Instruction Manual

Instruction Manual
- This content and specifications may be changed without prior notice

According to Software Version

- No part of this may be reproduced in any form or by any electronic or mechanical means
without permission of Mecapion.

- Mecapion holds the patent right, the trademark right, the copyright and intellectual
property rights which are related to this product.
Therefore NO permission is illegal use.

Manual Version: [ver 1.0]

Software Version: Higher than n0.08

The first edition: 2008 . 11 . 1.

A revised edition: 200 . . .

Thank you for purchasing Mecapions Series
Read this instruction manual thoroughly before installation, operation, maintenance or inspection of this
product.

Symbols for Safe Operation

In this manual, NOTES FOR SAFE OPERATION are classified as WARNING or CAUTION.

Indicates a potentially hazardous situation which, if not avoided, could result in death or serious injury
to personnel.

Indicates a potentially hazardous situation which, may result in minor or moderate injury to personnel, and
possible damage to equipment if not avoided, it may also be used to alert against unsafe practices.

Items described in Caution may also result in a vital accident in some situations. In cither case,
follow these important notes.

WARNING
CAUTION

Note for Safe Operation

INSTALLATION
Make sure to keep the install direction.
Do not throw down and prevent from impact.
Never use the equipment where it may be exposed to splashes of water, corrosive or
flammable gases, or near flammable materials.(Failure to observe this warning may lead to
electric shock or fire)
Use the equipment in indoors.
WIRING
For the input power supply of Servo drive, surely use AC200~230[V]
Make sure to ground the ground terminal.
Never connect the AC main circuit power supply to servo motor.
Never connect the AC main circuit power supply to output terminals U, V and W.
Use the compression terminal with insulated tube when wire the power terminal.
Make sure that Power cable(U,V,W) and Encoder cable are separated when
Connected.
If the motor moves by Machine, please use Robot Cable.
Disconnect the power wires surely after the input power is off and CHARGE Lamp is
completely OFF.
Surely use Twist pair shield cable for pulse command signal (PF+, PF-, PR+, PR-), speed
command signal(SPDCOM), torque limit signal(TRQLIM).
OPERATION
Before starting operation, check and adjust each menu.
During operation, do not touch the shaft of motor.
During operation, do not touch the heat sink.
Do not connect or disconnect CN1, CN2, CN3 connectors while power is applied to the circuit.
GENERAL PRECAUTIONS
Specifications are subject to change for product modifications and improvements. In this
case, we issue the manual on updated Version NO.

CAUTION

Precaution at First Setup
Make sure the Power Supply voltage (AC200~230[V]) and wiring before power is applied to
the circuit.
At first power apply, applied the power on Servo-OFF status.
Verify the model No. of motor and the No. of Encoder pulse before power is applied to the
circuit.
Set the motor ID on menu[PE-201], number of Encoder Pulse on menu [PE-204]
After finishing the above, set the operation mode of servo drive by linking upper motion
controller on the menu [PE-601].
Wire CN1 if servo drive according to each operation mode referring to 1.2 System Construction(Refer
to 5.5 Example of connecting to upper Controller)
The ON/OFF state of each CN1 input contacts can be verified at CN1 contacts state.

MAINTENANCE AND INSPECTION
After turning OFF Control power supply L1C, L2C, and main power supply L1, L2, L3 then wait
enough time (Until the charge lamp is turned off), Proceed the maintenance and inspection.
High voltage still remains in the internal condenser.
Never touch the high-voltage terminals at first power apply.
Do not repair, inspect, and replace the component except for authorized person.
The alteration of products is not allowed in any case

CAUTION
WARNNING

Contents
Precaution
1. Product Configuration and Main Function
1.1 Product Configuration
1.1.1 Checking Products ... 1-2
1.1.2 Identifying ... 1-4
1.2 System Composition
1.2.1 Summary .. 1-7
1.2.2 Drawing of Wiring .. 1-9
1.2.3 Position Operation Mode .. 1-10
1.2.4 Speed Operation Mode ..... 1-11
1.2.5 Torque Operation Mode .... 1-12
1.2.6 Speed/Position Operation Mode . .. 1-13
1.2.7 Speed/Torque Operation Mode .... 1-14
1.2.8 Position/Torque Operation Mode ...... 1-15
1.3 Signal Explanation
1.3.1 Input contact Signal 1-16
1.3.2 Analog input contact Signal 1-17
1.3.3 Pulse input contact Signal 1-17
1.3.4 Output contact Signal . 1-18
1.3.5 Monitor Output Signal and Output Voltage 1-18
1.3.6 ENCODER Output Signal 1-18
2. Installation
2.1 Servo Motor
2.1.1 Operating Environment .. 2-2
2.1.2 Preventing Excessive Impact 2-2
2.1.3 Wring .. 2-2
2.1.4 Assembling Load System . 2-3
2.1.5 Cable Installation.. 2-3
2.2 Servo Drive
2.2.1 Operating Environment.. 2-4
2.2.2 Installation in a Control Board (Panel) 2-5
2.2.3 Wring .. 2-6

3. Wiring
3.1 Internal Block Diagram
3.1.1 Block Diagram (Rated Output is less than 400[V]). 3-2

3.2 Power Board Wring
3.2.1 Wiring Diagram (Rated Output is less than 400[V]) 3-3
3.2.2 Power Board Part Specification.. 3-4
3.3 Timing Diagram
3.3.1 Timing Diagram at Supplying Power.. 3-5
3.3.2 Timing Diagram at Alarm .... 3-6
3.4 Wiring control Signal
3.4.1 Contact Input Signal 3-7
3.4.2 Contact Output Signal .... 3-7
3.4.3 Analog I/O Signal 3-8
3.4.4 Pulse Input Signal .. 3-9
3.4.5 Encoder Output Signal . 3-10
3.5 Incremental Encoder Signal (CN2) Wiring
3.5.1 Small-size Motor .. 3-11
3.5.2 Medium/Large, Special/Large-size Motor . 3-11

4. Detail Explanation of Program Menu
4.1 How to Operate Loader
4.1.1 Identifying 4-2
4.1.2 Menu Operate 4-2
4.2 Menu
4.2.1 Menu Summary 4-4
4.2.2 Display Operation State 4-5
4.2.3 Display Alarm State 4-9
4.2.4 Setting System Variable 4-10
4.2.5 Setting Control Variables 4-13
4.2.6 Setting Analog I/O Variables 4-21
4.2.7 Setting I/O Connecting Variables 4-26
4.2.8 Setting Speed Operation Variables 4-32
4.2.9 Setting Position Operation Variables 4-35
4.2.10 Operation Menu 4-38

5. Handling and Operation
5.1 Check Point before Operation
5.1.1 Wiring Check 5-2
5.1.2 Operation Signal (CN1) Wiring check 5-2
5.1.3 Environment Check 5-2
5.1.4 Machine State Check 5-2
5.1.5 Menu Variables Check 5-2
5.2 Handling
5.2.1 Alarm Reset 5-3
5.2.2 Alarm History Clear 5-3
5.2.3 Menu initialization 5-3
5.2.4 Prohibiting Menu Handling 5-3
5.2.5 Input contact Logic setting 5-4
5.2.6 Output contact Logic Operation 5-5
5.2.7 Compulsory Handing Input Contact ON/OFF 5-6
5.3 Adjustment
5.3.1 Current Offset Tuning 5-7
5.3.2 Analog speed current offset Tuning 5-7
5.3.3 Analog Torque current offset Tuning 5-8
5.4 Test Operation
5.4.1 Manual Test Operation 5-9
5.4.2 Continuance Test Operation 5-9
5.4.3 Z phase Position Operation 5-10
5.4.4 Manual Position Operation 5-10
Analog speed current offset Tuning
6. Product Specification
6.1 Servo Motor
6.1.1 Features 6-2
6.1.2 External Dimensions 6-12
6.2 Servo Drive
6.2.1 Features 6-19
6.3 Option and Peripherals 6-21

7. Maintenance and Inspection

7.1 Maintenance and Inspection
7.1.1 Caution 7-2
7.1.2 Inspection Items 7-3
7.1.3 Period of Replacing Parts 7-4
7.2 Fault Diagnosis and Corrective Actions
7.2.1 Servo Motor 7-5
7.2.2 Servo Drive 7-6

[Appendix]
Appendix 1 summary Program Menu 8-2
Appendix 2 Motor type and ID 8-14
Appendix 3 Test Operation Process 8-16

Guarantee Letter

Chapter1

Product Configuration and Signals

1.1 Product Configuration
1.1.1 Checking Products . 1-2
1.1.2 Identifying the Parts . 1-4

1.2.1 Summary .. 1-7
1.2.2 Wiring 1-9
1.2.3 Position Operation Mode . 1-10
1.2.4 Speed Operation Mode 1-11
1.2.5 Torque Operation Mode 1-12
1.2.6 Speed/Position Operation Mode .. 1-13
1.2.7 Speed/Torque Operation Mode . 1-14
1.2.8 Position/Torque Operation Mode .... 1-15

1.3.1 Input Contacts Signal 1-16
1.3.2 Analog Input Signal 1-17
1.3.3 Pulse Input Signal 1-17
1.3.4 Output Contacts Signal 1-18
1.3.5 Monitor Output Signal and Output Power Supply 1-18
1.3.6 ENCODER Output Signal 1-18

1-2
Drive Capacity

01 : 100W 02 : 200W
04 : 400W 07 : 700W
10 : 1.0kW 15 : 1.5kW
20 : 2.0kW 35 : 3.5kW
Product Construction
1.1.1 Checking Products

Check if the products are the right one you ordered.
- Check the types marked in the nameplates of Servo Drive
- Check the types marked in the nameplates of Servo Motor

Check Product and Option Items.
- Check if the cable types and length are right.
- Check if the regenerative resistance is in accordance with the standard.
- Check if the motor shaft is correct.
- Check if the Oil Seal and Brake is correct.
- Check if the reducer/gearbox and reduction ratio is correct.
- Check if the Encoder type is correct.

Check the External Appearance
- Check if there is no dust or moisture
- Check if there is fading, contamination, damage, and disconnection
- Check if the tightness of fitting & bolts are correct.
- Check if there is no noise or excessive friction at rotating

Servo drive Type Designation

APD VN 04 N A4

AnyPack Series
Servo Drive
Type
VN : Standard type
Encoder Type
N : Incremental
S : Serial
Exclusive
Option
Code

1-3
Servo Motor Product Type

APM S B 04 A E K 1 G1 03

Motor Capacity
01 : 100[W]
02 : 200[W]
03 : 300[W]
04 : 400[W]
07 : 700[W]
10 : 1.0[kW]
15 : 1.5[kW]
20 : 2.0[kW]
35 : 3.5[kW]
Shape of Shaft
N : Straight
K : One side round
(Standard)
C : C Cut
D : D Cut
T : Taper shape
R : Both side round
H : Hollow Shaft
Motor Shape Type
S : Solid Shaft
H : Hollow Shaft
Frange Size
A : 40 Frange
B : 60 Frange
C : 80 Frange
D : 100 Frange
E : 130 Frange
F : 180 Frange
G : 220 Frange
AnyPack Series
Servo Motor
Encoder Type
A : Inc. 1024 [P/R]
B : Inc. 2000 [P/R]
C : Inc. 2048 [P/R]
D : Inc. 2500 [P/R]
E : Inc. 3000 [P/R]
F : Inc. 5000 [P/R]
G : Inc. 6000 [P/R]
Rated Speed
A : 3000[rpm]
D : 2000[rpm]
G : 1500[rpm]
M : 1000[rpm]
Reducer
None : No Reducer
G1 : For General industry
(Foot Mount)
G2 : General industry
(Flange Mount)
G3 : Precision Gearbox
Oil Seal, Brake
None : none
1 : Oil Seal
2 : Brake
3 : Oil Seal, Brake
Reduction ratio
03 : 1/3
10 : 1/10

1-4
Identifying the Parts
Servo Motor

- Over than 130 Flange
Bearing Cap
Shaft
Flange
Frame Housing
Encoder
Cover
Encoder
Connector
Motor Power
Cable Motor
Connector
Encoder
Cable
Bearing Cap
Shaft
Flange
Frame
Housing
Encoder
Cover
Encoder
Connector
Motor
Connector
- Less than 80 Flange

1-5
Servo Drive
- Small Capacity (APD-VN01 ~ VN02)

Main Power Connector
(L1, L2, L3)
Regenerative
Resistance
- Separate use
Motor Cable
Connector
(U, V, W)
Ground
CN3 : Communication
Connector
CN2 : Encoder
Connector
CN1 : Control Signal
Connector
Display
Operation key
(Left, Right, Up, Enter)
Heat Sink
Front cover
USB : USB
Connector
Control Power
Connector
(L1C, L2C)

1-6
- Small Capacity (APD-VN04i)

Main Power Connector
(L1, L2, L3)
Regenerative
Resistance
- Separate use
Motor Cable
Connector
(U, V, W)
Ground
CN3 : Communication
Connector
CN2 : Encoder
Connector
CN1 : Control Signal
Connector
Display
Operation key
(Left, Right, Up, Enter)
Heat Sink
Front cover
USB : USB
Connector
Control Power
Connector
(L1C, L2C)

1-7
1.2.1 Summary
Servo System can be variously used as per the interface with Upper controller.

1) Position Operation System
Operate Servo by pulse command that operates the position of servo motor by ration of encoder
pulse compared to command pulse.

Strength : Because of pulse input by transfer unit, upper controller is simple.
Weakness : High speed rotating is difficult at using precise transfer unit
Response characteristics are not good by using various steps of
controller.

2) Speed Operation System
Operating servo by speed command that is analog or digital speed command.

Strong point : Response of servo is fast.
Easy to control precisely
Weak point : Upper controller is complicate.

Position
Controller
Speed
Controller
Position
Command
Pulse
Conversion
Upper Controller Servo Drive
Servo Motor
Pulse
command
M
E
Position
Controller
Speed
Controller
Current
Controller
Position
Controller
Speed
Controller
Position
Command
Pulse
conversion
Servo Motor
Speed
command
M
E
Speed
Controller
Current
Controller

1-8
3) Torque Operation System
Operating Servo by torque command that is analog voltage.

Strength : Response of servo is fast.
Easy to control precisely
Weakness : Upper controller is complicate

4) Operation mode
According to interface with upper controller, Operating mode is as below
Operation Mode System
0 Operating Torque mode
1 Operating Speed mode
2 Operating Position mode
3 Operating Speed/Position mode by selecting connector
4 Operating Speed/Torque mode by selecting connector
5 Operating Position/Torque mode by selecting connector
* Operation mode is set up on menu [PE-601]

Position
Controller
Torque
Controller
Torque
Command
conversion
Servo Motor
Torque
command
M
E
Speed
Controller
Current
Controller

1-9
1.2.2 Wiring

.

APD-VN

Connect to Case of connector

MONITOR Output
-5V ~+5V
-5V ~+5V
MONIT1

MONIT2
GND
25
26
27
Lind Drive

PULCOM 29
PF+
PF-
PR+
PR-
1
2
3
4
Open Collector
Upper
Controller
Input
DC24V
PCLR/STOP/TCLR 35
DIR 34
ALMRST 33
CWLIM 32
CCWLIM 31
SVON 30
MODE/TRQLIM 28
SPD1/EGEAR1 18
SPD2/EGEAR2 17
+24V IN 36
AO
/AO
21
22
BO
/BO
23
24
ZO
/ZO
19
20
ENCODER Output
Upper
Controller
0V ~+10V
-10V ~+10V
TRQCOM/TRQLIM
GND
SPDCOM/SPDLIM
GND
8
7
9
7
Speed
Com
Torque
Com

11
12
13
14
15
16
ALARM+
ALARM-
RDY+/BRAKE+
RDY-/ BRAKE-
INSPD+/INPOS+
INSPD-/INPOS-

B1 B2

U
V
W
E
U
V
W
CN2
Power AC
200-230 [V]
50/60 [Hz]
MCCB1 MC1
L1
L2
L3
L1C
L2C

NF
USB
Servo Drive
APD-VN
CN1
5
6
+15[v]
-15[v]
7 GND
Output

1-10
1.2.3 Position Operating Mode

Note1) RDY/ BRAKE Output contact signal : Select in [PE-508].
Note2) Surely use Twist pair shield cable for pulse command signal (PF+, PF-, PR+, PR-) and torque
limit signal(TRQLIM).

MONITOR Output
-5V ~+5V
-5V ~+5V
MONIT1

MONIT2
GND
25
26
27
Line Drive

PULCOM 29
PF+
PF-
PR+
PR-
1
2
3
4
Open Collector
Upper
Controller

Input
DC24V
PCLR 35

ALMRST 33
CWLIM 32
CCWLIM 31
SVON 30
TRQLIM 28
EGEAR1 18
EGEAR2 17
+24V IN 36
AO
/AO
21
22
BO
/BO
23
24
ZO
/ZO
19
20
ENCODER Output
Upper
Controller
0V ~+10V
(Note3)
TRQLIM
GND

8
7

Tortue
Limit

11
12
13
14
15
16
ALARM+
ALARM-
RDY+/BRAKE+
RDY-/ BRAKE-
INPOS+
INPOS-
(1)
B1 B2

U
V
W
E
U
V
W
CN2
Power AC
200-230 [V]
50/60 [Hz]
MCCB1 MC1
L1
L2
L3
L1C
L2C

NF
USB
Servo Drive
APD-VN
CN1
5
6
+15[v]
-15[v]
7 GND
Output

1-11
1.2.4 Speed Operation Mode

Note2) Surely use Twist Pair shield cable for SPDCOM, TRQLIM, GND.

MONITOR Output
-5V ~+5V
-5V ~+5V
MONIT1

MONIT2
GND
25
26
27

Input
DC24V
STOP 35
DIR 34
ALMRST 33
CWLIM 32
CCWLIM 31
SVON 30
TRQLIM 28
SPD1 18
SPD2 17
+24V IN 36
AO
/AO
21
22
BO
/BO
23
24
ZO
/ZO
19
20
ENCODER Output
Upper
Controller
0V ~+10V
-10V ~+10V
TRQLIM
GND
SPDCOM
GND
8
7
9
7
Speed
Com
Torque
Limit

11
12
13
14
15
16
ALARM+
ALARM-
RDY+/BRAKE+
RDY-/ BRAKE-
INSPD+
INSPD-
(Note1)
B1 B2

U
V
W
E
U
V
W
CN2
Power AC
200-230 [V]
50/60 [Hz]
MCCB1 MC1
L1
L2
L3
L1C
L2C

NF
USB
Servo Drive
APD-VN
CN1
(Note3)
5
6
+15[v]
-15[v]
7 GND
Output

1-12
1.2.5 Torque Operation Mode

Note2) Surely use Twist Pair shield cable for SPDCOM, TRQLIM, GND.
Note3) Surely set Speed limit type by SPDLIM, SP01, SP2D terminal.

MONITOR Output
-5V ~+5V
-5V ~+5V
MONIT1

MONIT2
GND
25
26
27
Line Drive

PULCOM 29
PF+
PF-
PR+
PR-
1
2
3
4
Open Collector
Upper
Controller

Input
DC24V
TCLR 35
DIR 34
ALMRST 33
CWLIM 32
CCWLIM 31
SVON 30

SPD1 18
SPD2 17
+24V IN 36
AO
/AO
21
22
BO
/BO
23
24
ZO
/ZO
19
20
ENCODER Output
Upper
Controller
0V ~+10V
-10V ~+10V
TRQCOM
GND
SPDLIM
GND
8
7
9
7
Speed
Limit
Torque
Com

11
12
13
14
15
16
ALARM+
ALARM-
RDY+/BRAKE+
RDY-/ BRAKE-
INSPD+
INSPD-
(Note1)
B1 B2

U
V
W
E
U
V
W
CN2
Power AC
200-230 [V]
50/60 [Hz]
MCCB1 MC1
L1
L2
L3
L1C
L2C

NF
USB
Servo Drive
APD-VN
CN1
5
6
+15[v]
-15[v]
7 GND
(Note2)
(Note3)
(Note3)
Output

1-13
1.2.6 Speed/Position Operation Mode

Note1)Input contact MODE=ON: Speed control mode, MODE=OFF: Position control mode

APD-VN

MONITOR Output
-5V ~+5V
-5V ~+5V
MONIT1

MONIT2
GND
25
26
27
Line Drive

PULCOM 29
PF+
PF-
PR+
PR-
1
2
3
4
Open collector
Upper
Controller

Input
DC24V
STOP/PCLR 35
DIR 34
ALMRST 33
CWLIM 32
CCWLIM 31
SVON 30
MODE 28
SPD1/EGEAR1 18
SPD2/EGEAR2 17
+24V IN 36
AO
/AO
21
22
BO
/BO
23
24
ZO
/ZO
19
20
ENCODER Output
Upper
Controller
0V ~+10V
-10V ~+10V
TRQLIM
GND
SPDCOM
GND
8
7
9
7
Speed
Com
Torque
Limit

11
12
13
14
15
16
ALARM+
ALARM-
RDY+/BRAKE+
RDY-/ BRAKE-
INSPD+/INPOS+
INSPD-/INPOS-
(2)
B1 B2

U
V
W
E
U
V
W
CN2
Power AC
200-230 [V]
50/60 [Hz]
MCCB1 MC1
L1
L2
L3
L1C
L2C

NF
USB
Servo Drive
APD-VN
CN1
(1)
5
6
+15[v]
-15[v]
7 GND
Output

1-14
1.2.7 Speed/Torque Operation Mode

Note1) Input contact MODE=ON: Speed control mode, Mode=OFF: Torque control mode

APD-VN

MONITOR Output
-5V ~+5V
-5V ~+5V
MONIT1

MONIT2
GND
25
26
27

Input
DC24V
STOP/TCLR 35
DIR 34
ALMRST 33
CWLIM 32
CCWLIM 31
SVON 30
MODE 28
SPD1 18
SPD2 17
+24V IN 36
AO
/AO
21
22
BO
/BO
23
24
ZO
/ZO
19
20
ENCODER Output
Upper
Controller
0V ~+10V
-10V ~+10V
TRQLIM/ TRQCOM
GND
SPDCOM/SPDLIM
GND
8
7
9
7
Speed
Com/Limit
Torque
Limit/Com

11
12
13
14
15
16
ALARM+
ALARM-
RDY+/BRAKE+
RDY-/ BRAKE-
INSPD+
INSPD-

B1 B2

U
V
W
E
U
V
W
CN2
Power AC
200-230 [V]
50/60 [Hz]
MCCB1 MC1
L1
L2
L3
L1C
L2C

NF
USB
Servo Drive
APD-VN
CN1
5
6
+15[v]
-15[v]
7 GND
(Note1)
Output

1-15
1.2.8 Position/Torque Operation Mode

Note2)Input contact MODE=ON: Position control mode, MODE=OFF: Torque control mode

APD-VN

MONITOR Output
-5V ~+5V
-5V ~+5V
MONIT1

MONIT2
GND
25
26
27
Line Drive

PULCOM 49
PF+
PF-
PR+
PR-
9
10
11
12
Open Collector
Upper
Controller

Input
DC24V
PCLR/TCLR 35
34
ALMRST 33
CWLIM 32
CCWLIM 31
SVON 30
MODE 28
EGEAR1 / SPD1 18
EGEAR2 / SPD2 17
+24V IN 36
AO
/AO
21
22
BO
/BO
23
24
ZO
/ZO
19
20
ENCODER Output
Upper
Controller
0V ~+10V
-10V ~+10V
TRQLIM/ TRQCOM
GND
SPDLIM
GND
8
7
9
7
Speed
Limit
Torque
Limit/Com

11
12
13
14
15
16
ALARM+
ALARM-
RDY+/BRAKE+
RDY-/ BRAKE-
INSPD+
INSPD-

B1 B2

U
V
W
E
U
V
W
CN2
Power AC
200-230 [V]
50/60 [Hz]
MCCB1 MC1
L1
L2
L3
L1C
L2C

NF
USB
Servo Drive
APD-VN
CN1
5
6
+15[v]
-15[v]
7 GND
(1)
Output

1-16
1.3.1 Input contacts signal
Pin
No.
Name Function and Use
Application table on operation mode
P S T S/P S/T P/T
36 +24V IN Input contact +24[V] power supply O O O O O O
17
SPD2
Selecting Speed Command2 /
Selecting Speed limit2
X O O O/X O/O X/O
EGEAR2 Switching electronic gear ratio2 O X X X/O X/X O/X
18
SPD1
Selecting Speed Command1 /
Selecting Speed limit1
X O O O/X O/O X/O
EGEAR1 Switching electronic gear ratio1 O X X X/O X/X X/O
28
MODE ON: Switching control mode X X X O O O
TRQLIM
ON : Torque limit by TRQLIM value
OFF : Torque limit by parameter
O O O X X X
30 SVON
ON: Servo Operating
OFF: Motor free run
O O O O O O
31 CCWLIM Prohibit CWW rotating (forward direction) O O O O O O
22 CWLIM Prohibit CW rotating (reverse direction) O O O O O O
33 ALMRST RESET at ALARM O O O O O O
34 DIR Selecting rotating direction X O X O/X O/X X/X
35
STOP
/PCLR
/TCLR
Motor Stop at Speed Control
Motor Stop at Position Control
Motor Stop at Torque Control
O O O O O O

Note2) In case Speed operation, DIR and STOP contacts are operated as below by the menu [PE-514].
Set up
[PE-514]
Operating Method
CCW CW CCW
DIR STOP DIR STOP DIR STOP
0 OFF OFF ON OFF X ON
1 OFF ON ON OFF
ON ON
OFF OFF

1-17
1.3.2 Analog Input Signal
Pin
No.
P S T S/P S/T P/T
9
SPDCOM Analog speed command (-10~+10[V]) X O X O/X O/X X/X
SPDLIM Analog speed limit input (0~+10[V]) X X O X/X X/O X/O
8
TRQCOM
Analog torque command input
(-10~+10[V])
X X O X/X X/O X/O
TRQLIM Analog torque limit input (0~+10[V]) O O X O/X O/X O/X
7 GND Analog Signal ground O O O O O O
* On Analog speed command, In case of override speed operation (set up as 1 on menu[PE-405]),
operation is executed by speed command that is repeated on digital speed command.

1.3.3 Pulse Input Signal
Pin
No.
P S T S/P S/T P/T
1 PF+
Line drive(5V) : F+ pulse input
Open collector(24V) : Not Used
O X X X/O X O/X
2 PF-
Line drive(5V) : F- pulse input
Open collector(24V) : F pulse input
O X X X/O X O/X
3 PR+
Line drive(5V) : R+ pulse input
Open collector(24V) : Not Used
O X X X/O X O/X
4 PR-
Line drive(5V) : R- pulse input
Open collector(24V) : R pulse input
O X X X/O X O/X
29 PULCOM
Line drive(5V) : Not Used
Open collector(24V) :
+24V Power supply input
O X X X/O X O/X

Speed
Voltage
Digital speed command
Selecting from [PE-602] to[PE-604]
-10[V] +10[V]

1-18
1.3.4 Output Contacts Signal
Pin
No.
P S T S/P S/T P/T
11/
12
ALARM+/-
ALARM state output
ON : normal state
OFF : ALARM state
O O O O O O
13/
14
INSPD+/- Output complete signal of target speed reaching X O X O/X O/X X/X
INPOS+/-
Output complete signal of target position
reaching
O X X X/O X/X O/X
15/
16
RDY+/- ON at Complete operating ready state O O O O O O
BRAKE+/-
Brake operating signal output
(ON at servo dirving)
O O O O O O

1.3.5 Monitor Output Signal and Output Power Supply
Pin
No.
P S T S/P S/T P/T
25 MONIT1 Analog monitor output1(-5~+5[V]) O O O O O O
26 MONIT2 Analog monitor output2(-5~+5[V]) O O O O O O
27 GND Analog output signal ground O O O O O O
5 +15V +15[V]Power supply output terminal O O O O O O
6 -15V -15[V]Power supply output terminal O O O O O O
7 GND15 Ground of operation power(15V) O O O O O O

1.3.6 ENCODER Output Signal
Pin
No.
P S T S/P S/T P/T
21
22
23
24
AO
/AO
BO
/BO
Divide the Encoder signal by set
values of menu [PE-501], [PE-511]
(5[V] Line drive type)
O O O O O O
19
20
ZO
/ZO
Encoder Z signal output by motor
(5[V] Line drive type)
O O O O O O

Chapter 2

Installation

2.1 Servo Motor
2.1.1 Working circumstances 2-2
2.1.2 Avoiding excessive shock 2-2
2.1.3 Wiring 2-2
2.1.4 Connecting with load equipment 2-3
2.1.5 Installing cable 2-3

2.2 Servo Drive
2.2.2 Installing in a control board(panel) 2-5
2.2.3 Wiring 2-6

Chapter 2 Installation
2-2
2.1 Servo Motor
2.1.1 Working circumstances
Item Working circumstances Remarks
Temp. 040[]
In case that the temperature exceeds the fixed range, you have
to check with the R&D Dept. and place an order separately
Humidity Less than 80[%]RH No vapor
External
vibration
Vibration accel.speed
Less than X, Y direction
19.6[]
Excessive vibration can shorten the life of bearing

2.1.2 Avoiding excessive shock
-In case that you shock the motor shaft or drop it, the encoder can be broken

2.1.3 Wiring
-If you apply common power to the motor directly, the motor can be damaged so you have to connect
it to the proper drive
- The grounding terminal of the motor should be connected to one of two grounding terminal of drive
and please connect the other with the 3 kinds of grounding

- The terminal, U,V,W of the motor should be consisted with the U, V,W of the drive.
- Please check the missing connector pin of the motor and bad connection
- In case that there is humidity or condensation in the motor, you have to check the insulation resistor
is more than 10[](500[V]) after installation

Caution
U U
V - V
W W
- F.G

2-3

2.1.4 Connecting with load equipment
- Connection with coupling : Install the motor shaft and load shaft within the allowed ranged

- Connecting with pulley:
Flange
Load of Radius
direction
Load of shaft
direction
Remarks
N kgf N kgf
40 148 15 39 4

60 206 21 69 7
80 255 26 98 10
130 725 74 362 37
180 1548 158 519 53
220 1850 189 781 90

2.1.5 Installing cable
- In case of vertical installation, dont let the oil or water flow into the connection part

- Dont damage or scratch the cable.
In case that the motor moves, you have to use the flexible cable and dont let the cable be waved.
Load
Motor
Less than 0.03[](peak to peak)
Less than 0.03[](peak to peak)
Less than Nr: 30[]
Load of radius direction
Load of shaft direction
2-4
2.2 Servo Drive
- The working circumstances should meet the below requirements
Item Circumstances Remarks
Temp. 050[]

Attach the fan to the panel for ventilation within the allowed
temp.
Humidity Less than 90[%]RH
In case of long stoppage, the moisture which is
generated from freezing and condensation can damage the
drive.
When you run the motor after long stoppage, you have to
remove the moisture thoroughly
External
Vibration
Vibration accel. speed
Less than 5.9[]
Excessive vibration can shorten the life and cause malfunction
Conditions
- No direct ray of light
- No corrosive e or inflammable gas
- No oil or dirt
- Good Ventilation in airtight place

Caution
Caution

2-5

2.2.2 Installing in a control board (panel)

-Refer to the below for installation gap in a control board

In case of 1 unit In case of 2 units

Note 1) Dont let the Installed regenerative resistor affect the drive such as generating heat.
Caution

30mm
or
more
30mm
or
more
50mm
or
more
100mm
or more
30mm
or
more
30mm
or
more
100mm
or more
50mm
or
more
10mm
or
more

- When you assemble a control board, dont let the metal dust which is generated by drill into the drive
-Prevent the oil, water, metal dust flowing into the break or roof
- Please protect a control board with air paper under the circumstance which has much noxious gas
and dust
2-6
2.2.3 Wiring

- Check the voltage of input power and let it be within

- If you apply the common power to the terminal U,V,W of the drive, it can be damaged
So please connect the power to L1, L2, L3 terminals
- The regenerative resistor which is connected to the drive B1, B2 should be standard value
Model Resistor Standard capacity * Remarks
VN01~VN04 100[] Built-in 30[W]
Refer to the 7.3. Options/ Surroundings when you
try to expand the capacity of regenerative resistor
VN07~VN10 40[] Exterior 140[W]
VN15~VN20 23[] Exterior 300[W]
VN35 11.5[] Exterior 300[W] 2

- Apply the main power (L1, L2, L3) after providing control power (L1C, L2C)
(Refer to Chapter 3 Wiring)
- Please be noted that there will be high voltage for a while even after cutting off the main power

To avoid electric shock, try to wire again after cutting off the main power and checking if the
CHARGE lamp was turn off entirely

- Select the shortest distance for grounding
The long grounding line can cause malfunction due to noise
Caution
Caution

- Perform alarm rest after removing the main factors and turning the SVON off
Caution
Chapter 3

Wiring

3.1.1 Block Diagram (Rated Output is less than 400[W]) 3-2
3.2 Power Board Wring
3.2.1 Wiring Diagram (Rated Output is less than 400[W]) 3-3
3.2.2 Power Board Part specification 3-4
3.3 Timing Diagram
3.3.1 Timing diagram at power supply 3-5
3.3.2 Timing diagram at Alarm occurred 3-6
3.4 Wiring control Signal
3.4.1 Contact input signal 3-7
3.4.2 Contact output signal 3-7
3.4.3 Analog I/O signal 3-8
3.4.4 Pulse input signal 3-9
3.4.5 Encoder output signal 3-10
3.5 Incremental Encoder Signal (CN2) Wiring
3.5.1 Small-size Motor 3-11
3.5.2 Medium/Large-Size Motor 3-11

Chapter 3 Wiring
3-2
3.1.1 Block Diagram (Rated Output is less than 400[W])
[APD-VN01 ~ APD-VN04]

L
1
L
2
L
3
3
AC 200~230[V]
Relay
Main - POWER (CN4)
RS422
U, W
DC Link
A/D
D/A

2

2

9

2

3
CN2
CN3
DSP / FPGA
P/C I/F
(CN1)
Relay
DC Link
PWM
OC
UV
DB
a
b
c
Motor
USB
USB

(Note1) B1-B2 short pin and Regenerative resistor is installed in ONLY APD-VN04 Type

(note1
3phase Power input
AC 200~230[V]
Relay
Drive
Circu
Relay
Drive
Circuit
DC
Voltage
Link

Relay
Drive
Circuit
Regeneration
Braking
Drive circuit

Relay
Drive
Circuit
Encoder
Input
Analog input
(2contacts)
Monitor output
(2contacts)
D/A
Switching P/C Insulation I/F
Main Control POWER Circuit Connection (CN4)

RS422

USB
Connect to Upper controller (CN1)
Input contact
(9contacts)
Pulse Input
(2contacts)
Output contact
(2contacts)
Encoder
Output

A/D Switching
U,W current
DC Link voltage
PWM signal
0C inspection circuit
UV Current
inspection
circuit
DB
Operation circuit
Chapter3 Wiring

3-3
3.2 Power Board Wiring
3.2.1 Wiring (Rated output is less than 400[W])
[APD-VN01 ~ APD-VN04]

(Note1) It takes approximately 1~2 seconds before alarm signal is activated after power is connected.
Press main power on switch for at least 2 seconds of longer.
(Note 2): B1-B2 short pin and regenerative resistor(30[W], 100[]) is installed in APD-VN04 Type
(But, there are no regenerative circuit and regenerative resistor in APD-VN01, VN02 type)
In case of regenerative capacity is large due to frequent acceleration / deceleration.
At this time, Make sure that the optional Brake resistor should be big size resistor.
(Note 3) For the electric wire that is to be used at Main circuit power board, strip the coating of wire
about 10~12[] as below and use the exclusive terminal which is Ferule UA-F1512
(Made by Suh-il Electronics).

(Note 4) Connect or remove the wiring of main circuit power board after press the button
( ) of terminal.
10~12
M
E
RA
Servo Drive
U
V
W
Servo Motor
Encoder
NF
1MCCB
R S T (200~230V)
L1C
L2C
RA
1MC
1MC 1Ry 1SK
Main
OFF
Main
ON
(Note1
(Note3)
L1
L2
L3
1MC (Note4)

(Note2)
B1
B2
Regenerative
Resistor
CN1
11

12
1Ry
+24V
Alarm+
Alarm-

Chapter 3 Wiring
3-4
3.2.2 Power circuit parts specification

Type 01 02 04 07 10 15 20 35
MCCB ABS33bM(8A) 12A 16A 24A
NF(Noise
Filter)
NFZ-410SM 415SM 420SM 430SM
MC GMC-9(11A) equivalent GMC-18(18A) GMC-40(35A)
Power Wire
AWG16
(1.25 SQ)
AWG14
(2 SQ)
AWG12
(3.5 SQ)
AWG10
(5.5 SQ)
Compressed
terminal
UA-F1512,SEOIL
(10mm Strip&Twist)
GP110012
KET
GP110721
KET
GP110028
KET
Regenerative
resistor
(Provided)
-
30[W]
100[]
140W
40
300W
23
300W
232P

Chapter3 Wiring

3-5
3.3 Timing Diagram
3.3.1 Timing diagram at power supplied

In the case of APD-VN01~VN04, Power is supplied to the control circuit if 3-phase power is connected to
the L1, L2, L3 terminals.
Servo becomes RDY after maximum 500[msec] that is required to initialize the drive system inside,
In case of this after Relay off 30[ms] Servo becomes RDY.
and when the servo drive signal is turned ON, operation starts 25[msec] later.

Control power
set
Power good
Control program
Initialization
Alarm
(Normal on)
BRAKE Output
PWM
Relay/DB
Servo RDY
SVON
Motor SPD
Single, 3Phase
200ms
Within 500ms
Relay OFF
/DB ON
Relay ON
/DB OFF
2[ms]
PWM OFF Delay Time
Relay ON
/DB OFF
Relay OFF
/DB ON
Below 0 SPD
Free Run
DB ON
Servo ON Servo OFF
Within 500[ms]
30[ms]
25[ms]
PWM OFF Delay Time
2.5[ms]
BRAKE OFF Delay Time
300ms
100ms
Chapter 3 Wiring
3-6
3.3.2 Timing diagram at Alarm occurred

If Alarm occurred in the drive system, PWM is shut off and the motor stops.

- Check and remove causes of Alarm and turn OFF the servo motor operating
command (SVON) before resetting Alarm.
CAUTION
Alarm
(Normal on)
Alarm
Alarm reset
Less 500[ms]
Single P, 3P
100ms Control power
set
Power good
Within 500ms
Control program
Initialization
RESET
Servo RDY
30[ms] 200[ms]
SVON
Servo ON Servo OFF
PWM
25[ms] 25[ms]
BRAKE output
Below 0 SPD
Free Run
DB ON
Motor speed
Relay OFF
/DB ON
Relay ON
/DB OFF
2[ms]
Relay ON
/DB OFF
Relay OFF
/DB ON
Relay/DB

Chapter3 Wiring

3-7
3.4 Wiring of Control Signal
3.4.1 Input Contact Signal

3.4.2 Output Contact Signal

(1) Alarm Ready GND24 .
The input contacts are classified into A contact and B contact depending on the contact
characteristics and can be reset by the menu [PE-517], [PE-518] And special caution is
required because each contacts can forcibly be ON/OFF.

The output contact internally uses transistor switch. Take precaution because over voltage
or over current may cause damage to the system.
- Power supply: DC24[V]10%, 150[]

GND24
RA
RA
+24V
Servo drive
GND24
(note1
Output signal1
Output signal2
Output signal3

24V IN

Input signal1

Input signal2
+24V
Servo drive
CAUTION
CAUTION
(note1)For the output signal of Alarm and Ready, the GND24 terminal is separated
Chapter 3 Wiring
3-8
3.4.3 Analog I/O Signal

GND terminal must be 0[V] of the control power supply.
Input signal command voltage is within 10[V], and input impedance is 20[].
Output signal voltage of Monitor1(No.25), Monitor2(No.26) is 5[V].
Addition to this, when controlling analog input by variable resistance using offered power by drive,
wiring is as under. The output capacity of this power is 30[] at maximum.
Do not exceed this capacity.

330[] 1/4[W]
330[] 1/4[W]
2[k]
104
+15[V](5)
-15[V](6)
Analog command
(8),(9)
GND
(7)
Command/Output signal
Servo drive
Command/Output signal
GND GND
Twist Pair
Shield Wire
FG
Chapter3 Wiring

3-9
3.4.4 Pulse Input Signal

(1) Line Driver(5[v])Pulse input.

(2) Open collector (24[V]) Pulse input

(3) NPN Open Collector Pulse command 12[V] or 5[V]

(Note1) When the power supply 12[V] is used: Resistance R=560~680[ohm], 1/2W
When the power supply 5[V] is used: Resistance R=100~150[ohm], 1/2W
When the power supply 24[V] is used: Resistance R=1.5[ohm], 1/2W
Servo drive Upper control system
PF
PR
PF+
PF-
PR+
PR-
Line drive
Line receiver
FG
Twist Pair
Shield Wire
Servo drive Upper control system
+24[V]
GND24
GND24
Pulse COM
PR-
FG
Shield Wire
PF-
Upper control system Servo Drive
PR+
PF+
PF-
PR-
GND12
Power(note1)
NPN
R
R
FG
Chapter 3 Wiring
3-10
(4) PNP Open Collector type pulse command

(Note 2) When the power supply 24[V] is used: Resistance R=1.5[kohm], 1/2W
When the power supply 12[V] is used: Resistance R=560~680 [ohm], 1/2W
When the power supply 5 [V] is used: Resistance R=100~150[ohm], 1/2W

3.4.5 Encoder Output Signal
The encoder signal is produced based on 0[V] (GND) of control power supply.
So please contact 0 [V] terminals and GND of CN1 at Upper controller.
Encoder signal is produced in line drive system after the AC servo motor encoder signal received
From CN2 is divided according to the frequency dividing ratio set by the menu
[PE-510] [PE-511] (Pulse Out Rate).

Servo Drive Upper control system
PA
AO
/AO
GND
Line Drive Line receiver
GND
GND
Upper controller
Servo Drive
Power(Note2)
FG
PNP
PF+
PF-
GND24
PR+
GND24
GND24
PR-
R
R
Chapter3 Wiring

3-11
3.5 Wiring of Incremental Encoder Signal (CN2)
3.5.1 Small-size Motor (Flange 40, 60, 80)

3.5.2 Medium/Large-size Motor (Flange 130, 180, 220)

Encoder
1
2
3
4
5
6
7
8
9
10
11
12
13
14
15
A
/A
B
/B
Z
/Z
U
/U
V
/V
W
/W
5V
GND
SHD
18
15
16
13
14
11
5
6
3
4
1
2
19
9
12, Frame
Cable
Connector (CN2)
Maker - 3M
10120-3000VE
10320-52A0-008
Cable
Connector
Maker - AMP
172163-1
15Pin
Servo Drive Servo Motor
AWG24 7Pair Twist
Shield Wire
Servo Drive Servo Motor
Encoder
A
B
C
D
E
F
K
L
M
N
P
R
H
G
J
A
/A
B
/B
Z
/Z
U
/U
V
/V
W
/W
5V
GND
SHD
18
15
16
13
14
11
5
6
3
4
1
2
19
9
12, Frame
AWG24 7Pair Twist
Shield Wire
Cable
Connector (CN2)
Maker - 3M
10120-3000VE
10320-52A0-008
Cable
Connector
MS3108S20-29S
Chapter 4

Menu Operation

4.1 Loader Operation
4.1.1 Name of Each Part 4-2
4.1.2 Menu Operation 4-2
4.2 Menu Operation
4.2.1 Menu Summary 4-4
4.2.2 Operation state indicating Menu 4-5
4.2.3 Alarm state indicating Menu 4-9
4.2.4 System Variables Setting Menu 4-10
4.2.5 Control Variables Setting Menu 4-13
4.2.6 Analog I/O Variables Setting Menu 4-21
4.2.7 I/O Contacts Variables Setting Menu 4-26
4.2.8 Speed Operation Variables Setting Menu 4-32
4.2.9 Potion Operation Variables Setting Menu 4-35
4.2.10 Operation Menu 4-38
Chapter 4 Program Menu

4-2
4.1 Loader Operation
4.1.1 Name of Each Part

4.1.2 Menu Operation
Logic of Menu

Pd-001
PA-101
PE-201
PE-701
PC-801
Pd-002
PA-102 PA-120
Pd-020
PE-202 PE-220
PE-702 PE-720
PC-802 PC-820
Right Right Right Right
Right
Right
Right
Right Right Right Right
Right Right
Right Right
Left Left Left
Left
Left
Left
Right Right
Left
Left Left Left
Left
Left Left
Left
Left
Up
Up
Up
Up
Up
Left Right
Up Enter

4-3
Menu Editing

- Shift to the menu for editing in the same method of
- After above, press[Enter] Key, then data of menu is displayed 13
And, the last digit is blinking ; you can change the value where blink is located.
- For moving the blinking position, press [Left] or [Right].
- For changing value, press [Up] Key, then value is increased. At this time, the numerical value turns
back to 0 when it exceeds 9.
- When editing is completed, press [Enter] Key, then value is saved and return to menu.
When return to Menu without saving the value Press [Left], [Right] at one time, then display is
returned to Menu with display of ESCAPE.

Error in menu editing
- Error is as below.
Display Cause
notuSE Menu that is used or impossible to set up
Err1
- In case of the menu is impossible to edit at Servo ON.
- Error in editing Motor relative constant.
- Input the value that does not have Motor ID.
- In case of editing detailed constant on the state that Motor
ID is not 0
Err2 When setting the data that is out of range
Err3
Menu setting[PC-810] is Iocked.
It should be unlocked.

Special handling function.
- In case of setting I/O state menu, the function of each key is handled as exclusive way. For a detailed,
refer to chapter 5, Handling and Operating.
- Alarm Handling menu
- I/O setting menu
- Test operation menu
- Gain tuning menu
- Z position operation menu
- Absolute encoder reset
- Current offset compensation menu
- Menu Handling menu
PE-201
Initial Blinking digit
* Change Position: Left/Right
* Change Value: Up
Enter
Enter

4-4
4.2 Menu Operation
4.2.1 Menu Summary

Menu consists of 9 menu groups, and function of each menu is as below.

Comm. Code Name of Menu Group Function
Pd-001
~ Pd-020
Status Menu
Indicate operation status information of
Each Servo.
PA-101
~ PA-120
Alarm Menu
Save & Indicate records of Alarm that is
Happened before.
PE-201
~ PE-220
System Menu Save information of system construction
PE-301
~ PE-320
Control Menu
Save set variables that are related to control.

PE-401
~ PE-420
Analog Menu
Save set variables that are related to analog
I/O.
PE-501
~ PE-520
InOut Menu
Save set variables that are related to I/O
connection.
PE-601
~ PE-620
Speed Operation Menu
Stores set variables that is related to Speed
operation
PE-701
~ PE-720
Pulse Operation Menu
Save set variables that are related to position
pulse operation
PC-801
~ PC-820
Command Menu Execute operation handling

From the below menu table, the abbreviation for each mode means ;
P : Used at Position control mode
S : Used at Speed control mode
T : Used at Torque control mode


4-5
4.2.2 Operation State Indicating Menu
MENU Unit INI
Description
App
Mode
Com
Code
CODE NAME Min Max
0 Pd-001 Current State
- - Display current operating status.

Display Description
nor-on Normal Servo On
nor-oF Normal Servo Off
AL-XX Alarm with applied code

- When reset after removing Alarm cause, the
display is decided by Start Menu no. [PE-
209].
PST
- -
1 Pd-002 Current Speed
[r/min] 0 Display Current Speed.
PST
-10000 10000
2 Pd-003 Command Speed
[r/min] 0 Display Current command speed.
ST
-10000 10000
3 Pd-004 Current Pulse
[pulse] 0 Display cumulative position command pulse.

- Display input cumulative command pulse from
Servo Power On
P
-99999 99999
4 Pd-005 Feedback Pulse
[pulse] 0 Display feedback cumulative position
Command pulse.

- Display feedback cumulative position
Command pulse from Power On.
- When exceed Max. Min. Value, only Min.(0),
Max.(99999) is displayed
PST
-99999 99999
5 Pd-006 Pulse Error
[pulse] 0 Display remained pulse which must be
operated.

- Difference between commanded pulse and
feedback pulse (the motor must be operated
as the amount of this value).
- Remained pulse no. at Servo OFF will be
disappear when servo is On.
P
0 99999
6 Pd-007 E-Gear N0
- 1000 Display numerator 0 of electronic Gear ratio.
- When gear ratio is changed from abrasion of
Machine, to compensate this abrasion, Offset
adjusting can be used[PE-712]

P
1 60000

4-6
7 Pd-008
Command
Torque
[%] 0
Display Current commanded torque at torque
mode.

- Display current torque as Percentage
compare with rated torque.
Mode Display Type
Torque Current command Torque
Speed Calculated current
command torque Position
T
-300.00 300.00
8 Pd-009 Torque Limit
[%] 300
Display Torque Limit setting Value.

- Display Max. torque value which motor can
make as percentage value compare with rated
torque.
PST
-300 300
9 Pd-010 Current Load
[%] 0.00
Display current load ratio compare to rated
load.
- Load which is made by motor is displayed
as percentage compare to rated load.
PST
0.00 300.00
10 Pd-011 Average Load
[%] 0.00
Display average load ratio for 5 seconds.

- Average load ratio for 5 seconds which is
made by motor is displayed as percentage
compare to rated load.
PST
0.00 300.00
11 Pd-012 Maximum Load
[%] 0.00 Display peak load ratio compared to rated.

- Display the peak load as percentage
compare to rated load from Servo On
PST
-300.00 300.00
12 Pd-013 DC Link Voltage
[V] 0.0
Display DC Link Voltage of Main power.

- DC Link Voltage of standard drive which is
using 220[V] is around 300[V].

- Max. Allowable DC Link Voltage of standard
drive which is using 220[V] is 400[V].

- When regenerated energy is big or the
capacity of regenerative resistor is small, DC
Link voltage is excess to Limit, then Over
Voltage [AL-10] is displayed.

- Less than 380[V] in regenerative sector is
recommended.

PST
0.0 500.0

4-7
13 Pd-014 I/O SET Display
- -
Display H/W contact condition of CN1 I/O. Display
output status of output contacts.

[ Input contacts : UP ]
0 1 2 3 4
SVON ALMRST CCWLIM CWLIM
PCLEAR
STOP
TCLEAR
5 6 7 8
DIR
MODE
/TRQLIM
SPD1
/ EGEAR1
SPD2
/ EGEAR2

[ Output contacts : Down ]
A B C
ALARM
READY
/BRAKE
INSPD
/INPOS

When servo is stopped, INSPD/INPOS
contacts is On.
PST
- -
14 Pd-015 Reg. Brake Time
0 0
Display setting state of operating time for
regenerative resistor.

Display the Value of [PE-419].
PST
[ms] 3000
15 Pd-016 I/O State Display
- -
Display finial I/O contacts setting condition of
CN1 I/O.

[ Input contacts : UP ]
0 1 2 3 4
SVON ALMRST CCWLIM CWLIM
PCLEAR
/ STOP
/TCLEAR
5 6 7 8
DIR
MODE
/TRQLIM
SPD1
/ EGEAR1
SPD2
/ EGEAR2

[ Output contacts : Down ]
A B C
ALARM
READY
/BRAKE
INSPD
/INPOS

When servo is stopped, INSPD/INPOS
contacts is On.

PST
- -
1
2 3
4
56
7
8 0
A
B
C
1
2 3
4
56
7
8 0
A
B
C

4-8
16 Pd-017
Input Logic
Display
(State of input
logic 0 ~4)
- 01100 Display Setting Logic of input contacts 0 ~ 4
( A contacts : 0, B contacts : 1)

4 3 2 1 0
STOP CWLIM CCWLIM ALARM SVON

PST
00000 11111
17 Pd-018
Input Logic
Display
(State of input
logic 5 ~8)
- 0000 Display setting logic of input contacts 5 ~ 8.
(A contacts:0 , B contacts: 1)

8 7 6 5
EGEAR2
/ SPD2
EGEAR1
/ SPD1
MODE
/ TRQLIM
DIR

0000 1111
18 Pd-019
Output Logic
Display
- 001 Display setting logic of output contacts.
(A contacts : 0, B contacts : 1)

2 1 0
INSPD/INPOS
READY/BRAKE
Select from [PE-508]
ALARM
000 111
19 Pd-020 Software Version
- - Display software version.
n x.xx - x

No. Drive Type
1 VN01
2 VN02
3 VN04
4 VN07
5 VN10
6 VN15
7 VN20
8 VN35
PST
- -
* When return to Menu from Alarm condition, press [Left] or [Right] then [Enter].
Version No
VN
Drive
Drive Type
0 0 1 1 0 INI value:
4 1 3 2 0 I/O :
0 0 0 0 Initial value:
6 8 7 5 I/O:
0 0 1 INI value:
1 2 0 I/O :

4-9
4.2.3 Alarm state indicating Menu
MENU
Unit INI
Description
App
Mode Com CODE NAME Min. Max.
Alarm history 01 ~ 20 - -
Display Alarm state that happened before PST
20
~
39
PA-101
~
PA-120
Alarm History01
~
Alarm History20
- -
# Alarm code and Details
CODE Name Cause Check Point
nor-oF Normal svoff Servo OFF normal condition -
nor-on Normal svon Servo ON normal condition -
AL-01 Not used
AL-02 Low Voltage
Low voltage or Turn off of Main
Power
Check input voltage level, Wiring of Power
AL-03 Line Fail U,V,W wiring error (motor, encoder) Check parameter, CN2 wiring, U,V,W wiring, Replace motor
AL-04 Motor Output Error of output open error Check IPM module or U,V,W wiring
AL-05 Encoder Pulse Setting error for No. of encoder pulse Check parameter [PE-204], CN2 wiring, replaced motor
AL-06 Following Error Pulse following Error
Check Wiring, Limit contacts, over range of input
pulse, gain, setting value of [PE-502], [PE-718]
AL-07 Over Heat Over Heat Check load condition, Fan.
AL-08 Over Current Over Current Wiring, Motor PTP resistor, encoder setting value, replace drive
AL-09 Over Load Over Load
Load condition, Brake condition, wiring, Motor,
encoder setting value
AL-10 Over Voltage Over Voltage Input power, condition of regeneration resistor
AL-11 Over Speed Over Speed Check Encoder, wiring, Gain, or replace Motor
AL-12 Not Used Not Used
AL-13 Position Pulse error Position Pulse error Replace Drive
AL-14 ABS Data Error ABS Data Error Initial reset
AL-15 ABS Battery Error ABS Battery Error Initial Reset, battery discharge
AL-16 ABS Multi Error ABS Multi Data Error Initial Reset
AL-17 ABS Read Fail ABS. encoder reading error Check Abs. encoder, CN2 wiring
AL-18 U-Hall Offset Error U phase current sensor error Replace Drive
AL-19 V-Hall Offset Error V phase current sensor error Replace Drive
AL-20 Memory Error Parameter Memory Error Replace Drive
AL-21 Not Used Not used
AL-22 Data Init Error Data Init Error Replace Drive
AL-23 EPWR H/W error, Power error of 9line encoder Replace Drive..
AL-24 USB Error USB Communication error Check wiring, replace Drive
AL-25 RS422 Error RS422 Communication error Check wiring, replace Drive
AL-26 Over Regeneration
Over Regeneration
(error of [PE-419] setting time)
Check Input power, regeneration resistor , Replaced drive
AL-27 Current Limit Over Excess limited current (Over 1 sec.) Check Motor wiring and Load condition
AL-30 In/Out Logic error Error of I/O setting logic Change parameter value
AL-31 Encoder N/D Error Encoder N/D Error Change parameter value
AL-32 Egear N/D Error Egear N/D Error Change parameter value
Err1 Error1
Edit menu which is not allowed to edit
under Servo-on condition
Edit parameter after Servo-off
Err2 Error2 When set over scope of data to parameter Set parameter within scope
Err3 Error3
When edit menu under (Menu data
Lock) [PC-810] condition
After changing [PC-810] parameter to Unlock,
Edit menu of parameter.

4-10
4.2.4 System Variables Setting Menu
** Editing is not allowed under Servo-On & Reset Menu, * Editing is not allowed under Servo-On.
MENU Unit INI
Description
App
40 *PE-201 Motor ID
- - Set Motor ID
- Input Motor ID into Menu, then all of related
parameter for motor is automatically changed.
- Parameter [PE-210] ~ [PE-218] is set as
followed motor ID automatically.

Refer to Motor Type and ID from
Appendix. 2
PST
0 99
41 *PE-202 RS422 Baud Rate
[bps] 0
Set RS422 Communication Speed at CN3

No. Communication Speed
0 9600[bps]
1 19200[bps]
2 38400[bps]
3 57600[bps]
PST
0 3
42 **PE-203 Encoder Type
- 0
Set applied Encoder.
Type of encoder is as followed.

Caution) If encoder type will not matched with
actual encoder on motor, Motor can be
operated with unstable speed

No. Encoder Type Method Signal
0
15Line
Parallel
A Phase
Lead
A,B,Z,
U,V,W
1
15Line
Parallel
B Phase
Lead
A,B,Z,
U,V,W
2 9Line Parallel
A Phase
Lead
A,B,Z,
3 9Line Parallel
B Phase
Lead
A,B,Z,
4 7Line Serial
Inc.
17~21bit
Commui
-cation
PST
0 4

4-11
43 **PE-204 Encoder Pulse
[p/r] 2500 Set PPR (Pulse per resolution) of encoder.

- When the encoder which is used A.B pulse
signal, Set No. of Pulse per 1 rotation. At this
time the no. of pulse for A, B is the same.

Caution) If encoder type will not matched with
actual encoder on motor, Motor can be
operated with unstable speed
.

PST
1 6000
44 PE-205 CCW TRQ Limit
[%] 300 Set Limit Torque for CCW.

- Setting value is the percentage of rated
Torque. And default value is 300[%].

PST
1 350
45 PE-206 CW TRQ Limit
[%] 300 Set Limit Torque for CW

- Setting value is the percentage of rated
Torque. And default value is 300[%].
PST
1 350
46 *PE-207 System ID
- 0 Set Drive ID at Communiation.

- When Servo is communicated with RS422
communication or BUS communication, the
nominated Servo ID can be used.

- Servo can be communicated individually with
identified ID
PST
0 99
47 *PE-208 System Group ID
- 0 Set Drive Group ID at Communication.

- When several drives are operated as group,
Group ID can be used.
PST
0 99
48 PE-209 Start Menu No.
- 2 Set drive start Menu.

- Set the parameter which is displayed when
drive servo ON from [Pd-001] to [Pd-020]

PST
1 20

4-12
49 *PE-210 Inertia
[gfcms
2
] ID Set Motor Inertia.

- When [PE-201](Motor ID) is 0, Editing is possible
PST
0.01 300.00
50 *PE-211 Trq Con
[kgfcm/A] ID Set Motor Torque constant.

PST
0.01 300.00
51 *PE-212 Phase Ls
[mH] ID Set Motor Phase Ls

PST
0.001 30.000
52 *PE-213 Phase Rs
[ohm] ID Set motor Phase Rs.

PST
0.001 30.000
53 *PE-214 Rated Is
[A] ID - Set motor rated current.

PST
0.01 999.99
54 *PE-215 Max Speed
[r/min] ID Set motor Max. speed.

PST
0.0 300.00
55 *PE-216 Rated Speed
[r/min] ID Set Motor rated speed

- When [PE-201](Motor ID) is 0, Editing is possible.
PST
0.0 10000
56 *PE-217 Pole Number
[pole] ID Set Motor Pole no.

- When [PE-201](Motor ID) is 0, Editing is possible.
PST
2 98
57 *PE-218 Motor Gain Group
- 0 Set Motor Gain Group
- When [PE-201](Motor ID) is 0, Editing is possible .

0 9
58 PE-219
U Current Offset
Display
[mA] 0
Display U phase current Offset

-200 200
59 PE-220
V Current Offset
Display
[mA] 0
Display V phase current Offset

-200 200

4-13
4.2.5 Control Variables Setting Menu
MENU Unit INI
Description
App
60 PE-301 Inertia Ratio
[Times] 2.0 Set Inertia ratio for Load

- When motor is operated with No load
condition, the Inertia ratio is 1.
- Set proportion mechanical system load
inertia to motor inertia which is on our catalog
- To optimize servo operation, accurate Inertia
Ratio setting is required.
- Reference range for Position, Speed gain as
followed Inertia ratio
Motor
Frange
Inertia ratio Gain setting range
Type Inertia
Position
P Gain
Speed
P Gain
Speed
I Gain
40
Low 1~5 50~120 500~120 5~30
Middle 5~20 40~80 400~600 10~50
High 20~40 30~60 300~500 20~70
60
~ 80
Low 1~5 40~100 400~1000 10~40
Middle 5~15 20~70 200~500 20~60
High 15~30 10~40 100~300 50~100
100
~130
Low 1~3 40~80 300~600 10~50
Middle 3~8 20~60 100~400 20~80
High 8~15 10~40 50~200 50~150
180
~220
Low 1~3 30~70 150~400 20~60
Middle 3~5 15~50 80~300 30~100
High 5~8 5~30 50~200 50~150

Refer to Motor specification for inertia of
each motor in Chapter 6.

PST
1.0 500.0

4-14
61 PE-302 Position P Gain1
[1/s] 50 Set Position control P Gain 1.

- Increase the gain till Speed over shoot or
Vibration of motor.

- When Gain Conv. Mode [PE-520] is 1,
Pulse error is applied less tan [PE-306]
(Position Zero gain).

- Not applied when [PE-601](Mode
selection)is Speed mode or Torque mode.

*Recommended value = Speed P Gain / 10

P
1 500
62 PE-303 Position P Gain2
[1/s] 70
Set Position control P Gain 2.

- This value is set as same or bigger than
[PE-302]( Position P Gain 1), Increase the
value until speed over shoot or vibration of
motor.

- When Gain Conv. Mode [PE-520] is 1,
When Pulse error range is over range of
[PE-319](Position P Gain 2) in position mode.
This parameter is applied.

P
1 500
d/dt
FF filter
[PE-305]
Feed
Forward
P Gain
[PE-302]
P Com.
Position error
Current position
+
-
+
+
S
Com.

4-15
63 PE-304 P Feedforward
[%] 0 Set control ratio of position feed forward.

- Use to reduce the time of settled position
with get inclination from differential value, then
add speed command to this inclination

- if this value is big, overshoot can be
occurred or system can be unstable. So the
value must be increased from small value to
big value step by step to find optimized value.
P
0 100
64

PE-305
P FF FLT TC
[ms] 0 Set Position Feed forward control time constant

- Sudden change of position comment can
make unstable condition of system . At this
case with setting FF TC filter value the
vibration can be removed against rapid
change.
P
0 100.00
65 PE-306
Position
Zero Gain
[10pulse] 0 Set range of change from P gain1 to P gain 2.

- When [PE-520](Gain Conv. mode) is 1
When Pulse error is bigger
than [PE-306](position Zero gain range)
under position mode, P gain1 is changed to P
gain 2
P
0 5000
d/dt
FF filter
[PE-305]
Feed
Forward
P Gain
[PE-302]
P Com.
Position error
Current position
+
-
+
+
S
Com.
d/dt
FF filter
[PE-305]
Feed
Forward
P Gain
[PE-302]
P Com.
Position error
Current position
+
-
+
+
S
Com.

4-16
66 PE-307 Speed P Gain1
[rad/s] 500 Set Speed P gain 1
Diagram of Speed control is as follows.

- Speed P gain convert to torque command
with multipling Speed P gain error to P-Gain.

- Relation between Speed P gain & Actual Speed

- if Speed P-gain value is big, the following
speed is increased. But vibration can be
happened. Also if the value is small, following
speed is decreased and power of motor also
decreased.

When actual speed is lower than [PE-
313](Zero speed gain speed) this parameter is
applied
PS
0 5000
67 PE-308
2 [rad/s] 800
Set Speed P gain 2.
- This value is set as bigger value than [PE-307].
When actual speed is higher than [PE-
313](0 SPD Gain SPD), Speed P gain1 is
changed to Speed P gain 2
PS
Speed P Gain2 0 5000
Com
S
S
T
B S
+
+
-
+
Analog
S. Com
Analog SPD com
filt [PE- 311]
0SPD gain
[PE-313]
S P gain
[PE-307]
S / C
Encoder S
Torque
Cur. S
Digital S. com
Cur. T
S FF
[PE-312]
S I gain
[PE-309]

4-17
68 PE-309 Speed I TC1
[ms] 20 Set Speed I TC1.

Relation Speed I TC and com./actual speed

- Getting Integral calculus value for Speed error
between command and current speed. Then covert
to torque command with Multiplying this integral
calculus value to I Gain value

- if I TC is reduced, following speed is increased
with improved response speed, but so small
overshoot can be happened.

- If value is so big, following speed is decreased.
So P-gain also decreased.

- in case of [PE-520] (Gain Conv. mode) is 1
Applied at actual speed is lower than [PE-313]
(ZSPD gain speed).
- Recommend setting value:10000/Speed I gain[PE-307]
PS
1 10000
69 PE-310 Speed I TC2
[ms] 13
Set Speed I TC2.
- This value is set by lower than [PE-309].
- in case of [PE-520](Gain Conv. mode) is 1
When Actual speed is over [PE-313](Zero SPD
Gain Speed), Speed I Gain1 is changed to Gain2.
PS
1 1000
Com
Speed
S
T
B
S
+
+
-
+
Analog
S. Com
Analog S Com
Filt. [PE- 311]
0SPD Gain
[PE-313]
S P Gain
[PE-307]
S/C
Encoder S
T Com.
Current S
Digital S Com
Cur. T
S F Filt.
[PE-312]
S I Gain
[PE-309]

4-18
70 PE-311 Speed IN FT
[ms] 0.50 Set Speed command filter

- When analog input is not stable, with filter
the sudden change can be removed.
- When setting big value, make decreased
response speed, proper value is needed..

S
0.0 100.00
71 *PE-312 Speed F/B FT
[ms] 0.50 Set Speed feedback filter

- Reduce the vibration with using speed
feedback filter under the condition of motor
speed is unstable, big inertia or vibration from
Gain.

response speed or with stop vibration at stop
condition system can be unstable condition,
so proper value is needed.

- When system is unstable with stop vibration
Set applied range with [PE-313](ZSPD gain
speed). When speed is lower than [PE-
519](ZSPD gain rate) Vibration is controlled by
adjusting of Gain rate.

* Recommended Setting value =
0 ~ Speed I Gain[PE-309]/10
PS
0.0 100.0
+
-
+
Analog
S. Com
Analog SPD com
Filt [PE- 311]
0SPD Gain
[PE-313]
S P Gain
[PE-307]
S/C
Encoder S.
T Com
Curent S
Digital S. Com
Cur. T
S.F Filt.
[PE-312]
S I Gain
[PE-309]
+
-
+
Analog
S Com
Analog SPD com.
Fit. [PE- 311]
0SPD Gain
[PE-313]
S P Gain
[PE-307]
S. C
Encoder S
T. Com
Current S
Digital S com
Cur. T
S.F filt
[PE-312]
S I Gain
[PE-309]

4-19
72 PE-313
Z SPD Gain
Speed
[r/min] 0 Set speed range of Zero speed gain.

- Speed control gain1 is changed to Gain2
when actual speed is over than [PE-313](zero
speed gain speed).
PS
0 500
73 PE-314 TORQ. CMD FLT
[ms] 0.50 Set Torque filter.
- Remove the noise of commanded signal
with setting digital filter for analog torque
command voltage.

response speed, proper value is needed.
PST
0.0 100.00
74 PE-315 DE-Resonance
- 0 Set function of DE-Resonance operation.
(under developing)
Mode De-Resonance operation
0 Not operated
1 Operated

- As followed system, the mechanical
vibration can be occurred at certain frequency
range. At this range of frequency Reduce the
vibration which is caused by de-resonance
with reducing torque output.

PST
0 1
T
Out
DR operation
BW[PE-317]
T output Fre.
De Resonance
Fre. [PE-316]
+
-
+
Analog
S. Com
Analog S. Com
Flt. [PE- 311]
0 S Gain
[PE-313]
S P Gain
[PE-307]
S. C
Encoder S
T. Com
Current S
Digital S com
Cur. Tor
S F filter
[PE-312]
S I Gain
[PE-309]

4-20
75 PE-316 Notch Frequency
[Hz] 300 Set avoid resonance driving frequency. PST
0 1000
76 PE-317 Notch Bandwidth
[Hz] 100
Set avoid resonance band width.
PST
0 1000
77 PE-318
Real time Auto
Tuning
- 0 (Under developing)
0: Not used
1: Used
PST
0 1
78 PE-319 Position Gain2 Range
[10pulse] 20 Set pulse range of position P gain 2.

- Error pulse is over than the setting range of
[PE-319](position P gain 2 range),, [PE-
303](Position P gain 2) is applied.
S
1 5000
79 PE-320 Zero Speed Lock
- 1 Set zero speed torque improved function.

Mode Zero improve Speed
0 Not used
1 Use

- Determine stop torque improved algorithm is
applied or not.

- After input contacts STOP, under the
condition of below 100[rpm] or zero speed
clamp[PE-403] is 1,
The mode is automatically changed Speed
mode to position mode when the value is
below than zero speed clamp voltage [PE-
404] .

S
0 1


4-21
4.2.6 Analog I/O Variables Setting Menu
MENU Unit INI
Description Mode
Com CODE NAME Min Max
80 *PE-401 Analog Speed
[r/min] 2000 Set analog speed command at 10[V].
The unit of analog speed command 10[V] is
[r/min].
ST
1 6000
81 PE-402 Analog Speed Offset
[mV] 0 Set Analog Speed command offset.

- Because of analog circuit problem, certain
voltage is occurred during 0 torque command
condition. At this time compensate this voltage with
setting of certain voltage as offset.
S
-1000 1000
82 PE-403
Zero Speed
Clamp
- 0 Set mode of clamp for analog zero speed
command.

Mode Zero clamp function
0
Not operated
1
Operated

S
0 1
83 PE-404 SClamp Volt
1 Set range of analog 0 speed clamp S
1 1000
-10[V]
+10[V]
S
SPD Com clamp mode [PE-403] = 0
-10[V]
+10[V]
0 SPD Clamp V[PE-404]
SPD Com clamp mode[PE-403] = 1
S


4-22
84 *PE-405 Speed Override
- 0
Set speed override operation mode.
- Set analog speed override on digital speed
command.
Mode Speed Override operation
0 Not operated
1 Override operation
S
0 1
85 *PE-406 Analog Torque
[%] 100 Set analog torque command at 10[V].
- Set analog torque command value compare with
rated torque value as percentage at 10[V] at this
time setting is within a range of torque limit [PE-
205] [PE-206] system variable setting.
PST
1 300
86 PE-407 Torque Offset
[mV] 0 Set offset of analog torque command.
- Because of analog circuit problem, certain
voltage is occurred during 0 torque command
condition. At this time compensate this voltage
with setting of certain voltage as offset.
T
-1000 1000
87 PE-408 TClamp Mode
- 0 Set clamp mode at analog zero torque
command.
Mode Zero torque clamp function
0
Not operated

1
Operated

T
0 1
-10[V]
+10[V]
Tor

O torque clamp mode [PE-408] = 0
-10[V]
+10[V]
0 torque clamp V[PE-409]
0 torque clamp mode [PE-408] = 1
Tor


4-23
88 PE-409 TClamp Volt
[mV] 1 Set analog Zero torque command clamp
voltage.
T
1 1000
89 PE-410 Monitor Type1
- 1 Set analog output1 type for monitor.

Mode Data Mode Data
0 Com. Speed 4 Com. Frequency
1 Cur. Speed 5 Err. Pulse
2 Com. Torque
3 Cur. Torque

- 2 kinds of 5[V] Analog output is possible.
And output as followed setting parameter.
PST
0 5
90 PE-411 Monitor Mode1
- 0 Set mode of analog output 1 mode for
monitor.
Mode Output type
0 Direction : output -5 ~ 5[V]
1 Absolute : output 0 ~ 5[V]

PST
0 1
91 PE-412 Monitor Scale1
- 1.0 Set Scale of analog output 1.

DC 5[V] is standard.
Item Scale
Speed Max. speed [PE-215]
Torque Max speed [300[%]]
Frequency 500[kpps]
Error pulse Position Error [PE-512]

- When output value is very small or
big, the output can be change to
properly with magnification

PST
0.1 50.0

4-24
92 PE-413 Monitor Offset1
[mV] 0 Set offset of analog output 1 for Monitor.

- Because of analog circuit problem, some
voltage can be occurred during 0 voltage
output. At this time, can set offset range. The
unit is []
PST
-1000 1000
93 PE-414 Monitor Type2
- 3 Set analog output2 type for monitor.

Mode Data Mode Data
0 Com. Speed 4 Com. Frequency
1 Cur. Speed 5 Err. Pulse
2 Com. Torque
3 Cur. Torque
- 2 kinds of 5[V] Analog output is possible.
And output as followed setting parameter.
PST
0 5
94 PE-415 Monitor Mode2
- 0 Set mode of analog output 2 mode for
monitor.
Mode Output type
0 Direction : output -5 ~ 5[V]
1 Absolute : output 0 ~ 5[V]

PST
0 1
95 PE-416 Monitor Scale2
- 1.0 Set Scale of analog output 2.

DC 5[V] is standard.
Item Scale
Speed Max. speed [PE-215]
Torque Max speed [300[%]]
Frequency 500[kpps]
Error pulse Position Error [PE-512]

- When output value is very small or big, the
output can be change to properly with
magnification.
PST
0.1 50.0

4-25
96 PE-417 Monitor Offset2
[mV] 0.0 Set offset of analog output 2.

- Because of analog circuit problem, some
voltage can be occurred during 0 voltage
output. At this time, can set offset range. The
unit is []
PST
-1000 1000
97 PE-418 Torque Com Dir
- 0 Select rotation direction of motor in Torque
mode as followed voltage.

Mode Selection of torque Dir
0 At + voltage: forward
1 At voltage: forward

T
0 1
98 PE-419
Regeneration
Brake time
[ms] 500 Set Max. Operation time of regeneration brake
resistor.

- When regeneration brake resistor is
operated over setting time, [AL-26](over
regeneration) is displayed.

100 1000
99 PE-420
Analog
Speed, Torque
Command
Offset
- 0 Apply analog offset function [PC-813], [PC-
814].

- Some voltage on analog signal circuit can
be occurred during O speed command.
At this time Set applied function to set torque
command voltage offset automatically..
-With selection of below mode, Analog Speed
command voltage offset [PC-813] and
Analog torque command voltage offset[PC-
814] can be used..

Mode Analog speed. Torque command offset
0 Not used
1 Applied [PC-813]
2 Applied [PC-814]
3 Applied [PC-813] &, [PC-814]
ST
0 3

4-26
4.2.7 I/O Contacts Variables Setting Menu
MENU Unit INI
Description Mode
100 PE-501 Inposition
[10pulse] 10 Set output range of inposition.

- When the error pulse between commanded
pulse and following pulse is within setting
range, Inposition signal is output

Applied Setting value * 10 Pulse.
P
1 60000
101 PE-502 Following Error
[10pulse] 90000 Set the range of position operation following
error signal.

- When Error pulse is bigger than range of
following error pulse, Alarm signal is output.

Applied Setting value * 10 Pulse.

P
1 60000
Pulse counter
Com. Pulse counter
Follow pulse counter Error Pulse
Output
inposition
RNG of
inposition
[PE-501]
T
Error pulse
Com.
CNT.
Error
RNG
Follow
CNT
Pulse
counter
Follow
error
T

4-27
102 PE-503 Zero Speed RNG
[r/min] 10 Set output range of Zero Speed.

- Current speed is lower than setting value
(ZSPD), signal is output.
PST
0.0 6000
103 PE-504 Inspeed
[r/min] 100 Set the range of insped .

- Gap between current speed and
commanded speed is within setting value, the
signal is output.
S
0.0 500
104 PE-505 Brake SPD
[r/min] 50 Set speed of brake operation signal output.

- When brake type motor is used for vertical
axis. to prevent falling down of motor during
Alarm or SVOFF time, the brake signal can be
OFF with first signal of Brake signal output
speed[PE-505] or Brake signal output delayed
time[PE-506]
PST
0.0 6000
Motor Speed
S
SVON
In
Brake
Output
Less 55[msec]
Brake signal output
SPD[PE-505]
T
BRK Signal output
Delayed T [PE-506]
SVOFF or
Alarm
SPD
Com. SPD
Inspeed
RNG [PE-504]
INSPD
T
SPD
Com. SPD
Zero Speed
RNG[PE-503]
ZSPD
T

4-28
105 PE-506 Brake On Delay Time
[ms] 10 Set Brake operating signal output delayed time

PST
0 1000
106 PE-507 PowerFail Mode
- 1 Set reset mode of main power fail.

Mode Type
0 Manual reset
1 Auto reset
PST
0 1
107 PE-508
Ready / Brake
Select
- 0 Select output contacts for Ready/Brake.

Mode Output contact type
0 Ready output
1 Brake output
PST
0 1
108 PE-509
Pulse Clear
Mode
- 1 Set Position pulse clear mode.

Mode Position Pulse clear mode type
0 Edge(off->on)

1 Level(on)

- Stop the motor with clear input position
command.
P
0 1
109 **PE-510
Pulse Output
Numerator
- 1 Set Numerator for divide ratio of encoder
output pulse.

- Divide for less than 4096[pulse] is available
for serial encoder.
- When send encoder pulse as output signal
of drive, the output pulse is sent with divided
ratio.
PST
1 16384
110 **PE-511
Pulse output
Denominator
- 1 Set Denominator for divide ratio of encoder
output pulse

- divide for less than 4096[pulse] is available
for serial encoder.
- When send encoder pulse as output signal
of drive, the output pulse is sent with divided
ratio.

1 16384

4-29
111 **PE-512
Pulse Output
A / B Lead
- 0 Set Encoder output pulse (A/B phase).

Mode Output type of A / B phase
0 A Lead
1 B Lead
PST
0 1
112 PE-513 Pulse Output Z
- 1 Set output type of serial encoder Z phase.

Mode Encoder Z phase output type
0 A Phase half cycle
1 A Phase one cycle

0 1
113 PE-514 Dir Select Mode
- 0 Set direction S/W.

Set
Operation Method
CCW CW STOP
DIR STOP DIR STOP DIR STOP
0 OFF OFF ON OFF x ON
1 OFF ON ON OFF
ON ON
OFF OFF

S
0 1
114 *PE-515 Output Logic
- 001 Set logic of output contacts.

- Set output contacts logic from CN1 I/O.

[Output contacts : Down]
0 1 2
ALARM READY / BRAKE
Selected by [PE-508]
INSPD
/INPOS

PST
000 111
0 0 1 INI :
1 2 0 Output

4-30
115 PE-516 PWM off Delay
[ms] 0 Set delayed time to be actual PWM-OFF from
Servo OFF.

- With BRAKE output contacts signal,
compensate the preparation time of brake
operation, Delay the PWM signal. prevent
down operation of motor at vertical
application.
PST
10 1000
116 *PE-517 Intput 0~4 Logic
- 01100 Set Logic input contacts 0~4.

Input Input contacts
0 SVON
1 ALARM
2 CCWLIM
3 CWLLIM
4 PCLEAR / STOP / TCLEAR

00000 11111
117 *PE-518 Intput 5~8 Logic
- 0000 Set logic for Input contacts 5~8.

Input Input contacts
5 DIR
6 TRQLIM / MODE
7 SPD 1 / EGEAR1
8 SPD 2 / EGEAR2

0000 1111
0 0 0 0 INI:
6 8 7 5 Input:
0 0 1 1 0 INI:
4 1 3 2 0 Input:

4-31
118 PE-519 ZSPD Gain Rate
[%] 50
Set ZSPD Gain rate.

- Stop vibration can be reduced at lower
speed of [PE-303](Zero speed gain), with
applying of stop vibration[PE-519] which is
occurred bt big gain.

- But When rate is small, power of motor is
decreased and response speed is also
decreased at lower speed of Zero speed Gain
[PE-313].

Not operated when [PE-313](Zero speed
gain) is 0
S
1 100
119 *PE-520 Gain Conv Mode
- 0 Set Gain 1, Gain 2 mode

Set Operation
0

Apply 1 gain between Speed or
Position
1
1). Speed Mode [PE-601] : 1
a. Current speed is less than [PE-
313] : Applied Speed Gain 1
b. Current speed is over than [PE-
313] : Applied Speed gain 2

2). Position Mode [PE-601] : 2
a. Current speed [PE-313] :
Applied Speed control Gain 1
b. Current speed [PE-313] :
Applied Speed control Gain 2
c. Error Pulse [PE-306] :
Applied Position control Gain 1
d. Error Pulse [PE-319] :
Applied Position control Gain 2

0 1

4-32
4.2.8 Speed Operation Variables Setting Menu
MENU Unit INI
Description Mode
120 *PE-601 Operation Mode
- 1 Set Operation Mode. (refer to chapter 4.4.5)

Mode Mode
Mode of contacts
OFF ON
0 Torque x X
1 Speed x X
2 Position x X
3 Speed/Position Position Speed
4 Speed/Torque Torque Speed
5 Position/Torque Torque Position

When mode is 3, 4
- Even though [PE-320](0SPD torque
improved) is set as 1 under mode no. 3,4,
[PE-320](0SPD torque improved) is not
applied.
PST
0 5
121 PE-602
Speed
Command1
[r/min] 200 Speed command input contacts is defined by
the combination of SPEED1 / SPEED2.

SPD1 SPD2
OFF OFF Analog speed com.
ON OFF Digital speed com.1
OFF ON Digital speed com.2
ON ON Digital speed com.3

SPD1, 2 contacts is used as speed limit
under the torque mode.
ST
-6000 6000
122 PE-603
Speed
Command2
[r/min] 1000 ST
-6000 6000
123 PE-604
Speed
Command3
[r/min] 3000 ST
-6000 6000
124 PE-605 Not Used

125 PE-606 Not Used


4-33
126 PE-607
Z Search
Operation Speed
[r/min] 10 Set speed for encoder Z phase search
operation.

- Setting value for operation of [PC-806].
S
1 300
127 PE-608
Manual Position
Operation Speed
[r/min] 500 Set speed for manual position operation

- Setting value for operation of [PC-807].
S
1 6000
128 PE-609 Accel Time
[ms] 0 Set Aecel time of speed command.

- Set lead time of Decel from rated speed to
Zero Speed. And Unit is [ms].
S
0 10000
129 PE-610 Decel Time
[ms] 0 Set Decel time of speed command.

- Set lead time of Decel from rated speed to
Zero Speed. And Unit is [ms].
S
0 10000
130 *PE-611 S Type Control
- 0 Set S type control under Speed mode.

- For smooth operation for Accel/Decel , S
type control can be set under Speed Mode.
- Straight type / S type Accel/Decel
Mode Function of Input contacts 6
0 Straight type Accel/Decel
1 S type Accel/Decel

- Accel/Decel Pattern as followed setting
command

PE-609 PE-610 PE-611 Com.
Accel/Decel
com.
0 0 0

Accel 0 0
0 Decel 0
Accel Decel 0
0 0 1
Accel 0 1
0 Decel 1
Accel Decel 1

S
0 1

4-34
131 PE-612 Test Run Speed0
[r/min] 100.0
Set speed 0 for continuous test operation
PST
-6000 +6000
[r/min] -500.0
PST
-6000 +6000
[r/min] 1000.0
PST
-6000 +6000
[r/min] -2000.0
PST
-6000 +6000
135 PE-616 Test Run Time0
[s] 5
Set time 0 for continuous test operation
PST
1 3600
[s] 5
PST
1 3600
[s] 5
PST
1 3600
[s] 5
PST
1 3600
139 PE-620 Inspeed Type
- 1
Set output type of INSPD output contacts.

Mode Output type of INSPD output
contacts
0 Zero Speed output
1 Accord speed output

S
0 1

4-35
4.2.9 Potion Operation Variables Setting Menu
MENU Unit INI
Description Model
140 *PE-701 Pulse Logic
- 1 Set Logic of position input pulse.

- Type of position command input pulse and
rotation direction for each logic.
PF
+PR
N-Logic P-Logic
Forward Reverse Forward Reverse
A Phase
+B Phase
0

3

CCW or
CW Pulse
1

4

Pulse
+ Dir.
2

5

P
0 5
141 *PE-702 Electric Gear N0
- 1000 Set Numerator/Denominator for electronic gear
ratio 0, 1, 2, 3.

E-GEAR1 E-GEAR2
E-gear ratio
(N / D)
E-gear
Ratio
OFF OFF
E-gear ratio N 0
E-gear ratio 0
E-gear ratio D 0
ON OFF
E-gear ratio N 1
E-gear ratio 1
E-gear ratio D 1
OFF ON
E-gear ratio N 2
E-gear ratio 2
E-gear ratio D 2
ON ON
E-gear ratio N 3
E-gear ratio 3
E-gear ratio D 3

- Electric gear ratio is displayed the relation
between position command input pulse and
motor encoder pulse(After 4 times of
interpolation) as Numerator/Denominator to
prevent position operation error.
P
1 30000
142 *PE-703 Electric Gear D0
- 1000
1 30000
- 1000
1 30000
- 2000
1 30000
- 1000
1 30000
- 3000
1 30000
- 1000
1 99999
- 4000
1 30000
149 PE-710 Not used


4-36
150 PE-711 E-Gear Mode
- 0 Set E-Gear Mode.

Mode Function
0 Select E-gear ratio 0~3
1
Offset override function to
Numerator 0 of E-gear ratio

P
0 1
151 PE-712 E-Gear offset
- 0 Set offset value for E-gear ratio Numerator 0.

Mode Function
Applied offset
value at once
Set offset value to E-
gear N as setting offset
value.
EGEAR1 contacts
LOW HIGH
Increase setting E-gear ratio
N0 value at [PE-712] with
amount of 1.
EGEAR2 contacts
LOW HIGH
Decrease setting E-gear
ratio N0 value at [PE-712]
with amount of 1.
P
-30000 30000
152 *PE-713 Pulse Dir
- 0 Set direction of position pulse.

Mode Direction
0 Commanded direction
1 Opposite direction of command

P
0 1
153 **PE-714
Position Pulse
Accel/Decel
Time
[ms] 0 Set position command Accel/Decel time.

- Position pulse Accel/Decel time make smooth
operation for rapid change of position command
with setting the Time constant of 1
st
. delayed filter.

- Unit of position command Accel/decal setting
range is 1[ms] and the Max. is 100[ms].
P
0 100
154 PE-715 Not Used
- -
- -
155 PE-716 Not Used
- -
- -

4-37
156 PE-717
Manua Position
Operation
distance
[turn] 10.00
Set target position(distance) as no. of rotation
for manual position operation[PC-807].

- The direction of operation is decided by
[Left], [Right] under [PC-807] Menu

This menu is setting value for operation of
PC-807.
PST
0.00 300.00
157 PE-718
Position Limit
Pulse Clear
- 0 Set function of Limit contacts CCWLIM,
CWLIM.

Mo
de
Function
0 Pulse command is Clear.
1 Pulse command is counted.

-under CCWLIM, CWLIM condition,
when input pulse command counter is
bigger than setting value of [PE-
502](position operation following
error range), AL-06(Following Error)
is displayed.

P
0 1
158 *PE-719 ABS Multi Turn
[2^] 16 Display Multi Turn Data of ABS encoder. PST
10 16
159 *PE-720 ABS Single Turn
[2^] 17 Display Single Turn data of ABS encoder. PST
10 17


4-38
4.2.10 Operation Menu
MENU Unit INI
Description
160 PC-801 Alarm Reset
- - Alarm reset with display of
CLEAr , after pressing [Enter].
- -
161 PC-802 Alarm His Clear
- - Alarm history ([PA-101] ~ [PA-120]) is clear with
display of "CLEAr" after pressing [Enter].
- -

162

PC-803
Manual Test Run
[r/min] - Manual Test operation.

Step KEY Description
1 [Enter] Display test operation speed (PE-602).
2 [Up]
Display [PE-602]~[PE-604] stepwise.
*Display absolute value of speed.
3 [Right] Motor is operated with forward Dir.
4 [Left] Motor is operated with reverse Dir.
5 [Enter] Return to Menu.

When press [Enter] under Alarm condition, Err1
is displayed
-Min Max
163 PC-804 Auto Test Run
[r/min] - Start continuous test operation.

1 [Enter] Move to 0~3 automatically.
Step Speed Time
0 PE-612 PE-616
1 PE-613 PE-617
2 PE-614 PE-618
3 PE-615 PE-619

2 [Enter] Return to Menu.

is displayed
-Min -Max

4-39

164

PC-805
Gain Tune Run
- 2.0
Start auto tuning operation. (Under developing)
1 [Enter] Display inertia
2 [Up] Gain tuning starting with 100rpm
3 [Up]
Press [Up] key, speed is increased
100->300->500rpm 200rpm.
4 [Right] Increase time of repeat operation
5 [Left] Decrease time of repeat operation
6 Tuning value is stable => Finish tuning
7 [Enter] Save PE-301,307,309, return Menu
is displayed.
1 50
165 PC-806 Z POS Search
[turn] 0.00 Start Z signal search operation with setting speed at
[PE-607].
1 [Enter] Enter [Mode] or Release [Mode]
2
[Left]
or [Right]
[Left] is CW,[Right] is CCW
3 [Enter] Return to Menu
When CCWLIMIT, CWLIMIT contacts is OFF at start time, this is
not operated. Not applied CCWLIMIT, CWLIMIT contact during
operating time.
When press [Enter] under Alarm condition, Err1 is displayed.
0 9.99
166 PC-807
Manual Position
Run
[turn] -
Move to Setting target position [PE-717] with setting
speed [PE-608].
1 [Enter] Enter [Mode] or Release [Mode]
2
[Left]
or [Right]
[Left] is CW,[Right] is CCW
3 [Up] Function for Start & Pause
When CCWLIMIT, CWLIMIT contacts is OFF at start time, this is
not operated. Not applied CCWLIMIT, CWLIMIT contact during
operating time.
When press [Enter] under Alarm condition, Err1 is
displayed.
- -

4-40

167

PC-808
Output Test
- - Set forced ON/OFF of output contact temporarily.

1 [Right] Increase out0out1out2
2 [Left] Decrease out2out1out0
3 [Up] Change outx-L outx-H

-Consist of output contacts [Pd-016]

[Output contacts : Down]
A : out0 B : out1 C : out2
ALARM READY/ BRAKE INSPD / INPOS
The contacts of out0, 1, 2 are same as A. B, C.
With this parameter, can check the wiring condition
between servo output contacts and upper controller.
- -

168

*PC-809
Menu data Init
- - Initialize the menu to shipping condition.

1 [Enter] Display CLEAr
2
[Left]
or [Right]
Return to Menu without initialization
3 [Up]
Initialize with display of ALL-CL, then
return to Menu automatically.

Dont change [PE-201] ~ [PE-220]
Power must turn off/on again.
When applied [PC-809], after blackout Menu
data initialization[PC-809] is must be needed

- -
A
B
C

4-41
169 PC-810 Menu data Lock
- - Applied Menu Locking Function.

1 [Enter]
Dont edit any menu when
Lock/unLock function is applied.
Lock display: Lock, Unlock display: unlock
- -
170 PC-811 ABS Encoder set
- - Reset Absolute encoder.

1 [Enter]
Reset Absolute encoder after
displaying "reset" for 5 Sec.
- -

171

PC-812
Current Offset
Save
[mA] - Compensate current offset of Hall-CT.

1 [Enter] Enter [mode] & return Menu
2 [Right] Display offset of U phase
3 [Left] Display offset of V phase
4 [Up]
Offset value of U, V is saved at
PE-219, 220 then return to Menu

After checking offset, if press [Enter], return to
Menu without saving.
- -
172 PC-813
Analog Speed
Cmd Offset
[mV] - Save offset data of analog speed command voltage to
[PE-402].

1 [Enter] Display current analog speed command
2 [Up]
Save displayed value as offset of
analog speed command voltage to
[PE-402]
3 [Enter] Return Menu without offset value saving

After checking offset, if press [Enter], return to
Menu without saving

Applied this parameter when [PE-420] is 1 or 3
-1000 1000

4-42
173 PC-814
Analog Torque
Cmd Offset
[mV] - Save offset of analog torque command voltage to
[PE-407] automatically.

1 [Enter]
Display current analog torque
command voltage.
2 [Up]
Save the displayed value of analog
torque command voltage as
Offset Data to [PE-407]
4 [Enter]
Return menu without saving of
offset value.

if want to check offset value only without saving
the value, press [Enter].

Available, When 2 or 3 of [PE-420] is set
-1000 1000
174 PC-815 Maximum Load
[%] - Display Max load ratio.

1 [Enter] At first 00000 is displayed
2 [Right] Display Max. Load for forward Dir.
3 [Left] Display Max. Load for Reverse. Dir.
4 [Up]
Clear displayed load rate.
(current displayed value is value of before
clear)
5
[Left]
or
[Right]
Check Max. load after clear
-300 300
175 PC-816 Feedback Pulse
[pulse] - Display following position pulse.

Step KEY
1 [Enter] At first 00000 is displayed
2 [Up]
Clear displayed following position
pulse.
3 [Enter] Return to menu.
. Means reversed direction.
9.9.9.9.9.9 999999

4-43
176

177

- -
178
- -

- -
179 *PC-820 All Menu Data Init
- - Initialize all menu data to O/S download value.

1 [Enter] Enter Mode
2 [Up]
Initialized with display of ALL-
CL then return to Menu

This parameter initialize all condition to O/S
download default value, so the parameter which is set
before shipment in needed to set again.
(Caution) Dont set as makers setting menu
- -

Chapter 5

Operation

5.1 Check items before operation
5.1.1 Wiring 5-2
5.1.2 Operating signal (CN1) wiring 5-2
5.1.4 The condition of machine 5-2
5.1.5 Menu variables 5-2
5.2 Operation
5.2.1 Alarm rest 5-3
5.2.2 Alarm history clear 5-3
5.2.3 Menu reset 5-3
5.2.4 Menu lock 5-3
5.2.5 Setting input contact point logic 5-4
5.2.6 Setting output contact point logic 5-5
5.2.7 Setting forced ON/OFF of output contacts logic 5-6
5.2 Adjustment
5.3.1 Adjusting current offset 5-7
5.3.2 Adjusting analog speed voltage offset 5-7
5.3.3 Adjusting analog torque voltage offset 5-8
5.4 Test run
5.4.1 Hand-operated run 5-9
5.4.2 Continuous test run 5-9
5.4.3 Z position run 5-10
5.4.4 Manual position operation 5-10
Chapter 5 Operation
5-2
5.1 Check items before operation
Check the below to avoid the accident and breakage of the product.

5.1.1 Wiring
(1) Check if the proper voltage(AC200[V]) was applied to the power input terminal
(2) Check if the power cables (U,V,W ground) between a drive and a motor are connected correctly
(3) Check if the voltage 24[V] is connected to the control signal properly
(4) Check if the regenerative resistor is proper capacity with good connection
(5) Check if the wiring cable is curved severely or excessive pressure is applied
(6) Check if the status of ground and shield are OK

5.1.2 Operating signal (CN1) wiring
Refer to the below for the status of wiring of operating signal and contact points
Pin
No.
Pin name
Status of
contact points
Pin
No.
Pin name
Status of
contact points
30 SVON OFF 35 STOP OFF
31 CCWLIM ON 32 CWLIM ON
Note) The name of signal can be different depending on the operation mode

Check if there is metal dust or moisture in the wiring part

5.1.4 The conditions of machine
(1) Check if the coupling of servo motor is OK
(2) Check if the connected bolts are loosen or detached
(3) Check if there is obstacle in the driving area

5.1.5 Menu variables
(1) Check the motor ID setting [PE-201]
(2) Check the encoder setting [PE-204]
(3) Check if control gain [PE-301], [PE-302], [PE-307],[PE-309]are set properly

Chapter 5 Operation

5-3
5.2 Operation
5.2.1 Alarm reset
- Contact points alarm reset : If you turn the driving signal (CN1) ALMRST ON, the status of alarm
will be reset and become to normal condition.
- Operation menu rest : If you press [Enter] at alarm rest menu [PC-801], CLEAr will be displayed
and alarm will be reset and become to normal condition
If the alarm still remains even after reset, check the factors and remove the main causes, then try
it again.

5.2.2 Alarm history clear
If you press [Enter] at alarm history menu [PC-802], CLEAr will be displayed and the alarm history
will be cleared
(Note) 20pcs of alarm history is saved in serial from the recent one at [PA-101]to [PA-120]

5.2.3 Menu reset
If you press [Up] after pressing [Enter] at [PC-809], every variables will be changed into the initial
values except the valuables on system [PE-201]~[PE-220]
(Note) You have to apply the power after turning off the power to change the variables into
the initial one

5.2.4 Menu lock
If you press [Enter] at [PC-810], Lock will be displayed. When you try to edit menu data, the
manipulation will be prohibited with Err3 message. To clear it, if you press [Enter] one more time at
[PC-810], the status of Menu Lock will be cleared with unLock message

Chapter 5 Operation
5-4
5.2.5 Setting input contact point logic
You can set the status of input contact point at 0~4 logic setting menu [PE-517], 5~8 logic setting
menu [PE-518].

[PE-517]: Setting input contact points 0~6 logic

[PE-518] Setting input contact points 5~8 logic

The input contact point is displayed as below

No. 0 1 2 3 4 5 6 7 8
Contact
point
SVON ALMRST CCWLIM CWLIM STOP DIR
MODE/
TRQLIM
SPD1 /
EGEAR
1
SPD2 /
EGEAR
2

Select the position of the input contact points by operating [Left] and [Right] key and set 0 or 1 by
pressing [Up] key.

0 : CN1 driving signal is operated through Normal A contact point
1 : CN1 driving signal is operated through Normal B contact point.

Note) If you repeat to turn on/off the power, the fixed input contact points will remain in the same way
as before

4 1 3 2 0

6 8 7 5
Chapter 5 Operation

5-5
5.2.6 Setting output contact point logic
You can set the status of output contact point logic at output contact point 0~2 logic setting menu
[PE-515].
[PE-515] : Setting output contact point 0~2

The output contact point logic is displayed as below.

0 1 2
ALARM READY / BRAKE
It can be selected
at [PE-508]
INSPD / INPOS

Select the position of output contact point by manipulating [Left] & [Right] key and set 0 or 1 by
pressing [Up] key.
0 : CN1 driving signal is operated through Normal A contact point
1 : CN1 driving signal is operated through Normal B contact point

Note) If you repeat to turn on/off the power, the fixed input contact points will remain in the same way
as before

1 2 0
Chapter 5 Operation
5-6
5.2.7 Setting forced ON/OFF of output contacts logic

You can check if the output point of servo is connected to the upper controller properly by using the
function, forced ON/OFF of output contacts logic
If you press [Enter] at forced ON/OFF of output contacts logic setting menu, out1-L will be
displayed. When you select the position of output contact point by manipulating [Left] & [Right] key
and press [Up] key, it will be changed into out1-H and you can alter the logic status of output
points temporarily.

Refer to the below for key function and display of output points.

- The function of [Right], [Left], [Up], [Enter]
KEY Description
[Right] out0 out1 out2 out0 moving into increase direction
[Left] out2 out1 out0 out2 moving into decrease direction
[Up] outx-L outx-changed into H
[Enter]
Return to menu

- Display and the kinds of output points
out0 out1 out2
ALARM READY / BRAKE
It can be selected at
[PE-508]
INSPD / INPOS

The contact points which come under out0, out1, out2 are same as the status of input/output contact
points, A, B, C displayed at [Pd-016]

- [Pd-016] : Displaying the status of input/output

When you select the output contact point by manipulating [Left]& [Right] key and press [Up] key,
the output contact point will be changed like L H

outx-L : The contact point is OFF
outx-H : The contact point is ON

Note) If you turn ON/OFF the power, it will be returned to the initial status which was set at [PE-
515]
A
B
C
Chapter 5 Operation

5-7
5.3 Adjustment
5.3.1 Adjusting current offset
When you adjust the offset of internal current sensor which is installed in servo drive, you are
requested not to adjust the offset value which was set initially. If you have wrong value, the control of
servo will be unstable.
In case of download or S/W upload, you should set offset.

- How to adjust offset
Turn ON the power of servo
SVOFF after continuous operation/stop under SVON or forward/backward operation
for 10 seconds
Turn OFF the power of servo and turn it ON
When you press [Enter] key at [PC-812] and press [Right],[Left] key, the offset of U, V phase
will be displayed.
If you press [Up] key, the offset value will be saved and return to the menu.
Repeat the step ~ (about 5 times)
If you press [Left], the offset value of U phase will be displayed and if you press , [Right] key,
the offset of V phase will be displayed.
In case that there is too much difference among the values after turning ON/OFF the power,
save the tuning vale by pressing [Up] key
If you press [Enter], it will return to the menu screen without saving the tuning value

5.3.2 Adjusting analog speed voltage offset
You can adjust the voltage offset of analog speed command automatically as below.
Apply the voltage which standardizes the zero speed from upper controller
Input 2 at [PE-420] to activate the automatic adjustment function for analog speed command
offset.
When you press [Enter] key at [PC-813], the voltage of the current analog speed command will
be displayed
The current value will be applied to the Offset data of analog speed command voltage
If you press [Up] key, the offset value will be saved at [PE-402] and return to the menu
The current offset voltage will be the standard of zero speed

Chapter 5 Operation
5-8
5.3.3 Adjusting analog torque voltage offset
You can adjust the voltage offset of analog torque as below.
Apply the voltage which standardizes the zero torque from upper controller
Input 2 at [PE-420] to activate the automatic adjustment function for analog torque command
offset.
When you press [Enter] key at [PC-813], the voltage of the current analog torque command will
be displayed
The current value will be applied to the Offset data of analog torque command voltage
If you press [Up] key, the offset value will be saved at [PE-407] and return to the menu
The current offset voltage will be the standard of zero torque.

Note) Please be noted that the voltage offset of analog speed/torque are 0 initially. The adjustment should
be preformed under Servo OFF and do not adjust it during operation
Chapter 5 Operation

5-9
5.4 Test run
5.4.1 Hand operated run

Press [Enter] key at [pc-803]
Then, all alarm history will be cleared and the test run speed will be displayed. If the alarm is
not cleared, try it again after checking the wiring and other factors of the alarm.
When you press[Up] key, the speed of test run has been changed.
The speed which is saved at [PE-602]~[PE-604] will be displayed in serial.
If you press [Left] key, the current speed will be displayed and the motor will be rotated in the
reverse direction
When you press [Right] key, the current speed will be displayed and the motor will be rotated in
forward direction.
If you press [Enter] key, the test run will be terminated and return to the menu screen

5.4.2 Continuous test run

Set the operating speed and time for continuous test run at [PE-612] ~ [PE-619]
Press [Enter] key at [PC-804]
Then, every alarm will be cleared and servo will start to be operated. In case that the alarm is
not cleared, try it again after checking the wiring and other factors of the alarm.
The operation step will be repeated continuously from 0 to 3 and you can set the operation
speed and time at the below menu.
Step Speed Time
0 [PE-612] [PE-616]
1 [PE-613] [PE-617]
2 [PE-614] [PE-618]
3 [PE-615] [PE-619]

Chapter 5 Operation
5-10
5.4.3 Z position run

Set the speed for Z position run at [PE-607]
If you press [Left] key, the motor will be operated in CW direction and if you press [Right] key,
it will be operated in CCW direction
If you press [Enter] key, it will return to menu.
This function is useful to assemble the position of Z phase.

5.4.4 Manual position operation

Set the manual position operation speed at [PE-608] and set the no. of rotation at [PE-717]
Press [Left]-CW, [Right]-CCW to set the rotating direction
If you press [Up] key, the motor will star to be operated. If you press [Up] key during rotation,
it will be paused. The no. of rotation will be displayed.
If you press [Enter] key, it will return to menu after the motor stops
When CCWLIMIT, CWLIMIT contacts is OFF at start time, this is not operated. Not applied CCWLIMIT, CWLIMIT contact
for operating time.
The function is useful to convert the operation distance into the no. of rotation when you
assemble the equipment

Chapter 6

Product Specification

6.1 Servo Motor
6.1.1 Features 6-2
6.2 Servo Drive
6.1.1 Features 6-19
6.3 Option and peripherals 6-21

6-2
6.1 Servo Motor
6.1.1 Product Features
Servo Motor Model (APM-) SAR3A SAR5A SA01A SB01A SB02A SB04A
Applicable drive (APD-) VN01 VN02 VN04
Rated Output [kW] 0.03 0.05 0.1 0.1 0.2 0.4
Rated Torque
[Nm] 0.095 0.159 0.318 0.318 0.637 1.274
[kgfcm] 0.97 1.62 3.25 3.25 6.50 13.0
Maximum Instantaneous
Torque
[Nm] 0.286 0.477 0.955 0.955 1.912 3.822
[kgfcm] 2.92 4.87 9.74 9.74 19.5 39.0
Rated rpm [r/min] 3,000
Maximum rpm [r/min] 5,000
Inertia
[kgm
2
x10
-4
] 0.011 0.021 0.045 0.114 0.182 0.321
[gfcms
2
] 0.0112 0.0214 0.0459 0.116 0.186 0.327
Allowable load inertia ratio 30 times of motor inertia 20 times of motor inertia
Rated power rate [kW/s] 5.57 10.52 23.80 8.92 22.26 50.65
Speed/Position
Detector
Standard Incremental 2,048[P/R] Incremental 2,500[P/R]
Option Serial Inc. 17 ~ 21[bit]
Specification
& Features
Structure Totally enclosedNon ventilated IP55(Excluding the shaft-through section and connectors)
Rated time Continuous
Ambient temp 0~+40[C]
Ambient humidity 20~80[%](Avoid freezing)
Atmosphere Avoid direct sunlight, no corrosive gas, inflammable gas, oil mist, or dust
E/V Elevation/Vibration 49[m/s
2
](5G)
Weight [kg] 0.3 0.4 0.52 0.84 1.11 1.63

Speed-Torque characteristics

APM-SAR3A
Peak range
Continuous
rpm(r/min)
Torque
(Nm) 1.4
5000 2000 3000 4000 1000
3.5
2.8
0
2.1
0.07
APM-SAR5A
rpm(r/min)
1000 2000 3000 4000 5000
0
Torque
(Nm)
0.5
0.4
0.3
0.2
0.1
Peak range
Continuous
APM-SA01A
rpm(r/min)
5000 4000 3000 2000 1000
0
0.2
0.4
0.6
0.8
1.0
Torque
(Nm)
Peak range
Continuous
APM-SB01A
rpm(r/min)
1000 2000 3000 4000 5000 0
0.2
0.4
0.6
0.8
1.0
Torque
(Nm)
Continuous
Peak range
APM-SB02A
1000 2000 3000 4000 5000 0
2.0
1.6
1.2
0.8
0.4
Torque
(Nm)
rpm(r/min)
Continuous
Peak range
APM-SB04A
2000 3000 4000 5000 1000 0
0.8
1.6
2.4
3.2
4.0
rpm(r/min)
Torque
(Nm)
Continuous
Peak range

6-3
Product Features
Servo Motor Model (APM-)
SBN01A SBN02A SBN04A SBN04A-BK
SC04A SC06A
Applicable drive (APD-) VN01 VN02 VN04
Rated Output [kW] 0.1 0.2 0.4 0.4 0.4 0.6
Rated Torque
[Nm] 0.318 0.637 1.273 1.273 1.27 1.91
[kgfcm] 3.25 6.49 12.99 12.99 13.0 19.5
Torque
[Nm] 0.955 1.910 3.82 3.82 3.82 5.34
[kgfcm] 9.74 19.48 38.96 38.96 39.0 54.5
Inertia
[kgm
2
x10
-4
] 0.014 0.182 0.322 0.254 0.674 1.092
[gfcms
2
] 0.116 0.186 0.328 0.259 0.687 1.114
Speed/Position
Detector
Standard Incremental 5[V] Line Drive 3,000[P/R] 2,500[P/R]
Specification
& Features
2
](5G)
Weight [kg] 0.84 1.11 1.63 1.63 1.85 2.49


APM-SBN01A
rpm(r/min)
5000 2000 3000 4000 1000
1.0
0.4
0.8
0
0.6
Torque
(Nm)
Peak range
Continuous
0.2
APM-SBN02A
rpm(r/min)
1000 2000 3000 4000 5000
0
Torque
(Nm)
2.0
1.6
1.2
0.8
0.4
Peak range
Coninuous
APM-SBN04A
rpm(r/min)
1000 2000 3000 4000 5000 0
1.0
2.0
3.0
4.0
5.0
Torque
(Nm)
Continuous
Peak range
APM-SBN04A-BK
rpm(r/min)
1000 2000 3000 4000 5000 0
5.0
4.0
3.0
2.0
1.0
Torque
(Nm)
Continuous
Peak range
APM-SC04A
4.0
0.8
1.6
3.2
rpm(r/min)
5000 2000 3000 4000 1000
0
2.4
Torque
(Nm)
Peak range
Continuous
APM-SC06A
rpm(r/min)
1000 2000 3000 4000 5000
0
Torque
(Nm)
6.0
4.8
3.6
2.4
1.2
Peak range
Continuous

6-4
Product Features
Servo Motor Model (APM-) SC08A SC10A SC03D SC05D SC06D SC07D
Applicable drive (APD-) VN07 VN10 VN04 VN07
Rated Output [kW] 0.8 1.0 0.3 0.45 0.55 0.65
Rated Torque
[Nm] 2.55 3.19 1.43 2.15 2.63 3.09
[kgfcm] 26.0 32.5 14.6 21.9 26.8 31.6
Maximum
Instantaneous
Torque
[Nm] 6.88 9.56 4.29 6.44 7.88 9.29
[kgfcm] 70.2 97.5 43.8 65.7 80.4 94.8
Rated rpm [r/min] 3,000 2,000
Maximum rpm [r/min] 5,000 3,000
Inertia
[kgm
2
x10
-4
] 1.509 1.927 0.674 1.092 1.509 1.927
[gfcms
2
] 1.539 1.966 0.687 1.114 1.539 1.966
Allowable load inertia ratio 15 times of motor inertia
Rated power
rate
[kW/s] 43.02 52.65 30.36 42.19 43.68 47.90
Speed/Position
Detector
Standard Incremental 5[V] Line Drive 2,500[P/R] 2,500[P/R]
Specification
& Features
2
](5G)
Weight [kg] 3.15 3.80 1.85 2.49 3.15 3.80


APM-SC08A
5000 4000 3000 2000 1000
rpm(r/min)
0
1.5
3.0
4.5
6.0
7.5
Torque
(Nm)
Peak range
Continuous
APM-SC10A
Peak range
rpm(r/min)
1000 2000 3000 4000 5000
0
2.0
4.0
6.0
8.0
10.0
Torque
(Nm)
Continuous
APM-SC03D
1000 2000 3000
0
5.0
4.0
3.0
2.0
1.0
Torque
(Nm)
rpm(r/min)
Peak range
Continuous
APM-SC05D
2000 3000 1000
0
1.4
2.8
4.2
5.6
7.0
rpm(r/min)
Torque
(Nm)
Peak range
Continuous
APM-SC06D
2000 3000 1000
rpm(r/min)
8.5
1.7
3.4
6.8
0
5.1
Torque
(Nm)
Continuous
Peak range
APM-SC07D
rpm(r/min)
1000 2000 3000
0
Torque
(Nm)
10.0
8.0
6.0
4.0
2.0
Continuous
Peak range

6-5
Product Features
Servo Motor Model (APM-) SE09A SE15A SE22A SE30A SE06D SE11D
Applicable drive (APD-) VN10 VN15 VN20 VN35 VN07 VN10
Rated Output [kW] 0.9 1.5 2.2 3.0 0.6 1.1
Rated Torque
[Nm] 2.86 4.77 7.0 9.55 2.86 5.25
[kgfcm] 29.2 48.7 71.4 97.4 29.2 53.6
Maximum
Instantaneous
Torque
[Nm] 8.59 14.32 21.01 28.65 8.59 15.75
[kgfcm] 87.7 146.1 214.3 292.2 87.7 160.7
Inertia
[kgm
2
x10
-4
] 6.659 11.999 17.339 22.679 6.659 11.999
[gfcms
2
] 6.792 12.238 17.685 23.132 6.792 12.238
Rated power
rate
[kW/s] 12.31 18.98 28.25 40.17 12.31 22.97
Speed/Position
Detector
Standard Incremental 5[V] Line Drive 3,000[P/R]
Specification
& Features
2
](5G)
Weight [kg] 5.6 7.2 8.7 10.2 5.6 7.2


APM-SE09A
rpm(r/min)
5000 4000 3000 2000 1000
0
2.0
4.0
6.0
8.0
10.0
Torque
(Nm)
Continuous
Peak range
APM-SE15A
rpm(r/min)
1000 2000 3000 4000 5000
0
3.0
6.0
9.0
12.0
15.0
Torque
(Nm)
Continuous
Peak range
APM-SE22A
1000 2000 3000
0
25.0
20.0
15.0
10.0
5.0
Torque
(Nm)
rpm(r/min)
4000 5000
Continuous
Peak range
APM-SE30A
rpm(r/min)
2000 3000 1000
0
6.0
12.0
18.0
24.0
30.0
Torque
(Nm)
4000 5000
Continuous
Peak range
APM-SE06D
2000 3000 1000
rpm(r/min)
10.0
2.0
4.0
8.0
0
6.0
Torque
(Nm)
Peak range
Continuous
APM-SE11D
1000 2000 3000
0
rpm(r/min)
Torque
(Nm)
17.5
14.0
10.5
7.0
3.5
Peak range
Continuous

6-6
Product Features
Servo Motor Model (APM-) SE16D SE22D SE03M SE06M SE09M SE12M
Rated Output [kW] 1.6 2.2 0.3 0.6 0.9 1.2
Rated Torque
[Nm] 7.63 10.5 2.86 5.72 8.59 11.46
[kgfcm] 77.9 107.1 29.2 58.4 87.7 116.9
Torque
[Nm] 22.92 31.51 8.59 17.18 25.77 34.22
[kgfcm] 233.8 321.4 87.7 175.3 262.9 349.1
Inertia
[kgm
2
x10
-4
] 17.339 22.679 6.659 11.999 17.339 22.679
[gfcms
2
] 17.685 23.132 6.792 12.238 17.685 23.132
Speed/Position
Detector
Specification
& Features
2
](5G)
Weight [kg] 8.7 10.2 5.6 7.2 8.7 10.2

Speed-Torque characteris

APM-SE16D
rpm(r/min)
3000 2000 1000
0
5.0
10.0
15.0
20.0
25.0
Torque
(Nm)
Peak range
Continuous
APM-SE22D
rpm(r/min)
1000 2000 3000
0
7.0
14.0
21.0
28.0
35.0
Torque
(Nm)
Peak range
Continuous
APM-SE03M
500 1000 1500
0
10.0
8.0
6.0
4.0
2.0
Torque
(Nm)
rpm(r/min)
2000
Peak range
Continuous
APM-SE09M
1000 2000 500
rpm(r/min)
30.0
6.0
12.0
24.0
0
18.0
Torque
(Nm)
Peak range
Continuous
1500
APM-SE12M
rpm(r/min)
500 1500 2000
0
Torque
(Nm)
35.0
28.0
21.0
14.0
7.0
Continuous
1000
APM-SE06M
7.0
1000 1500 500
0
3.5
10.5
14.0
17.5
rpm(r/min)
Torque
(Nm)
2000
Peak range
Continuous

6-7
Product Features
Servo Motor Model (APM-) SF30A SF22D SF35D SF12M SF20M SF30M
Rated Output [kW] 3.0 2.2 3.5 1.2 2.0 3.0
Rated Torque
[Nm] 9.55 10.5 16.7 11.46 19.09 28.64
[kgfcm] 97.4 107.1 170.4 116.9 194.8 292.2
Torque
[Nm] 28.64 31.5 50.12 34.38 57.29 85.94
[kgfcm] 292.2 321.3 511.3 350.7 584.4 876.6
Rated rpm [r/min] 3,000 2,000 1000
Maximum rpm [r/min] 5,000 3,000 2000
Inertia
[kgm
2
x10
-4
] 30.74 30.74 52.13 30.74 52.13 83.60
[gfcms
2
] 31.35 31.35 53.16 31.35 53.16 85.24
Speed/Position
Detector
Specification
& Features
2
](5G)
Weight [kg] 12.4 12.4 17.7 12.4 17.7 26.3


APM-SF22D
1000 2000
0
35.0
28.0
21.0
14.0
7.0
Torque
(Nm)
rpm(r/min)
3000
Peak range
Continuous
APM-SF35D
2000 1000
0
10.5
21.0
31.5
42.0
52.5
rpm(r/min)
Torque
(Nm)
3000
Peak range
Continuous
APM-SF30A
5000 3000 1000
rpm(r/min)
0
6.0
12.0
18.0
24.0
30.0
Torque
(Nm)
Peak range
Continuous
2000 4000
APM-SF12M
2000 500
rpm(r/min)
0
7.0
14.0
21.0
28.0
35.0
Torque
(Nm)
Peak range
Continuous
1500 1000
APM-SF20M
rpm(r/min)
500 1000 1500 2000
0
12.0
24.0
36.0
48.0
60.0
Torque
(Nm)
Peak range
Continuous
APM-SF30M
500 1500
0
90.0
72.0
54.0
36.0
18.0
Torque
(Nm)
rpm(r/min)
2000
Peak range
Continuous
1000

6-8
Product Features
Servo Motor Model (APM-) SE05G SE09G SE13G SE17G SF20G SF30G
Applicable drive (APD-) VN07 VN10 VN15 VN20 VN30
Rated Output [kW] 0.45 0.85 1.3 1.7 1.8 2.9
Rated Torque
[Nm] 2.86 5.41 8.27 10.82 11.45 18.46
[kgfcm] 29.22 55.19 84.41 110.38 116.88 188.3
Torque
[Nm] 8.59 16.23 24.82 32.46 34.37 55.38
[kgfcm] 87.66 165.57 253.23 331.14 350.6 564.9
Inertia
[kgm
2
x10
-4
] 6.659 11.999 17.339 22.679 30.74 52.13
[gfcms
2
] 6.792 12.238 17.685 23.132 31.35 53.16
Speed/Position
Detector
Specification
& Features
2
](5G)
Weight [kg] 5.6 7.2 8.7 10.2 12.4 17.7


APM-SF20G
rpm(r/min)
1000 2000 3000
0
7.0
14.0
21.0
28.0
35.0
Torque
(Nm)
Peak range
Continuous
APM-SE05G
3000 1000
rpm(r/min)
10.0
2.0
4.0
8.0
0
6.0
Torque
(Nm)
Peak range
Continuous
2000
APM-SE17G
3000
rpm(r/min)
0
7.0
14.0
21.0
28.0
35.0
Torque
(Nm)
Peak range
Continuous
2000 1000
APM-SF30G
2000
0
60.0
48.0
36.0
24.0
12.0
Torque
(Nm)
rpm(r/min)
3000
Peak range
Continuous
1000
APM-SE09G
2000 3000
0
rpm(r/min)
Torque
(Nm)
20.0
16.0
12.0
8.0
4.0
1000
Peak range
Continuous
APM-SE13G
3000 2000 1000
25.0
Torque
(Nm)
20.0
15.0
10.0
0
rpm(r/min)
Peak range
5.0
Continuous

6-9
Product Features
Servo Motor Model (APM-) SG22D SG35D SG20G SG30G SG12M SG20M
Rated Output [kW] 2.2 3.5 1.8 2.9 1.2 2.0
Rated Torque
[Nm] 10.5 16.7 11.5 18.5 11.5 19.1
[kgfcm] 107.2 170.5 116.9 188.4 116.9 194.9
Torque
[Nm] 31.5 50.1 34.4 55.4 34.4 57.3
[kgfcm] 321.5 511.5 350.8 565.1 350.8 584.6
Rated rpm [r/min] 2,000 1,500 1000
Maximum rpm [r/min] 3000 3,000 2000
Inertia
[kgm
2
x10
-4
] 51.42 80.35 51.42 80.35 51.42 80.35
[gfcms
2
] 52.47 81.99 52.47 81.99 52.47 81.99
Speed/Position
Detector
Specification
& Features
2
](5G)
Weight [kg] 17.44 23.12 17.44 23.12 17.44 23.12


APM-SG20M
0
12.0
24.0
36.0
48.0
60.0
Torque
(Nm)
Peak range
Continuous
1000 500 2000 1500
rpm(r/min)
APM-SG35D
2000 3000 0
rpm(r/min)
Torque
(Nm)
52.5
42.0
31.5
21.0
10.5
1000
Peak range
Continuous
APM-SG30G
2000
0
12.0
24.0
36.0
48.0
60.0
rpm(r/min)
Torque
(Nm)
3000
Peak range
Continuous
1000
APM-SG22D
3000 1000
rpm(r/min)
35.0
7.0
14.0
28.0
0
21.0
Torque
(Nm)
Peak range
Continuous
2000
APM-SG20G
2000 0
35.0
28.0
21.0
14.0
7.0
Torque
(Nm)
rpm(r/min)
3000
Peak range
Continuous
1000
APM-SG12M
rpm(r/min)
0
7.0
14.0
21.0
28.0
35.0
Torque
(Nm)
Peak range
Continuous
1000 500 2000 1500

6-10
Product Features
Servo Motor Model (APM-) SG30M HB01A HB02A HB04A HE09A HE15A
Rated Output [kW] 3.0 0.1 0.2 0.4 0.9 1.5
Rated Torque
[Nm] 28.6 0.318 0.637 1.274 2.86 4.77
[kgfcm] 292.3 3.25 6.50 13.0 29.2 48.7
Torque
[Nm] 85.9 0.955 1.912 3.822 8.59 14.32
[kgfcm] 876.9 9.74 19.5 39.0 87.7 146.1
Rated rpm [r/min] 1000 3000
Maximum rpm [r/min] 2000 5000
Inertia
[kgm
2
x10
-4
] 132.41 0.269 0.333 0.461 19.558 22.268
[gfcms
2
] 135.11 0.274 0.339 0.470 19.943 22.707
Allowable load inertia ratio 5 20 times of motor inertia 10 times of motor inertia
Speed/Position
Detector
Standard Incremental 5V Line Driver 1,024P/R 2,048 P/R
Specification
& Features
2
](5G)
Weight [kg] 31.82 0.89 1.16 1.69 5.82 7.43


APM-HB01A
5000 2000 3000 4000 1000
rpm(r/min)
1.0
0.2
0.4
0.8
0
0.6
Torque
(Nm)
Peak range
Continuous
APM-HB02A
1000 2000 3000 4000 5000 0
rpm(r/min)
Torque
(Nm)
2.0
1.6
1.2
0.8
0.4
Peak range
Continuous
APM-HB04A
5000 4000 3000 2000 1000
rpm(r/min)
0
0.8
1.6
2.4
3.2
4.0
Torque
(Nm)
Peak range
Continuous
APM-HE09A
rpm(r/min)
1000 2000 3000 4000 5000 0
2.0
4.0
6.0
8.0
10.0
Torque
(Nm)
Continuous
Peak range
APM-HE15A
1000 2000 3000 4000 5000 0
15.0
12.0
9.0
6.0
3.0
Torque
(Nm)
rpm(r/min)
Continuous
Peak range
APM-SG30M
0
90.0
72.0
54.0
36.0
18.0
Torque
(Nm)
Peak range
Continuous
1000 500 2000 1500
rpm(r/min)

6-11
Electronic Brakes Specification

Brake Type Servo Motor

Applicable Motor
Series
APM-SA APM-SB APM-SC APM-SE APM-SF APM-SG
Use Maintenance Maintenance Maintenance Maintenance Maintenance Maintenance
Power Supply [V] DC 24V DC 24V DC 24V DC 24V DC 24V DC 90V
Rated Friction
Torque [Nm]
0.32 1.47 3.23 9.2 40.2 74
Capacity [W] 6 6.5 9 7 33 25
Coil Resistance [] 96 89 64 1150 245 327
Rated Current [A] 0.25 0.27 0.38 0.08 0.37 0.28
Braking type Spring brake Spring brake Spring brake Spring brake Spring brake Spring brake
Insulation Class F - class F - class F - class F - class F - class F - class

Note) 1. For the Electronic Brake that is attached to our Servo Motor, the same specifications are to be
applied as per the series.
2. Never use it for braking purpose because the electronic brake is only for maintenance of
stopped condition.
3. The characteristic of electronic brake is measured at 20C.

6-12
6.1.2 External Dimensions6
Standard type : APM-SAR3A, APM-SAR5A, APM-SA01A

Model
External dimensions
Weight(kg)
L LM LC CB
SAR3A 104.5 79.5 44 52 0.3
SAR5A 111.5 86.5 51 59 0.4
SA01A 128.5 103.5 68 76 0.52
Note1) 40Flanges standard axis is straight.

Brake-attached type : APM-SAR3A, APM-SAR5A, APM-SA01A

Model
External dimensions
Weight(kg)
L LM LC CB
SAR3A 133.5 108.5 44 81 0.65
SAR5A 140.5 115.5 51 88 0.75
SA01A 157.5 132.5 68 105 0.87
Note1) 40Flanges standard axis is straight.
Note2) Use DC 24[V] for brake input power supply

6-13
Standard type : APM-SB01A, APM-SB02A, APM-SB04A

Model
External dimensions
Weight(kg)
L LM LC CB
SB01A 120.5 90.5 52.5 60.5 0.84
SB02A 134.5 104.5 66.5 74.5 1.11
SB04A 162.5 132.5 94.5 102.5 1.64

Brake-attached type : APM-SB01A, APM-SB02A, APM-SB04A

Model
External dimensions
Weight(kg)
L LM LC CB
SB01A 160.5 130.5 52.5 100.5 1.21
SB02A 174.5 144.5 66.5 114.5 1.49
SB04A 202.5 172.5 94.5 142.5 2.05
Note) Use DC 24[V] for brake input power supply.

6-14
Standard type : APM-SC04A,SC03D, APM-SC06A,SC05D, SC08A,SC06D, SC10A,SC07D

Model
External dimensions
Weight(kg)
L LM LC CB S
SC04A,SC03D 158 118 79 86.5 14 1.85
SC06A,SC05D 178 138 99 106.5 16 2.49
SC08A,SC06D 198 158 119 126.5 16 3.15
SC10A,SC07D 218 178 139 146.5 16 3.80
Brake-attached type : APM-SC04A,SC03D,SC06A,SC05D,SC08A,SC06D,SC10A,SC07D

Model
External dimensions
Weight(kg)
L LM LC CB S
SC04A,SC03D 191 151 79 119.5 14 2.45
SC06A,SC05D 211 171 99 139.5 16 3.09
SC08A,SC06D 231 191 119 159.5 16 3.75
SC10A,SC07D 251 211 139 179.5 16 4.40

6-15
Standard type : APM-SE09A,SE06D,SE05G,SE03M, APM-SE15A,SE11D,SE09G,SE06M
APM-SE22A,SE16D,SE13G,SE09M, APM-SE30A,SE22D,SE17G,SE12M

Model
External dimensions Key dimensions
Weight(kg)
L LM LC S T W U
SE09A,SE06D,SE05G,SE03M 202 144 94 19 5 5 3 5.6
SE15A,SE11D,SE09G,SE06M 226 168 118 19 5 5 3 7.2
SE22A,SE16D,SE13G,SE09M 250 192 142 22 6 6 3.5 8.7
SE30A,SE22D,SE17G,SE12M 274 216 166 22 6 6 3.5 10.2

Brake-attached type : APM-SE09A,SE06D,SE05G,SE03M, APM-SE15A,SE11D,SE09G,SE06M
APM-SE22A,SE16D,SE13G,SE09M, APM-SE30A,SE22D,SE17G,SE12M

Model
External dimensions Key dimensions
Weight(kg)
L LM LC S T W U
SE09A,SE06D,SE05G,SE03M 237 179 94 19 5 5 3 7.4
SE15A,SE11D,SE09G,SE06M 261 203 118 19 5 5 3 9.0
SE22A,SE16D,SE13G,SE09M 285 227 142 22 6 6 3.5 10.5
SE30A,SE22D,SE17G,SE12M 309 251 166 22 6 6 3.5 12.0
Note) Use DC 24 [V] for brake input power supply.

6-16
Standard type : APM-SF30A,SF22D,SF20G,SF12M, APM-SF50A,SF35D,SF30G,SF20M
APM-SF55D,SF44G,SF30M, APM-SF75D,SF60G,SF44M

Model
External dimensions
Weight(kg)
L LM LC
SF30A,SF22D,SF20G,SF12M 261.8 182.8 132.8 12.4
SF50A,SF35D,SF30G,SF20M 294.8 215.8 165.8 17.7
SF55D,SF44G,SF30M 344.8 265.8 215.8 26.3
SF75D,SF60G,SF44M 404.8 325.8 275.8 35.6
Brake-attached type : APM-SF30A,SF22D,SF20G,SF12M, APM-SF50A,SF35D,SF30G,SF20M
APM-SF55D,SF44G,SF30M, APM-SF75D,SF60G,SF44M

Model
External dimensions
Weight(kg)
L LM LC
SF30A,SF22D,SF20G,SF12M 311.8 232.8 132.8 17.6
SF50A,SF35D,SF30G,SF20M 344.8 265.8 165.8 24.9
SF55D,SF44G,SF30M 394.8 315.8 215.8 33.5
SF75D,SF60G,SF44M 454.8 375.8 275.8 42.8
Note) Use DC 24[V] for brake input power supply, Eyebolt is used at over SF55D, SF44G, SF30M type

6-17
Standard type :APM-SG22D,SG20G,SG12M, APM-SG35D,SG30G,SG20M
APM-SG55D,SG44G,SG30M, APM-SG75D,SG60G,SG44M

Model
External dimensions
Weight(kg)
L LM LC
SG22D,SG20G,SG12M 237 172 122 14.2
SG35D,SG30G,SG20M 257 192 142 19.88
SG55D,SG44G,SG30M 293 228 178 28.56
SG75D,SG60G,SG44M 321 256 206 37.28
Brake-attached type : APM-SG22D,SG20G,SG12M, APM-SG35D,SG30G,SG20M
APM-SG55D,SG44G,SG30M, APM-SG75D,SG60G,SG44M

Model
External dimensions
Weight(kg)
L LM LC
SG22D,SG20G,SG12M 304 239 122 22.2
SG35D,SG30G,SG20M 324 259 142 27.88
SG55D,SG44G,SG30M 360 295 178 36.56
SG75D,SG60G,SG44M 388 323 206 45.28

6-18
APM-HB01A(Hollow shaft type), APM-HB02A(Hollow shaft type), APM-HB04A(Hollow shaft type)

Model
External dimensions
Weight(Kg)
L LM LC CB Hollow shaft type
HB01A 140.5 98.5 63.5 25 15 0.89
HB02A 154.5 112.5 77.5 39 15 1.16
HB04A 182.5 140.5 105.5 67 15 1.69

APM-HE09A(Hollow shaft type), APM-HE15A(Hollow shaft type)

Model
External dimensions
Weight(Kg)
L LM LC Hollow shaft type
HE09A 207 150 111.5 50 5.82
HE15A 231 174 135.5 50 7.43

6-19
6.2 Servo Drive
6.2.1 Features
Model
Item
VN01 VN02 VN04 VN07 VN10 VN15 VN20 VN35
Input voltage 3 AC 200~230[V]+10[%]-15[%], 50/60[Hz]
Applicab
le Motor
Voltage type 3 Phase sine wave PWM-driven AC Servo motor
Rated
current
1.4 1.65 3.0 4.3 6.4 11 16 21
Max.current 4.2 4.95 9.0 12.9 19.2 33 48 63
Detector system
Standard : Incremental line driver 2000~10000 [P/R]
Serial Inc. 17 ~ 21[bit]
Speed
Control
mode
Speed control
range
Max 1 : 5,000
Frequency
response
Max 400[Hz], Serial : 600Hz
Speed
command
DC 10[V] ~ +10[V](Reverse rotation in case of minus voltage), digital command
3 speeds
Accleleration/
Deceleration time
Linear or S shape acceleration/deceleration (0~100,000[ms],
Setting 1[ms] unit is possible
Speed
variation ratio
0.01[%]or less [at Load variation 0~100%] , 0.1[%]or less[Temp.2510]
Position
Control
Mode
Input
frequency
Line Drive : 500[kpps]
Open Collector : 400[kpps]
Input pulse
type
A+B phase, forward and reverse pulse, direction + pulse[Line driver, Open
collector]
Electrical
gear ratio
Setting and selecting 4 digital electronic gear ratio. Precise adjustment is possible.
Torque
Control
Mode
Torque
command
input
DC 10[V] ~ +10[V][-Reverse rotation in case of minus voltage]
Torque
Linearity
2[%] or less
Limit speed
command
DC 0[V] ~ +10[V], digital command 3 speeds.
Built
In
Function
Generated
braking
Standard built in [Operating at servo alarm of servo OFF]
Regenerate
d braking
Option
Standard -
Attached
Provide standard resistor
Display Built in 7-Segments[6Digits], CHARGE & ALARM Lamp
Monitor
output
DC 5[V] ~ +5[V], 2 channels [speed, torque, position, etc]
Protective
functions
Overcurrent, overload, over current limit over, heated power module, overvoltage,
voltage shortage, overspeed, wrong wiring, encoder problem, position following
problem, UV current sensor problem, motor output problem.
Ambient
Erviron-
ment
Temp. 0 ~ 50[]
Humidity 90[%] or less (avoid condensation)
Atmosphere Indoors, no corrosive gas, inflammable gas and fluid, oil mist, or dust

6-20
6.2.2 External Dimensions
APD-VN01~02N

APD-VN04N

Weight:0.8[kg]
Weight:1.0[kg]

6-21
6.3 Option and Peripherals
Options(Cable)
Classification Product name Model(Note1)
Applicable
motor
Specification
For
Signal
Encoder
Cable
APC-EAS
All Models of
APM-SA
APM-SB
APM-SC
APM-HB
Series

1. Motor side connector
2. CAP (15 Position) : 172163-1(Made by AMP)
1) SOCKET : 170361-1(Made by AMP)
3. Drive side connector(CN2)
1) CASE : 10320-52A0-008(Made by 3M)
2) CONNECTOR : 10120-3000VE(Made by 3M)
4. Cable : 7Px0.2SQ(AWG24)

For
Signal
Encoder
Cable
APC-EBS
All Models of
APM-SE
APM-SF
APM-SG
APM-HE
SERIES

1. Motor side connector(MS:Military Standard)
1) PLUG : MS3108B(MS3106B) 20-29S
2. Drive side connector(CN2)
1) CASE : 10320-52A0-008(Made by 3M)
3. Cable : 7Px0.2SQ(AWG24)

Note 1) of Model No. indicates the kind and length of cable, and the declaration is as below.
Cable Length(m) 3 5 10 20
Robotic Cable F03 F05 F10 F20
General Cable N03 N05 N10 N20
Motor side connector Drive side connector(CN2)
Motor side connector Drive side connector(CN2)

6-22
Options(Cable)
Applicable
motor
Specification
For
Power
supply
Standard
Power Cable
APC-PCS
All models of
APM-SA
APM-SB
APM-HB
Series

APM-SC04A
APM-SC06A
APM-SC03D
APM-SC05D
APM-SC06D
APM-SC07D

1) CAP (4 Position) : 172159-1(Made by AMP)
2. Drive side connector(U,V,W,FG)
1) PIN : UA-F1512(Made by Suh-il Electronic)
2) Compressor : UA-510A(Made by Suh-il)
3. Cable : 4Cx0.75SQ(AWG18)
(For APM-SAR3A,SAR5A,SA01A, 0.5SQ is used.)
For
Power
supply
Brake type
Power Cable
APC-PKB
All models of
APM-SA
APM-SB
APM-SC
SERIES

1) CAP (6 Position) : 172157-1(Made by AMP)
2. For power supply of Brake
1) Connection terminal : 1.25x3(KET GP110012)
2) Cable : 2Cx0.75SQ(AWG18)

Note 1) of Model No. indicates the kinds and length of cable, and declaration is as below.

Motor side connector Drive side connection

6-23
Options(Cable)
Applicable
motor
Specification
For
Power
supply
Brake type
Power Cable
APC-
PMB
All Models of
APM-SE
SERIES

1. Motor side connector(MS : Military Standard)
1) PLUG : MS3108B(MS3106B)20-15S
2. Drive side connection(U,V,W,FG)
3. Brake power connection side(+,-)
Note) Apply UA-F1512 Pin for the drive connection side
of APM-SE03M Series cable.

Note 1) of Model No. indicates the kinds and length of cable, and declaration is as below.
Brake Power
Connection side

6-24
Options(Connector)
Classification Product name Model(Note1) Applicable drive Specification
For
Signal
CN1 Cable
APC-
CN1VNA
All Models of
APD-VN
SERIES

1. Drive side connection(CN1)
1) CASE : 10336-52A0-008(Made by 3M)
3) CABLE : ROW-SB0.1Cx36C(AWG 28)

Note) Model No. indicates the Cable length, and declaration is as below.
Declaration 01 02 03 05

[Upper Controller] [Drive connection side CN1]
Indicates Pin No.

6-25
Options(Connector)
Classification Product name Model(Note1) Applicable drive Specification
CN
CN1
Connector
APC-CN1NNA
All Models of
APD-VN
SERIES

1) CASE : 10336-52A0-008(Made by 3M)
CN
CN2
Connector
APC-CN2NNA
All Models of
APD-VN
SERIES

1) CASE : 10320-52A0-008(Made by 3M)

1

6-26
Options(I/O JIG)
Classification Product name Model(Note1) Specification
I/O
JIG
Standard
type
I/O JIG
APC-VSIONA

1. Input Power supply : Single Phase AC220[V]
2. I/O function of standard type(APD-VN) Servo Drive
3. Cable length can be adjusted.

Note1) of Model No. indicates the cable length, and declaration is as below.
Declaration 01 02 03 05

Chapter7

Maintenance and Inspection

7.1.1 Caution 7-2
7.1.2 Inspection Items 7-3
7.1.3 Period of Replacing Parts 7-4
7.2.1 Servo Motor 7-5
7.2.2 Servo Drive 7-6

Chapter 7 Maintenance and Inspection
7-2
In the chapter, maintenance and inspection of servo motor and drive are explained.

7.1.1 Caution
When checking motor voltage: As the voltage applied to the motor from the servo amplifier is PWM
controlled, wave form of pulse phase is displayed. There may be significant difference in indicator
value depending on types of meters, so be sure to check with rectification voltmeter
for more detail inspection.
When checking motor current: The pulse wave form is smoothed to sine wave to a certain degree
by the motor reactance. Connect and use a moving-iron type ampere meter.
When checking power: Use an electrodynamics type 3-phase watt-meter
Other devices: When using oscilloscope or digital volt meter, please make sure that they should
not be contacted to the ground. For input current, please use
1[mA] or less of current.


7-3
7.1.2 Inspection Items

Charged voltage may remain in the smoothing condenser creating an
element of danger when inspecting drive. Turn off power and wait for
approximately 10 minutes before starting inspection.

Inspection of servo motor
Inspection
items
Inspection
period
Method Remark
Vibration
And noise
Every month
With the sense of touch and the
sense of hearing.
It should not be big (serious)
compared to the normal
condition.
External
appearance
According to
Contamination
And damage
Clean it up with fabric or air -
Insulation
Resistor
Once a year At least
Disconnect with drive, and measure
resistor with 500V mugger tester.
Normal is more than 10[].<Note1>
If resistance is less than 10[],
inquire to service department
Change
Oil seal
Once in 5,000
Hours at least
Detach from machine, and replace
it.
Only for the motor which contains
oil seal
Overall
inspection
Once in 20,000
Hours or 5 years
At least
Inquire to our service department
Customer is required not to
disassemble the Servo motor and
clean it by themselves.
(Note 1) Measure Between one of U, V, W and FG

Followings are for maintaining Servo drive.
The Servo drive need not to be checked and maintained on a daily basis as it uses highly reliable parts,
But check it at least once in a year.

Inspection
item
Period Check for Solution
Main body and circuit
board
Once a year at
least
Dust, Oil Clean up with air or cloths.
Terminal screws for
looseness
Once a year at
least
Screws for connection terminal and
connector are securely tightened
Tighten it
Parts for defects on main
body and circuit board
Once a year at
least
Discoloration caused by heat,
damage or disconnection
Inquire to our service
department
CAUTION
7-4

7.1.3 Period of Replacing Parts

The following parts undergo aging process as time passes due to mechanical friction or the characteristics of
the material used, leading to the deterioration of equipment performance or breakdown. Check the parts
Periodically and replace them, of necessary.
Smoothing
The characteristics become aged due to the effects of ripple current
The operating life of the condenser varies significantly depending on ambient temperature and operating
conditions. When used continuously in normal environment, its standard life span is 10 years. The condenser
becomes aged fast during a specific period. Inspect it at least once a year
(It is desirable to conduct inspection semi-annually in case the life span is nearing the exhaustion point.)
.
For judgment criteria, visually Check:
a. Case status: Check if the sides and bottom of the case are expanded.
b. Cover plate: Check if significant expansion, severe cracks or damage.
c. Explosion-proof value: Check for significant expansion or wear
d. Check periodically the external condition for cracks, tear, discoloration and water leakage, If the rated
capacity of the condenser drops to 85[%] or less, it indicates life span has exhausted.

Relays
Inadequate contact may occur due to contact wear resulting from switching current. The really wear
condition is affected by the power capacity. The standard life span is 100,000 accumulated switching
(switching life) operations.
Motor Bearing
Replace bearing when it is used for 20,000~30,000 hours under rated speed and rated load. The motor
bearing condition is dependent upon the operating conditions. Replace the bearing if abnormal noise or
vibration is discovered.

[Standard replacement period]
Parts Standard replacement period How to replace
Smoothing condenser 7~8 years Replace with new parts (decide after check)
Relays - Decide after check
Fuses 10 years Replace with new ones
Aluminum electrolytic
Condenser on PCB
5 years Replace with new PCB(Decide after check)
Cooling fan 4~5 years Replace with new ones
Motor oil seal - Decide after check
Motor oil seal 5,000 hours Replace with new ones

7-5
In case an error occurs during operation, alarm display AL- or Err is displayed on the display
window of loader. At this time, take the following steps. If taking such steps does not correct errors,
contact our service center.

7.2.1 Servo motor

[Actions to taken in case of errors]
Symptom Cause Inspection Corrective action
Motor
Does not
start
CCWLIM, CWLIM input is
OFF
Refer to chapter 1.2.System
Configuration
Turn ON the CCWLIM,
CWLIM input
Menu miss-set
Check menu of motor, encoder
and encoder type control mode
Reset menu
(refer to chapter 4)
Motor defective
Check motor lead terminal with a
tester(Resistance between each
phase ; less than 10[]
If voltage is correct, replace
motor
Screws loosened Check the screws Retighten loose screws
External miswriting or
cable disconnected
Check the motor and encoder
wiring
Rewire, Replace cable
Encoder defective Check the output wave form
Replace encoder
(Use A/S service)
Motor
Running
Unstable
Defective connection
Check connection of the motor
lead terminal
Repair defective part
Input voltage low Check drive input voltage Change power supply
Overloaded Check machine condition
Remove foreign material from
the rotator and lubricate
(or grease) it
Motor
Over-
Heated
Ambient temperature high
Check the motor ambient
temperature
(should be lover than 40)
Change heat-shield structure
Motor surface stained
Check motor surface for attached
Foreign materials
Clean the surface of the
motor
Overloaded
Check the load rate of the drive.
Check acceleration/deceleration
cycle.
Reduce load
Increase
Acceleration/deceleration time
Magnetic power deteriorated
Check counter electromotive
voltage
Replace motor
Abnormal
noise
Defective coupling
Check the tightness of the coupling
screws and the concentricity of joints.
Readjust coupling
Defective bearing
Check the bearing for vibration or
abnormal noise.
Contact our service center
Parameter miss-set Check control parameters Refer to Chapter 4

7-6
7.2.2 Servo Drive
If the ALARM occurs, error signal out contact (ALARM) is turned OFF, and the motor stops by the
action of Dynamic Brake
[Actions to be taken in case of an alarm]
CODE Name Cause Corrective action
nor-oF Normal sv-off Normal operating condition -
nor-on Normal sv-on Normal operating condition -
AL-01 Not used - -
AL-02 Low Voltage Low Voltage, Main power shut off
Check Input voltage level,
Check the wiring of main power supply
AL-03 Line Fail
Motor and Encoder
U,V,W wiring Error
Check set values and CN2 wiring, U,V,W wiring.
Replace Motor
AL-04 Motor Output Error of Output (U.V.W) open phase Motor wiring, Power Module Error
AL-05 Encoder Pulse No. of encoder pulse set error [PE-204]set value, CN2wiring, Replace Motor
AL-06 Following Error Position pulse following error
Check the [PE-502] position command pulse set value, wiring
and Limit contact [PE-502],[PE-718]ser value, Gain set value.
AL-07 Over Heat Over hitting Load status check, Heat fan installation.
AL-08 Over Current Over current
Check the output terminal wiring motor, encoder set value, gain
set, Replace drive if O.C. Continues.
AL-09 Over Load Over load
Check Load condition, Brake operating condition, wiring, motor,
and encoder set value.
AL-10 Over Voltage Over voltage
Check input voltage, wiring of braking resistance, damage of
braking resistance, excessive regenerative operation
AL-11 Over Speed Over speed
Encoder Error, Check encoder set value, Encoder wiring, gain set, Replace
Motor
AL-12 Not Used Not used -
AL-13 Position Pulse error Position pulse Error Replace drive
AL-14 ABS Data Error
Absolute encoder data transmission
error
Check the initial reset
AL-15 ABS Battery Error Absolute encoder battery error Check the initial reset, battery is discharged
AL-16 ABS Multi Error
Absolute encoder multi-rotation
data transmission error
Check the initial reset
AL-17 ABS Read Fail Absolute encoder reading error Absolute encoder check, CN2 wiring check
AL-18 U-Hall Offset Error U phase current sensor Error Replace drive
AL-19 V-Hall Offset Error V phase current sensor Error Replace drive
AL-20 Memory Error Parameter memory Error Replace drive
AL-22 Data Init Error Data Initialization Error Replace drive
AL-23 EPWR
Hardware error,
9 wires type Encoder Power Error
Replace drive
AL-24 USB Error USB Communication Error Check wiring, Replace drive
AL-25 RS422 Error RS422 Communication Error Check wiring, Replace drive
Over regenerative
Error of Setting time of [PE-419]
Check input voltage, wiring of braking resistance, Replace drive
AL-27 Current Limit Over
Over current limited
(Continuance operation above 1sec )
Motor wiring, Check Load condition
AL-30 In/Out Logic error In/Out Logic Error Set value adjustment
AL-31 Encoder N/D Error Encoder N/D Error Set value adjustment
AL-32 Egear N/D Error Egear N/D Error Set value adjustment
Err1 Error1
Input of parameters, which cannot
be changed, is attempted during
Servo ON
Turn OFF the servo and change the set value
Err2 Error2
Input of data which is out of
set range
Input values within the set range
Err3 Error3
Change the menu which is locked
by [PC-810](Menu Data Lock)
Change the menu [PC-810] with unlock condition

7-7
[Overload charateristic curves of Servo Drive]

Rated
current
(%)
Overload operating time
Min. Max.
Set
vlalue
100
120
150 500 1200 800
200 50 120 80
250 12 28 20
300 3 7 5
100
10
1000
100
Motor rated current(%)
300 250 200 150
O
p
e
r
a
t
i
n
g

t
i
m
e
(
s
e
c
)

[Appendix]

Appendix 1. Menu summary 8-2

Appendix 2. Motor type/ ID 8-14

Appendix 3. Trial run procedures 8-16
[Appendix]
8-2
Appendix 1. Menu summary
The menu is composed of 9 groups and refer to the details on each menu

Menu No. Menu group Descriptions
Pd-001 ~ Pd-020 Status Menu Display the status of operation
PA-101 ~ PA-120 Alarm Menu Save and display the alarm history
PE-201 ~ PE-220 System Menu Save the data on system composition
PE-301 ~ PE-320 Control Menu Save the fixed parameters of control
PE-401 ~ PE-420 Analog Menu Save the fixed parameters input/output
PE-501 ~ PE-520 InOut Menu Save the input/output variables
PE-601 ~ PE-620 Speed Operation Menu Save the fixed speed operation
PE-701 ~ PE-720 Pulse Operation Menu Save the fixed position pulse operation
PC-801 ~ PC-820 Command Menu Manipulating operation

Refer to the meanin of abbreviation for the operation mode.
P : Used in posiiton control mode
S : Used in speed control mode
T : Used in torque mode
[Appendix]

8-3
1). Display menu for the status of operation
MENU Unit Initial
Description Mode Comm.
code
(CODE) NAME Min. Max.
0 Pd-001
- - Display the status of current operation
-Servo off :nor-oF, Servo on :nor-on, Alarm:AL-XX
PST
Current State - -
1 Pd-002
[r/min] 0 Display the current operation speed
PST
Current Speed -10000 10000
2 Pd-003
[r/min] 0 Display the current operation speed
ST
Command Speed -10000 10000
3 Pd-004
[pulse] 0 Display the accumulated value of position
command pulse
-In case of exceeding /Max., it will be displayed
as Min/ Max.
P
Current Pulse -99999 99999
4 Pd-005
[pulse] 0 Display the accumulated value of following position
command pulse
- In case of exceeding Min/Max, it will be displayed
as Min/ Max.
PST
Feedback Pulse -99999 99999
5 Pd-006
[pulse] 0 Display the remaining position pulse operated by servo
- In case of exceeding Min/Max, it will be displayed
as Min/ Max.
P
Pulse Error 0 99999
6 Pd-007
- 1000 Display the numerator 0 of electric gear ratio
P
E-Gear N0 1 60000
7 Pd-008
[%] 0 Display the current command torque under torque
operation
- PS: Accumulated current command torque,
T :Current command torque
T
Command Torque -300.00 300.00
8 Pd-009
[%] 300 Display torque limitation
PST
Torque Limit -300 300
9 Pd-010
[%] 0.00 Display the current load rate comparing with the
rating
PST
Current Load 0.00 300.00
10 Pd-011
[%] 0.00 Display the average load rate for 5 seconds
comparing with the rating
PST
Average Load 0.00 300.00
11 Pd-012
[%] 0.00 Display the max. instantaneous load rate comparing
with the rating
PST
Maximum Load -300.00 300.00
12 Pd-013
[V] 0.0 Display the DC Link of current main power
PST
DC Link Voltage 0.0 500.0
13 Pd-014
- -
Display the status of connection of CN1 input contact point
Connection : Turning on the light, No connection : Turning off the
light
PST
I/O SET - -
14 Pd-015
0 0 Display the status of operating time of regenerative
braking
Display the value fixed at [PE-419]
PST
Reg. Brake Time [ms] 3000
15 Pd-016
- - Display the status of I/O contact point logic
recognized from CN1 I/O
PST
I/O State - -
16 Pd-017
- 01100 Display the status of logic for input contact point 0~4
4=pclear/stop/tclear,3=cwl,2=ccwl,1=almrst,0=svon
PST
Input Logic Set 00000 11111
17 Pd-018
- 0000 Display the status of logic for input contact point 5~8
8=egear2/spd2,7=egear1/spd1,6=mode/trqlim,5=dir Input Logic Save 0000 1111
18 Pd-019
- 001 Display the logic of output contact point
2=inspd/inpos, 1=Ready/Brk, 0=Alarm Output Logic Set 000 111
19 Pd-020
- - Display the secret No. of software version
PST
Software Version - -

* You can check the Display Menu under alarm status when you press [Enter] after pressing [Left] or
[Right]
[Appendix]
8-4
2) Dispalying the status of alarm
(MENU)
Unit Initial
Description
Mode Comm
.code
(CODE) (NAME)
Min. Max.
Alarm history 01 ~ 20 - -

Display the alarm history
PST
20
~
39
PA-101
~
PA-120
Alarm History01
~
Alarm History20
- -
# Alarm code and check
CODE Name Description or main cause Check point
nor-oF Normal svoff Normal status of Servo off -
nor-on Normal svon Normal status of Servo on -
AL-01 Not used - -
AL-02 Low Voltage Low voltage, main power is turned off Input level, wiring of power
AL-03 Line Fail Wrong wiring of motor /U,V,W, of encoder Fixed value, CN2 wiring, U,V,W wiring, replacing motor
AL-04 Motor Output Malfunction of driving circuit of motor Motor wiring, power module error
AL-05 Encoder Pulse Wrong setting the no. of encoder pulse Fixed value of [PE-204], CN2 wiring, replacing motor
AL-06 Following Error Wrong following position pulse
Excessive position command pulse
, wiring and limit contact point,
[PE-502], fixed value of [PE-718], gain setting value
AL-07 Over Heat Over heat status of load, installing heatproof pan
AL-08 Over Current Over current
Replacing wiring, motor, phase resistance, encoder setting value and wiring, replacing
drive
AL-09 Over Load Over load The status of load, Brake, wiring, motor, encoder setting value
AL-10 Over Voltage Over voltage
Input voltage, regenerative resistor, damage, wiring, excessive regenerative
operation
AL-11 Over Speed Over speed Encoder error, encoder setting value, encoder wiring, gain setting, replacing motor
AL-12 Not Used Not used -
AL-13 Position Pulse error Position pulse error Replacing drive
AL-14 ABS Data Error Transmitting error of absolute encoder Initial reset
AL-15 ABS Battery Error Battery error of absolute encoder Initial reset, discharge of battery
AL-16 ABS Multi Error
Error with transmitting Multi-rotation data of
absolute encoder
Initial reset
AL-17 ABS Read Fail Reading error of absolute encoder Absolute encoder, CN2 wiring
AL-18 U-Hall Offset Error Current sensor error of U phase Replacing drive
AL-19 V-Hall Offset Error Current sensor error of V phase Replacing drive
AL-20 Memory Error Memory error of parameter Replacing drive
AL-22 Data Init Error Initialization error of Data Replacing drive
AL-23 EPWR Hardware error, power error of 9 lines encoder Replacing drive
AL-24 USB Error USB comm. Error Wiring inspection, replacing drive
AL-25 RS422 Error RS422 comm. Error Wiring inspection, replacing drive
Excessive regeneration
(Error of Setting time of [PE-419])
Input voltage, regenerative braking wiring, replacing drive
AL-27 Current Limit Over Excessive current limit Motor wiring, the status of load
AL-30 In/Out Logic error Logic error of I/O Revising the fixed data
AL-31 Encoder N/D Error Prescaler ratio error of Encoder output Revising the fixed data
AL-32 Egear N/D Error Prescaler ratio error of electric gear Revising the fixed data
Err1 Error1
When you try to change the menu which cant be
allowed revised under Servo-on
Revise menu after Servo-off
Err2 Error2
In case that the data which exceeds the limitation
is input
Input the data which is within the range
Err3 Error3
When you try to change the menu under [PC-
810](Menu Data Lock)
Change the data under Unlock at [PC-810]
[Appendix]

8-5
3) System variables setting menu
** indicates the menu which cant be changed or reset during Servo-On), * inidicates the menu which cant bechanged during Servo-On
(MENU) Unit Initial
Description Mode Comm
.code
(CODE) (NAME) Min. Max.
40 *PE-201
- - Setting motor ID
Motor ID is set automatically from PE-210 to PE218
PST
Motor ID 0 99
41 *PE-202
[bps] 0 Setting the speed of RS422 comm. of CN3
0 : 9600, 1 : 19200,
2 : 38400, 3 : 57600
PST
Baud Rate 0 3
42 **PE-203
- 0 Setting the encoder type
0 : 15 lines A lead, 1 : 15 lines, B lead,
2 : 9 lines, A lead, 3 : 9 lines B lead,
4 : 7 lines INC. 17 / 21bit
PST
Encoder Type 0 4
43 **PE-204
[p/r] 2500 Setting the no. of pulse per rpm of encoder PST
Encoder Pulse 1 6000
44 PE-205
[%] 300 Setting torque limitation at CW rotation PST
CCW TRQ Limit 1 350
45 PE-206
[%] 300 Setting torque limitation at CCW rotation PST
CW TRQ Limit 1 350
46 *PE-207
- 0 Setting the drive ID at communication PST
System ID 0 99
47 *PE-208
- 0 Setting the group ID of the drive at communication PST
System Group ID 0 99
48 PE-209
- 2 Setting the start menu of drive PST
Start Menu No. 1 20
49 *PE-210
[gfcms
2
] ID Setting the moment of inertia of motor PST
Inertia 0.01 300.00
50 *PE-211
[kgfcm/A] ID Setting the torque constant of motor PST
Trq Con 0.01 300.00
51 *PE-212
[mH] ID Setting the phase inductance of motor. PST
Phase Ls 0.001 30.000
52 *PE-213
[ohm] ID Setting the phase resistance of motor. PST
Phase Rs 0.001 30.000
53 *PE-214
[A] ID Setting the rated current of motor PST
Rated Is 0.01 999.99
54 *PE-215
[r/min] ID Setting the max. speed of motor PST
Max Speed 0.0 300.00
55 *PE-216
[r/min] ID Setting the current speed of motor PST
Rated Speed 0.0 10000
56 *PE-217
[pole] ID Setting the no. of poles of motor PST
Pole Number 2 98
57 *PE-218
- 0 Setting the gain group of motor
Motor Gain Group 0 9
58 PE-219
[mA] 0 Setting the current offset of U phase
U Current Offset -200 200
59 PE-220
[mA] 0 Setting the current offset of V phase
V Current Offset -200 200

[Appendix]
8-6
4) Control variables setting menu
(MENU) Unit Initial
.code
60 PE-301
[] 2.0
Setting the ratio of inertia of load
PST
Inertia Ratio 1.0 500.0
61 PE-302
[1/s] 50
Setting proportional gain 1 at position control
- [PE-520] : 1, it is applied when pulse error is less than [PE-
306]
P
Position P Gain1 1 500
62 PE-303
[1/s] 70
Setting proportional gain 2 at position control
- [PE-520] : 1, it is applied when pulse error is less than [PE-
306]
P
Position P Gain2 1 500
63 PE-304
[%] 0
Setting the control ratio of position feedfoward
P
P Feedforward 0 100
64

PE-305
[ms] 0
Setting the control filter constant of position feedfoward
P
P FF FLT TC 0 100.00
65 PE-306
[10pulse] 0
Setting the conversion range of position gain 1,2
- [E-520]:1, gain 1 is converted into gain 2 when the pulse error is more than
[PE-306]
P
Position Zero Gain 0 5000
66 PE-307
[rad/s] 500
Setting speed proportional gain 1
- [E-520]:1, it is applied when the current speed is less than [PE-313]
PS
67 PE-308
[rad/s] 800
Setting speed proportional gain 2
- [E-520]:1, it is applied when the current speed is more than [PE-313]
PS
68 PE-309
[ms] 20
Setting the constant 1 of speed integral
- [E-520]:1, it is applied when the current speed is less than [PE-313]
PS
Speed I TC1 1 10000
69 PE-310
[ms] 13
Setting the constant 2 of speed integral
- [E-520]:1, it is applied when the current speed is more than [PE-313]
PS
Speed I TC2 1 1000
70 PE-311
[ms] 0.50
Setting speed command filter
S
Speed IN FT 0.0 100.00
71 *PE-312
[ms] 0.50
Setting speed feed-back filter
PS
Speed F/B FT 0.0 100.0
72 PE-313
[r/min] 0
.Setting the speed range of zero sped gain
- The speed which converts speed control gain12
- In case of 0. [PE-519] is not available
PS
Zero Speed Gain 0 500
73 PE-314
[ms] 0.50
Setting torque command filter
PST
TORQ. CMD FLT 0.0 100.00
74 PE-315
- 0
Setting the motions Width to avoid resonance PST
DE-Resonance 0 1
75 PE-316
[Hz] 300
Setting the operation frequency to avoid resonance
PST
Notch Frequency 0 1000
76 PE-317
[Hz] 100
Setting the Band Width to avoid resonance
PST
Notch Bandwidth 0 1000
77 PE-318
- 0
0: Not used
1: Used
PST
Overload offset 0 1
78 PE-319
[10pulse] 20
Setting the ranged pulse of position proportional gain 2
- [E-520]:1, it is converted into gain 2 when pulse error is more than
[PE-319]
S
Position Gain2 Range 1 5000
79 PE-320
- 1
Setting the function to improve the torque of zero speed
0 : Not used
1 : operated

S
Zero Speed Lock 0 1
[Appendix]

8-7
5) Analog I/O variables setting menu
(MENU) Unit Initial
.code
80 *PE-401
[r/min] 2000
Setting the analog speed command at 10[V]
ST
Analog Speed 1 6000
81 PE-402
[mV] 0
Setting the offset of analog speed command
S
AnalogSpeed Offset -1000 1000
82 PE-403
- 0
Setting the clamp function of analog zero speed
0 : Not used, 1 : operated
S
Zero Speed Clamp 0 1
83 PE-404
[mV] 1
Setting the range of analog zero speed clamp
S
SClamp Volt 1 1000
84 *PE-405
- 0
Setting speed override operation function
S
Speed Override 0 1
85 *PE-406
[%] 100
Setting torque command at 10[V]
PST
Analog Torque 1 300
86 PE-407
[mV] 0
Setting the offset of analog torque command
T
Torque Offset -1000 1000
87 PE-408
- 0
Setting the clamp function of analog zero torque
command
T
TClamp Mode 0 1
88 PE-409
[mV] 1
Setting the clamp voltage of analog zero torque command
T
TClamp Volt 1 1000
89 PE-410
- 1
Setting the type of analog 1 for monitor
0:command speed, 1:current speed, 2:command torque , 3:current torque , 4: command
pulse frequency , 5:error pulse
PST
Monitor Type1 0 5
90 PE-411
- 0
Setting the mode of analog output 1 of monitor
0 : -5~+5V
1 : 0~+5V(absolute value)
PST
Monitor Mode1 0 1
91 PE-412
- 1.0
Setting magnification of analog output for monitor
Speed :Max. speed, torque:300%, command pulse:500k, error
pulse :excessive position error
PST
Monitor Scale1 0.1 50.0
92 PE-413
[mV] 0
Setting offset of analog output 1 for monitor
PST
Monitor Offset1 -1000 1000
93 PE-414
- 3
Setting the type of analog output 2 for monitor
0:command speed , 1:current speed, 2:command torque , 3:current torque , 4:command
pulse frequency, 5:error pulse
PST
Monitor Type2 0 5
94 PE-415
- 0 Setting the mode of analog output for monitor
0 : -5~+5V
1 : 0~+5V(absolute value )
PST
Monitor Mode2 0 1
95 PE-416
- 1.0
Setting magnification of analog output 2 for monitoring
speed:max speed, torque:300%, command pulse:500k, error pulse:
excessive position error
PST
Monitor Scale2 0.1 50.0
96 PE-417
[mV] 0.0
Setting the offset of analog output 2 for monitoring
PST
Monitor Offset2 -1000 1000
97 PE-418
- 0
Selecting direction of motor operation under torque mode
0 : + voltage, CW
1 : -voltage, CCW
T
Torque Com Dir 0 1
98 PE-419
[ms] 500
Setting the max. running time of regenerative braking
resistor
In case of exceeding the time, excessive
regeneration[AL-26] occurs

Regeneration Brake time 100 1000
99 PE-420
- 0
Applying [PC-813], [PC-814] analog offset function
0 : Not used
1 : PC-813 is available
2 : PC-814 is available
3 : PC-813, PC-814 are available at the same time
ST
Speed, Torque Cmd Offset 0 3
[Appendix]
8-8
6) I/O contact point variables setting menu
(MENU) Unit Initial
.code
100 PE-501
[10pulse] 10
Setting the output range of position operation completion
signal
P
Inposition 1 60000
101 PE-502
[10pulse] 90000
Setting the output range of position operation following
error signal
P
Follow Error 1 60000
102 PE-503
[r/min] 10
Setting the output range of zero speed signal
PST
Zero Speed RNG 0.0 6000
103 PE-504
[r/min] 100
Setting the output range of speed attachment completion
signal
S
Inspeed 0.0 500
104 PE-505
[r/min] 50
Setting the output speed of brake signal
PST
Brake SPD 0.0 6000
105 PE-506
[ms] 10
Setting the output delaying time of brake signal
PST
Brake On Delay Time 0 1000
106 PE-507
- 1
Setting the main power error, reset mode of error
0: Manual reset , 1: Auto reset
PST
PowerFail Mode 0 1
107 PE-508
- 0
Select the output point of Ready/Brake
0 : Ready output , 1 : break output
PST
Ready / Brake Select 0 1
108 PE-509
- 1
Setting the clear mode of position pulse
0: Edge(off on) , 1: Level(on)
P
Pulse Clear Mode 0 1
109 **PE-510
- 1
Setting the numerator of prescaler for encoder output
pulse
PST
Pulse Output Numerator 1 16384
110 **PE-511
- -
Setting the denominator of prescaler for encoder output
pulse

Pulse output Denominator 1 16384
111 **PE-512
- 0
Setting the direction of encoder output pulse A/B phase
0 : A phase Lead, 1 : B phase Lead
PST
Pulse Output A / B Lead 0 1
112 PE-513
- 1
Setting the output pulse type of serial encoder Z phase
0: A phase half cycle, 1 : A phase 1 cycle
PST
Pulse Output Z 0 1
113 PE-514
- 0
Setting the switch to change the operating direction
0 : DIR ONconverted into analog direction, STOPSTOP
1 : DIR OFF, STOP ON CCW / DIR ON, STOP OFF CW
DIR ON, STOP OFF STOP / DIR OFF, STOP OFF STOP
S
Dir Select Mode 0 1
114 *PE-515
- 001 Setting the logic of output contact point
2=inspd/inpos, 1=Ready/Brk, 0=Alarm
PST
Output Logic 000 111
115 PE-516
[ms] 0
Setting the delaying time which is the actual PWM-OFF
under Servo-OFF
PST
PWM off Delay 10 1000
116 *PE-517
- 01100
Setting the logic status of input contact 0~4
4:pclear/stop/tclear, 3:cwl, 2:ccwl, 1:almrst,0=svon
PST
Intput 0~4 Logic 00000 11111
117 *PE-518
- 0000
Setting the logic status of input contact 5~8
8:egear2/spd2, 7:egear1/spd1, 6:trqlim/mode, 5:dir
PST
Intput 5~8 Logic 0000 1111
118 PE-519
[%] 50
Setting zero speed gain ratio
S
ZSPD Gain Rate

1 100
119 *PE-520
- 0
Setting gain 1, gain 2 mode
0 : gain 1 only 1 : conversion mode of gain 1, 2

a. [PE-601] : 1
the current speed is [PE-313] or more: speed gain 1 2
b. [PE-601] : 2 (including a)
Error pulse is [PE-306] or below: position gain 1
- : position gain 12
Error pulse is [PE-319] or below: position gain 2

PST
Gain Conv Mode 0 0 1
[Appendix]

8-9
7) Speed operation variables setting menu
(MENU) Unit Initial
Description Mode
Comm
.code
120 *PE-601
- 1 Set the operation mode
0: torque control operation
1: speed control operation
2: position control operation
3: speed/position control , In case of mode=off, position
control
4: speed/torque control, In case of mode=off, torque
control
5: position/torque control , in case of mode=off, torque control
PST
Operation Mode 0 5
121 PE-602
[r/min] 200 Selected by the combination of speed command
input contact point SPEED1 / SPEED2
SPD1 SPD2
OFF OFF : analog speed command
ON OFF : internal speed command 1
OFF ON : internal speed command 2
ON ON : internal speed command 3
ST
Speed Command1 -6000 6000
122 PE-603
[r/min] 1000
ST
123 PE-604
[r/min] 3000
ST
124 PE-605

Not Used
125 PE-606

Not Used
126 PE-607
[r/min] 10 Setting the speed for encoders Z phase search
operation
- Fixed value for the operation of PC-806
PST
Z Search Operation Speed 1 300
127 PE-608
[r/min] 500 Setting the speed for manual position operation
- Fixed value for the operation of PC-807
PST
Manual P Operation Speed 1 6000
128 PE-609
[ms] 0 Setting the accel. time of speed command
S
Accel Time 0 10000
129 PE-610
[ms] 0
Setting the decel. time of speed command
S
Decel Time 0 10000
130 *PE-611
- 0 Setting S shaped operation at speed mode
0 : lineal accel./decl., 1 : S shaped accel./decl
S
S Type Control 0 1
131 PE-612
[r/min] 100.0 Setting the speed 0 under continuous test run
PST
Test Run Speed0 -6000 +6000
132 PE-613
[r/min] -500.0 Setting the speed 1 under continuous test run
PST
133 PE-614
[r/min] 1000.0 Setting the speed 2 under continuous test run
PST
134 PE-615
[r/min] -2000.0 Setting the speed 3 under continuous test run
PST
135 PE-616
[s] 5 Setting the speed 0 under continuous test run
PST
Test Run Time0 1 3600
136 PE-617
PST
137 PE-618
PST
138 PE-619
PST
139 PE-620
- 1 Setting the output type of INSPD out contact point
0 : zero speed output , 1 : coincided speed
S
Inspeed Type 0 1
[Appendix]
8-10
8) Setting position operation variables
(MENU) Unit Initial
Description Mode Comm.
code
140 *PE-701
- 1 Set the logic of position operation input pulse
0: negative logic A/B pulse, 1: negative logic 2-pulse
2: negative logic 1-pulse, 3: positive logic A/B pulse
4: positive logic 2-pulse, 5: positive logic 1-pulse
P
Pulse Logic 0 5
141 *PE-702
- 1000 Set the denominator/numerator 0,1,2,3, of electric
gear ratio

EGEAR1, Applied electric gear ratio 0, 1, 2, 3 based
on 2 contact point
EGEAR1 / EGEAR2
Electric gear ratio 0 : OFF / OFF
Electric gear ratio 1 : ON / OFF
Electric gear ratio 2 : OFF / ON
Electric gear ratio 3 : ON / ON

P
Electric Gear N0 1 30000
142 *PE-703
- 1000
Electric Gear D0 1 30000
143 *PE-704
- 1000
144 *PE-705
- 2000
145 *PE-706
- 1000
146 *PE-707
- 3000
147 *PE-708
- 1000
148 *PE-709
- 4000
149 PE-710

Not used
150 PE-711
- 0 Select the electric gear ratio
0: Electric gear ration 0~3 can be selected
1: Override the offset data to the numerator 0 of
electric gear ratio
P
E-Gear Mode 0 1
151 PE-712
- 0 Select the offset value of electric gear ratio 0
a. Set the offset data of numerator 0
b. EGEAR1 ONincreased, EGEAR2 ONdecreased
P
E-Gear offset -30000 30000
152 *PE-713
- 0 Set the pulse direction of position
P
Pulse Dir 0 1
153 **PE-714
[ms] 0 Set the accel/decel. Time of position command
P
Pos Pulse Acc/Dec Time 0 100
154 PE-715
- -

Not Used - -
155 PE-716
- -

Not Used - -
156 PE-717
[Turn] 10.00
Set the target position based on the unit of under manual
position operation [PC-807]
You can set the direction at [PC-807] : [Left]-CCW, [Right]-CW
PST
Manual Pos Oper distance 0.00 300.00
157 PE-718
- 0
Set the function of limit contact point CCWLIM, CWLIM
0 : CCWLIM, CWLIM : Pulse command Clear
1 : CCWLIM, CWLIM : Pulse command counter
If it exceeds [PE-502], AL-06(Following Error) will
occur
P
Pos Limit Pulse Clear 0 1
158 *PE-719
[2^] 16 Display the Multi Turn Data of ABS Encoder PST
ABS Multi Turn 10 16
159 *PE-720
[2^] 17 Display the Single Turn Data of ABS Encoder PST
ABS Single Turn 10 17
[Appendix]

8-11
9) Operation menu
** indicates the menu which cant be changed or reset during Servo-On), * inidicates the menu which cant
bechanged during Servo-On
(MENU) Unit Initial
Description Comm.
code
160 PC-801
- - Reset the alarm with "CLEAr" message
If you press [Enter], alarm will be reset with "CLEAr" Alarm Reset - -
161 PC-802
- - Clear all alarm history
If you press [Enter], the alarm history will be cleared (PA-
101~PA-120) with "CLEAr"
Alarm His Clear - -

162

PC-803
[r/min] - Manual test operation will perform
1. [Enter] : Display test run speed (PE-602)
2. [Up] : PE-602~PE-604 will be displayed by turns
The speed will be displayed as absolute value
3. [Right] : CW rotation
4. [Left] : CCW rotation
5. [Enter] : test run is terminated ->return to menu

If you press [Enter] under alarm status, Err1 will be
displayed
Manual Test Run -Min Max
163 PC-804
[r/min] - Continuous test run will be performed
1. [Enter] : step 0~3 will be performed
Step Speed Time
0 PE-612 PE-616
1 PE-613 PE-617
2 PE-614 PE-618
3 PE-615 PE-619
2. [Enter] : test run is terminated ->return to menu
displayed
Auto Test Run -Min -Max

164

PC-805
- 2.0 Automatic tuning operation is performed

1. [Enter] : Display the moment of inertia
2. [Up] : Auto gain tuning operation at 100 rpm
3. [Up] : If you keep pressing [Up], it increases by 200rpm as
100->300->500rpm
4. [Right] : continuous operation time is increased
5. [Left] : continuous operation time is decreased
6. If the tuning value is not changed, the work is completed
7. [Enter] : PE-301,307,309 are saved and return to menu
displayed
Gain Tune Run 1 50
165 PC-806
[Turn] 0.00
Z phase search operation at the speed set at [PE-607]
1. [Enter] : Mode execution/clear
2. [Left] or [Right]: operation after setting the direction of Z phase
search operation
3. [Enter] : Z phase Z phase search operation is terminated -
>return to menu
Displayed data : The no. of rpm
If you press [Enter] under alarm status, Err1 will be displayed.
In case of turning ON CCWLIM, CWLIM, operation is not available
Z POS Search 0 9.99
166 PC-807 [Turn] - Operated at the speed set at PE-608 for the target
[Appendix]
8-12
Manual Position Run - -
position set at PE-717
1. [Enter] : Mode execution / clear
2. [Left] or [Right]: Setting the direction of the target
position
3. [Up]: Start / Stop
4. [Enter]: Position operation is terminated =>Return to
menu
Displayed data : The no. of rotation
If you press [Enter] under alarm, Err1 will be displayed
CCW, CW limit contact point is turn OFF, it will not be applied at
start time. During operation CCW. CW is not applied

167
PC-808
- -
Set the forced ON/OFF for output contact points temporarily
[Right] : out0out1out2 Move to the direction of increase
[Left] : out2out1out0 Move to the direction of decrease
[Up] : outx-L outx-H has been changed
[Enter] : Return to menu

- The related bit is L(OFF), H(ON) based on Normal A
contact point
out2: INPOS, out1: READY/BRAKE, out0: ALARM
Output Test - -

168
*PC-809
- - Initialize the menu as the status shipped from the factory
1. [Enter] : If you press [Enter], CLEAr will be displayed
2. When you press [Left]or [Right], it will return to menu
without initialization
3. When you press [Up], the initialization will be performed
and return to the menu automatically
[PE-201] ~ [PE-220] will not be changed
Turn OFF/ON the power

Menu data Init - -
169 PC-810
- - Menu locking function is activated

1. [Enter] : Lock/unLock will be changed by turns
Lock display: Lock, Unlock display : unlock
Menu data Lock - -
170 PC-811
- - Reset the absolute encoder
1. [Enter] : "reset" will be displayed for 5 seconds and rest the
absolute encoder
ABS Encoder set - -

171

PC-812
[mA] - Compensate the current offset of Hall-CT
1. [Right]: Display the offset of U phase
2. [Left] : Display the offset of V phase
3. [Up] : The offset of U, V phase are saved at PE-
219, 220 and return to the menu
If you press [Enter] when you return to the menu after checking the offset, it
will return to the menu without saving the offset

Current Offset Save - -
172 PC-813 [mV] - Save the offset data of analog speed command voltage
[Appendix]

8-13
Alalog Speed Cmd Offset -1000 1000
automatically at [PE-402]

1. [Enter] : Display the current analog speed command
voltage
2. [Up] : Return to the menu after the displayed value is
saved as offset data of analog speed command
voltage at [PE-402]
If you input 1 or 3 at [PE-420], it can be applied
173 PC-814
[mV] - Save the offset data of analog torque command voltage
automatically at [PE-407]
1. [Enter] : Display the current analog torque command
voltage
2. [Up] :Return to the menu after the displayed value is
saved as offset data of analog speed command
voltage at [PE-407]
If you input 2 or 3 at [PE-420], it can be applied
AlalogTorque Cmd Offset -1000 1000
174 PC-815
[%] - Display the max. instantaneous load rate
1. [Enter] : Display 00000 initially
2. [Right] : The max. instantaneous load rate of CW rotation
3. [Left] : The max. instantaneous load rate of CCW rotation
4. [Up] : Clear the displayed load rate
The value that you can see now is the one before clear
5. You can check again the max. instantaneous load rate
after clear by pressing [Left] or [Right] key
6. [Enter]: Return to menu
Maximum Load -300 300
175 PC-816
[pulse] - . Display the following position pulse

1. [Enter]: Display 00000 initially
2. [Up]: Clear the displayed following position pulse
3. [Enter]: Return to menu

. means reverse direction
Feedback Pulse 9.9.9.9.9.9 999999
176

177

- -
178
- -

- -
179 *PC-820
- - Initialize all menu data as the status of O/S download
1. [Up] : Initialization is performed with ALL-CL message
and return to the menu automatically
(Note) Dont set the menu fixed by manufacturer

All Menu Data Init - -
[Appendix]
8-14
Appendix 2. Motor type and ID
ID Model Watt Remarks ID Modle Watt Remarks ID Model watt Remarks
1 SAR3A 30 34 SC05A 450 For S/T 67 SE16D 1600
2 SAR5A 50 35 SC05H 500 For S/S 68 SE22D 2200
3 SA01A 100 36 SC08A 750 For S/S 69 SE03M 300
4 SA015A 150 37 HB01A 100
Hollow shaft
70 SE06M 600
5 38 HC10A 1000
Hollow shaft
71 SE09M 900
6 39 HE30A 3000
Hollow shaft
72 SE12M 1200
7 SBN01A 100 40 HB03H 250
Semi-conductor
73 SE05G 450
8 SBN02A 150 41 HC03H 250
Semi-conductor
74 SE09G 850
9 SBN04A 400 42 HC03HC6 300
Semi-conductor
75 SE13G 1300
10 SBN04A-BK 400
Customized
43 76 SE17G 1700
11 SB01A 100

44 77 HE09A 900
Hollow shaft
12 SB02A 200

45 78 HE15A 1500
Hollow shaft
13 SB04A 400

46 79 SE11M 1050
Special type
14 SB03A 250
Special type
47 80 SE07D 650
Special type
15 HB02A 200
Hollow shaft
48 81 SF30A 3000
16 HB04A 400
Hollow shaft
49 82
17 50 SE15D 1500
Special type
83
18 51 SC20B 2000
Special type
84
19 52 85 SF22D 2200
20 53 86 SF35D 3500
21 SC04A 400 54 87
22 SC06A 600 55 88
23 SC08A 800 56 89 SF12M 1200
24 SC10A 1000 57 90 SF20M 2000
25 SC03D 300 58 91 SF30M 3000
26 SC05D 450 59 92 SF44M 4400
27 SC06D 550 60 93 SF20G 1800
28 SC07D 650 61 SE09A 900 94 SF30G 2900
29 62 SE15A 1500 95
30 63 SE22A 2200 96
31 64 SE30A 3000 97 SG35D 3500
32 65 SE06D 600 98
33 HC06H 600 For S/T 66 SE11D 1100 99 HC05H 500
Customized

[Appendix]

8-15

ID Model Watt Remarks ID Modle Watt Remarks ID Model watt Remarks
100 133 166
101 SE35D 3500
For DS only 134 167
102 SE30D 3000
Special type 135 168
103
For LG
only
136 169
104
105 SE35A 3500
106
107
108 SF35A 3500
109 SE08D 750
110 143 176
111 SG22D 2200 144 177
112 SG35D 3500 145 178
113 146 179
114 147 180
115 148 181
116 149 182
117 150 183
118 151 184
119 152 185
120 153 186
121 SG12M 1200 154 187
122 SG20M 2000 155 188
123 SG30M 3000 156 189
124 157 190
125 158 191
126 159 192
127 160 193
128 161 194
129 162 195
130 163 196
131 SG20G 1800 164 197
132 SG30G 2900 165 198
[Appendix]
8-16
Appendix 3. Trial test procedures

Thank you for purchasing our products.
Please proceed with the trial test as below.

1. Checking goods :. Please check the label if you have right item
(Refer to Chapter 1.1)
2. Connecting power : Apply single phase AC 220[V] to L1C,L2C and apply
3 phase AC 220[V] to L1,L2,L3(Refer to Chapter 3.2)
3. Wiring : Wire CN1.CN2,CN3 and motor depending the operation
mode (Refer to Chapter 1.2 / 3 )
(In case that the motor moves, use the flexible cables)
5. Setting Motor ID : Set the motor ID at [PE-201]
(Refer to Appendix 2. Motor type and ID )
6. Setting encoder pulse : Set the no. of pulse of the encoder
at [PE-204]
4. Inputting control power : Apply single phase AC 220[V] to
L1C,L2C
[Appendix]

8-17

11.You can perform position operation by
adjusting the below menu data.

1)Setting position operation variables:[PE-701~711]
2) Setting input/output variables:
[PE-501, 502, 508, 509, 515,]
3) Setting control variables: [PE-301~320]
(Refer to Chapter4. Menu description)

Speed operation
10.You can perform speed operation by adjusting
the below menu data
1) Setting speed operation variables:[PE-601~611]
2)Setting input/output variables
[PE-503, 504, 510, 511, 512, 514, 515]
3)Setting analog variables :[PE-401~405]
4)Setting control variables :
[PE-301, 307, 309, 311, 312, 313, 320]
(Refer to Chapter4. Menu description)
9. Setting operation mode :
You can set the operation mode at
menu [PE-601]
0 : Torque control
1 : Speed control
2 : Position control
3 : Speed/Position control
4 : Speed/Torque control
5 : Position/Torque control
8. Test run : If you activate[PC-803] with [Enter] key,
You can perform the test run manually.
* [Up] : Changing the operation speed ([PE-602]~[PE-604])
* [Left] : Motors forward rotation
* [Right] : Motors backward rotation
7. Applying main power : Apply 3 phases AC 220[V] to L1,L2,L3
Position operation

Installed Date Guaranteed period
Model A Serial No.
Model B Serial No.
Model C Serial No.
Model D Serial No.
Customer
Name
Address
Tel.
Distributor
Name
Address
Tel.

These items are produced by MECAPION under our strict Q.C system and test procedure.
The guaranteed period is 12 months from installation or 18 months from production.
However, The guaranteed period can be changed by the condition of Purchasing
agreement.

A/S With Free
When some defect is happened, please contact our agent or A/S center.
We repair the defective item which is in the guaranteed period and using in normal
operation condition

A/S With Credit
Below case is not included in A/S With Free.
Defect from customers intentional or careless mistake
Defect from Power supply or connecting device
Defect from natural disaster(fire, flood, earthquake, Gas accident)
The item which is not repaired or reconstructed at our agent or A/S center
The item which do not have MECAPION name plate
Defect after guaranteed period
After installation of our Servo, Please return this guarantee letter to our Q.A Dept.

Receiver: MECAPION Q.A Dept.
Tel: 82-53-593-0066(131), Fax: 82-53-591-8614

Guarantee Letter

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