off the power supply to the controller.
ON_OFF signal internal equivalent circuit

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②CAN communication circuit
1 Communication method CAN communication (High Speed Can supported)
CAN2.0B compliant
2 Signal connection terminal CN_D Pin 4: CAN High level signal
CN_D Pin 3: CAN Low level signal
3 Data transfer rate 500k ps
4 Line termination resistance 124Ω/open (Selecta le)
CAN communication internal equivalent circuit
Equivalent circuit
CAN
transceiver
*1: Selecta le with CAN parameters
*1
To MCU

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2. Functional block diagram
The following a reviations of signal names shown in “4. Connector” are shown in a
functional lock diagram.
Connector
name
No. Signal name
Abbrevia-
tion
CN_A 1 BATTERY POSITIVE B+
2 BATTERY NEGATIVE B-
CN_B
1 U PHASE OF MOTOR U
2 V PHASE OF MOTOR V
3 W PHASE OF MOTOR W
CN_C
1 +5V POSITIVE ELECTRODE +5V
2 THERMISTOR TH
3 SGND1 SGND1
4 U SIGNAL BY ELECTROMAGNETIC WAVE HU
5 W SIGNAL BY ELECTROMAGNETIC WAVE HW
6 V SIGNAL BY ELECTROMAGNETIC WAVE HV
CN_D
1 ON_OFF ON_OFF
2 SGND2 SGND2
3 CAN_L CAN_L
4 CAN_H CAN_H

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3. CAN communication
3-1. CAN ID configuration rules
The ID for CAN communication is configured to consist of a function code for the top 4 its and a node
device ID for the lower 7 its.
The function code (FCD) is a num er used to identify a particular function.
The node device ID (NID) is a num er used to identify an individual unit when multiple units are used.
CAN ID configuration
Function code Node device ID
11 10 9 8 7 6 5 4 3 2 1
The assignment of FCD is as follows.
Function code (FCD) contents
Code Contents
0x03 Motor drive command
0x05 Drive state notification 1
0x06 Error state notification
0x07 Drive state notification 2
0x09 Controller settings
0x0A Flag settings
0x0B/0x0C Parameter settings
An example of device ID setting when using two motors is shown elow.
E.g., When driving instructions are performed on a motor R circuit, the CAN ID is
FCD (0x03) * 0x80 + NID (0x02) = 0x182.
*Node device ID can e set as WID (0x10) of parameter writing (0x0B).
For details, please refer to "3-3.WID/PID" .
Node device ID contents (configuration examples)
ID Designated device
0x01 (default) Circuit for motor L
0x02 Circuit for motor R
MSB LSB

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3.2. Communication details
*1: For the direction, S indicates the direction of notification from the controller to the outside, and R
indicates the direction of receiving instructions from the outside.
*2: [CAN ID] is given as an example when the node device is set to 0x01,0x02.
*3: FCD = 0x04,0x08 is intended for securing CAN IDs towards future expansi ility.
*4: CAN ID=0x7E0,0x7E1 is used to reprogram via CAN, so ensure that you secure this CAN ID.
*5: Data over 2 ytes is expressed in MSB first. Be sent in order of upper yte / lower yte in CAN
communication.
CAN communication settings/readout function (*4, *5)
Function
Direc-
tion
(*1)
FCD
[CAN ID]
(*2)
Data contents
1Byte 2Byte 3Byte 4Byte 5Byte 6Byte 7Byte 8Byte
Motor drive
command R
0x03
[0x181,0x182]
Operat-
ing
state set-
ting
Motor speed
(Rotation)
setting
Acceleration setting Current limit
Reserved
(*3) -
0x04
[0x201,0x202]
Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved
Driving state
notification 1 S
0x05
[0x281,0x282]
Motor speed
(Rotation) Current value Torque
Board
tempera-
ture 1
Com-
mand
mode
read
Error state
notification S
0x06
[0x301,0x302]
Error code Warning code
Driving state
notification 2 S
0x07
[0x381,0x382]
Moving distance
(Traveled distance) DC voltage
Motor
tempera-
ture
Circuit
oard
tempera-
ture 2
Reserved
(*3)
-
0x08
[0x401,0x402]
Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved
Controller set-
tings R
0x09
[0x481,0x482]
Com-
mand
mode
Commu-
nication
request
Request
infor-
mation
Interval
Reserved Reserved Reserved
Flag settings R
0x0A
[0x501,0x502]
Reset
settings Reserved
Parameter
write/read
request
R
0x0B
[0x581,0x582]
Data
length
Write/rea
d identifi-
cation
num er
WID/PID Data 1 Data 2 Data 3 Data 4 Data 5
Parameter
write/read
results
returned
S
0x0C
[0x601,0x602]
Data
length
Validity
evalua-
tion
WID/PID Data 1 Data 2 Data 3 Data 4 Data 5

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*1: When the 8th it of the drive status setting is set, the motor rotation ecomes free and the drive
command of the 1st it is ignored.
*2: If set to more than the configuration range, it will e set to the upper limit.
If set to less than or equal to the set range, it is set to the lower limit.
Function:
Driving state
notification 1
[FCD=0x05]
Reading contents Data range
Motor speed (*3) Notification of motor rotation speed [r/min]
Notifies of + value: CCW direction, - value: CW direction -5000〜+5000
Current value (*3)
Notification of motor supply phase current [Arms] × 100
+ Value: Motor supply current
- Value: Motor regenerative current
-32768〜+32767
Torque (*3)
Notification of motor output torque [Nm] × 100
+ Value: Torque in the specified direction
- Value: Torque in reverse direction of specified rotation
-32768〜+32767
Circuit oard temperature 1
(*3) Notifies of oard (motor output circuit) temperature [℃] 0〜255
Command mode read 0: Driving in PWM command mode
1: Driving in CAN communication command mode 0〜1
*3: When an IC error occurs (anomaly detection of internal IC), an a normal value is notified. Do not use
this notification value if an IC error has een notified.
Function: Notifies of er-
ror state
[FCD=0x06] Reading contents Data range
Error code
Sends the error states
0: No error
Other than 0: Error (Please refer to "3-5. Errors" for details)
－
Warning code
Sends the warning states
0: No warning
Other than 0: warning (Please refer to "3-4. Warnings" for details)
－
Function: Motor drive
command
[FCD=0x03]
Setting contents Default value
Operational state setting
[1 it] 0: motor stop, 1: motor drive
[2 it] 0: CCW drive, 1: CW drive
[3 to 7 it] - : Invalid setting
[8 it] 0: Short rake, 1: Motor free (*1)
0
0
0
1
Motor speed
(Rotation setting) Rotation speed command: 60-3,000 [r/min] (*2) 60
Acceleration setting Acceleration command: 100-11,164 [r/min/s] (*2) 100
Current limit Set the current limit value [Apeak] × 10
Setting range: 5-500 [0.1Apeak] 500

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Function: Driving state
notification 2
[FCD=0x07]
Reading contents Data range
Moving distance
(Traveled distance)
Motor moving distance [rotation/42]
For every 1/42 rotation, counted as + when moving in CCW direction and
- when moving in CW direction (*1)
-2147483648〜
[phone]
DC voltage Notifies of input DC voltage [V] × 10 0〜700
Motor temperature Notifies of motor temperature [℃] 0〜255
Circuit oard temperature 2
Notifies of the temperature [℃] of the circuit oard (power input circuit) 0〜255
*1: If in overflow, treated as - maximum value; if in underflow, ecomes + max value, and continues counting.
Function: Controller set-
tings [FCD=0x09] Setting contents Default value
Command mode 0: PWM command mode; 1: CAN communication command mode 1 (*2, *3)
Communication request Communication request command
0: No request, 1: Drive states send request 1 (*3, *4)
Request information interval Driving state transmission interval setting: (set value + 1) × 10 [msec] 0
*2: In CAN communication command mode, supply the motor drive instruction [FCD=0x03]
at an interval of 0.5sec or shorter.
If there is no drive command for more than 0.5sec, the CAN communication line is deemed to have
disconnected, and the process halts with an error.
*3: The value at power-on can e set with WID [= 0x11] of parameter write [= 0x0B].
If WID [=0x11] is set to 0, treated as [Command mode: 0; communication request: 0].
If set to 1, treated as [Command mode: 1; Communication request: 1].
*4: For details, please refer to "3-6. CAN communication flow".
Function: Flag setting
[FCD=0x0A] Setting contents Default value
Reset setting
[1 it] - : Invalid setting
[2 it] 0: Invalid; 1: Moving(Travel) distance reset
[3 to 8 it] - : Invalid setting
0
0 (*5)
0
*5: If sending 1, the count will e reset immediately after receiving the value.

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Function:
Parameter write/read re-
quest
[FCD=0x0B]
Setting contents Default value
Data length Valid data length for data 1 to 5 (0 to 5 Byte) ―
Read/write num er Write/read identification num er (0x3B: Write; 0x21: Read) ―
WID/PID Write/read identification data num er (*1) ―
Data 1-5 Written data contents ―
Function:
Returns results of pa-
rameter write/read
[FCD=0x0C]
Reading contents Default value
Data length Valid data length for data 1 to 5 (0 to 5 Byte) ―
Validity evaluation
Read/write result determination
(0x7B: write successful; 0x61: read successful; 0x7F: a nor-
mal response)
―
WID/PID Write/read identification data num er (*1) ―
Data 1-5 Read data contents ―
*1：For details, refer to "3-3. WID/PID".
3-3. WID/PID
WID/PID indicates a num er that identifies what is used during parameter write/read requests or responses.
WID refers to write ID, and PID refers to read ID.
WID
PID
Data
length
Data name
Data
place-
ment
Details Default
value Setting range
0x00
(Read
Only)
3
Main version 1
Indicates the software version -
-
Minor version 2 -
Su version 3 -
0x01 4
PI control: proportional
gain 1-2 Set proportional gain for PI control 2800 0〜65535
PI Control: integral
time 3-4 Set the integral time for PI control 800 10〜65535

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0x02 2
Distur ance o server
Input response time 1
Basic response change
0: High response
1: Medium response
2: Low response
Response time adjustment
16: High response ⇔ 25: Low re-
sponse
1
0〜2
16〜25
Distur ance o server
Distur ance response 2 1: Low response ⇔ 255: High re- sponse 15 1〜255
0x03 1 Speed control
method selection 1 0: Distur ance o server method 1: PI control method 0 0〜1
0x04 5
Overheating warning
operation settings 1 0: Warning notification only 1: Stop processing 0 0〜1
Over speed warning
operation settings 2 0: Warning notification only 1: Stop processing 0 0〜1
Low voltage warning
operation settings 3 0: Warning notification only 1: Stop processing 0 0〜1
High voltage warning
operation settings 4 0: Warning notification only 1: Stop processing 0 0〜1
Stall warning
operation settings 5 0: Warning notification only 1: Stop processing 0 0〜1
0x05 2 Warning stop
acceleration settings 1〜2 Configured as [r/min/s] 1000 100〜11164
High
response
Low
response

16
WID
PID
Data
length
Data name
Data
Place-
ment
Details Default
value
Setting
range
0x10 1 Node device ID
settings 1 Set the node device ID to identify the controller 1 1〜127
0x12 1 Terminating resistor
selection 1
0: Do not connect the terminating
resistor
1: Connect the terminating resistor
1 0〜1
①When"Parameter writing / reading request【FCD=0x0B】" is commanded to the controller from
the outside, it returns with "Parameter writing / reading result reply【FCD=0x0C】".
② The write or read request is determined y the second yte (Write/Read Identification Num er)
of "Parameter Write/Read Request".
When writing, supply the corresponding "Data length" for the 1st yte as given for the
WID/PID in the ta le a ove.
(E.g., if specifying 0x01, enter 4); When reading, it is not necessary to specify “Data length”.
③ Parameter write/read is accepted only under normal stop/error conditions. Note that when
in the driving state, writes will e kept pending.
However, in the case of WID=0x02 (distur ance o server response), changes can e made
while driving state.
The settings for WID=0x10,0x11 will e effective when re ooting.
④ The settings that have een successfully returned y the write request are saved in the flash
memory and do not need to e set from the next time.
⑤ If a parameter write request succeeds, the process returns a validation response of 0x7B.
E.g., WID/PID＝0x02 distur ance o server input response, NID = 0x01
- Write request (input response time = 1: medium response; distur ance response: set to 100)
CAN ID DLC
DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7 DATA8
Data
length Write WID/PID
Data 1 Data 2 Data 3 Data 4 Data 5
0x581 0x08 0x02 0x3B 0x02 0x01 0x64 0x00 0x00 0x00
- Returned upon successful acceptance of writing request
CAN ID DLC
DATA1 DATA2 DATA3 DATA4 DATA5 DATA6 DATA7 DATA8
Data
length
Validity
evalua-
tion
WID/PID Data 1 Data 2 Data 3 Data 4 Data 5
0x601
0x08
0x00
0x7B
0x02
0x00
0x00
0x00
0x00
0x00
⑥When reading parameters, if a successful response is received, the data corresponding to a
success/fail determination (0x61) is returned.
E.g., WID/PID = 0x05, warning stop acceleration setting, NID = 0x01
(Premise: memorize warning acceleration stop 1000 in the controller.)

17
- Read request
CAN ID DLC
DATA1
DATA2
DATA3
DATA4
DATA5
DATA6
DATA7
DATA8
Data
length Read WID/PID
Data 1 Data 2 Data 3 Data 4 Data 5
0x581
0x08
0x00
0x21
0x
0
5
0x00
0x00
0x00
0x00
0x00
- Read request response
CAN ID DLC
DATA1
DATA2
DATA3
DATA4
DATA5
DATA6
DATA7
DATA8
Data
length
Validity
evalua-
tion
WID/PID Data 1 Data 2 Data 3 Data 4 Data 5
0x601
0x08
0x02
0x61
0x05
0x03
0xE8
0x00
0x00
0x00
⑦When parameter reading / writing is not accepted due to an a normal value, returns 0x7F as the
evaluation response.
E.g., if parameter write WID/PID= 0x25, unsupported value
- Read request
CAN ID DLC
DATA1
DATA2
DATA3
DATA4
DATA5
DATA6
DATA7
DATA8
Data
length Read WID/PID
Data 1 Data 2 Data 3 Data 4 Data 5
0x581
0x08
0x00
0x21
0x25
0x00
0x00
0x00
0x00
0x00
- A normal data reception response
CAN ID DLC
DATA1
DATA2
DATA3
DATA4
DATA5
DATA6
DATA7
DATA8
Data
length
Validity
evalua-
tion
WID/PID Data 1 Data 2 Data 3 Data 4 Data 5
0x601
0x08
0x00
0x7F
0x05
0x00
0x00
0x00
0x00
0x00

18
3-4 Warning
*Warnings can e selected as [0: Warning notification only] or
[1: Warning notification and motor stop] y configuring WID/PID=0x04.
When configuring a halt, "Speed of 50r/min or lower is detected and
[Operation state setting=0]" is added to the return condition.
When configuring a halt, the motor will halt at the acceleration set per [WID=0x05],
and halt with the short rake engaged.
However, if [Operating state setting=0x80: Motor-free setting] is ena led, it is set to
motor free.
Warning
code
Warning
contents Warning detection condition Warning cancellation condition
0x0001 Overheating
warning
Circuit oard temperature 1, 2:
90℃ or higher Circuit oard temperature: 75℃ or lower
0x0002 Over speed
warning Speed: 4,000r/min or higher Speed: 3,800r/min or lower
0x0004 Low voltage
warning
Power supply voltage: 16.5V or
lower Power supply voltage: 17.0V or higher
0x0008 High voltage
warning
Power supply voltage: 47.5V or
higher Power supply voltage: 47.0V or lower
0x0010 Stall
warning
Speed: 50r/min or lower
Current: 30.0A or higher
More than 15sec continuously
Speed: 50r/min or higher
or [Operating state setting=0]
0x0080
Motor over-
heating
warning
Motor temperature: 90℃ or
higher Motor temperature: 75℃ or lower

19
3-5. Errors (*1)
*1: When an error is detected, the motor rotation control is set to free.
*2: When an IC error is detected, current value notification and oard temperature 1 notification are
a normal values. In addition, depending on the cause of the IC error, other errors may e false
positives/notifications.
*3: The motor speed must e 150 r/min or lower, and 5 sec must have elapsed since the error
occurred.
Error
Code Error contents Error detection conditions Error cancellation condition *3
0x0001 Overheating error Circuit oard temperature 1, 2：100℃ or higher
All temperatures 75°C or
lower, and
[Operating state setting=0]
0x0002 Over speed error Speed: 4,500r/min or higher Speed: 150r/min or lower, and
[Operating state setting=0]
0x0004 Low voltage error Power supply voltage: 14V or lower
Power supply voltage: 16.5V or
higher, and
[Operating state setting=0]
0x0008 High voltage error Supply voltage: 50V or higher
Supply voltage: 48V or lower,
and
[Operating state setting=0]
0x0010 Stall error
Speed: 50r/min or lower
Current: 30.0A or higher
More than 16sec continuously
5sec elapsed after setting [Op-
eration status setting = 0].
0x0020 Sensor error Detected disconnection of Hall sensor signal The sensor state is normal, and
[Operating state setting=0]
0x0040 CAN communica-
tion error
When driving with CAN communication and no
motor instruction is received for 0.5sec or longer,
or if CAN communication fails to complete (such
as ACK not received).
Receive motor drive command
0x0080 Motor overheating
Error Motor temperature: 100℃ or higher
Motor temperature: 75℃ or
lower, and
[Operating state setting=0]
0x2000 System Error
If receiving 50 times or more [FCD=0x0B: parame-
ter write command] within 1sec, or if una le to
write
Re-power on or
restart with ON_OFF switch
0x4000 Overcurrent
error Output current: 51A or higher Re-power on or restart with ON_OFF switch
0x8000 IC error (*2) Anomaly detection of internal IC Re-power on or
restart with ON_OFF switch