Apd VS

Instruction Manual
Manual Version : [ver 3.3]

Software Version : Higher than 2.01
The first edition :
2002. 01. 02.
A revised edition : 2004. 05. 08.
- 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 Metronix.
- Metronix holds the patent right, the trademark right, the copyright and
intellectual property rights which are related to this product. Therefore NO
permission to illegal use.
Thank you for purchasing Metronixs AnyPack 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.
WARNING
Indicates a potentially hazardous situation which, if not avoided, could result in death or
serious injury to personnel.
CAUTION
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.
Note for Safe Operation

INSTALLATION
CAUTION
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)
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.
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.
Precaution at First Setup
CAUTION
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
WARNNING
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
Contents
Precaution
1. Product Configuration and Main Function
1.1 Product Configuration
1.1.1 Checking Products. 1-2
1.1.2 Identifying the Parts .. 1-4
1.2 System Configuration

1.2.1 Summary..
1-9
1.2.2 Position Operation Mode 1-11

1.2.3 Speed Operation Mode...
1-12
1.2.4 Torque Operation Mode. 1-13

1.2.5 Speed/Position Operation Mode. 1-14
1.2.6 Speed/Torque Operation Mode.. 1-15
1.2.7 Position/Torque Operation Mode.
1-16
1.3 Signal Explanation.. 1-17
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 System2-3
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[W]).3-2
3.1.2 Block Diagram (Rated Output is from 0.5 to 11.0[kW])
3-3
3.2 Power Board Wring

3.2.1 Wiring Diagram (Rated Output is less than 400[W]) 3-4
3.2.2 Wiring Diagram (Rated Output is from 0.5 to 11.0[kW]).. 3-5
3.2.3 Power Board Part Specification..
3-5
3.3 Timing Diagram

3.3.1 Timing Diagram at Supplying Power.
3-6
3.3.2 Timing Diagram at Alarm ...
3-7
3.4 Wiring control Signal

3.4.1 Contact Input Signal.
3-8
3.4.2 Contact Output Signal .... 3-8

3.4.3 Analog I/O Signal
3.4.4 Pulse Input Signal
..
3.4.5 Encoder Output Signal
3-9
3-10
3-11
3.5 Incremental Encoder Signal (CN2) Wiring

3.5.1 Small-size Motor.
3-12
3.5.2 Medium/Large-size Motor.
3-12
3.6 Absolute Encoder Signal (CN2) Wiring

3.6.1 Small-size Motor..
3-13
3.6.2 Medium/Large-size Motor.
3-13
3.6.3 How to use Absolute Encoder.
3-14
3.7 Wiring of Communication (Option) Signal

3.7.1 PC-Communication (for RS232C).
3-16
3.7.2 Communication for Only Servo (for O/S Download)
3-17
4.Detail Explanation of Program Menu

4.1 How to Operate Loader... 4-2
4.2 Program Menu Summary.... 4-4
4.3 Display Operation state
4.3.1 Display State. 4-19
4.3.2 Display Speed.. 4-19
4.3.3 Display Position.
4-19
4.3.4 Display Torque and Load .. 4-19

4.3.5 Display I/O State
4-20
4.3.6 Display Software Version.
4-21
4.4 Setting Up Menu

4.4.1 Setting System Variables ....
4-22
4.4.2 Setting Control Variables.....
4-26
4.4.3 Setting Analog I/O Variables ..
4-31
4.4.4 Setting I/O Connecting Variables.
4-33
4.4.5 Setting Speed Operation Variables.. 4-37

4.4.6 Setting Position Operation Variables.. 4-39
5. Handling and Operation

5.1 Check Point before Operation . 5-2
5.2 Handling
5.2.1 Alarm Reset..... 5-3
5.2.2 Alarm History Clear... 5-3
5.2.3 Menu lnitialization 5-3
5.2.4 Prohibiting Menu Handling 5-3
5.2.5 Absolute Encoder Reset. 5-3
5.2.6 Setting Input Contact Logic. .. 5-4
5.2.7 Compulsory Handing Input Contact.5-5
5.3 Adjustment
5.3.1 Gain Tuning .. 5-6
5.3.2 Current Offset Tuning..5-6
5.4 Test Operation

5.4.1 Manual Test Operation
5-7
5.4.2 Continuous Test Operation..
5-7
5.4.3 Operation at Z position .
5-7
5.5 Example of Connecting to Upper Controller..5-8
6. Communication Protocol
6.1 The Outline and Communication Specification
6.1.1 Outiline ..
6-2
6.1.2. Communication Specification & Cable Connection .
6-3
6.2 Basic Structure of Communication Protocol

6.2.1 Frame Type
...
6.2.2 The Collection of Commands
6-4
6-6
6.3 Commands for Data Processing

6.3.1 Data Reading Command ......
6-7
6.3.2 Data Writing Command....
6-15
6.3.3 Monitor Command Term..
6-21
6.3.4 Set Command[WDK] ....
6-31
6.3.5 Check Command[RCS/ RCB]
6-34
6.4 Commands for Operation

6.4.1 Speed Operation Command
6-40
6.4.2 Position Operation Command....
6-43
6.4.3 Program Operation Command.
6-46
6.4.4 Operation Command[CST/CSM/CSH/COR/CGR]
6-49
7. Product Specification
7.1 Servo Motor
7.1.1 Features ...
7-2
7.1.2 External Dimensions...
7-13
7.2 Servo Drive

7.2.1 Features ...
7-21
7.2.2 External Dimensions
7-22
7.3 Option and Perpherals.. 7-25
8. Maintenance and Inspection

8.1 Maintenance and Inspection
8.1.1 Caution
...... 8-2
8.1.2 Inspection Items
8-3
8.1.3 Period of Replacing Parts 8-4
8.2 Fault Diagnosis and Corrective Actions

8.2.1 Servo Motor .... 8-5
8.2.2 Servo Drive
. 8-6
[Appendix]
Appendix 1 summary Program Menu..
appendix 1-1
Appendix 2 Test operation .... appendix 2-1

Appendix 3 Regenerative braking.. appendix 3-1
Chapter1
Product Configuration and Main Function
1.1 Product Configuration

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

1.2.1
1.2.2
1.2.3
1.2.4
1.2.5
1.2.6
1.2.7
Summary ..
Position Operation Mode ..
Speed Operation Mode
Torque Operation Mode
Speed/Position Operation Mode ..
Speed/Torque Operation Mode .
Position/Torque Operation Mode ....
1.3 Signal Explanation
1-9
1-11
1-12
1-13
1-14
1-15
1-16
1-17
APD-VS[Standard Type] Manual
1.1 Product Construction

1.1.1 Checking Products
Check if the products are the ones 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 suitables for standard
- Check if the motor shaft is fine
- Check if the Oil Seal and Brake is fine
- Check if the decelerator and decelerating ratio is fine
- Check it the Encoder type is fine
Check the External Appearance

- Check if there is nodust or moisture
- Check if there is fading, contamination, damage, and disconnection
- Check screws for looseness
- Check if there is no noise or excessive friction at rotating
Servo drive Type Designation
APD
AnyPack Series
Servo Drive
VS
Type
Drive Capacity
VS : Standard type
R5 : 50W
15 : 1.5kW
01 : 100W 20 : 2.0kW
02 : 200W 35 : 3.5kW
04 : 400W 50 : 5.0kW
05 : 500W 75 : 7.5kW
10 : 1.0kW 110: 11.0kW
VP : ControllerEmbedded type
VT : Tension
Control type
1-2
04
A4
Encoder Type
Exclusive
N : Incremental
Option
A : Absolute
Code
Chapter1 Product Configuration and Main Function
Servo Motor Product Type
APM S B 04 A E K 1 G1 03
AnyPack Series
Servo Motor
Motor Shape Type

S : Solid Shaft type
H : Hollow Shaft type
B : Built in type
Motor Capacity
R3 : 30[W]
Shaft terminal Shape
Decelerating ratio
R5 : 50[W]
N : Straight
01 : 100[W]
03 : 1/3
K : One side round
02 : 200[W]
10 : 1/10
(Standard)
03 : 300[W]
04 : 400[W]
05 : 450[W]
06 : 550/600[W]
07 : 650[W]
08 : 750/800[W]
C : C Cut
D : D Cut
T : Taper shape
R : Both side round
Decelerator
None : none
G1 : General industry
H : Hollow Shaft
(Foot Mount)
G2 : General industry
09 : 850/900[W]
(Flange Mount)
10 : 1.0[kW]
Flange Size
A : 40 Flange
B : 60 Flange
C : 80 Flange
D : 100 Flange
E : 130 Flange
110 :11.0[kW]
G3 : Precise Decelerator
Encoder Type
A : Inc. 1024 [P/R]
Rated Speed
A : 3000 [rpm]
Oil Seal, Brake
B : Inc. 2000 [P/R]
none : none
C : Inc. 2048 [P/R]
1 : Oil Seal
D : Inc. 2500 [P/R]
2 : Brake
E : Inc. 3000 [P/R]
3 : Oil Seal, Brake
F : 180 Flange
D : 2000 [rpm]
G : 220 Flange
G : 1500 [rpm]
F : Inc. 5000 [P/R]
M : 1000 [rpm]
G : Inc. 6000 [P/R]

H : Abs. 1024 [P/R]
K : Abs. 2048 [P/R]
L : Abs. 4096 [P/R]
M: Abs. 8192 [P/R]
1-3
1.1.2 Identifying the Parts

Servo Motor
- Less than 80 Flange
Motor Power
Cable
Motor
Connector
Encoder
Connector
Encoder
Cable
Shaft
Bearing Cap
Flange
Frame
Housing
Encoder
Cover
- More than 130 Flange
Motor
Connector
Encoder
Connector
Encoder
Cover
Shaft
Bearing Cap
1-4
Flange
Frame
Housing
Servo Drive
- Small Capacity (less than APD-VS04)
Display
Heat Sink
Operation key
(Left, Right, Up, Enter)
Main Power Connector
(L1, L2, L3)
Regenerative Resistance
Connector (B1, B2, B3)
- Additional Resistance
- Internal Resistance
Motor Cable
Connector
(U, V, W)
CN3 : Communication
Connector
CN2 : Encoder
Connector
CN1 : Control Signal

Connector
Grounding Connector
(E x2)
Front cover
1-5
- Medium Capacity (APD-VS05 ~10)
Display
Heat Sink
Main Power
Connector
(L1,L2,L3)
Control Power
Connector
(L1C, L2C)
Regenerative
Resistance
Operation key
(Left, Right, Up, Enter)
CN3 : Communication
Connector
CN2 : Encoder
Connector

Connector
Motor Cable
Connector
(U, V, W)
Front cover
Ground
1-6
- Large Capacity (APD-VS15 ~75)
Display
Heat Sink
Main Power
Connector
(L1,L2,L3)
Control Power
Connector
(L1C, L2C)
Operation key
(Left, Right, Up,
Enter)
CN3:
Communication
Connector
CN2 : Encoder
Connector

Connector
Regenerative
Resistance
Front cover
Motor Cable
Connector
(U, V, W)
Ground
1-7
- Special Large Capacity (APD-VS110)
Displa
Operation key
CN3:
Communication
Connector
CN2 : Encoder
Connector
CN1 :
Control Signal
Connector
Control Power
Connector
(L1C, L2C)
L1C L2C
L1
1-8
L2
L3
B1
B2
Main Power
Regenerative
Connector
Resistance
(L1,L2,L3)
(Option)
FG
Motor Cable
Connector
(U, V, W)
FG
Ground

1.2.1 Summary
Servo System can be used variously by interface upper controller.
1) Position Operation System

Operation Servo by pulse command, that is operating position of servo motor by
ration of encoder pulse compared to command pulse.
Upper Controller
Position
Controller
Speed
Controller
Servo Drive
Position
Command
Pulse
Conversion
Servo Motor
Pulse
command
Position
Controller
Speed
Controller
Current
Controller
Strong point : Because of pulse input by transfer unit, upper controller is simple.
Weak point : High speed rotating is difficult at using precise transfer unit
Response characteristics are not good by using various step of control.
2) Speed Operation System

Operating servo by speed command that is analog or digital speed command.
Upper Controller
Position
Controller
Speed
Controller
Position
Command
Pulse
conversion
Servo Drive
Speed
command
Speed
Controller
Current
Controller
Servo Motor
M
E
Strong point : Response of servo is fast.

Easy to control precisely
Weak point : Upper controller is complicate.
1-9
3) Torque Operation System

Operating Servo by torque command that is analog voltage.
Upper Controller
Torque
Command
conversion
Torque
Controller
Position
Controller
Servo Drive
Torque
command
Speed
Controller
Current
Controller
Strong point : Response of servo is fast.

Easy to control precisely
Weak point : Upper controller is complicate
4) Operation mode
According to interface with upper controller, Operating mode is as below
Operation Mode
System
Operating Torque mode
Operating Speed mode
Operating Position mode
Operating Speed/Position mode by selecting connector
Operating Speed/Torque mode by selecting connector
Operating Position/Torque mode by selecting connector
* Operation mode is set up on menu [PE-601]
1-10
Servo Motor
M
E
Chaper1 Product Configuration and Main Function
1.2.2 Position Operating Mode

Regenerative resistance
MC1
MCCB1
Power supply AC
200-230 [V]
50/60 [Hz]
B1
L1
L2
L3
L1C
L2C
NF
(Note1)
CN2
Servo drive
U
V
W
DC24V
+24V IN
CN1
50
PCON
13
GAIN2
14
PCLEAR
15
TLIMIT
16
ALMRST
EMG
17
CWLIM
19
CCWLIM
20
U
V
W
E
Output
CN3
Input
B2
18
38
ALARM+
39
ALARM-
40
RDY+
41
RDY-
42
TLOUT
43
ZSPD
44
BRAKE
45
INPOS
24
GND24
25
GND24
MONITOR Output
EGEAR2
22
-5V ~+5V
EGEAR1
23
28 MONIT1
SVON
47
29 MONIT2
-5V ~+5V
37 GND
PULCOM
Line drive
Upper
controller
PF+
PF-
9
10
PR+
11
12
PR-
Open
collector
Torque
limit
ENCODER Output
49
0V ~+10V
TRQLIM
GND
32
AO
33
/AO
30
BO
Upper
31
/BO
controller
ZO
/ZO
OPCZO
36
GND
Connect to Case of connector
Note1) The models that are higher than VS05 have a control power terminal(L1C, L2C)
Note2) Surely use Twist pair shield cable for pulse command signal (PF+, PF-, PR+,
PR-) and torque limit signal(TRQLIM).
1-11
1.2.3 Speed Operation Mode

MC1
MCCB1
Power supply AC
200-230 [V]
50/60 [Hz]
B1
L1
L2
L3
L1C
L2C
NF
(Note1)
CN2
Servo drive
U
V
W
DC24V
+24V IN
50
PCON
13
GAIN2
14
TLIMIT
16
ALMRST
17
EMG
CWLIM
18
CCWLIM
SPD3
20
21
SPD2
22
19
SPD1
23
DIR
46
SVON
47
STOP
48
U
V
W
E
Output
CN3
Input
B2
CN1
38
ALARM+
39
ALARM-
40
RDY+
41
RDY-
42
TLOUT
43
ZSPD
44
BRAKE
45
INSPD
24
GND24
25
GND24
MONITOR Output
-5V ~+5V
28 MONIT1
29 MONIT2
-5V ~+5V
37 GND
ENCODER Output
Speed
command
Torque
limit
-10V ~+10V
0V ~+10V
SPDCOM
27
GND
TRQLIM
GND
32
AO
33
/AO
30
BO
Upper
31
/BO
controller
ZO
/ZO
OPCZO
36
GND
Note2) Surely use Twist Pair shield cable for SPDCOM, TRQLIM, GND.
1-12
1.2.4 Torque Control Mode

MC1
MCCB1
Power supply AC
200-230 [V]
50/60 [Hz]
B1
L1
L2
L3
L1C
L2C
NF
(Note1)
CN3
DC24V
+24V IN
B2
CN2
Servo drive
U
V
W
CN1
U
V
W
E
Output
Input
38
ALARM+
50
39
ALARM-
40
RDY+
41
RDY-
42
TCONT
43
ZSPD
44
BRAKE
45
INSPD
24
GND24
25
GND24
ALMRST
17
EMG
CWLIM
18
CCWLIM
20
19
MONITOR Output
SPD2
-5V ~+5V
22
SPD1
23
SVON
47
STOP
48
28 MONIT1
-5V ~+5V
29 MONIT2
37 GND
ENCODER Output
Speed
limit
Torque
command
0V ~+10V
-10V ~+10V
32
AO
33
/AO
30
BO
Upper
31
/BO
controller
ZO
/ZO
SPDLIM
27
OPCZO
GND
36
GND
TRQCOM
GND
8
Note1) The models that
are higher than VS05 have a control power terminal(L1C, L2C)
Note2) Surely use Twist Pair shield cable for SPDCOM, TRQLIM, GND.
1-13
1.2.5 Speed/Position Operation Mode

MC1
MCCB1
Power supply AC
200-230 [V]
50/60 [Hz]
B1
NF
(Note1)
Servo drive
U
V
W
Input
+24V IN
13
GAIN2
14
PCLEAR
15
TLIMIT
16
ALMRST
EMG
17
CWLIM
19
CCWLIM
MODE
20
21
SPD2/EGR2
22
18
SPD1/EGR1
23
DIR
46
SVON
47
STOP
48
PULCOM
49
Line drive
Upper
controller
Torque
limit
0V ~+10V
ALARM+
39
ALARM-
40
RDY+
41
RDY-
42
TLOUT
43
ZSPD
44
BRAKE
45
INSPD/POS
24
GND24
25
GND24
MONITOR Output
(Note2)
-5V ~+5V
28 MONIT1
-5V ~+5V
29 MONIT2
37 GND
ENCODER Output
AO
33
/AO
11
30
BO
Upper
12
31
/BO
controller
ZO
/ZO
PF-
10
PR+
PR-
Open
collector
Speed
command
38
32
PF+
-10V ~+10V
CN1
50
PCON
U
V
W
E
Output
CN3
DC24V
B2
CN2
L1
L2
L3
L1C
L2C
SPDCOM
27
OPCZO
GND
36
GND
TRQLIM
GND
8
Note1)The models that are higher than VS05 have a control power terminal(L1C, L2C)
Note2)Input contact MODE=ON:Speed control mode, MODE=OFF:Position control mode
1-14
1.2.6 Speed/Torque Operation Mode

MC1
MCCB1
Power supply AC
200-230 [V]
50/60 [Hz]
B1
NF
(Note1)
B2
CN2
L1
L2
L3
L1C
L2C
Servo drive
U
V
W
Output
CN3
Input
DC24V
+24V IN
CN1
50
PCON
13
GAIN2
14
TLIMIT
16
ALMRST
EMG
CWLIM
17
CCWLIM
MODE
20
21
SPD2
22
18
19
SPD1
23
DIR
46
SVON
47
STOP
48
U
V
W
E
38
ALARM+
39
ALARM-
40
RDY+
41
RDY-
42
TLOUT
43
ZSPD
44
BRAKE
45
INSPD
24
GND24
25
GND24
MONITOR Output
(Note2)
-5V ~+5V
28 MONIT1
-5V ~+5V
29 MONIT2
37 GND
ENCODER Output
Speed
Command
/limit
Torque
limit
/command
-10V ~+10V
AO
33
/AO
30
BO
Upper
31
/BO
controller
ZO
/ZO
27
OPCZO
GND
36
GND
TRQLIM/COM
GND
SPDCOM/LIM
-10V ~+10V
32
Note2) Input contact MODE=ON:Speed control mode, Mode=OFF:Torque control mode
1-15
1.2.7 Position/Torque Operation Mode

MC1
MCCB1
Power supply AC
200-230 [V]
50/60 [Hz]
B1
NF
(Note1)
B2
CN2
L1
L2
L3
L1C
L2C
Servo drive
U
V
W
Output
CN3
Input
DC24V
+24V IN
CN1
50
PCON
13
GAIN2
14
PCLEAR
15
TLIMIT
16
ALMRST
17
EMG
18
CWLIM
19
CCWLIM
MODE
20
21
EGR2/SPD2
22
EGR1/SPD1
23
SVON
47
STOP
48
PULCOM
49
38
ALARM+
39
ALARM-
40
RDY+
41
RDY-
42
TLOUT
43
ZSPD
44
BRAKE
45
INPOS
24
GND24
25
GND24
MONITOR Output
(Note2)
-5V ~+5V
28 MONIT1
29 MONIT2
controller
ENCODER Output
PF+
32
AO
33
/AO
30
BO
Upper
31
/BO
controller
ZO
/ZO
PF-
10
PR+
11
PR-
12
Open
collector
Speed
limit
Torque
Limit
/command
0V ~+10V
-10V ~+10V
-5V ~+5V
37 GND
Line drive
Upper
U
V
W
E
SPDLIM
27
OPCZO
GND
36
GND
TRQLIM/COM
GND
8
Mote1)The models that are higher than VS05 have a control power terminal(L1C, L2C)
Note2)Input contact MODE=ON:Position control mode, MODE=OFF:Torque control mode
1-16
1.3 Signal Explanation

1) Input contacts signal
Application table on operation mode
Pin
No.
50
Name
Function and Use
+24V IN Input contact +24[V] power supply
S
/P
S
/T
P
/T
13
PCON
P control operating
O/X O/X
14
GAIN2
Selecting gain2
O/X O/X
X/O
Emergency Stop
Prohibit CW rotating (reverse direction)
15
PCLEAR Input pulse clear
16
17
TLIMIT
ALMRST RESET at ALARM
18
EMG
19
CWLIM
20
CCWLIM Prohibit CWW rotating (forward direction)
21
22
23
ON : Torque limit by TRQLIM value

OFF : Torque limit by parameter
O/X
O/X O/X
SPD3
Selecting Speed3
MODE
Switching control mode
SPD2
Selecting Speed2
O/X
X/O
X/O
O/X
O/X
X/O
X/O
O/X
Selecting rotating direction
O/X O/X
EGEAR2 Switching electronic gear ratio2

SPD1
Selecting Speed1
EGEAR1 Switching electronic gear ratio1
46
DIR
47
SVON
Servo Operating
48
STOP
Motor Stop
O/X
X/O
Note1) P=Position, S=Speed, T=Torque

Note2) In case Speed operation, DIR and STOP contacts are operated as below
by the menu [PE-514]
Operating Method
Set up
[PE-514]
CCW
CW
Stop
DIR
STOP
DIR
STOP
DIR
STOP
OFF
OFF
ON
OFF
ON
OFF
ON
ON
OFF
ON
ON
OFF
OFF
1-17
2) Analog Input Signal

Pin
No.
27
Name
TRQCOM
TRQLIM
GND
S
/P
S
/T
P
/T
Analog speed limit input (0~+10[V])
X/O X/O
Analog torque command input

(-10~+10[V])
X/O X/O
Analog torque limit input (0~+10[V])
O/X O/X
Analog Signal ground
SPDCOM Analog speed command (-10~+10[V])

SPDLIM
Function and Use
O/X O/X
Note1) P=Position, S=Speed, T=Torque
* 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.
Speed
Digital speed command

Selecting from [PE-602] to[PE-608]
-10[V]
Voltage
+10[V]
3) Pulse Input Signal

Pin
No.
Name
PF+
10
S
/P
S
/T
P
/T
Line drive(5V) : F+ pulse input

Open collector(24V) : Not Used
X/O
O/X
PF-
Line drive(5V) : F- pulse input

Open collector(24V) : F pulse input
X/O
O/X
11
PR+
Line drive(5V) : R+ pulse input

Open collector(24V) : Not Used
X/O
O/X
12
PR-
Line drive(5V) : R- pulse input

Open collector(24V) : R pulse input
X/O
O/X
X/O
O/X
49
1-18
Function and Use
Line drive(5V) : Not Used

PULCOM Open collector(24V) :
+24V Power supply input
4) Output Contacts Signal

Pin
No.
Name
Function and Use
S
/P
S
/T
P
/T
38
ALARM+//39
ALARM state output

ON : normal state
OFF : ALARM state
40
/41
RDY+/-
ON at Complete operating ready state
42
TLOUT
Torque limit
43
ZSPD
Output at servo stop (speed is zero)
44
BRAKE
Brake operating signal output

(ON at servo dirving)
INSPD
Output complete signal of target speed reaching
O/X O/X
INPOS
Output complete signal of target position reaching
X/O
O/X
GND24
Ground for operating power supply(24V)

of I/O contacts
45
24
25
5) Monitor Output Signal and Output Power Supply

Pin
No.
Name
28
MONIT1
29
MONIT2
37
Function and Use
S
/P
S
/T
P
/T
Analog monitor output1(-5~+5[V])
Analog monitor output2(-5~+5[V])
GND
Analog output signal ground
34
+15V
+15[V]Power supply output terminal
35
-15V
-15[V]Power supply output terminal
6) ENCODER Output Signal

Pin
No.
Name
32
33
30
31
Function and Use
S
/P
S
/T
P
/T
AO
/AO
BO
/BO
Divide the Encoder signal by set

values of menu [PE-501]
O
(5[V] Line drive type)
4
5
ZO
/ZO
Encoder Z signal output by motor

(5[V] Line drive type)
3
36
OPCZO
GND
Encoder Z signal output by motor

(Open collector type)
1-19
1-20
Chapter 2
Installation
2.1 Servo Motor

2.1.1
2.1.2
2.1.3
2.1.4
2.1.5
Operating Environment.
Preventing Excessive Impact.
Wring ...
Assembling Load System.
Cable Installation..
2-2
2-2
2-2
2-3
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
2.1 Servo motor

Item
Environment
Temp.
040[]
Humidity
Less than 80[%]RH
External
Vibration Acceleration
Vibration
X, Y direction less19.6[]
Remark
In case of out of temp-range, inquire to
Technical department and order separately
There should be no steam
Excessive vibration might cause shortening
of bearing duality
2.1.2 Preventing Excessive Impact

- Impacting the shaft when installation or dropping the motor might cause the damage
of encoder.
CAUTION
2.1.3 Wiring
- Connecting commercial power supply directly to motor would cause damage of motor
Certainly connect to designated drive
- Ground terminal of motor should be connected to one of ground terminals (two) in
drive and another terminal should be connected to 3 class earth ground.
UU
V-V
WW
- F.G
- Match the U, V and W terminals of the motor with those of the driver
- Check if there are out of placed pin or fault of connection
- In case of moisture or condensation on motor, Surely check if the insulation
resistance is more than 10[] and (500V), and then installation.
2-2
Chapter2 Installation
2.1.4 Assembling Load System

- Coupling assembling : Install motor shaft accurately match with load shaft within
tolerance range.
Less than 0.03[](peak to peak)
Load
Motor
Less than 0.03[](peak to peak)
- Pulleys assembling :
Radial load
Axial load
kgf
kgf
40
148
15
39
60
206
21
69
80
255
26
98
10
130
725
74
362
37
180
1548
158
519
53
Flange
Reference diagram
Less than30[]
Radial load
Axial load
220
1850
189
781
90
2.1.5 Cable Installation

- In case of vertical Installation, care about oil or water that can be flowed into joint
Prevent Cable from the stress or flaw

Especially, while motor is moving, surely use the movable cable and cable should
not be rolled.
2-3
2.2 Servo Drive

Operating
Items
Remarkable
environment
Temp.
050[]
CAUTION
CAUTION
Humidity
Avoid heat by installing fans

Stopping for long time, drive can be
Less than
damaged by condensation or tree zing
90[%]RH
Therefore, operate after remove

moisture of drive sufficiently.
External
Vibration Acceleration
Excessive vibration might cause shortening Durability
Vibration
Less than 5.9[]
and wrong operation
Environment
2-4
Avoid direct sunlight
Avoid corrosive and flammable gas.
Avoid oil mist or dust.
Keep ventilation on closed place.
Chapter2 Installation
2.2.2 Installing in a Control Board(Panel)

- Installation space is as below.
More than
100mm
More than
30mm
More than
30mm
More than
50mm
Install 1 drive
More than
100mm
More than
30mm
More than
50mm
More than
30mm
More than
10mm
Install more than 2 drives
Note1) Install heat sources, such as regenerative resistance, away from the driver
- Exercise caution to prevent chips produced by drilling from getting into the drive
when drilling control panels.
- Take appropriate measures to prevent oils, water and metal powder from getting
into the driver from openings in the control panels.
- If the drive is used in a place with large amount of toxic gases and dust, protect the
drive with and air purge.
2-5
2.2.3 Wiring
- Check the input voltage, and keep it within range.
CAUTION
Drive may be damaged by over voltage.
- Connecting commercial power supply to the U,V,W terminals of drive may cause damage.
( Certainly connect power supply to L1, L2, L3 terminals )
- Certainly use the standard resistance value for regenerative resistance that is to be
connected to B1, B2 terminals of drive.
Model
Resistance
Standard Capacity
VS02~VS04
50[]
Internal 50[W]
VS05~VS10
40[]
External 140[W]
VS15~VS20
23[]
External 300[W]
VS35~VS75
11.5[]
External 300[W]2
*Remarkable
CAUTION
When
expanding
regenerative
capacity, the resistance value
should be referred to 7.3 Option
and peripherals
- If there is additional control power supply (more than VS05), construct system in
which control power supply (L1C, L2C) is supplied first and then main power supply
(L1, L2, L3) is to be supplied.
- High voltage still remains for a while even after power is turned off.
.
CAUTION
To prevent electric shock, carry out wiring work after charge lamp is
turned off
Ground the terminals at the shortest distance

Long ground distance can lead to wrong operation by noise effect.
2-6
Chapter 3
Wiring

3.1.1 Block Diagram (Rated Output is less than 400[W])
3-2
3.1.2 Block Diagram (Rated Output is from 0.5 to 11.0[kW]) .
3-3
3.2 Power Board Wring

3.2.1 Wiring Diagram (Rated Output is less than 400[W]) ..
3-4
3.2.2 Wiring Diagram (Rated Output is from 0.5 to 11.0[kW])..
3-5
3.2.3 Power Board Part specification.
3-5
3.3 Timing Diagram

3.3.1 Timing diagram at Supplying power
3-6
3.3.2 Timing diagram at Alarm
3-7
3.4 Wiring control Signal

3.4.1 Contact input signal ...
3-8
3.4.2 Contact output signal
3-8
3.4.3 Analog I/O signal ....
3-9
3.4.4 Pulse input signal ..
3-10
3.4.5 Encoder output signal ...
3-11
3.5 Incremental Encoder Signal (CN2) Wiring

3.5.1 Small-size Motor ....
3-12
3.5.2 Medium/Large-size Motor ...
3-12
3.6 Absolute Encoder Signal (CN2) Wiring

3.6.1 Small-size Motor .
3-13
3.6.2 Medium/Large-size Motor
.....
3-13
3.6.3 How to use Absolute Encoder ..
3-14

3.7.1 PC-Communication (for RS232C) .
3-16
3.7.2 Communication (for O/S Download) .
3-17

3.1.1 Block Diagram(Rated Output is less than 400[W])
[APD-VSR5 ~ APD-VS04]
B2
Diode
B1
B3
Thermistor
IPM
Fuse
3 Phase
Power Supply
AC200~230V L1
Current
Censor
L2
L3
Regenerative
Chage
Lamp
(Note1)
Regeneration
DC voltage
Braking
Detection circuit
Drive circuit
SMPS circuit
Relay
Drive
Circuit
U
V
W
Main Control
U,W Current
Detection
OC Detection Circuit
Circuit
IPM Drive Circuit
DB
Drive
Circuit
POWER Circuit Connection(CN4)
U,W current
DC voltage
Built-in
Loader
CN3
DSP(32bit)
RS232
Communication
B
U
S
RAM
(64K*32bit)
Flash ROM
(256K*8bit)
A/D Switching
ASIC
D/A Switching
Analog Input
(2contacts)
Monitor Output
(2contacts)
Encoder
Input
CN2
P/C Insulation I/F
Input Contact
(14contacts)
Pulse Input Output contact

(2contacts) (6contacts)
Encoder
Output
Connect to Upper controller (CN1)
(Note1) B2-B3 short pin and Regenerative resistor is installed in ONLY APD-VS02,
VS04 Type
3-2
Chapter3 Wiring
3.1.2 Block Diagram (Rated Output is from 0.5 to 11.0[kW])

[APD-VS05~APD-VS75]
Diode
Regenerative
Resistor
IPM
Thermistor
(Note1)
FAN
Fuse
3 Phase
Power Supply
AC200~230V L1
Current
Censor
L2
L3
U
V
W
Chage
Lamp
Single phase
Power supply
AC200~230V
L1C
L2C
SMPS
Built-in
Loader
Relay
Drive
Circuit
DC voltage
Detection
circuit
Regeneration IPM Drive Circuit

Braking
Drive circuit OC Detection Circuit
U,W Current
Detection
Circuit
DB
Drive
Circuit
U,W current
DC voltage
CN3
DSP(32bit)
RS232
Communication
B
U
S
A/D Switching
D/A Switching
Analog Input
(2contacts)
Monitor Output
(2contacts)
RAM
(64K*32bit)
Flash ROM
(256K*8bit)
Encoder
Input
ASIC
CN2
P/C Insulation I/F
Input Contact Pulse Input

(14contacts) (2contacts)
Output contact
(6contacts)
Encoder
Output
(Note1) APD-VS35, VS50, VS75 Type is cooled forcibly by DC24[V] cooling fan.
APD-VS110 Type is cooled forcibly by AC220[V] cooling fan.
3-3
3.2 Power Board Wiring

3.2.1 Wiring (Rated output is less than 400[W])
[APD-VSR5 ~ APD-VS04]
R
T (200~230V)
Main Main (Note1) 1MC
OFF ON
RA
1MCCB
NF
1MC
1Ry
1SK
Servo Motor
Servo Drive
U
V
W
1MC
L1
L2
L3
M
E
CN2
Encoder
1Ry
RA
+24V
Alarm+
38
B1
B2
Alarm-
39
B3
(Note2)
CN1
External Option
Regenerative Resistor
(140W,40)
(note1) : It takes approximately 1~2 seconds before alarm signal is activated

power is connected.
after
Press main power on switch for at least 2 seconds of
longer.
(Note2) : B2-B3 short pin and regenerative resistor is installed in APD-VS02, VS04
Type (but, there are no regenerative circuit, and regenerative resistor in APDVSR5~01 type)
Open short pin(B2-B3), and connect external regenerative resistor to (B1-B2)
in case of regenerative capacity is large due to frequent acceleration /
deceleration
At this time, Make sure optional Brake resistor is 140[W], 40[].
(Note3) : 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).
10~12
(Note4) : Connect or remove the wiring of main circuit power board after press the
button (
3-4
) of terminal.
Chapter3 Wiring
3.2.2 Wiring (Rated output is from 0.5 to 11.0[kW]

[APD-VS05~APD-VS110]
R
T (200~230V)
Main
OFF
1MCCB
NF
Main
ON
1MC
Servo Drive
RA
1MC
1Ry
1SK
Servo Motor
1MC
L1
L2
L3
L1C
L2C
Encoder
1Ry
Alarm+
RA
+24V
B1
38
B2
(note1)
Alarm-
Regenerative
39
Resistor
CN1
(Note1) : If regenerative capacity is large due to frequent acceleration/deceleration,

the same value of resistor and larger capacity of regenerative resistor than that
of normal resistor provided should be used.
The resistor value of standard regenerative resistor for each capacity of drive
is as below.
3.2.3 Power circuit part specification

Type
NFB
NF
(NoiseFilter)
MC
Power Wire
Compressed
terminal
Regenerative
resistor
(Provided)
R5
01
02
04
SMC-10P
05
10
SMC-15P
NFZ410S
GMC-32(26A) or
equivalent
AWG16
(1.25SQ)
UA-F1512,SEOIL
(10mm Strip&Twist)
Internal
50[]
(50[W])
15
20
35
20P
25P
35P
50P
75P
420S
4030
4040SG
4050SG
415S
50
75
GMC-40(35A) or
GMC-50(50A) or
equivalent
equivalent
AWG14
AWG12
AWG10
(2SQ)
(3.5SQ)
(5.5SQ)
GP110012
GP110721
GP110028
KET
KET
KET
40 []
(140[W])
23 []
(300[W])
11.5 []
(300[W] x2P)
110
75A
AWG8
(8 SQ)
GP140841
KET
Option
3-5
3.3 Timing Diagram

3.3.1 Timing diagram at Supplying power
In the case of APD-VSR5~VS04, Power is supplied to the control circuit if 3-phase power
is connected to the L1, L2, L3 terminals.
In the case of APD-VS05~VS110, Power is supplied to the control circuit if single-phase
power is connected to the L1C, L2C terminals and 3-phase power is connected to the L1,
L2, L3 terminals.
Servo becomes RDY after maximum 500[msec], the time required to initialize the inside of
the drive system, and if the servo drive signal is turn on, operation starts 30[msec] later.
Within 500ms
1,3 phase power
Control power set
(5[V])
Control program
initialization
100ms
300m
Within
500ms
Power good
200m
Alarm
(ON at normal state)
Servo RDY
SVON
DB reset
PWM
(Motor rotation
3-6
Within 5ms
Within 30ms
3ms
Chapter3 Wiring
3.3.2 Timing diagram at Alarm

If Alarm occurs on the drive system, PWM is shut off and the motor stops.
CAUTION
Check and remove causes of Alarm and turn off the servo motor drive
command(SVON) before resetting Alarm.
Within 500ms
Single, 3phase power
Control power
set (5[V])
Control program
Initialization
100ms
Within 500ms
Power good
Alarm
(ON at normal state)
Alarm occurs due to
Over load&over current
Remove
causes
of Alarm
Servo RDY
SVON
200ms
DB reset
PWM
(Motor rotation)
Within 5ms
3ms
Within 5ms
Within 30ms
Concord
Within 30ms
RESET
3-7
3.4 Wiring of Control Signal

3.4.1 Input Contact Signal
CAUTION
The input contacts are classified into A contact and B contact depending
on the contact characteristics and can be reset by the menu [PC-807],
And special caution is required because each contacts can forcibly be
ON/OFF.
Servo dirve
24V IN
+24V
Input signal1
Input Signal2
3.4.2 Output Contact Signal

CAUTION
The output contact internally uses transistor switch.
Take precaution
because overvoltage of overcurrent may cause damage to the system.

- Power supply : DC24[V]10%, 150[]
Servo drive
Output signal1
(Note1)
RA
+24V
Output signal2
GND24
RA
Output signal3
GND24
(Note1) For the output signal of Alarm and Ready, the GND24 terminal is
separated.
3-8
Chapter3 Wiring
3.4.3 Analog I/O Signal
Servo drive
Twist Pair
Command/Output signal Shield Wire
Command/Output signal
GND
GND
FG
GND terminal must be 0[V] of the control power supply.

Input signal command voltage is within 10[V], and input impedance is 10[].
Output signal voltage of Monitor1(No.28), Monitor2(No.29) 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.
+15[V](34)
330[] 1/4[W]
2[k]
Analog command
(1),(27)
104
330[] 1/4[W]
-15[V](35)
GND
(8)
3-9
3.4.4 Pulse Input Signal

(1) Line drive(5[V]) Pulse input
Upper control system
Servo drive
Twist Pair
Shield Wire
PF
PF+
PF-
PR
PR+
PRLine receiver
Line drive
FG
(2) Open collector(24[V]) Pulse input

Servo drive
GND24
+24[V]
Pulse COM
PF-
Shield Wire
PRFG
GND24
(3) 12[V] or 5[V] NPN Open Collector pulse command

NPN
Servo drive
R
R
PR+
PF+
GND12 Power(Note1)PF-
PRFG
(Note1) When the power supply12[V] is used : Resistance

When the power supply 5[V] is used : Resistance
3-10
R=560~680[ohm]
R=100~150[ohm]
Chapter3 Wiring
(4) PNP Open Collector type pulse command

Servo drive
Power (Note2)
PNP
R
R
PF+
GND24
PFGND24 PR+
PRGND24
FG
(Note2) When 24[V] is supplied : Resistance
R=1.5[kilo ohm]

CAUTION
R=560~680 [ohm]
R=100~150[ohm]
Inquire to our company for using open collector pulse input of DC5[V] or
DC12[V]
3.4.5 Encoder Output Signal

The encoder signal is produced based on 0[V](GND) of control power supply.
Connect
0[V] terminal of the circuit which receives this signal from the upper control system to the
GND terminal of CN1. 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](Pulse Out Rate).
Or in case of Z phase, there is also
open collector output.

Servo Drive
Line Drive
Line receiver
AO
PA
/AO
GND
+15[V]
OPCZO
+15[V]
Z Phase
GND
(R 1/4[W] 1[k]connected)
GND
3-11
3.5 Wiring of Incremental Encoder Signal(CN2)

3.5.1 Small-size Motor(Flange 40, 60, 80)
AWG24 7Pair Twist
Shield Wire
Servo Motor
Encoder
Cable
Connector
Maker - AMP
172163-1
15Pin
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
Servo Drive
18
15
16
13
14
11
5
6
3
4
Cable
1
Connector(CN2)
Maker - 3M
2
19 10120-3000VE
10320-52F0-008
9
12,Frame
3.5.2 Medium/Large-size Motor(Flange 130, 180, 220)

Servo Motor
Encoder
Cable
Connector
MS3108S20-29S
3-12
A
B
C
D
E
F
K
L
M
N
P
R
H
G
J
AWG24 7Pair Twist

Shield Wire
A
/A
B
/B
Z
/Z
U
/U
V
/V
W
/W
5V
GND
SHD
Servo Drive
18
15
16
13
14
11
5
6
3
4
Cable
1
Connector(CN2)
2
Maker - 3M
19 10120-3000VE
10320-52F0-008
9
12,Frame
Chapter3 Wiring
3.6 Wiring of Absolute Encoder signal(CN2)

3.6.1 Small-size Motor(Flange 40, 60, 80)
AWG24 7Pair Twist
Shield Wire
Servo Motor
Encoder
Cable
Connector
Maker - AMP
172163-1
15Pin
1
2
3
4
5
6
7
9
10
11
12
13
14
8
A
/A
B
/B
Z
/Z
ERST
BAT+
BATRX
/RX
5V
GND
SHD
Servo Drive
18
15
16
13
14
11
20
7
8
Cable
1
Connector(CN2)
2
Maker - 3M
19 10120-3000VE
9
10320-52F0-008
12,Frame
3.6.2 Medium/Large-size Motor(Flange 130, 180, 220)

AWG24 7Pair Twist
Shield Wire
Servo Motor
Encoder
Cable
Connector
MS3108S20-29S
A
B
C
D
E
F
M
K
L
P
R
H
G
N
A
/A
B
/B
Z
/Z
ERST
BAT+
BATRX
/RX
5V
GND
SHD
Servo Drive
18
15
16
13
14
11
20
7
8
Cable
1
Connector(CN2)
Maker - 3M
2
19 10120-3000VE
10320-52F0-008
9
12,Frame
3-13
3.6.3 How to use Absolute Encoder

Set Encoder type[PE-203] to 6 when the absolute value Encoder is used.
When
Encoder type [PE-203] is set to 6, the input contact SPD3/MODE is automatically

reset to the absolute position call(ABSCALL).
Therefore, Switch operation mode 3, 4,
5 of Operation Mode [PE-601] and internal speed command 4, 5, 6, 7 used

SPD3 at speed control servo are not possible to use.
(1) Absolute position data transmission by upper controller
The absolute position call (ABSCALL) must remain ON from the time absolute
position transmission is requested to the time transmission is completed, and if the
absolute position call(ABSCALL) is turned OFF during transmission, transmission
stops and the mode return to initial state.
To request absolute position
transmission, change the absolute position call(ABSCALL) signal from OFF to ON

when the servo is turned OFF.
When the absolute position transmission starts
based on the absolute position call(ABSCALL), the following I/O signals are reset to
function pin for transmission.
If ABSCALL signal is turned OFF
Rotation speed selection2
/Electric gear ratio selection2
(SPD2/EGEAR2)
INSPD/INPOS
ZSPD
TLOUT
ABSCALL
If ABSCALL signal is turned ON

Handshake Input
(HSIN)
Transmission data0 (DATA0)
Transmission data1(DATA1)
Handshake Output (HSOUT)
OFF
OFF
A
HSIN
ON
SPD2/
EGEAR2
OFF
B
E
ON
HSOUT
TLOUT
DATA1
DATA0
INSPD/INPOS
ZSPD
D0
D1
D0
D3
D2
D5
D4
D10 D11 D23
Single turn absolute data
Multi turn absolute data
(11Bit)
(13bit)
LSB
MSB LSB
D27
D26
D29
D28
D24
D25
D26
D27
SYSD
OVFR
MDER
BATT
0 : high(off)
1 : low (on)
D28 D29
L
MSB
Transmission data is 0 at electrically HIGH(contact OFF), and 1 at electrically

LOW(contact ON)
3-14
Chapter3 Wiring
(2) Sequence of Absolute position Data transmission with upper controller
If ABSCALL is turned ON from Upper control like PLC, the servo drive reads the
absolute value at this time, turns ON HSOUT, and displays 2 LSB Data (D0, D1)
on DATA0 and DATA1, Servo ON is ignored until transmission is completed
thereafter. (A)
Upper controller(PLC) verifies HSOUT is turned ON, reads D0, D1, and turns
ON HSIN. (B)
The servo drive verifies that HSIN has been turned ON, turns OFF HSOUT, and
displays D2 and D3 on DATA0 and DATA1. (C)
Upper Controller(PLC) verifies HSOUT is turned OFF, reads D2 and D3, and turns
OFF HSIN. (D)
The servo drive verifies that HSIN has been turned OFF, turns ON HSOUT, and
displays D22 and D23 on DATA0 and DATA1. (E)
The upper controller(PLC) reads absolute value by repeating the process of item
through above, turns OFF ABSCALL, and completes absolute position Data
transmission (F)
The functions of HSIN, HSOUT, DATA0 and DATA1 pins are automatically reset to
the pins of original SPD2/EGEAR2, TLOUT,
INSPD/INPOS & ZSPD
respectively, and the servo can be turned ON.
Note1) In case alarm occurs when attempting to transmit absolute position, reset
alarm first and turn ON ABSCALL.
Note2) If ABSCALL is turned ON, the functions of SPD2/EGEAR2 are automatically
reset to HSIN. If SPD2/GEAR2 pins are turned ON at this time, HSIN is
recognized as being turned ON, and transmission error might occur.
Therefore, when ABSCALL is turned ON, turn OFF the SPD2/EGEAR2
(HSIN) pins.
3-15

3.7.1 PC-Communication (for RS232C)
This cable is for only PC-communication option cable to set servo drive menu by
serial communicating of servo drive and PC.
[ PC- Serial Port ]
[ Servo Drive- CN3 ]
Content
Connector name
Case name
Wiring
Cable length
PC-Serial Port
Servo Drive-CN3
HDEB-9S
10114-3000VE
3600-09-G-L
10314-52A0-008
NO.2(RXD)
NO.6(TXD)
NO.3(TXD)
NO.5(RXD)
NO.5(GND)
NO.11,NO.12(GND)
Case(Shield)
1,2,3,5[m]
In Windows98, Serial Port(COM1) setting is as below.

(Setting > Control panel > System > Device manager > Port >
Communication port(COM1) > Port setting)
Bps : 9600[bps] or 19200[bps] (same with menu [PE-202])
Data bit : 8
Parity : none
Stop bit : 1
Flow control : Xon/Xoff
3-16
Chapter3 Wiring
3.7.2 Communication for only Servo (for O/S Download)

This cable is for only servo communication cable to upgrade O/S(Operating Software)
by parallel communication of servo drive and PC.
14
[ Servo Drive- CN3 ]
[ PC-Parallel Port ]
Contents
Connector name
Case name
Wiring
Cable length
PC-Parallel Port
Servo Drive-CN3
HDBB-25P
10114-3000VE
3600-25-G-L
10314-52A0-008
NO.15(ERROR)
NO.1(DXO)
NO.8(DATA6)
NO.2(FSRX)
NO.7(DATA5)
NO.3(CLKRX)
NO.9(DATA7)
NO.4(CLK)
NO.16(INIT)
NO.8(RESET)
NO.18(GND)
NO.9(INT2/3)
NO.6(DATA4)
NO.10(DRO)
NO.20(GND)
NO.11(GND)
Case(Shield)
1, 2, 3, 5[m]
In Windows98, Parallel Port(LPT1) setting is as below.

(Setting > Control panel > System > Device manager > Port > Print port(LPT1) >
resource)
Range of I/O : 0378 ~ 037B
Request interrupt : 07
3-17
3-18
Chapter 4
Detailed Explanation of Program Menu
4.1 How to Operate Loader... 4-2

4.2 Program Menu Summary. 4-4
4.3 Display Operation State
4.3.1 Display State .....
4-19
4.3.2 Display Speed... 4-19

4.3.3 Display Position... 4-19
4.3.4 Display Torque and Load . 4-19
4.3.5 Display I/O State . 4-20
4.3.6 Display Software Version..
4-21
4.4 Setting Menu

4.4.1 Setting System Variables..
4-22
4.4.2 Setting Control Variables..
4-26
4.4.3 Setting Analog I/O Variables. 4-31

4.4.4 Setting I/O Contact Variables .... 4-33
4.4.5 Setting Speed Operation Variables. 4-37
4.4.6 Setting Position Operation Variables.. 4-39
APD- VS[Standard Type]Manual
4.1 How to Operate Loader

4.1.1 External View
Left
Right
Up
Enter
4.1.2 Menu Summary

Move Menu
Right
Right
Right
Left
Left
Left
Right
Right
Right
Pd-002
Pd-001
Right
Pd-020
Up
PA-102
PA-101
Up
Left
Left
Right
Right
Right
PE-201
Up
PA-120
Left
PE-202
PE-220
Left
Left
Left
Right
Right
Right
Left
Left
Right
Right
Left
Left
PE-701
PE-702
Left
PE-720
Up
Right
PC-801
PC-802
Left
Up
4-2
Right
PC-820
Chapter4 Detailed Explanation of Program Menu
Editing Menu
PE-201
Enter
Enter
*Change Position : Left/Right

*Change Value : Up
Initial Blinking digit
- 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.
Error in menu editing
- Error is as below.
Display
notuSE
Cause
Menu that is used or impossible to set up
- In case of the menu is impossible to edit at Servo ON.
- Error in editing Motor relative constant.
Err1
- 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
Err3
When setting the data that is out of range

Menu setting 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
4-3
APD-VS[Standard Type]Manual
4.2 Program Menu Summary

Menu consists of 9 menu group, and function of each menu is as below.
Comm. Code
Name of Menu Group
Function
Pd-001
~ Pd-020
Status Menu
Indicates operation status information of

Each Servo.
PA-101
~ PA-120
Alarm Menu
Stores & Indicates records of Alarm that is

Happened before.
PE-201
~ PE-220
System Menu
Stores information of system construction
PE-301
~ PE-320
Control Menu
PE-401
~ PE-420
Analog Menu
Stores set variables that is related to analog

I/O.
PE-501
~ PE-520
InOut Menu
Stores set variables that is 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
Stores set variables that is related to position

pulse operation
PC-801
~ PC-820
Command Menu
Stores set variables that is related to control.
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
4-4
1) Operation State Indicating Menu (Refer to chapter 4.3)

MENU
Comm.
Code
CODE
NAME
Pd-001
Current State
Pd-002
Current Speed
Pd-003
Pd-004
Current Pulse
Pd-005
Feedback Pulse
Pd-006
Pulse Error
Pd-007
E-Gear N0
Pd-008
Pd-009
Torque Limit
Pd-010
Current Load
10
Pd-011
Average Load
11
Pd-012
Maximum Load
12
Pd-013
DC Link Voltage
13
Pd-014
14
Pd-015
Input EXT SET
15
Pd-016
I/O State
16
Pd-017
Input Logic Set
17
Pd-018
Input Logic Save
18
Pd-019
Alarm bit
19
Pd-020
Command
Speed
Command
Torque
UNIT
INI
MIN
MAX
Indicates current operation status.
(Normal : nor , Alarm : Alarm No.)
r/min
0.0
-9999.9 9999.9
r/min
0.0
-9999.9 9999.9
-
-99999
99999
-99999
99999
99999
1000
99999
[%]
-999.99 999.99
[%]
300
300
[%]
-99999
99999
[%]
99999
[%]
-99999
99999
Description
Indicates current speed.
Indicates current command speed.

Indicates cumulative value of position command
Pulse that are input from external device.
Indicates feedback pulse when controlling position.
App
Mode
PST
PST
ST
PST
Indicates remained position pulse that is to be operated.
Indicates numerator 0 of electronic gear ratio.
Indicates current command torque at torque limit

operation.
Indicates torque limit setting value.
PST
Indicates current load ratio compared to rated.
PST
Indicates the average load ratio for 5 seconds Compared to rated.
PST
Indicates instantaneous max. load ratio compared to

rated.
PST
Volt
0.0
0.0
999.9
CN1connection
state I/O SET
Loader, PC) (refer to PC-808)
Indicates I/O status that is perceived last

(It is perceived and indicated when A contact:ON, B contact:OFF)
PST
Menu that is related to communication.
PST
Indicates the Software Version.
PST
Software
Version
Indicates DC Link voltage of current main power.
PST
Indicates contactsCN1 I/O status.
PST
Indicates input status that is handled forcibly by external(Handy
PST
Communication code is to be used for selecting the menu when using TOUCH or PC Communication.
4-5
2) Alarm state indicating Menu

MENU
Comm.
Code
CODE
NAME
Alarm history 01 ~ 20
PA-101
Alarm History01
~
~
PA-120
Alarm History20
20
~
39
UNIT
INI
MIN
MAX
Description
Indicates Alarm state that is happened before
App
Mode
PST
# Alarm code and details

CODE
Menu title
Nor-oF
Normal svoff
Nor-on
Normal svon
Cause
Checking Items
Servo OFF Normal condition
Servo ON Normal condition
RS232Comm.error,
Control
circuit
operation error
EMG input contact turned OFF
Main power shut off during Servo ON
status
Check external DC24V power supply
Motor and encoder miswriting
Check set values and CN2 wiring, U,V,W wiring.
Error of Output (U.V.W) open phase
Check U,V,W wiring and IPM module damage
L1.01
L1.01
AL-01
Emergency Stop
AL-02
Power Fail
AL-03
Line Fail
AL-04
Motor Output
AL-05
Encoder Pulse
No. of encoder pulse set error
Check set value[PE-204] and CN2 wiring.
AL-06
Following Error
Position pulse following error
Check the [PE-502] position command pulse set

value, wiring and Limit contact, gain set value
AL-07
Not Used
Not Used
AL-08
Over Current
AL-09
Over Load
AL-10
Over Voltage
Over voltage
AL-11
Over Speed
Over speed
Check encoder set value, encoder wiring, gain set
AL-12
Not Used
Not used
AL-13
Not Used
Not used
AL-14
ABS Data Error
Absolute encoder data transmission error
Check the initial reset [PC-811]
AL-15
ABS Battery Error
Absolute encoder battery error
Check the initial reset [PC-811] and if battery is

discharged
AL-16
ABS Multi Error
Absolute encoder
transmission error
AL-17
ABS Read Fail
Absolute encoder reading error
Check encoder
AL-18
Not Used
Not used
AL-19
Not Used
Not used
AL-20
Flash Erase Fail
Deleting error of flash ROM data
Replace drive
AL-21
Flash Write Fail
Writing error of flash ROM data
Replace drive
AL-22
Data Init Error
Error of data initialization
Replace drive
AL-23
EPWR
Hardware error
[PE-203] set error
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
4-6
Replace the drive
Check the wiring of main power supply
Check the output terminal wiring motorencoder set

value, gain set, Replace drive if O.C. continues.
Check Load condition, Brake operating condition,
wiring, motorencoder set value.
Check input voltage, wiring lf braking resistance,
damage of braking resistance, excessive regenerative
operation
Over current
Over load
multi-rotation
data
3) System variables setting menu (Refer to chapter 4.4.1)

Menus marked with * cannot be corrected during Servo-On
MENU
Comm
Code
CODE
40
*PE-201
41
*PE-202
42
*PE-203
Encoder Type
43
*PE-204
Encoder Pulse
44
PE-205
CCW TRQ Limit
45
PE-206
CW TRQ Limit
46
*PE-207
System ID
47
*PE-208
System Group ID
48
PE-209
Start Menu No.
49
*PE-210
Inertia
50
*PE-211
Trq Con
51
*PE-212
Phase Ls
52
*PE-213
Phase Rs
53
*PE-214
Rated Is
54
*PE-215
Max Speed
55
*PE-216
Rated Speed
56
*PE-217
Pole Number
57
PE-218
Not Used
PE-219
Not Used
PE-220
Not Used
NAME
Motor ID
RS232 Comm. speed
58
59
Baud Rate
UNIT
INI
MIN
MAX
0
[bps]
99
0
0
[p/r]
9
3000
1
[%]
99999
300
0
[%]
300
300
0
-
300
0
0
-
99
0
0
-
99
2
1
gfcms2
20
ID
0.01
kgfcm/A
999.99
ID
0.01
mH
999.99
ID
0.001
ohm
99.999
ID
0.001
A
99.999
ID
0.01
r/min
999.99
ID
0.0
r/min
9999.9
ID
0.0
-
9999.9
8
2
-
98
-
Description
App
Mode
Sets Motor ID (Refer 4.4.1), When setting motor ID: Be

set automatically from [PE-210] to [PE-217]
PST
Sets RS232 communication speed of CN3

0=9600[bps], 1=19200[bps]
2=38400[bps],3=57600[bps]
PST
Sets applied encoder type (0 : A phase lead, 1 : B

phase lead, 6 : Absolute encoder)
PST
Sets the number of encoder pulse.
PST
Sets torque limit value at CCW.
PST
Sets torque limit value at CW.
PST
Sets drive ID on communication
PST
Sets drive group ID on communication
PST
Sets the operation status display menu with

[Pd-001]~[Pd-020] at power on.
PST
Sets inertia of motor. (Modification is possible when

[PE-201] is 0)
PST
Sets torque constant of motor

(Modification is possible then [PE-201] is 0)
PST
Sets phase inductance of motor

(Modification is possible when [PE-201] is 0)
PST
Sets phase resistance of motor

PST
Sets rated current of motor

(Modification is possible when [PE-201] is 0 .)
PST
Sets max.speed of motor

PST
Sets rated speed of motor

PST
Sets pole number of motor

PST
Communcation code is to be used for selecting the menu when using TOUCH or PC Communication.
4-7
Motor type and ID
4-8
Model
ID
Watt
SAR3A
SAR5A
SA01A
Remark
Model
ID
Watt
30
SE09A
61
900
50
SE15A
62
1500
100
SE22A
63
2200
SE30A
64
3000
SB01A
11
100
SE06D
65
600
SB02A
12
200
SE11D
66
1100
SB04A
13
400
SE16D
67
1600
SB03A
14
250
Customized type
SE22D
68
2200
HB02A
15
200
Hollow Shaft
SE03M
69
300
HB04A
16
400
Hollow Shaft
SE06M
70
600
SE09M
71
900
Remark
SC04A
21
400
SE12M
72
1200
SC06A
22
600
SE05G
73
450
SC08A
23
800
SE09G
74
850
SC10A
24
1000
SE13G
75
1300
SC03D
25
300
SE17G
76
1700
SC05D
26
450
HE09A
77
900
Hollow Shaft
SC06D
27
550
HE15A
78
1500
Hollow Shaft
SC07D
28
650
SE11M
79
1050 Customized type
SC01M
29
SE07D
80
650
SC02M
30
SF30A
81
3000
SC03M
31
SF50A
82
5000
SC04M
32
SF22D
85
2200
HC06H
33
600
Only S/T
SF35D
86
3500
SC05A
34
450
Only S/S
SF55D
87
5500
SC05H
35
500
Only S/S
SF75D
88
7500
SC08A
36
750
Only S/S
SF12M
89
1200
SF20M
90
2000
HB01A
37
100
Hollow Shaft
SF30M
91
3000
HC10A
38
1000
Hollow Shaft
SF44M
92
4400
HE30A
39
3000
Hollow Shaft
SF20G
93
1800
HB03H
40
250
Only
Semiconductor
SF30G
94
2900
SF44G
95
4400
SF60G
96
6000
HC05H
99
500
Customized type
Customized type
# Motor type and ID

Model
ID
Watt
Remark
SE35D
101
3500
Only DS
SE30D
102
SF44ML
103
4400
SF75G
104
SE35A
105
SF55G
106
SF60M
107
SG22D
111
2200
SG35D
112
3500
SG55D
113
5500
SG75D
114
7500
SG110D 115
11000
SG12M
121
1200
SG20M
122
2000
SG30M
123
3000
SG44M
124
4400
SG60M
125
6000
SG20G
131
1800
SG30G
132
2900
SG44G
133
4400
SG60G
134
6000
SG85G
135
8500
SG110G
136
11000
SG150G
137
15000
Model
ID
Watt
Remark
For LG Only
4-9
4) Control Variables Setting Menu (Refer to chapter 4.4.2)

Menus marked with * cannot be corrected during Servo-ON
MENU
Comm
Code
CODE
60
PE-301
Inertia Ratio
61
PE-302
Position P Gain1
62
PE-303
Position P Gain2
63
PE-304
P Feedforward
64
PE-305
P FF FLT TC
65
PE-306
P CMD FLT TC
66
PE-307
Speed P Gain1
67
PE-308
Speed P Gain2
68
PE-309
Speed I TC1
69
PE-310
Speed I TC2
70
PE-311
Speed IN FT
71
*PE-312
Speed FB FT
72
PE-313
Zero Speed Gain
73
PE-314
TORQ. CMD FLT
74
PE-315
DE-Resonance
75
PE-316
Notch Frequency
76
PE-317
Notch Bandwidth
77
PE-318
Overload offset
78
PE-319
Speed P Control
79
PE-320
Zero Speed Lock
NAME
UNIT
INI
MIN
MAX
2.0
1.0
500.0
1/s
50
500
1/s
70
500
[%]
100
msec
10000
msec
10000
rad/s
Sets inertia ratio of load (Refer to chapter 4.4.2)
5000
rad/s
50
5000
msec
msec
Sets position control proportional gain 2
Sets position feed-forward control ratio
Sets the time-constant of position feed-forward control filter
Sets the time-constant of position command filter
(APD-VSR5~04:500, VS05~10:300, VS15~110:200)

Set speed proportion gain 2.
APD-VSR5~04:800,VS05~10:400,VS15~110:300)
(APD-VSR5~04:20, VS05~10:30, VS15~110:50)

Sets speed integral time constant 2
10000
msec
0.0
0.0
100.0
msec
0.5
0.0
100.0
r/min
0.0
0.0
100.0
msec
0.0
0.0
1000.0
(APD-VSR5~04:13, VS05~10:25, VS15~110:30)
Sets the speed range of zero speed gain
PS
Sets torque command filter
PST
Sets avoid resonance driving operation

( 0 : no operation, 1 : operation)
100
1000
PS
PS
300
PS
Sets speed feed-back filter
1000
PS
PS
Sets speed command filter
Hz
PST
P

10000
Appl.
Mode
Sets speed proportional gain 1
Description
PST
Sets avoid resonance driving frequency
PST
Sets avoid resonance band width
PST
1.1
Set the time of Oveload characteristic.
1.0
3.0
(User is requested not to change it .)
r/min
100.0
Sets the changed speed at PI-P control (PCON input)(P
0.0
9999.9
control is operated at less than set speed)
Automatically switch from speed control to position control at

STOP input or command 0 voltage at [PE-403](SClamp
Mode)=1,(0:not used, 1:operation)
PST
PS
PS
4-10
5) Analog I/O variables setting menu (Refer to chapter 4.4.3)

MENU
Comm
Code
CODE
UNIT
NAME
80
*PE-401
Analog Speed
81
PE-402
Speed Offset
82
PE-403
SClamp Mode
83
PE-404
SClamp Volt
84
*PE-405
Speed Override
85
*PE-406
Analog Torque
86
PE-407
Torque Offset
87
PE-408
TClamp Mode
88
PE-409
TClamp Volt
89
PE-410
Monitor Type1
90
PE-411
Monitor Mode1
91
PE-412
Monitor Scale1
92
PE-413
Monitor Offset1
93
PE-414
Monitor Type2
94
PE-415
Monitor Mode2
95
PE-416
Monitor Scale2
96
PE-417
Monitor Offset2
97
PE-418
Torque Com Dir
INI
MIN
MAX
r/min
2000.0
0.0
mV
max
0.0
-1000.0
-
1000.0
0
0
mV
1
0.0
0.0
-
2000.0
0
0
[%]
1
100
0
mV
300
0.0
-1000.0
-
1000.0
0
mV
0.0
-1000.0
-
1000.0
1
0
-
10
0
1.0
0.1
mV
9999.0
0.0
-100.0
-
100.0
3
0
-
10
0
1.0
0.1
mV
9999.0
0.0
-100.0
100.0
Description
Mode
Sets analog speed command at 10[V]

-Max values is max speed of motor(Refer 4.4.3)
ST
Sets the offset of speed command
Sets zero speed clamp operation
Sets zero speed clamp operating voltage
Sets speed override operation

(0 : Not used, 1 : Override operation)
Sets analog torque command at 10[V]
PST
Sets the offset of torque command
Sets zero torque clamp operation
Sets zero torque clamp operation voltage
Sets type of analog output1 for monitoring
PST
Sets mode of analog output1 for monitoring

(0:mark direction sorting,1:mark absolute value without
direction sort)
PST
Sets scale of analog output1 for monitoring
PST
Sets offset of analog output1 for monitoring
PST
PST

(0:mark direction sorting, 1:mark absolute value without
direction sort)
PST
Sets scale of analog output2 for momitoring
PST
PST
At Torque control operation, Set the motor rotating direction

for torque command voltage at torque control operation.
App
(0 : forward direction at + voltage, 1 : forward direction at
voltage)
98
99
PE-419
PE-420
Not Used
Not Used
4-11
6) I/O Contacts Variables Setting Menu (Refer to chapter 4.4.4)

MENU
Comm
Code
CODE
NAME
100
PE-501
Inposition
101
PE-502
Follow Error
102
PE-503
0 Speed RNG
103
PE-504
Inspeed
104
PE-505
Brake SPD
105
PE-506
Brake Time
106
PE-507
PowerFail Mode
107
PE-508
DB Control
108
PE-509
Pulse Clear Mode
109
PE-510
Pulse Out Rate
110
PE-511
Not Used
111
PE-512
ESTOP Reset
112
PE-513
Not Used
113
PE-514
Dir Select Mode
114
PE-515
Output Logic
115
PE-516
PWM off Delay
116
PE-517
117
PE-518
118
PE-519
ZSPD Gain Rate
119
PE-520
Gain Conv Mode 0
4-12
Not Used
UNIT
INI
MIN
MAX
Pulse
100
99999
(Refer to chapter 4.4.4)
Pulse
90000
Sets the output range of position operation follow error
999999
signal
r/min
10.0
0.0
9999.9
r/min
100.0
0.0
9999.9
r/min
50.0
0.0
9999.9
msec
10
10000
Per each
model
Description
Sets the output range of position operation finishing signal
Sets the output range of zero speed signal

Sets the output range of speed reaching signal
App
Mode
P
P
PST
S
Sets brake output speed
PST
Sets brake output delay time
PST
Sets operation reset mode of main power error

[ 0 : less than VS041(reset by hand),
1 : more than VS05(automatic reset) ]
PST
Sets divide ratio of encoder signal output
16
-Divide ratio : 1,2,3..16
Sets generating brake control operation

0:SVOFFat stop,less than [PE-503](zerospeed):Free-run
1:SVOFF at stop, generating brake function is always operated
Sets position pulse clear operating mode
0 : Edge operating
1 : Level operation(response instantly)
2 : Level operation(filter operating)
Automatically Cancel after ESTOP operation
(0:reset by hand, 1 : automatic rest)
0: DIRSwitching direction, STOPstop
1: DIRCW operation, STOPCCW operation
30
Sets Logic of output contacts.
63
(30=ZSPD output, 26=TGON signal output)
msec
10
1000
[%]
50.0
Set zero speed gain ratio that are to be applied to the speed
1.0
100.0
range that is below the value which were set in PE-313.
Set Gain1, Gain 2 switching mode. 0: Use Gain1 only.
Sets the delayed time(PWM-off) when command SV-off
PST
PST
PST
S
PST
PST
1: Input contact. When Gain2 is OFF, use Gain1.

When Gain 2 is ON, use Gain2.
0
2: If speed command[PE-503] is higher than zero

speed, Gain 1 is to be switched to Gain 2.
3: If Position pulse error[PE-501] gets bigger than inpos value,
Switching Gain1Gain2.
4-13
7) Speed operation variables setting menu(Refer to chapter 4.4.5)

MENU
Comm
Code
CODE
UNIT
NAME
120
*PE-601
Operation Mode
121
PE-602
Speed Command1
122
PE-603
Speed Command2
123
PE-604
Speed Command3
124
PE-605
Speed Command4
125
PE-606
Speed Command5
126
PE-607
Speed Command6
127
PE-608
Speed Command7
128
PE-609
Accel Time
129
PE-610
Decel Time
130
*PE-611
S Type Control
131
PE-612
Test Run Speed0
132
PE-613
Test Run Speed1
133
PE-614
Test Run Speed2
134
PE-615
Test Run Speed3
135
PE-616
Test Run Time0
4-14
INI
MIN
MAX
r/min
10.0
-Max
r/min
+Max
200.0
-Max
r/min
+Max
500.0
-Max
r/min
+Max
1000.0
-Max
r/min
+Max
1500.0
-Max
r/min
+Max
2000.0
-Max
r/min
+Max
3000.0
-Max
msec
+Max
0
0
msec
100000
0
0
-
100000
0
0
r/min
1
100.0
-Max
r/min
+Max
-500.0
-Max
r/min
+Max
1000.0
-Max
r/min
+Max
-2000.0
-Max
sec
+Max
5
50000
Description
Sets operation mode (Refer to chapter 4.4.5)
0 : torque control mode
1 : speed control mode
2 : position control mode
3 : speed/position control mode
(MODE contact=OFF: position mode)
4 : speed/torque control mode
(MODE contact=OFF: torque mode)
5 : position/torque control mode
(Surely set 0 for [PE-320] when using the operation mode
3 & 4)
Appl.
Mode
PST
ST
Be selected as per the status of speed
command input contact
[SPD1][SPD2][SPD3]
[X]: OFF, [O]: ON
[X][X][X] : Analog speed command
[O][X][X] : Internal speed command 1
[X][O][X] : Internal speed command 2
[O][O][X] : Internal speed command 3
[X][X][O] : Internal speed command 4
[O][X][O] : Internal speed command 5
[X][O][O] : Internal speed command 6
[O][O][O] : Internal speed command 7
ST
ST
S
S
S
S
Sets the accelerating time
Sets the decelerating time
Sets S type control on speed control

( 0 : Linear Accel/Decel , 1 : S type Accel/Decel )
Sets speed 0 at continuous test operation
PST
PST
PST
PST
Sets time 0 at continuous test operation
PST
MENU
Comm
Code
CODE
NAME
136
PE-617
Test Run Time1
137
PE-618
Test Run Time2
138
PE-619
Test Run Time3
139
PE-620
Not Used
UNIT
INI
MIN
MAX
sec
50000
sec
50000
sec
50000
Description
App
Mode
PST
PST
PST
Communication mode is to be used for selecting the menu when using TOUCH or PC
Communication.
4-15
8) Position preration variables setting menu (Refer to chapter 4.4.5)

Menu marked with * cannot be corrected during Servo-ON
MENU
Comm
Code
CODE
UNIT
NAME
140
*PE-701
Pulse Logic
141
*PE-702
Electric Gear N0
142
*PE-703
Electric Gear D0
143
*PE-704
Electric Gear N1
144
*PE-705
Electric Gear D1
145
*PE-706
Electric Gear N2
146
*PE-707
Electric Gear D2
147
*PE-708
Electric Gear N3
148
*PE-709
Electric Gear D3
149
*PE-710
Backlash
150
PE-711
E-Gear Mode
151
PE-712
E-Gear offset
152
*PE-713
Position Pulse Direction

Pulse Dir
153
PE-714
Not Used
154
PE-715
Not Used
155
PE-716
Not Used
156
PE-717
Not Used
157
PE-718
Not Used
158
PE-719
ABS Multi Turn
159
PE-720
ABS Single Turn
INI
MIN
MAX
0
-
5
1000
1
-
99999
1000
1
-
99999
1000
1
-
99999
2000
1
-
99999
1000
1
-
99999
3000
1
-
99999
1000
1
-
99999
4000
1
Pulse
99999
0
0
-
10000
0
-99999
99999
Description
App
Mode
Sets the input pulse logic of position operation

Sets numerator 0 or electronic gear ratio
Sets denominator 0 or electronic gear ratio
Sets backlash compensation in position operation

(Standard : 4 interpolation pulse)
0:electronic gear ratio 0~3 selecting 1:Offset value

override function to numerator 0 of electronic gear
ratio
Directly setting numerator 0 of offset value on menu
of EGEAR1 contact ONincrease, EGEAR2 contact
ONdecrease
Converts the direction by pulse in position operation
0 : Operating in the direction of command
1 : Operating in the counter direction of command
Absolute encoders Multi Turn Data.

Menu display is not possible as this is for
Communication only.
Absolute encoders Single Turn Data.
Menu display is not possible as this is for
communication only.
Communication code is to be used for selecting the menu when using TOUCH or PC communication.
4-16
9) Operation handling menu (Refer to chapter 5)

MENU
Comm
Code
CODE
NAME
160
PC-801
Alarm Reset
161
PC-802
Alarm His Clear
162
PC-803
Manual Test Run
163
PC-804
Auto Test Run
164
PC-805
Gain Tune Run
UNIT
INI
MIN
MAX
Description
Reset current alarm (Refer to chapter 5)

Clear alarm history
Execute test operation by hand
[Left] : forward rotating [Right] : reverse rotating
[Up] : test operation speed changing
([PE-602]~[PE-608])
[Enter] : End
Operating is not related to input status of CN1
Continuous operation by speed and time that are set on menu, press
[Enter] for end
Sets automatic tuning operation of load inertia.
0: no auto tuning operation
1: auto tuning within 1~5 of inertia range
(Procedure)
sets the range with[Left], [Right] key
execute forward/reverse operation about 10 times at 1000[r/min]
Press [Enter] key, then auto tuning result is saved at [PE-301],
[PE-307], [PE-309], and set as 0 automatically
165
166
167
168
169
PC-806
PC-807
PC-808
*PC-809
PC-810
Z POS Search
IN Logic Set
EXT Input Set
Menu data Init
Menu data Lock
Press [Enter] key, then Lock/unlock functions of menu data is

operated as toggle.
If data is changed at menu Lock status, then Err3 would be
Press [Enter] key, then motor rotate as forward

Direction, and search for Z phase of encoder for stop
After setting the input contact number(0~d) with
[Left], [Right] key, press [Up]key, then the status of input contact
is changed.
Segment Off : Normal A contact
Segment On : Normal B contact
After setting the input contact number (0~d) with [Left], [Right]
key, press [Up] key, then input contact is ON forcibly.
Segment Off : Switch status of CN1
Segment On : Make On forcibly.
All contacts are OFF at power off
Press [Enter] key, then data of menu are changed to initial value
automatically
But, system menu data of [PE-201]~[PE-220] is not changed
(It will be applied when the Power is supplied again.)
displayed
4-17
MENU
Comm
CODE
Code
170
NAME
PC-811
171
PC-812
172
PC-813
INI
MIN
MAX
-9999
9999
Pulse
ABS Encoder set
Current Offset
Not Used
173
PC-814
174
UNIT
PC-815
Peak Load
Description
Press [Enter] key at using absolute encoder,then reset absolute
encoder for 5 seconds.
Compensates current offset of Hall-CT
[Left] key : display current offset value of U phase
[Right] key : display current offset value of W phase
[Up] key : save existing current offset value
In case of downloading servo soft, surely turn power ON/OFF 3~5
times, after that press[Up] Key and save current offset value.
Display instantaneous max. load ratio for the rated.

[Right] Key : Display forward direction instantaneous max.load ratio.
[Left] Key : Display reverse direction instantaneous max.load ratio.
[Up] Key : Reset instantaneous max. load ratio
Following position
175
PC-816
pulse
Display the amount of encoder pulse that motor is rotated.

9.9.9.9.9.9 999999
[Up] Key : Reset encoder pulse amount
Feedback Pulse
176
PC-817
179
PC-820
Not Used
(4)
(1)
(0)
(3)
(2)
(7)
(5)
() ()
() ()
()
()
(6)
(a)
(8)
(9)
(d)
(b)
(c)
Display Input contact logic(0)~(d)
Handling position of Input contact
[Input contact : upper]

(0)
(1)
(2)
(3)
(4)
(5)
(6)
SVON
SPD1/
EGEAR1
SPD2/
EGEAR2
SPD3/
MODE
DIR
PCON
(a)
(b)
(c)
(d)
STOP
ALMRST
GAIN2
PCLEAR
()
BRAKE INSPD/INPOS
4-18
(8)
CCWLIM CWLIM TLIMIT
[Output contact : lower]

()
(7)
()
()
()
()
ZSPD
READY
TLOUT
ALARM
(9)
EMG
4.3 Display Operation State

4.3.1 Display State[Pd-001] (Application Mode : PST)
- Display current operation state.
* nor : normal operation state.
* AL-XX : Display pertinent code at alarm
-
Remove the source of alarm, and display data of menu on basis of [PE-209]
when alarm is canceled by reset key
At this time, Of handling is conducted between menu, display with no changing
4.3.2. Display Speed (Application Mode : PST, ST)

- Display Current Speed [Pd-002] and current speed command [Pd-003] as [r/min]
- Maximum range is 9999.9 ~ 9999.9
4.3.3 Display Position

Position command pulse [Pd-004] (Application Mode : P)
Display Counter value of position command pulse that is inputted after Servo ON.
Position following pulse [Pd-005] (Application Mode : PST)
Display counter value
Position Pulse remainder [Pd-006] (Application Mode : P)
Difference between command pulse and following pulse, and it displays pulse
counter value for the position where Servo will drive on.
Electronic gear ratio numerator [Pd-007] (Application Mode : P)
Where deceleration ratio is being changed due to abration of machine, the Offset
settlement [PE-712] can be set to be compensated by electronic gear ratio and
the information of offset value is displayed.
4.3.4 Display Torque and Load

Current command torque [Pd 008] (Application Mode : T)
Display the inside torque command that is operated from servo control algorithm
compared to rated torque at percentage.
Torque Limit [Pd 009] (Application Mode : PST)
Display maximum torque that servo motor can generate compared to rated torque
at percentage.
4-19
Current load ratio [Pd010] (Application Mode : PST)

Display energy (load) that servo motor currently generates compared to rated
output at percentage
Average Load ratio [Pd 011] (Application Mode : PST)
Display average energy (load) value for 5 seconds that servo motor generates
compared to rated output at percentage.
Maximum instantaneous Load rated [Pd 012] (Application Mode : PST)
Display maximum (peak) load value from the time when it started control up to
now after servo ON compared to rated output at percentage.
Condenser DC Link Voltage [Pd 013] (Application Mode : PST)
- Display servo drive condenser voltage due to regenerative energy from servo
motor.
- The maximum DC Link voltage is 405V at standard drive(220V)
- If DC Link voltage exceeded the limit due to that regenerative energy is large or
the capacity of regenerative resistance is small, then over Voltage alarm occurs.
- Proper values are less than 395[V] on regenerative region.
4.3.5 Display I/O State

(1)
(0)
(2)
() ()
(4)
(3)
(7)
(5)
(6)
(8)
(a)
(9)
(b)
(d)
(c)
() ()
()
()
Display Input contact logic
[Input contact : Upper]

(0)
SVON
(a)
STOP
(1)
(2)
(3)
SPD1/ SPD2/ SPD3/

EGEAR1 EGEAR2 MODE
(b)
(c)
(4)
DIR
(5)
(6)
PCON CCWLIM CWLIM
(d)
ALMRST GAIN2 PCLEAR
[Output contact : Lower]

()
()
BRAKE INSPD/INPOS
4-20
(7)
()
()
()
()
ZSPD
READY
TLOUT
ALARM
(8)
(9)
TLIMIT
EMG
CN1 I/O contact state [Pd-014] (Application Mode : PST)

CN1 Connector is ON (Shout) : Lamp ON
CN1 Connector is OFF (Open) : Lamp OFF
External handling Input state [Pd-015] (Application Mode : PST)
- Display state when handling the contact state by using external device (PC
communication and the like), not in case of using CN1 connector.
- Since the external handling input state con not be stored at servo drive ROM, it
can be automatically reset when power is turned OFF.
I/O contact state [Pd-016] (Application Mode : PST)
Display I/O state by compounding and
(When normalA contact : ON, and normal-B contact : OFF, it is recognized and
displayed)
4.3.6 Display Software version (Application Mode : PST)
S
Standard
2.01
Version
Software type is S in this

Manual.
Drive type
No.
0
1
2
3
4
5
6
7
8
9
A
b
c
Drive type
VSR5
VS01
VS02
VS04
VS05
VS10
VS15
VS20
VS35
VS50
VS75
VS110
VS110 Special type(300A)
4-21
4.4 Setting Up Menu

4.4.1 Setting System Variables
Setting motor constant (Application Mode : PST)
- Setting motor constant by ID.
Input ID number to ID menu [PE-201], then motor constant can be
automatically set. ID for each model Motor is as below.
# Motor type and ID
4-22
Model
No.
ID
Watt
Model
No.
ID
Watt
SAR3A
30
SE09A
61
900
SAR5A
50
SE15A
62
1500
SA01A
100
SE22A
63
2200
SB01A
11
100
SE30A
64
3000
SB02A
12
200
SE06D
65
600
SB04A
13
400
SE11D
66
1100
SB03A
14
250
Customized type
SE16D
67
1600
HB02A
15
200
Hollow Shaft
SE22D
68
2200
HB04A
16
400
Hollow Shaft
SE03M
69
300
SE06M
70
600
Remark
Remark
SC04A
21
400
SE09M
71
900
SC06A
22
600
SE12M
72
1200
SC08A
23
800
SE05G
73
450
SC10A
24
1000
SE09G
74
850
SC03D
25
300
SE13G
75
1300
SC05D
26
450
SE17G
76
1700
SC06D
27
550
HE09A
77
900
Hollow Shaft
SC07D
28
650
HE15A
78
1500
Hollow Shaft
SC01M
29
SE11M
79
1050
Customized type
SC02M
30
SE07D
80
650
Customized type
SC03M
31
SF30A
81
3000
SC04M
32
SF50A
82
5000
HC06H
33
600
S/T only
SF22D
85
2200
SC05A
34
450
S/S only
SF35D
86
3500
SC05H
35
500
S/S only
SF55D
87
5500
SC08A
36
750
S/S only
SF75D
88
7500
HB01A
37
100
Hollow Shaft
HC10A
38
1000
Hollow Shaft
HE30A
39
3000
Hollow Shaft
# Motor type and ID

Model
No.
ID
Watt
Model
No.
ID
Watt
SF12M
89
1200
SG22D
111
2200
SF20M
90
2000
SG35D
112
3500
SF30M
91
3000
SG55D
113
5500
SF44M
92
4400
SG75D
114
7500
SF20G
93
1800
SG110D 115
11000
SF30G
94
2900
SF44G
95
4400
SF60G
96
6000
SG12M
121
1200
SG20M
122
2000
SG30M
123
3000
SG44M
124
4400
SG60M
125
6000
SG20G
131
1800
HC05H
99
500
Remark
Customized
type
SE35D
101
3500
Only DS
SE30D
102
3000
Customized type
SF44ML
103
4400
For LG Only
SF75G
104
SG30G
132
2900
SE35A
105
SG44G
133
4400
SF55G
106
SG60G
134
6000
SF60M
107
SG85G
135
8500
SG110G
136
11000
SG150G
137
15000
Remark
4-23
- Setting each motor constant

For setting motor constant individually, individually, input 0 to motor ID menu
[PE-201]
Motor constant is as below
MENU
Comm
Code
CODE
40
*PE-201
Motor ID
49
*PE-210
Inertia
50
*PE-211
Trq Con
51
*PE-212
Phase Ls
52
*PE-213
Phase Rs
53
*PE-214
Rated Is
54
*PE-215
Max Speed
55
*PE-216
Rated Speed
56
*PE-217
Pole Number
NAME
UNIT
INI
MIN
MAX
0
2
gfcms
0.01
kgfcm/A
0.01
mH
0.001
ohm
0.001
A
0.01
r/min
0.0
r/min
0.0
2
99
ID
999.99
ID
999.99
ID
99.999
ID
99.999
ID
999.99
ID
9999.9
ID
9999.9
8
98
Explanation
Sets motor ID
: set automatically from [PE-210]to[PE-217]
Sets inertia of motor. (Modification is possible
when [PE-201] is 0)
Sets torque constant of motor.(Modification is
possible when [PE-201] is 0)
Sets phase inductance of motor.(Modification
Is possible when [PE-201] is 0)
Sets phase resistance of motor. (Modification
is possible when[PE-201] is 0)
Sets rated current of motor. (Modification is
Sets Max. speed of motor. (Modification is
Sets rated speed of motor. (Modification is
Sets pole number of motor. (Modification is
Communication code is to be used for selecting the menu when using TOUCH or PC
communication.
4-24
Setting encoder
- Encoder type [PE-203] (Application Mode : PST)
No.
Transmission
Signal method
Signal type
Remark
Parallel
A Phase lead at CCW
A,B,Z,U,V,W
Standard
Parallel
B Phase lead at CCW
A,B,Z,U,V,W
Serial
Absolute value 11/13 bit
A,B,Z,RX
- Encoder pulse [*PE-204]

When encoder signal method uses A,B Signal, set number of pulse per single
turn for signal.
In this case, the pulse number of A phase & B phase is same.
Setting torque limit (Application Mode : PST)

Can set max. torque limit at CCW[PE-205] and CW[PE-206] respectively
It is displayed at percentage, compared to rated torque and the standard is 300[%]
Setting System ID (Application Mode : PST)

When communicating with servo using Bus communication, gives ID to servo.
At this time Option is needed for communication
- System ID [*PE-207]
Give inherent ID to servo, and communicate with servo respectively.
- System group ID[*PE-208]
In case of communication with several servos as a group, sets group ID
- Setting communication speed [*PE-202]
Can use it by selecting the Baud Rate between 9600/19200[bps] that are the
communication speed of RS232.
Setting state display at start [PE-209] (Application Mode : PST)

Can set applicable menu at servo ON.
Set value is sorted from [Pd-001]to[Pd-020]
4-25
4.4.2 Setting Control Variables

Setting Inertia Ratio[PE-301] (Application Mode : PST)
The inertia ratio is set by calculating the load inertia as per the machinery system
and calculating rotor inertia ratio as per the motor specification table.
Setting the inertia ratio for load is a very important control variable for the Servo
operation.
So, The accurate setting of inertia ratio would be required for the best
operation of servo.
Followings and the recommended values of control gain that are adequate to the
load inertia ratio
Inertia Ratio
Motor
Flange
40
~ 80
100
~ 130
180
~ 220
Gain setting range

[Speed
Proportional
Gain]
[Speed
Integral Gain]
Section
[Inertia]
[Position
Pos P Gain]
Low inertia
1~5
40 ~ 90
400 ~ 1000
10 ~ 40
Medium inertia
5 ~ 20
20 ~ 70
200 ~ 500
20 ~ 60
High inertia
20 ~ 50
10 ~ 40
100 ~ 300
50 ~ 100
Low inertia
1~3
40 ~ 80
300 ~ 600
10 ~ 50
Medium inertia
3 ~ 10
20 ~ 60
100 ~ 400
20 ~ 80
High inertia
10 ~ 20
10 ~ 40
50 ~ 200
50 ~ 150
Low inertia
1~3
30 ~ 70
150 ~ 400
20 ~ 60
Medium inertia
3~ 5
15 ~ 50
80 ~ 300
30 ~ 100
High inertia
5 ~ 10
5 ~ 30
50 ~ 200
50 ~ 150
* If the calculation of inertia ratio is difficult, then Auto tuning the inertia ratio could be
possible at trial operation. Refer to chapter 5.3.1 Gain Tuning
4-26
Position control gain (Application Mode : P)
Differentiation
Position
command
Position error
FF Filter
[PE-305]
Feed forward
[PE-304]
P again
[PE-302]
+ Speed
command
Current position
- Position command : Count the position command pulse from external. And
convert it to position command value, and it pass through 1st order filter.
- Current position : Count the pulse signal from encoder, and convert it to current
position by using electrical gear ratio setting.
- Position proportional gain [PE-302][PE-303] : multiply position proportional
gain by difference between position command and current position and convert
it to position command.
* Recommend setting value = speed proportional gain[PE-307] / 10
- Feed forward Gain[PE-304] : Find the slope of position command by
differentiation, and shortening the position decision time by adding the speed
command to it. If this value is too large, overshoot may be occurred on position
control
or position control may be unstable, therefore set proper value by
increasing from small value watching initial operation state.

- Feed forward filter [PE-305] : If position command is changed suddenly,
control is unstable. In that case, remove vibration by setting filter value
4-27
speed control gain (Application Mode : PST, PS, S)

Speed integral
Analog
gain[PE-309]
Speed
command Analog speed command
filter[PE- 311]
Zero speed
gain[PE-313]
+
Digital speed command
Speed p gain
Torque command
[PE-307]
Current speed
Speed feedback
filter[PE-312]
Speed operation
Encoder signal
Current torque
- Speed command : Use analog speed signal which is inputted from external
passed through analog speed command filter [PE-311] as speed command or
use digital speed command by [r/min] unit which is set on internal menu
- Current speed : Operate speed by counting encoder signal, and filtering it for
current speed. At this time, use an algorithm that follows speed by using current
torque & inertia in order to compensate the speed operation error at low speed
- Speed integral gain[PE-309] : Find the integral value of speed error that is the
difference between command & current speed and convert it to torque
command by multiplying it by integral. If we reduced integral gain, speed
following characteristic can be improved as excessive response characteristic is
improved. But, if it is too small, overshoot would be occurred. And if it is too
large, the excessive response characteristic would be bad, then it is operated by
the proportional control characteristic.
* Recommend setting value = 10000 / speed proportional gain [PE-307]
Speed
Small
Large
Command
speed
Following speed
Time
4-28
- Speed proportional gain[PE-307] : convert to torque command by multiplying

speed error by proportional gain
Large value could lead good speed response, but too large value could lead
vibration. On the other hand small value could lead bad speed response
Speed
Speed
command Large
Small
Time
- Speed feedback filter [PE-312] : If the motor is vibrated by the vibration of
operating system and vibration occurred by the gain at applying the load that
has too large inertia, the vibration can be controlled by applying filter to speed
feedback.
But, at this time, if you put too big gain value, the speed response
would be dropped and the control function is also downed.
- Zero speed gain ratio[PE-313] : If user use the speed feedback filter and control
the vibration, the system could often be unstable.
At this time, Set the speed
range for applying zero speed gain and adjust the gain within that speed range.
Then, the vibration can be controlled.
- Zero speed gain ratio[PE-519] : Set the zero speed gain ratio that is to be
applied to the speed range which are below the speed range that are set in
[PE-313].
4-29
Setting torque command filter[PE-314] (Application Mode : PST)

By setting the digital filter for analog torque command voltage, the stability of
command pulse con be improved. At this time, excessively large value could lead
to bad response. So , set the proper value according to the system.
Setting De-resonance operation (Application Mode : PST)

Torque
Output
De-resonance operation frequency
Torque Output
De-resonance
operation
frequency
- When vibration occurs due to mechanical resonance from specific frequency,

the vibration caused by resonant can be controlled by limiting torque output for
this frequency range.
- De-resonance operation [PE-315] : It is not operated at 0. But, operated at
1.
P control operating setting [PE-319] (Application Mode : PST)

- When switching P control by using P control contact (PCON), P control could
be operated under setting speed.
- After Pl control operation by using this function, apply the stop function of P
control operation. And it can improve position operating characteristics.
Zero speed torque improvement [PE-320] (Application Mode : PST)

- Set whether or not to operate by applying stop torque improvement algorithm at
servo OFF
0 : Not used.
1 : Operated.
- STOP operation is STOP contact ON or speed command from analog is 0
4-30
4.4.3 Setting Analog I/O Variables

Setting Analog speed command (Application Mode : ST, S)
- Analog speed command [PE-401] : Set the speed command value by [r/min]
unit at 10 [V]. At this time, maximum set value is maximum speed of motor.
- Speed command offset [PE-402] : There could be some voltage remained even
at 0 torque command on analog signal interface circuit. At his time, set offset
with the voltage value and compensate it. Unit is [].
- Setting Speed command clamp

Speed
+10[V]
voltage -10[V]
-10[V]
+10[V]
+
Speed command clamp voltage
[PE-404]
Speed command clamp mode 0
Speed command clamp mode 1
[PE-403]
[PE-403]
- Speed override operation [PE-405] : Operate speed command operation by

overriding the analog speed command to digital speed command.
0 : Not operated.
1 : Override operation
Setting analog torque command (Application Mode : PST, T)

- Analog torque command [PE-406] : Set the torque command value at
percentage to rated at 10[V]. At this time, setting value is within torque limit
range in [PE-205] [PE-206]
- Torque command offset [PE-407] : There could be some voltage remained even
at 0 torque command due to some problems on analog circuit. At this time,
set offset with the voltage value and compensate it. Unit is [].
4-31
- Torque command clamp

Torque
+10[V]
Voltage -10[V]
-10[V]
+10[V]
Torque command
Clamp voltage
[PE-409]
Torque command clamp mode 0
Torque command clamp mode 1
[PE-408]
[PE-408]
Setting analog output

Two of output form can be used for analog output. And it is outputted by the data
value in period of 400[sec] respectively.
- Analog output form [PE-410], [PE-414]
Form
Data content
Form
Command speed
Current speed
Command torque
Current torque
Data content
Command pulse
frequency
Error pulse
- Analog output mode [PE-411], [PE-415]

Mode
Output method
Output as -5 ~ +5[V]
Output as 0 ~ +5[V]
- Analog output magnification [PE-412], [PE-416]

If the output value is too much large or small, then magnify or retrench output
properly. Standard magnification of each output data is as below
Data item
Magnification
Speed
Max. speed of motor [PE-215]
Torque
Max. torque of motor [300%]
Command pulse
500[Kpps]
frequency
Error pulse
Position error excessive output [PE-502]
- Analog output offset [PE-413], [PE-417]

There could be some voltage generated at 0 value output due to problems of
Analog circuit. At this time, set offset with the voltage value and compensate it.
Unit is []
4-32
4.4.4 Setting I/O contact Variables

Setting position operation variables (Application Mode : P)
- Position decision complete output range [PE-501] : If error pulse value which is
the difference between command position pulse and following position pulse is
within setting range, position decision complete signal is come out
Command pulse counter
Pulse counter
Error pulse
Following pulse counter
Position decision Complete

output range [PE-501]
Time
Position decision
Complete output
If setting value is excessively high, position decision complete signal could be

occurred during operation according to position command pulse. Therefore set
the value properly
- Position operation following error range [PE-502]
Command pulse
counter
Pulse
counter
Position following error range
Error pulse
Following pulse counter
Time
Position Following
Error alarm
If the error pulse is larger than following error range set value, Position following
error alarm would be occurred.
4-33
Setting speed operation variables (Application Mode : PST, S)

Speed
Speed reach complete
output range [PE-504]
Command Speed
Zero speed output

range [PE-503]
Time
Zero speed (ZSPD)
Speed reach(INSPD)
- Zero speed output range [PE-503] : If current speed is less than set speed,
zero speed signal is come out.
- Speed reach complete output range [PE-504] : Speed reach complete signal is
come out.
Setting brake signal output variables (Application Mode : PST)
Speed
Motor operating speed
When SVOFF or
Alarm occurred
Brake signal output
Operating speed
[PE-505]
Time
SVON input
Brake output
signal
Within 50[msec]
Brake signal output

Operating speed
[PE-506]
- Brake signal output operating speed [PE-505], Brake signal output delay time [PE506] ; The Servo motor brake that is installed inside is used when a servo drive
controls a vertical axis. In other words, a servo motor with brake prevents the
movable part from shifting due to the force of gravity when system power goes
OFF. When alarm is occurred during operation or when decelerated by SVOFF, the
brake signal OFF is to be occurred by the signal that satisfies the operation first
out of brake signal output operating speed [PE-505] or brake signal output
delay time [PE-506] parameter.
Then it prevents the vertical axis from dropping (shifting).
4-34
Generating brake operation [PE-508] (Application Mode : PST)

: Set the generating brake operation from VSR5 to VS04 drive.
0 : Free Run on less than zero speed range at
SVOFF
1 : Always generating brake operation at SVOFF

Position pulse clear operation [PE-509] (Application Mode : P)
: Set the operation method of position pulsed clear at position operating mode.
Setting
Operation method
Can only be operated at the edge where the contact
off->on.
(Not operated on the off or on status.)
Contact On : Operated as Level (Instant response)

Contact is On and maintained for more than 0.8[msec] :
Operated as Level
Encoder pulse division output [PE-510] (Application Mode : PST)

: When encoder signal comes out from servo, divided output pulse by set division
ratio and output.
Division ratio is set by the integral numbers (1~16)
EX) In case of the Encoder 3,000[P/R]
Encoder pulse output at setting the division ratio 1 : 3,000[P/R]1=3,000[P/R]
Encoder pulse output at setting the division ratio 2 : 3,000[P/R]1/2=1,500[P/R]
ESTOP automatic reset [PE-512] (Application Mode : PST)

: When returning to the contacts after ESTOP operation, proceed the alarm cancel
operation automatically and return to the normal operation ready state.
0 : alarm reset by hand.
1 : automatic alarm reset.
Operating direction setting mode [PE-514] (Application Mode : S)
: Set the operating method of changing switch for the operating direction.
Operating method
Set
Forward(CCW)
Reverse(CW)
DIR
STOP
DIR
STOP
OFF
OFF
ON
OFF
OFF
ON
ON
OFF
Stop
DIR
No
concern.
STOP
ON
ON
ON
OFF
OFF
4-35
Output contact Logic setting[PE-515] (Applicable mode : PST) : Can change the
output condition of Current output contact to Normal-A or Normal-B.
Setting range : 0~63, Initial value 30
(Example)
2
ALARM
Init.value
TLOUT
RDY
ZSPD
INSPD
= Setting value
BRAKE
30
26
(Current output
condition)
If change
ZSPD->TGON (RUN output)
PWM off delayed time setting[PE-516] (Applicable mode : PST) : Set the delayed
time that is the real PWM-off when SV-off command is given. That means, when
operating the motor with the output contact BRAKE signal, there is some time
delayed to operate the motor brake(BREAK signal : off).
In order to prevent the
motor from dropping in the vertical axis during this delayed time, the real PWMoff(delayed time) needs to be set.
Setting range : 0~1000[msec], Initial value 0
Zero speed gain ratio[PE-519] : Set the zero speed gain ratio that is to be
applied to the speed range which are below the speed range that are set in [PE-313].
Gain 1, Gain 2
Switching Mode[PE-520]
Setting
0
1
Operation method
Only Gain 1 can be used.
Input contact
When Gain 2 is off : Gain 1 is to be used,

When Gain 2 is on : Gain 2 is to be used.
Gain 2 is to be used when speed command [PE-503] is higher than

zero speed at speed controller.(Use 50% of Hysteresis)
Gain 2 is to be used when pulse error[PE-501] is higher than
inposition value at position controller.

(Use 50% of Hysteresis)
If the value of Gain 2[PE-303] is smaller than the value of Gain 1 [PE-302][PE307][PE-309], it will be applied as Gain 1.
4-36
4.4.5 Setting Speed operation Variables

Setting operation mode [PE-601] (Application Mode : PST)
: set the servo operation mode.
Operation mode
Operation method
Torque control operation
Speed control operation
Position control operation
3 (Note1)
4(Note1)
MODE contact ON : Speed control operation

MODE contact OFF : Position control operation
MODE contact ON : Speed control operation
MODE contact OFF : Torque control operation
MODE contact ON : Position control operation
MODE contact OFF : Torque control operation
Note1) When using the operation mode 2 or 4, Surely set the Zero speed torque
improvement [PE-320] to 0.
Speed command [PE-602]~[PE-608] (Application Mode : ST, S)

: Set the operation speed with [r/min] unit.
According to speed command input contact, speed is selected.
SPD1
SPD2
SPD3/MODE
Speed selection
Analog speed command
Digital speed command 1
(Note1) O : ON,
X : OFF
(Note2) In case of operating mode is 3,4,5, SPD3 is used as MODE therefore.

Digital speed command can be used within 1~3.
4-37
Acceleration/deceleration time (Application Mode : S)

- Acceleration time [PE-609] : set the time taken for accelerating from the
stopped to rated speed of motor as [msec] unit.
- Deceleration time [PE-610] : set the time taken for stopping during operation at
rated speed of motor as [msec] unit.
S-shape operation [PE-611] (Application Mode : S) : In order to have a smooth

acceleration/ deceleration, set the acceleration/deceleration as S-shape.
0 : Linear acceleration/deceleration operation
1 : S-shape acceleration/deceleration operation
Manual test operation [PC-803] (Application Mode : PST) : Change the speed of
manual test operation by pressing [Up] Key to the order of [PE-602] ~ [PE-608],
then press [Right] Key for forward rotation, or press [Left] Key for reverse rotation.
At this time, the state of input contact by CN1 is ignored.
Continuous test operation [PC-804] (Application Mode : PST) : Test operation is

operated repeatedly from Step1 to Step4. Set operation speed([PE-612] ~ [PE615]) and operation time ([PE-616] ~ [PE-619]) at each Step.
4-38
4.4.6 Setting Position Operation Variables

Input pulse logic [PE-701] (Application Mode : P) : set the form of position
command input pulse and rotating method for each logic.
PF
N-logic
Forward
rotation
+PR
A phase
P-logic
Reverse
rotation
Forward
rotation
Pulse
+
2
direction
Reverse
rotation
+B phase
CCW or
CW Pulse
Electronic gear ratio[*PE-702]~ [*PE-709] (Application Mode : P) : Set the

relation between position command input pulse and encoder pulse that is used
at position control of motor as numerator/denominator. And it prevents error from
occurring at position operation.
- Electronic gear ratio = transferred distance per input pulse number of pulse
per motor rotation/ transferred distance per motor rotation
Example) When deceleration ratio is 1/2 on 1[] unit per 1 pulse, ball screw lead
is 10[], and encoder pulse is 3000pulse,
-3
1) Transferred distance per input pulse = 110 =0.001[]

2) Number of pulse per a motor rotation = encoder pulse number4=30004= 12000
3) transferred distance per a motor rotation = 10 1/2=5[]
-3
4) electronic gear ratio = 1200010 /5=12/5

Therefore, the numerator of electrical gear ratio is 12, denominator is 5.
Note1) In A, B phase encoder signal method, the signal is multiplied by 4 times and
controlled. Therefore 3000 pulse encoder is 12000 pulses per a rotation.
Note2) At this time motor speed ([r/min]) is
Motor speed = 60 electronic gear ratio input pulse frequency / No.of
pulse per a motor rotation
4-39
Backlash compensation [PE-710] (Application Mode : P) : Set the backlash

amount that is converted to number of pulse when the location is deviated by
backlash occurred at position operation.
Electronic gear ratio offset adjustment (Application Mode : P) : If the operation

distance per 1 rotation is changed due to mechanical friction at position pulse
command operation, adjust the changed distance caused by friction with offset
and use it.
- Electronic gear ratio setting mode [PE-711]
0 : use electronic gear ratio 0~3
1 : use electrical gear ratio 0. And override the offset setting value to numerator
of electronic gear ratio.
- Setting numerator offset of electronic gear ratio.
In above example, input the 12000 for numerator and 5000 for denominator.
And on [PE-712] menu, turn ON the EGEAR1 contact, then numerator is
increased by 1, on the other hand, turn ON the EGEAR2 contact, and then
numerator is decreased by 1. Therefore if offset value is 2, electronic gear ratio is
applied from 12000/5000 to 12002/5000. Or, if offset value is 2, electronic
gear ratio is applied from 12000/5000 to 11998/5000.
Switching position pulse direction[*PE-713] : Switch the operating direction of

command pulse.
0 : Operated with command pulse direction.
1 : Operated with reverse direction of command pulse.
4-40
Chapter 5
Handling and Operating
5.1 Check Point before Operation.
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 handing 5-3

5.2.5 Absolute Encoder Reset . 5-3
5.2.6 Setting Input contact Logic.
5-4
5.2.7 Compulsory Handing Input Contact.
5-5
5.3 Adjustment
5.3.1 Gain Tuning
5-6
5.3.2 Current Offset Tuning. 5-6
5.4 Test Operation

5-7
5.4.2 Continuous Test Operation...
5-7
5.4.3 Operation at Z position
5-7
5.5 Example of connecting to Upper controller
5-8
APD VS[Standard Type] Manual
5.1 Check Point before Operation

Improper handling of the drive may lead to unexpected accident or damage. The
following are important points in operating the drive
5.1.1 Check Wiring

(1) Check if the input power is right voltage (AC200[V])
(2) Check if the connection (U,V,W GND) of drive and motor is O.K
(3) Check if control signal is correctly connected to 24[V]
(4) Check of the regenerative resistor is a correct model for the capacity and
connection is O.K
(5) Check if wiring cable is not bent severely or it is under pressure
(6) Check if the GND and shield is O.K
5.1.2 Check wiring of operating signal (CN1)

Make sure that the wiring and contact state of operating signal is as below.
Pin
NO.
Pin name
Contact
state
Pin
No.
Pin name
Contact
state
18
EMG
ON
19
CWLIM
ON
47
SVON
OFF
20
CCWLIM
ON
48
STOP
OFF
13
PCON
OFF
Note) Signal name con be different by operation mode.
5.1.3 Check operating Environment

Check if there is no metal powder or moisture.
5.1.4 Check State of Machine

(1) Check if there is no problem on coupling of motor
(2) Check of there is no slackness or breakaway at joint bolt.
(3) Check of there is no obstacle on operation region.
5.1.5 Check menu variables

(1) Check if setting motor ID[PE-201] is OK
(2) Check if setting encoder [PE-204] is OK
(3) Check if control gain is set to proper value
5-2
Chapter5 Handling and operating
5.2 Handling
5.2.1 Alarm Reset
- Alarm Reset : If ALMRST of CN1 (Operating signal) is turned ON, alarm is reset
and it is steady state.
- Operation Menu Reset : Press [Enter] on Alarm Reset [PC-801], then CLEAr
would be displayed, and alarm would be reset, and then it is steady state.
If alarm is sustained after alarm reset, check the alarm cause and operate servo
after removing that cause
5.2.2 Alarm History Clear

Press [Enter] on the alarm history clear menu [PC-802], than CLEAr would be
displayed, and alarm history is cleared.
(Note) Alarm history information is saved from the alarm occurred the very recently
upto total 20 of alarm history [PA-101]~[PA-120] is regular sequence
5.2.3 Menu Initialization

When pressing [Up]key right after [Enter]key from the menu[PC-809], all the data
of variables are to be changed to the initial value of Ex-factory status except from
the variables [PE-201]~[PE-220] that are related to the system.
(Note) Surely Power OFF before the data is changed to the initial value.
5.2.4 Prohibiting Menu handling

Press [Enter] on the [PC-810] menu, then Lock is displayed and Err3 is
displayed at handling menu data and then operation is prohibited. For canceling this,
go back to the [PC-810] menu, and press [Enter]again, then unLock is displayed
and Lock setting is cancelled.
5.2.5 Absolute Encoder Reset

Press [Enter] on the [PC-811] menu, then reset is displayed for 5 seconds, and
multi turn data and other error information of absolute encoder is cleared.
(Note) It is available only if wiring of absolute encoder is O.K
5-3
5.2.6 Setting Input Contact logic

Press [Enter] on [PC-807] menu, then
(1)
(0)
(4)
(2)
(3)
(7)
(5) (6)
(a)
(8) (9)
(d)
(b) (c)
Display Input contact ON/OFF
NO
(0)
Name of
SVON
contact
Handing position of input contact
(1)
(2)
(3)
(4)
(5)
(6)
SPD1/
EGEAR1
SPD2/
EGEAR2
SPD3/
MODE
DIR
PCON
CCW
LIM
NO
(a)
(b)
(c)
(d)
Name of
contact
STOP
ALMRST
GAIN2
PCLEAR
(7)
(8)
CWLIM TLIMIT
(9)
EMG
is displayed.
No. is selected by handling [Left] and [Right] key.
Press [Up] key, and Lamp on the location of No. is to be turned ON/OFF.
ON : CN1 Control signal is operated by Normal B contact

OFF : CN2 Control signal is operated by Normal A contact
Note) Even if the power on /off is repeated, the status of all the input contacts that is
set are to be remained same.
5-4
5.2.7 Compulsory Handing Input Contact

Press [Enter] on [PC-808] menu, then
(1)
(0)
(4)
(2) (3)
(7)
(5) (6)
(a)
(8) (9)
(d)
(b) (c)
Display Input contact ON/OFF
No
(0)
Name of
SVON
contact
No
(a)
Name of
STOP
contact
Handling position of input contact
(1)
(2)
(3)
(4)
(5)
(6)
(7)
SPD1/
EGEAR1
SPD2/
EGEAR2
SPD3/
MODE
DIR
PCON
CCW
LIM
(b)
(c)
(d)
ALMRST
GAIN2
PCLEAR
(8)
CWLIM TLIMIT
(9)
EMG
is displayed.
NO. is selected by handling [Left] and [Right] key.
Press [UP] key, and Lamp on the location of No. is to be turned ON/OFF.
ON : ON state of the contact.

OFF : OFF state of the contact.
Note) When the power is on/off,
the status of all the contacts that are set is to be
returned to the initial status(No.6,7 & 9 : on,
Others : off) automatically.
CN1 Operating signal and Compulsory handling of input contact is operated by OR logic
CN1 operating signal
Input contact
Compulsory signal
Operating
OFF
OFF
OFF
ON
OFF
ON
OFF
ON
ON
ON
ON
ON
5-5
5.3 Adjustment
5.3.1 Gain Tuning
Press [Enter] on the menu[PC-805], and followings are displayed then Automatic gain
tuning operation can be conducted.
Inertia ratio displayed

Inertia ratio range is automatically changed from 1 to 50.
When pressing [Up] key, the Auto gain tuning operation is started with the
operation speed 100[r/min].
When keep pressing [Up] key, the operation speed is increased 100->300
->500[r/min].
Increased by 200[r/min].
Tuning time is quicker as per the speed.
When pressing [Right] key, the operating distance is increased. but, when pressing
[Left] key, the operating distance is decreased.
If the tuning value is fixed and not changed, the tuning is completed.
If the inertia that was tuned reached 50, customers are requested to ask our
technical dept. and set it by manual.
Press [Enter] key and the gain that was tuned are saved at [PE-301].[PE307],[PE-309] automatically and returned to the menu.
Or Keep pressing [Enter]key on the menu[PC-805] and doing operation/stop or
forward/reverse operation by contacts. Then the inertia ratio can continuously adjusted
during the operation.
5.3.2 Current Offset Tuning

- Compensate offset of current sensor in servo drive. Wrong compensation lead to unstable
control of servo.
- This offset value is already adjusted at ex-factory. If possible, do not adjust it.
- If downloads done for Software Upgrade or change, surely set the offset.
- Offset adjustment.
Turn ON the servo.
Turn On servo and operate operation/stop or forward rotation/reverse rotation for approximately
10 seconds at low speed.
Turn OFF the servo, and turn ON servo again.

press [Enter] on the [PC-812] menu, then offset value is displayed.
Press [Up]key for saving offset value
Repeat ~(about 5 times)
Every time when you press the [Left]key, the offset value of U phase current is displayed
by the saved value and tuning value alternately, and everytime when you press the
[Right]key, the offset value of W phase current is displayed by the saved value and tuning
value alternately.
Press [Enter], then go back to the menu screen
5-6
5.4 Test Operation

Press [Enter] on the [PC-803] menu
All alarm is cancelled, test operation speed is displayed, and servo is on the state
of operation. At this time if alarm is not cancelled, check the wiring of servo or the
other causes of alarm occurred, and retry.
Press [Up] key, then test operation speed is changed.
Test operation speed is displayed at [PE-602]~[PE-608] in regular sequence.
Press [Left] key, then current speed would be displayed, and motor is rotated
reversal.
Press [Enter] key, then test operation is completed, and back to the menu screen.
Press [Enter] Key, then test operation is completed, and go back to the menu
screen.
5.4.2 Continuous Test operation

Press [Enter] on the [PC-804] menu.
All alarm is cancelled, test operation speed is displayed, and servo is on state of
operation. At this time if alarm is not cancelled, check the wiring of servo or the
other causes of alarm occurred. And retry.
When operation step is continuously operated by repeating 4 steps (0~3), the
operation speed and time is set by following menu.
5.4.3
Step
Speed
Time
[PE-612]
[PE-616]
[PE-613]
[PE-617]
[PE-614]
[PE-618]
[PE-615]
[PE-619]
Operation at Z position
Press [Enter] on the [PC-806]

All alarm is cancelled, and motor is rotated to Z phase position
Press [Enter], then go back to menu.
This function is convenient to assemble it with a certain standard for finding Z
phase position at assembling machinery.
5-7
5.5 Example of connecting to upper controller.

The following diagram shows an example of connecting to the Unit G3F-POPA
(Position Control for 2 axes) of GLODFA PLC GM3 Series (Made by LG Industrial systems)
Servo drive(position)
APD-VS CN1
I/O power
G3F-POPA(for 2 axes)
+24V
GND24
24VCOM 1
50
+24V IN
49
PULCOM
1.5K
1.5K
FP 2
10 PF-
RP 11
12 PR-
24VGND 10
ZL 25
ZO
ZCOM 15
/ZO
Encoder Z Phase
Output
+24V IN
INCOM 21
47
SVON
15
PCLEAR
17
ALMRST
18
EMG
Emergency Stop 19
19
CWLIM
0 Point 22
20
CCWLIM
38
ALM+
39
ALM-
40
RDY+
41
RDY-
Lower
Limit
L/S
Upper
Limit
L/S
18
Note) Emergency stop signal No.19 should

Be used in only one case of X-axis or Y-axis
5-8
(Case of CN1)
F.G
The following diagram shows an example of connecting to Unit G4F-PP1~3L

(Position Control for 1~3 axes) of GLOFA PLC GM4 Series(Made by LG Industrial Systems)
G4F-PP1~3L(for 1~3 axes)
(Line Drive)
CN1of APD-VS
I/O power
GND24
+24V
50 +24V IN
FP+
21
9 PF+
FP-
22
P 10 PF-
RP+
23
11 PR+
RP-
24
P 12 PR-
HOME+5V 37
4 ZO
HOME COM 38
5 /ZO
Encoder Z phase
Output
38 ALM+
DRVIN COM
39 ALM-
34
40 RDY+
DRVIN 33
41 RDY-
+24V IN
47 SVON
17 ALMRST
18 EMG
19 CWLIM
20 CCWLIM
Note) P indicates twisted pair wires.
(Case of CN1)
F.G
5-9
The following diagram shows an example of connecting to the Unit G4F-PP1~3O

(Position Control for 1~3 axes) of GLOFA PLC GM4 Series(Made by LG Industrial Systems)
CN1 of APD-VS
I/O power
G4F-PP1~3O(1~3 axes)
(Open Collector)
GND24
+24V
50 +24V IN
49 PULCOM
1.5K
1.5K
21
10 PF-
RP+
23
12 PR-
FPRP-
22
24
FP+
HOME +5V 37
HOME COM 38
ZO
5 /ZO
Encoder Z phase
Output
DRVIN COM 34
40 RDY+
DRVIN 33
41 RDY-
47 SVON
17 ALMRST
18 EMG
19 CWLIM
20 CCWLIM
38 ALM+
39
(Case of CN1)
F.G
5-10
ALM-
+24V IN
The following diagram shows an example of connecting to the Unit G6F-POPA

(Position Control for 2axes) of GLOFA PLC GM6 Series(Made by LG Industrial Systems)
CN1 of APD-VS
I/O power
G6F-POPA(for 2 axes)
+24V
GND24
50 +24V IN
24VCOM 20(24)
49 PULCOM
1.5K
1.5K
FP 1(3)
10 PF-
RP 2(4)
12 PR-
24VGND 22(26)
ZL 6(9)
ZCOM 7(10)
4 ZO
Encoder Z phase
5 /ZO
Output
+24V IN
INCOM 32
47 SVON
Lower 12(16)
15 PCLEAR
limit L/S
17 ALMRST
Upper
18 EMG
limit L/S 13(17)

Emergency stop 19
19 CWLIM
20 CCWLIM
Zero point 11(15)
38 ALM+
39 ALM40 RDY+
41 RDY-
Note) () of the G6F-POPA is used for

Y-axis
(Case of CN1)
F.G
5-11
The following diagram shows an example of connecting to the Position Control

Unit for SAMSUNG PLC N700, N7000.
Samsung N700, N7000
Position Control unit
CN1 of APD-VS
I/O power
+24V
+24V
GND24
50 +24V IN
49
PULCOM
1.5K
1.5K
Pulse command1(+) 10
10 PF-
Pulse command2 (+) 9
12
PR-
34
+15V OUT
17,19,20
Zero 4
point(+)
1/4W 1K
Zero 14
OPCZO
15
PCLEAR
+24V
point (-)
GND
CLR(+) 8
CLR(-) 18
+24V
Drive problem(+) 5
Drive problem (-) 25
38 ALM+
39 ALM47 SVON
17 ALMRST
18 EMG
19 CWLIM
20 CCWLIM
(Case of CN1)
F.G
5-12
+24V
The following diagram shows an example of connecting to the MITSUBISHI

FX-10GM, FX(E)-20GM Position Unit
FX-10GM
FX(E)-20GM
CN1 of APD-VS
I/O power
+24V
GND24
+24V IN
50
+24[V]
49
7,17
PULCOM
1.5K
1.5K
FP 6
10 PF-
RP 16
12
COM5
9,19
COM4
14
PR-
34 +15V OUT
1/4W 1K
PGO 13
OPCZO
15 PCLEAR
CLR 3
+24V IN
GND
38 ALM+
COM3 4
COM2 2
39 ALM-
SVRDY 1
40 RDY+
41 RDY-
COM2 12
45 INPOS
SVEND 11
24,25 GND24
+24V IN
47 SVON
17 ALMRST
18 EMG
19 CWLIM
20 CCWLIM
(Case of CN1)
F.G
5-13
The following diagram shows an example of connecting to the MITSUBISHI

AP75P (A1SD75P) Positioning Unit.
Mitsubishi AD75P(A1SD75P)
CN1 of APD-VS
I/O power
GND24
+24V
50 +24V IN
9 PF+
PF+ 3
PF- 21
PR+ 4
PR- 22
11 PR+
P
PGO 24
PGO COM 25
CLR 5
CLR COM 23
COM 26
READY 7
10 PF-
12 PR-
4 ZO
P
5 /ZO
+24V IN
15 PCLEAR
38 ALM+
39 ALM-
40 RDY+
41 RDY-
INPOS 8
45 INPOS
24,25
GND24
+24V IN
47 SVON
17 ALMRST
18 EMG
19 CWLIM
20 CCWLIM
Note) P indicates twisted pair wires

(Case of CN1)
F.G
5-14
The following diagram shows an example of connecting to the YASKAWA

GL- series MC20 Motion Unit.
Servo drive(speed)
CN1 of APD-VS
Yaskawa MC20
PA 1
30 BO
P
*PA 2
PB 3
31 /BO
32 AO
*PB 4
PC 5
33 /AO
4 ZO
*PC 6
VREF 7
5 /ZO
27 SPDCOM
P
SG 8
8 GND
+24V
+24V 19
50 +24V IN
SVON 13
47 SVON
PCON 14
13 PCON
ALMRST 15
17 ALMRST
ALM 16
38 ALARM+
ALMO 17
39 ALARM-
GND24
18 EMG
19 CWLIM
20 CCWLIM
(Case of CN1)
F.G
5-15
The following diagram shows an example of connecting to the OMPONs

C500-NC221 Position Control Unit.
Servo drive(speed)
CN1 of APD-VS
I/O power
OMRON C500-NC221
+24V
GND24
30 BO
X-A 7(23)
P
X-/A 6(22)
31 /BO
32 AO
X-B 5(21)
P
X-/B 4(20)
33 /AO
4 ZO
X-C 16(14)
P
X-/C 15(13)
5 /ZO
27 SPDCOM
X-OUT 9(25)
P
X-AG 8(24)
8 GND
+24V
50
+24V 11,12
OUT-1X 3(19)
+24V IN
47 SVON
DC GND EXT-IN 1,11
17 ALMRST
18 EMG
19 CWLIM
20 CCWLIM
38 ALARM+
39 ALARM-
(Case of CN1)
Note1) P indicates twisted pair wires

Note2) () is pin number of Y-axis
5-16
F.G
The following diagram shows an example of connecting to the SINWOO

AUTOMATION TECHs MCU-MA Motion Unit.
Servo drive(speed)
CN1 of APD-VS
Sinwoo MCU-MA
32 AO
A+ 14
A-
30 BO
B+ 15
B-
31 /BO
4 ZO
C+ 16
P
C- 4
ACMD
33 /AO
5 /ZO
27 SPDCOM
5
P
AGND 18
8 GND
+24V
+24V
50 +24V IN
25
INCOM 22
START 20
STOP 8
+LIMIT 6
-LIMIT 19
ORGIN 7
RESET 21
40 RDY+
Servo READY 9
+24V IN
41 RDY47 SVON
SVON 23
17 ALMRST
18 EMG
OUTCOM 12
19 CWLIM
24GND 13
20 CCWLIM
(Case of CN1)
Note1) P indicates twisted pair wires
F.G
5-17
The following diagram shows an example of connecting to the SINWOO

AUTOMATION TECHs MCU-MP Motion Unit.
CN1 of APD-VS
I/O power
Sinwoo MCU-MP
+24V
GND24
50 +24V IN
9 PF+
A+ 14
P
A- 2
10 PF11 PR+
B+ 15
P
B- 3
12 PR-
INCOM 10
START 18
STOP 6
+LIMIT 4
-LIMIT 17
ORGIN 5
RESET 19
40 RDY+
Servo READY 7
41 RDY-
47 SVON
SVON 11
17 ALMRST
OUTCOM 13
18 EMG
19 CWLIM
20 CCWLIM
15 PCLEAR
(Case of CN1)
F.G
5-18
+24V IN
The following diagram shows an ezample of connecting to HANMIs - 2

AXIS Motion Controller HMC-201S
HMC-201S(for 2 axes)
(Line Drive)
CN1 of APD-VS
I/O power
GND24
+24V
50 +24V IN
+24V IN
XCW/P+
XCW/PXCCW/D+
5
6
10 PF11 PR+
XCCW/D-
12 PR-
XECA+
XECA-
XECB+
10
XECB-
11
XECZ+
12
XECZ-
13
XARM
15
9 PF+
32 AO
P
33 /AO
30 BO
31 /BO
4 ZO
5 /ZO
Encoder A phase
Output
Encoder B phase
Output
Encoder Z phase
Output
+24V IN
38 ALM+
+24V IN
39 ALMXINP
14
45 INPOS
24 GND24
+24V
XSVRDY
18
47 SVON
+24V IN
XSVRST 19
17 ALMRST
+24V IN
EGND 3
18 EMG
19 CWLIM
20 CCWLIM
(CN1of Case)
F.G
5-19
The following diagram shows an example of connecting to the DASA

TECHs iM200P Motion Controller.
Servo drive(Speed)
CN1 of APD-VS
Dasa Tech iM200P

A1 11
32 AO
P
*A1 12
33 /AO
30 BO
B1 13
P
*B1 14
31 /BO
4 ZO
C1 3
P
*C1 4
5 /ZO
27 SPDCOM
VCMD1 1
P
2
GND
8
GND
50 +24V IN
+24V OUT 20
47 SVON
SVON1 8
17 ALMRST
ALMRST1 9
P/Pi1 10
13 PCON
24GND 19
18 EMG
19 CWLIM
+24V
20 CCWLIM
SVRDY1 18
40 RDY+
41 RDY38 ALARM+
ALM1 17
39 ALARM-
(Case of CN)
5-20
F.G
+24V

TECHs iM201P Motion Controller.
Servo drive(Position)
CN1 of APD-VS
Dasa Tech iM201P
9 PF+
PPF1 5
P
PF1 6
10 PF-
PPR1 15
11 PR+
P
PR1 16
12 PR-
C1 3
4 ZO
P
*C1 4
5 /ZO
+24V
50 +24V IN
+24V OUT 20
47 SVON
SVON1 8
17 ALMRST
ALMRST1 9
13 PCON
P/Pi1 10
24GND 19
18 EMG
19 CWLIM
20 CCWLIM
+24V
40 RDY+
SVRDY1 18
41 RDY38 ALARM+
ALM1 17
39 ALARM-

(Case of CN1)
F.G
5-21

TECHs iM400 Motion Controller
Servo drive(speed)
CN1 of APD-VS
Dasa Tech iM400

A1 11
32 AO
P
*A1 12
B1 13
33 /AO
30 BO
*B1 14
C1 3
31 /BO
4 ZO
*C1 4
5 /ZO
27 SPDCOM
VCMD1 1
P
2
GND
8
GND
50 +24V IN
+24V OUT 20
47 SVON
SVON1 8
17 ALMRST
ALMRST1 9
P/Pi1 10
13 PCON
18 EMG
19 CWLIM
+24V
20 CCWLIM
SVRDY1 18
40 RDY+
41 RDY38 ALARM+
ALM1 17
39 ALARM-
(Case of CN1)
5-22
F.G
+24V
(16) The following diagram shows an example of connecting to the WACOMs

CNC Sentrol
Servo drive(speed)
CN1 of APD-VS
WACOM Sentrol
EPS3 board NO1,2
CNA1,2,3,4,5,6
30 BO
PAH 9
P
PAL 10
32 AO
PBH 7
P
PBL 8
33 /AO
4 ZO
PZH 5
P
PZL 6
5 /ZO
27 SPDCOM
VCMD 14
P
1
+24V
31 /BO
8
GND
GND
+24V OUT 15
+24V
50 +24V IN
ENBLB 16
47 SVON
ENBLA 17
17 ALMRST
18 EMG
OV 20
19 CWLIM
+24V
GND24
20 CCWLIM
COMMON 24
40 RDY+
SRDY 22
41 RDY38 ALARM+
SALM 21
39 ALARM-
(Case of CN1)
F.G
5-23
(17) The following diagram shows an example of connecting to the TURBO

TECHs CNC(HX Series)
I/O power
Turbo Tech. CNC

(HX Series)
Servo drive(Speed)
CN1 of APD-VS
GND24
+24V
30 BO
PA 8
/PA 18
32 AO
PB 9
/PB 19
5 /ZO
27 SPDCOM
VOUT 3
2
33 /AO
4 ZO
PC 10
/PC 20
31 /BO
8
GND
GND
50 +24V IN
S-ON 15
47 SVON
17 ALMRST
OV 7
ALM-RST 16
18 EMG
19 CWLIM
OV 7
20 CCWLIM
40 RDY+
41 RDY-
S-RDY 13
38 ALARM+
39 ALARM-
ALM 14
OV 17
(Case of CN1)
5-24
F.G
Chapter 6
Communication Protocol[Ver3.1]

6.1.1 Outiline .. 6-2
6.1.2. Communication Specification & Cable Connection . 6-3
6.2 Basic Structure of Communication Protocol

6.2.1 Frame Type
..
6-4
6.2.2 The Collection of Commands 6-6
6.3 Commands for Data Processing

6.3.1 Data Reading Command......
6-7
6.3.2 Data Writing Command..
6-15
6.3.3 Monitor Command Term...
6-21
6.3.4 Set Command.....
6-31
6.3.5 Check Command.
6-34
6.4 Commands for Operation

6.4.1 Speed Operation Command..
6-40
6.4.2 Position Operation Command..
6-43
6.4.3 Program Operation Command.
6-46
6.4.4 Operation Command[CST/CSM/CSH/COR/CGR] 6-49
Chapter 6. Communication Protocol

6.1.1 Outiline
1) Serial communication connection through RS232
- Personal Computer
RS232
- Handy Loader
- Touch Loader
- Operation unit (Option)
- Exclusive menu editor
2) Multi communication connection through RS485 (Max. 31 machines)
Upper Controller
Touch Loader
PLC
(Note1)
120 of resistor
at the last terminal
(Note1) In case of using PC as upper controller, RS232/RS485 communication converter

should be applied.
6-2
6.1.2 Communication Specification & Cable Connection

1) Communication Specification
Item
Specification
Communication type
RS-232C standard
Data
type
Data bit
8bit
Stop bit
1bit
Parity
None
Synchronous type
Non-synchronous type
9600 /19200/38400/57600 bps
Transmission speed
[PE-202] selectable
Transmission length
Max. 15[M]
Consumed current
Less than 100[]
2) Cable Connection
[ PC- Serial Port ]
contents
Connector name
Name of case
wiring
Cable length
[ Servo drive- CN3 ]
PC-Serial Port
Servo drive-CN3
HDEB-9S
10114-3000VE
3600-09-G-L
10314-52A0-008
No. 2(RXD)
No. 6(TXD)
No. 3(TXD)
No. 5(RXD)
No. 5(GND)
No. 11,12(GND)
Do not connect
Case(Shield)
1,2,3,5[m]
Be sure to use Twist pair shield cable as communication cable.

In case of using wrong cable, communication problem and malfunction may be
occurred by noise.
6-3

6.2
Basic Structure of Communication Protocol
Communication Protocol is a kind of agreement that consists of transmitting/receiving

data with a certain form in data communication. And it is made up with a frame structure
including Segment, Synchronized control code, Error detecting parity, etc.
6.2.1 Frame type

E
Station
N
No.
Q
Command
Data
E B
O C
T C
[ Response ] - >
<- [ Request ]
ACK
Station
or
No.
NAK
Processed
result
Command
E
T
X
B
C
C
Requested Frame(Max. 256 bytes)

ENQ
Station
No.
Command
term
Type of
command term
Data section
EOT
BCC
ACK Response Frame(Max. 256 bytes)

ACK
Station
No.
Command
term
Type of
command term
Data section
ETX
BCC
NAK Response Frame(Max. 256 bytes)

NAK
Station
No.
Command term
Error code
ETX
BCC
Data is the ASCII code for hexadecimal value unless it is specified separately. And
the applicable data is as below.
- Station No.
- An item that indicates all datas size of structured data section.
- All contents of data.
Control code
6-4
Control code
HEX
Abbreviation
Content
ENQ
0x05
Enquire
Request Frame Starting code
ACK
0x06
Acknowledge
Starting code of ACK response Frame
NAK
0x15
Not Acknowledge
Starting code of NAK response Frame
EOT
0x04
End of Transmission
Ending code of Requested Frame
ETX
0x03
End of Text
Ending code of Response Frame

Frame Error check(BCC)
BCC is the data for frame error check. If the main command language/term were
Written in small characters, only the lower 1 Byte that was resulted from adding ASCII
code value by one Byte from header to tail is converted to ASCII and added to BCC.
If the command language/term with small characters were used in the requested frame,
Response frame is also to be the same small characters.
In other words, if it is requested with the frame that includes BCC, Servo drive would
Response to it with the frame that includes BCC.
Following is an example of BCC calculation for Individual Reading Frame of direct
variables
- Adding ASCII value : 05+32+30+72+53+53+30+31+30+36+25+4D+57+31+30+30+04

= 3A4.
And when displaying the lower Byte A4 with ASCII, the
value would be 41/34.
6-5

6.2.2 The collection of commands
Classification
Command
term code
RSS/rSS/Rss
D
a
t
a
P
o
c
e
s
s
i
n
g
Reading
RSB/rSB/Rsb
WSS/wSS/Wss
Writing
WSB/wSB/Wsb
X##/x##
Monitor
Y##/y##
Z##/Z##
SET
WDK/wDK/Wdk
RCS/rCS/Rcs
Check
RCB/rCB/Rcb
O
p
e
r
a
t
i
o
n
Kinds
Content
Reading menu data

individually
Reading menu data
continuously
Writing menu data
individually
Writing menu data
continuously
Monitor registration
Monitor
individual
executing
Monitor continuous
executing
Setting the status
Servo
condition
individual check
Servo
condition
continuous check
6-7
6-12
6-15
6-18
6-21
6-25
6-28
6-31
6-34
6-37
Setting operation speed, accel/decel
time, operation time
Setting position coordinates, operation
speed, accel/decel time
(Exclusive command for VP)
6-40
Speed
CJR/cJR/Cjr
Position
CPR/cPR/Cpr
Position operation1
Program
CTA/cTA/Cta
Auto operation
Auto operation (Auto Run function)
6-46
CST/cST/Cst
CSM/cSM/Csm
Operation pause
Emergency stop
Reset program operation after pause
6-49
6-52
CSH/cSH/Csh
Operation stop
Origin
COR/cOR/Cor
Origin operation
Tuning
CGR/cGR/Cgr
Gain
Operation
Stop
Speed operation1
Page
Tuning
Operating
continuously
when
operation starts after stopping.
Origin operation with the mode that is
set at the parameter
Setting speed, distance, tuning range
6-43
6-55
6-58
6-61
For the command term that starts with small + large + large character(Ex : rSS, rSB),
frame error check(BCC) is to be done for better reliability.
For the Response frame of the command term that starts with large + small + small
character(Ex : Rss, Rsb), 1 byte of data is to be received from servo drive before it
goes to EXT. and this data includes the information of Servo-0N, Alarm occurred, etc.
6-6

6.3
Commands for Data Processing
6.3.1 Data Reading Command

1) Reading Menu data individually [RSS/rSS/Rss]
It reads out the data from servo by designating the communication code.
Status data of response frame exists only in the response frame of command term
that starts with large + small + small letter.
Request frame(ENQ)
Variable block1
He
Classif
Station Command Block
Variable code
ad
ication
No.
term
qty Variable
Comm.
er
length
Type
code
ASCII
E
N
Q
HEX
05 30 30
%M
E
O
T
8 F
52 53 53
30 31 30
72 73 73
36
2
4D 44 30 30 31
5
04
3
46
8
R
r
Block
2
Tail BCC
...16
S
s
S
s
# Header : Frame header that is requested for servo should always be ENQ.
# Station No. : In the case of RS485 Communication, Station No. should be set at the
System ID of Servo and the servos Station No. need to be designated.
In case of RS232(1 : 1 Communication), the station No. must be set as 0.
# Command term : RSS command does not include Frame check(BCC),
rSS
command includes Frame check(BCC) structure.

# Block qty : Can designate and request the block upto 16 pieces that consists of
variable length and variable code.
# Variable length : Indicates the number of variable code letter and it can be set upto
Max. 16 letters.
# Variable code type
Data
ASCII
Explanation
%MX
25/4D/58
Request data with 1bit type
%MB
25/4D/42
Request data with 8 bit type
Not used
%MW
25/4D/57
Not used
%MD
25/4D/44
Qty
Remark
# Variable code No.

In case of %MD : Use a communication code as per operation software.
In case of %MX : Communication code32 + The relative bit No.(0 ~ 31)
(Ex) Bit No.3 of communication code 16 : 1632+3 = 515
Transmission is to be transmitted with the ASCII value for the data No.
# Tail : Request frames tail(last code) must be EOT(End Of Transmission).
6-7

Response frame(ACK)
Classif Hea Station Command
ication der No.
term
Data
qty
St
atu Tail
s
Data
R S S
0 1 0 4
r s s
52 53 53
30 31 30 34
06 30 30
72 73 73
ASCII ACK 0
HEX
Block
qty
BCC
ETX
03
# Header : In case of normal response on servo, Header starts with ACK.

# Station No. :
In case of RS485(BUS communication), it includes the own Station

No.
In case of RS232(1:1), the System ID menu data should be set as 0.
and it can be set as 00 when communication is being processed.
# Command term : Same as Request frame.

# Block Qty : Same as Request frame.
# Data Qty
Unit
Transmission Value (ASCII)
Qty
Remark
%MX
01
30 31
%MB
01
30 31
Not used
%MW
02
30 32
Not used
%MD
04
30 34
Data Qty : 4[04] in case of %MD

# Data
In case of %MD : 32bit = 4(Unit qty) x 8bit. and 8 pcs of ASCII value is to be
transmitted.
(Ex) 123456789(DEC)
-> 075BCD15(HEX)
-> 30/37/35/42/43/44/31/35(ASCII)
In case of %MX
0, 1bit is to be transmitted to 30 or 31.
# Tail : Response frames tail(last code) must be ETX(End Of Text).

# Status
Status
(1)
(2)
(3)
(4)
(5)
(6)
(7)
(8)
Information
(8 Bit)
(1),(2),(3),(4) : Not used.

(5) InSPD/InPOS
0 -> OFF,
(6)Status(Standard[VS]
ORGOUT)
type
: 0 -> OFF,
1 -> InSPD/InPOS : ON.

TLOUT,
Controller-embedded
type[VP]
1 -> ON.
(7) Servo-ON :0 -> Servo-OFF,
1 -> Servo-ON.
(8) Alarm : 0 indicates Normal status, 1 indicates Alarm occurred on servo.
6-8

Response frame(NAK)
ication der
No.
term
R S S
ASCII NAK 0 0
r s s
52 53 53
HEX
15 30 30
72 73 73
Error code
Sta
Tail
tus
BCC
ETX
03
# Error code
Explanation
0101
Header of request frame is not ENQ.
0102
It is not a designated command term.
0103
Block qtys exceeded 4 pieces.
0104
Variable type is not started with %M..
0105
Variable type is not W,D,B,X.
0106
Variable No. is out of the designated range.
0107
Request frames tail is not EOT.
0108
CHECKSUM is wrong.
Remark
On continuous reading and writing, it

0109
exceeded the max. number of

Byte(256Bytes).
010A
It exceeded the max. transmission No.
010B
Variable length exceeded 16 letters.
010C
FLASH Reading Error
010D
FLASH Writing Error
0201
0202
0203
0204
On writing data, transmitted data exceeded

the setting range.
Writing is prohibited for this data at Servo
ON.
Writing motor parameter is prohibited.
(In case that the motor ID is not 0.)
Motor ID is not registered.
6-9

Example of Reading menu data individually(RSS/rSS/Rss)
-
In case of reading the current speed[Pd-002],

(Station No. : 0, Current speed : 100[r/min])
RSS Command (Not including BCC)

Request frame(ENQ)
Variable code
Tail
Comm.
Type
code
% M D 0 0 1 EOT
30 30 52 53 53 30 31 30
36
25 4D 44 30 30 31
Classif Hea Station Command Block Variable

ication der
No.
term
qty
length
ASCII ENQ 0
HEX
05
04
Response frame(ACK)
ication der
No.
term
ASCII ACK 0
HEX
06
Block
Qty
Data
Qty
Data
Tail
0 0 0 0 0 0 6 4
ETX
30 30 52 53 53 30 31 30 34 30 30 30 30 30 30 36 34
03
Response frame(NAK) : In case that it is not a designated command term(0102)

Classif
Header
ication
Station Command
No.
term
R
Error code
S 0 1
Tail
ASCII
NAK
ETX
HEX
15
30
30 52 53 53 30 31 30 32
03
rSS Command (Including BCC)

Request frame(ENQ)
ication der
No.
term
Qty
length
0
% M
30 30 72 53 53 30 31 30
36
25 4D 44
ASCII ENQ 0
HEX
05
Variable code
Comm.
Type
code
D
Tail
BCC
EOT 8
30 30 31
04
38 46
BCC indicates the lower 2 Byte of the total Hex value from header to tail.
The total HEX value added is 38F. Therefore, BCC is 8F(38/46).
Response frame(ACK)
ication der
No.
term
ASCII ACK 0 0 r S S
HEX
06
Block
Qty
0 1
Data
Qty
0 4
Data
Tail
0 0 0 0 0 0 6 4
ETX
30 30 72 53 53 30 31 30 34 30 30 30 30 30 30 36 34
The total HEX value added is 3D0. Therefore BCC is D0(44/30).
6-10
03
BCC
D
44 30

Response frame(NAK) : In case that it is not a designated command term(0102).
Classif
Station Command
Header
Error code
ication
No.
term
ASCII
NAK
HEX
15
S 0 1
30 30 72 53 53
30 31 30
32
Tail
BCC
ETX
03
35 33
The total HEX value added is 253. Therefore BCC is 53(35/33).
Rss Command (Checking servo status) : In case of InSPD/InPOS, Servo-ON

Request frame(ENQ)
ication der
No.
term
Qty
length
0
% M
30 30 52 73 73 30 31 30
36
25 4D 44 30 30 31
ASCII ENQ 0
HEX
05
Variable code
Comm.
Type
code
D
Tail
1 EOT
04
Response frame(ACK)
ication der
No.
term
HEX
06
Data
Status Tail
A
ETX
30 30 52 73 73 30 31 30 34 30 30 30 30 30 30 36 34
41
03
Data
Qty
0 0 0 0 0 0 6 4
ASCII ACK 0
Block
Qty
Status : Servo send A(00001010) data.

Can note that the current status is
InSPD/InPOS and Servo : ON.
Response frame(NAK) : In case that it is not a command term(0102)

Classif
Station Command
Header
ication
No.
term
ASCII
NAK
HEX
15
Status
Tail
ETX
30 30 52 73 73 30 31 30 32
41
03
Error code
0
6-11

2) Reading menu data continuously [RSB/rSB/Rsb]
It reads the starting No. of menu and the Qty that needs to be read by designating
them.
Status data of response frame exists only in the Response frame of
command term that starts with large + small + small character.

Request frame(ENQ)
Classif Hea Station Command Variable
ication der No.
term
length
R
r
52
05 30 30
72
ASCII ENQ 0
HEX
S
s
53
73
B
0
b
42
30
62
Variable code
(Starting No.)
Comm.
Type
code
D
Menu
Qty
Tail
% M
5 EOT
36
25 4D 44 30 30 31
30
35
BCC
04
(Note) If menu qty is 05, it reads 5 pieces of data that are designated communication
code 001 ~ 005.
Response frame(ACK)
Classif Hea Station Command Block
ication der No.
term
Qty
R
r
52
06 30 30
72
ASCII ACK 0
HEX
S
s
53
73
Data
Data
Stat
Tail
Qty (Max. 256Bytes) us
B
0 1 1 4
b
42
30 31 31 34
62
....
BCC
ETX
03
(Note) Data qty : Data Qty of data type X Request Menu Qty.
(Ex) If requested data type is %MD, data qty is 04 and requested menu qty is 5
pcs.
Therefore, requested data qty would be 4 x 5 = 20(DEC) -> 14(HEX).
Response frame(NAK)
ication der No.
term
R S B
ASCII NAK 0 0
r s b
52 53 42
HEX 15 30 30
72 73 62
6-12
Error code
Sta
Tail
tus
ETX
03
BCC

Example of Reading menu data continuously (RSB/rSB/Rsb)
- When reading [PE-301]~[PE-303]
(Inertia ratio : 2.0, Position proportional gain : 50, Position proportional gain 2 : 50)
RSB Command (Not including BCC )

Request frame(ENQ)
Variable code
(Starting No.)
Comm.
Type
code

Variable
ication der
No.
term
HEX
05
EOT
% M
30 30 52 53 42 30
36
25 4D 44 30 36 30 30 33
Tail
ASCII ENQ 0
Menu
Qty
3
04
Response frame(ACK)
ication der
No.
term
ASCII ACK 0
HEX
06
Block
Qty
Data
Qty
Data
30 30 52 53 42 30 31 30 43
Tail
000000200000003200000032 ETX
303030303030323030303030
303033323030303030303332
03

Classif
Station Command
Header
ication
No.
term
ASCII
NAK
HEX
15
30 30 52 53
42
30 31 30 32
Error code
1
Tail
ETX
03
rSB Command (including BCC)

Request frame(ENQ)
ication der
No.
term
length
6
% M
HEX
05
30 30 72 53 42 30
36
25 4D 44 30 36 30 30
33
Menu
Qty
ASCII ENQ 0
Variable code
(Starting No.)
Comm.
Type
code
Tail
BCC
EOT 0
04
30
E
45
BCC indicates the lower 2 Byte of the total HEX value from header to tail.
The total HEX value added is 50E.
Therefore, BCC is 0E(30/45).
6-13

Response frame(ACK)
ication der
No.
term
ASCII ACK 0
HEX
Block
Qty
Data
Qty
Data
The total HEX value added is 6CD.
BCC
000000020000003200000032 ETX A
303030303030303230303030
303033323030303030303332
30 30 72 53 42 30 31 30 43
06
Tail
03
43 44
Therefore, BCC is CD(43/44).

Classif
Station Command
Header
ication
No.
term
ASCII
NAK
HEX
15
30 30 52 53 42
Error code
0
30 31 30 32
Tail
BCC
ETX
03
34
32
The total HEX value added is 242. Therefore, BCC is 42(34/32).
Rsb Command (Check servo status) : In case of InSPD/InPOS, Servo-ON

Request frame(ENQ)
Variable code
(Starting No.)
Comm.
Type
code

ication der
No.
term
length
HEX
05
EOT
% M
30 30 52 73 62 30
36
25 4D 44 30 36 30 30 33
Tail
ASCII ENQ 0
Menu
Qty
3
04
Response frame(ACK)
ication der
No.
term
ASCII ACK 0
Block
Qty
Data
Qty
Stati
on
Tail
C 000000200000003200000032
E
T
X
303030303030323030303030
303033323030303030303332
41
03
06
30 30 52 73 62 30 31 30 43
Status
: Servo sends A(00001010) data.
HEX
Data
Can note that the current status is InSPD/InPOS and Servo : ON.

Classif
Station Command
Header
ication
No.
term
6-14
ASCII
NAK
HEX
15
30 30 52 73 62
Statu
s
Tail
ETX
30 31 30 32
41
03
Error code
0

6.3.2 Data Writing command
1) Writing menu data individually [WSS/wSS/Wss]
It is the function that writes the data by designating the communication code of servo
drive. WSS command is the structure that does not include a Frame check(BCC), and
wSS command is the structure that includes a Frame check(BCC) behind tail.
Status data of Response frame exists only in the response frame of command term that
starts with large + small + small character.
Request frame(ENQ)
H
Block variable1
Statio
Head ea
Command Block Varia
Variable code
n
er de
term
Qty
ble
Comm.
No.
Type
r
length
code
E
W S S
0 1 0 6 % M D 0 0 1
ASCII N 0 0
w s s
Q
57 53 53
30 31 30 36 25 4D 44 30 30 31
HEX 05 30 30
77 73 73
Data
Block
Ta
2
il
4
BCC
E
O
T
04
# Block qty : Can designate and request the block upto 4 pieces that consists
variable length and variable code.
ASCII
Explanation
Data Qty
%MX
25/4D/58
%MD
25/4D/44
%RD
25/52/44
Remark
Store in RAM
In case of %MX : Communication code32 + The relative bit No.(0 ~ 31)

(Ex) Bit No.3 of communication code 16 : 1632+3 = 515
Response frame(ACK)
Status Tail
ication der
No.
term
ASCII ACK 0
HEX
15
30 30
W
w
S
s
S
s
57 53 53
77 73 73
BCC
ETX
03
Response frame(NAK)
ication der
No.
term
W S S
ASCII NAK 0 0
w s s
57 53 53
HEX
15 30 30
77 73 73
Error code
Status Tail
BCC
ETX
03
6-15

Example of Writing menu data individually (WSS/wSS/Wss)
- Change the data value to 3.0 at the Inertia ratio[PE-301].
WSS command (not including BCC)

Request frame(ENQ)
Variable code
Comm.
Type
code

ication der
No.
term
Qty
length
0
% M
30 30 57 53 53 30 31 30
36
25 4D 44
ASCII ENQ 0
HEX
05
Data
30 36 30
Tail
00000030 EOT
30303030
30303330
04
Response frame(ACK)
ication der
No.
term
ASCII ACK 0
HEX
06
Tail
ETX
30 30 57 53 53
03

Classif
Station Command
Header
ication
No.
term
ASCII
NAK
HEX
15
30 30 57 53
53
30 31 30 32
Error code
1
Tail
ETX
03
wSS command (Including BCC)

Request frame(ENQ)
ication der
No.
term
ASCII ENQ 0
HEX
05
30 30
S S
Block
Qty
0
Variab
le
length
0
Variable code
Comm.
Type
code
6 % M D
Data
0 00000030
77 53 53 30 31 30 36 25 4D 44 30 36 30
6-16
BCC
EO
T
30303030
04 31 43
30303330
BCC indicates the lower 2 Byte of total HEX value from header to tail.
Total HEX value added is 51C.
Tail
Therefore, BCC is 1C(31/43).

Response frame(ACK)
ication der
No.
term
ASCII ACK 0
HEX
Tail
BCC
ETX
30 30 77 53 53
06
03
38 36
Total HEX value added is 186. Therefore, BCC is 86(38/36).

Classif
Station Command
Header
ication
No.
term
ASCII
NAK
HEX
15
Error code
30 30 77 53 53
30 31 30 32
Tail
BCC
ETX
03
35 38
Total HEX value added is 258. Therefore, BCC is 58(HEX 35/38).
Wss command (Checking servo status) : In case of InSPD/InPOS, Servo-ON.

Request frame(ENQ)
Classif Hea
ication der
Station Command
No.
term
Variable code
Comm.
Type
code
HEX
30
57 73 73 30
31
30 36 25 4D 44 30 36 30
30
Variabl
e
length
ASCII ENQ 0
05
Block
Qty
% M
Data
Tail
0 00000030 EOT
30303030
30303330
04
Response frame(ACK)
Classif Hea Station Command Stat
Tail
ication der
No.
term
us
ASCII ACK 0
HEX
30 30 57 73 73
06
Status :
ETX
41
03
Servo sends A(00001010) data.
Can note that the current status is
InSPD/InPOS and Servo : ON.

Classif
Station Command
Header
ication
No.
term
ASCII
NAK
HEX
15
30 30 57 73 73
Error code
Status
Tail
ETX
30 31 30 32
41
03
6-17

2) Writing menu data continuously [WSB/wSB/Wsb]
It is the function that corrects the data by designating continuously the Communication
code of servo drive, Data qty that need to be corrected and Data.
Status data of response frame exists only in the response frame of command term that
Request frame(ENQ)
He
Classif
Station Command Variable
ad
ication
No.
term
length
er
ASCII
E
N
Q
HEX
05 30 30
W
w
S
s
B
b
Variable code
Comm.
code
Type
57 53 42
30
77 73 62
36
25 4D 44 30 30 31
Menu
Qty
Data
Tail
EOT
04

ASCII
Explanation
Data Qty
%MX
25/4D/58
%MD
25/4D/44
%RD
25/52/44
Response frame(ACK)
He
Classif
Station Command Stat Tai
ad
ication
No.
term
us
l
er
A
ASCII C
K
HEX
06 30 30
B
b
E
T
X
57 53 42
77 73 62
03
W
w
S
s
BCC
Response frame(NAK)
He
Classif
Station Command
ad
ication
No.
term
er
6-18
ASCII
N
A
K
HEX
15 30 30
Error code
Stat Ta
us il
B
b
E
T
X
57 53 42
77 73 62
03
W
w
S
s
BCC
Remark
Store in RAM
BCC
Example of Writing menu data continuously(WSB/wSB/Wsb)

- Change the data value to the following.
Inertia ratio[PE-301] : 3.0,
Position proportional gain[PE-302]: 40,
Position proportional gain2[PE-303]: 40.

WSB command (Not including BCC)
Request frame(ENQ)
Varia
Variable code
He
Classif
Station Command ble
ad
Comm.
ication
No.
term
lengt
Type
er
code
h
E
ASCII N 0 0 W S B 0 6 % M D 0 6 0
Q
HEX
Menu
Qty
Data
Ta
il
E
0000003000000028
O
00000028
T
3030303030303330
05 30 30 57 53 42 30 36 25 4D 44 30 36 30 30 33 3030303030303238 04
3030303030303238
0
Data value is to be changed in sequence of communication code No.60, No.61,

No.62.
Response frame(ACK)
Tail
ication der
No.
term
ASCII ACK 0
HEX
06
ETX
30 30 57 53 42
03
Response frame(NAK) : In case that it is not a designated command term.(0102)

Classif Heade Station Command
ication
r
No.
term
ASCII
NAK
HEX
15
Error code
Tail
ETX
30 30 57 53 42 30 31 30 32
03
wSB command (Including BCC)

Request frame(ENQ)
He
Variable code
Classif
Station Command Variable
Menu
Ta
ad
Data
Comm.
ication
No.
term
length
Qty
il
Type
er
code
E
E
0000003000000028
ASCII N 0 0 w S B 0 6 % M D 0 6 0 0 3
O
00000028
Q
T
3030303030303330
HEX 05 30 30 77 53 42 30 36 25 4D 44 30 36 30 30 33 3030303030303238 04
3030303030303238
Total HEX value added is 821. Therefore, BCC is
21(32/31).
6-19
BCC
2 1
3
2
3
1

Response frame(ACK)
Tail BCC
ication der
No.
term
ASCII ACK 0 0 w S B ETX 7 5
HEX
30 30 77 53 42
06
03
37 35
Total HEX value added is 175. Therefore,
BCC becomes 75(37/35).

Classif Head Station Command
ication er
No.
term
w
Tail
BCC
ETX
ASCII NAK
HEX
30 30 77 53 42 30 31 30 32
15
Error code
Total HEX value added is 247.
03
34 37
Therefore, BCC becomes 47(34/37).
Wsb command ( Checking servo status) : In case of
InSPD/InPOS, Servo-ON.
Request frame(ENQ)
Varia
Variable code
He
Classif
Station Command ble
Menu
Ta
ade
Data
Comm.
ication
No.
term
Qty
il
lengt
Type
r
code
h
E
E
0000003000000028
ASCII N 0 0 W s b 0 6 % M D 0 6 0 0 3
O
00000028
Q
T
3030303030303330
HEX 05 30 30 57 73 62 30 36 25 4D 44 30 36 30 30 33 3030303030303238 04
3030303030303238
Data value is to be changed in sequence of communication No.60, No.61, No.62.
Response frame(ACK)
Tail
ication der
No.
term
us
b
ETX
30 30 57 73 62
41
03
ASCII ACK 0
HEX
06
Status : Servo sends A(00001010) data.

Can see that the current status is InSPD/InPOS and Servo : ON.

Classif
Station Command
Header
Error code Status
ication
No.
term
ASCII
NAK
0 0 W s b 0 1 0 2
A
HEX
6-20
15
30 30 57 73 62
30 31 30 32
41
Tail
ETX
03

6.3.3 Monitor command term
- Monitor command does not have the command term that reads out the Status data of
response frame.
1) Monitor registration [X##/x##]

It registers the variables to read together with the Reading command and reads out the
registered variables by Monitor executing command.
possible.
Max. 32 pieces of registration is
And for the registration type, the range that are from command term to ahead
of EOT out of the format either in Individual reading or in Continuous reading can be used.
Request frame of RSS type(ENQ)

Registration type
Registration
command
Variable block1
Classif Hea Station
term
Command Block Le Variable code 2,3,,, Tail
ication der
No.
term
Qty ng
,,,16
No.
Type Comm.
th
X
0
R S S 1 6
EOT
ASCII ENQ 0 0
x
~ 31
58
52 53 53
HEX
05 30 30
04
78
BCC
(Note) Registration command term No. is available at 0 ~ 31(00 ~ 1F). If we registered

the No. that was already registered, the last one registered would be executed.
(Note) Block Qty of Registration type is available upto total 16 pieces.
Request frame of RSB type(ENQ)

Registration
Registration type
command
Variable
Me
Classif Hea Station
Le
term
Command
code
nu Tail
ication der
No.
ng
term
Qt
th Type Comm.
No.
y
X
0 ~ 31 R S B
ASCII ENQ 0 0
EOT
x
58
52 53 42
HEX
05 30 30
04
78
BCC
Response frame(ACK)
Classif
Station
Header
ication
No.
ASCII
ACK
HEX
06
30 30
Registration
command term
No.
X
x
58
78
Tail
BCC
ETX
03
6-21

Response frame(NAK)
Classif
Station
Header
ication
No.
ASCII
NAK
HEX
15
30 30
Registration
command term
No.
X
x
58
78
Error code
Tail
BCC
ETX
03
Example of Monitor registration(X##/x##)

- Register the current operation speed[Pd-002], current command speed[Pd-003].
X## command (Not including BCC)

Request frame of RSS type(ENQ) : In case that the communication No. to register is
sparsely located.
Registr
Registration type
H
ation
Variable block
Variable block
Classi
Stati
ea
comma
Blo
ficatio
on
Comma
Variable code
Variable code
de
nd term
ck Len
Lengt
n
No.
nd term
r
Qty gth
Comm
h
No.
Type
Type
Comm.
.
E
ASCII N 0 0 X 0 1 R S S 0 2 0 6 % M D 0 0 1 0 6 % M D 0 0 2
Q
4
3 3 5 3 3 5 5 5 3 3 3 3 2 4 4 3 3 3
30 36 25
44 30 30 32
HEX 05
D
0 0 8 0 1 2 3 3 0 2 0 6 5 D 4 0 0 1
Block Qty of registration type is available upto total 16 pieces.
In
case
of
RSS
command
term,
the
communication
code
is
designated
individually.(%MD001, %MD002)
Request frame of RSB type(ENQ) : In case that the communication No. to register is
connected.
Registratio
Registration type
n
Classi
Hea Station command
Variable code
ficatio
Command Lengt
der No.
term
n
term
h
Comm.
No.
Type
code
ASCII ENQ 0
HEX
6 % M D 0
Menu
Qty
Tail
2 EOT
05 30 30 58 30 31 52 53 42 30 36 25 4D 44 30 30 31 30 32 04
Proceed the monitor registration as the menu qty(02) after designating the
communication code that starts first.
6-22
Ta
il
E
O
T
04

Response frame(ACK)
ASCII
ACK
Registration
command term
No.
X
0
1
HEX
06
30
30
58
Classif
Header
ication
Station
No.
30
Tail
ETX
31
03

Registration
Classif
Station command
Header
ication
No.
term
No.
ASCII
NAK
HEX
15
30 30 58 30
31
30 31 30 32
Error code
Tail
ETX
03
x## command (Including BCC)

Request frame of RSS type(ENQ) : In case that the communication No to register is
sparsely located.
Registr
H
Classi
Stati ation
ea
ficatio
on comma
de
n
No. nd term
r
No.
E
ASCII N 0 0 x 0 1
Q
3 3 7 3 3
HEX 05
0 0 8 0 1
If
the
Registration type
Variable block
Variable block
T
Blo
BCC
Comma
ck Len Variable code Len Variable code ail
nd term
Qty gth
gth
Type Comm.
Type Comm.
E
R S S 0 2 0 6 % MD 0 0 1 0 6 % M D 0 0 2 O F 7
T
5 5 5 3 3 3 3 2 4 4 3 3 3 3 3 2 4 4 3 3 3 0 4 3
2 3 3 0 2 0 6 5 D 4 0 0 1 0 6 5 D 4 0 0 2 4 6 7
command
term
is
RSS,
the
communication
code
is
individually
designated.(%MD001, %MD002)
Total HEX value added is 5F7.
Therefore, BCC becomes F7(46/37).
Request frame of RSB type(ENQ) : Communication No. to register is connected.

Registratio
Registration type
n
Class
Hea Statio command
Variable code
ificati
Command Lengt
der n No.
term
on
term
h
Comm.
No.
Type
code
ASCII ENQ 0 0 x 0 1 R S B 0 6 % M D 0 0 1
HEX
Menu
Qty
0
Tail
2 EOT
05 30 30 78 30 31 52 53 42 30 36 25 4D 44 30 30 31 30 32
04
BCC
33 38
Proceed the monitor registration as Menu qty(02) after designating the

communication code that starts first.
6-23

Response frame(ACK)
Classif Heade Station
ication
r
No.
ASCII
ACK
HEX
06
Registration
command
Tail
term
No.
BCC
ETX
30 30 78 30
31
03
34 32

Registration
Classif Heade Station command
ication
r
No.
term
No.
ASCII
NAK
HEX
15
30 30 78 30 31
6-24
Error code
30 31 30 32
Tail
BCC
ETX
03
31 34
Therefore BCC becomes 14(31/34).

2) Monitor Individual Execution [Y##/y##]
It requires the execution of Monitor command(X##/x##) that is registered.
Request frame(ENQ)
Registration
Classif Hea Station command
Tail
term
ication der No.
No.
Y
y
59
06 30 30
79
ASCII ENQ 0
HEX
BCC
EOT
04
Response frame(ACK) for RSS type

Registration
Data response type
command
Classif Hea Station
Block Data
2,3...
term
ication der
No.
Data
Qty
Qty
16
No.
Y
y
59
30 30
79
ASCII ACK 0
HEX
06
0
~ 31
....
Tail BCC
ETX
30 31 30 34
03
Response frame(ACK) for RSB type

Registration Data response type
command
Data
term
Data
Qty
No.
Y
0
0 8
ACK 0 0
....
y
~ 31
59
30 38
06 30 30
79
Classif Heade Statio

ication
r
n No.
ASCII
HEX
Tail
BCC
ETX
03
Response frame(NAK)
Registration
ication
r
No.
term
No.
Y
0
ASCII NAK 0 0
y
~ 31
59
HEX
15 30 30
79
Error code
Tail
BCC
ETX
03
6-25

Example of Monitor Individual execution (Y##/y##)
- Execute the registration command term 01.
In the X01/x01, current speed[Pd-002]:100.0, command speed[Pd-003]:50.0 are
Registered.
Y## command (Not including BCC)

Request frame(ENQ)
Registration
Tail
term
ication der No.
No.
ASCII ENQ 0
HEX
EOT
06 30 30 59 30 31
04

Registr
Classi
Stati ation
Hea
Blo Dat
ficatio
on comma
der
ck
a
n
No. nd term
Qty Qty
No.
Registration type
Dat
a
Qty
Data
Tail
Data
ASCII ACK 0 0 Y 0 1 0 2 0 4 0 0 0 0 0 0 6 4 0 4 0 0 0 0 0 0 3 2 ETX

HEX
3 3 5 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3
0 0 9 0 1 0 2 0 4 0 0 0 0 0 0 6 4 0 4 0 0 0 0 0 0 3 2
06

Registra
Class
Stati tion
Hea
ificati
on comma Data
on der No. nd term Qty
No.
Registration type
Data
Tail
ASCII ACK 0 0 Y 0 1 0 8 0 0 0 0 0 0 6 4 0 0 0 0 0 0 3 2 ETX

HEX
06
3 3 5 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3
0 0 9 0 1 0 8 0 0 0 0 0 0 6 4 0 0 0 0 0 0 3 2
03

Registration
Classif Head Station command
Error code
Tail
term
ication er
No.
No.
6-26
ASCII NAK
HEX
30 30 59
30
31
30 31 30 32
15
ETX
03
03

y## command (Including BCC)
Request frame(ENQ)
Classif Hea Station
ication der No.
ASCII ENQ 0
HEX
Registration
command
term
No.
Tail
BCC
06 30 30 79
EOT
30
31
04
34 34
Total HEX value added is 144. Therefore, BCC becomes 44(34/34).

Registr
Class
Stati ation
Hea
Blo Dat
ificati
on comma
der
ck
a
on
No. nd term
Qty Qty
No.
Registration type
Dat
a
Qty
Data
Tail BCC
Data
ASCII ACK 0 0 y 0 1 0 2 0 4 0 0 0 0 0 0 6 4 0 4 0 0 0 0 0 0 3 2 ETX 7 C

HEX
06
3 3 7 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3
0 0 9 0 1 0 2 0 4 0 0 0 0 0 0 6 4 0 4 0 0 0 0 0 0 3 2
03
Therefore, BCC becomes 7C(37/43).

Registra
Classi
Stati tion
Hea
ficatio
on comma Data
der
n
No. nd term Qty
No.
Registration type
Tail BCC
Data
ASCII ACK 0 0 y 0 1 0 8 0 0 0 0 0 0 6 4 0 0 0 0 0 0 3 2 ETX B A

HEX
06
3 3 7 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3
0 0 9 0 1 0 8 0 0 0 0 0 0 6 4 0 0 0 0 0 0 3 2
Total HEX value added is 4BA.
03
4 4
2 1
Therefore, BCC becomes BA(42/41).

Registration
ication
r
No.
term
No.
ASCII
NAK
HEX
15
30 30 79 30 31
Error code
30 31 30 32
Tail
BCC
ETX
03
31 35
6-27
3 4
7 3

3) Monitor Continuous Execution [Z##/z##]
It requires the execution of Monitor command(Z##/z##) that is registered.
Once it is executed, Servo drive keep sending data.
(Note) Response would be stopped when other command term comes in while the servo
drive is sending Data continuously.
If you want to receive the continuous data
again after execution of other data except for Z## command.
Request frame(ENQ)
Classif
ication
ASCII
HEX
Registration
Hea Station command
Tail
term
der No.
No.
Z
ENQ 0 0
EOT
z
5A
06 30 30
04
7A
BCC

Registration
Data response type
command
Classif Hea Station
Block Data
term
ication der
No.
Data
Qty
Qty
No.
Z
0
ASCII ACK 0 0
0 1 0 4
....
z
~ 31
5A
HEX
06 30 30
30 31 30 34
7A
2,3...
16
Tail BCC
ETX
03

Classif Heade Statio
ication
r
n No.
ASCII
ACK
HEX
06
30 30
Registration
Data response type
command
Data
term
Data
Qty
No.
Z
0
0 8
....
z
~ 31
5A
30 38
7A
Tail
ETX
Response frame(NAK)
Command
term
No.
Z
0
0 0
z ~ 31
5A
30 30
7A
Classif Heade Station

ication
r
No.
6-28
ASCII
NAK
HEX
15
Error code
Tail
ETX
03
BCC
03
BCC

Example of Monitor Individual Execution (Z##/z##)
- Executes the registration command term 01.
In the X01/x01, the current speed[Pd-002]:100.0, command speed [Pd-003]:50.0
are registered.
- Servo drive sends the data value continuously before other command terms except
for Z## command are sent.
Z## command (Not including BCC)
Request frame(ENQ)
Registration
term
ication der No.
No.
0
EOT
06 30 30 5A 30
31
04
ASCII ENQ 0
HEX
Tail
Request frame(ACK) for RSS type

Registr
H
Classi
Stati ation
ea
ficatio
on comma
de
n
No. nd term
r
No.
A
ASCII C 0 0 Z 0 1
K
3 3 5 3 3
HEX 06
0 0 A 0 1
Registration type
Blo Dat
ck
a
Qty Qty
Dat
a
Qty
Data
T
ail
Data
E
0 2 0 4 0 0 0 0 0 0 6 4 0 4 0 0 0 0 0 0 3 2 T
X
3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 0
0 2 0 4 0 0 0 0 0 0 6 4 0 4 0 0 0 0 0 0 3 2 3

Registra
Class He Stati tion
ificati ad on comma
on er No. nd term
No.
A
ASCII C 0 0 Z 0 1
K
3 3 5 3 3
HEX 06
0 0 A 0 1
Registration type
Data
Qty
Data
Ta
il
E
0 8 0 0 0 0 0 0 6 4 0 0 0 0 0 0 3 2 T
X
3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3
03
0 8 0 0 0 0 0 0 6 4 0 0 0 0 0 0 3 2

Registration
Error code
Tail
term
ication
r
No.
No.
0 1 0 2 ETX
ASCII NAK 0 0 Z 0 1
HEX
15 30 30 5A 30 31 30 31 30 32
03
6-29

z## command (Including BCC)
Request frame(ENQ)
Registration
term
ication der No.
Tail
BCC
No.
0
EOT
06 30 30 7A 30
31
04
ASCII ENQ 0
HEX
34 34

Registr
H
Classi
Stati ation
ea
ficatio
on comma
de
n
No. nd term
r
No.
A
ASCII C 0 0 z 0 1
K
3 3 7 3 3
HEX 06
0 0 A 0 1
Registration type
Blo Dat
ck
a
Qty Qty
Dat
a
Qty
Data
T
BCC
ail
Data
E
0 2 0 4 0 0 0 0 0 0 6 4 0 4 0 0 0 0 0 0 3 2 T 7 D
X
3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 0 3 4
0 2 0 4 0 0 0 0 0 0 6 4 0 4 0 0 0 0 0 0 3 2 3 7 4
Total HEX value added is 57D.
Therefore, BCC becomes 7D(37/44).

Registra
H
Classi
Stati tion
ea
ficatio
on comma
de
n
No. nd term
r
No.
A
ASCII C 0 0 z 0 1
K
3 3 7 3 3
HEX 06
0 0 A 0 1
Registration type
Data
Qty
T
ai BCC
l
Data
E
0 8 0 0 0 0 0 0 6 4 0 0 0 0 0 0 3 2 T B B
X
3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 0 4 4
0 8 0 0 0 0 0 0 6 4 0 0 0 0 0 0 3 2 3 2 2
Total HEX value added is 4BB.
Therefore, BCC becomes BB(42/42).

Registration
Error code
Tail BCC
ication
r
No.
term
No.
ASCII
NAK
HEX
15
30 30 7A 30
31
30 31 30 32
ETX
03
31 36
Total HEX value added is 216. Therefore, BCC becomes 16(31/36).
6-30

6.3.4 SET command
1) KEY SET(manipulation)[WDK/wDK/Wdk]
Status data of Response frame exists only in the response frame of command term that
Request frame(ENQ)
ication der
No.
term
W
w
57
30 30
77
ASCII ENQ 0
HEX
05
D
d
44
64
Variab
le
length
Code
Type
No.
Tail
BCC
K
0 5 % S D 0 1 EOT
k
4B
30 36 25 53 44 30 31 04
6B
# Code can be defined and used as per the program version.

# Code
Classification
Code
Alarm Reset
05%SD01
Alarm History Clear
05%SD02
Initializing Menu
05%SD03
Saving current offset
05%SD04
Initializing the state of
05%SD05
Remarks
I/O contact point

Reading program data
Used for only VP5
05%SP00~07
program operation type

Writing program data
05%SP10~17
Ex.)%SP00<-Reading program No.1

Ex.)%SP10<-Writing program No.1
Response frame(ACK)
Classif Hea Station Commmand
Status Tail
ication der
No.
term
W D K
ASCII ACK 0 0
ETX
w d k
57 44 4B
HEX
06 30 30
03
77 64 6B
BCC
Response frame (NAK)

Classif Hea Station Commmand
ication der
No.
term
W D K
ASCII NAK 0 0
w d
k
57 44 4B
HEX
15 30 30
77 64 6B
Error code
Statu
Tail
s
BCC
ETX
03
6-31

Example of Setting status (WDK/wDK/Wdk)
- Alarm Reset Manipulation.
WDK command (Not including BCC)

Request frame(ENQ)
Variab
He
Code
Classif
Station Command
Tai
le
ad
ication
NO.
term
l
Type
No.
length
er
E
E
ASCII N 0 0 W D K 0 5 % S D 0 1 O
T
Q
HEX
05 30 30 57 44 4B 30 36 25 53 44 30 31 04
Response frame(ACK)
He
Classif
Station Command
ad
ication
NO.
term
er
A
ASCII C 0 0 W D K
K
HEX
Tai
l
E
T
X
06 30 30 57 44 4B 03

He
Classif
Station Command
ad
Error code
ication
NO.
term
er
N
ASCII A 0 0 W D K 0 1 0 2
K
HEX 15 30 30 57 44 4B 30 31 30 32
Ta
il
E
T
X
03
wDK command (Including BCC)

Request frame(ENQ)
Variab
He
Classif
Station Command
le
ad
ication
NO.
term
length
er
Type
No.
Tai
BCC
l
ASCII
E
N
Q
HEX
05 30 30 77 44 4B 30 36 25 53 44 30 31 04 46 32
6-32
Code
E
O
T

Response frame(ACK)
ication er
NO.
term
ASCII
ACK
HEX
06
Tail
BCC
ETX
30 30 77 44 4B
03
Total HEX value added is 16F.
36 46
Therefore, BCC becomes 6F(36/46).

ication
r
NO.
term
ASCII
NAK
HEX
15
Error code
30 30 77 44 4B
Total HEX value is 241.
30 31 30 32
Tail
BCC
ETX
03
34 31
Wdk command (Checking servo status) : In case of InSPD/InPOS, Servo-ON

Request frame(ENQ)
ication der NO.
term
ASCII ENQ 0
HEX
05
Variab
le
length
0
Code
Type
%
No.
D
30 30 57 64 6B 30 36 25 53 44 30 31
Tail
EOT
04
Response frame(ACK)
Classif Hea Station Command Statu
ication der NO.
term
s
ASCII ACK 0
HEX
06
30 30 57 64 6B
Tail
ETX
41
03


ication der NO.
term
ETX
HEX
15
30 30 57 64 6B 30 31 30 32
41
03
Statu
Tail
s
ASCII NAK 0
Error code
6-33

6.3.5 Check command
1) Individual check of servo status [RCS/rCS/Rcs]
Can check the current status of servo.
Individual check command has only one response when sending a command term.
starts with large + small + small letter.
Request frame(ENQ)
Status check code No.
Tail BCC
ication
r
NO.
term
R C S
EOT
ASCII ENQ 0 0
r c s
52 43 53
HEX
05 30 30
04
72 63 73
# Code No. type
=> Code No. is displayed with 0 or 1. (0 : Not used, 1 : Used)
Code No.
Data
Current Speed(32bit) + Command Speed(32bit)
Current Pulse(32bit) + Command Pulse(32bit)
Current Load(32bit) + Peak Load(32bit)
Contact Status(32bit) + DC Voltage(32bit)
Speed Reference(32bit) + Speed Feedback(32bit)
Torque Reference(32bit) + Torque Feedback(32bit)
Not Used(0)
Not Used(0)
One code receives two data.

Response frame(ACK)
Classif Hea Station Command Data
ication der No.
term
Qty
R C S
0 8
ASCII ACK 0 0
r c s
52 43 53
30 38
HEX 06 30 30
72 63 73
Data
Statu
Tail
s
...
ETX
...
03
Response frame(NAK
ication der No.
term
R C S
ASCII NAK 0 0
r c s
52 43 53
HEX 15 30 30
72 63 73
6-34
Error code
Stat
Tail BCC
us
ETX
03
BCC

Example of individual check of servo status(RCS/rCS/Rcs)
- If you want to check the current speed, contact status,
=> Current speed : 1000,
Command speed : 1000
=> Contact status : ZSPD(ON), RDY(ON), ALARM(ON),
DC voltage : 300
RCS command (Not including BCC)

Request frame(ENQ)
ication der No.
term
ASCII ENQ 0
Tail
0 EOT
05 30 30 52 43 53 31 30 30 31 30 30 30 30
HEX
04
Send the code No. that includes the current speed and contact status.
Response frame(ACK)
Classif Hea Station Comman
ication der No.
d term
Data
Qty
Data
Tail
000003E8000003E8
ETX
000B00000000012C
30303030303345383030303030334538
06 30 30 52 43 53 31 30
03
30303042303030303030303030424531
ASCII ACK 0
HEX
R C S
Data : 8 digits are one data. (1data : 32bit)

Current speed : 000003E8 (Dec1000) Command speed : 000003E8 (Dec1000)
Contact status : 000B0000 (Dec720896)
DC voltage : 0000012C (Dec300)

ication
r
No.
term
ASCII
NAK
HEX
15
Error code
Tail
ETX
30 30 52 43 53 30 31 30 32
rCS command
03
(Including BCC)
Request frame(ENQ)
ication der
No.
term
ASCII ENQ 0
HEX
05

1
Tail
0 EOT F
30 30 72 43 53 31 30 30 31 30 30 30 30
BCC
04
46 33
6-35

Response frame(ACK)
Classif Hea Station Comman Data
Data
Tail BCC
ication der
No.
d term Qty
000003E8000003E8
AC
ASCII
0 0 R C S 1 0
ETX 3 7
000B00000000012C
K
3 3 30303030303345383030303030334538
3 3
HEX 06 30 30 72 43 53
03
1 0 30303042303030303030303030313243
3 7

ication er
No.
term
r
ASCII NAK
HEX
30 30 72 43 53
15
Error code
1
Tail
BCC
ETX
30 31 30 32
03
34 33
Rcs command (Checking servo status) : In case of InSPD/InPOS, Servo-ON

Request frame(ENQ)
Classif Hea Statio Command
ication der n No.
term
ASCII ENQ 0
HEX

1
Tail
0
EOT
05 30 30 52 63 73 31 30 30 31 30 30 30 30
04
It sends the code No. that includes the current speed and contact status.
Response frame(ACK)
ication der No.
d term
Stat
Tail
us
Data
000003E8000003E8
000B00000000012C
30303030303345383030303030334538
06 30 30 52 63 73 31 30
30303042303030303030303030424531
ASCII ACK 0
HEX
Data
Qty
c s
ETX
41
03
Data : 8 digits are one data. (1 data : 32bit)

Current speed : 000003E8 (Dec1000)
Command speed : 000003E8 (Dec1000)

Can see that the current status is InSPD/InPOS and
Servo : ON.

Statu
Error code
ication
r
No.
term
s
ASCII NAK 0 0 R c s 0 1 0 2
A
HEX
15 30 30 52 63 73 30 31 30 32 41
6-36
Tail
ETX
03

2) Continuous check of servo status [RCB/rCB/Rcb]
You can see the current status of servo continuously.
Once you send out a command, it keeps sending the response message continuously
before other command term is sent.
Status data of response frame exists only in the
response frame of command term that starts with large + small + small letter.
Request frame(ENQ)
Tail
ication der No.
term
E
E
R C B
O
ASCII N 0 0
r c b
T
Q
52 43 42
HEX 05 30 30
04
72 63 62
BCC
# Code No. type

=> Code No. is displayed with 0 or 1. (0 : Not used, 1 : Used)
Code No.
Data
Current Speed(32bit) + Command Speed(32bit)
Current Pulse(32bit) + Command Pulse(32bit)
Current Load(32bit) + Peak Load(32bit)
Contact Status(32bit) + DC Voltage(32bit)
Speed Reference(32bit) + Speed Feedback(32bit)
Torque Reference(32bit) + Torque Feedback(32bit)
Not Used(0)
Not Used(0)
One code receives two data.
Response frame(ACK)
Classif Hea Station Command Data
ication der No.
term
Qty
R C B
0 8
ASCII ACK 0 0
r c b
52 43 42
30 38
HEX 06 30 30
72 63 62
Data
Statu
Tail
s
...
ETX
...
03
BCC
Response frame(NAK)
ication der No.
term
R C B
ASCII NAK 0 0
R c b
52 43 42
HEX 15 30 30
72 63 62
Error code
Stat
Tail BCC
us
ETX
03
6-37

Example of individual check of servo status(RCS/rCS/Rcs)
- If you want to check the current speed, contact status,
=> Current speed : 1000,
Command speed : 1000
=> Contact status : ZSPD(ON), RDY(ON), ALARM(ON),
DC voltage : 300
RCS command (Not including BCC)

Request frame(ENQ)
ication der
No.
term
ASCII ENQ 0
HEX
05
Tail
0 EOT
30 30 52 43 42 31 30 30 31 30 30 30 30
04
Send the code No. that includes the current speed and contact status.
Response frame(ACK)
ication der No.
d term
06
Data
Tail
000003E8000003E8
ETX
000B00000000012C
30303030303345383030303030334538
30 30 52 43 42 31 30
03
30303042303030303030303030424531
ASCII ACK 0
HEX
Data
Qty
R C B

Response frame(NAK) : In case that it is not a designated command term (0102)

ication
r
No.
term
ASCII
NAK
HEX
15
Error code
Tail
ETX
30 30 52 43 42 30 31 30 32
03
rCB command (Including BCC)

Request frame(ENQ)
ication der
No.
term
ASCII ENQ 0
HEX
05

1
BCC
0 EOT E
30 30 72 43 42 31 30 30 31 30 30 30 30
Total HEX value added is 2E2.
6-38
Tail
04
45 32
Therefore, BCC becomes E2(45/32).

Response frame(ACK)
Stati
Classif Hea
Comman
on
ication der
d term
No.
06
Data
Tail
BCC
000003E8000003E8
ETX 2 6
000B00000000012C
30303030303345383030303030334538
3 3
72 43 42 31 30
03 32 36
30303042303030303030303030313243
0 0
r
ASCII ACK 0 0
HEX
Data
Qty
C B

Error code
Tail BCC
ication er
No.
term
ASCII
NAK
HEX
15
30 30 72 43 42
ETX
30 31 30 32
03
33 32
Rcb command (Checking servo status) : In case of InSPD/InPOS, Servo-ON.

Request frame(ENQ)
Classif Hea Statio Command
ication der n No.
term
ASCII ENQ 0
HEX
Tail
0
05 30 30 52 63 62 31 30 30 31 30 30 30 30
EOT
04
It sends the code No. that includes the current speed and contact status.
Response frame(ACK)
ication der No.
d term
Stat
Tail
us
Data
000003E8000003E8
000B00000000012C
30303030303345383030303030334538
06 30 30 52 63 62 31 30
30303042303030303030303030424531
ASCII ACK 0
HEX
Data
Qty
c b
ETX
41
03


Can see that the current status is InSPD/InPOS and Servo :
ON.

Statu
Error code
Tail
ication
r
No.
term
s
ASCII
NAK
HEX
15
ETX
30 30 52 63 62 30 31 30 32
41
03
6-39

6.4
Commands for Operation
6.4.1 Speed operation command

1) Speed operation mode(Speed, Accel/decel, Operation time setting)
[CJR/cJR/Cjr]
Operation speed, Accel/decel time is set and operated.
Status data of response frame exists only in the response frame of the command term
Request frame(ENQ)
Classif Hea Statio Comman
ication der n No. d term
Operation Accelera Decelera Operatio

Tail BCC
Speed tion time tion time n time
C J R
C j r
43 4A 52
05 30 30
63 6A 72
ASCII ENQ 0
HEX
Dir
EOT
04
# Operating direction : Set the motor rotating direction.

[ 0 : CCW direction , 1 : CW direction]
# Operation speed : Set the operation speed. [ Input unit : 9999.9 r/min ]
# Acceleration time : Set it with the time that takes to accelerate till the rated speed.
[ Input unit : 99.99 second ]
# Deceleration time : Set it with the time that takes to stop at rated speed.
# Operation time : Set the total operation time till stop after operation starts.
If it is set with 9999, it is unlimited operation.
[Input unit : 9999 second ]
Response frame(ACK)
Classif Head Statio Command Statu
Tail
ication er n No.
term
s
C J R
c j r
43 4A 52
30 30
63 6A 72
ASCII ACK 0
HEX
06
BCC
ETX
03
Response frame(NAK)
Classif Head Statio Command
ication er n No.
term
C J R
ASCII NAK 0 0
c j r
43 4A 52
HEX
15 30 30
63 6A 72
6-40
Error code
Statu
Tail
s
ETX
03
BCC

Example of Speed Operation Mode(CJR/cJR/Cjr)
- Direction=0 , Operation speed=1000.0 , Acceleration time=20.00 ,
Deceleration time=10.00 , Operation time=100
CJR command ( Not including BCC)

Request frame(ENQ)
Classi
Hea Statio Comman
ficatio
der n No. d term
n
ASCII ENQ 0
HEX
Dir

Tail
1 0 0 0 0 2 0 0 0 1 0 0 0 0 1 0 0 EOT
Response frame(ACK)
ication der
No.
term
ASCII ACK 0
HEX
3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3
1 0 0 0 0 2 0 0 0 1 0 0 0 0 1 0 0
05 30 30 43 4A 52 30
06
04
Tail
ETX
30 30 43 4A 52
03

Error code
Tail
ication
r
No.
term
ASCII
NAK
HEX
15
30 30 43 4A 52 30 31 30 32
ETX
03
cJR command (Including BCC)

Request frame(ENQ)
Classi
Hea Statio Comman
ficatio
der n No. d term
n
ASCII ENQ 0
HEX
Dir

Tail BCC
1 0 0 0 0 2 0 0 0 1 0 0 0 0 1 0 0 EOT C D
05 30 30 63 4A 52 30
3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3
1 0 0 0 0 2 0 0 0 1 0 0 0 0 1 0 0
04
4 4
3 4
Total HEX value added is 4CD.
Response frame(ACK)
Tail
ication der
No.
term
ASCII ACK 0
HEX
06
Therefore, BCC becomes CD(43/44),
BCC
R ETX 6
30 30 63 4A 52
03
36 38
6-41

Error code
Tail
BCC
ication
r
No.
term
ASCII
NAK
HEX
15
30 30 63 4A 52 30 31 30 32
Total HEX value added is 23A.
ETX
03
33 41
Therefore, BCC becomes 3A(33/41).
Cjr command (Check the servo status) : In case of InSPD/InPOS, Servo-ON

Request frame(ENQ)
Classi
Hea Statio Comman
ficatio
der n No. d term
n
ASCII ENQ 0
HEX
Dir

Tail
1 0 0 0 0 2 0 0 0 1 0 0 0 0 1 0 0 EOT
05 30 30 43 6A 72 30
3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3
1 0 0 0 0 2 0 0 0 1 0 0 0 0 1 0 0
04
Response frame(ACK)
Classif Hea Station Command Statu
Tail
ication der
No.
term
s
ASCII ACK 0
HEX
30 30 43 6A 72
06
ETX
41
03


ication
r
No.
term
6-42
ASCII
NAK
HEX
15
ETX
30 30 43 6A 72 30 31 30 32
41
03
Statu
Tail
s
Error code

6.4.2
Position Operation command
1) Position operation mode(Speed, Speed, Accel/Decel time setting)

[CPR/cPR/Cpr]
This command term is only applied to the servo drive in which position coordinate
operation function is installed. And can set the position coordinates to operate, operation
speed and accel/decel time.
Request frame(ENQ)
Position
Operation Acc.
mark
coordinat
ication der n No. d term
speed
time
e
C P R
ASCII ENQ 0 0
C p r
43 50 52
HEX 05 30 30
63 70 72
Dec.
time
Tail
BCC
EOT
04
# Position mark : It sets the mark of position coordinate.

[ 0 : +coordinate , 1 : -coordinate ]
# Position coordinate : It is set with the position unit that was set at menu.
[ Input unit : 999999 ]
# Operation speed : It set the position operation speed.
[ Input unit : 9999.9 r/min ]
# Acceleration time : It is set with the time that takes to accelerate till the rated speed.
# Deceleration time : It is set with the time that takes to stop at rated speed.
Response frame(ACK)
Tail BCC
ication er n No.
term
C P R
ASCII ACK 0 0
ETX
c p r
43 50 52
HEX
06 30 30
03
63 70 72
Response frame(NAK)
ication er n No.
term
C P R
ASCII NAK 0 0
c p r
43 50 52
HEX
15 30 30
63 70 72
Error code
tail
BCC
ETX
03
6-43

Example of Position operation mode(CPR/cPR/Cpr)
-
Direction=0 , Position coordinate=200 , Operation speed=1000.0 ,

Acceleration time=20.00 , Deceleration time=10.00
CPR command (Not including BCC)

Request frame(ENQ)
Class
Position
Operation
Acc.
Dec.
Hea Statio Comman
ificati
Tail
der n No. d term mark coordinate
speed
time
time
on
ASCII ENQ 0 0 C P R 0 0 0 0 2 0 0 1 0 0 0 0 2 0 0 0 1 0 0 0 EOT
3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3
HEX 05 30 30 43 50 52 30
04
0 0 0 2 0 0 1 0 0 0 0 2 0 0 0 1 0 0 0
Response frame(ACK)
Tail
ication der
No.
term
ASCII ACK 0
HEX
06
ETX
30 30 43 50 52
03

Error code
Tail
ication
r
No.
term
ASCII
NAK
HEX
15
30 30 43 50 52 30 31 30 32
ETX
03
cPR command (Including BCC)

Request frame(ENQ)
Position
coordinate

ication der n No. d term mark
ASCII ENQ 0 0 c P R
HEX
05 30 30 63 50 52 30
Operation
speed
Acc.
time
Dec.
time
0 0 0 2 0 0 1 0 0 0 0 2 0 0 0 1 0 0 0 EOT 3 4
3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3
3 3
04
0 0 0 2 0 0 1 0 0 0 0 2 0 0 0 1 0 0 0
3 4
Response frame(ACK)
Tail
ication der
No.
term
ASCII ACK 0
HEX
06
03
Total HEX value added is 16E.
6-44
Therefore, BCC is
34(33/34).
BCC
R ETX 6
30 30 63 50 52
Tail BCC
36 45
Therefore, BCC becomes 6E(36/45).

Error code
Tail
BCC
ication
r
No.
term
ASCII
NAK
HEX
15
30 30 63 50 52 30 31 30 32
ETX
03
34 30
Cpr command (Check servo status) : In case of InSPD/InPOS, Servo-ON.

Request frame(ENQ)
Position
coordinate

ication der n No. d term mark
ASCII ENQ 0 0 C P
HEX
05 30 30 43 70 72 30
Operation
speed
Acc.
time
Dec.
time
Tail
0 0 0 2 0 0 1 0 0 0 0 2 0 0 0 1 0 0 0 EOT
3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3 3
04
0 0 0 2 0 0 1 0 0 0 0 2 0 0 0 1 0 0 0
Response frame(ACK)
Tail
ication der
No.
term
us
ASCII ACK 0
HEX
30 30 43 70 72
06
ETX
41
03

Servo : ON.

ication
r
No.
term
ASCII
NAK
HEX
15
ETX
30 30 43 70 72 30 31 30 32
41
03
Statu
Tail
s
Error code
6-45

6.4.3 Program operation command
1) Auto operation(Auto Run)[CTA/cTA/Cta]

It is a Auto operation command same as Auto Run function.
CTA is the structure that includes a frame check(BCC) and cTA is the structure that
includes a frame check(BCC).
Other command hereunder are also applied as per the large/small letter(C or c) of first
letter with the same way.
Request frame(ENQ)
Classif Head Statio Comman
Tail
ication er n No. d term
C T A
EOT
c t a
43 54 41
30 30
04
63 74 61
ASCII ENQ 0
HEX
05
BCC
Response frame(ACK)
Tail
ication er n No.
term
C T A
ASCII ACK 0 0
ETX
c t a
43 54 41
HEX
06 30 30
03
63 74 61
Response frame(NAK)
ication er n No.
term
C T A
ASCII NAK 0 0
c t a
43 54 41
HEX
15 30 30
63 74 61
6-46
BCC
Error code
Tail
ETX
03
BCC

Example of Auto operation(Auto Run)(CTA/cTA/Cta)
CTA command (Not including BCC)
Request frame(ENQ)
Tail
ASCII ENQ 0
HEX
05
A EOT
30 30 43 54 41
04
Response frame(ACK)
Tail
ication der
No.
term
ASCII ACK 0
HEX
06
ETX
30 30 43 54 41
03

Error code
Tail
ication
r
No.
term
ASCII
NAK
HEX
15
30 30 43 54 41 30 31 30 32
ETX
03
cTA command (Including BCC)

Request frame(ENQ)
Tail
ASCII ENQ 0
HEX
05
BCC
A EOT 6
30 30 63 54 41
04
36 31
Response frame(ACK)
Tail
ication der
No.
term
BCC
ASCII ACK 0
HEX
06
A ETX 6
30 30 63 54 41
03
36 31
6-47

Error code
Tail
BCC
ication
r
No.
term
ASCII
NAK
HEX
15
30 30 63 54 41 30 31 30 32
ETX
03
33 33
Cta command (Check servo status) : In case of InSPD/InPOS, Servo-ON

Request frame(ENQ)
Tail
ASCII ENQ 0
HEX
a EOT
30 30 43 74 61
05
04
Response frame(ACK)
ication der
No.
term
Tail
BCC
ETX
30 30 43 74 61
41
03
ASCII ACK 0
HEX
06
Status :
Servo sends A(00001010) data.
Can see that the current status is InSPD/InPOS and Servo : ON .

Error code Status Tail
ication
r
No.
term
6-48
ASCII
NAK
HEX
15
ETX
30 30 43 74 61 30 31 30 32
41
03

6.4.4 Operation command [CST/CSM/CSH/COR/CGR]
1) Operation pause[CST/cST/Cst]
It resets the current step information and operation information after pausing it with a
pause command during servo operation.
Request frame(ENQ)
Classif Head Statio Comman Decelera
ication er n No. d term tion time Tail
C S T
c s t
43 53 54
30 30
63 73 74
ASCII ENQ 0
HEX
05
BCC
EOT
04
# Deceleration time : It is set with the time that takes to stop at rated speed.
Response frame(ACK)
Tail BCC
ication er n No.
term
s
C S T
c s t
43 53 54
30 30
63 73 74
ASCII ACK 0
HEX
06
ETX
03
Response frame(NAK)
ication er n No.
term
C S T
ASCII NAK 0 0
c s t
43 53 54
HEX
15 30 30
63 73 74
Error code
Stat
Tail
us
BCC
ETX
03
6-49

Example of Operation Pause(CST/cST/Cst)
- Deceleration time :10.00
CST command (Not including BCC)

Request frame(ENQ)
ASCII ENQ 0
HEX
05
Deceleration
time
Tail
EOT
ASCII ACK 0
06
30 30 43 53 54 31 30 30 30
Response frame(ACK)
ication der
No.
term
HEX
04
Tail
ETX
30 30 43 53 54
03
Response frame(NAK) : In case of it is not a designated command term(0102)

Error code
Tail
ication
r
No.
term
ASCII
NAK
HEX
15
30 30 43 53 54 30 31 30 32
ETX
03
cST command (Including BCC)

Request frame(ENQ)
ASCII ENQ 0
HEX
05
Deceleration
time
Tail
EOT 3
30 30 63 53 54 31 30 30 30
04
BCC
4
33 34
Response frame(ACK)
Tail
ication der
No.
term
BCC
ASCII ACK 0
HEX
06
T ETX 7
30 30 63 53 54
03
6-50
37 33

Response frame(NAK) : In case of it is not a designated command term(0102)
Error code
Tail
BCC
ication
r
No.
term
ASCII
NAK
HEX
15
30 30 63 53 54 30 31 30 32
ETX
03
34 35
Cst command (Check servo status) : In case of InSPD/InPOS, Servo-ON

Request frame(ENQ)
ASCII ENQ 0
HEX
Deceleration
time
Tail
EOT
30 30 43 73 74 31 30 30 30
05
04
Response frame(ACK)
Status Tail
ication der
No.
term
ASCII ACK 0
HEX
30 30 43 73 74
06
ETX
41
03


Error code Status Tail
ication
r
No.
term
ASCII
NAK
HEX
15
ETX
30 30 43 73 74 30 31 30 32
41
03
6-51

2) Emergency stop[CSM/cSM/Csm]
It is the command to stop it with max. deceleration ability at emergency during servo
operation. After stopped, it is to be emergency alarm and Servo-OFF.
Request frame(ENQ)
05
BCC
C S M
EOT
C s m
43 53 4D
30 30
04
63 73 6D
ASCII ENQ 0
HEX
Tail
Response frame(ACK)
Classif Head Statio Command Stat
ication er n No.
term
us
C S M
c s m
43 53 4D
30 30
63 73 6D
ASCII ACK 0
HEX
06
Tail
BCC
ETX
03
Response frame(NAK)
ication er n No.
term
C S M
ASCII NAK 0 0
c s m
43 53 4D
HEX
15 30 30
63 73 6D
6-52
Error code
Statu
Tail
s
ETX
03
BCC

Example of Emergency stop(CSM/cSM/Csm)
CSM command (Not including BCC)
Request frame(ENQ)
ASCII ENQ 0
HEX
05
Tail
S M EOT
30 30 43 53 4D 04
Response frame(ACK)
Tail
ication der
No.
term
ASCII ACK 0
HEX
06
M ETX
30 30 43 53 4D
03

Error code
Tail
ication
r
No.
term
ASCII
NAK
HEX
15
30 30 43 53 4D 30 31 30 32
ETX
03
cSM command (Including BCC)

Request frame(ENQ)
ASCII ENQ 0
HEX
05
Tail
S M EOT
30 30 63 53 4D 04
BCC
6
36 43
Response frame(ACK)
Classi
ficatio
Tail
ication der
No.
term
n
ASCII ACK 0
HEX
06
M ETX 6
30 30 63 53 4D 03
36 43
6-53

Error code
Tail
BCC
ication
r
No.
term
ASCII
NAK
HEX
15
30 30 63 53 4D 30 31 30 32
Total HEX value added is 23E.
ETX
03
33 45
Therefore, BCC becomes 3E(33/45).
Csm command (Check servo status) : In case of InSPD/InPOS, Servo-ON

Request frame(ENQ)
ASCII ENQ 0
HEX
Tail
m EOT
30 30 43 73 6D 04
05
Response frame(ACK)
Tail
ication der
No.
term
us
ASCII ACK 0
HEX
30 30 43 73 6D 41
06
ETX
03

Servo : ON.

ication
r
No.
term
6-54
ASCII
NAK
HEX
15
ETX
30 30 43 73 6D 30 31 30 32
41
03
m 0
Stat
Tail
us
Error code

3) Operation Stop[CSH/cSH/Csh]
It keep remembers the current step information and operation information after stopped
by stop command during servo operation and it operates continuously when the operation
start command is input.
Request frame(ENQ)
Classif Head Statio Comman Decelera
ication er n No. d term tion time Tail
C S H
c s h
43 53 48
30 30
63 73 68
ASCII ENQ 0
HEX
05
BCC
EOT
04
# Deceleration time : It is set with the time takes to stop at rated speed.
Response frame(ACK)
Tail BCC
ication er n No.
term
s
C S H
c s h
43 53 48
30 30
63 73 68
ASCII ACK 0
HEX
06
ETX
03
Response frame(NAK)
ication er n No.
term
C S H
ASCII NAK 0 0
c s h
43 53 48
HEX
15 30 30
63 73 68
Error code
Stat
Tail
us
BCC
ETX
03
6-55

Example of Operation Stop(CSH/cSH/Csh)
- Deceleration time :10.00
CSH command (Not including BCC)

Request frame(ENQ)
Deceleration
time
Tail
EOT

ASCII ENQ 0
HEX
05
30 30 43 53 48 31 30 30 30
04
Response frame(ACK)
Tail
ication der
No.
term
ASCII ACK 0
HEX
06
ETX
30 30 43 53 48
03

Error code
Tail
ication
r
No.
term
ASCII
NAK
HEX
15
30 30 43 53 48 30 31 30 32
ETX
03
cSH command (Including BCC)

Request frame(ENQ)
ASCII ENQ 0
HEX
05
Deceleration
time
Tail
BCC
EOT
30 30 63 53 48 31 30 30 30
04
32 38
Response frame(ACK)
Tail
ication der
No.
term
ASCII ACK 0
HEX
06
BCC
H ETX 6
30 30 63 53 48
03
6-56
36 37

Error code
Tail
BCC
ication
r
No.
term
ASCII
NAK
HEX
15
30 30 63 53 48 30 31 30 32
ETX
03
33 39
Csh command (Check servo status) : In case of InSPD/InPOS, Servo-ON

Request frame(ENQ)
ASCII ENQ 0
HEX
Deceleration
time
Tail
EOT
30 30 43 73 68 31 30 30 30
05
04
Response frame(ACK)
Tail
ication der
No.
term
us
h
ETX
30 30 43 73 68
41
03
ASCII ACK 0
HEX
06


ication
r
No.
term
ASCII
NAK
HEX
15
ETX
30 30 43 73 68 30 31 30 32
41
03
Statu
Tail
s
Error code
6-57

4) Origin Operation[COR/cOR/Cor]
It executes the origin operation of mechanical system.
Request frame(ENQ)
C
c
43
30 30
63
ASCII ENQ 0
HEX
05
O
o
4F
6F
Tail
BCC
R
EOT
r
52
04
72
Response frame(ACK)
Tail
ication er n No.
term
s
ASCII
C O R
c o r
43 4F 52
30 30
63 6F 72
ACK 0
06
BCC
ETX
03
Response frame(NAK)
ication er n No.
term
C O R
NAK 0 0
c o r
43 4F 52
ASCII 15 30 30
63 6F 72
6-58
Error code
Stat
Tail
us
ETX
03
BCC

Example of Origin operation(COR/cOR/Cor)
COR command (Not including BCC)
Request frame(ENQ)
ASCII ENQ 0
HEX
05
Tail
C O R EOT
30 30 43 4F 52
04
Response frame(ACK)
Tail
ication der
No.
term
ASCII ACK 0
HEX
06
ETX
30 30 43 4F 52
03

Error code
Tail
ication
r
No.
term
ASCII
NAK
HEX
15
30 30 43 4F 52 30 31 30 32
ETX
03
cOR command (Including BCC)

Request frame(ENQ)
ASCII ENQ 0
HEX
05
Tail
O R EOT
30 30 63 4F 52
04
BCC
6
36 44
Response frame(ACK)
Tail
ication der
No.
term
ASCII ACK 0
HEX
06
BCC
R ETX 6
30 30 63 4F 52
03
36 44
6-59

Error code
Tail
BCC
ication
r
No.
term
ASCII
NAK
HEX
15
30 30 63 4F 52 30 31 30 32
Total HEX value added is 23F.
ETX
03
33 46
Therefore, BCC becomes 3F(33/46).
Cor command (Check servo status) : In case of InSPD/InPOS, Servo-ON

Request frame(ENQ)
ASCII ENQ 0
HEX
Tail
EOT
30 30 43 6F 72
05
04
Response frame(ACK)
Tail
ication der
No.
term
us
ASCII ACK 0
HEX
30 30 43 6F 72
06
ETX
41
03


ication
r
No.
term
6-60
ASCII
NAK
HEX
15
ETX
30 30 43 6F 72 30 31 30 32
41
03
Stat
Tail
us
Error code

5) Gain Tuning Operation(Setting Speed, Distance & Tuning) [CGR/cGR/Cgr]
Request frame(ENQ)
Classi
Hea Statio Comman Operation Operation rang
ficatio
Tail BCC
der n No. d term
speed
distance e
n
C G R
ASCII ENQ 0 0
EOT
c g r
43 47 52
HEX 05 30 30
04
63 67 72
# Operation speed : Sets the Position operation speed. [Input unit : 9999 r/min ]
# Operation distance : Sets the Position operation distance [Input unit : 999]
# Tuning range : Sets the tuning range.
[Input unit : 0 ~ 5 ]
-> 0 is termination.
Response frame(ACK)
Classif Head Statio Command Sta
Tail
ication er n No.
term
tus
C G R
c g r
43 47 52
30 30
63 67 72
ASCII ACK 0
HEX
06
BCC
ETX
03
Response frame(NAK)
ication er n No.
term
C G R
ASCII NAK 0 0
c g r
43 47 52
HEX
15 30 30
63 67 72
Error code
Stat
Tail
us
BCC
ETX
03
6-61

Example of Gain Tuning Operation(CGR/cGR/Cgr)
- Operation speed=1000 , Distance=10 , Tuning range=2
CGR command (Not including BCC)

Request frame(ENQ)
Classi
Hea Statio Comman
ficatio
der n No. d term
n
ASCII ENQ 0 0 C G R
HEX
Operation
speed
1
Operation
distance
0 0
05 30 30 43 47 52 31 30 30 30 30 31 30
rang
Tail
e
2
EOT
32
04
Response frame(ACK)
Tail
ication der
No.
term
ASCII ACK 0
HEX
06
ETX
30 30 43 47 52
03

Error code
Tail
ication
r
No.
term
ASCII
NAK
HEX
15
30 30 43 47 52 30 31 30 32
ETX
03
cGR command (Including BCC)

Request frame(ENQ)
Classi
Hea Statio Comman
ficatio
der n No. d term
n
ASCII ENQ 0 0 C G R
HEX
Operation
speed
1
Operation rang
Tail
distance
e
0 0
05 30 30 63 47 52 31 30 30 30 30 31 30
EOT
32
04
BCC
E
45 39
Total HEX value added is 2E9.
Therefore, BCC becomes E9(45/39).
Response frame(ACK)
Tail
ication der
No.
term
ASCII ACK 0
HEX
06
R ETX 6
30 30 63 47 52
6-62
BCC
03
36 35

Error code
Tail
BCC
ication
r
No.
term
ASCII
NAK
HEX
15
30 30 63 47 52 30 31 30 32
ETX
03
33 37
Cgr command (Check servo status) : In case of InSPD/InPOS, Servo-ON

Request frame(ENQ)
Classi
Hea Statio Comman Operation Operation rang
ficatio
Tail
der n No. d term
speed
distance e
n
2 EOT
ASCII ENQ 0 0 C g r 1 0 0 0 0 1 0
3 3 3 3 3 3 3
HEX 05 30 30 43 67 72
32 04
1 0 0 0 0 1 0
Response frame(ACK)
Tail
ication der
No.
term
us
ASCII ACK 0
HEX
06
30 30 43 67 72
ETX
41
03
Status : Sends A(00001010) data.

Servo : ON.
Response frame (NAK) : In case that it is not a designated command term(0102)

ication
r
No.
term
ASCII
NAK
HEX
15
ETX
30 30 43 67 72 30 31 30 32
41
03
Statu
Tail
s
Error code
6-63
6-64
Chapter 7
Product Specification
7.1 Servo Motor

7.1.1 Features
7-2
7.1.2 External Dimensions 7-13
7.2 Servo Drive

7.2.1 Features. 7-21
7.2.2 External Dimensions 7-22
7.3 Option and peripherals
7-25

7.1 Servo Motor
7.1.1 Features
Servo Motor Model (APM-
Applicable drive (APDRated Output
SAR3A
SAR5A
SA01A
VSR5
SB01A
SB02A
SB04A
VS02
VS04
VS01
[kW]
0.03
0.05
0.1
0.1
0.2
0.4
[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
Rated Torque
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]
Maximum rpm
[r/min]
2
Inertia
3,000
5,000
-4
[kgm x10 ]
2
[gfcms ]
0.011
0.021
0.045
0.114
0.182
0.321
0.0112
0.0214
0.0459
0.116
0.186
0.327
30 times of motor inertia
Allowable load inertia ratio
Rated power rate
[kW/s]
Speed/Position
Detector
Standard
Specification
& Features
5.57
10.52
23.80
Incremental 2,048[P/R]

8.92
22.26
50.65
Incremental 3,000[P/R]
Option
Absolute, 11/13bit Manchester communication
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 ](5G)
Weight
[kg]
0.3
0.4
0.52
0.84
1.11
1.63
Speed-Torque characteristics
3.5
APM-SAR5A
APM-SAR3A
2.1
Peak operating range
Torque
0.3
0.1
Continuous operating range
1000 2000 3000 4000 5000

rpm(r/min)
APM-SB01A
0.8
0.6
(Nm)
7-2
0.6
1.6
Torque
1.2
0.2
1000 2000 3000 4000 5000

rpm(r/min)
1000 2000 3000 4000 5000

rpm(r/min)
1000 2000 3000 4000 5000

rpm(r/min)
APM-SB04A
4.0
Torque

1000 2000 3000 4000 5000
rpm(r/min)
3.2
2.4
(Nm)
0.8
0.4
(Nm) 0.4
APM-SB02A
(Nm)
0.4
0.2
Torque
2.0
1.0
Torque
0.8
(Nm) 0.2
(Nm) 1.4
0.07
1.0
0.4
2.8
Torque
APM-SA01A
0.5
1.6
0.8Continuous operating range
0
1000 2000 3000 4000 5000

rpm(r/min)
Chapter7 Product Specification

Product Features
SC04A
SC06A
SC08A
SC10A
VS05
VS10
VS04
SC03D
SC05D
VS04
[kW]
0.4
0.6
0.8
1.0
0.3
0.45
[Nm]
1.27
1.91
2.55
3.19
1.43
2.15
[kgfcm]
13.0
19.5
26.0
32.5
14.6
21.9
Rated Torque
Maximum Instantaneous
Torque
[Nm]
3.82
5.34
6.88
9.56
4.29
6.44
[kgfcm]
39.0
54.5
70.2
97.5
43.8
65.7
Rated rpm
[r/min]
3,000
2,000
Maximum rpm
[r/min]
5,000
3,000
Inertia
-4
[kgm x10 ]
2
[gfcms ]
0.674
1.092
1.509
1.927
0.674
1.092
0.687
1.114
1.539
1.966
0.687
1.114
Rated power rate
[kW/s]
Speed/Position
detector
Standard
Incremental 5[V] Line Drive 3,000[P/R]
Option
Structure
Rated time
Continuous
Ambient temp
0~+40[C]
Ambient humidity
Atmosphere
Avoid direct sunlight, no corrosive gas, inflammable gas, oil mist, or dust
E/V
Specification
& Features
Weight
24.07
33.45
43.02
52.65
30.36
42.19
[kg]
1.85
2.49
3.15
3.80
1.85
2.49
4.0
APM-SC06A
APM-SC04A
2.4
Torque
3.6
6.0
Torque
4.5
(Nm) 2.4
(Nm) 1.6
1000 2000 3000 4000 5000

rpm(r/min)
APM-SC10A
1.5 Continuous operating range

0
1000 2000 3000 4000 5000

rpm (r/min)
APM-SC03D
5.0
7.0
8.0
4.0
Torque
3.0
5.6
Torque
4.2
6.0
(Nm)
(Nm)
4.0
2.0
0

1000 2000 3000 4000 5000
rpm(r/min)
(Nm)
2.0
1.0
0

1000
2000
rpm(r/min)
1000 2000 3000 4000 5000

rpm(r/min)
APM-SC05D
10.0
Torque
(Nm) 3.0

0
7.5
4.8
3.2
Torque
APM-SC08A
6.0
3000
2.8
1.4
0

1000
2000
rpm(r/min)
3000
7-3

Product Features

Rated Torque
SC06D
SC07D
VS05
SE09A
SE15A
SE22A
SE30A
VS10
VS15
VS20
VS35
[kW]
0.55
0.65
0.9
1.5
2.2
3.0
[Nm]
2.63
3.09
2.86
4.77
7.0
9.55
[kgfcm]
26.8
31.6
29.2
48.7
71.4
97.4
Maximum
Instantaneous
Tprque
[Nm]
7.88
9.29
8.59
14.32
21.01
28.65
[kgfcm]
80.4
94.8
87.7
146.1
214.3
292.2
Rated rpm
[r/min]
Maximum rpm
[r/min]
2
-4
[kgm x10 ]
Inertia
[gfcms ]
2,000
3,000
3,000
5,000
1.509
1.927
6.659
11.999
17.339
22.679
1.539
1.966
6.792
12.238
17.685
23.132
Rated power rate
[kW/s]
Speed/Position
decector
Standard
Option
Structure
Rated time
Continuous
Ambient temp
0~+40[C]
Ambient humidity
Atmosphere
Avoid direct sunlight, no corrosive gas, inflammable gas, oil mist, or dust.
E/V
49[m/s ](5G)
Specification &
Features
Weight
43.68
47.90
12.31
18.98
28.25
40.17
[kg]
3.15
3.80
5.6
7.2
8.7
10.2
APM-SC06D
APM-SC07D
6.8
Torque
Torque
5.1
(Nm) 3.4
6.0
6.0
3000
2.0
0
1000
2000
rpm(r/min)
APM-SE15A
(Nm)
(Nm) 6.0
1000 2000 3000 4000 5000

rpm(r/min)
10.0
5.0
0
1000 2000 3000 4000 5000

rpm(r/min)
APM-SE22A
20.0
Torque
15.0
3000
APM-SE30A
25.0
15.0
(Nm) 4.0
0
1000
2000
rpm(r/min)
7-4
Torque
8.0
(Nm) 4.0
3.0
10.0
8.0
12.0
Torque 9.0
APM-SE09A
10.0
8.5
30.0
24.0
Torque
18.0
(Nm)
12.0
6.0
1000 2000 3000 4000 5000
rpm(r/min)
1000 2000 3000 4000 5000

rpm(r/min)

Product Features
SE06D
SE11D
SE16D
SE22D
SE03M
SE06M
VS05
VS10
VS15
VS20
VS04
VS05
[kW]
0.6
1.1
1.6
2.2
0.3
0.6
[Nm]
2.86
5.25
7.63
10.5
2.86
5.72
[kgfcm]
29.2
53.6
77.9
107.1
29.2
58.4
Rated Torque
Maximum
Instantaneous
Torque
[Nm]
8.59
15.75
22.92
31.51
8.59
17.18
[kgfcm]
87.7
160.7
233.8
321.4
87.7
175.3
Rated rpm
[r/min]
2,000
1,000
Maximum rpm
[r/min]
3,000
2,000
Inertia
-4
[kgm x10 ]
2
[gfcms ]
6.659
11.999
17.339
22.679
6.659
11.999
6.792
12.238
17.685
23.132
6.792
12.238
Allowable load
inertia ratio
Rated power rate
[kW/s]
Speed/Position
detector
Standard
Option
Structure
Rated time
Continuous
Ambient temp
0~+40[C]
Ambient humidity
Atmosphere
E/V
49[m/s ](5G)
Specification
& Features
Weight
12.31
22.97
33.63
48.61
12.31
27.34
[kg]
5.6
7.2
8.7
10.2
5.6
7.2
APM-SE06D
Torque
APM-SE16D
APM-SE11D
17.5
10.0
8.0
14.0
6.0
Torque
10.5
25.0
20.0
Torque
15.0
(Nm) 4.0
(Nm) 7.0
(Nm) 10.0
2.0
3.5
5.0
0 Continuous operating range

1000
2000
3000
rpm(r/min)

1000
2000
3000
rpm(r/min)
Continuous
1000 operating
2000 range
3000
rpm(r/min)
APM-SE03M
APM-SE22D
28.0
Torque
21.0
APM-SE06M
(r/min)
10.0
35.0
(Nm) 14.0
0
1000
2000
3000
rpm(r/min)
Torque
17.5
8.0
14.0
Torque
10.5

6.0
(Nm)
(Nm)
4.0
2.0
7.0
3.5
0
500 1000 1500
rpm(r/min)
2000
500 1000 1500

rpm(r/min)
2000
7-5

Product Features
SE09M
SE12M
SF30A
SF50A
SF22D
SF35D
VS10
VS15
VS35
VS50
VS20
VS35
[kW]
0.9
1.2
3.0
5.0
2.2
3.5
[Nm]
8.59
11.46
9.55
15.91
10.5
16.7
[kgfcm]
87.7
116.9
97.4
162.3
107.1
170.4
Rated Torque
Maximum
Instantaneous
Torque
[Nm]
25.77
34.22
28.64
47.74
31.5
50.12
[kgfcm]
262.9
349.1
292.2
487.0
321.3
511.3
Rated speed
[r/min]
1,000
3,000
2,000
Maximum speed
[r/min]
2,000
5,000
3,000
-4
[kgm x10 ]
Inertia
[gfcms ]
Allowable load
inertia ratio
17.339
22.679
30.74
52.13
30.74
52.13
17.685
23.132
31.35
53.16
31.35
53.16
[kW/s]
Speed/Position
detector
Standard
Option
Structure
Rated time
Continuous
Ambient temp
0~+40[C]
Ambient humidity
Atmosphere
E/V
49[m/s ](5G)
Weight
57.85
29.66
Rated power rate
Specification
& Features
42.56
48.56
35.88
53.56
[kg]
8.7
10.2
12.4
17.7
12.4
17.7
APM-SE09M
30.0
35.0
18.0
(Nm) 14.0
0
500 1000 1500
rpm(r/min)
1000 1500
500
rpm(r/min)
1000 2000 3000 4000 5000

rpm(r/min)

1000 2000 3000 4000 5000
rpm(r/min)
APM-SF35D
42.0
Torque
31.5
(Nm) 21.0
10.5
7.0
52.5
(Nm) 14.0
10.0
7-6
28.0
Torque
21.0
6.0
2000
35.0
20.0
(Nm) 12.0
APM-SF22D
APM-SF50A
(Nm)

0
2000
50.0
40.0
Torque
30.0
24.0
Torque
18.0
Torque
21.0
(Nm) 12.0
6.0
30.0
28.0
24.0
Torque
APM-SF30A
APM-SE12M

1000
2000
rpm(r/min)
3000

1000
2000
rpm(r/min)
3000
Product Features
Servo Motor model (APM-
SF55D
SF75D
SF12M
SF20M
SF30M
SF44M
VS50
VS75
VS15
VS20
VS35
VS50
[kW]
5.5
7.5
1.2
2.0
3.0
4.4
[Nm]
26.25
35.81
11.46
19.09
28.64
42.02
[kgfcm]
267.8
365.41
116.9
194.8
292.2
428.7
Rated Torque
Maximum
Instantaneous
Torque
[Nm]
78.76
89.53
34.38
57.29
85.94
126.05
[kgfcm]
803.4
913.53
350.7
584.4
876.6
1286.2
Rated rpm
[r/min]
Maximum rpm
[r/min]
2
2,000
-4
[kgm x10 ]
Inertia
[gfcms ]
1,000
3,000
2,500
2,000
83.60
121.35
30.74
52.13
83.60
121.35
85.24
123.74
31.35
53.16
85.24
123.74
Rated power rate
[kW/s]
Speed/Position
detector
Standard
Option
Structure
Rated time
Continuous
Ambient temp.
0~+40[C]
Atmosphere
Atmosphere
E/V
49[m/s ](5G)
Specification
& Features
Weight
82.56
105.75

42.70
69.96
98.16
145.55
[kg]
26.3
35.6
12.4
17.7
26.3
35.6
100
48.0
Torque
(Nm) 32.0
16.0
0
60
2000
1000
rpm(r/min)
3000
0
500
1000
rpm(r/min)
1500 2000

0
1000 1500 2000
500
rpm(r/min)
2500
APM-SF30M
Torque
100.0
Torque
75.0
(Nm)
36.0
18.0
APM-SF44M
125.0
72.0
54.0
(Nm)
24.0
12.0
1000
2000
rpm(r/min)
90.0
(Nm) 14.0
APM-SF20M
(Nm)
28.0
Torque
21.0
(Nm) 40
60.0
48.0
Torque
36.0
35.0
80
64.0
Torque
APM-SF12M
APM-SF75D
APM-SF55D
80.0

500 1000 1500 2000
rpm(r/min)
50.0
25.0
0

500 1000 1500 2000
rpm(r/min)
7-7

Product Features
SE05G
SE09G
SE13G
VS05
VS10
VS15
[kW]
0.45
0.85
1.3
1.7
[Nm]
2.86
5.41
8.27
[kgfcm]
29.22
55.19
SE17G
SF20G
SF30G
SF44G
SF60G
VS35
VS50
VS75
1.8
2.9
4.4
6.0
10.82
11.45
18.46
28.0
38.2
84.41
110.38
116.88
188.3
285.7
389.8
VS20
Rated Torque
Maximum
Instantaneous
Torque
Rated rpm
[Nm]
8.59
16.23
24.82
32.46
34.37
55.38
84.03
95.5
[kgfcm]
87.66
165.57
253.23
331.14
350.6
564.9
857.1
974.9
Maximum rpm
[r/min]
[r/min]
1,500
3,000
-4
[kgm x10 ]
Inertia
[gfcms ]
2,500
6.659
11.999
17.339
22.679
30.74
52.13
83.60
121.35
6.792
12.238
17.685
23.132
31.35
53.16
85.24
123.74
Rated power rate
[kW/s]
Speed/Position
detector
Standard
Option
Structure
Totally enclosedNon ventilated IP65(Excluding the shaft-through

section and connectors)
Rated time
Continuous
Ambient temp.
0~+40[C]
Ambient humidity
Atmosphere
E/V
Specification
& Features
Weight
12.28
24.39
39.54
51.61
42.70
65.36
93.84
120.32
[kg]
5.6
7.2
8.7
10.2
12.4
17.7
26.3
35.6
Speed-Torque characterisitics
10.0
APM-SE05G
20.0
6.0
(Nm) 4.0
2.0
0
Torque
12.0
2000
1000
rpm(r/min)
4.0
0
3000
7-8
15.0
Torque

1000
2000
rpm(r/min)

3000
12.0
0
Torque
21.0
1000
2000
rpm(r/min)
3000
100.0
Torque
(Nm)
1000
2000
rpm(r/min)
3000
17.0
0
1000
2000
rpm(r/min)
3000
APM-SF60G
60.0
(Nm) 40.0
34.0
80.0
Torque 68.0
51.0
7.0
APM-SF44G
(Nm) 14.0
85.0
(Nm) 24.0
1000
2000
rpm(r/min)
5.0
0
3000
48.0
36.0
28.0
(Nm) 10.0
60.0
(Nm)
14.0
7.0
Torque
APM-SF30G
APM-SF20G
35.0
28.0
Torque
21.0
35.0
20.0
(Nm) 8.0
APM-SE17G
25.0
16.0
8.0
Torque
APM-SE13G
APM-SE09G

1000
2000
rpm(r/min)
3000

0
1000
2000 3000
rpm(r/min)

Product Features
SG22D
SG35D
SG55D
SG75D
SG110D
SG20G
SG30G
VS20
VS35
VS50
VS75
VS110
VS20
VS35
[kW]
2.2
3.5
5.5
7.5
11.0
1.8
2.9
[Nm]
10.5
16.7
26.3
35.8
52.5
11.5
18.5
[kgfcm]
107.2
170.5
267.9
365.4
535.9
116.9
188.4
Rated Torque
Maximum
Instantaneous
Torque
[Nm]
31.5
50.1
78.8
89.5
131.3
34.4
55.4
[kgfcm]
321.5
511.5
803.8
913.4
1339.7
350.8
565.1
Rated rpm
[r/min]
Maximum rpm
[r/min]
2
2,000
3,000
-4
[kgm x10 ]
Inertia
[gfcms ]
2,500
80.35
132.41
172.91
291.36
51.42
80.35
52.47
81.99
135.11
176.44
297.31
52.47
81.99
25.53
42.41
Rated power rate
[kW/s]
21.45
Speed/Position
detector
Standard
Option
Specification
& Features
34.75
52.07
Ambient temp.
0~+40[C]
Ambient humidity
Atmosphere
E/V
[kg]
17.44
23.12
31.82
52.5
31.5
2000
1000
rpm(r/min)
APM-SG110D
112.0
Torque
84.0
3000
APM-SG20G
(Nm)
28.0
1000
2000
rpm(r/min)
2500
80.0
Torque
60.0
1000
2000
rpm(r/min)
3000
20.0
0
1000
2000
rpm(r/min)
2500
APM-SG30G
Torque 48.0
36.0
(Nm)
14.0
24.0
7.0
0
APM-SG75D
60.0
28.0
Torque
21.0
56.0
1000
2000
rpm(r/min)
23.12
(Nm) 40.0
16.0
35.0
140.0
(Nm)
48.0
(Nm) 32.0
10.5
3000
17.44
100.0
64.0
Torque
(Nm) 21.0
61.76
80.0
42.0
Torque
40.52
APM-SG55D
APM-SG35D
APM-SG22D
35.0
(Nm)14.0
94.65
Rated time
Weight
28.0
Torque
21.0
74.15
Totally enclosedNon ventilated IP65(Excluding the shaftthrough section and connectors)

Continuous
Structure
3,000
51.42
7.0
1,500
1000
2000
rpm(r/min)
3000
12.0
0
1000
2000
rpm(r/min)
3000
Product Features
7-9

Rated Torque
SG44G
SG60G
SG85G
SG12M
SG20M
SG30M
SG44M
SG60M
VS50
VS75
VS110
VS15
VS20
VS35
VS50
VS75
[kW]
[Nm]
[kgfcm]
4.4
28.0
285.8
6.0
38.2
389.7
8.5
54.1
552.1
1.2
11.5
116.9
2.0
19.1
194.9
3.0
28.6
292.3
4.4
42.0
428.7
6.0
57.3
584.6
Maximum
Instantaneous
Torque
[Nm]
84.0
95.5
135.3
34.4
57.3
85.9
126.0
149.8
[kgfcm]
857.4
974.3
1380.3
350.8
584.6
876.9
1286.1
1528.6
Rated rpm
[r/min]
Maximum rpm
[r/min]
2
1,500
3,000
-4
[kgm x10 ]
Inertia
[gfcms ]
1,000
2500
2,000
132.41
172.91
291.36
51.42
80.35
132.41
172.91
291.36
135.11
176.44
297.31
52.47
81.99
135.11
176.44
297.31
102.08
112.64
Rated power rate
[kW/s]
Speed/Position
detector
Standard
Option
Structure
Totally enclosedNon ventilated IP65(Excluding the shaft-through

section and connectors)
Rated time
Continuous
Ambient temp.
0~+40[C]
Ambient humidity
Atmosphere
E/V
Specification
& Features
Weight
59.25
84.36
78.23
25.53
45.39
61.97
[kg]
31.82
40.52
61.76
17.44
23.12
31.82
40.52
61.76
APM-SG44G
68.0
Torque
51.0
(Nm) 34.0
(Nm)
24.0
7-10
500 1000 1500 2000

rpm(r/min)
500 1000 1500 2000

rpm(r/min)
21.0
1000
2000
rpm(r/min)
2500
500 1000 1500 2000

rpm(r/min)
APM-SG60M
150.0
104.0
Torque
72.0 Peak operating range
120.0
Torque
90.0
(Nm)
48.0
24.0
0
APM-SG44M
(Nm)
18.0
Torque
(Nm) 14.0
130.0
(Nm) 36.0
60.0
2500
72.0
54.0
28.0
30.0
90.0
48.0
Torque
36.0
1000
2000
rpm(r/min)
90.0
APM-SG30M
APM-SG20M
60.0
12.0
(Nm)
3000
35.0
120.0
Torque
(Nm) 40.0
2000
1000
rpm(r/min)
APM-SG12M
150.0
80.0
Torque
60.0

0
APM-SG85G
APM-SG60G
100.0
85.0
500 1000 1500 2000

rpm(r/min)
60.0
0
500 1000 1500 2000

rpm(r/min)

Product Features
HB01A
HB02A
HB04A
HE09A
HB15A
VS01
VS02
VS04
VS10
VS15
[kW]
0.1
0.2
0.4
0.9
1.5
[Nm]
0.318
0.637
1.274
2.86
4.77
[kgfcm]
3.25
6.50
13.0
29.2
48.7
Rated Torque
Maximum
Instantaneous
Torque
[Nm]
0.955
1.912
3.822
8.59
14.32
[kgfcm]
9.74
19.5
39.0
87.7
146.1
Rated rpm
[r/min]
3,000
3,000
Maximum rpm
[r/min]
5,000
5,000
-4
[kgm x10 ]
Inertia
[gfcms ]
0.333
0.461
19.558
22.268
0.274
0.339
0.470
19.943
22.707
Rated power rate
[kW/s]
3.34
Speed/Position
detector
Specification
& Features
0.269
11.98
34.47
4.10
Incremental 5[V] Line Drive 1,024P/R
10.01
2,048[P/R]
Structure
Totally enclosedNon ventilated IP55(Excluding the shaftthrough section and connectors)
Rated time
Continuous
Ambient temp.
0~+40C
Ambient humidity
20~80%(Avoid freezing)
Atmosphere
Avoid direct sunlight, no corrosive gas, inflammable gas oil mist, or dust.
E/V
Elevation/Vibration 49m/s (5G)
Weight
[kg]
0.89
1.16
1.69
5.82
7.43
1.0
APM-HB02A
APM-HB01A
1.6
0.8
Torque

0.6
Torque

1.2
APM-HE09A
8.0
6.0
(Nm)
1000 2000 3000 4000 5000

rpm(r/min)
APM-HE15A
12.0
Torque
9.0
(Nm)
4.0
2.0
1000 2000 3000 4000 5000

rpm(r/min)
15.0
10 0
Torque
(Nm) 1.6
1000 2000 3000 4000 5000

rpm(r/min)
3.2
Torque
2.4
(Nm) 0.8
(Nm) 0.4
APM-HB04A
4.0
2.0

1000 2000 3000 4000 5000
rpm(r/min)
6.0
3.0
0

1000 2000 3000 4000 5000
rpm(r/min)
7-11

Electronic Brakes Specification
Applicable Motor
APM-SA
APM-SB
APM-SC
APM-SE
APM-SF
APM-SG
Maintenance
Maintenance
Maintenance
Maintenance
Maintenance
Maintenance
DC 24V
DC 24V
DC 24V
DC 90V
DC 90V
DC 90V
0.32
1.47
3.23
9.2
40.2
74
6.5
33
25
96
89
64
1150
245
327
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
Series
Use
Power Supply
[V]
Rated Friction
Torque [Nm]
Capacity [W]
Coil Resistance
[]
Rated Current
[A]
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.
7-12

Standard type : APM-SAR3A, APM-SAR5A, APM-SA01A
External dimensions
Model
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
Brake-attached type : APM-SAR3A, APM-SAR5A, APM-SA01A
External dimensions
Model
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
Note) Use DC 24[V] for brake input power supply
7-13

Standard type : APM-SB01A, APM-SB02A, APM-SB04A
External dimensions
Model
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
External dimensions
Model
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.
7-14

Standard type : APM-SC04A,SC03D, APM-SC06A,SC05D
APM-SC08A,SC06D, APM-SC10A,SC07D
External dimensions
Model
Weight(kg)
LM
LC
CB
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, APM-SC06A,SC05D

APM-SC08A,SC06D, APM-SC10A,SC07D
External dimensions
Model
Weight(kg)
LM
LC
CB
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
7-15

Standard type : APM-SE09A,SE06D,SE05G,SE03M, APM-SE15A,SE11D,SE09G,SE06M
APM-SE22A,SE16D,SE13G,SE09M, APM-SE30A,SE22D,SE17G,SE12M
External dimensions
Model
Key dimensions
Weight(kg)
LM
LC
SE09A,SE06D,SE05G,SE03M
202
144
94
19
5.6
226
168
118
19
7.2
250
192
142
22
3.5
8.7
274
216
166
22
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
External dimensions
Model
Weight(kg)
LM
LC
237
179
94
19
7.4
261
203
118
19
9.0
285
227
142
22
3.5
10.5
309
251
166
22
3.5
12.0
7-16
Key dimensions

Standard type : APM-SF30A,SF22D,SF20G,SF12M, APM-SF50A,SF35D,SF30G,SF20M
APM-SF55D,SF44G,SF30M, APM-SF75D,SF60G,SF44M
External dimensions
Model
Weight(kg)
LM
LC
SF30A,SF22D,SF20G,SF12M
261.8
182.8
132.8
12.4
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
External dimensions
Model
Weight(kg)
LM
LC
311.8
232.8
132.8
17.6
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
7-17
Standard type :APM-SG22D,SG20G,SG12M, APM-SG35D,SG30G,SG20M

APM-SG55D,SG44G,SG30M, APM-SG75D,SG60G,SG44M
Model
External dimensions
Weight(kg)
LM
LC
SG22D,SG20G,SG12M
245
180
130
17.44
SG35D,SG30G,SG20M
265
200
150
23.12
SG55D,SG44G,SG30M
301
236
186
31.82
SG75D,SG60G,SG44M
329
264
214
40.52
Brake-attached type : APM-SG22D,SG20G,SG12M, APM-SG35D,SG30G,SG20M

APM-SG55D,SG44G,SG30M, APM-SG75D,SG60G,SG44M
Model
External dimensions
LM
LC
SG22D,SG20G,SG12M
312
247
130
31.5
SG35D,SG30G,SG20M
332
267
150
37.2
SG55D,SG44G,SG30M
368
303
186
45.9
SG75D,SG60G,SG44M
396
331
214
54.6
7-18
Weight(kg)

Standard type : APM-SG110D, SG85G, SG60M
Brake-attached type : APM-SG110D, SG85G, SG60M
7-19

APM-HB01A(Hollow shaft type), APM-HB02A(Hollow shaft type), APM-HB04A(Hollow shaft type)
External dimensions
Model
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)
External dimensions
Model
7-20
Weight(Kg)
L
LM
LC
Hollow shaft type
HE09A
207
150
111.5
50
5.82
HE15A
231
174
135.5
50
7.43

7.2 Servo Drive
7.2.1 Features
Model
Item
VSR5 VS01 VS02 VS04 VS05 VS10 VS15 VS20 VS35 VS50 VS75
Input voltage
Voltage type
Appli
cable Rated current
Motor
Max.current
Detector system
Speed
control range
Frequency
response
Speed
Speed
Control
command
mode
Position
Control
Mode
Torque
Control
Mode
Built
In
Func
tion
Ambient
Ervir
onment
3 Phase AC 200~230[V]+10[%]-15[%],
VS110
50/60[Hz]
3 Phase sine wave PWM-driven AC Servo motor

1.2
1.65
1.65
3.2
4.3
6.4
11
16
21
32
38
50
3.6
4.95
4.95
9.6
12.9
19.2
33
48
63
96
102
125
Standard : Incremental line driver 2000~10000 [P/R]

Option : Absolute 11/13bit
Max. 1 : 10000
Max.
400[Hz]
DC 10[V] ~ +10[V](Reverse rotation in case of minus voltage), digital command 7

speeds
Accleleration/ Linear or S shape acceleration/deceleration (0~100,000[ms], Setting 1[ms] unit is
Deceleration time possible)
Speed
0.01[%]or less [Load variation 0~100%] , 0.1[%]or less[2510]
variation ratio
Input
500[kpps]
frequency
Input pulse
A+B phase, forward and reverse pulse, direction + pulse[Line driver, Open collector]
type
Electrical
Setting and selecting 4 digital electronic gear ratio. Precise adjustment is possible.
gear ratio
Torque
command
DC 10[V] ~ +10[V][-Reverse rotation in case of minus voltage]
input
Torque
2[%] or less
Linearity
Limit speed
DC 0[V] ~ +10[V], digital command 3 speeds.
command
Generated
Standard built in [Operating at servo alarm of servo OFF]
braking
Regenerate
Option
Built in
Provide standard resistor
Option
d braking
Display
Monitor
output
Protective
functions
Temp.
Humidity
Atmosphere
Built in 7-Segments[6Digits], CHARGE & ALARM Lamp

DC 5[V] ~ +5[V], 2 channels [speed, torque, position, etc]
Overcurrent, overload, overvoltage, voltage shortage, overspeed, wrong wiring,
encoder problem, position following problem
0 ~ 50[]
90[%] or less (avoid condensation)
Indoors, no corrosive gas, inflammable gas and fluid, oil mist, or dust
7-21

APD-VSR5N, APD-VS01N,
APD-VS02N
Weight : 1.2[kg]
APD-VS04N
Weight : 1.5[kg]
APD-VS05N, APD-VS10N
8
19
21
Weight:2.5[kg]
19
[Standard regenerative braking resistance : MRC 140W 40]
7-22

APD-VS15N, APD-VS20N, APD-VS35N, APD-VS50N
Weight : 7.2[kg]
(VS35N~50N:Fan Cooling)
APD-VS75N
Weight: 8[kg]
(Fan Cooling)
[Standard regenerative braking resistance : IRV 300W 23]

Model No.
(APD-VS
N)
15
20
35
50
75
Braking
23[]
11.5[]
resistance(Povided)
(300[W])
(300[W]2P)
15[]
10[]
(600[W]2P)
(600[W]3P)
Option Braking
resistance
(Refer to Chapter7.3)
7-23

APD-VS110N
Weight: 12[kg]
(Fan Cooling)
[Regenerative Braking Resistance : Purchase separately (Option)]
1) Model No. : APC-600R30 (600W30)
2) QTY : 4 pcs parallel connected (2400W7.5)
7-24

7.3 Option and Peripherals
Option Specification (Handy Loader)
Product
Classification
Model
Specification
Applicable Drive
name
Common use
Handy
Handy
Loader
Loader
APC-HD1A
for VS,VP
1.
Standard cable length : 2[m]

(Other length available upon request)
Note 1) of Model No. indicates the kind and length of cable, and the declaration is as below
Cable Length (m)
Declaration
20
30
40
50
7-25
Option Specification (Touch Loader)

Classification
Product name
Model
Specification
Applicable drive
Standard
type
APC-VSTS3M
Mono Touch
Loader
Touch Loader
All models of
Touch
APD-VS
Loader
SERIES
[Touch Loader-COM2]
[Servo drive CN3]
Standard
type
APC-
1.
Power Supply of Touch Loader
Color Touch
VSTS3TA
2.
Standard Cable Length : 5[m]
3.
Option Cable(Separate Purchasing Item)
Loader
: DC24[V]
1) Communication cable for RS232 COM1

- Item : APC-CN305T2 (Length 5m)
2) Touch Loader O/S, Designing Program,
& Download Cable
- Item : APC-CN3TSC (Length 5m)
7-26

Options(Cable)
Classification
Product name
Model(Note1)
Applicable
motor
Specification
Motor side connector
Drive side connector(CN2)
All Models of
APM-SA
For
Encoder
Signal
Cable
1.
2.
CAP (15 Position) : 172163-1(Made by AMP)
APM-SB
APC-EAS
APM-SC
1)
SOCKET
: 170361-1(Made by AMP)
APM-HB
3.
Series
4.
1)
CASE
: 10320-52A0-008(Made by 3M)
2)
CONNECTOR : 10120-3000VE(Made by 3M)
Cable : 7Px0.2SQ(AWG24)
For
Encoder
Signal
Cable
APC-EBS
All Models of
APM-SE
APM-SF
APM-SG
APM-HE
SERIES
1.
Motor side connector(MS:Military Standard)

1)
2.
PLUG
: MS3108B(MS3106B) 20-29S

1)
CASE
: 10320-52A0-008(Made by 3M)
2)
CONNECTOR : 10120-3000VE(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)
10
20
Robotic Cable
F03
F05
F10
F20
General Cable
N03
N05
N10
N20
7-27

Options(Cable)
Classification
Product name
Model(Note1)
Applicable
motor
All models of
Specification
Drive side connection
APM-SA
APM-SB
APM-HB
For
Standard
Power
1. Motor side connector
Series
APC-PCS
Power Cable
supply
APM-SC04A
1)
2)
SOCKET
: 170362-1(Made by AMP)
2. Drive side connector(U,V,W,FG)

1)
APM-SC06A
PIN
: UA-F1512(Made by Suh-il Electronic)
2) Compressor : UA-510A(Made by Suh-il)
APM-SC03D
3. Cable : 4Cx0.75SQ(AWG18)
APM-SC05D
(For APM-SAR3A,SAR5A,SA01A, 0.5SQ is used.)

APM-SC08A
For
Standard
Power
APM-SC10A
APC-PDS
Power Cable
1. Motor side connector
APM-SC06D
supply
APM-SC07D
1)
2)
SOCKET
: 170362-1(Made by AMP)

1) Connection terminal : 1.25x3(KET GP110012)
All models of
APM-SA
For
Brake type
Power
APM-SB
1.
APM-SC
1)
SERIES
2)
SOCKET
APC-PKB
Power Cable
supply
: 170362-1(Made by AMP)
2. For power supply of Brake

2) Cable : 2Cx0.75SQ(AWG18)
Note 1) of Model No. indicates the kinds and length of cable, and declaration is as below.
7-28
Cable Length(m)
10
20
Robotic Cable
F03
F05
F10
F20
General Cable
N03
N05
N10
N20

Options(Cable)
Classification
Product name
Model(Note1)
Applicable
motor
Specification
All Models of
For
APM-SE
Standard type
Power
APC-PES
APM-HE
Power Cable
supply
1.
SERIES

1)
2.
: MS3108B(MS3106B)20-4S
Drive side connector(U,V,W,FG)

1)
3.
PLUG
Connection terminal : 2.5x4(KET GP110721)
Cable : 4Cx2.0SQ(AWG14)
Note) Apply UA-F1512 Pin for the drive connection

side of APM-SE03M Series cable.
For
Standard type
Power
APC-PFS
Power Cable
supply
APM-SF30A
APM-SF22D
APM-SF35D
APM-SF20G
APM-SF30G
APM-SF12M
APM-SF20M
APM-SF30M
APM-SG22D
APM-SG35D
APM-SG20G
APM-SG30G
APM-SG12M
APM-SG20M
APM-SG30M
1.
2.
3.
1)
PLUG : MS3108B(MS3106B)22-22S
For
Standard type
Power
APC-PGS
Power Cable
supply
APM-SF50A
APM-SF55D
APM-SF75D
APM-SF44G
APM-SF60G
APM-SF44M
APM-SG55D
APM-SG75D
APM-SG44G
APM-SG60G
APM-SG44M
1.
2.
3.
1)
PLUG
: MS3108B(MS3106B)22-22S
Cable Length(m)
10
20
Robotic Cable
F03
F05
F10
F20
General Cable
N03
N05
N10
N20
7-29

Options(Cable)
Classification
Product name
Model(Note1)
Applicable
motor
Specification
For
APM-SG110D
Standard type
Power
APC-PRS
APM-SG85G
Power Cable
supply
APM-SG60M
1. Motor side connector(MS:Military Standard)
1) PLUG : MS3108B(MS3106B)32-17S
All Models of
Brake Power
Connection side
For
Brake type
APC-
APM-SE
Power Cable
PMB
SERIES
Brake type
APC-
Power cable
PNB
APM-SF30A
APM-SF22D
APM-SF35D
APM-SF20G
APM-SF30G
APM-SF12M
APM-SF20M
APM-SF30M
APM-SG22D
APM-SG35D
APM-SG20G
APM-SG30G
APM-SG12M
APM-SG20M
Power
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.
supply
For
Power
supply
APM-SG30M
Brake Power
connection
side

1) PLUG : MS3108B(MS3106B)24-10S
2) Cable : 4Cx3.5SQ(AWG12)+2Cx0.75SQ
3. Brake Power connection side(+,-)
7-30
Cable Length(m)
10
20
Robotic Cable
F03
F05
F10
F20
General Cable
N03
N05
N10
N20

Options(Cable)
Product
Classification
Model(Note1)
name
Applicable
motor
Specification
For
Brake type
Power
APC-PPB
Power cable
supply
APM-SF50A
APM-SF55D
APM-SF75D
APM-SF44G
APM-SF60G
APM-SF44M
APM-SG55D
APM-SG75D
APM-SG44G
APM-SG60G
APM-SG44M

1) PLUG
: MS3108B(MS3106B)24-10S

APM-SG60M
3. Brake Power connection side(+,-)
Motor
side
Brake Power
connection
side
connector
All Models of
For
Brake type
Power
APM-SG
APC-PSB
Power cable
Series
supply

1) PLUG
: MS3108B(MS3106B)14S-7S
2. Drive side connection(+,-)

Note 1) of Model No. indicates the kinds of length of cable, and declaration is as below.
Cable Length(m)
10
20
Robotic Cable
F03
F05
F10
F20
General Cable
N03
N05
N10
N20
7-31

Options(Cable)
Classification
Product name
Model(Note
Specification
Applicable drive
1)
[Drive connection side CN1]
[Upper Controller]
Indicates Pin No.
All Models of
APD-VS
For
APCCN1 Cable
Signal
APD-VP
CN1A
1. Drive side connection(CN1)
SERIES
1) CASE
: 10350-52F0-008(Made by 3M)
2) CONNECTOR
3) CABLE
: 10150-3000VE(Made by 3M)
: ROW-SB0.1Cx50C(AWG 28)
[Servo Drive CN3]
[PC-Parallel Port]
All Models of
APD-VS
For
Soft Download
APC-
Signal
Cable
CN3S
APD-VP
SERIES
Length
1. Standard Cable Length : 2[m]
[Servo Drive CN3]
[PC-Serial Port]
All Models of
RS232
For
APD-VS
APC-
Communication
Signal
APD-VP
CN3R
Cable
SERIES
Length
1. Standard Cable Length : 2[m]
Note) Model No. indicates the Cable length, and declaration is as below.
7-32
Cable Length(m)
Declaration
01
02
03
05

Options(Connector)
Classification
Product name
Model(Note1)
Specification
Applicable drive
All Models of
APCT/B
APD-VS
VSCN1T
T/B
for
APD-VP
APC-
CN1
SERIES
VPCN1T
1.
APC-VSCN1T : CN1 T/B of APC-VS
2.
APC-VPCN1T : CN1 T/B of APD-VP
3.
Cable length can be adjusted upon request.
4.
Standard Cable length : 0.5[m]
26
50
25
All Models of
APD-VS
CN1
APC-
Connector
CN1NNA
CN
APD-VP
SERIES
1) CASE
: 10350-52A0-008(Made by 3M)
2) CONNECTOR : 10150-3000VE(Made by 3M)
11
20
10
All Models of
APD-VS
CN2
APC-
Connector
CN2NNA
CN
APD-VP
SERIES
1) CASE
: 10320-52A0-008(Made by 3M)

8
All Models of
APD-VS
CN3
APC-
Connector
CN3NNA
CN
14
APD-VP
SERIES
1) CASE
: 10314-52A0-008(Made by 3M)
7-33

Options(Braking Resistance)
Classification
Product name
Model(Note1)
Specification
Applicable drive
APD-VS02
Resist
Braking
VS04
APC-140R40
ance
Resistance
APD-VP02
VP04
APD-VS05
Resist
Braking
VS10
APC-300R23
ance
Resistance
APD-VP05
VP10
APD-VS15(2P)
VS20(2P)
VS35(3P)
VS50(3P)
VS75(3P)
Resist
Braking
VS110(4P)
APC-600R30
ance
Resistance
APD-VP15(2P)
VP20(2P)
VP35(3P)
VP50(3P)
VP75(3P)
VP110(4P)
Note 1) Standard Braking Resistance for each drive capacity is provided as below table.
Model No.(APDVSN)
Braking
Resistance(Basical
ly provided)
7-34
R5
01
-
02
04
Embedded
50[]
(50[W])
05
10
40[]
(140[W])
15
20
23[]
(300[W])
35
50
75
11.5[]
(300[W]2P)
110
Option

Options(I/O JIG)
Classification
Product name
Specification
Model(Note1)
Standard
I/O
type
APC-VSIONA
JIG
I/O JIG
1.
Input Power supply : Single Phase AC220[V]
2.
I/O function of standard type(APD-VS) Servo Drive
3.
Cable length can be adjusted.
Indicator
APC DPU B
Depth when cable is connected
Remote
APC-DPUB
Display
Length
1.
Cable length can be adjusted upon request.
2.
Place an order with Servo Drive(Remote Type).
3. For both of APD-VS/VP
Note1) of Model No. indicates the cable length, and declaration is as below.
Cable Length(m)
Declaration
01
02
03
05
7-35
7-36
Chapter8
Maintenance and Inspection

8.1.1 Caution ....
8-2
8.1.2 Inspection Items.
8-3
8.1.3 Period of Replacing Parts.. 8-4

8.2.1 Servo Motor
.... 8-5
8.2.2 Servo Drive
. 8-6

In the chapter, maintenance and inspection of servo motor and drive are explained.
8.1.1 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
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 meters : Use oscilloscopes or digital voltmeter without letting them make
contact with the ground. Use meters with input current of 1[mA] or less.
8-2
Chapter8 Maintenance and Inspection
8.1.2 Inspection Items

CAUTION
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
Inspection
items
period
Vibration
And noise
External
appearance
Every month
Method
With the sense of touch and the

sense of hearing.
Contamination
should
not
be
big
(serious) compared to the

normal condition.
Clean it up with fabric or air
And damage
Once a year
Resistor
At least
Disconnect with drive, and measure
If resistance is less than
resistor with 500V mugger tester.
10[], inquire to service
Normal is more than 10[].<Note1>
department
Only for the motor which
Change
Once in 5,000
Detach
Oil seal
Hours at least
replace it.
inspection
It
According to
Insulation
Overall
Remark
from
machine,
and
contains oil seal

Customer is required not to
Once in 20,000
Hours or 5 years
Inquire to our service department
At least
disassemble
motor
and
the
clean
Servo
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 be checked and maintained on a daily basis as it uses
highly reliable parts, but inspect it at least once a year.
Inspection
Period
item
Main body and
Once a year at
circuit board
least
Terminal
screws for
looseness
Parts for defects
on main body
and circuit board
Check for
Dust, Oil
Solution
It should not be big(serious)
compared to the normal condition
Once a year at
Screws for connection terminal and
least
connector are securely tightened
Once a year at
Discoloration caused by heat,
Inquire
least
damage or disconnection
department
Tighten it
to
our
service
8-3
8.1.3 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
Smoothing condenser
7~8 years
-
Fuses
10 years
Condenser on PCB
How to replace
period
Relays
Aluminum electrolytic
8-4
Standard replacement
5 years
Cooling fan
4~5 years
Motor oil seal
Motor oil seal
5,000 hours
Replace with new parts (decide after

check)
Decide after check
Replace with new ones
Replace
with
new
PCB(Decide
check)
Decide after check
after

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.
8.2.1 Servo Motor

[Actions to taken in case of errors]
Symptom
Cause
Inspection
CCWLIM, CWLIM input is Refer to chapter

OFF
Configuration
Motor
Does not
start
Motor
Unstable
Motor
Motor defective
Check motor lead terminal with a

If voltage is correct, replace
tester(Resistance between each
motor
phase ; less than 10[]
Screws loosened
Check the screws
Retighten loose screws
or Check the motor and encoder

Rewire, Replace cable
wiring
Replace
service)
encoder(Use
A/S
Encoder defective
Check the output wave form
Defective connection
Check connection of the motor

Repair defective part
lead terminal
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
Ambient temperature high
Check
the
motor
ambient
temperature(should be lover than Change heat-shield structure
40)
Motor surface stained
Check motor surface for attached

Foreign materials
Check the load rate of the drive.
Overloaded
Check
cycle.
Clean
motor
the
surface
of
the
Reduce load
acceleration/deceleration Increase
Acceleration/deceleration time
Magnetic power deteriorated
Check
voltage
Defective coupling
Check the tightness of the coupling

Readjust coupling
screws and the concentricity of joints.
Defective bearing
Check the bearing for vibration or

Contact our service center
abnormal noise.
Parameter misset
Check control parameters
Abnormal
noise
CCWLIM,
Check menu of motor, encoder Reset menu (refer to chapter

and encoder type control mode
4)
OverHeated
1.2.System Turn ON the

CWLIM input
Menu mis-set
External miswriting
cable disconnected
Running
Corrective action
counter
electromotive
Replace motor
Refer to Chapter 4
8-5
8.2.2 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 svoff
Servo OFF Normal condition
Nor-on
Normal svon
Servo ON Normal condition
L1.01
L1.01
AL-01
Emergency Stop
AL-02
Power Fail
AL-03
Line Fail
AL-04
AL-05
RS232 Comm. error, Control circuit

operating error
status
Check set values and CN2 wiring, U,V,W

wiring.
Motor Output
Encoder Pulse
AL-06
Following Error

AL-07
Not Used
AL-08
Over Current
AL-09
Over Load
AL-10
Over Voltage
Over voltage

damage of braking resistance, excessive
regenerative operation
AL-11
Over Speed
Over speed
AL-12
Not Used
Not used
AL-13
Not Used
Not used
AL-14
ABS Data Error
AL-15
ABS Battery Error
Check the initial reset [PC-811] and if

battery is discharged
AL-16
ABS Multi Error
Absolute encoder multi-rotation data

transmission error
AL-17
ABS Read Fail
Check encoder
AL-18
AL-19
Not Used
Not Used
Not used
Not used
AL-20
Flash Erase Fail
Replace drive
AL-21
Flash Write Fail
Replace drive
AL-22
Data Init Error
Replace drive
AL-23
EPWR
Hardware error
[PE-203] set error
Err1
Error1

Err2
Error2
Err3
Error3

Change the menu [PC-810] with unlock

condition
8-6
Not Used
Over current
Over load
Replace the Drive
Check the output terminal wiring motor

encoder set value, gain set, Replace drive if
O.C. continues.
Check Load condition, Brake operating
condition, wiring, motorencoder set value.
[Overload charateristic curves of Servo Drive]
Operating time(sec)
10000
1000
100
Rated
current
(%)
Overload operating time

Set
Min.
Max.
vlalue
100
120
150
600
1500
1200
200
60
150
90
250
20
35
25
300
15
10
100
150
200
250
300
Motor rated current(%)
8-7
8-8
Appendix1 Summary Program Menu

Menu consists of 9 menu group, and function of each menu is as below.
Comm. Code
Name of Menu Group
Function
Pd-001
~ Pd-020
Status Menu
Indicates operation status information of

Each Servo.
PA-101
~ PA-120
Alarm Menu
Stores & Indicates records of Alarm that is

Happened before.
PE-201
~ PE-220
System Menu
Stores information of system construction
PE-301
~ PE-320
Control Menu
PE-401
~ PE-420
Analog Menu
Stores set variables that is related to analog

I/O.
PE-501
~ PE-520
InOut Menu
Stores set variables that is 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
Stores set variables that is related to position

pulse operation
PC-801
~ PC-820
Command Menu
Stores set variables that is related to control.
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
Appendix 1-1
1) Operation State Indicating Menu (Refer to chapter 4.3)

MENU
Comm.
Code
CODE
NAME
Pd-001
Current State
Pd-002
Current Speed
Pd-003
Pd-004
Current Pulse
Pd-005
Feedback Pulse
Pd-006
Pulse Error
Pd-007
E-Gear N0
Pd-008
Pd-009
Torque Limit
Pd-010
Current Load
10
Pd-011
Average Load
11
Pd-012
Maximum Load
12
Pd-013
DC Link Voltage
13
Pd-014
14
Pd-015
Input EXT SET
15
Pd-016
I/O State
16
Pd-017
Input Logic Set
17
Pd-018
Input Logic Save
18
Pd-019
Alarm bit
19
Pd-020
Command
Speed
Command
Torque
UNIT
INI
MIN
MAX
Indicates current operation status.
(Normal : nor , Alarm : Alarm No.)
r/min
0.0
-9999.9 9999.9
r/min
0.0
-9999.9 9999.9
-
-99999
99999
-99999
99999
99999
1000
99999
[%]
-999.99 999.99
[%]
300
300
[%]
-99999
99999
[%]
99999
[%]
-99999
99999
Description
Indicates current speed.
Indicates current command speed.

Indicates cumulative value of position command
Pulse that are input from external device.
Indicates feedback pulse when controlling position.
App
Mode
PST
PST
ST
PST
Indicates remained position pulse that is to be operated.
Indicates numerator 0 of electronic gear ratio.
Indicates current command torque at torque limit

operation.
Indicates torque limit setting value.
PST
Indicates current load ratio compared to rated.
PST
Indicates the average load ratio for 5 seconds Compared to rated.
PST
Indicates instantaneous max. load ratio compared to

rated.
PST
Volt
0.0
0.0
999.9
CN1connection
state I/O SET
Loader, PC) (refer to PC-808)
Indicates I/O status that is perceived last

(It is perceived and indicated when A contact:ON, B contact:OFF)
PST
Menu that is related to communication.
PST
Indicates the Software Version.
PST
Software
Version
Indicates DC Link voltage of current main power.
PST
Indicates contactsCN1 I/O status.
PST
Indicates input status that is handled forcibly by external(Handy
PST
Appendix 1-2
2) Alarm state indicating Menu

MENU
Comm.
Code
CODE
NAME
Alarm history 01 ~ 20
PA-101
Alarm History01
~
~
PA-120
Alarm History20
20
~
39
UNIT
INI
MIN
MAX
App
Mode
Description
Indicates Alarm state that is happened before
PST
# Alarm code and details

CODE
Menu title
Cause
nor-oF
Normal sv-off
Servo off Normal condition
nor-on
Normal sv-on
Servo on Normal condition
L1.01
L1.01
AL-01
Emergency Stop
AL-02
Power Fail
AL-03
Line Fail
AL-04
Motor Output
AL-05
Checking Items
-
RS232Comm.error,
Control
circuit
operation error
status
Check set values and CN2 wiring, U,V,W wiring.
Encoder Pulse
AL-06
Following Error

AL-07
Not Used
Not Used
AL-08
Over Current
AL-09
Over Load
AL-10
Over Voltage
Over voltage
AL-11
Over Speed
Over speed
AL-12
Not Used
Not used
AL-13
Not Used
Not used
AL-14
ABS Data Error
AL-15
ABS Battery Error
Check the initial reset [PC-811] and if battery is

discharged
AL-16
ABS Multi Error
Absolute encoder
transmission error
AL-17
ABS Read Fail
Check encoder
AL-18
Not Used
Not used
AL-19
Not Used
Not used
AL-20
Flash Erase Fail
Replace drive
AL-21
Flash Write Fail
Replace drive
AL-22
Data Init Error
Replace drive
AL-23
EPWR
Hardware error
[PE-203] set error
Err1
Error1

Err2
Error2
Err3
Error3

Change the menu [PC-810] with unlock condition
Replace the drive
Check the output terminal wiring motorencoder set

value, gain set, Replace drive if O.C. continues.
Check Load condition, Brake operating condition,
wiring, motorencoder set value.
damage of braking resistance, excessive regenerative
operation
Over current
Over load
multi-rotation
data
Appendix 1-3
3) System variables setting menu (Refer to chapter 4.4.1)

MENU
Comm
Code
CODE
40
*PE-201
41
*PE-202
42
*PE-203
Encoder Type
43
*PE-204
Encoder Pulse
44
PE-205
CCW TRQ Limit
45
PE-206
CW TRQ Limit
46
*PE-207
System ID
47
*PE-208
System Group ID
48
PE-209
Start Menu No.
49
*PE-210
Inertia
50
*PE-211
Trq Con
51
*PE-212
Phase Ls
52
*PE-213
Phase Rs
53
*PE-214
Rated Is
54
*PE-215
Max Speed
55
*PE-216
Rated Speed
56
*PE-217
Pole Number
57
PE-218
Not Used
PE-219
Not Used
PE-220
Not Used
NAME
Motor ID
RS232 Comm. speed
58
59
Baud Rate
UNIT
INI
MIN
MAX
0
[bps]
99
0
0
P/r
9
3000
1
[%]
99999
300
0
[%]
300
300
0
-
300
0
0
-
99
0
0
-
99
2
1
gfcms2
20
ID
0.01
kgfcm/A
999.99
ID
0.01
mH
999.99
ID
0.001
ohm
99.999
ID
0.001
A
99.999
ID
0.01
r/min
999.99
ID
0.0
r/min
9999.9
ID
0.0
-
9999.9
8
2
-
98
-
Description
App
Mode
Sets Motor ID (Refer 4.4.1), When setting motor ID: Be

set automatically from [PE-210] to [PE-217]
PST
Sets RS232 communication speed of CN3

0=9600[bps], 1=19200[bps]
2=38400[bps],3=57600[bps]
PST
Sets applied encoder type (0 : A phase lead, 1 : B

phase lead, 6 : Absolute encoder)
PST
Sets the number of encoder pulse.
PST
Sets torque limit value at CCW.
PST
Sets torque limit value at CW.
PST
Sets drive ID on communication
PST
Sets drive group ID on communication
PST
Sets the operation status display menu with

[Pd-001]~[Pd-020] at power on.
PST
Sets inertia of motor. (Modification is possible when

[PE-201] is 0)
PST
Sets torque constant of motor

(Modification is possible then [PE-201] is 0)
PST
Sets phase inductance of motor

PST
Sets phase resistance of motor

PST
Sets rated current of motor

(Modification is possible when [PE-201] is 0 .)
PST
Sets max.speed of motor

PST
Sets rated speed of motor

PST
Sets pole number of motor

PST
Communcation code is to be used for selecting the menu when using TOUCH or PC Communication.
Appendix 1-4
Motor type and ID

Model
ID
Watt
SAR3A
SAR5A
SA01A
Remark
Model
ID
Watt
30
SE09A
61
900
50
SE15A
62
1500
100
SE22A
63
2200
SE30A
64
3000
SB01A
11
100
SE06D
65
600
SB02A
12
200
SE11D
66
1100
SB04A
13
400
SE16D
67
1600
SB03A
14
250
Customized type
SE22D
68
2200
HB02A
15
200
Hollow Shaft
SE03M
69
300
HB04A
16
400
Hollow Shaft
SE06M
70
600
SE09M
71
900
Remark
SC04A
21
400
SE12M
72
1200
SC06A
22
600
SE05G
73
450
SC08A
23
800
SE09G
74
850
SC10A
24
1000
SE13G
75
1300
SC03D
25
300
SE17G
76
1700
SC05D
26
450
HE09A
77
900
Hollow Shaft
SC06D
27
550
HE15A
78
1500
Hollow Shaft
SC07D
28
650
SE11M
79
SC01M
29
SE07D
80
650
SC02M
30
SF30A
81
3000
SC03M
31
SF50A
82
5000
SC04M
32
SF22D
85
2200
HC06H
33
600
Only S/T
SF35D
86
3500
SC05A
34
450
Only S/S
SF55D
87
5500
SC05H
35
500
Only S/S
SF75D
88
7500
SC08A
36
750
Only S/S
SF12M
89
1200
SF20M
90
2000
HB01A
37
100
Hollow Shaft
SF30M
91
3000
HC10A
38
1000
Hollow Shaft
SF44M
92
4400
HE30A
39
3000
Hollow Shaft
SF20G
93
1800
HB03H
40
250
Only
Semiconductor
SF30G
94
2900
SF44G
95
4400
HC05H
99
500
Customized type
Customized type
Appendix 1-5
# Motor type and ID

Model
ID
Watt
Remark
SE35D
101
3500
Only DS
SE30D
102
SF44ML
103
4400
SF75G
104
SE35A
105
SF55G
106
SF60M
107
SG22D
111
2200
SG35D
112
3500
SG55D
113
5500
SG75D
114
7500
SG110D 115
11000
SG12M
121
1200
SG20M
122
2000
SG30M
123
3000
SG44M
124
4400
SG60M
125
6000
SG20G
131
1800
SG30G
132
2900
SG44G
133
4400
SG60G
134
6000
SG85G
135
8500
SG110G
136
11000
SG150G
137
15000
Appendix 1-6
For LG Only
Model
ID
Watt
Remark
4) Control Variables Setting Menu (Refer to chapter 4.4.2)

Menus marked with * cannot be corrected during Servo-ON
MENU
Comm
Code
CODE
60
PE-301
Inertia Ratio
61
PE-302
Position P Gain1
62
PE-303
Position P Gain2
63
PE-304
P Feedforward
64
PE-305
P FF FLT TC
65
PE-306
P CMD FLT TC
66
PE-307
Speed P Gain1
67
PE-308
Speed P Gain2
68
PE-309
Speed I TC1
69
PE-310
Speed I TC2
70
PE-311
Speed IN FT
71
*PE-312
Speed FB FT
72
PE-313
Zero Speed Gain
73
PE-314
TORQ. CMD FLT
74
PE-315
DE-Resonance
75
PE-316
Notch Frequency
76
PE-317
Notch Bandwidth
77
PE-318
Overload offset
78
PE-319
Speed P Control
79
PE-320
Zero Speed Lock
NAME
UNIT
INI
MIN
MAX
2.0
1.0
500.0
1/s
50
500
1/s
70
500
[%]
100
msec
10000
msec
10000
rad/s
0
5000
Sets inertia ratio of load (Refer to chapter 4.4.2)
PST
Sets position feed-forward control ratio
Sets the time-constant of position feed-forward control filter
Sets the time-constant of position command filter
PS
(APD-VSR5~04:500, VS05~10:300, VS15~110:200)

Set speed proportion gain 2..
5000
msec
1
Mode
Sets speed proportional gain 1
rad/s
0
Appl.
Description
PS
(APD-VSR5~04:800,VS05~10:400,VS15~110:300)
10000
msec
PS
(APD-VSR5~04:20, VS05~10:30, VS15~110:50)

10000
msec
0.0
0.0
100.0
msec
0.5
0.0
100.0
r/min
0.0
0.0
100.0
msec
0.0
0.0
1000.0
Sets speed command filter
Sets speed feed-back filter
PS
Sets the speed range of zero speed gain
PS
Sets torque command filter
PST
Sets avoid resonance driving operation
( 0 : no operation, 1 : operation)
Hz
300
1000
100
1000
PS
(APD-VSR5~04:13, VS05~10:25, VS15~110:30)
PST
Sets avoid resonance driving frequency
PST
Sets avoid resonance band width
PST
1.1
Set the time of Overload characteristic.
1.0
3.0
(Do not change it as it was already set.)
PST
r/min
100.0
Sets the changed speed at PI-P control (PCON input)(P
0.0
9999.9
control is operated at less than set speed)
Automatically switch from speed control to position control at

STOP input or command 0 voltage at [PE-403](SClamp
Mode)=1,(0:not used, 1:operation)
PS
PS
Appendix 1-7
5) Analog I/O variables setting menu (Refer to chapter 4.4.3)

MENU
Comm
Code
CODE
UNIT
NAME
80
*PE-401
Analog Speed
81
PE-402
Speed Offset
82
PE-403
SClamp Mode
83
PE-404
SClamp Volt
84
*PE-405
Speed Override
85
*PE-406
Analog Torque
86
PE-407
Torque Offset
87
PE-408
TClamp Mode
88
PE-409
TClamp Volt
89
PE-410
Monitor Type1
90
PE-411
Monitor Mode1
91
PE-412
Monitor Scale1
92
PE-413
Monitor Offset1
93
PE-414
Monitor Type2
94
PE-415
Monitor Mode2
95
PE-416
Monitor Scale2
96
PE-417
Monitor Offset2
97
PE-418
Torque Com Dir
98
PE-419
Not Used
99
PE-420
Not Used
INI
MIN
MAX
r/min
2000.0
0.0
mV
max
0.0
-1000.0
-
1000.0
0
0
mV
1
0.0
0.0
-
2000.0
0
0
[%]
1
100
0
mV
300
0.0
-1000.0
-
1000.0
0
mV
0.0
-1000.0
-
1000.0
1
0
-
10
0
1.0
0.1
mV
9999.0
0.0
-100.0
-
100.0
3
0
-
10
0
1.0
0.1
mV
9999.0
0.0
-100.0
100.0
Description
App
Mode
Sets analog speed command at 10[V]

-Max values is max speed of motor(Refer 4.4.3)
ST
Sets the offset of speed command
Sets zero speed clamp operation
Sets zero speed clamp operating voltage
Sets speed override operation

(0 : Not used, 1 : Override operation)
Sets analog torque command at 10[V]
PST
Sets the offset of torque command
Sets zero torque clamp operation
Sets zero torque clamp operation voltage
PST

(0:mark direction sorting,1:mark absolute value without
direction sort)
PST
Sets scale of analog output1 for monitoring
PST
PST
PST

(0:mark direction sorting, 1:mark absolute value without
direction sort)
PST
Sets scale of analog output2 for momitoring
PST
PST
Set motor operating direction for torque command voltage at

torque control operation. (0 : Forward direction at + voltage,
1 : Forward direction at voltage)
Appendix 1-8
6) I/O Contacts Variables Setting Menu (Refer to chapter 4.4.4)

MENU
Comm
Code
CODE
NAME
100
PE-501
Inposition
101
PE-502
Follow Error
102
PE-503
0 Speed RNG
103
PE-504
Inspeed
104
PE-505
Brake SPD
105
PE-506
Brake Time
106
PE-507
PowerFail Mode
107
PE-508
DB Control
108
PE-509
Pulse Clear Mode
109
PE-510
Pulse Out Rate
110
PE-511
Not Used
111
PE-512
ESTOP Reset
112
PE-513
Not Used
113
PE-514
Dir Select Mode
114
PE-515
Output Logic
115
PE-516
PWM off Delay
116
PE-517
117
PE-518
Not Used
118
PE-519
ZSPD Gain Rate
119
*PE-520
Gain Conv Mode 0
UNIT
INI
MIN
MAX
Pulse
100
99999
Pulse
90000
Sets the output range of position operation follow error
999999
signal
r/min
10.0
0.0
9999.9
r/min
100.0
0.0
9999.9
r/min
50.0
0.0
9999.9
msec
10
10000
Per each
model
Sets the output range of zero speed signal
Sets brake output delay time
PST
Sets operation reset mode of main power error

[ 0 : less than VS041(reset by hand),
1 : more than VS05(automatic reset)]
PST
Sets divide ratio of encoder signal output
16
-Divide ratio : 1,2,3..16
Sets generating brake control operation

0:SVOFFat stop,less than [PE-503](zerospeed):Free-run
1:SVOFF at stop, generating brake function is always operated
Sets position pulse clear operating mode
0 : Edge operating
1 : Level operation(response instantly)
2 : Level operation(filter operating)
Automatically Cancel after ESTOP operation
(0:reset by hand, 1 : automatic rest)
0: DIRSwitching direction, STOPstop
1: DIRCW operation, STOPCCW operation
30
Sets Logic of output contacts.
63
(30=ZSPD output, 26=TGON signal output)
msec
10
1000
[%]
50.0
1.0
100.0
S
PST
Sets brake output speed
PST
Sets the output range of speed reaching signal
Mode
Sets the output range of position operation finishing signal
App
Description
PST
PST
PST
S
PST
Sets the delayed time(PWM-off) when command SV-off
Set zero speed gain ratio that is applied to the speed

range that are below the value which were set in [PE313].
PST
Set switching mode of Gain1, Gain2. 0 : Use Gain1 only
Appendix 1-9
1: When Input contact Gain2 is off, Use Gain1.

When Gain 2 is ON, Use Gain2
0
2: If speed command[PE-503] is higher than zero speed,

Gain1 is to be switched to Gain 2.
3: If pulse error[PE-501] is bigger than inpos value, Gain 1 is
to be switched to Gain 2.
Appendix 1-10
7) Speed operation variables setting menu(Refer to chapter 4.4.5)

MENU
Comm
Code
CODE
UNIT
NAME
120
*PE-601
Operation Mode
121
PE-602
Speed Command1
122
PE-603
Speed Command2
123
PE-604
Speed Command3
124
PE-605
Speed Command4
125
PE-606
Speed Command5
126
PE-607
Speed Command6
127
PE-608
Speed Command7
128
PE-609
Accel Time
129
PE-610
Decel Time
130
*PE-611
S Type Control
131
PE-612
Test Run Speed0
132
PE-613
Test Run Speed1
133
PE-614
Test Run Speed2
134
PE-615
Test Run Speed3
135
PE-616
Test Run Time0
INI
MIN
MAX
r/min
10.0
-Max
r/min
+Max
200.0
-Max
r/min
+Max
500.0
-Max
r/min
+Max
1000.0
-Max
r/min
+Max
1500.0
-Max
r/min
+Max
2000.0
-Max
r/min
+Max
3000.0
-Max
msec
+Max
0
0
msec
100000
0
0
-
100000
0
0
r/min
1
100.0
-Max
r/min
+Max
-500.0
-Max
r/min
+Max
1000.0
-Max
r/min
+Max
-2000.0
-Max
sec
+Max
5
50000
Appl.
Description
Mode
Sets operation mode (Refer to chapter 4.4.5)

0 : torque control mode
1 : speed control mode
2 : position control mode
3 : speed/position control mode
(MODE contact=OFF: position mode)
4 : speed/torque control mode
5 : position/torque control mode
(Surely set 0 for [PE-320] when using the operation mode
3 & 4)
PST
ST
Be selected as per the status of speed
command input contact
[SPD1][SPD2][SPD3]
[X]: OFF, [O]: ON
[X][X][X] : Analog speed command
[O][X][X] : Internal speed command 1
[X][O][X] : Internal speed command 2
[O][O][X] : Internal speed command 3
[X][X][O] : Internal speed command 4
[O][X][O] : Internal speed command 5
[X][O][O] : Internal speed command 6
[O][O][O] : Internal speed command 7
ST
ST
S
S
S
S
Sets the accelerating time
Sets the decelerating time
Sets S type control on speed control

( 0 : Linear Accel/Decel , 1 : S type Accel/Decel )
PST
PST
PST
PST
PST
Appendix 1-11
MENU
Comm
Code
CODE
NAME
136
PE-617
Test Run Time1
137
PE-618
Test Run Time2
138
PE-619
Test Run Time3
139
PE-620
Not Used
UNIT
INI
MIN
MAX
sec
50000
sec
50000
sec
50000
Description
App
Mode
PST
PST
PST
Communication mode is to be used for selecting the menu when using TOUCH or PC
Communication.
Appendix 1-12
8) Position preration variables setting menu (Refer to chapter 4.4.5)

MENU
Comm
Code
CODE
UNIT
NAME
140
*PE-701
Pulse Logic
141
*PE-702
Electric Gear N0
142
*PE-703
Electric Gear D0
143
*PE-704
Electric Gear N1
144
*PE-705
Electric Gear D1
145
*PE-706
Electric Gear N2
146
*PE-707
Electric Gear D2
147
*PE-708
Electric Gear N3
148
*PE-709
Electric Gear D3
149
*PE-710
Backlash
150
PE-711
E-Gear Mode
151
PE-712
E-Gear offset
152
*PE-713
153
PE-714
Not Used
154
PE-715
Not Used
155
PE-716
Not Used
156
PE-717
Not Used
157
PE-718
Not Used
158
PE-719
ABS Multi Turn
159
PE-720
Position Pulse Direction

Pulse Dir
ABS Single Turn
INI
MIN
MAX
0
-
5
1000
1
-
99999
1000
1
-
99999
1000
1
-
99999
2000
1
-
99999
1000
1
-
99999
3000
1
-
99999
1000
1
-
99999
4000
1
Pulse
99999
0
0
-
10000
0
-99999
99999
App
Description
Mode
Sets the input pulse logic of position operation

Sets backlash compensation in position operation

(Standard : 4 interpolation pulse)
0:electronic gear ratio 0~3 selecting 1:Offset value

override function to numerator 0 of electronic gear
ratio
Directly setting numerator 0 of offset value on menu of
EGEAR1 contact ONincrease, EGEAR2 contact ON
decrease
Converts the direction by pulse in position operation
0 : Operating in the direction of command
1 : Operating in the counter direction of command
Absolute encoders Multi Turn Data.

Menu display is not possible as it is for
communication only.
Absolute encoders Single Turn Data.
Menu display is not possible as it is for
communication only.
Appendix 1-13
9) Operation handling menu (Refer to chapter 5)

MENU
Comm
Code
CODE
NAME
160
PC-801
Alarm Reset
161
PC-802
Alarm His Clear
162
PC-803
Manual Test Run
163
PC-804
Auto Test Run
164
PC-805
Gain Tune Run
UNIT
INI
MIN
MAX
Description
Reset current alarm (Refer to chapter 5)

Clear alarm history
Execute test operation by hand
[Left] : forward rotating [Right] : reverse rotating
[Up] : test operation speed changing
([PE-602]~[PE-608])
[Enter] : End
Continuous operation by speed and time that are set on menu, press
[Enter] for end
Sets automatic tuning operation of load inertia.
0: no auto tuning operation
(Procedure)
sets the range with[Left], [Right] key
execute forward/reverse operation about 10 times at 1000[r/min]
Press [Enter] key, then auto tuning result is saved at [PE-301],
[PE-307], [PE-309], and set as 0 automatically
165
166
167
168
PC-806
PC-807
PC-808
*PC-809
Z POS Search
IN Logic Set
EXT Input Set
Menu data Init
Press [Enter] key, then motor rotate as forward

Direction, and search for Z phase of encoder for stop
After setting the input contact number(0~d) with
[Left], [Right] key, press [Up]key, then the status of input contact
is changed.
Segment Off : Normal A contact
Segment On : Normal B contact
After setting the input contact number (0~d) with [Left], [Right]
key, press [Up] key, then input contact is ON forcibly.
Segment Off : Switch status of CN1
Segment On : Make On forcibly.
All contacts are OFF at power off
Press [Enter] key, then data of menu are changed to initial value
automatically
But, system menu data of [PE-201]~[PE-220] is not changed
(It will be applied when the Power is supplied again.)
Appendix 1-14
MENU
Comm
Code
170
CODE
NAME
PC-811
171
PC-812
172
PC-813
INI
MIN
MAX
-9999
9999
Pulse
ABS Encoder set
Current Offset
Not Used
173
PC-814
174
UNIT
PC-815
Peak Load
Description
Press [Enter] key at using absolute encoder,then reset absolute
encoder for 5 seconds.
Compensates current offset of Hall-CT
[Left] key : display current offset value of U phase
[Right] key : display current offset value of W phase
[Up] key : save existing current offset value
In case of downloading servo soft, surely turn power ON/OFF 3~5
times, after that press[Up] Key and save current offset value.
Display instantaneous max. load ratio for the rated.

[Right] Key : Display instantaneous max. load ratio of forward
direction
[Left] Key : Display instantaneous max. load ratio of reverse
direction
[Up] Key : Reset instantaneous max. load ratio.
Following position
175
PC-816
pulse
Display the encoder pulse amount that motor is rotated.

9.9.9.9.9.9 999999
[Up] Key : Reset encoder pulse amount
Feedback Pulse
176
PC-817
179
PC-820
Not Used
(4)
(1)
(0)
(3)
(2)
(7)
(5)
() ()
() ()
()
()
(6)
(a)
(8)
(9)
(d)
(b)
(c)
Display Input contact logic
Handling position of Input contact
[Input contact : upper]

(0)
(1)
(2)
(3)
(4)
(5)
(6)
SVON
SPD1/
EGEAR1
SPD2/
EGEAR2
SPD3/
MODE
DIR
PCON
(a)
(b)
(c)
(d)
STOP
ALMRST
GAIN2
PCLEAR
(7)
(8)
CCWLIM CWLIM TLIMIT
(9)
EMG
[Output contact : lower]

()
()
BRAKE INSPD/INPOS
()
()
()
()
ZSPD
READY
TLOUT
ALARM
Appendix 1-15
Appendix 2 Test Operation
Thanks for purchasing our products.

Customers are requested to follow the following procedure for trial operation.
1. Verify the product : Verify if the product is the same one you
purchased with the label.(Refer to Chapter1.1)
2. Connect cable : Single phase AC 220[V] for L1C,L2C.

3 Phase AC220[V] for L1,L2,L3 (Refer to Chapter3.2)
3. Connect signal cable : Connect CN1.CN2,CN3 & Motor as per

the operation mode. (Refer to Chapter 1.2 & 3)
4. Input the control power supply : Input Single phase AC220[V]

at L1C,L2C (But, Input 3 Phase AC220[V] for APD-VSR5~04)
5. Setting motor ID : Set the motor ID in the menu[PE-201].

(Refer to Appendix1 )
6. Setting Encoder pulse : Set the encoder pulse in the menu[PE204].
7. Input main power supply : Input the 3Phase AC220[V] at

L1,L2,L3
Appendix 2-1
8. Test operation : Press Enter key on the menu[PC-803], and

can proceed the test operation by manual.
* Up Key : Change the operating speed
([PE-602]~[PE-608])
* Right Key : Motor forward rotation
9. Setting operation mode :

Set the operation mode in the menu[PC-601].
0 : Torque control operation
Setting speed
Setting Position
1 : Speed control operation
operation
operation
2 : Position control operation

3 : Speed/Position control operation.
4 : Speed/Torque control operation
5 : Position/Torque control operation
10.Proceed the speed operation with an Upper

controller by adjusting the menu data as follows.
1)Speed operation variable setting menu
:[PE-601~611]
controller by adjusting the menu data as

follows.
1)Position
2)In/Output variable setting menu :

[PE-503, 504, 510, 512, 514, 515, 516]
3)Analog variable setting menu :[PE-401~405]
4)Control variable setting menu :
[PE-301, 307, 309, 311, 312, 313, 319, 320]
(Refer to Appendix 1)
Appendix 2-2
11.Proceed the Position operation with an Upper
menu
operation
variable
setting
:[PE-701~711]
2)In/Output variable setting menu :

[PE-501, 502, 508, 509, 512, 515, 516]
3) Control variable setting menu
: [PE-301~320]
(Refer to Appendix 1)
Appendix 3 Regenerative Resistance
Selecting Regenerative Braking Resistance

When Servo motor is operated with a Regenerative mode, the energy comes into the axis
of Servo drive.
This is called a regenerative energy.
Whereas Regenerative energy is charged and absorbed into the smoothing condenser of
Servo drive inside, but if it exceeds the energy that can be charged, it consumes the
regenerative energy with a regenerative braking resistance.
(1) The operating servo motor conditions with regenerative mode ;

High speed operation and short deceleration time
Repeat Accel/Deceleration very frequently
When the load inertia is much bigger than motor inertia
When operated at the Upper and below axis
In the case of minus load that rotate the servo motor at load axis
But, Because the regenerative capacity that is installed in the servo drive is a short time
rated of deceleration stop range, the continuous operation by minus load is impossible.
(2) On the Regenerative mode operation, the regenerative energy of motor should be less
than the energy that can be absorbed in the servo drive for proper operation.
(Motor rotating energy Motor loss Deceleration load friction) < (Condenser absorbing
energy + Regenerative resistance consuming energy )
N1
2
Motor rotating energy = (JM + JL )*(N1 ) / 182

Motor loss = Approx. 3~5% of rated capacity
Decel. Load friction energy = (/60)*N1*TL*td
2
Condenser absorbing energy = 1/2 * C * (V1 - V2 )

T
2
But, J : [ kgm ], N : [r/min], TL [Nm], C[F]

and V1 :385[V], V2 :310[V].
TL
td
Regenerative
energy
Regenerative Resistance Need[W]

=
(Motor rotating energy Motor loss Decel. Load friction energy Condenser
absorbing energy)/(0.2*T)
Appendix 3-1
But, Using rate of regenerative resistance is about 20%.

When the result of this value exceeds the regenerative resistance[W], users are requested
to install the regenerative resistance that is higher than the calculated value[W].
3) Absorbing way of regenerative energy when over voltage alarm occurred.

Reduce the load inertia or reduce the operating speed in order to reduce the Motor
rotating energy.
Increase the decal. Time to make the deceleration load friction energy bigger.
Change the standard regenerative resistance to option regenerative braking
resistance (Chapter 7 Product Specification).
(4) APD-VS Regenerative capacity (10[%]ED : Standard)
Model
Regenerative
Inside
Standard
Standard
Option
Option
No.
IGBT
Absorbing
Regenerative
Regenerative
Regenerative
Regenerative
energy[J]
Braking
energy
Braking
energy
resistance
(10[%]ED)
resistance
(10[%]ED)
VSR5
8.6
VS01
8.6
VS02
20[A]
8.6
50[W]50[]
296
140[W]40[]
370
VS04
20[A]
17.2
50[W]50[]
296
140[W]40[]
370
VS05
20[A]
20.3
140[W]40[]
370
300[W]23[]
644
VS10
20[A]
30.5
140[W]40[]
370
300[W]23[]
644
VS15
30[A]
43.8
300[W]23[]
644
1200[W]15[]
988
VS20
50[A]
58.4
300[W]23[]
644
1200[W]15[]
988
VS35
50[A]
73
600[W]11.5[]
1289
1800[W]10[]
1482
VS50
50[A]
87.6
600[W]11.5[]
1289
1800[W]10[]
1482
VS75
50[A]
116.8
600[W]11.5[]
1289
1800[W]10[]
1482
VS110
75[A]
175.1
Option(4)
2400[W]7.5[]
1976
(Note1) Regenerative consuming energy = (V1 /R) * ([%]ED/100)

(Note2) APD-VSR5~01 Type does not include regenerative circuit and regenerative
resistance.
(Note3) For APD-VS02~04 Type, standard regenerative resistance(50[W], 50[]) is
Appendix 3-2
Appendix 3 Regenerative Resistance
installed inside and the terminal between B2~B3 is not connected.

If the regenerative capacity is quite big due to the frequent accel/deceleration,
users are requested to remove the short pin(B2-B3) and install the outside
option regenerative resistance at (B1-B2).
(Note4) For APD-VS110 Type, users need to purchase the regenerative resistance
separately as an option item when need it.
Appendix 3-3

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Instruction Manual

Manual Version : [ver 3.3]

2002. 01. 02.

A revised edition : 2004. 05. 08.

Thank you for purchasing Metronixs AnyPack Series

Symbols for Safe Operation

Note for Safe Operation

Make sure to keep the install direction.

are subject to change for

improvements. In this case, we issue the manual on updated Version NO.

Precaution at First Setup

MAINTENANCE AND INSPECTION

1.2 System Configuration

1.2.2 Position Operation Mode 1-11

1.2.4 Torque Operation Mode. 1-13

1.3 Signal Explanation.. 1-17

2.2 Servo Drive

2.2.2 Installation In a Control Board(Panel)

3.2 Power Board Wring

3.3 Timing Diagram

3.3.2 Timing Diagram at Alarm ...

3.4 Wiring control Signal

3.4.2 Contact Output Signal .... 3-8

3.4.4 Pulse Input Signal

3.4.5 Encoder Output Signal

3.5 Incremental Encoder Signal (CN2) Wiring

3.5.2 Medium/Large-size Motor.

3.6 Absolute Encoder Signal (CN2) Wiring

3.6.2 Medium/Large-size Motor.

3.6.3 How to use Absolute Encoder.

3.7 Wiring of Communication (Option) Signal

3.7.2 Communication for Only Servo (for O/S Download)

4.Detail Explanation of Program Menu

4.3.3 Display Position.

4.3.4 Display Torque and Load .. 4-19

4.3.6 Display Software Version.

4.4 Setting Up Menu

4.4.2 Setting Control Variables.....

4.4.3 Setting Analog I/O Variables ..

4.4.4 Setting I/O Connecting Variables.

4.4.5 Setting Speed Operation Variables.. 4-37

5. Handling and Operation

5.4 Test Operation

5.4.2 Continuous Test Operation..

5.4.3 Operation at Z position .

5.5 Example of Connecting to Upper Controller..5-8

6.1.2. Communication Specification & Cable Connection .

6.2 Basic Structure of Communication Protocol

6.2.2 The Collection of Commands

6.3 Commands for Data Processing

6.3.2 Data Writing Command....

6.3.3 Monitor Command Term..

6.3.4 Set Command[WDK] ....

6.3.5 Check Command[RCS/ RCB]

6.4 Commands for Operation

6.4.2 Position Operation Command....

6.4.3 Program Operation Command.