Sanyo Denki QS101AA User manual
M0005349L
for Rotary Motor
Analog / Pulse InputType
TYPE S
1
Preface
This product corresponds with the shipping regulations given in the Export Trade Control
Ordinance (Table 1, item 16) and the Foreign Exchange Ordinance (Table 1, item 16). When
these products are exported by customers, and when exported including the other freight or
together with other freight, it is recommended to fulfill the requirements related to Security Export
Control with the relevant authorities, including “Information Requirements” and “Objective
Requirements”.
This manual outlines the functions, wiring, installation, operations, maintenance, specifications,
etc. of the AC servo amplifier “Q” Series Type S. The “Q” Series Type S AC servo amplifier
system is compatible with a wide variety of various applications requiring low, medium or high
capacity, high efficiency, reduced footprint, and excellent cost performance.
This product was developed to offer a series of servo motors that are easy to use and offer
excellent functionality in an AC servo motor. It fulfills various needs, such as the downsizing of
the control panel, and offers compatability for a wide range of applications requiring a servo
motor.
Please note that this instruction manual is applicable for the amplifier revision “D”or “E”
(and refer to the details given in the following pages).
Precautions related to this Instruction Manual
・ In order to fully understand the functions of AC servo amplifier “Q” Series Type S, please read
this instruction manual thoroughly before using it.
・ After reading this manual thoroughly, please keep it handy for reference.
・ Please contact the dealre or sales representative if there are defects such as nonconsecutive
pages, missing pages or if the manual is lost or damaged.
・ Carefully and completely follow the safety instructions outlined in this manual. Please note
that safety is not guaranteed for usage methods other than those specified in this manual or
usage methods intended for the original product.
・ The contents of this manual may be modified without prior notice, as revisions or additions are
made in the usage method of this product. Modifications are performed per the revisions of
this manual.
・ Permission is granted to reproduce or omit part of the attached figures (as abstracts) for use.
・ Although the manufacturer has taken all possible measures to ensure the veracity of the
contents of this manual, if you should notice any error or ommission, please notify the dealer
or sales office of the finding.
Terminology
Within this Instruction Manual:
“AC servo motor” is abbreviated as “servo motor” or “motor”;
“AC servo amplifier” is abbreviated as “servo amplifier” or “amplifier”;
“Wire-saving incremental encoder” is abbreviated as “incre”, “wire-saving incre” or “INC-E”;
“Absolute encoder with incremental output” is abbreviated as “Abso with incre” or “ABS-E”;
“Battery backup method absolute encoder” is abbreviated as “Battery backup method ABS”;
“Request method absolute encoder” is abbreviated as “Request method abso”;
Moreover, both “wire-saving incremental encoder” and “absolute encoder” are abbreviated as “Encoder,”
and for the optical encoder and entire resolver encoder the term “Sensor” is used generally.
Related instructions manual
Refer to M0006024 for the usage instructions for the setup software.
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Each time the Instruction Manual is upgraded, the modifications are recorded. Since these modifications are
functional additions to equipment already in use, modifications such as parameter modification, etc., are not
required. Additionally, these additional functions are displayed as new functions in this Instruction Manual.
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Model name Common specifications Specifications Revision
QS1□01AA
QS1□03AA
QS1□05AA
Standard encoder
Rotary servo system “C” →“D”
QS1□10AA
QS1□15AA Standard encoder
Rotary servo system “B” →“C”
QS1□01LA
QS1□03LA
QS1□05LA
Standard encoder
Linear servo system “C” →“D”
QS1□10LA
QS1□15LA Standard encoder
Linear servo system “B” →“C”
QS1□01AH
QS1□03AH
QS1□05AH
Full-duplex communication
encoder
Rotary servo system “C” →“D”
QS1□10AH
QS1□15AH Full-duplex comm. encoder
Rotary servo system “B” →“C”
QS1□01AH
QS1□03AH
QS1□05AH
Full-duplex comm. encoder
Rotary servo system “C” →“D”
QS1□10AH
QS1□15AH Full-duplex comm. encoder
Rotary servo system “B” →“C”
QS1□01AT
QS1□03AT
QS1□05AT
Full closed system
Rotary servo system “C” →“D”
QS1□10AT
QS1□15AT
Input power：
“200V” or “100V”
Built-in regenerative
resistance：
“Yes” or “No”
DB resistance：
“Built-in” or “No”
Full closed system
Rotary servo system “B” →“C”
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As per production in the last ten days of February 2003
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For the upgrade of the servo amplifier
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1. Modification of software version
2. Addition of operation trace function
3. Addition of pulse sending JOG function
4. Extension of function related to brake operation start time
5. Extension of function related to deviation clear (position control)
6. Addition of analog monitor output signal
7. Addition of digital monitor output function
8. Addition of display function of load torque monitor (estimate)
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Modification in material quality with air permeability. The material color changes to white with the
modification of material quality.
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1. The software has been upgraded to version “P0.01.0” (from “P0.00.5”). Check the software
version currently in use by the following methods:
Check by using the digital operator
In the Status Display Mode (mode immediately after turning control power), press the “MODE”
key several times to display the “Alarm Trace Mode” (“ALn.00”). If the “▼” key is pressed twice,
the software (CPU) version is displayed.
Check by using the Q-SETUP set-up software
When you are online, if “Monitor (M)” – “Alarm history display (A)…” is selected, the following
screen is displayed. The portion indicated with an arrow is the software version.
2. Addition of operation trace function
This function can be used when combined with the Q-SETUP set-up software Version
0.3.1-0.01.4 onwards.
3. Addition of pulse sending JOG function
This function can be used when it is combined with Q-SETUP set-up software Version 0.3.1-0.01.4
onwards.
4
4. Extension of function related to brake operation start time
After a status change from servo ON to servo OFF, the brake (holding brake and dynamic brake)
operation function is extended, so that the motor does not stop even if the prescribed time is
elapsed.
Parameter setting
value
G1-19：BONBGN P0.00.5 P0.01.0
0ms Brake operation after 4ms is elapsed Brake operatrion function
becomes disabled after the
prescribed time is elapsed.
1ms～4ms Brake operation after 4ms is elapsed Same condition as on the left
5ms～65535ms
Brake operation after the time set is elapsed
(Internal processing of servo amplifier is
performed in 4ms unit. Therefore, when
BONBGN = 13ms, “brake operation after 16ms is
elapsed”. 16ms which is the multiple of 4
exceeds the setting time of 13ms.)
Same condition as on the left
5. Extension of function related to deviation clear (position control)
Deviation clear input is extended in 2 types, level input and edge input.
Parameter setting
G3-00：PA300 P0.00.5 P0.01.0
Name Deviation clear selection Deviation clear selection
0H Servo OFF/deviation clear:
Deviation clear input/level detection Same condition as on the left
1H Servo OFF/deviation clear:
Deviation clear input/level detection Servo OFF/deviation clear:
Deviation clear input / edge detection
2H Servo OFF/deviation not cleared:
Deviation clear input/level detection Same condition as on the left
Upper
3H Servo OFF/deviation not cleared:
Deviation clear input/level detection Servo OFF/deviation not cleared:
Deviation clear input / edge detection
Name Position command pulse digital filter Position command pulse digital filter
0H Minimum pulse width=834nsec Same condition as on the left
1H Minimum pulse width=250nsec Same condition as on the left
2H Minimum pulse width=500nsec Same condition as on the left
3H Minimum pulse width＝1.8usec Same condition as on the left
4H Minimum pulse width＝3.6usec Same condition as on the left
5H Minimum pulse width＝7.2usec Same condition as on the left
6H Minimum pulse width=125nsec Same condition as on the left
Lower
7H Minimum pulse width=83.4nsec Same condition as on the left
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6. Addition of analog monitor output signal
Signal that can be selected as analog monitor output is added.
Parameter setting
G5-00：MON1
G5-01：MON2 P0.00.5 P0.01.0
00H Torque monitor ［2V/TR］Same condition as on the left
01H Torque command monitor ［2V/TR］Same condition as on the left
02H Velocity monitor 2mV/min-1 Same condition as on the left
03H Velocity monitor ［1mV/min-1］Same condition as on the left
04H Velocity monitor ［3mV/min-1］Same condition as on the left
05H Velocity command monitor
2mV/min-1 Same condition as on the left
0GH Speed command monitor
［1mV/min-1］Same condition as on the left
07H Speed command monitor
［3mV/min-1］Same condition as on the left
08H Position deviation counter monitor
［50mV/Pulse］Same condition as on the left
09H Position deviation counter monitor
［20mV/Pulse］Same condition as on the left
0AH Position deviation counter monitor
［10mV/Pulse］Same condition as on the left
0BH ――――― Load torque monitor (estimate) 2V/TR
0CH ――――― Position command pulse monitor
(Position command pulse input
frequency) ［10mV/kPulse/s］
0DH ――――― U phase electrical angle ［8Vp-p］
0EH ――――― Position deviation counter monitor
［5mV/Pulse］
0FH ――――― Position deviation counter monitor
［1mV/Pulse］
10H ――――― Position command pulse monitor
(Position command pulse input
frequency) ［2mV/kPulse/s］
7. Addition of digital monitor output function
This adds a digital display for motor excitation status (HIGH/LOW), and also adds positioning
completion, etc. The display signal can be selected from Group5 –Page 02.
8. Addition of load torque monitor (estimate) display function
This function displays the estimated load torque in s numeric value and also outputs the analog
voltage.
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M0005349D is modified to M0005349E.
1. Contents were modified to reflect software modifications for the servo amplifier.
2. Chapter 7 Sequence: Part of the explanation was modified
3. Chapter 12: Added EMC command approval/declaration number
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The Q-SETUP Setup Software has been upgraded. Please refer to the text file appended to the setup
software for the details on modifications to Version 0.3.1-01.4.
1. Addition of operation trace function
2. Addition of pulse sending JOG operation function
3. Modification/addition of general parameter
4. Addition of monitor display
5. Modification of system parameter
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Each time the Instruction Manual is upgraded, the modifications are recorded. Since these modifications are
functional additions to equipment already in use, modifications such as parameter modification, etc., are not
required. Additionally, these additional functions are displayed as new functions in this Instruction Manual.
1. Modification of Servo Amplifier
1-1 Target model number
Model name Common specifications Specifications Revision
QS1□01AA
QS1□03AA
QS1□05AA
Standard encoder
Rotary servo system “D” →“E”
QS1□10AA
QS1□15AA Standard encoder
Rotary servo system “C” →“D”
QS1□01LA
QS1□03LA
QS1□05LA
Standard encoder
Linear servo system “D” →“E”
QS1□10LA
QS1□15LA Standard encoder
Linear servo system “C” →“D”
QS1□01AH
QS1□03AH
QS1□05AH
Full-duplex communication
encoder
Rotary servo system “D” →“E”
QS1□10AH
QS1□15AH Full-duplex communication
encoder
Rotary servo system “C” →“D”
QS1□01AH
QS1□03AH
QS1□05AH
Full-duplex communication
encoder
Rotary servo system “D” →“E”
QS1□10AH
QS1□15AH Full-duplex communication
encoder
Rotary servo system “C” →“D”
QS1□01AT
QS1□03AT
QS1□05AT
Full closed system
Rotary servo system “D” →“E”
QS1□10AT
QS1□15AT
Input power：
“200V” or “100V”
Built-in regenerative
resistance：
“Yes” or “No”
DB resistance：
“Built-in” or “No”
Full closed system
Rotary servo system “C” →“D”
1-2. Modifications of servo amplifier software version
The servo amplifier software has been upgraded from version “P0.01.0” to “P0.01.2”.
Check the servo amplifier software version by the following methods.
(Additionally, you can check the revision of the amplifier by checkin the end SER. No. on the main name
plate and the seal end of the front side as shown in the above table.)
① In the Status Display Mode (mode immediately after turning control power):
Press the “MODE” key several times to display the “Alarm Trace Mode” (“ALn.00”).
If the “▼” key is pressed twice, the software (CPU) version is displayed.
② Check by using the Q-SETUP set-up software:
When you are online, if “Monitor (M)” – “Alarm history display (A)…” is selected,
the following screen is displayed. The portion indicated with an arrow is the software version.
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1-3. Added functions related to servo amplifier I/O
PY compatible alarm output (4bit) is added to the General Purpose selection items
General parameter Group 9- Page 00 to 07：OUT1 to OUT8
50：Output PY compatible alarm code 1 (positive logic)
51：Output PY compatible alarm code 1 (negative logic)
52：Output PY compatible alarm code 2 (positive logic)
53：Output PY compatible alarm code 2 (negative logic)
54：Output PY compatible alarm code 4 (positive logic)
55：Output PY compatible alarm code 4 (negative logic)
56：Output PY compatible alarm code 8 (positive logic)
57：Output PY compatible alarm code 8 (negative logic)
Operation setup completion 2 signal output is added to the General Purpose output selection items
Outputs are sent 100msec after turning ON the main circuit power supply (equivalent to the SRDY
signal of PY amplifier)
General parameter Group 9- Page 00 to 07：OUT1 to OUT8
58：Output terminal is ON during operation setup completion
59：Output terminal is OFF during operation setup completion
Near range status is added to the General Purpose input selection
General parameter Group 7,8 Selection table
20：Function is enabled during near range status
21：Function is enabled when not in near range status
1-4. Addition of other functions of servo amplifier
Addition of amplifier cumulative operation time display
Monitor screen Page 1C：OPE_TIME
Addition of password settings
Password can be set from the digital operator in the front of the amplifier. After setting the password,
parameters cannot be edited from digital operator or Q-setup software. Notify the dealer or sales
representative in case you forget the password.
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1-5. Addition of functions related to sensor
①Addition of alarm for Absolute encoder wihtout battery RA062C
Abnormal acceleration alarm (alarm code:B7), error in multi-rotation generation (Same as :A5),
EEPROM data not set (same as : A6), error in resolver output (same as: A7) and resolver
disconnection (same as : A8) are added.
②Addition of application of incremental encoder (7 pairs) with CS signal
This feature is also compatible to the BL865 motor made by SANYO DENKI. Add a connector (for
receiving CS signal) of full close, etc., and new hardware for the servo amplifier. It is also necessary
to set Page 2 of the system parameters to 01:_7Pairs_INC.
③Addition of contents of encoder serial PS output
When using the absolute encoder, the format (baud rate is 9600 bps) for sending the absolute signal
to upper level device and decimal number ASCI code is added to binary. The PA404 lower setting
becomes decimal number ASCII code when it is 00, and binary is 01. Moreover, in the case of the
incremental encoder, irrespective of the PA404 lower settings, present position monitor output is
possible by start-stop synchronization (9600bps, binary).
④CS offsset support is added to incremental encoder function selection of the linear servo system
System parameter Page 02：Incremental encoder function selection
89：Only signal / A,B,Z: CS normalized/software (Compulsory settings)
2. Modifications of Q-SETUP Setup Software
The Q-SETUP setup software has been upgraded from version 0.3.1-0.01.4 to version 0.4.7-0.03.0.
Version 0.3.1-0.01.4, which is currently in use, is not compatible with the new software (version P0.01.2)
for the servo amplifier. Download the new Q-SETUP setup software version 0.4.7-0.03.0 from Sanyo
Denki’s home page (www.sanyodenki.co.jp).
Further, in version 0.4.7-0.03.0, there are two types of installation possible, a complete or partial instalation.
The difference between the two different installation types is the availability of a “System Analysis” function.
More detail on the difference between complete and partial installation is given below.
Detail Complete installation Partial installation
Features Selection of complete and partial is
possible. System analysis function
exists during complete installation.
Only partial installation is possible.
System analysis function does not
exist during partial installation.
File name Setup_V047-0030-Complete.exe Setup_V047-0030-Reduced.exe
File size About 6.2MB About 1.4MB
File size after
installation
Complete：About 20MB
Partial：About 5MB Only partial：About 5MB
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2-1. Additional functions related to Q-SETUP setup software
Additionofsystemanalysisfunction 、
It is possible to display the machine resonance antiresonance point on the PC by frequency analysis.
Use the PC with an upgraded servo amplifier and the Q-SETUP setup software completely installed.
Addition of operation trace scroll mode 、or
It is possible to scroll the operation status (and its display) on the PC. It is recommended to set the
sampling period to 50msec (minimum) and the CPU operation frequency of the PC above 800 MHz.
Use the PC with an upgraded servo amplifier and partial or fully-installed Q-SETUP setup software.
Additionofmotorparameterfile or
It is possible to modify the combined motor by using the “Motor parameter settings”. At this time, 38
types of P-series motor and 15 types of Q-series motor are planned for this addition.
[Note] The relationship between the Q-SETUP setup software and servo amplifier is as follows.
List of compatible versions of Q series servo amplifier and Q-SETUP software
Software version of Q series
servo amplifier Version of Q-SETUP software
P0.00.2
(Amplifier revision: A) Version 0.1.7-0.00.8 Release 2 (Note 1)
P0.00.5 (Amplifier revision) ：
QS1A01～05:BorC,QS1A10/15:B）
Version 0.2.1-0.01.2
Version 0.3.1-0.01.4 (Note 2)
Version 0.4.7-0.03.0 (Note 2,3)
P0.01.0 (Amplifier revision) ：
QS1A01～05:D,QS1A10/15:C）Version 0.3.1-0.01.4
Version 0.4.7-0.03.0 (Note 3)
P0.01.2 (Amplifier revision) ：
QS1A01～05:E,QS1A10/15:D）Version 0.4.7-0.03.0
Note1.
With servo amplifier software version P0.00.2, the communication procedure between the
servoamplifier and the PC differs from version P0.00.5 onwards. Therefore, it cannot be
combined with a version other than version 0.1.7-0.00.8 Release 2.
Note 2.
For servo amplifier software version is P0.00.5, some functions like operation trace and pulse
sending JOG may be partially disabled.
Note 3.
For servo amplifier software prior to version P0.01.0, some functions like operation trace and
pulse sending JOG may be partially disabled.
NEW Amplifier Complete
NEW Amplifier Complete
Complete
Partial
Partial
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3. Changes to Instruction Manual
The following Instruction Manual is revised according to the modifications of the amplifier software and
Q-SETUP software. Refer to the Instruction Manual for more details about these modifications.
Servo Amplifier
Before modification After modification
Japanese version M0005313E M0005313F
English version M0005349E M0005349F
Q-SETUP setup software
Before modification After modification
Japanese version M0005351B M0005351C
English version M0006024B M0006024C
Note: Regarding the release period of the Instruction Manual
A Japanese version is released along with the product shipment; however, please note that the
release of the English version will be slightly delayed.
4．Modification Period
Servo amplifier: As of August 2003
Q-SETUP setup software: Released September 1, 2003
5．Modification Purpose
The servo amplifier and its software, together with the Q-SETUP setup software, are revised to take
advantage of functional improvements in these products.
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The Instruction Manual is updated when the product is upgraded. Versions that you have already purchased do
not require any changes to the parameters and so on. New functions are shown as “
“N
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3
3”
” in this
Instruction Manual.
There are no changes to the Q setup software as a result of the 300A addition.
1. Addition of the servo amplifier
1－1. Relevant model number
Type name Specification Revision
ＱＳ１□３０ＡＡ Standard encoder
Rotary servo system “Ａ”
300A has been added to the Q Series lineup.
1－2. Changes to the servo amplifier software version
The servo amplifier software version with the addition of 300A is ‘P0.01.3’.
The software version for the earlier 15A and 150A remains as ‘P0.01.2’.
An upgrade for all types is scheduled.
1-3. Added function
“Irruption prevention resistor overheat” has been added as alarm 52H as an additional 300A function.
(Page 9-11)
2. Changes to the Instruction Manual
The Instruction Manual has been updated as follows due to addition of an amplifier type and changes in the
amplifier program.Refer to the Instruction Manual for details of the changes.
Servo amplifier
Before modification After modification
Japanese version Ｍ０００５３１３Ｆ Ｍ０００５３１３Ｇ
English version Ｍ０００５３４９Ｆ Ｍ０００５３４９Ｇ
Additions to the Instruction Manual
①300A applied motor
②300A data (power supply capacity, leak current, calorific value etc.)
③300A exterior drawing
④300A alarms
⑤Wiring method for full closed
12
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The Instruction Manual is updated when the product is upgraded. Versions that you have already purchased do
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1. Changes to the servo amplifier
1－1. Relevant model number Software version
P0.01.4 P0.01.5 P0.01.6
Type name Common
specification Specification Amplifier revision
ＱＳ１□０１ＡＡ
ＱＳ１□０３ＡＡ
ＱＳ１□０５ＡＡ
Standard encoder
rotary servo system “Ｅ”→“Ｇ” “Ｇ”→“Ｈ” “Ｈ”→“Ｊ”
ＱＳ１□１０ＡＡ
ＱＳ１□１５ＡＡ Standard encoder
rotary servo system “Ｄ”→“Ｆ” “Ｆ”→“Ｈ” “Ｈ”→“Ｊ”
ＱＳ１□０１ＡＴ
ＱＳ１□０３ＡＴ
ＱＳ１□０５ＡＴ
Full closed system
rotary servo system “Ｅ”→“Ｇ” “Ｇ”→“Ｈ”
ＱＳ１□１０ＡＴ
ＱＳ１□１５ＡＴ Full closed system
rotary servo system “Ｄ”→“Ｆ” “Ｆ”→“Ｈ”
“Ｈ”→“Ｊ”
scheduled
ＱＳ１□３０ＡＡ
Input power
supply:
“200 V” or “100
V”
Internal
regenerative
resistor:
“Yes” or
“None”
ＤＢ resistor:
“Internal” or
“None” Standard encoder
rotary servo system “Ａ”→“Ｂ” “Ｂ”→“Ｃ” “Ｃ”→“Ｄ”
scheduled
1－2．. Content of the servo amplifier software version
Software version Content
P0.01.4 Group 44 Page06 PA406
Added a function for selecting the position detection
system. “New function 4”
P0.01.5 Standardized the 300A internal regenerative resistor
specification.
P0.01.6 RoHS support
2. Changes to the Instruction Manual
The Instruction Manual has been updated as follows due to addition of an amplifier type and changes in the
amplifier program. Refer to the Instruction Manual for details of the changes.
Servo amplifier
Before modification After modification
Japanese version Ｍ０００５３１３Ｇ Ｍ０００５３１３Ｈ
English version Ｍ０００５３４９Ｇ Ｍ０００５３４９Ｈ
Table of Contents
1 Safety Precautions 1-1
1.1 Introduction 1-2
1.2 Location of warning labels on the product 1-2
1.3 Interpretation of the warning labels 1-3
1.3.1 Label description 1-3
1.3.2 Precaution levels 1-3
1.3.3 Graphic symbols 1-4
1.4 Safety Precautions 1-5
2 Prior to use 2-1
2.1 Package opening 2-2
2.2 Product verification 2-2
2.3 Precautions related to use 2-3
2.4 Interpretation of the model number 2-6
2.4.1 Servo motor model number 2-6
2.4.2 Servo amplifier model number 2-7
2.5 Standard combinations 2-8
3 Servo system Configuration 3-1
3.1 Block diagram 3-2
3.2 External wiring diagram 3-3
3.2.1 Peripherals 3-4
3.3 Servo amplifier part names 3-5
3.3.1 Part names for QS1 01, QS1 03 and QS1 05 3-5
3.3.2 Part names for QS1 10, QS1 15 and QS1 30 3-6
3.4 Battery space, analog monitor 3-7
3.4.1 Battery space, analog monitor 3-7
4 Wiring 4-1
4.1 Electric wire sizes 4-2
4.2 Encoder cable specifications 4-4
4.3 External wiring diagram 4-5
4.3.1 External wiring diagram
(AC 200V input type 15A～50A) 4-5
4.3.2 External wiring diagram
(AC 200V input type 100A～300A) 4-6
4.3.3 External wiring diagram (AC 100V input type) 4-7
4.3.4 Encoder wiring diagram (INC-E) 4-9
4.3.5 Encoder wiring diagram (ABS-E) 4-10
4.3.6 Encoder wiring diagram (ABS-RII, RA062M) 4-11
4.3.7 Encoder wiring diagram (PA035C, RA062C) 4-12
4.4 Connector terminal layout, I/O signal diagram 4-13
4.4.1 CN1 interface connector 4-13
4.4.2 CN2 encoder connector 4-14
4.5 Wiring method 4-16
4.6 Wiring precautions 4-17
4.6.1 Suggested surge protector 4-18
4.6.2 CN1, CN2 shielding method 4-19
4.6.3 CN2 compression insert application example 4-21
4.6.4 Inserting the CNA～CNC wire 4-22
4.7 Wiring method for full closed control (option) 4-23
4.7.1 Full closed control 4-23
4.7.2 Encoder connection diagram 4-23
4.7.3 Parameters 4-24
4.7.4 CN-EXT encoder connector 4-24
4.7.5 CN-EXT encoder connection procedure 4-25
5 Installation 5-1
5.1 Servo amplifier installation 5-2
5.1.1 Installation location 5-2
5.1.2 Mounting method 5-3
5.2 Servo motor installation 5-4
5.2.1 Installation location 5-4
5.2.2 Mounting method 5-4
5.2.3 Waterproofing and dust proofing 5-5
5.2.4 Protective cover installation 5-5
5.2.5 Gear installation 5-6
5.2.6 Integration with the target machinery 5-6
5.2.7 Allowable bearing load 5-8
5.2.8 Cable installation considerations 5-9
6 Operation and functions 6-1
6.1 Parameter configuration 6-2
6.1.1 Parameter configuration and tools 6-2
6.1.2 Parameter description table 6-3
6.1.3 Control mode block diagram 6-5
6.2 System and motor parameters 6-6
6.2.1 System parameter types 6-6
6.2.2 Checking servo amplifier and
servo motor specifications using parameters 6-6
6.2.3 Servo amplifier and
servo motor specification setting values 6-7
6.2.4 Motor parameters 6-9
6.3 Test run 6-10
6.3.1 Servo motor standalone test run 6-10
6.4 Servo adjustment parameters 6-16
6.4.1 Servo system 6-16
6.4.2
Servo adjustment parameters used for velocity control
6-16
6.4.3
GAIN adjustment parameters used for position control
6-16
6.4.4 Servo adjustment parameters 6-17
6.5 Description of functions 6-18
6.5.1 Functions related to machinery control 6-18
6.5.2 Functions related to the motor holding brake 6-22
6.5.3 Input command functions 6-24
6.5.4 Encoder Functions 6-32
6.5.5 All functions 1 6-36
6.5.6 All functions 2 6-46
6.6 Description of monitor output functions 6-48
6.6.1 Analog monitor 6-48
6.6.2 Digital monitor 6-49
7 Operations 7-1
7.1 Operation sequence setup 7 - 2
7.1.1 Power ON / Servo ON sequence 7 - 2
7.1.2 Servo OFF / Power OFF sequence 7 - 3
7.1.3 Sequence when power is
turned OFF when servo is ON. 7 - 3
7.2 Sequence-related functions 7 - 4
7.2.1 Forced electric discharge function 7 - 4
7.2.2 Holding brake excitation function and sequence 7 - 4
7.2.3 Brake function and sequence 7 - 5
7.2.4 Forcible stop function and sequence 7 - 9
7.2.5 Brake operation start time 7 - 12
7.2.6 Output signal function 7 - 15
7.3 Alarm sequence 7 - 16
7.3.1 Sequence during dynamic brake 7 - 17
7.3.2 Sequence during servo brake 7 - 17
7.3.3 Stop by dynamic brake at alarm 7 – 18
7.3.4 Stop by servo brake at alarm 7 – 18
7.3.5 Alarm reset sequence 7 – 19
8 Description of parameters 8－1
8.1 Digital operator 8-2
8.1.1 Digital Operator name 8-2
8.1.2 Table of Functions 8-2
8.1.3 Operations 8-3
8.1.3.1 Status display mode 8-3
8.1.3.2 Monitor mode 8-4
8.1.3.3 Trial operations, Adjustment mode 8-7
8.1.3.4 Basic parameter mode 8-12
8.1.3.5 Alarm trace mode 8-13
8.1.3.6 Parameter editing mode 8-14
8.1.3.7 System parameter editing mode 8-16
8.1.3.8 Password function 8-17
8.2 Simplified Parameter Chart 8-18
8.3 Monitor list 8-23
8.3.1 Monitor 8-23
8.4 System parameters, Motor parameters List 8-26
8.4.1 System parameters 8-26
8.4.2 Motor parameters 8-28
8.5 General parameters List 8-29
8.5.1 Parameters of Group 0 8-29
8.5.2 Parameters of Group 1 8-33
8.5.3 Parameters of Group 2 8-39
8.5.4 Parameters of Group 3 8-40
8.5.5 Parameters of Group 4 8-48
8.5.6 Parameters of Group 5 8-52
8.5.7 Parameters of Group 6 8-53
8.5.8 Parameters of Group 7 8-54
8.5.9 Parameters of Group 8 8-55
8.5.10 Parameters of Group 9 8-57
9 Maintenance 9-1
9.1 Disposal at the time of Alarm Generating 9-2
9.1.1 Alarm Reset 9-2
9.1.2 Alarm /Warning List 9-2
9.2 Trouble Shooting at the time of Alarm Generating 9-6
9.3 Corrective Actions for Problems During Operation 9-30
9.4 Maintenance 9-32
9.5 Overhaul Parts 9-33
10 Specifications 10-1
10.1 Servo amplifier 10-2
10.1.1 Common General specifications 10-2
10.1.2 CN1 1 General input/output interface 10-4
10.1.3 Position of of signal output 10-9
10.1.4 Monitor output 10-29
10.1.5 Position command input 10-32
10.1.6 Velocity command input 10-36
10.1.7 Torque command input 10-36
10.1.8 External torque limitrestrictedrestricted input 10-37
10.1.9 Torque compensation input 10-37
10.1.10 Power capacity 10-38
10.1.11Servo amplifier motor current leakage 10-39
10.1.12 Calorific value 10-40
10.2 Servo motor10-41
10.2.1 Common General specifications 10-41
10.2.2 Specifications of rotation directionRotation
Direction Specifications 10-42
10.2.3 Mechanical specifications of the motor 10-43
10.2.4 Holding brake specifications 10-46
10.2.5Motor Data sSheet of motor 10-49
10.3 External appearance of diagram 10-59
10.3.1
Exte
rnal appearance diagram of servo amplifier 10-59
10.3.2 Exter
nal appearance diagram of servo motor
10-67
10.4 Options 10-71
11 Selection Details 11-1
11.1 Time of Acceleration and Deceleration 11-2
11.2 Permitted Repetitions 11-3
11.3 Loading Precautions 11-6
11.4 Dynamic Brake 11-7
11.5 Regeneration Process 11-11
12 International standards 12-1
12.1 International Standards Conformity 12-2
12.1.1 Outline of International Standards Conformity 12-2
12.1.2 International Standards Conformity
of the QS1 servo system 12-2
12.2 Cautions for Internationals Standards conformity 12-3
12.2.1 Common precautions for UL / TÜV
standards conformity 12-3
12.3 UL / cUL / TÜV Standards Conformity 12-4
12.3.1 UL / cUL Conformity and file Numbers 12-4
12.3.2 TÜV Conformity and file Numbers 12-4
12.4 European of EC Directives 12-5
12.4.1 Outline of EC Directives 12-5
12.4.2 Compliance with EC Directives 12-5
12.4.3 CE Marking Conformity Standards 12-6
12.4.4 Cautions for EMC Directive Conformity 12-7
No Text on This Page.
1. Safety Precautions
1－1
Safety Precautions
This document is a summary of the safety
precautions regarding the use of the
Q-series S-type amplifier.
Please read it carefully prior to use.
1.1 Introduction ･･･････････････････ 1-2
1.2 Location of warning labels on the product
･･･････････････････ 1-2
1.3 Interpretation of the warning labels ･･･････････････････ 1-3
1.3.1 Label description ･･････････ 1-3
1.3.2 Precaution levels ･･････････ 1-3
1.3.3 Graphic symbols ･･････････ 1-4
1.4 Safety Precautions ････････････････････1-5
1. Safety Precautions
1－2
1.1 Introduction
The Q-series servo amplifiers and servo motors were designed for use with general industrial
equipment. The following instructions should be followed:
・ Read the User Manual carefully before any installation or assembly work, and to ensure
proper use.
・ Do not perform any retrofitting or modification of the product.
・ Consult with your sales representative or a trained, professional technician regarding the
installation and maintenance of these devices.
・ Special consideration, such as redundant services or an emergency generator, is required
when operating, maintaining and controlling devices in certain applications related to human
safety or public functions. Contact your distributor or sales office if you intend to use these
devices in applications such as:
① In medical instruments or systems used for life support;
② With control systems for trains or elevators, the failure of which could cause bodily injury;
③ In computer systems of social or public importance;
④ In other equipment or systems related to human safety or public infrastructure.
・ Additionally, please contact your distributor or sales office if the device is to be used in an
environment where vibration is present, such as in-vehicle or transport applications.
Before installing, operating, performing maintenance or inspecting this device, read this entire manual
carefully to ensure proper use. Use this device only after learning about its operation, safety
information, and the precautions related to its use. After reading the User Manual, keep it in a
location where it is always available to the user for easy reference.
1.2 Location of warning labels on the product
Warning labels are located at the center of the front panel of the servo amplifier.
This manual suits for next models
19
Table of contents
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