YOKOGAWA DrvPIII UR5AP3 Manual

TI 71M01D06-01EN
Yokogawa Electric Corporation 3rd Edition:2012.12.01
Technical
Information
Direct Drive Motor <DYNASERV> DR5A Type
Intelligent Drive <DrvPIII> UR5AP3 Type
Technical Information
TI 71M01D06-01EN

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TI 71M01D06-01EN 3rd Edition: 2012.12.01
Introduction
Overview of This Manual
This manual provides information about DYNASERV, a direct drive servo motor (DR5A motor
and UR5AP3 4kW class drive). Make sure to refer to this manual when you use the motor.
Trademark
•Windows and Windows NT are registered trademarks of Microsoft Corporation in the
United States and/or other countries.
•Adobe and Acrobat are trademarks of Adobe Systems Incorporated.
•Pentium is a registered trademark of Intel Corporation in the United States.
•Other company and product names mentioned herein may be the trademarks or
registered trademarks of their respective owners.
Copyright
The copyright of this manual belongs to Yokogawa Electric Corporation.
No part of this document may be reproduced, or transferred, sold or distributed to the third
party.
Strategic Goods Advisory
It is required to obtain approval from the Japanese government to export goods regulated by
the Foreign Exchange and Foreign Trade Control Law from Japan.
Conventions
Symbols used in this manual
Throughout this manual, the following symbol marks are used to distinguish explained
information.
: Describes cautions for avoiding danger in potentially hazardous
situations that may put operators' lives and bodies in danger such as
electric shock accident.
: Describes points to be noted in situations that may cause damages
to software and/or hardware or system troubles.
: Describes important points when understanding operations and
functions.
: Describes supplementary information about descriptions.
: Describes items and pages that should be referenced.
!DANGER
WARNING
CAUTION
TIP
SEE ALSO

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TI 71M01D06-01EN 3rd Edition: 2012.12.01
Precautions
Precautions Regarding this Manual
•Please make sure this manual is made available to all end users.
•Do not operate the product before reading this manual and thoroughly understanding
its contents.
•This manual was created to provide detailed explanations of the functions offered by
the product. It is not guaranteed that it will suit any particular purpose a customer
might have.
•The reproduction or copying of any portion of this manual is strictly prohibited without
prior permission from Yokogawa Electric.
•The information provided in this manual is subject to change without notice.
•If you have any questions or find any errors and/or omissions in the information
provided in this manual, please contact our Sales Department or the dealer from
whom the product was purchased.
Precautions Regarding Protection, Safety and Product Modification
•To ensure your protection and that of the product, as well as the systems that use the
product, please observe all safety instructions and other precautions listed in this
manual.
•If you operate the product in a manner contrary to the instructions provided in this
manual, the safety protection may be lost. In such an event, we make no warranties for
the quality, performance, functions and safety of the product.
•If you install protection/safety circuits for the product or systems that use this product,
make sure to install them on the product separately and externally. Do not install them
inside the product, nor should any internal parts of the product be modified in order to
do so.
•Be sure to replace any parts and consumables of the product with parts specified by
us.
•This product is neither designed nor manufactured to be used under conditions that
may directly affect the safety of humans including in nuclear or radiation-related
devices, railway facilities, aircraft instruments, marine instruments, air-navigation
facilities or medical devices. If it is necessary to apply the product in systems that
directly affect the safety of humans, it is the user's own responsibility to construct a
system for securing the safety of humans with devices and equipment other than the
applicable product.
•Modification of the product is strictly prohibited.
Product Disclaimer
•We make no warranty for the product except as prescribed by the guarantees.
•We assume no responsibility for damages any user or third party may incur through
use of the product, nor for any direct or indirect damages that the user or a third party
may incur due to product defects that cannot be predicted by us, etc.

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TI 71M01D06-01EN 3rd Edition: 2012.12.01
Software
•We make no warranties for the software except as prescribed by the guarantees.
•Copying and use of the software for any purpose other than as intended by us, such
as for use as a backup, is strictly prohibited.
•Keep the original storage media of this software in a safe place. If you do not have the
original media, we may decline to offer our prescribed quality warranty and
maintenance services.
•Reverse engineering of the software, including reverse compilation and reverse
assembly, is strictly prohibited.
•The transfer, exchange or subleasing of any part of the software for unwarranted use
by a third party is prohibited without prior permission from Yokogawa Electric.

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TI 71M01D06-01EN 3rd Edition: 2012.12.01
General Precautions Regarding DYNASERV
•Never install the DYNASERV motor in reverse, i.e. fixing the rotor of the motor and
making the stator rotate.
•When removing the drive-side panel to replace consumables, etc., be sure to turn the
power OFF before doing so. It is dangerous to touch the high-voltage parts inside the
unit.
•The motor rotates at a high velocity and torque. Take the rotation radius into
consideration during operations with load attached, and be sure to take precautions to
avoid the risk of bodily injury or equipment damage.
•Be sure to ground the ground terminal to the earth.
•When mounting a load on the motor rotor, be sure to leave a clearance between the
load and the upper surface of the motor of 1mm or more in order to maintain the
intended precision.
•Never press an object into the hollow hole or apply force to it. When you lead an object
through the hollow hole, be sure to secure a clearance of 1 mm or more on both sides.
If force is applied to the hollow hole in the DM motor, the internal encoder may be
damaged. The DR motor has a hollow hole in its casting, so take the dimensional
allowance into consideration and use it with sufficient margins for both sizes and
shapes.
•Do not subject the motor to strong force, impact or magnetic field. Please be aware
that the DR motor is equipped with a built-in magnetic resolver.
•Be sure the mounting screws of a load never reach or exceed the effective screw
depth of the motor unit. Depending on the model used, the functions may be impaired
and failure may occur if screws reach or exceed the effective screw depth.
•If you use the screw holes located above and below the box of the DrvPIII drive, be
certain the tips of the screws penetrate no more than 8 mm for the 500 mV and 2 kW
classes, or 6 mm for the 4 kW class, below the drive's surface. If this precaution is not
observed, it may cause an electric shock, short circuit and/or damage to the motor.
Bottom cove
r
Magnetic resolve
r
Stato
r
Rotor
Motor roto
r
A
ttached part
Motor's hollow hole
1 mm or more
1 mm or more
Object to be led through hollow hole

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•If you intend to use the motor in applications where the move is sliding/rotating at a
small angle (50°or less), it is necessary to perform a reciprocating move (rotate the
motor 180°from the operational range of motion) of 90°or more approximately 10 times
for every 10,000 cycles of the small-angle move in order to prevent the bearing
lubrication from becoming insufficient.
•The motor's surface is magnetized. Keep objects that are affected by magnetism away
from the motor.
•The motor and drive structures are not resistant to dust, splash or water (oil).
Therefore, choose the installation environment carefully.
•The drive should be installed on an appropriate metal cabinet, observing the safety
measures prescribed by the Low Voltage Directive and EMC Directives.
•Interchangeability between motors and drives is only possible if the drive and motor
are compatible (not every motor can be connected to every drive). To determine
compatibility, the DYNASERV motor's five digit model and suffix code must match the
drive's five digit model and suffix code. For example, using to represent the model
and suffix code values, the motor's five digit model and suffix code (DM- or
DR-) must match the drive's model and suffix code (UDG3- or
URG3), respectively. In addition, the current of the drive must also match the
motor requirements.
•The load mounting surface on the motor's upper surface and the stator's mounting
surface at the bottom surface are coated to prevent rust. Before assembling and using
the product, wipe the coating off completely. If any coating remains, the mechanical
precision may be impaired. Be careful so that the coating material and cleaning
solution do not penetrate the motor. If so, the product's internal parts may be
damaged.
•Do not place the motor in the manner shown below. Cables may be flattened and
ultimately disconnected due to the weight of the motor. If you install the motor with the
cable connections below the motor, be sure to include a structure that supports the
cables to avoid any potential damage.
•If the product is installed in such a way that cables are bent in the machine, etc., be
sure the minimum bend radius of the cable is 50mm or more. Moreover, do not install
cables such that they are bent repeatedly. It may cause disconnection and failure.
Standard and optional cables provided by us are limited life-time article and
consumption goods.
Surfaces where an anti-rust coating is applied
The minimum bending radius
must be 50 mm or more.

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TI 71M01D06-01EN 3rd Edition: 2012.12.01
•Do not conduct over-voltage tests. Circuitry in the drive or motor may become
damaged as a result of these types of destructive tests.
•When connecting the motor and load, be sure to align the centers of the rotating parts
sufficiently. If there is a misalignment of 10 μm or more, the bearing inside the motor
may be damaged.
•Never attempt to disassemble or modify the motor or drive. We assume no
responsibility if you disassemble or modify them.
•Disconnect all power and wait 7 minutes, before servicing. May cause electric shock.
The high voltage is applied to the regenerative resistor terminal. In general, it is
necessary to wait 7 minutes for 2 kW and 4 kW classes or 4 minutes for 500 W class
until the voltage lowers to the safe level after powering off.
•Do not remove the separator attached in the regeneration resistor terminal of a drive.
The separator is attached to the model with which the regeneration resistor is not
supplied so that regeneration resistor may not be connected accidentally, and so that it
cannot touch carelessly.
•In the case of UD1B□3-075□- drive ; Notch filter frequency (***Hz) peculiar to a
motor is stuck and displayed on the motor. First of all please set this value as a
parameter 20 (frequency notch filter #1) and a parameter 22 (frequency notch filter #2).
Then, please tune the servo.
•Prepare a fixture in the control panel or on the machine, fix the cables to the fixture
near the connectors, so that external force is not applied to the connectors.
•A part of machine parameters overwrites the related parameters when the power is
recycled, if those parameters are changed. “10.0x (Data Sum Error)” may rarely
occur in case that the control power supply is terminated before LED for RDY signal is
lighted when the power is recycled. If this error occurs, restore user data, which was
backed up beforehand, after initialization of user parameters (Backed up parameter
values are set).
•Make sure not to terminate control power supply while All-Reset function is in
execution. All-Reset needs more 5 (five) seconds for the completion. “10.0x (Data
Sum Error)” may occur in case that the control power supply is terminated in this while.
Execute All-Reset again if the error occurs.
•Utility software includes several functions, which recycle AC main power automatically.
“10.0x (Data Sum Error)” may rarely occur in case that the control power supply is
terminated before LED for RDY signal is lighted when the power is recycled. If this
error occurs, restore user data, which was backed up beforehand, after initialization of
user parameters (Backed up parameter values are set).
•If you turn off the power after the occurrence of overload error, please turn on the
power after more than 10min. If this error occurs again, please review the operating
conditions.
Center misalignment of 10
μ
mor less

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Table of Contents
Introduction ............................................................................................................................................... i
Conventions .............................................................................................................................................. i
Precautions............................................................................................................................................... ii
1. Overview of the Product....................................................................................................................... 1-1
1.1 DR Series Motor DR5A Type ....................................................................................................... 1-1
1.2 DrvPIII Drive UR5AP3 Type ......................................................................................................... 1-1
1.3 Checking the Product ................................................................................................................... 1-2
2. Specifications........................................................................................................................................ 2-1
2.1 Standard Specifications................................................................................................................ 2-1
2.2 Torque/Velocity Characteristics.................................................................................................... 2-4
2.3 Model and Suffix Codes ............................................................................................................... 2-5
2.4 Option Cables............................................................................................................................... 2-7
2.4.1 Option Cable Model and Suffix Code ................................................................................. 2-7
2.4.2 Recommended Cables..................................................................................................... 2-10
2.4.3 Cable Specifications ..........................................................................................................2-11
2.5 Outline Drawings ........................................................................................................................ 2-13
2.5.1 Motor ................................................................................................................................ 2-13
2.5.2 Drive ................................................................................................................................. 2-13
2.5.3 Connector ......................................................................................................................... 2-14
2.5.4 Terminals .......................................................................................................................... 2-14
2.6 Precautions at Installation, Moving and Storage........................................................................ 2-15
2.6.1 Installation of the Motor .................................................................................................... 2-15
2.6.2 Installation of the Drive ..................................................................................................... 2-17
2.7 Stop Function in Error State ....................................................................................................... 2-19
2.7.1 Servo-Deceleration........................................................................................................... 2-19
2.8 Restrictions on the Number of EEPROM Registrations ............................................................. 2-21
2.9 Conformed Standards ................................................................................................................ 2-22
2.10 Restrictions due to Regeneration ............................................................................................... 2-23
2.10.1 Restrictions on Regenerative Resistor Power Consumption ........................................... 2-23
2.10.2 How to Calculate Current Squared Duty .......................................................................... 2-23
2.10.3 How to Calculate Regenerative Resistor Power Consumption........................................ 2-24
3. System Configuration........................................................................................................................... 3-1
3.1 System Configuration ................................................................................................................... 3-1
3.2 Contact I/O Interface .................................................................................................................... 3-2
3.2.1 Contact I/O ......................................................................................................................... 3-2
3.3 CC-Link Interface.......................................................................................................................... 3-3
3.3.1 What is CC-Link?................................................................................................................ 3-3
3.3.2 Network Configuration........................................................................................................ 3-4

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3.3.3 Communication................................................................................................................... 3-5
4. Name and Function of Each Part ........................................................................................................ 4-1
4.1 Motor Unit ..................................................................................................................................... 4-1
4.1.1 DR5A Type ......................................................................................................................... 4-1
4.2 Drive Unit ...................................................................................................................................... 4-2
4.2.1 4 kW Class ......................................................................................................................... 4-2
4.2.2 Explanation of the Front Panel (Contact I/O) ..................................................................... 4-3
4.2.3 Explanation of the Front Panel (CC-Link) .......................................................................... 4-5
5. Wiring ..................................................................................................................................................... 5-1
5.1 Overall Connection ....................................................................................................................... 5-1
5.1.1 Connection Diagram........................................................................................................... 5-1
5.1.2 Circuit Protector.................................................................................................................. 5-2
5.1.3 List of Recommended Parts ............................................................................................... 5-2
5.1.4 List of Cable Specifications ................................................................................................ 5-3
5.2 Main Power Supply/Control Power Supply Terminal <TB1>........................................................ 5-4
5.3 Motor Terminal/Ground <TB2>..................................................................................................... 5-5
5.4 Regeneration Resistor Terminal <TB3>....................................................................................... 5-6
5.5 Sensor Terminal <TB4> ............................................................................................................... 5-7
5.6 Serial Interface Connector <CN1> ............................................................................................... 5-9
5.7 Encoder/Resolver Connector <CN2>......................................................................................... 5-11
5.8 Analog Monitor Connector <CN3> ............................................................................................. 5-13
5.9 Controller Interface Connector <CN4>....................................................................................... 5-14
5.9.1 Contact I/O Interface ........................................................................................................ 5-14
5.9.2 CC-Link Interface.............................................................................................................. 5-18
5.10 Noise Prevention and Installation Conditions............................................................................. 5-19
5.10.1 Line Filter ........................................................................................................................ 5-21
5.10.2 Ferrite Core 1.................................................................................................................. 5-22
5.10.3 Ferrite Core 2.................................................................................................................. 5-22
5.10.4 Motor Filter...................................................................................................................... 5-22
5.10.5 Shielding of Cables......................................................................................................... 5-22
5.11 Drive Input Current ................................................................................................................... 5-23
5.11.1 How to Obtain Input Current........................................................................................... 5-23
5.11.2 How to Obtain Input Current When Operating Multiple Drives....................................... 5-25
5.12 Drive Inrush Current ................................................................................................................. 5-26
5.12.1 Inrush Current Waveforms (representative examples)................................................... 5-26
5.12.2 Selecting Circuit Breaker ................................................................................................ 5-26
5.12.3 Selecting Fuse................................................................................................................ 5-27
6. Operation ............................................................................................................................................... 6-1
6.1 Common Basic Functions............................................................................................................. 6-1
6.1.1 I/O Signals .......................................................................................................................... 6-1
6.1.2 I/O Registers..................................................................................................................... 6-15
6.1.3 #parameters/#monitors .................................................................................................... 6-17

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6.1.4 Operation Privilege........................................................................................................... 6-24
6.1.5 Process Settings in Error State ........................................................................................ 6-26
6.1.6 Methods of Issuing Servo-ON Commands....................................................................... 6-30
6.1.7 Signal Timing when Turning the Power ON ..................................................................... 6-31
6.1.8 Coordinate Systems ......................................................................................................... 6-33
6.1.9 Velocity Profile.................................................................................................................. 6-37
6.2 Initial Operation Test .................................................................................................................. 6-43
6.2.1 Initial Operation Test Using the Utility Software ............................................................... 6-43
6.3 Jog Move .................................................................................................................................... 6-52
6.4 Table Data Operation ................................................................................................................. 6-56
6.4.1 Table Data Operation........................................................................................................ 6-56
6.4.2 Setting Table Register ...................................................................................................... 6-64
6.4.3 Auto-tuning Operation ...................................................................................................... 6-68
6.4.4 Test Operation .................................................................................................................. 6-72
6.4.5 Homing ............................................................................................................................. 6-75
6.4.6 ABS (Absolute) Positioning Move .................................................................................... 6-91
6.4.7 INC (Incremental) Positioning Move................................................................................. 6-94
6.4.8 Dwell................................................................................................................................. 6-97
6.4.9 Parameter Change ........................................................................................................... 6-98
6.4.10 Conditional Branch ......................................................................................................... 6-102
6.4.11 Command ....................................................................................................................... 6-104
6.4.12 Startup Operation ........................................................................................................... 6-107
6.5 Control Using the PLC.............................................................................................................. 6-108
6.6 Position Settling Signal............................................................................................................. 6-109
6.7 Signal Monitor Function............................................................................................................ 6-112
6.8 Area Signal ............................................................................................................................... 6-115
6.9 Torque/thrust Control Function................................................................................................. 6-116
6.10 Special Functions of CC-Link ................................................................................................... 6-117
6.10.1 Version V1.50 - Additional Function........................................................................... 6-120
7. Tuning .................................................................................................................................................... 7-1
7.1 How to Tune the Servo................................................................................................................. 7-1
7.2 Resonance Prevention ................................................................................................................. 7-3
7.2.1 Prevention of Mechanical Resonance................................................................................ 7-3
7.2.2 Filters.................................................................................................................................. 7-4
7.2.3 If the Motor Oscillates during Auto-tuning ........................................................................ 7-10
7.3 Settling Time Adjustment............................................................................................................ 7-11
7.3.1 General Settling Time Adjustment Sequence....................................................................7-11
7.3.2 Adjustment Using the Feed Forward #parameters ...........................................................7-11
7.4 How to Use the FFT Function..................................................................................................... 7-14
7.4.1 Overview........................................................................................................................... 7-14
7.4.2 Measurement Procedure.................................................................................................. 7-14
7.4.3 Usage Example of the FFT Function................................................................................ 7-15
8. Utility Software ...................................................................................................................................... 8-1
8.1 Introduction ................................................................................................................................... 8-1

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8.1.1 Operating Conditions.......................................................................................................... 8-1
8.1.2 Communication Cable ........................................................................................................ 8-2
8.1.3 Installing and Uninstalling................................................................................................... 8-3
8.2 Overview....................................................................................................................................... 8-4
8.2.1 Function Groups ................................................................................................................. 8-4
8.2.2 Function List ....................................................................................................................... 8-5
8.3 Required Settings Prior to Connecting ......................................................................................... 8-7
8.3.1 Connecting and Reconnecting ........................................................................................... 8-7
8.3.2 Communication Settings .................................................................................................... 8-7
8.3.3 Other Settings..................................................................................................................... 8-8
8.4 Details of the Operation Group Function...................................................................................... 8-9
8.4.1 Operation............................................................................................................................ 8-9
8.4.2 Terminal ............................................................................................................................ 8-10
8.5 Details of the Display Group Function........................................................................................ 8-14
8.5.1 Oscilloscope ..................................................................................................................... 8-14
8.5.2 Displaying #parameter/ #monitor ..................................................................................... 8-26
8.5.3 I/O monitor........................................................................................................................ 8-27
8.5.4 Axis Signal Monitor........................................................................................................... 8-28
8.5.5 Error Monitor..................................................................................................................... 8-29
8.5.6 FFT (Velocity Loop Transfer Characteristic Analysis Function)........................................ 8-30
8.6 Details of the Data Management Group Function ...................................................................... 8-31
8.6.1 #parameters ..................................................................................................................... 8-31
8.6.2 Table Data Function.......................................................................................................... 8-36
8.6.3 I/O..................................................................................................................................... 8-37
8.7 Details of the Maintenance Group Function ............................................................................... 8-39
8.7.1 #parameter Maintenance ................................................................................................. 8-39
8.7.2 Table Data Maintenance................................................................................................... 8-40
8.7.3 I/O Maintenance ............................................................................................................... 8-41
8.7.4 Backup.............................................................................................................................. 8-42
8.7.5 Version Information .......................................................................................................... 8-43
8.8 FAQ Pertaining to the Utility Software........................................................................................ 8-44
9. Maintenance and Inspection................................................................................................................ 9-1
9.1 Daily Inspection ............................................................................................................................ 9-1
9.2 Backup and Restore Operations of User Data ............................................................................. 9-2
9.3 Initialization of User Data (Reset All)............................................................................................ 9-2
Parameter Description .........................................................................................................Appendix1-1
Monitor Description ..............................................................................................................Appendix2-1
Details of Main Error Codes.................................................................................................Appendix3-1
Glossary.................................................................................................................................Appendix4-1
Descriptions of Operation Tables and Sample Programs ................................................Appendix5-1
Revision Record....................................................................................................................Appendix6-1

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1. Overview of the Product
1.1 DR Series Motor DR5A Type
The DYNASERV is an outer rotor type direct drive servo motor that operates with high
velocity, high torque and high precision. It achieved compatibility between motors and drives
via combination with UR5AP3 type drives.
DR Series Motors
The DR series motors are steel chassis-type motors with built-in magnetic encoders. They
have excellent weather resistance characteristics and are equipped with large diameter
hollow holes. DR5A type can be used for applications that require high-velocity rotation.
•DR5A type : External diameter 264mm, diameter of the hollow hole 150mm, output
torque 300 to 500 Nm
1.2 DrvPIII Drive UR5AP3 Type
The intelligent drive DrvPIII 4 kW model UR5AP3 type is a direct drive servo motor drive
designed exclusively for positioning operation, offering improved control performance and
operability.
Two types of controller interfaces--contact I/O and CC-Link--are provided.
•Both the volume and size are reduced to half compared to the SR5A type drive.
•The resolution is two times that of the SR5A type drive.
•The T/N characteristics in the high-velocity range are significantly improved.
•A "utility software" (for Microsoft Windows) is provided that allows detailed control of the
motor and drive through a simple, yet powerful software interface.
•An FFT function that allows easy measuring of resonance characteristics of devices is
included. It can be used with the utility software.

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1.3 Checking the Product
Please check the product as soon as you receive it. Please examine the label and check that
the types and quantities of the parts and products received, as well as accessories you have
ordered, are correct. Perform a visual inspection to ensure that there are no abnormalities in
their appearance.
If you received a different product than you ordered or the product does not conform to your
expectations, please contact us or the dealer from whom you purchased the product
immediately.
Name of product/accessory Shape Remarks
Motor unit
The shape varies, depending on
the model and suffix code you
ordered.
Drive unit
Drive
The shape varies, depending on
the model and suffix code you
ordered.
TB4 sensor terminal
(733-106 WAGO)
Standard
accessories
(one piece per
drive)
CN2 encoder/resolver connector
(PCR-S20FS, PCR-LS20LA1
Honda Tsushin Kogyo)
Supplied when
order includes
the additional
suffix code
"/CN."
CN4 controller interface connector
(PCR-S36FS, PCR-LS36LA Honda
Tsushin Kogyo)
Supplied when the
order includes
contact I/O "XA"
and additional
suffix code "/CN."
CN4 controller interface connector
(TMSTBP 2,5/4-ST-5,08
Phoenix Contact)
Supplied when the
order includes
CC-Link "C1" and
additional suffix
code "/CN."
Option cables Optional

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Faceplate of the Motor
Bottom cover
Stator
Rotor
Displayed on the
bottom cover or the
side of the rotor
Made in Japan
-*******-***-****/**
DR5A-500G
Label
Motor model/suffix code
Serial number
203MM12345A1
Faceplate of the Drive
203MM12345A1
35.3ARMS DUTY30%
0-230V 0-210Hz 3PHASE
NO.
21.6ARMS
200-230V 50/60Hz 3PHASE
-500N-1SE-2SA-N
SUFFIX
STYLE
DD SERVO ACTUATOR
Made in Japan K
SUPPLY
OUTPUT
Label
Drive model/suffix code, style No.
Input Output
Serial number
S1.01
STYLEMODEL
/CN
UR5AG3

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2. Specifications
2.1 Standard Specifications
DR5A Type Motor Note: Items with "*" indicate continuous rating of CE.
Item Unit
DR5A
DR5A-500 DR5A-400 DR5A-300
Motor and drive
Maximum torque N-m 500 400 300
Rated torque * N-m 172 150 120
Maximum velocity (200 V)* rps 2.0
Rated velocity (200 V)* rps 1.5
Rotation
positioning
Encoder resolution p/rev 851,968
Repeatability accuracy arc-sec ±3
Absolute accuracy arc-sec ±45
Number of origin pulses p/rev 104
Maximum power consumption (200 V) kVA 7.6 7.3 7.0
Rated power consumption (200 V)* kVA 3.4 2.9 2.4
Motor
Rotor inertia kg-m2460x10-3 400x10-3 340x10-3
Axial load
Compression
N
4x104
Tension 2x104
Maximum overhung load Nm 400
Axial stiffness
Compression
mm/N
2x10-6
Tension 3x10-6
Moment displacement stiffness rad/Nm 4x10-7
Weight kg 75 65 55
Length L (See the outline drawings.) mm 417 363 309

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Motor Environment Specifications
Motor Remarks
Operation
Temperature 0 ~ 45°C: Standard
0 ~ 40°C: CE continuous rating
Humidity 20 ~ 85% RH No condensation
Storage
Temperature -20 ~ 85°C
Humidity 20 ~ 85% RH No condensation
Atmosphere
Must be no corrosive gasses, dust and dirt
Must be used at a maximum altitude of 1000 meters above
sea level (CE mounting condition)

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TI71M01D06-01EN 3rd Edition: 2012.12.01
Drive General Specifications and Function Specifications
4 kW class
Basic Specification
Power supply
Main power
supply 3 phases 200 ~ 230VAC +10% 50/60 Hz
-15%
Control power
supply Single phase 200 ~ 230VAC +10% 50/60 Hz
-15%
Maximum power
consumption 7.6 kVA (varies depending on the connected motor)
Environment
Temperature 0 ~ +50°C (Operation) / 20 ~ +85°C (Storage)
Humidity 20 ~ 90%RH, No condensing (Operation and Storage)
Atmosphere No corrosive gases, dust-free atmosphere
Must be used at a maximum altitude of 1000 meters above sea level (CE mounting condition)
Construction
Installation Wall-mount
Fan 2 built-in DC fans
Regenerative
resisto
r
Built-in (Note: External regenerative resistor may be required depending on the operating conditions.)
External Dimension 200 W x 195 H x 200 D (mm)
Weight 6.5kg
Conformed standard
Low Voltage Directive (declaration) EN61800-5-1,
EMC Directive (declaration) EN55011 class A group 1, EN61800-3
UL508C
HiPot Insulating resistance: 10MΩor more (500VDC), Withstand voltage 1500VAC, one minute
Encoder Resolution
Values inside ( ) is
factory default value
for command and
monitor pulses
DYNASERV UR5AP3; 851,968 pulses/rev (425,984 pulses/rev)
Host interface
Serial Interface
(RS232C/RS485)
Communication Start-stop system, binary communication
Communication Speed 38,400 bps
Multi-channel (RS485) Max. 10 channels
Controller Interface
Contact I/O (XA for interface type and specification)
No. of input points: 12 points, No. of output points: 6 points (with a terminal assignment function)
CC-Link (C1 for interface type and specification)
When one occupied station is set up
No. of input points: 16 points, No. of output points: 16 points (with a terminal assignment function)
Input registers: 4, output registers: 4
When two occupied stations are set up
No. of input points: 48 points, No. of output points: 48 points (with a terminal assignment function)
Input registers: 8, output registers: 8
Mechanical Input Signal Home sensor, End Of Travel (EOT) sensor
Control part
Pos. control I-PD control, PID control
Vel. control Proportional control, proportional integral control
Feed Forward Position, velocity, acceleration
Filter Velocity command, velocity feedback, phase delay compensation and notch (2ch) filters
Operation Functions Homing, test, auto-tuning, positioning and jog move functions
Protection Functions
Encoder error, over voltage, over current, low bus line power voltage, main power failure, open-phase
detection, over load, regeneration error detection, over speed, excessive position deviation, hardware EOT
and software EOT (for linear coordinate)
Monitor Velocity, current instruction, analog (2ch) and digital (2ch)
Operation / Display
Operation display panel (optional)
Operation display pendant (optional)
Utility software
Miscellaneous Servo deceleration function at power failure (immediate stop)

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TI71M01D06-01EN 3rd Edition: 2012.12.01
2.2 Torque/Velocity Characteristics
DR5A Type Motor
00.51.01.52.0
0
100
200
300
400
500 DR5A-500
DR5A-400
DR5A-300
Velocity (rps)
Maximum output torque (N-m)