Sanyo Denki SANMOTION 3E S User manual

M0011696D
Instruction Manual
TYPE S
For Rotary Motor, Linear Motor
Interface

There are wrong descriptions in the instruction manual for RS3 EtherCAT. Please correct them as follows.
RS3 EtherCAT instruction manual (M0011696D) error correction list
Page : 2-31
Item : 2.Specifications
2.8.1 Specifications for analog monitor
Before
correction
Correction
after
Page : 12-63
Item : 12. Appendix
12.9.3 Dedicated Cable outline drawing
Before
correction
■ Dedicated Cable (Model No.: AL-00690525-01)
2B
1B 1A
2A
20±5 20±5
2000±50
1
34
2
20±5 20±5
CN1 CN2
Note 1) A pair of the dedicated cable shown above (model number: AL-00690525-01) are
supplied with the Monitor Box (model number: Q-MON-3).
Correction
after
■ Dedicated Cable (Model No.: AL-00690525-01)
2B
1B 1A
2A
20±5 20±5
2000±50
1
34
2
20±5 20±5
CN1 CN2
Note 1) A pair of the dedicated cable shown above (model number: AL-00690525-01) are
supplied with the Monitor Box (model number: Q-MON-3).
Note 2) Connect CN1 to monitor box, and CN2 to CN5 of servo amplifier.
RS3A*******_*
CN5
42
31
CN5
42
31
RS3A*******_*

Details of revision history
The fourth edition (D)
■ Overall
400V/800A type is added.
R1 motors are added.
■ p.1-12, 1-13, 1-32, 1-33
12-17, 12-18, 12-32
Outline drawings are updated due to change of RS3 400 VAC 150A/300A main body.
■ p.2-22
Description for inrush current of 400 VAC input model is corrected.
■ p.2-31
CN6 expansion drawing is corrected.
■ p.3-6
Motor and IEC standards number are updated.
■ p.4-6
Recommended wire size for R1AA10200F and R1AA10250F is corrected.
■ p.7-5
Alarm history amount is corrected to 15.
■ p.7-28
Description is corrected because fixed monitor display can change initialization completion time.
■ p.7-28
Description is changed as below:
in 2 seconds after powering up. ⇒after initialization completion.
■ p.8-1, 8-3
Description for analog interface is changed for EtherCAT interface.
■ p.8-4
Communication system warnings are added.
■ p.9-8
Description for full-closed encoder selection is corrected.
■ p.9-24
Description of torque assisting function is added to tandem operation.
■ p.12-35
Optional connector-kits for 400V is added.

Safety Precautions
i
Please read this User Manual and its appendix carefully prior to installation, operation,
maintenance or inspection and perform all tasks according to the instructions provided here. A
good understanding of this equipment, its safety information as well as all Warnings / Cautions
is also necessary before using.
Matters that require attention are ranked as “Danger” “Warning” and “Caution” in this document.
■ Warning Symbol
Denotes immediate hazards that will probably cause severe bodily
injury or death as a result of incorrect operation.
Denotes immediate hazards which will probably cause severe
bodily injury or death as a result of incorrect operation.
Denotes hazards which could cause bodily injury and product or
property damage as a result of incorrect operation.
Caution Even those hazards denoted by this symbol could lead to a serious accident.
Make sure to strictly follow these safety precautions.
■ Prohibited，Mandatory Symbols
Indicates actions that must not be allowed to occur / prohibited
actions.
Indicates actions that must be carried out / mandatory actions.
Danger
Warning
Caution

Safety Precautions
ii
■ Attention in use Warning
Do not use this device in explosive environment.
Injury or fire could otherwise result.
Do not perform any wiring, maintenance or inspection when the device is hot-wired.
After switching the power off, wait at least 15 minutes before performing these tasks.
Electric shock or damage could otherwise result.
The protective ground terminal ( ) should always be grounded to the unit or control
board. The ground terminal of the motor should always be connected to the protective
ground terminal ( ) of the amplifier.
Electric shock could otherwise result.
Do not touch the inside of the amplifier.
Electric shock could otherwise result.
Do not damage the cable, do not apply unreasonable stress to it, do not place heavy
items on it, and do not insert it in between objects.
Electric shock could otherwise result.
Do not touch the rotating part of the motor during operation.
Bodily injury could otherwise result.

Safety Precautions
iii
Caution
Use the amplifier and motor together in the specified combination.
Fire or damage to the device could otherwise result.
Only technically qualified personnel should transport, install, wire, operate, or perform
maintenance and inspection on this device.
Electric shock, injury or fire could otherwise result.
Do not expose the device to water, corrosive or flammable gases, or any flammable
material.
Fire or damage to the device could otherwise result.
Be careful of the high temperatures generated by the amplifier/motor and the
peripherals.
Burn could otherwise result.
Do not touch the radiation fin of the amplifier, the regenerative resistor, or the motor
while the device is powered up, or immediately after switching the power off, as these
parts generate excessive heat.
Burn could otherwise result.
In terms of designing safety systems using the Safe Torque Off function, personnel
who have expertise of relevant safety standard are supposed to do that job with good
understanding of this instruction manual.
Injury or damage to the device could otherwise result.
Please read the User Manual carefully before installation, operation, maintenance or
inspection, and perform these tasks according to the instructions.
Electric shock, injury or fire could otherwise result.
Do not use the amplifier or the motor outside their specifications.
Electric shock, injury or damage to the device could otherwise result.
Regenerative resistor has instantaneous capacity. Contact our offices if the
instantaneous regenerative power could be high as the result of high-inertia moment
or high-velocity rotation.
■ Storage Prohibited
Do not store the device where it could be exposed to rain, water, toxic gases or other
liquids.
Damage to the device could otherwise result.

Safety Precautions
iv
Mandatory
Store the device where it is not exposed to direct sunlight, and within the specified
temperature and humidity ranges {- 20°C to + 65°C，below 90% RH
(non-condensing)}.
Damage to the device could otherwise result.
Please contact our office if the amplifier is to be stored for a period of 3 years or longer.
The capacity of the electrolytic capacitors decreases during long-term storage, and
could cause damage to the device.
Damage to the device could otherwise result.
Please contact our office if the amplifier is to be stored for a period of 3 years or longer.
Confirmations such as bearings and the brakes are necessary.
■ Transportation
Caution
When handling or moving this equipment, do not hold the device by the cables, the
motor shaft or detector portion.
Damage to the device or bodily injury could otherwise result.
Keep in mind that it is dangerous at the time of conveyance if it falls and overturns.
Bodily injury could otherwise result.
Mandatory
Follow the directions written on the outside box. Excess stacking could result in
collapse.
Bodily injury could otherwise result.
Use eyebolt of the motor only for transporting itself. Do not use for transportation of
machinery combined with the motor.
Damage to the device or bodily injury could otherwise result.

Safety Precautions
v
■ Installation
Caution
Do not stand on the device or place heavy objects on top of it.
Bodily injury could otherwise result.
Make sure the mounting orientation is correct.
Fire or damage to the device could otherwise result.
Do not drop this device or subject it to excessive shock of any kind.
Damage to the device could otherwise result.
Do not obstruct the air intake and exhaust vents, and keep them free of debris and
foreign matter.
Fire could otherwise result.
Consult the User Manual regarding the required distance inside the amplifier
disposition.
Fire or damage to the device could otherwise result.
Open the box only after checking its top and bottom location.
Bodily injury could otherwise result.
Verify that the products correspond to the order sheet/packing list.
Injury or damage could result.
Take care of falling or overturning of the device during installation.
Use eyebolts of the motor if supplied.
Bodily injury could otherwise result.
Install the device on a metal or other non-flammable support.
Fire could otherwise result.
Make the collision safety device strong enough to resist the maximum output of the
system.
Bodily injury could otherwise result.

Safety Precautions
vi
■ Wiring
Caution
Wiring connections must be secure.
Bodily injury could otherwise result.
Wiring should be completed based on the Wiring Diagram or the User Manual.
Electric shock or fire could otherwise result.
Wiring should follow electric equipment technical standards and indoor wiring
regulations.
An electrical short or fire could otherwise result.
Do not connect a commercial power supply to the U, V or W terminals of the servo
motor.
Fire or damage to the device could otherwise result.
Install a safety device such as a breaker to prevent external wiring short-circuits.
Fire could otherwise result.
Do not bind or band the power cable, input/output signal cable and/or encoder cable
together or pass through the same duct or conduit.
This action will cause faulty operation.
Must add the surge absorbing diode if inductive load as relay connect to the control
signal output of the amplifier. Please take care of polarity of the diode that will be
cause of failure.
Do not connect 90 VDC orAC power to the 24 VDC Brake of the servo motor.Also, do
not connect 400 VAC to the 200 VAC Fan of the servo motor.
An electrical short or fire could otherwise result.
Please design a sequence that included braking delay time because the
surge-absorbing component for the relay of holding brake of the servo motor gives
braking delay time.
Injury or load falling could otherwise result.
Mandatory
Install an external emergency stop circuit that can stop the device and cut off the power
instantaneously. Install an external protective circuit to the amplifier to cut off the power
from the main circuit in the case of an alarm.
Motor runaway, bodily injury, burnout, fire and secondary damages could otherwise
result.

Safety Precautions
vii
■ Operation
Caution
Do not perform extensive adjustments to the device as they may result in unstable
operation.
Bodily injury could otherwise result.
Trial runs should be performed with the motor in a fixed position, separated from the
mechanism.After verifying successful operation, install the motor on the mechanism.
Bodily injury could otherwise result.
The holding brake is not to be used as a safety stop for the mechanism. Install a safety
stop device on the mechanism.
Bodily injury could otherwise result.
In the case of an alarm, first remove the cause of the alarm, and then verify safety. Next,
reset the alarm and restart the device.
Bodily injury could otherwise result.
Check that input power supply voltage is keeping a specification range.
Damage to the device could otherwise result.
Avoid getting close to the device, as a momentary power outage could cause it to
suddenly restart (although it is designed to be safe even in the case of a sudden restart).
Bodily injury could otherwise result.
Do not use motor or amplifier which is defective or failed and damaged by fire.
Injury or fire could otherwise result.
In the case of any irregular operation, stop the device immediately.
Electric shock, injury or fire could otherwise result.
When using the servo motor in vertical axis, provide safety devices to prevent falls
during the work that will cause an alarm condition.
Injury or damage could result.

Safety Precautions
viii
Prohibited
The built-in brake is intended to secure the motor; do not use it for regular control.
Damage to the brake could otherwise result.
Damage to the device could otherwise result.
Keep the motor’s encoder cables away from static electricity and high voltage.
Damage to the device could otherwise result.
Standard specification servo amplifiers have a dynamic brake resistor. Do not rotate the
motor continuously from the outside when the amplifier is not powered on, because the
dynamic brake resistor will heat up, and can be dangerous.
Fire or burn could otherwise result.
Absolutely do not apply voltage more than the spec to the amplifier because overvoltage
will be cause of part failure.
Damage to the device or bodily injury could otherwise result.
Avoid frequent on and off power supply.
Inner parts might get premature failure in case of repeating ON/OFF of power supply 30
times or more per day, otherwise 5 times or more per hour.
Mandatory
Install an external emergency stop circuit that can stop the device and cut off the power
instantaneously. Install an external protective circuit to the amplifier to cut off the power
from the main circuit in the case of an alarm.
Motor runaway, bodily injury, burnout, fire and secondary damages could otherwise
result.
There is no safeguard on the motor. Use an over-voltage safeguard, short-circuit
breaker, overheating safeguard, and emergency stop to ensure safe operation.
Injury or fire could otherwise result.
Operate within the specified temperature and humidity range.
Servo Amplifier
Temperature 0°C to 55°C
Humidity below 90% RH (non-condensing).
Servo Motor
Temperature 0°C to 40°C
Humidity below 90% RH (non-condensing).}
Burnout or damage to the device could otherwise result.

Safety Precautions
ix
■ Maintenance・Inspection
Caution
Some parts of the servo amplifier (electrolytic capacitor, cooling fan, lithium battery
for encoder, fuse and relay kinds) can deteriorate with long-term use. Please
contact our offices for replacements.
Damage to the device could otherwise result.
Do not touch or get close to the terminal while the device is powered up.
Electric shock could otherwise result.
Be careful during maintenance and inspection, as the body of the amplifier
becomes hot.
Burn could otherwise result.
Please contact your distributor or sales office if repairs are necessary.
Disassembly could render the device inoperative.
Damage to the device could otherwise result.
Prohibited
Do not overhaul the device.
Fire or electric shock could otherwise result.
Do not measure the insulation resistance and the pressure resistance.
Damage to the device could otherwise result.
Absolutely do not unplug the connector while the device is powered up because
hot plug will give damaged by surge to component.
Electric shock or damage could otherwise result.
Do not remove the nameplate cover attached to the device.
■ Disposal Mandatory
If the amplifier or the motor is no longer in use, it should be discarded as industrial
waste.

Table of contents
x
1. Preface
1.1 Introduction················································································································1-1
1.1.1 Product overview································································································1-1
1.1.2 Features of "SANMOTION R" 3E Model···································································1-2
1.1.3 Cautions for replacement from "SANMOTION R"ADVANCED MODEL···························1-3
1.2 Instruction manual·······································································································1-4
1.2.1 Contents···········································································································1-4
1.2.2 Precautions related to these instructions··································································1-5
1.3 Illustration of system components ···················································································1-6
1.4 Model number structure······························································································1-15
1.4.1 Servo Motor Model Number ················································································1-15
1.4.2 Linear Motor Model Number (DS, DD series) ··························································1-17
1.4.3 Linear Motor Model Number (DS/DD series, Small type) ···········································1-18
1.4.4 Linear Motor Model Number (DT series) ································································1-19
1.4.5 Power Unit Model Number················································································1-20
1.4.6 Servo Amplifier Model Number·············································································1-21
1.5 Part names··············································································································1-24
1.5.1 Servo amplifier·································································································1-24
1.5.2 Power unit·······································································································1-33
1.5.3 Amplifier unit····································································································1-34
1.5.4 Servo motor·····································································································1-36
1.5.5 Linear motor ····································································································1-43
2. Specifications
2.1 Servo motor···············································································································2-1
2.1.1 General specifications··························································································2-1
2.1.2 Exterior dimensions/ specifications/ mass·································································2-1
2.1.3 Cooling fan specifications ·····················································································2-1
2.1.4 Mechanical specifications/ mechanical strength/ working accuracy ································2-2
2.1.5 Oil seal type·······································································································2-3
2.1.6 Holding brake·····································································································2-5
2.1.7 Degree of decrease rating for R1□A / R2□A motor, with oil seal and brake ····················2-8
2.2 Linear motor···············································································································2-9
2.2.1 General specifications··························································································2-9
2.2.2 Exterior dimensions/ specifications/ mass·································································2-9
2.2.3 Mechanical specifications ·····················································································2-9
2.2.4 Moving direction of linear motor (DD/DS/DT series)··················································2-10
2.3 Motor encoder··········································································································2-12
2.3.1 Absolute encoder······························································································2-12
2.3.2 Incremental encoder specifications·······································································2-13
2.3.3 Battery specification ··························································································2-13
2.4 Linear encoder ·········································································································2-14

Table of contents
xi
1
Preface 2
S
p
ecifications 3
Installation 4
Wirin
g
5
Linear motor 6
Servo Tunin
g
7
Di
g
ital O
p
erator
8
Maintenance 9
Dedicated function
10
Safe-Tor
q
ue-Off function
11
Selection 12
A
pp
endix
2.4.1 Applicable linear encoder····················································································2-14
2.5 Servo amplifier··········································································································2-15
2.5.1 General specifications························································································2-15
2.5.2 General Input/Output·························································································2-18
2.6 Power supply, calorific value························································································2-19
2.6.1 Main circuit power supply capacity, control power supply capacity ·······························2-19
2.6.2 Inrush current, leakage current ············································································2-22
2.6.3 Calorific value ··································································································2-24
2.7 Operation pattern ······································································································2-28
2.7.1 Time of acceleration and deceleration, permitted repetition, loading precaution ··············2-28
2.8 Specifications for analog monitor ··················································································2-31
2.8.1 Specifications for analog monitor··········································································2-31
2.8.2 Monitor for velocity, torque, and position deviation····················································2-32
2.9 Specifications for dynamic brake···················································································2-33
2.9.1 Allowable frequency, instantaneous tolerance, decreasing the rotation angle of
the dynamic brake···························································································2-33
2.10 Regeneration process·······························································································2-39
2.10.1 Minimum values of Built-in/ external regenerative resistor ········································2-39
2.10.2 Allowable regenerative power ············································································2-39
3. Installation
3.1 Servo amplifier············································································································3-1
3.1.1 Precautions ·······································································································3-1
3.1.2 Unpacking·········································································································3-2
3.1.3 Mounting direction and location··············································································3-3
3.1.4 Arrangement within the cabinet··············································································3-4
3.2 Rotary motor ··············································································································3-5
3.2.1 Precautions ·······································································································3-5
3.2.2 Unpacking·········································································································3-5
3.2.3 Installation·········································································································3-5
3.2.4 Mounting method································································································3-6
3.2.5 Waterproofing and dust proofing·············································································3-6
3.2.6 Protective cover installation···················································································3-7
3.2.7 Gear installation and Integration with the target machinery···········································3-7
3.2.8 Allowable bearing load·························································································3-9
3.2.9 Cable installation considerations ··········································································3-12
3.3 Linear motor·············································································································3-13
3.3.1 Precautions on linear motor installation··································································3-13
3.3.2 Unpacking·······································································································3-16
3.3.3 Installation of flat-type linear motor with core···························································3-17
3.3.4 Installation of twin-type linear motor with core ·························································3-21
3.2.5 Installation of center magnet type linear motor with core············································3-26
3.2.6 Installation of cylinder-type motor ·········································································3-29

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4. Wiring
4.1 Wiring for the terminal of high voltage and grounding ··························································4-1
4.1.1 Part name and function························································································4-1
4.1.2 Wire·················································································································4-4
4.1.3 Wire size - allowable current··················································································4-4
4.1.4 Recommended wire size (Rotary motor) ··································································4-5
4.1.5 Recommended wire size (Linear motor)···································································4-9
4.1.6 Wiring for servo motor························································································ 4-11
4.1.7 Example of wiring ·····························································································4-15
4.1.8 Crimping of wires······························································································4-22
4.1.9 High voltage circuit terminal; tightening torque·························································4-23
4.2 Wiring with Host Unit··································································································4-25
4.2.1 Control signals and pin numbers (wiring with host unit) ·············································4-25
4.2.2 IN, OUT connectors pin assignment······································································4-26
4.2.3 CN4 connector pin assignment ············································································4-28
4.2.4 CN2 general I/O connector pin assignment·····························································4-29
4.3 Wiring of motor encoder······························································································4-31
4.3.1 EN1, EN2 signal names and pin numbers ······························································4-31
4.3.2 EN1, EN2 pin assignment···················································································4-33
4.3.3 Connector model number for motor encoder···························································4-34
4.3.4 Recommended encoder cable specification····························································4-36
4.3.5 Encoder cable length·························································································4-36
4.4 Wiring for thermostat of servo motor FAN (for 400 VAC)·····················································4-37
4.4.1 Connector model number for thermostat of servo motor FAN······································4-37
4.5 External alarm input, dynamic brake signal and thermostat·················································4-38
4.5.1 Pin assignment of external alarm input (CN8) (RS3W60#)·········································4-38
4.5.2 Wiring of external alarm input (CN8) (RS3W60#)·····················································4-38
4.5.3 Terminal block pin assignment for dynamic brake signal/thermostat (400 VAC)···············4-39
4.5.4 Wiring of dynamic brake signal/thermostat (RS3C30#)··············································4-39
4.5.5 Wiring of dynamic brake signal/thermostat (RS3D80#)··············································4-40
4.6 Peripheral equipments································································································4-41
4.6.1 Power supply capacity and peripherals list (Rotary motor)··········································4-41
4.6.2 Power supply capacity and peripherals list (Linear motor)··········································4-44
5. Linear motor
5.1 Illustration of system components ···················································································5-1
5.2 Wiring of linear encoder································································································5-2
5.2.1 EN1, EN2 signal names and pin numbers ································································5-2
5.2.2 EN1, EN2 pin assignment·····················································································5-4
5.2.3 Recommended encoder cable specification······························································5-5
5.2.4 Encoder cable length···························································································5-5
5.3 Linear motor control-related parameters···········································································5-6

Table of contents
xiii
1
Preface 2
S
p
ecifications 3
Installation 4
Wirin
g
5
Linear motor 6
Servo Tunin
g
7
Di
g
ital O
p
erator
8
Maintenance 9
Dedicated function
10
Safe-Tor
q
ue-Off function
11
Selection 12
A
pp
endix
5.3.1 Setting of system parameters ················································································5-6
5.3.2 Setting of linear encoder·······················································································5-7
5.3.3 Setting of magnetic pole position parameters····························································5-8
5.3.4 Setting of moving direction··················································································5-10
5.4 Test operation··········································································································· 5-11
5.4.1 Check of installation and wiring············································································ 5-11
5.4.2 Preparation before operation···············································································5-12
5.4.3 Magnetic pole position estimation·········································································5-13
5.2.4 Check of operation····························································································5-14
5.5 Precautions··············································································································5-15
5.5.1 When you use SANYO DENKI servo amplifier with
other manufacturer linear motor combined.·····························································5-15
5.5.2 Setting of parameters to combine amplifier and motor···············································5-15
5.5.3 Automatic Magnetic Pole Position Estimation Function··············································5-16
6. Servo Tuning
6.1 Servo tuning functions and basic adjustment procedure·······················································6-1
6.1.1 Servo tuning functions ·························································································6-1
6.1.2 Tuning method selection procedure ········································································6-3
6.2 Adaptive notch filter function··························································································6-4
6.3 Auto-tuning function·····································································································6-5
6.3.1 Selection of tuning method····················································································6-5
6.3.2 Automatically adjusted parameters in auto-tuning·····················································6-10
6.3.3 Adjustable main parameters during auto-tuning ·······················································6-12
6.3.4 Unavailable functions during auto-tuning································································6-13
6.3.5 Auto-tuning characteristic selection·······································································6-14
6.3.6 Adjustment method for auto-tuning ·······································································6-15
6.3.7 Monitoring servo gain adjustment parameters ·························································6-15
6.3.8 Manual tuning method using auto-tuning results ······················································6-16
6.4 Manual tuning function ·······························································································6-17
6.4.1 Servo system configuration and servo adjustment parameters····································6-17
6.4.2 Basic manual tuning method for velocity control·······················································6-19
6.4.3 Basic manual tuning method for position control ······················································6-19
6.5 The function of making servo gain higher········································································6-20
6.5.1 Velocity loop phase lead compensation ·································································6-20
6.5.2 Position loop phase lead compensation·································································6-21
6.5.3 Torque feed forward compensation·······································································6-22
6.6 Model following control function····················································································6-23
6.6.1 Manual tuning method for model following control····················································6-24
6.6.2 Switching of the Feedback control and the Model-following (vibration suppression) control6-25
6.6.3 Model velocity feed forward differential compensation···············································6-26
6.7 Auto notch filter tuning function·····················································································6-27
6.8 Vibration suppression function······················································································6-29

Table of contents
xiv
6.8.1 Model following vibration suppression control··························································6-29
6.8.2 Auto FF Vibration Suppression Frequency Tuning····················································6-32
6.8.3 FF vibration suppression control···········································································6-33
6.8.4 CP vibration suppression control··········································································6-35
6.8.5 Minor vibration suppression·················································································6-36
6.9 Disturbance impact suppression function········································································6-37
6.9.1 High order integral control···················································································6-37
6.9.2 Disturbance Observer Function············································································6-38
6.10 Stick-slip behavior compensation function·····································································6-39
7. Digital Operator
7.1 EtherCAT Indicator ······································································································7-1
7.1.1 IN/OUT Link /Activity Indicator Code: IN L/A, OUT L/A················································7-1
7.1.2 RUN Indicator Code: RUN ····················································································7-2
7.1.3 Error Indicator Code: ERR ····················································································7-3
7.2 Servo Amplifier Indicator·······························································································7-4
7.2.1 Main Circuit Power Supply Indicator Code: CHARGE ·················································7-4
7.2.2 Control Power Supply Establish Indicator Code: POW ················································7-4
7.3 Digital Operator Indicator ······························································································7-5
7.3.1 Digital Operator Names and Functions ····································································7-5
7.3.2 Mode changes ···································································································7-5
7.4 Digital Operator Display Form ························································································7-6
7.5 Status Display Mode ····································································································7-9
7.5.1 Servo Amplifier Status Display ···············································································7-9
7.5.2 Forward/Inverse Limit state Display ········································································7-9
7.5.3 Display of linear motor magnetic pole position detection process·································7-10
7.5.4 Display of warning state ·····················································································7-10
7.5.5 Alarm Display··································································································· 7-11
7.5.6 How to ResetAlarm When Alarm Occurring···························································· 7-11
7.6 Trial Run Mode ·········································································································7-12
7.6.1 Velocity-controlled JOG Operation········································································7-12
7.6.2 Encoder clear···································································································7-13
7.6.3 Automatic Tuning Result Writing···········································································7-13
7.7 Holding brake control (disabled) ···················································································7-14
7.8 Alarm History Mode ···································································································7-15
7.8.1 Alarm History Display Mode ················································································7-15
7.8.2 Clear Alarm History ···························································································7-15
7.9 Monitor Display Mode·································································································7-16
7.9.1 Monitor list·······································································································7-17
7.9.2 Monitor Details·································································································7-18
7.10 Analog monitor········································································································7-28
7.11 Fixed monitor display································································································7-28

Table of contents
xv
1
Preface 2
S
p
ecifications 3
Installation 4
Wirin
g
5
Linear motor 6
Servo Tunin
g
7
Di
g
ital O
p
erator
8
Maintenance 9
Dedicated function
10
Safe-Tor
q
ue-Off function
11
Selection 12
A
pp
endix
8. Maintenance
8.1 Trouble shooting ·········································································································8-1
8.2 List of warning and alarm······························································································8-4
8.2.1 Warning List ······································································································8-4
8.2.2 Alarm list···········································································································8-5
8.3 Trouble shooting when alarm activated ············································································8-9
8.3.1 Alarm display ·····································································································8-9
8.3.2 Corrective action for alarm··················································································8-10
8.3.3 Correspondence table for EnDat Error message and alarm code·································8-58
8.4 Encoder clear and alarm reset ·····················································································8-59
8.5 Inspection················································································································8-60
8.6 Service parts············································································································8-61
8.6.1 The parts requiring Inspection··············································································8-61
8.6.2 Replacing battery for motor encoder ·····································································8-63
9. Dedicated function
9.1 Full-closed system·······································································································9-1
9.1.1 Illustration of system components···········································································9-1
9.1.2 Internal block diagram··························································································9-2
9.1.3 Combination encoder···························································································9-3
9.1.4 Wiring ··············································································································9-4
9.1.4.1 Signal names and its pin numbers for external encoder (EN2)····································9-4
9.1.4.2 EN2 pin assignment··························································································9-5
9.1.5 Basic setting of full-closed system ··········································································9-6
9.1.5.1 Specification confirmation···················································································9-6
9.1.5.2 System parameter setting···················································································9-7
9.1.5.3 Full-closed encoder selection··············································································9-8
9.1.5.4 Feedback pulse setting······················································································9-9
9.1.5.5 Rotation direction setting for servo motor·····························································9-12
9.1.5.6 Dual position feedback compensation setting ·······················································9-13
9.1.5.7 Alarm detection setting ····················································································9-14
9.1.5.8 External encoder signal output waiting function setting ···········································9-15
9.1.6 Precautions ·····································································································9-16
9.1.6.1 Power supply for external encoder ·····································································9-16
9.1.6.2 External encoder operation···············································································9-16
9.2 Tandem operation······································································································9-17
9.2.1 Illustration of system components·········································································9-17
9.2.2 Internal block diagram························································································9-19
9.2.3 Wiring ············································································································9-20
9.2.4 Setting for the tandem operation function ·······························································9-20
9.2.5 How to use······································································································9-22

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9.2.6 Error detection ·································································································9-23
9.2.7 Torque assisting function ····················································································9-24
9.2.8 Velocity assisting function···················································································9-25
9.2.9 Precaution·······································································································9-27
10. Safe-Torque-Off function
10.1 Illustration of system configuration···············································································10-1
10.2 Safe-Torque-Off function ···························································································10-2
10.2.1 Outline··········································································································10-2
10.2.2 Standards conformity ·······················································································10-3
10.2.3 Risk assessment·····························································································10-3
10.2.4 Residual risk ··································································································10-3
10.2.5 Delay circuit···································································································10-4
10.3 Wiring ···················································································································10-5
10.3.1 CN4 connector layout·······················································································10-5
10.3.2 Connection diagram of CN4-terminals ·································································10-5
10.3.3 Example of wiring····························································································10-6
10.3.4 Safety input-off shot pulse for safety device self-diagnosis ·······································10-8
10.4 Safe-Torque-Off operation ·························································································10-9
10.4.1 Safe-torque-off state ························································································10-9
10.4.2 Restoration from safe-torque-off state································································ 10-10
10.4.3 Safe-Torque-Off during servo motor running·························································10-11
10.4.4 Safe-Torque-Off during servo motor stoppage ····················································· 10-13
10.4.5 Deviation clear······························································································ 10-14
10.4.6 Safety input signal failure detection··································································· 10-14
10.5 Error Detection Monitor (EDM)·················································································· 10-15
10.5.1 Specifications······························································································· 10-15
10.5.2 Connection example······················································································ 10-15
10.5.3 Error detection method··················································································· 10-16
10.6 Verification test······································································································ 10-17
10.6.1 Preparation·································································································· 10-17
10.6.2 Confirmation procedure ·················································································· 10-17
10.6.3 Acceptance criteria ························································································ 10-17
10.7 Safety precautions································································································· 10-18
11. Selection
11.1 Servo motor sizing ··································································································· 11-1
11.1.1 Flowchart of servo motor sizing ·········································································· 11-1
11.1.2 Make an operation pattern················································································· 11-2
11.1.3 Calculate motor shaft conversion load moment of inertia (JL)···································· 11-2
11.1.4 Calculate motor shaft conversion load torque (TL) ·················································· 11-3
11.1.5 Calculate acceleration torque (Ta)······································································· 11-5