MOLmanualPY1 01

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Controls, Drives, and Motors
Sanyo Denki
PY Servo System
Installation and Operation Manual
Sales & Technical Support

8:30 a.m. to 5:30 p.m. EST
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Fax: 770.497.8666
[email protected]
Automation Intelligence
Sanyo Denki Motion Products v System Integration
2855 Premiere Parkway, Suite A

Issued: 16-Jul-01 Duluth, Georgia 30097-4902
Table of Contents
INTRODUCTION............................................................................................................. 5
About this Guide........................................................................................................................................................5
Safety.........................................................................................................................................................................7
Technical Support......................................................................................................................................................9
Product Family Overview........................................................................................................................................10
INSTALLATION ............................................................................................................ 13
Chapter Overview....................................................................................................................................................13
Unpacking and Inspection Procedure ......................................................................................................................14
Amplifier Installation...............................................................................................................................................15
Motor Installation ....................................................................................................................................................20
Installation Check List.............................................................................................................................................27
WIRING......................................................................................................................... 28
Wiring Precautions ..................................................................................................................................................31
Applicable Wire Sizes .............................................................................................................................................32
Input Power..............................................................................................................................................................33
Leakage Current ......................................................................................................................................................33
Connection Diagram (PY2 with P3/P5 Motor)........................................................................................................34
CNA, CND and CNB Connectors ...........................................................................................................................38
Input/Output Internal Circuits..................................................................................................................................39
CN1 Control Connector...........................................................................................................................................41
CN2 Motor Encoder Connector...............................................................................................................................45
Operator Terminal ...................................................................................................................................................46
External Regeneration Resistors..............................................................................................................................47
Wiring Check List....................................................................................................................................................53
OPERATION................................................................................................................. 54
Pre-Operation...........................................................................................................................................................55
Power “On” Sequence .............................................................................................................................................56
Stop Sequences ........................................................................................................................................................57
Servo “OFF” Sequence............................................................................................................................................59
Alarm Reset Sequence.............................................................................................................................................61
Over-travel Sequence...............................................................................................................................................62
REMOTE OPERATOR.................................................................................................. 63
Using the Remote Operator .....................................................................................................................................64
Quick Setup .............................................................................................................................................................66
Amplifier Parameters...............................................................................................................................................67
Amplifier Tuning ...................................................................................................................................................102
Jogging ..................................................................................................................................................................105
Monitor Screen ......................................................................................................................................................107
Alarm Trace Screen ...............................................................................................................................................108
PY Manual Copyright © 2001 Automation Intelligence, Inc. Issued: 16-Jul-01

MAINTENANCE AND TROUBLESHOOTING............................................................ 110
Chapter Overview..................................................................................................................................................110
Maintenance...........................................................................................................................................................111
Troubleshooting.....................................................................................................................................................111
SPECIFICATIONS...................................................................................................... 120
Chapter Overview..................................................................................................................................................120
Acceleration and Deceleration Time .....................................................................................................................121
Dynamic Brake ......................................................................................................................................................122
Miscellaneous Servo Motor Specifications ...........................................................................................................124
INDEX ......................................................................................................................... 125

List of Tables
Table 1: Manual Syntax.................................................................................................................................................6

Table 2: Valid Drive Systems......................................................................................................................................11
Table 3: Amplifier Environmental Requirements........................................................................................................18
Table 4: Power Dissipation..........................................................................................................................................18
Table 5: Motor Environmental Requirements .............................................................................................................20
Table 6: Motor IP Rating.............................................................................................................................................23
Table 7: Allowable Radial and Thrust Loads ..............................................................................................................26
Table 8: Applicable Wire Sizes ...................................................................................................................................32
Table 9: Power Supply Capacity Requirement............................................................................................................33
Table 10: System Leakage Current..............................................................................................................................33
Table 11: CNA, CND, and CNB Connector Pin Assignments ....................................................................................38
Table 12: CN1 Internal Circuits...................................................................................................................................39
Table 13: CN1 Pin Assignments..................................................................................................................................41
Table 14: CN2 Pin Assignments..................................................................................................................................45
Table 15: Amplifier Regeneration Power ....................................................................................................................47
Table 16: Regeneration Resistor Selection ..................................................................................................................50
Table 17: Amplifier Status Display .............................................................................................................................55
Table 18: Quick Setup Steps........................................................................................................................................66
Table 19: Monitor Mode Page Descriptions..............................................................................................................107
Table 20: Alarm Mode Page Descriptions.................................................................................................................108
Table 21: Amplifier Alarm Codes .............................................................................................................................109
Table 22: Holding Brake Specifications ....................................................................................................................124
ÀÁÂÃ

Introduction
About this Guide

In this Chapter This chapter covers the following topics:
About this Guide.............................................................................................................5

In this Chapter 5
Introduction 5
Manual Organization 5
Syntax Information 6
Safety ..............................................................................................................................7
Technical Support ...........................................................................................................9
Online Support 9
E-Mail Support 9
Telephone Support 9
Field Service 9
Product Family Overview.............................................................................................10
Amplifiers 10
Motors 10
Systems 11
Remote Operator 11
Cables 12
External Regen Resistors 12
Introduction This guide provides you with information needed to install, operate, and maintain PY
model servo amplifiers and matching motors.
Manual This guide consists of the following chapters:

Organization
Chapter 1. Introduction provides an overview of the Safety issues associated with the
application of servo motors and amplifiers, informs you about all your
product support options, and finally provides an overview of the PY family
of amplifiers, the P2, P3, P5, and P6 family of motors, and system options
and accessories.
Chapter 2. Installation provides detailed directions that take you step by step from
unpacking your system, through installing the motor and installing the
amplifier, and concludes with an installation checklist.
Chapter 3. Wiring describes how to wire a system - starting first with a summary
table indicating recommended wire sizes, followed by connection
diagrams, and concluding with details for connecting external regeneration
resistors and the remote operator. Detailed connector pin assignments are
provided as well as a partial schematic for input and output signals.

6
Chapter 4. System Configuration describes how to use the remote operator and then
walks you through the configuring and tuning of your system. This
chapter concludes with a detailed description of each amplifier parameter.
Chapter 5. Operation chapter provides a detailed description of the sequence and

timing of operation within the amplifier.
Chapter 6. Maintenance and Troubleshooting provides you with a recommended

maintenance program designed to keep your system in top operating
condition. Should you experience any difficulty with your system, a
detailed troubleshooting guide is provided to help you restore normal
operation quickly.
Chapter 7. Specification section includes detailed specifications for PY drive

systems. This includes a detailed reference for all the amplifier parameters.
Syntax To help you locate and interpret information easily, this guide uses consistent visual cues
Information and text formats. The different symbols and typefaces displayed in this guide are used
for the following purposes:
Table 1: Manual Syntax
This symbol is used to identify important information of which you

¯ should take note.
DANGER, WARNING or CAUTION require accompanying information
! notices to prevent potential personal injury and equipment damage.

DANGER: Indicates an imminently hazardous situation which, if not
avoided, will result in serious injury or death. This signal word is limited
to the most extreme situations.
WARNING: Indicates a potentially hazardous situation which, if not
avoided, could result in serious injury or death.
CAUTION: Indicates a potentially hazardous situation which, if not
avoided, may result in equipment damage or minor or moderate injury.
Earth Gnd Protective conductor terminal, Earth Ground.
Chassis Gnd Chassis terminal, Not a protective ground.

7
Safety
DANGER
! Only qualified personnel familiar with the construction and operation of this
equipment and the hazards involved should install, adjust, operate, or service
this equipment. Read and understand this manual and other applicable manuals
in their entirety before proceeding. Failure to observe this could result in severe
injury or loss of life.
!
DANGER
The user is responsible for conforming with all applicable local, national, and
international codes. The wiring examples in this manual are intended only as a
guide. Wiring practices, grounding and disconnects, and over-current protection
are of particular importance. Failure to observe this could result in severe injury
or loss of life.
!
DANGER
Do not operate the system in an explosive atmosphere. Failure to observe this
could result in severe injury or loss of life and equipment damage.
!
WARNING
Perform the initial power-up with the motor shaft disconnected from the load and
the shaft key removed. Improper wiring or undiscovered shipping damage could
result in undesired motion. Be prepared to remove power if excessive motion
occurs. Failure to observe this precaution could result in bodily injury.
!
WARNING
Large leakage currents exist in AC line filters. They must be grounded properly
before applying power. Filter capacitors retain high voltages after power is
removed. Before handling the equipment, voltage should be measured to
determine safe levels. Failure to observe this precaution could result in severe
bodily injury.
WARNING
! Avoid damaged cables. Cables may be damaged by applying excessive stress,

placing a heavy object on them, or cutting them. Damaged cables may result in
electrical shock which can cause severe bodily injury and damage equipment.

8
CAUTION
! Observe all installation directions. Failure to do so may result in injury, damage

to equipment, or poor performance.
1. Make sure nothing obstructs or impedes ventilation around the amplifier.

2. Observe all mounting clearance distances around the unit.
3. Never install the system in a location where water, or other fluids, may be
splashed, or in a flammable gas atmosphere.
4. Never place objects on this equipment. Doing so may result in damage,
burns or fire.
5. Avoid strong shocks to equipment. This may result in injury or damage to
equipment.
!
WARNING
During normal operation, the amplifier, motor and peripheral equipment could
become hot enough to cause a burn.

9
Technical Support
Online Support The most convenient and effective method for support is online at our web site
www.MotionOnline.com
In addition to this manual, you may download our Handbook of AC Servo Systems,
application notes and answers to frequently asked questions from this site.
E-Mail Support Questions can be submitted via e-mail and in most cases our Technical Support staff will
reply the same day, but in all cases you will receive a reply before the end of the next
working day. Send your email questions to:
[email protected]
Telephone Automation Intelligence maintains a Technical Support center that is staffed weekdays
Support (except holidays) between 8:30 AM and 5:30 PM Eastern Standard Time.
· Telephone: 770-497-8086 or Toll Free 1-888-531-8213
· Facsimile: 770-497-8666
Field Service Field service is not included in the product warrantee in order to keep our product cost
low, but it is a service that Automation Intelligence provides. Request for field service
may be made to the Technical Support staff (see above). Automation Intelligence must
receive a Purchase Order before the Technical Support engineer departs.

10
Product Family Overview
Amplifiers Sanyo Denki designs and manufactures a wide range of servo and stepper drives. Eight
models from the PY family are available to you from Automation Intelligence via
MotionOnline.com.
· PY2A015 15A · PY0A030 30A

· PY2A030 30A · PY0A050 50A
· PY2A050 50A · PY0A100 100A
· PY0A015 15A · PY0A150 150A
Motors Sanyo Denki designs and manufactures a wide range of servo and stepper motors.
Twenty (10 without brakes and 10 with brakes) models from the P2, P3, P5 and P6
families are available to you from Automation Intelligence via MotionOnline.com.
· P20B10150D 1.5kW 4.9Nm · P30B06040D 400W 1.37Nm

· P20B10250D 2.5kW 8.8Nm · P30B08075D 750W 2.55Nm
· P20B13300D 3.0kW 10.8Nm · P50N05020D 200W 0.686Nm
· P20B13500D 5.0kW 18.1Nm · P50N08100D 1kW 3.92Nm
· P30B04010D 100W 0.35Nm · P60B13150H 1.5kW 7.5Nm

11
Systems
From these motors and amplifiers, the following 17 systems can be assembled. All the
systems can operate up to 4,500 RPM (except for the P6 motor that is 3000 RPM). The
power listed is continuous at 3,000 RPM (except for the P6 motor at 2000 RPM) while
the torque listed is continuous at 0 RPM.
Table 2: Valid Drive Systems
Motor Model W Nm PY2 Amplifiers PY0 Amplifiers
15A 30A 50A 15A 30A 50A 100A 150A
P30B04010D 100 0.35 ¤ ¤
P30B06040D 400 1.37 ¤ ¤
P30B08075D 750 2.55 ¤ ¤
P20B10150D 1500 4.9 ¤ ¤
P20B10250D 2500 8.8 ¤
P20B13300D 3000 10.8 ¤
P20B13500D 5000 18.1 ¤
P50N05020D 200 0.686 ¤ ¤
P50N08100D 1000 3.92 ¤ ¤
P60B13150H 1500 7.5 ¤ ¤
Remote Operator The remote operator is required to set/change all the parameters in the traditional PY
amplifiers. The remote operator is not required for operation and may therefore be
shared between all the drives in a system. The same remote operator is used for the PY
amplifiers.
The PC-SETUP software can be used to set/change all parameters in the traditional PY
¯ amplifiers (except for power phasing). This item may be purchased instead of the remote
operator.

12
Cables To lower life-cycle cost and improve reliability, Automation Intelligence requires
customers to use Sanyo Denki motor power and feedback cables. These cables may be
ordered in standard (10, 15, 20, 30, 50, 75, or 100 ft) or custom lengths. Standard cables
are usually available directly from stock.
External Regen Optional external regeneration resistors are available to extend the continuous
Resistors regeneration power of the amplifier.

Installation
Chapter Overview
This chapter contains a guide for the installation of the amplifier and matching motor,
from unpacking the equipment, performing an initial test, to mounting it in a panel.
Chapter Overview .........................................................................................................13

Unpacking and Inspection Procedure ...........................................................................14
Unpack the Amplifier 14
Inspection 14
Amplifier Installation....................................................................................................15
General Requirement 15
Mounting and Clearance Requirements 16
Amplifier Environmental Requirements 18
Power Dissipation 18
Enclosure Size 19
Motor Installation .........................................................................................................20
Environmental Requirements 20
Motor Mounting 21
Motor Mounting 22
Motor Orientation and Cable Routing 23
Connecting the Load to the Motor 24
Bearing Load Specifications 26
Installation Check List ..................................................................................................27

14
Unpacking and Inspection Procedure
Unpack the § Before opening packages, verify that the model numbers of the box match your
Amplifier order. If they do not, please contact Automation Intelligence (see page 9 - Technical
Support).
§ After opening, verify that the model numbers on the product match the box. If they
do not, please contact Automation Intelligence (see page 9 - Technical Support).
Inspection § After unpacking, verify that the servo amplifier and motor are free from any physical
damage that may have occurred during shipment. If you find damage, contact your
Buyer to make a claim with the shipper.
§ Perform the Inspection Test to verify functionality of the system.

15
Amplifier Installation
General
Requirement Condition Recommended Precautions
Amplifier In An The temperature inside an enclosure may be higher than the
Enclosure outside temperature, depending on the power loss of internal
equipment and the dimensions of the box.
Be sure to determine the dimensions of the box, cooling method,
and panel layout so that the ambient temperature is lower than
55C.
Amplifier Near A Install the amplifier with a shock absorber to dampen the vibration
Vibrating Source that is transmitted directly to amplifier.
Amplifier Near A Shield the amplifier so that convection or radiation does not raise
Heat Source the ambient temperature 55C.
Corrosive Gas If the amplifier is operated for extended time periods in a
Environment corrosive environment, contact failure will occur at contact points
(e.g., connectors). Therefore, never install the amplifier in a
corrosive gas environment.
Explosive Or Never install the amplifier in an explosive gas or combustible gas
Combustible Gas environment. Relays and contactors, which generate arcs (sparks)
Environment inside boxes and hot parts such as regeneration brake resistor, may
become ignition sources, causing a fire or explosion.
Dust And Oil Never install the amplifier in an environment containing dust or
Environments oil mist. Dust and oil mist, which adheres to or accumulates on
the amplifier, will result in damage to the amplifier from lower
insulation resistance or leakage currents between conductors or
components.
Electrical Noise Induction noise will enter input signals and the power supply
Environments circuit, causing the amplifier to malfunction. When installing the
amplifier in an electrically noisy environment, take proper
measures such as inserting a noise filter, shielding, or suppressing
the noise source.

16
Mounting and Install the amplifier vertically as shown in the figure below, with the indicated
Clearance clearances. Because the amplifier uses convection cooling it may not be mounted
Requirements horizontally. Provide the indicated space above, below and to the side of the amplifier
for airflow. If this space cannot be provided, install a fan to increase airflow around the
amplifier.
Cooling 4-M5
Air Flow
50 mm or more
Cut-out
Fins A for B
Cooling
Fins
D
50 mm or more 90 mm
or more C
Back Surface
Mounting
A B C D
PY2A015 160 mm NA 25 mm NA
PY0A050 225 mm >197 mm 50 mm >67 mm
PY0A100 225 mm >197 mm 50 mm >92 mm
PY0A150 225 mm >197 mm 75 mm >142 mm
¯ § Only the PY0A050, PY0A100, and PY0A150 are equipped with the “cooling fins”.

17
Cooling 4-M5
Air Flow
50 mm or more
Front
Fins A Surface B
Cut-out
D
50 mm or more 90 mm
or more C
Front Surface
Mounting
A B C D
PY0A015 225 mm >205 mm 25 mm NA
PY0A030 225 mm >205 mm 25 mm NA
PY0A050 225 mm >212 mm 50 mm >67 mm
PY0A100 225 mm >212 mm 50 mm >92 mm
PY0A150 225 mm >212 mm 75 mm >142 mm
¯ § Only the PY0A050, PY0A100, and PY0A150 are equipped with the “cooling fins”.

18
Amplifier The amplifier should be installed in an environment that meets these requirements.
Environmental
Table 3: Amplifier Environmental Requirements
Requirements
Item Specification
Ambient Temperature
Operating 0 to 55C
32° to 131°F
Non-operating -20 to 65C

-4° to 149°F
Humidity Maximum 90% Non-condensing
Vibration Maximum 0.5G 10 to 55Hz
Shock Maximum 2G
Air Quality Dust-free
Oil-free
Non-corrosive
Non-combustible
Non-explosive
Power Dissipation During operation, the amplifier dissipates power that results in cabinet heating. The
following table lists power dissipation values for valid system configurations. These
values assume continuous rated load operation. Calculate the cabinet cooling
requirements using the power dissipation information and the formulas that follow.
Table 4: Power Dissipation
Drive Model Motor Model Power Dissipation [W]
Total PCB Heatsink
PY2A015 P30B04010D 19 - -
PY2A015 P50N05020D 23 - -
PY2A030 P30B06040D 32 - -
PY2A030 P30B08075D 45 - -
PY2A050 P50N08100D 54 - -
PY2A050 P20B10150D 85 55 30
PY2A050 P60B13150H 85 50 50
PY0A015 P30B04010D 19 - -
PY0A015 P50N05020D 23 - -
PY0A030 P30B06040D 32 - -
PY0A030 P30B08075D 16 - -
PY0A050 P50N08100D 80 50 30
PY0A050 P20B10150D 85 55 30
PY0A050 P60B13150H 85 50 50
PY0A100 P20B10250D 170 98 72
PY0A100 P20B13300D 175 103 72
PY0A150 P20B13500D 260 150 110
Power dissipation values shown in the table do not include values for the internal
regeneration resistor.
When using an external regeneration resistor, the internal resistor is disconnected.

19
Enclosure Size When sizing a NEMA 12 or equivalent enclosure with no active method for cooling, the
following equation approximates the size of enclosure required.
æQ ö
T = 4.08 ´ ç ÷ + 1.1
è Aø
Where:
T = Temperature difference between inside air (130 °F maximum) and outside

air [°F]
Q = Total amount of heat generated in the enclosure [W]
A = Surface area of the enclosure in ft2 = (2DW + 2DH + 2WH) / 144
D = Depth in inches
H = Height in inches
W = Width in inches

20
Motor Installation
Environmental The motor should be installed in an environment that meets these requirements.
Requirements
Table 5: Motor Environmental Requirements
Item Specification
Ambient Temperature
Operating 0 to 40C
32° to 104°F
Non-operating -20 to 65C

-4° to 149°F
Humidity Maximum 20% to 90% Non-condensing
Air Quality Dust-free
Oil-free
Non-corrosive
Non-combustible
Non-explosive

21
Motor Mounting P3/P5 Motor Dimensions Diagram (all dimensions in mm)
LL
.07 M
LC
.02 LR
4-ØLZ1 LG
LE
.06 M
Q
ØLA
ØLB ØS
(ØLH) M
KL
QE tap 1000±100
Depth LT 1000±100
ØD1 Ø4.7
OPTIONAL ENCODER
BRAKE CONNECTOR CONNECTOR
APX. 23x16 APX. 20x16
MOTOR CONNECTOR
APX. 39x16
LL LL
Type LG KL LA LB LE LH LC LZ1 LR S Q QE LT D1
w/o w/
brake brake
+0.000 +0.000
P30B04010 88 126.5 5 30 46 30 2.5 54 40 4.5 25 8 - - - 6
-0.021 -0.009
+0.000 +0.000
P30B06040 123.5 161.5 6 41 70 50 3 81 60 5.5 30 14 - M5 12 6.7
-0.025 -0.011
+0.000 +0.000
P30B08075 140 180.5 8 52 90 70 3 107 80 6.6 40 16 35 M5 12 6.7
-0.030 -0.011
+0.000 +0.000
P50N05020 105 134 5 38 66.68 38.1 1.524 71.5 57.15 5.207 30 11 25 M4 10 7.5
-0.051 -0.011
+0.000 +0.000
P50N08100 172 212 8 55 98.43 73.025 2.5 115 86 5.588 35 16 30 M5 12 7.5
-0.051 -0.011

22
Motor Mounting P2/P6 Motor Dimension Diagram (all dimensions in mm)
.08 M
LC
.02 LR LL
4-Ø9 (LG)
.08 M LE
Q
ØLA QK
(ØLH) 3
H
ØLB ØS
H
M KL
(KL1)
19
(KL2)
SECTION H - H
2-LZ2 (KB1) (KB2)
THROUGH-TAPPPING FOR MOTOR 6
2.5 KEY POSITION
MOTOR ENCODER
SHAFT END THREADED HOLE W OPTIONAL

BRAKE
1.5kW P2 & 1.0kW P6 (M6, 1.0 PITCH, 20 DEPTH)
w/o brake w/ brake
Type LL KB2 LL KB2 KB1 KL1 KL2 LG LA LB LE LH LC LZ2 LR S Q QK W
P20B10150 172 216 105 +0.000 +0.000 +0.000

48 92 76 19 10 115 95 -0.035 3 130 100 - 45 22 -0.013 40 32 6 -0.030
P20B10250 222 266 155
+0.000 +0.000 +0.000
P20B13300 194 236 117 98 21 12 145 110 -0.035 4 165 130 M6 55 28 -0.013 50 42 6 -0.030
58 100
P20B13500 267 309 190
+0.000 +0.000 +0.000
P60B13150 152 57 185 90 75 98 21 12 145 110 -0.035 4 165 130 M6 55 22 -0.013 50 42 6 -0.030

23
Motor Orientation Cable and Motor Orientation

and Cable Routing
The servomotor can be installed horizontally or vertically with the shaft pointing down.
If the motor is positioned horizontally, rotate the motor so that the cables exit downward.
If the motor is mounted vertically, provide a cable trap to prevent oil or water from
flowing down the cable to the motor.
Horizontal Vertical
Mounting Mounting
Drip
Loop
Cables
Down
Cables
Prevention Against Fluids
The motor, as a single unit, satisfies the IEC standard for sealing against water as
indicated in the table below.
Table 6: Motor IP Rating
Motor Rating Conditions

P3 IP43 · Protected against solid objects (diameter 1 mm) and
splashing water.
P5 IP55 · Motor shaft seal installed, standard
· Cable with environmental connectors are connected
to motor, standard. The motor is not protected
when cables are not attached.
· Protected against dust – limited ingress (no harmful
deposit) and low pressure jets of water from all
directions – limited ingress permitted.
P2 & P6 IP67 · Motor shaft seal installed, standard
· Cable with environmental connectors are connected
to motor, standard. The motor is not protected
when cables are not attached.
· Protected against dust and effects of immersion.
Since the IEC standard is intended to check performance over a short period of time, the
following measures against fluids are required for actual usage.
§ Handle the system carefully to prevent damage to cable jackets, which may
deteriorate waterproofing.
§ Mount the motor with the connectors (lead outlet) pointing downward.
§ Install a cover, with a gradient, over the motor to prevent oil or water from splashing
directly on the motor.

24
§ Avoid dipping the cable into oil or water.
§ Slacken the cable outside the cover and provide a cable trap so that oil and water
may not travel up the cable.
Seal with a gasket
Cover
Do not let cables touch any

water or oil reservoir
§ If an oil-filled gearbox is used, make the oil level of the gearbox lower than the oil
seal lip. Provide a vent in the gearbox to prevent internal pressure in the gearbox
from rising and forcing oil into the motor.
Gear
External Diameter
of the Shaft
Oil Level
Oil Seal Lip
Connecting the The mechanical connection between the motor and the load is critical. An improper
Load to the Motor connection can limit performance and shorten the life of the motor.
§ Perform centering accurately between the motor shaft and the load as shown in the
figure below. Note that with a rigid coupling, a slight offset will lead to damage of
the output shaft.

25
§ To check centering, make a measurement at 4 points on the circumference, the
difference between maximum and minimum should be 0.03 mm or less.
Make 4 measurements around

the circumference and verify
less than .03 mm (~1 mil) between
min and max measurements
§ A precision encoder is directly connected to the motor shaft. A shock to the motor
shaft during installation may damage the encoder. If tapping on the motor is
unavoidable for position adjustment or other reasons, tap on the front flange with a
rubber or plastic hammer.
4 8
§ When installing the motor to the machine, make the mounting holes precise. Also,
make the mounting surface as flat as possible to avoid damage to the motor shaft or
bearing.
§ When installing a gear, pulley, or coupling on the shaft avoid striking the shaft,
which will damage the motor encoder. Use a bolt on the end of the shaft to pull tight
fitting parts together.
8 4 Bolt
Plate
Pulley

26
§ When removing the gear, pulley, or coupling from the shaft, use a dedicated
extracting tool to avoid damaging the shaft or motor encoder.
4
Wheel Puller
§ When mounting motor to a timing belt drive, check that the shaft-converted value of
the belt tension does not exceed the allowable value shown in Table 7: Allowable
Radial and Thrust Loads.
Bearing Load When attaching a pulley or gear directly to the motor shaft, do not apply an excessive
Specifications thrust or radial load. The thrust and radial loads in the table below are the maximum
allowable loads when independently applied to the shaft.
LR
LR/3
Ft
Thrust Load
The allowable radial load is Fr

the maximum load that can Radial
be applied to the 1/3 point Load
from the edge of the motor
output shaft.
Table 7: Allowable Radial and Thrust Loads

During Assembly During Operation
Model Radial Load Fr Thrust Load Ft [kg] Radial Load Fr Thrust Load Ft
[kg] [kg] [kg]
P30B04010D 15 10 10 3
P30B06040D 40 20 25 10
P30B08075D 60 40 35 20
P50N05020D 25 20 ® 15 ¬ 20 8
P50N08100D 60 80 ® 30 ¬ 35 20
P20B10150D 100 30 70 30
P20B10250D 100 30 70 30
P60B13150H 173 194 65 50
P20B13300D 200 40 100 40
P20B13500D 200 40 120 40
(1kg = 2.2lb)

27
Installation Check List
þ
Amplifier is mounted in a clean protected environment free from dust, water,
oil mist, corrosive gas, and combustible gas.
þ
Proper amplifier ventilation has been provided. The ambient temperature near
the amplifier does not exceed 55°C during operation.
þ
The motor has been securely mounted to the machine and the load has been
securely attached to the motor shaft.
þ
The radial and perpendicular alignments of the motor and load have been
measured and are within specification.
þ
The radial and thrust loading on the motor shaft have been measured and are
within specification.

Wiring
Chapter Overview
This chapter contains a guide for wiring of the amplifier and matching motor.

Cable Connection Diagram 29
Wiring Precautions .......................................................................................................31
Applicable Wire Sizes ..................................................................................................32
Input Power...................................................................................................................33
Leakage Current............................................................................................................33
Connection Diagram (PY2 with P3/P5 Motor).............................................................34
CNA, CND and CNB Connectors.................................................................................38
Input/Output Internal Circuits.......................................................................................39
CN1 Control Connector ................................................................................................41
CN2 Motor Encoder Connector ....................................................................................45
Operator Terminal.........................................................................................................46
External Regeneration Resistors ...................................................................................47
When to use an External Regeneration Resistor 47
Selecting the Right External Regen Resistor 50
How to connect a Regen Resistor 51
Regeneration Resistor Mounting 52
Wiring Check List.........................................................................................................53

29
Cable Connection Below is a simplified connection diagram. This diagram shows how to connect a system
Diagram using standard cables. A detailed connection diagram follows.
IInterlock
Start Ready System PY0
Error Set-Up
MC RDY1OP
MC
RP-001
Suppress RDY2 2 meter
MC H2
R H1 Optional
Circuit MC
S Y Regen
Breaker Noise MC
COM
Filter T X
Encoder
3f 230 CN2
60 r Motor
FC-001-P3-
t FC-001-P2-
Screw Terminal
& Mating Power & Brake P2 & P6
U Motors
CN1 V
Contro
W PC-001-P2-XXX (1.5,2.5 kW)
TC-PY-XXX PC-002-P2-XXX (3.0,5.0 kW)
TB-001
BC-001-P2-XXX
24VDC
RY 24VDC PC-001-P3-XXX P3 & P5
Motors
BC-001-P3-XXX
Holding Brake

30
IInterlock
Start Ready System PY2
Error Set-Up
MC RDY1OP
MC
RP-001
Suppress RDY2 2 meter
MC H2
R H1 Optional
Circuit MC
S Y Regen
Breaker Noise MC
COM
Filter T X
Encoder
1f 230 CN2
60 r Motor
FC-001-P3-
t FC-001-P2-
Screw Terminal
& Mating Power & Brake P2 & P6
U Motors
CN1 V
Contro
W PC-001-P2-XXX (1.5 kW)
TC-PY-XXX
TB-001
BC-001-P2-XXX
24VDC
RY 24VDC PC-001-P3-XXX P3 & P5
Motors
BC-001-P3-XXX
Holding Brake
§ For 1Φ (single phase) power, do not connect 230VAC to the “S” terminal of the bus
¯ power.

31
Wiring Precautions
! 1. Always follow all local, regional, national and international electrical

codes! In case of conflicts between regulations and this instruction
manual please contact the factory.
! 2. Connect ground signals first and remove them last when installing or
removing equipment.
! 3. Arrange the servo amplifier, noise filters and motion controller as closely
to each other as possible to minimize signal length and reduce effects of
noise.
! 4. Install surge suppression circuits on relays, electromagnetic contactors,

brake solenoids and other inductive loads.
! 5. Do not pass the bus power and circuits and control signals in the same
conduit or bind them together.
! 6. When a large electrical noise source such as an arc-welder is nearby,

install noise filters.
! 7. Terminate all control signal inputs, digital and analog.

32
Applicable Wire Sizes
The chart below identifies the recommended wire sizes for all connections. This is only a
guide. The installer is responsible for satisfying all applicable codes and regulations.
DANGER
! The user is responsible for conforming with all applicable local, regional,
national, and international codes. The wiring examples in this manual are
intended only as a guide. Wiring practices, grounding, disconnects and over-
current protection are of particular importance. Failure to observe this could
result in severe injury or loss of life.
Table 8: Applicable Wire Sizes
Terminal PY2A015 PY2A030 PY2A050 PY0A100 PY0A150

PY0A015 PY0A030 PY0A050
Bus Power R, S, T 16 14 12 10 8
Control Power r, t 16
Motor Power U, V, 16 14 12 10 8
W
Regen Resistor
Power Y, COM 16 14
Thermostat (P) 20 20
H1, H2
Drive Ready RDY1, 20

Relay RDY2
Encoder CN2 28
Control (CN1) CN1 28
Remote Operator OP
1. Wire sizes are AWG.
2. To avoid electrical interference, separate the bus circuit wiring (high voltage) from
the signal wiring (CN1, CN2).

33
Input Power
The table below shows the power supply capacity requirements for each of the systems.
Table 9: Power Supply Capacity Requirement
Bus Circuit Control Circuit
Drive
Model Motor Model Capacity Capacity In Rush § Capacity Capacity In Rush §
KVA (A) @600mS VA (A) @1mS
PY2A015 P30B04010D 0.3kVA 2.1A 18A 40VA 0.2A 40A
PY2A015 P50N05020D 0.8kVA TBA 18A 40VA 0.2A 40A
PY2A050 P50N08100D 2.5kVA 5.5A 18A 40VA 0.2A 40A
PY2A050 P60B13150H 2.5kVA 7.3A 18A 40VA 0.2A 40A
PY0A050 P60B13150H 2.5kVA 7.3A 18A 40VA 0.2A 40A
§ Zero to peak currents, not RMS current.
Leakage Current
The servomotor is driven under the PWM control of an IGBT inverter in the amplifier.
This produces a high-frequency leakage current, which flows through the floating
capacitance of the motor winding, power cable and amplifier. This leakage current can
cause the malfunction of leakage detection circuit breakers or protective relays installed
on the power line.
Table 10: System Leakage Current
Motor Model Leakage Current per Motor

P20B 3.0mA
P30B 3.0mA
P50N 3.0mA
P60B 3.0mA
1. When using two or more motors, add the leakage current of each motor to determine the system
leakage current.
2. The table above assumes 2m cables. The leakage current will increase with longer cables and
decrease with shorter cables.

34
Connection Diagram (PY2 with P3/P5 Motor)
(NOTE 1) PY2 DRIVE
(NOTE 9)
AC POWER SUPPLY P3 & P5 MOTOR
1PH 200 TO 230VAC CN CN (NOTE 6)
(NOTE 6)
50/60Hz +10%/-15% A BLACK
R A B U RED A
MAIN S V WHITE B HOLDING
POWER B BRAKE
T W BLACK C WHITE
r E GREEN D
OPTIONAL
CONTROL Ground terminals
POWER t
are located at the
bottom of the (NOTE 7)
E CN2
amplifier. 1 A
BLUE
3
BLACK 2 A
4
GREEN 3 B
5
BLACK 4 B
CN 6
P D WHITE 5 C ENCODER
7
(NOTE 8) 6 C
Y BLACK
EXTERNAL 8
REGEN RED 7 5V
X 17
N BLACK 8 SG
18
BROWN
(NOTE 5) 11
BLACK
12
(NOTE 2)
TB-KIT CN1 YELLOW
- 19
2 21 BLACK
VELOCITY + 20
COMMAND 3 20
TORQUE -
COMMAND 4 22
+
15V CN1 TB-KIT NOTE 1: Consult "PY0/PY2 Servo System Installation and
-
15 43 Operation Manual" for hook-up details.
PIL 41 18 MONITOR 1
+
CURRENT
42 17 16 45 NOTE 2: The analog input can be programmed for velocity
LIMIT -
14 44 MONITOR 2 command or torque command.
NIL 40 19
+
26LS31 NOTE 3: The position command is not available when drive

-15V
A 3 12 is programmed for velocity or torque mode.
5V 5V A 4 13
(NOTE 3)
B 5 14 NOTE 4: An external power supply (5 to 24VDC) is
PPC+ 5 26 B 6 15 ENCODER required for the inputs.
C 7 16 OUT
POSITIVE
REVOLUTION
PULSE
PPC- 6 27 C 8 17 NOTE 5: Automation Intelligence offers an optional
SG 9 47 12 33 breakout screw terminal board with CN1 cable.
26LS32
5V 5V 11 47 NOTE 6: Automation Intelligence offers standard and
C
13 48 SIGNAL custom length motor power and brake cables.
NPC+ 7 28
NEGATIVE
38 39
5VDC NOTE 7: Automation Intelligence offers standard and
REVOLUTION
PULSE
NPC- 8 29 O I 49 29
12-24VDC custom length encoder feedback cables.
G
SG 46 48 46 24
R
(NOTE 4)
ALARM 8 NOTE 8: Automation Intelligence offers optional external
34 23 45 25
R
regeneration resistors with thermal contact
SERVO
ON 1 37 ALARM 4 overload protection.
44 26
ALARM R
18 30 ALARM 2
RESET NOTE 9: TYPICAL WIRING
43 27
CURRENT R MC
19 31 ALARM 1 R
LIMIT
42 32 S
FORWARD RLY HOLDING
OT 22 32 BRAKE T
41 10 r
REVERSE G START
OT 23 33 READY t
39 30
PROP G DEVIATION START READY ON START READY OFF
CONTROL 20 36 24 28 ZERO RDY1
MC
35 50 40 31
DEVIATION R CURRENT MC
CLEAR 21 34 25 11 LIMIT
VELOCITY SYSTEM ERROR E-STOP

CLAMP 49 35 RDY2

35
(NOTE 1) PY2 DRIVE

(NOTE 9)
AC POWER SUPPLY P2 & P6 MOTOR
1PH 200 TO 230VAC CN CN (NOTE 6) (NOTE 6)
50/60Hz +10%/-15% R A B U BLACK A A BLACK
S V RED B HOLDING
MAIN
POWER B BRAKE
T Ground terminals W ORANGE C WHITE
CONTROL r are located at the E YELLOW D
POWER bottom of the OPTIONAL
t amplifier.
(NOTE 7)
E CN2
BLUE A A
3
BLACK D A
CN 4
GREEN B B
D 5
P BLACK E B
(NOTE 8) 6
Y P WHITE F C ENCODER
EXTERNAL 7
REGEN Y IF NO G C
X BLACK
EXTERNAL 8
N X REGEN RED J 5V
17
N BLACK N SG
18
BROWN
(NOTE 5) 11
BLACK
12
(NOTE 2)
TB-KIT CN1 YELLOW
- 19
2 21 BLACK
VELOCITY + 20
COMMAND 3 20
TORQUE -
COMMAND 4 22
+
-
PIL 41 18 MONITOR 1
+
CURRENT
LIMIT -
NIL 40 19
+

-15V
5V 5V A 4 13
(NOTE 3)
C 7 16 OUT
POSITIVE
REVOLUTION
PULSE
26LS32
C
NPC+ 7 28
NEGATIVE
38 39
REVOLUTION
PULSE
NPC- 8 29 O I 49 29
G
SG 46 48 46 24
R
(NOTE 4)
34 23 45 25
R
regeneration resistors with thermal contact
SERVO
44 26
ALARM R
18 30 ALARM 2
43 27
CURRENT R MC
19 31 ALARM 1 R
LIMIT
42 32 S
FORWARD RLY HOLDING
OT 22 32 BRAKE T
41 10 r
REVERSE G START
OT 23 33 READY t
39 30
MC
35 50 40 31

CLAMP 49 35 RDY2

36
(NOTE 1) PY0 DRIVE

(NOTE 9)
AC POWER SUPPLY TB TB P3 & P5 MOTOR
3PH 200 TO 230VAC
(NOTE 6)
50/60Hz +10%/-15% R U A (NOTE 6)
RED
A BLACK
MAIN S V WHITE B
POWER HOLDING
T W BLACK C BRAKE
B WHITE
E E GREEN D
OPTIONAL
r (NOTE 7)
CONTROL CN2
POWER t BLUE 1 A
(NOTE 8) 3
RDY1 BLACK 2 A
EXTERNAL SERVO 4
REGEN READY RDY2 GREEN 3 B
5
Y BLACK 4 B
6
COM COM WHITE 5 C ENCODER
7
X X IF NO 6 C
BLACK
EXTERNAL 8
H1 H1 REGEN RED 7 5V
17
H2 H2 BLACK 8 SG
18
BROWN
(NOTE 5) 11
BLACK
12
(NOTE 2)
TB-KIT CN1 YELLOW
- 19
2 21 BLACK
VELOCITY + 20
COMMAND 3 20
TORQUE -
COMMAND 4 22
+
-
PIL 41 18 MONITOR 1
+
CURRENT
LIMIT -
NIL 40 19
+

-15V
5V 5V A 4 13
(NOTE 3)
C 7 16 OUT
POSITIVE
REVOLUTION
PULSE
26LS32
5V 5V 11 47
C
NOTE 6: Automation Intelligence offers standard and
NPC+ 7 28
NEGATIVE
38 39
REVOLUTION
PULSE
NPC- 8 29 O I 49 29
G
SG 46 48 46 24
R
(NOTE 4)
34 23 45 25
R regeneration resistors with thermal contact
SERVO
44 26
ALARM R
18 30 ALARM 2
43 27
CURRENT R MC
19 31 ALARM 1 R
LIMIT
42 32 S
FORWARD RLY HOLDING
OT 22 32 BRAKE T
41 10 r
REVERSE G START
OT 23 33 READY t
39 30
MC
35 50 40 31

CLAMP 49 35 RDY2

37
(NOTE 1) PY0 DRIVE 1.5kW AND 2.5kW
(NOTE 9)
AC POWER SUPPLY TB TB P2 & P6 MOTOR
3PH 200 TO 230VAC
(NOTE 6)
50/60Hz +10%/-15% R U A
BLACK (NOTE 6)
S V RED B A BLACK
MAIN
POWER T W C HOLDING
ORANGE
B BRAKE
E E YELLOW D WHITE
OPTIONAL
r (NOTE 7)
CONTROL CN2
POWER t BLUE A A
(NOTE 8) 3
RDY1 BLACK D A
EXTERNAL SERVO 4
REGEN READY RDY2 GREEN B B
5 3.0kW AND 5.0kW P2 MOTOR
Y BLACK E B
6 POWER CABLE PINOUTS
COM COM WHITE F C ENCODER
7
X X IF NO G C D
BLACK BLACK W/ RED
EXTERNAL 8
H1 H1 REGEN RED J 5V BLACK
17
H2 H2 BLACK N SG RED W/ BLACK E
18
BROWN RED
(NOTE 5) 11
BLACK ORANGE W/ BLACK F
12
(NOTE 2)
TB-KIT CN1 YELLOW ORANGE
- 19
2 21 BLACK YELLOW G
VELOCITY + 20
COMMAND 3 20 YELLOW W/ BLACK H
TORQUE -
COMMAND 4 22
+
-
PIL 41 18 MONITOR 1
+
CURRENT
LIMIT -
NIL 40 19
+

-15V
5V 5V A 4 13
(NOTE 3)
C 7 16 OUT
POSITIVE
REVOLUTION
PULSE
26LS32
C
NPC+ 7 28
NEGATIVE
38 39
REVOLUTION
PULSE
NPC- 8 29 O I 49 29
G
SG 46 48 46 24
R
(NOTE 4)
34 23 45 25
R regeneration resistors with thermal contact
SERVO
44 26
ALARM R
18 30 ALARM 2
43 27
CURRENT R MC
19 31 ALARM 1 R
LIMIT
42 32 S
FORWARD RLY HOLDING
OT 22 32 BRAKE T
41 10 r
REVERSE G START
OT 23 33 READY t
39 30
MC
35 50 40 31

CLAMP 49 35 RDY2

38
CNA, CND and CNB Connectors
Table 11: CNA, CND, and CNB Connector Pin Assignments
Symbol Explanation
R Bus circuit power input. Single/Three-phase 200-230Vac (+10%, -15%) and
S grounding terminal. This is only the high power input for the amplifier.
Control power for the amplifier is supplied on the “r” and “t” terminals. For
T
single-phase connection, do not connect to the “S” terminal.
W
r Control circuit power input terminals. Single/Three-phase 200-230Vac
t (+10%, -15%). This is the only control power input for the amplifier. The
bus power (high power) for the amplifier is supplied on the “R”, “S”, and “T”
terminals.
COM Regeneration Resistor power connections. When an external regeneration
Y resistor is not used, the internal resistor is connected to “X” and “COM”
(PY0 Drive) and “X” and “P” (PY2 Drive). When an external regeneration
P
resistor is used, the internal resistor must be disconnected and the external
resistor(s) are connected between “COM” and “Y” (PY0 Drive) and “P” and
“Y” (PY2 Drive).
RDY1 Amplifier ready output terminals. RDY1 and RDY2 are two terminals of a
RDY2 relay. When the control power supply is ON and there are no alarms, this
relay closes; otherwise it is open.
H1 (PY0 Drives only…) Input terminal for thermostat of external regeneration
H2 resistor. If an external regeneration resistor is not required, a shorting bar is
connected between H1 and H2. An open circuit indicates an external
regeneration resistor overheat condition.
U Motor power connection and grounding terminal.
V
W
W

39
Input/Output Internal Circuits
Table 12: CN1 Internal Circuits
Circuit Description Figure

Type
1 Photo-coupler Input
These inputs share a common user-supplied
5 to 24VDC supply. Connecting the input pin
to ground turns them “ON”. The required
power specification is 5-24VDC ±10%, 100
mA or more 2.2K
CN1-30 RST
DC 5V
CN1-31 ILM to 24V
3.9K
CN1-32 PROT
CN1-33 NROT
CN1-34 CLE 5 mA
CN1-35 PCON/PMUL/INH/ZCMD
CN1-36 PCON/PMUL/INH/ZCMD
CN1-37 SON
2 Line Driver Inputs
This input circuit is designed to receive
5V 5V
signals for a line driver output equivalent to a
26LS31. It may also be connected to an open 1K 1.5K 100 Equivalent to
collector type output. 26LS32
390
CN1-26 PPC+ 100
CN1-27 PPC- 1K
SG SG
CN1-28 NPC+
CN1-29 NPC-
3 Analog Input
5V
CN1-21 VCMD -
CN1-22 TCOMP/TCMD
+
.047µ
SG -5V
SG
4 Analog Input
This input is designed to receive positive -
analog voltage. 6.8K
+
CN1-18 PIL
SG SG

40
Circuit Description Figure
Type
5 Analog Input
This input is designed to receive negative
analog voltage.
CN1-19 NIL
6 Isolated Open Collector Output

All outputs share a common 5 or 12 to 24Vdc
supply (5Vdc ±10% 20ma or more, 12-24Vdc
±10% 20mA or more) 5V
CN1-39 INP/LTG Regulator
12-24V
CN1-40 ILIM +E
1 0
CN1-41 SRDY
CN1-42 HBON
Max
CN1-43 ALM1 30V
CN1-44 ALM2
COM Max 50 mA (12 to 24 V)
CN1-45 ALM4 and max 10 mA (5V)
CN1-46 ALM8
7 Open Collector Output
CN1-11 COP Max 10 mA
Max
30V
SG SG
8 Line Driver Output

This line driver output circuit is designed to
drive signals for a line receiver input
equivalent to a 26LS32. Signals valid about 1
second after control power is applied.
CN1-3 A+
CN1-4 A-
Equivalent to 26LS31
CN1-5 B+
CN1-6 B-
CN1-7 C+
CN1-8 C-
9 Analog Output
CN1-15 MON1
CN1-16 MON2 -
1KW
+
SG
SG

41
CN1 Control Connector
24 2
25 1
49 27
50 26
Table 13: CN1 Pin Assignments
Pin Abbreviation Description Circuit

Type
1 None Reserved N/A
2 None Reserved N/A
3 A+ Encoder Positive A Signal Output. Output by line 8
driver (26LS31) after the encoder pulses are divided
(ENCR). The divider is set using the Remote Operator,
Mode 1 Page 4. This output is not specified for 1
second after the control supply is turned “ON”.
4 A- Encoder Negative A Signal Output 8
5 B+ Encoder Positive B Signal Output 8
6 B- Encoder Negative B Signal Output 8
7 C+ Encoder Positive Index Signal Output 8
8 C- Encoder Negative Index Signal Output 8
9 None Reserved N/A
10 None Reserved N/A
11 COP Encoder C channel (Open Collector Output). The logic 7
can be reversed using the Func5 parameter (Mode 2,
Page 6, Bit 6).
12 SG Encoder Signal Ground N/A
13 COPG Signal Ground for COP signal, Pin 11 N/A
14 SG Monitor Signal Ground for MON1 and MON2, Pins 15 N/A
and 16
15 MON1 Monitor 1 Output. 2V ±10% per 1000RPM (velocity 9
monitor). Positive voltage indicates CCW direction of
rotation. Load less than 2mA (output resistance 1kW).
16 MON2 Monitor 2 Output. 2V ±20% per rated current (current 9
monitor). Positive voltage indicates torque is being
applied in the CCW direction. Load less than 2mA
(output resistance 1kW).
17 SG Signal Ground for analog current limits, Pins 18 and 19 N/A

42
Type
18 PIL Positive Current Limit. The current is limited to the 4
rated current at +2V. This input is effective when the
ILM (CN1 pin 31) input is “ON”.
19 NIL Negative Current Limit. The current is limited to the 5
rated current at -2V. This input is effective when the
ILM (CN1 pin 31) input is “ON”.
VCMDG Velocity/Torque Command Common, see pins 21 and
20 22. N/A
TCMDG
21 VCMD Velocity Command. With a ±2V input, the velocity 3
becomes ±1000 RPM (standard setting). The maximum
input voltage is ±10V. The input impedance is
approximately 20kW.
22 TCOMP Torque Compensation (Position Control Mode) 3
The rated torque (Tr) is obtained by inputting ± 2V, but
is limited by the maximum instantaneous stall torque.
To enable the torque compensation, use the Func1
parameter (Mode 2, Page 2, Bit 6).
TCMD Torque Command (Torque Control Mode).
With a ±2V input, the commanded torque becomes the
rated torque (Tr) and is limited to the instantaneous
maximum stall torque.
23 12-24 VDC Input sequence power supply 1. External power for N/A
CN1-30, 31, 32, 33, 36 and 37.
24 12-24 VDC Output sequence power common. Common for N/A
COM CN1-39, 40, 41, 42, 43, 44, 45, and 46.
25 12-24 VDC Output sequence power common. Common for N/A

COM CN1-39, 40, 41, 42, 43, 44, 45, and 46.
26 PPC+ Positive Pulse Command. Counter clockwise (CCW) 2

revolution pulse train command (positive signal).
27 PPC- Positive Pulse Command. Counter clockwise (CCW) 2
revolution pulse train command (complement signal).
28 NPC+ Negative Pulse Command. Clockwise (CW) revolution 2
pulse train command (positive signal).
29 NPC- Negative Pulse Command. Clockwise (CW) revolution 2
pulse train command (complement signal).
30 RST Alarm Reset input is used to clear error display, alarm 1
code, and alarm bit outputs.
31 ILM Current Limit Permit. Current is limited when this input 1
is ON. The value that current is limited to may come
from an internal drive source, IILM, or external inputs
PIL (CN1-18) and NIL (CN1-19).

43
Type
32 PROT Positive Rotation Over-travel. Counter clockwise 1
(CCW) over-travel limit. This input is used to indicate
that a travel limit has been reached in the CCW
direction of travel. When the input turns “ON”, a 120%
current limit is automatically applied, inhibiting
commands in the CCW direction.
33 NROT Negative Rotation Over-travel. Clockwise (CW) over- 1

travel limit. This input is used to indicate that a travel
limit has been reached in the CW direction of travel.
When the input turns “ON”, a 120% current limit is
automatically applied, inhibiting commands in the CW
direction.
34 GEN. PUR. Several outputs can be selected: 1
Clear Deviation Error—(Position Mode). Turning
“ON” this input for 10mS or more will clear the
contents of the position deviation counter.
Internal Velocity Command—(Velocity Mode).
35/36 GEN. PUR. Several outputs can be selected: 1
This selection is set with Func3 parameter (Mode 2,
Page 4, Bits 0 and 1).
PCON Proportional Control On. With this input “ON”, the
velocity loop becomes proportional control.
ECLR This switch is turned “ON” to clear the position
deviation.
PMUL/VCS1 Pulse Multiplier. With this input “ON”, command
pulses are multiplied by the gear ratio set by the PMUL
parameter (Mode 1, Page 3).
INH/ZCMD Inhibit. With this input “ON”, incoming pulses are
inhibited (position mode) or velocity is clamped
(velocity mode).
37 SON Servo ON. Enables the amplifier, if there are no alarms. N/A
38 5V Output Sequence Power Supply. External power supply N/A
for CN1-39, 40, 41, 42, 43, 44, 45, and 46. Use only Pin
38 or 49, NOT both.
39/40 GEN. PUR Several outputs can be selected: 6

ILIM—Current Limit Status Output. This signal comes
“ON” to indicate the amplifier is in current limit.
LTG—Low Speed (Velocity Mode). When the motor
speed becomes ±50 RPM or less of the set value, this
signal goes to low impedance.
HTG—High Speed (Velocity Mode). When the motor
speed becomes ±1000 RPM or more of the set value,
this signal goes to low impedance.

44
Type
SPE—Speed Matching. When the velocity command
and velocity feedback is smaller than the specified
value, this signal goes to low impedance.
INP—In Position (Position Mode). This signal
indicates that the content of the deviation counter is
within the setting range, OVF. OVF many be set using
the Remote Operator (Mode 1, Page 1).
CMD—Command Accept Permit
41 SRDY Start Ready Complete. This signal comes ON and goes 6
to low impedance after the bus power (R, S, and T) is
applied to signify readiness to receive the Servo “ON”
(SON) signal.
42 HBON Holding Brake. This output is used to control the 6
holding brake relay.
43 ALM1 Alarm Output 1. Alarm output 1 may be set to indicate 6
any alarm (Alarm bit) or to be the least significant bit of
a four-bit alarm code. This choice is made using the
Remote Operator to set Func1 bit 6 (Mode 0, page 11).
The default is Alarm Code Output.
44 ALM2 Alarm Output 2 see ALM1 6
47 SG Signal Ground for forward revolution pulse command N/A

pins 26 and 27.
48 SG Signal Ground for reverse revolution pulse command N/A
pins 28 and 29.
49 12-24 VDC Output Sequence Power Supply. External power supply N/A
for CN1-39, 40, 41, 42, 43, 44, 45, and 46. Use only
pins 38 or 49, NOT BOTH.
50 12-24 VDC Input sequence power supply 2. External power for N/A
CN1-34 and CN1-35.

45
CN2 Motor Encoder Connector
The motor encoder is connected to the amplifier via the CN2 connector. The figure
below identifies the pin assignment for this connector.
10 2
9 1
20 12
19 11
Table 14: CN2 Pin Assignments

Type
1 None Reserved N/A
2 None Reserved N/A
3 A+ Encoder Positive A Signal Input 2
4 A- Encoder Negative A Signal Input 2
5 B+ Encoder Positive B Signal Input 2
6 B- Encoder Negative B Signal Input 2
7 C+ Encoder Positive Index Signal Input 2
8 C- Encoder Negative Index Signal Input 2
9 None Reserved N/A
11 SG Signal Ground N/A
12 SEN Sense. This signal is used to sense the power supply N/A
voltage at the motor. The amplifier then regulates the
supply to maintain the proper voltage at the encoder.
17 +5V 5 Volt Power N/A
19 +5V 5 Volt Power N/A

46
Operator Terminal
The operator terminal connector is only intended to be used with the optional Sanyo
Denki Remote Operator and cable. This connector is therefore not specified further.

47
External Regeneration Resistors
When to use an When operating, servo systems transform electrical energy to mechanical energy to
External accelerate the motor and to overcome system losses such as friction. When a moving
Regeneration load is decelerated, or another system is “pulling” the load, the servo system converts this
Resistor mechanical energy into electrical energy, which is then dissipated as heat in a resistor.
This resistor is called a regeneration resistor or regen resistor for short. The amplifier has
an internal regen resistor which is adequate for most applications. Connections are
provided for an external regen resistor if more capacity is required.
Applications with a load that moves in a vertical direction, applications with load inertia
that is high relative to the motor (15:1), and applications where the motor is used to
provide a tension load are most likely to require external regen resistors. In order to
determine if an external resistor is required, the amount of energy generated must be
calculated and then compared to the capacity of the internal resistor. An external
regeneration (Regen) resistor is used when the internal regeneration resistor’s allowable
power is exceeded. See the table below.
Table 15: Amplifier Regeneration Power
Maximum Regeneration Power [W]

Drive Model Internal Maximum available
from AI
PY2A015 0 220
PY2A030 0 220
PY2A050 60 220
PY0A015 20 220
PY0A030 20 220
PY0A050 60 500
PY0A100 90 500
PY0A150 120 500
Calculating Regeneration Power
The formulas below may be used to calculate the amount of power generated by the
moving load. There are separate formulas for horizontal moving loads and vertical loads.
PM = Regeneration power [W]

EM = Total regeneration energy [J]
EHb = Regeneration energy during deceleration [J]
EVUb = Regeneration energy during up decel [J]
EVD = Regeneration energy during down drive [J]
EVDb = Regeneration energy during down decel [J]
KE = Motor voltage constant [V / RPM]
KT = Motor torque constant [Nm / Arms]
N = Motor speed [RPM]
Tb = Torque during acceleration [Nm]

48
TUb = Torque during up deceleration [Nm]
TD = Torque during down drive [Nm]
TDb = Torque during down deceleration [Nm]
Rf = Armature resistance [Ohms]
tb = Deceleration time [s]
tUb = Up deceleration time [s]
tD = Down drive time [s]
tDb = Down deceleration time [s]
t0 = Cycle time [s]
Motor Model KT KE Rf
[Nm / Arms] [V / RPM] [Ohms]
P20B10150D 0.82 0.0292 0.67
P20B10250D 0.79 0.0276 0.31
P20B13300D 0.80 0.0280 0.19
P20B13500D 0.85 0.0297 0.11
P30B04010D 0.292 0.0102 4.30
P30B06040D 0.533 0.0186 1.40
P30B08075D 0.565 0.0197 0.52
P50N05020D 0.436 0.0152 3.4
P50N08100D 0.553 0.0193 0.41
P60B13150H 0.900 0.0314 0.27
Horizontal load
Motor Speed and Torque Profile with Horizontal Load
Motor Speed = N
0
Tc + Tf = torque to accelerate
Tf = friction torque
Tb = torque to
decelerate
(Tb = Tc - Tf)
0
tb = time to decelerate
t0 = cycle time
2
EM = EHb =
N x 3 x K E x T b x tb
2 x KT
-
( )Tb
KT
x 3 x R f x tb PM =
EM
t0

49
Vertical Load
Motor Speed and Torque Profile with Vertical Load
Motor Speed = N
Going Down
0
Going Up
N
Tc + Tf + Tm = torque to accelerate Tm = load torque
TDb = torque to due to gravity
Tf + Tm = friction torque + torque decelerate
due to offset gravity against gravity
TUb = torque to TD = torque to drive

decelerate load down
with gravity
Tm
0
tD tDb
time to drive time to
Tc + Tf - Tm load down decelerate
tUb against gravity
time to decelerate
with gravity
t0 = cycle time
E M = EVUb + EVD + EVDb
2
N ´ 3 ´ K E ´ TUb ´ tUb æ TUb ö
EVUb = - çç ÷÷ ´ 3 ´ Rf ´ tUb for (EVUb ³ 0 ) else 0
2 ´ KT è KT ø
2
N ´ 3 ´ K E ´ TD ´ t D æ TD ö
EVD = - çç ÷÷ ´ 3 ´ Rf ´ t D for (EVD ³ 0 ) else 0
KT è KT ø
2
N ´ 3 ´ K E ´ TDb ´ t Db æ TDb ö
EVDb = - çç ÷÷ ´ 3 ´ Rf ´ t Db for (EVDb ³ 0 ) else 0
2 ´ KT è KT ø
EM
PM =
t0

50
Selecting the If the calculated regeneration power is greater than the capacity of the internal resistor, an
Right External external regeneration resistor is required. The table below provides details on the factory
Regen Resistor external regen options. There is a low, medium, and high power option for amplifiers up
through 100A. There is a low and high option for the 150A amplifier. Select an option
that has a higher power rating than PM, calculated above.
Table 16: Regeneration Resistor Selection

PY2A015 PY2A030 PY2A050 PY0A100 PY0A150
PY0A015 PY0A030 PY0A050
Resistor
Part Number REGIST- 220W100B 220W50B
Quantity 1 1
55w
Resistance [W] 100 50

Power [W] 55 55
Dimensions w, l, d [mm] 60, 230, 20 60, 230, 20
Connection Diagram Type D Type D
Resistor
Quantity 2 2
110w

Power [W] 55 55
Connection Diagram Type S Type P
Resistor
Part Number REGIST- 500W20B 500W10B 50W7B
Quantity 1 1 1
125W
Resistance [W] 20 10 7
Power [W] 125 125 125
Dimensions w, l, d [mm] 80, 250, 40 80, 250, 40 80, 250, 40
Connection Diagram Type D Type D Type D
Resistor
Quantity 4 4
220w

Power [W] 55 55
Connection Diagram Type SP Type SP
Resistor
Quantity 2 2
250w
Power [W] 125 125
Connection Diagram Type S Type P
Resistor
Part Number REGIST- 500W20B 500W10B 50W7B
Quantity 4 4 4
500w
Resistance [W] 20 10 7
Power [W] 125 125 125
Dimensions w, l, d [mm] 80, 250, 40 80, 250, 40 80, 250, 40
Connection Diagram Type SP Type SP Type SP
Note:
¯ § When using an external regen resistor, Func2 bit 4 of the remote operator must be set
for external resistor.

51
How to connect a Disconnect the internal resistor from H1, H2, “X”, and “COM” terminals and then
Regen Resistor connect according to diagram below. See figure below.
The PY2 (15A & 30A drives) has no shorting bars. For the PY2 (50A), disconnect the
jumper bars from “P” and “X”, then connect the leads of the regen resistor to “COM” and
“Y”. There is no connection for the thermostat.
Regeneration
Resistor Servo
Remove the
Amplifier
Jumper Bars
}
H1
H2
}
X
COM
1. Using the Table 16: Regeneration Resistor Selection above, determine the proper
circuit configuration, type D or S.
Two External Regen Resistors
One External Regen Resistor (Series Connection)
CN1-10
CN1-10
CN1-11 CN1-11
Servo External
Twist the wires
Regeneration Servo Twist the wires
Amplifier for better EMC
Resistor Amplifier for better EMC
CN5-2 CN5-2
CN5-3 CN5-3
Type D Type S
Four External Regen Resistors
Two External Regen Resistors (Parallel/Series Connection)
(Parallel Connection) H1
H1
H2
H2
Servo Twist the wires
X
Servo Twist the wires
X
COM
COM
Y
Y
Type SP
Type P
2. Make the connection wires as short as possible. Twist resistor leads together. Twist
thermostat connection together.
3. If possible, mount the resistor(s) above the amplifier. The resistors get hot so protect
adjacent equipment from the heat generated by the regen resistors.

52
Regeneration
Resistor Mounting
REGIST-220W100B and REGIST-220W50B (dimensions in mm)
230 300
220±0.4 270
200 Ø4.3
6
60±0.4 42.7 6
4.3
Silicone rubber glass braided wire 0.75mm² black
Silicone rubber glass braided wire 0.5mm² white (Thermostat)
1.2
20
REGIST-500W20B, REGIST-500W10B or REGIST-500W7B (dimensions in mm)
250 Ground mark

234 8 Press-fitting
terminal
(for M5) 2-M5
3 M3 M3
4.5
80 60
THERMOSTAT 3
UL 1430 wire 0.2mm² white 2 @ Ø4.5

Silicone rubber glass braided wire 2mm² white
218 700
40
350

53
Wiring Check List
þ
1. The shortest possible factory-supplied cables have been used for motor
power, encoder feedback, control signals and remote operator.
þ
2. All local electrical and safety regulations have been satisfied.
þ
3. All screw terminals are tight.
þ
4. The motor power and motor encoder cables are routed separately.
þ
5. All ground connections are secure.
þ
6. The bus power (R, S, and T) voltage and control signal voltages are
within specification.
þ
7. If an external regeneration resistor is used, ensure that the internal resistor
is disconnected from (H1 & H2—PY0, and X & COM—PY2).
þ
8. If an external regeneration resistor is used, ensure that power leads are
twisted together and the thermostat leads are twisted together.
þ
9. Control wires are as short as possible. The command input is 3m or less
and the other control wires are 50m or less.

Operation
Chapter Overview
This chapter contains a guide for the operation of the amplifier. Included in this section
are timing diagrams showing the state of inputs and outputs during normal and alarm
operation.

Pre-Operation................................................................................................................55
Amplifier Status Display 55
Power “On” Sequence ..................................................................................................56
Stop Sequences .............................................................................................................57
Stop and recovery due to loss of bus power (interlock) 57
Stop and recovery due to an internal error 58
Servo “OFF” Sequence .................................................................................................59
With 300mS Brake Delay 59
With no Brake Delay 60
Alarm Reset Sequence ..................................................................................................61
Over-travel Sequence....................................................................................................62
Positive Over-Travel 62
Negative Over-Travel 62

55
Pre-Operation
Amplifier Status The amplifier has a 7-segment display, a power LED and a Charge LED on the face that
Display is used to indicate the operating status and alarm conditions. Use the table below to
decode the 7-segment display.
Table 17: Amplifier Status Display
Display Status
Control power (r, t) is present and the amplifier-ready output
(RDY) signal is ON.
The bus power (R, S, and, T) is present but the start ready
complete (SRDY) signal is OFF.
The bus power (R, S, and, T) is present and the start ready
complete (SRDY) signal is ON.
Rotating in The Servo ON signal is ON.
a figure 8
In the position/velocity control, the forward over-travel limit

(PROT) input is active.
In the position/velocity control, the reverse over-travel limit
(NROT) input is active.
Power The control power supply +5V is present.
Charge The bus capacitors are charged. While this LED is ON be careful
of high voltage.
Flashing Code When an alarm occurs then the alarm code is flashed on the
7-segment display.

56
Power “On” Sequence
The timing diagram and circuit diagram below details the proper sequence of operation
for turning on the power to the amplifier.
u Control Power ON (r,t)

u Sequence Power ON (CN1)
1 Second
u Amplifier Ready Output (RDY) or less
u Start Ready ON (external switch)
u Main Circuit Power Supply (R,S,T)
Release
u Dynamic Brake Release
Approximately
u Start Ready Complete Output (SRDY) 0.7 Seconds

57
Stop Sequences
Stop and During normal operation, bus power (R, S, and T) may be removed from the amplifier
recovery due to without removing the control power (r and t). For example, this may be done to create a
safe environment so the operator may remove a product sample mid-process for quality
loss of bus power control or to clear a product jam. Since control power is not removed, the position of the
(interlock) motor continues to be tracked and alarm information remains available.
u Interlock
Contact Open À
On
u Amplifier Ready Output (RDY)
Off
u Dynamic Brake
On (Operating)
On
u Servo ON (SON)
Off
u Holding Brake Excitation On (Release) Off (Brake Engaged)

Timing Output (HBON)
u Start Ready Complete On

Output (SRDY)
u Motor Excitation On Á
300 msec
u Command
Approximately
Command is Ineffective (Forced to Zero)
Â Á
300 msec
50 msec
Notes:
¯ 1. Release the “interlock” before inputting the “start ready” input.
2. This value can be changed to 0mS by setting the “Holding Brake Excitation Timing”
to “0” (Mode 1, Page 13). The current is limited by the sequence current limit value
for 300mS. The default value for the sequence current limit (SILM) is 120%. It may
be change in Mode 1, Page 12.
3. It is possible to force the command to 0 for 300mS after Servo “ON” (SON) by
setting ZCLP. When in position mode, the command pulses continue to affect the
deviation for 300mS. It is possible to make the command effective immediately
after Servo ON (SON) by setting INH
4. If an interlock condition occurs while moving a heavy load a Bus Circuit Power
Error (MPE) alarm may occur.

58
Stop and If an error occurs during operation, the amplifier signals the alarm and stops motion.
recovery due to When the cause of the alarm is corrected and the amplifier alarm is reset, normal
operation can continue. The following timing diagram defines the sequence of operation
an internal error during a stop following an alarm and the restart after it is reset.
u Emergency Stop (EMR) Contact Open

À
u Amplifier Ready Output (RDY)
u Internal Fault (ALM) Á

u Dynamic Brake
On (Operating)
On
u Servo ON (SON)
Off
u Holding Brake Excitation On Off (Brake Engaged)

u Start Ready Complete On

Output (SRDY)
u Motor Excitation On
u Command
Ã Â
Command is Ineffective (Forced to Zero) 300 msec
Notes:
¯ 1. During an internal alarm condition, opening the “Interlock” has no effect. However,
release it before inputting “Start Ready”.
2. This value can be changed to 0mS by setting the “Holding Brake Excitation Timing”
to “0” (Mode 1, Page 13). The current is limited by the sequence current limit value
for 300mS. The default value for the sequence current limit (SILM) is 120%. It may
be change in Mode 1, Page 12.

59
Servo “OFF” Sequence
With 300mS During normal operation, the Servo “ON” (SON) input may be used to enable and disable
Brake Delay the amplifier. The timing diagram below defines the sequence of operation. In this
configuration there is a 300mS delay from the time the brake is released and the motor
excitation begins. This delay is present to allow mechanical delays in the actual release
of the brake. During this time, the command is internally clamped to zero. If the
amplifier is in position mode, the command pulses are counted during this 300mS delay
and will be present as a position error when the motor is enabled. This 300mS delay may
be eliminated by setting the “Holding Brake Excitation Timing” (Mode 1, Page 13) to
“0”. Refer to the next section for more details.
On
u Start Ready Complete
Output (SRDY) Off
u Servo ON (SON) On
u Holding Brake Excitation On (Release) Off (Brake Engaged)

12 msec 12 msec
Á
u Command Command is Ineffective (Forced to Zero)
300 msec
À 300 msec
Notes:
¯ 1. The current is limited by the sequence current limit value for 300mS. The default
value for the sequence current limit (SILM) is 120%. It may be changed in Mode 1,
Page 12.

60
With no Brake As noted in the section above, the standard amplifier configuration has a 300mS delay
Delay between the release of the brake and motor excitation. During this time, the command is
internally clamped to 0, but position commands are still being counted. In the case where
the load may force the motor to move during this short time, the motor will jump on
motor excitation. The amplifier will attempt to move the motor back to the position it
was in when the Holding Brake Excitation output (HBON) was turned “OFF”. This
condition is common with vertical loads.
To eliminate this “jump,” the holding brake delay can be set to 0 by changing the
“Holding Brake Excitation Timing”, Mode 1, Page 12 to” 0”. In this case, the motor
excitation will occur before the brake is actually released. The drawback to this
configuration is increased wear and strain on the holding brake. The timing diagram
below defines the sequence of operation.
On
u Start Ready Complete
Output (SRDY) Off
u Servo ON (SON) On
12 msec 12 msec

61
Alarm Reset Sequence
Should an alarm occur, it must be reset before normal operation can continue. The timing
diagram below defines the sequence of operation for an Alarm Reset.
40 msec or more
u Reset Input CN1-30 (23:Common) (RST) Off
u Alarm Code Output or Alarm Bit Output (ALM) No Output
u Amplifier Output Ready (RDY) On
Display/Alarm Output Clear
Notes:
¯ 1. Turn “OFF” the Reset Input (RST) after checking that the Alarm Code Output
(ALM) is “OFF”.
2. Sensor Error (DE), DSP Errors (DSPE), Memory Errors (MEME) and CPU Errors
(CPUE) cannot be reset unless the control power is cycled “OFF” and back “ON”.

62
Over-travel Sequence
Over-travel limit inputs are provided on CN1. The positive rotation over-travel (PROT)
limit input is on pin CN1-32 and the negative rotation over-travel (NROT) limit is on pin
CN1-33. This condition is not an alarm. The timing diagrams below define the sequence
of operation for over-travel conditions. Func0 (Mode 2, Bit 5), may be used to change
the sense of the NROT and PROT.
Positive Over-
u Forward Revolution
Travel Overtravel (PROT)
Off
u Backward Revolution Off

Overtravel (NROT)
Forward Revolution Backward Revolution

u Input Command Command Command
u Internal Command Input Command

Effective
Input Command
Ineffective À
u Current Limit Normal Limit

Sequence Current
Limit Value Á
12 msec 12 msec
Negative Over-
u Forward Revolution Off
Travel Overtravel (PROT)
u Backward Revolution
Overtravel (NROT) Off
Backward Revolution Forward Revolution

u Input Command Command Command
u Internal Command Input Command

Effective
Input Command
Ineffective À
u Current Limit Normal Limit

Sequence Current
Limit Value Á
12 msec 12 msec
¯ Notes:
1. The operation of the command invalidation differs between position and velocity
controls. For position controls, command pulses are inhibited, and for velocity
controls, the command is forced to 0 (VCMD=0). These settings are valid when the
acceleration/deceleration time (Tvac, Tvde) or low pass filter (VLPF) parameters are
set.
2. Setting the Sequence Current Limit (SILM) parameter using the Remote Operator
(Mode 1, Page 12) can change sequence current limit values.

Remote Operator
Chapter Overview
In this chapter, you will be introduced to setting parameters, viewing alarm history,
tuning and monitoring the amplifier with the Remote Operator.

Using the Remote Operator ..........................................................................................64
Overview 64
Remote Operator Modes Navigation 65
Quick Setup ..................................................................................................................66
Amplifier Parameters....................................................................................................67
Summary 67
Position Control 68
Velocity Control 69
Current Limiting 70
Parameter Summary, by mode and page 70
Detailed Description of Parameters 73
Amplifier Tuning ........................................................................................................102
Auto-Tuning 102
Manual Tuning 104
Jogging........................................................................................................................105
Monitor Screen ...........................................................................................................107
Alarm Trace Screen ....................................................................................................108

64
Using the Remote Operator
Overview The Remote Operator can be used to configure and test the amplifier. There are five
modes of operation: Parameter Set, Parameter Select, Monitor, Alarm Trace, and Test.
Para. Set The 4 parameters that allow the operator to enter a value are in this mode.
Para. Select There are 9 parameters where the operator can choose between several
factory options. These parameters are contained in the parameter select
mode.
Monitor The monitor mode is used to view internal values, and the state of inputs
and outputs.
Alarm Trace In the Alarm Trace mode, the operator can review the current and
previous 7 alarms.
Test In the test mode, the operator can jog the servomotor and run the
auto-tuning algorithm.
Mode SANYO DENKI Page

*XXXXX yy
zzzzzz ####
Parameter Parameter
Name Value
REMOTE OPERATOR
ON
MODE WR
Before
7 8 9
D E F Next
4 5 6
A B C Inc.
1 2 3
Dec.
0
SG 2
D 1
M
M
D
VC
M
M
1
2
Cable 6 Test Points for

M
CN1
D
Connector Meter or Oscilloscope

65
Remote Operator The remote operator has seven (7) modes, Parameter Set 0, 1, 2, & 8 Parameter Select,
Modes Navigation Monitor, Alarm Trace, and Test. The diagram below shows how to navigate through
these modes. The up and down arrows are used to scroll through the elements within a
mode.
SANYO DENKI
A *Para. Set 0 ON
0
Kp : 120rad/S
SANYO DENKI MODE
Remote Operator Before
<Ver. #. ## >
REMOTE OPERATOR
Next 13Parameters
REMOTE OPERATOR
SANYO DENKI
C *Para. Set 1 ON
1
PMUL : 15
SANYO DENKI MODE
*###-##-##-#-## * Before
Push /Mode/Key
REMOTE OPERATOR
Next 18Parameters
REMOTE OPERATOR
SANYO DENKI
E *Para. Set 2 ON
SANYO DENKI
* Mode Select * 2 Func1 : 00000000
MODE
Push[0]to[4]Key Before
REMOTE OPERATOR
Next 8 Items
REMOTE OPERATOR
SANYO DENKI
F *P Up=1, Down=0 ON
ON 3 Kvp 725
Before
MODE
MODE REMOTE OPERATOR
Next 5 Items
SANYO DENKI
*Test 0
ON
7
-1
Jog Set 10min
MODE
Before
REMOTE OPERATOR
Next Auto Tune / Jog

66
Quick Setup
The amplifiers are factory configured for the most common applications. Therefore, no
setup is required in most cases. The most common configuration changes include the
following:
§ The selection of an alternative command mode, such as position or torque mode.
§ The selection of the proper motor purchased with your system.
§ For optimal performance in your application, tuning may also need to be adjusted.
Table 18: Quick Setup Steps
Step Procedure
Select the proper 1. Turn ON the control power, the 230Vac attached to the “r”
motor and the desired and “t” terminals.
control type. · The Remote Operator screen should display the
[Push Mode Key] screen and a beep should
· Position Mode sound.
2. Enable System Parameter changes using the Remote

Operator.
· Press [ON / Mode] and 2 to enter the parameter
set mode.
· Press the ▼ key until you have switched to page
7 where you can set the Func6 parameters.
· Press the 1 key to change bit 7 to a 1.
· Press the [WR] key to save the change.
3. Select the proper motor.

· Press [ON / Mode] and 4 to enter the parameter
select mode.
· Press the ▼ key until you have switched to page
6 where you can set the motor type parameter.
· Press the ◄ and ► keys to change to the proper
motor type.
· Press the [WR] key to save the change.
· Cycle the control power OFF and back ON
Adjust Tuning In many cases, the default tuning will provide exceptional
performance. With large motor-to-load inertia mismatches or
in cases where very high performance is desired, servo loop
tuning is required. This can be accomplished using the
amplifiers internal auto-tuning algorithms or manual tuning.
In addition to these fundamental setup features, the remote allows configuration for
external regen resistor. Please refer to the function lists in the following section.

67
Amplifier Parameters
Summary The PY Amplifier family has many features and functions. The behavior of those
functions are controlled and configured by amplifier parameters. The descriptions of
these parameters have been arranged in several ways for easy reference.
Position Loop Pictorial reference of all the parameters associated

See page 68 with tuning a controller that is configured for
position control.
Velocity Loop Pictorial reference of all the parameters associated

See page 69 with tuning a controller that is configured for
velocity control.
Sorted by Remote Operator A table of all the parameters sorted by Remote

Mode and Page Operator Mode and Page. For example, Kvp which is
See page 70 the symbol for Velocity Loop Proportional Gain is in
mode 0 on page 2.

68
Position Control
Position Loop Parameter Block Diagram
Mode 0-1 Mode 0-4
Low Pass Filter

Position CMD
Feed Forwad
Feed Forwad
Pulse Mode 0-2
Gain
Notes: Mode 0-3
Gain Integral Time Constant

Mode 2-0 Mode 1-2 Mode 0-9 Mode 0-5 Mode 0-6 Mode 0-7 Mode 0-8
Velocity Loop Proportional

Low Pass Filter
Low Pass Filter
Notch Filter #1
Notch Filter #2
Electronic Gear
Low Pass Filter

Velocity CMD
Current CMD
Position CMD
Position Loop
Current CMD
Current CMD
Pulse Train
Current
Gain
Motor
Mode 0-0
MON1
Monitor Output
Mode 4-0
Selection
MON2 Mode 4-1
4 Multiplier Encoder
A, B
Output Pulse
Division
Mode 1-15
Torque CMD
Mode 1-4
Scale
Torque CMD
Voltage
§ Each low pass or notch filter is disabled when set to 1000 Hz.

69
Velocity Control
Velocity Loop Parameter Block Diagram
Mode 0-1 Mode 0-10
Acceleration
Mode 0-2
Time
Mode 0-3
Gain Integral Time Constant

Mode1-14 Mode 0-5 Mode 0-6 Mode 0-7 Mode 0-8
Velocity Loop Proportional

Torque Loop Parameter Block Diagram
Command Scale
Velocity CMD
Low Pass Filter
Notch Filter #1
Notch Filter #2
Low Pass Filter
Velocity CMD
Current CMD
Current CMD
Current CMD
Voltage +
Velocity
Current
Motor
-
Deceleration
MON1
Monitor Output
Time
Mode 4-0
Selection
MON2 Mode 4-1 Mode 0-11
This area is not active

in torque mode 4 Multiplier Encoder
A, B
Output Pulse
Division
Mode 1-15
Torque CMD
Mode 1-4
Scale
Torque CMD
Voltage

70
Current Limiting Internal and external current limit parameters diagram

External Internal to Drive
Positive Current 1
Limit (PIL) CR1
Positive
CN1-18 Internal Current Current
Limit (IILM)
Mode 1 Page 11 Current Limit Control
Limit
Mode 2, Func1, Bit 0
100% 0=Internal Value
1=External Value CR1
30 - 400% 0 Negative
Current
Negative Current Limit
Limit (NIL)
CN1-19 1
External Current
Limit Permit Enabled
Current Limiting Enable
(ILM) CN1-31 Externally 0
CR1
1
Current Limit (ILM)
Always Permit Source
Enabled Func0, Mode 2, Bit 2
Parameter The table below contains a list of all the amplifier parameters arranged by mode and page
Summary, by as they appear in the remote operator. Detailed descriptions of the parameters follow this
table.
mode and page
Name Abbrev Range Default Units Func Mode-

Page
Position Loop Gain Kp 1 to 1000 45 (30) rad/S 0-0
Feed Forward Gain Kff 0 to 100 0 % 0-1
Velocity Loop, Proportional Kvp 10 to 3000 100 (70) Hz 0-2
Gain
Velocity Loop, Integral Time Tvi 1 to 1000 15 (20) mS 0-3
Constant
Feed Forward Low Pass Filter FLPF 1 to 1000 1000 Hz 0-4
Velocity Command Low Pass VLPF 1 to 1000 1000 Hz 0-5
Filter
Current Command Low Pass ILPF 1 to 1000 450 Hz 0-6
Filter
Current Command, Band IBF1 200 to 1000 1000 Hz 0-7
Eliminate Filter #1
Current Command, Band IBF2 IBF1 to 1000 1000 Hz 0-8
Eliminate Filter #2
Position Command, Low Pass Tpcm 0 to 4000 0 mS 0-9
Filter Time Constant
Velocity Command, Tvac 0 to 9999 0 mS 0-10
Acceleration Time
Velocity Command, Tvde 0 to 9999 0 mS 0-11
Deceleration Time

71
Page
Velocity Loop, Proportional KvpA 0 to 255 0 Hz 0-12
Gain Addition

Page
Positioning Complete Signal INP 1 To 32767 64 P(+/-) 1-0
Width
Excessive Deviation Value OVF 1 To 32767 256 x256P 1-1
Electronic Gear Ratio EGER 1/32767 To 4/1 - 1-2
32767
Command Pulse Multiplier PMUL 1To 63 1 - 1-3
Output Pulse Division Ratio ENCR 1 To 1/8192 1/1 - 1-4
Low Velocity LTG 0 to 32767 50 min-1 1-5
High Velocity HTG 0 to 32767 1000 min-1 1-6
Velocity Matching Width SPE 0 to 32767 50 min-1 1-7
-1
Internal Velocity, Command VCI1 0 to 32767 500 min 1-8
Value #1
Internal Velocity, Command VCI2 0 to 32767 1000 min-1 1-9
Value #2
Internal Velocity, VCI3 0 to 32767 1500 min-1 1-10
Command Value #3
Internal Current Limit Value IILM 30 To (IP/IR) 100 % 1-11
x 100
Sequence Current Limit Value SILM 30 To (IP/IR) 120 % 1-12
x 100
Holding Brake Timing THB 0 To 1000 300 mS 1-13
-1
Velocity Command Scale VCMS 0 To 3000 500 min /V 1-14
Torque Command Scale TCMS 0 To 400 50 %/V 1-15
Motor Encoder Pulse Number MENP 500 to 65535 $$$$ P/R 1-16
Full Close Encoder Pulse EENP* 500 To 65535 $$$$ P/R 1-17
Number

Page
Command Pulse Train Form PMOD 0, 1 00000000 Bit 2-0
Amplifier Function Select #0 Func0 0, 1 00000000 Bit 2-1
Name Abbrev Range Default Units Func Mode-Page

Position Loop, Gain Kp 1 To 1000 45 (30) rad/S 3-0

72
Velocity Loop, Proportional Gain Kvp 10 To 3000 100 (70) Hz 3-1
Velocity Loop, Integral Time Tvi 1 To 1000 15 (20) mSec 3-2
Constant
Zero Adjustment of Velocity Vzero +/-16383 $$$$ 3-3
Command
Zero Adjustment of Torque Tzero +/-16383 $$$$ 3-4
Command

Monitor #1 Output M1 12 Ranges Vm2mV/mi 4-0
n-1
Monitor #2 Output M2 12 Ranges Ic2v/IR 4-1
Gain Select GAIN 2 Ranges Fix 4-2
Control Mode TYPE 6 Ranges $$$$ 4-3
Encoder Type ENKD 3 Ranges $$$$ 4-4
ABS Sensor Format ABSF 11 Ranges $$$$ 4-5
Motor Type MOT. For P1, P2, P3, $$$$ 4-6
P5, P6, and P8
motors

Position Loop, Gain #2 Kp2 1 To 1000 45 (30) rad/S 8-0
Velocity Loop, Proportional Gain Kvp2 10 To 3000 100 (70) Hz 8-1
#2
Velocity Loop, Integral Time Tvi2 1 To 1000 15 (20) mS 8-2
Constant #2

73
Detailed Following is a detailed description of the amplifier parameters arranged by mode number.
Description of
Parameters
Position Loop Gain Kp
Remote Operator Mode: 0 Page: 0 Default Value: 45 (30)

Function: Tune Setting Range: 1 to 1000 rad/s
Description:
· Proportional gain of the position controller
Feed Forward Gain Kff
Remote Operator Mode: 0 Page: 1 Default Value: 0%

Function: Tune Setting Range: 0 to 100%
Description:
· When set to 100%, the following error becomes “0” when a constant speed is commanded.
· Higher values of Kff reduce the following error of the position loop. However, too high of a value may
cause the system to become unstable and vibrate.
dq i
x Kff
dt
qi Position Loop
Position Gain KP
- Velocity
Command Command
Position
Feedback

74
Velocity Loop, Proportional Gain Kvp

Function: Tune Setting Range: 10 to 3,000 Hz
Description:
· Proportional gain of the velocity controller (PI control).
· The setting indicates the value when the load inertia is 0.
Velocity Loop, Integral Time Constant Tvi

Function: Tune Setting Range: 1 to 1000mS
Description:
· Integration time constant of the velocity controller (PI control) .
Velocity Velocity Regulator

Error Kvp (1+ ò 1/Tvi dt) Output

75
Feed Forward, Low Pass Filter FLPF
Remote Operator Mode: 0 Page: 4 Default Value: 1000 Hz

Function: Tune Setting Range: 1 to 1000
Description:
· The cut-off frequency of the low-pass filter is set for the feed-forward command of the position loop.
Velocity Command, Low Pass Filter VLPF

Description:
· The cut-off frequency of the velocity command low-pass filter.
Current Command, Low Pass Filter ILPF

Function: Tune Setting Range: 1 to 1000Hz
Description:
· The cut-off frequency of the current command low-pass filter.

76
Current Command, Band Eliminate Filter #1 IBEF

(Notch Filter)

Function: Tune Setting Range: 200 to 1000 Hz
Description:
· The center frequency of the notch filter with the characteristics shown in the following figure is set for the
current command in the velocity loop.
Gain
dB
0dB
-3dB
.62 fn fn 1.62 fn frequency

(Hz)

77
Current Command, Band Eliminate Filter #2 IBEF

Notch Filter)

Function: Tune Setting Range: IBF1 to 1000 Hz
Description:
· The center frequency of the notch filter with the characteristics shown in the following figure is set for the
current command in the velocity loop.
· This parameter must satisfy the following requirement: IBF1 < IBF2.
Gain
dB
0dB
-3dB
.62 fn fn 1.62 fn frequency

(Hz)
Position Command, Low Pass Filter Time Constant Tpcm
Remote Operator Mode: 0 Page: 9 Default Value: 0 mS

Description:
· The time constant for the position loop low-pass filter. When it is set to “0,” no filter is inserted.

78
Acceleration Time Tvac

Function: CMD Setting Range: 0 to 9999
Description:
· This parameter is used for limiting the acceleration time in the velocity control to 1000 min-1 (rpm) minute.
· Even if the velocity command voltage suddenly changes, the velocity command inside the servo amplifier is
limited so that the acceleration is equal to that determined by this time.
1000 RPM
0 RPM
Tvac
Note:
· This parameter is effective in the velocity control type. Using this when an external closed loop position
controller is used introduces a phase delay that may cause instability and vibration.
· This parameter determines the rate of deceleration when an over-travel limit is reached.

79
Deceleration Time Tvde

Description:
· This parameter is used for limiting the deceleration time in the velocity command to 1000 min-1 (rpm) minute.
· Even if the velocity command voltage suddenly changes, the velocity command inside the servo amplifier is
limited so that the acceleration/deceleration is equal to that determined by this time.
1000 RPM
0 RPM
Tvde
Note:
· This parameter is effective in the velocity control type. Using this when an external closed loop position
controller is used introduces a phase delay that may cause instability and vibration.
· This parameter determines the rate of deceleration when an over-travel limit is reached.
Velocity Loop Proportional Gain Addition KvpA
Remote Operator Mode: 0 Page: 12 Default Value: 0 pulse

Function: Alarm Setting Range: 0 to 255 Hz
Description:
· The actual velocity loop proportional gain is:
Kvp + (KvpA x RSW)
When switching of the gain is done, it will be:
Kvp2 + (KvpA x RSW)
· RSW: A value set on the rotary switch.
· Moving the switch on front of the drive to the side labeled “GAIN” enables this.

80
In-Position Window INP
Remote Operator Mode: 1 Page: 0 Default Value: 64 pulse

Function: Alarm Setting Range: 1 to 32767 pulses
Description:
· When the absolute value of the difference between the command position and the actual position is less than the
In-Position Window (INP) the In-Position Output (CN1-39) is turned ON.
· The standard value is the encoder pulse multiplied by 4, irrespective of the electronic gear function, encoder
dividing ratio, or the command multiplier setting.
(Example)
When the parameter is set to 64 with a 2,000 pulse encoder, the positioning complete signal is output when the
value falls towards the target position in the following range:
1
64 ´ ´ 360 = ±2.88 Degrees
2000 ´ 4
Following Error Limit OVF
Remote Operator Mode: 1 Page: 1 Default Value: 256

Function: Alarm Units: X256 pulses
Setting Range: 1 to 32767 pulses
Description:
· The following error limit is the absolute difference between the commanded position and the actual position. If
the following limit is exceeded an OVF alarm occurs.
· A setting of 10 would equal following error limit of 2,560 (10 x 256) encoder pulses.

81
Electronic Gear Ratio EGER
Remote Operator Mode: 1 Page: 2 Default Value: 4/1

Function: CMD Setting Range: 1/32767 to 32767
Description:
· Electronic gear ratio is applied to incoming position commands.
Fin = Frequency into the amplifier

Fout = Frequency out of the gear function
EGER = N / D N (1 to 32767)
D (1 to 32767)
Fout = Fin x (N / D)
1 / 32767 < N / D < 32767
Note:
· Since the electronic gear ratio is for changing the magnification ratio of the command pulses, changing this
setting does not change the resolution of the position feedback.
· The encoder in use determines the minimum positioning resolution.
Position Command, Pulse Multiplier PMUL
Remote Operator Mode: 1 Page: 3 Default Value: 1

Description:
· A multiplier for the position command pulse can be selected from 1 to 63.
· When the PMUL input terminal is selected by the Func3 parameter.

82
Output Pulse Divide Ratio ENCR
Remote Operator Mode: 1 Page: 4 Default Value: 1/1

Function: Monitor Setting Range: 1 to 1/8192
Description:
· Defines the ratio of encoder pulses (CN2) to control feedback pulses.
F in Frequency in from the motor encoder

F out Frequency out to a position controller
b a = 1 to 64 or 8192
ENCR
a b = 1 (when a=1 to 64)
= 2 (when a=3 to 64)
= 1 to 8191 (when a= 8192)
b
F out F in .
a
Low Velocity LTG
Remote Operator Mode: 1 Page: 5 Default Value: 50 min-1

Function: Monitor Setting Range: 0 to 32767 min-1
Description:
· Low velocity: When the speed becomes below this set level the “low velocity” (LTG) output is turned ON
(CN1-39).
· If the LTG (low velocity) is specified (Func4), the LTG alarm is output as the revolution speed goes below
the setting.

83
High Velocity HTG

Function: Monitor Setting Range: 0 to 32767 min-1
Description:
· Low velocity: When the speed becomes below this set level the “low velocity” (LTG) output is turned ON
(CN1-39).
· The following switching (control mode) enables a speed limit to be set in the torque control mode:
Velocity Torque
Position Torque
Speed Matching Width SPE

Function: Setting Range: 0 to 32767 min-1
Description:
· When the difference between the velocity command and the velocity feedback is smaller than the specified
value, selecting SPE in the Func4 parameter can output a “speed matching width”.
Internal Velocity Command Value #1 VCI1

Description:
· Sets a velocity command scale.
· Set the Func3 parameter bits 3, 2, 1, and 0 to “1010”, and turn the CN1-36 pin “ON” and CN1-35 pin
“OFF”.

84

Description:
· Set a velocity command value.
· It is enabled by setting the Func3 parameter bits 3, 2, 1, and 0 to “1010”, and turning the CN1-35 pin “ON”
and the CN1-36 pin “OFF”.

Description:
· Sets a velocity command value.

· It is enabled by setting the Func3 parameter bits 3, 2, 1, and 0 to “1010”, and simultaneously turning both
the CN1-35 pin and the CN1-36 pins “ON”.
Current Limit, Internal Value IILM
Remote Operator Mode: 1 Page: 11 Default Value: 100 %

Function: Current Limit Setting Range: 30 to (IP/IR) x 100
Description:
· By setting Func1, Bit 0 to “0” and turning “ON” pin ILM (CN1-31 pin), the current is clamped at the above
set value. However, it is impossible to set the value higher than the IP value.
· This parameter can be set within the range from 30% to (IP/IR x 100)%.
IP: Peak armature current.
IR: Rated armature current.

85
Current Limit, Sequence SILM
Remote Operator Mode: 1 Page: 12 Default Value: 120 %

Function: Current Limit Setting Range: 30 to (IP/IR) x 100
Description:
· This current limit applies under the following conditions: holding brake sequence, over-travel, and while
jogging.
· Even if this parameter is set to a value larger than the peak current, the actual current will be limited to the
peak current.
· Changes to this parameter do not take affect until the control power is cycled “OFF” and back “ON”.
· The setting is a percentage of rated current (IR).
Holding Brake Excitation Timing THB
Remote Operator Mode: 1 Page: 13 Default Value: 300 mSec

Function: Setting Range: 0 to 1000
Description:
· Sets the holding brake excitation timing.
· Select “0” when this functions is not used.
Velocity Command, Scale Adjustment VCMS
Remote Operator Mode: 1 Page: 14 Default Value: 500 min-1/V

Description:
· Sets a velocity command scale corresponding to 1V of the command voltage.

86
Torque Command, Scale Adjustment TCMS
Remote Operator Mode: 1 Page: 15 Default Value: 50 %/V

Description:
· Sets a torque command scale corresponding to 1V of the command voltage.
Motor Encoder Pulse Number MENP
Remote Operator Mode: 1 Page: 16 Default Value: $$$$ P/R

Function: Motor Setting Range: 500 to 65535
Description:
· Sets the number of pulses of the encoder used.
· The following shows the number of encoder pulses for the standard combinations:
“Wire-Saving” Incremental encoder—2000 P/R
Absolute Encoder—2048 P/R
· Changes to this parameter do not take affect until the control power is cycle “OFF” and back “ON”.
· When changing this setting, set Func6 Bit 7 to “1” from Mode 2 prior to the change.
Number of Pulses of Fully Closed Encoder EENP
Remote Operator Mode: 1 Page: 17 Default Value: $$$$ P/R

Description:
· Sets the number of pulses of the encoder used in terms of the motor shaft.
· This parameter is usable only on the servo system that supports the fully closed design.

87
Position Command, Pulse Train Pattern PMOD
Remote Operator Mode: 2 Page: 0 Default Value: 00000000 Bit

Function: CMD Setting Range: 0,1
Description:
· The position command pulse train can be entered in 3 forms: Forward & Backward Revolution Pulse Train,
Code & Pulse Train, 90º Phase Difference Two-Phase Pulse Train
· The rising/falling edge command, the revolution direction, and digital filter clock can be specified here.
7 6 5 4 3 2 1 0
When Bit 7 = 0
Digital Filter for Command Pulse Input

Bit 1 Bit 0
Maximum Frequency Minimum Pulse Width
0 0 666 kpulse/S 750 nS
1 1 2.6 Mpulse/S 187.5 nS
0 1 1.3 Mpulse/S 375 nS
1 1 333 kpulse/S 1.5 uS
When Bit 7 = 1
Digital Filter for Command Pulse Input

Bit 1 Bit 0
Maximum Frequency Minimum Pulse Width
0 0 166 kpulse/S 3.0 uS
1 1 666 kpulse/S 750 nS
0 1 333 kpulse/S 1.5 uS
1 1 83.3 kpulse/S 6.0 uS
CCWP Input Polarity Switching

0 Counts at the Rising Edge
1 Counts at the Falling Edge
CWP Input Polarity Switching

0 Counts at the Rising Edge
1 Counts at the Falling Edge
Selection of Revolution Direction

0 Standard
1 Backward Revolution
Bit 5 Bit 6 Command Pulse Form

0 0 Forward & Backward Revolution
1 1 Code & Pulse
0 1 90 Degree Phase Difference
1 1 Prohibited
Switching of Digital Filter

0 High Speed
1 Low Speed (1/4)

88
Function Switch 0 Func0

Function: I/O Setting Range: 0,1
Description:
· This parameter selects whether external signals are made effective or are forced “ON” internally. It also
selects the overt-travel input logic, the encoder used (between motor or fully enclosed-external-encoder), and
the multiplication factor of the encoder.
7 6 5 4 3 2 1 0
SON
0—Externally Effective
1—Internally Forced “ON”
CN1-36 Pin Mask
ILM Mask
NROT Mask
PROT Mask
Over-Travel Input Logic Select
0—“b” contact
1—“a” contact
Switching of Fully Closed Encoder Function
0—Multiplication by 4
1—Multiplication by 1
Position Loop Encoder Select
0—Motor Encoder
1—Fully Closed Encoder
· Bits 6 and 7 are only available with servo systems that support the fully closed design.
· Selecting a fully closed encoder does not change the divided output. Thus, when you need a divided output
for the fully closed encoder, set Func5, Bit 4 to “1”.
· When over-travel bits 3 and 4 are internally turned “ON”, they become ineffective if the over-travel input
logic is “b” contact. Also, bits 3 and 4 are always in over-travel status if the over-travel input logic is “a”
contact.
· When changing the setting of Bit 7 or 6, you must turn the control power “OFF” once prior to making the
change.

89

Description:
· A desired function can be set from the digital switch
7 6 5 4 3 2 1 0
Current Limit Control Method

0—Internal Setting Enabled
1—External Analog Input Enabled
Backward Revolution Current Limit Input Form
0—Selects NIL Input
1—Selects PIL Input
NIL Input Polarity
0—Negative Polarity
1—Positive Polarity
Positioning Method
0—Specify Pulse Interval
1—Specify Pulse Edge
Deviation Clear
0—Clear Deviation
1—Do Not Clear Deviation
Forced Zero (When SOFF is switched to SON)
0—Enabled
1—Disabled
Torque Compensation
0—Disabled
1—Enabled
Velocity Addition Input
0—Disabled
1—Enabled
· Bit 7 is effective in the position control mode.

· Bit 6 is effective in both the position and velocity control modes.
· When Bit 4 is set to “1”, the position deviation is not cleared upon the occurrence of an alarm. Therefore, be
sure to clear the deviation before clearing the alarm.

90

Description:
· A desired monitor output method or regeneration resistor “over-load” time can ce selected.
7 6 5 4 3 2 1 0
Monitor 1 Output Polarity

0—Positive Output at Forward Revolution
1—Negative Output at Forward Revolution
Monitor 2 Output Polarity
0—Positive Output at Forward Revolution
1—Negative Output at Forward Revolution
Monitor 1 Output Absolute Value
0—Negative/Positive Output
1—Absolute Value Output
Monitor 2 Output Absolute Value
0—Negative/Positive Output
1—Absolute Value Output
Regeneration Resistor Over Load Time Selection
0—Built-In Regeneration Resistor
1—External Regeneration Resistor
Speed Control Error (SE) Detection
0—Enabled
1—Disabled
Alarm Output Method
0—Code
1—Bit
Alarm Output Logic
0—Turned “OFF” at an Alarm
1—Turned “ON” at an Alarm
· Changes to bit 4 do not take affect until the control power supply is cycled “OFF” and back “ON”.
· If Bit 7 is set at “1”, and alarm will not be indicated for a CPU error.
· Bit 4 cannot be changed unless the control power is turned “OFF”.
· Forward revolution refers to the counterclockwise revolution when viewed from the load (motor shaft) side.

91

Description:
· This parameter allows you to set the CN1-35 and CN1-36 pins to the desired terminals. It also allows
you to select the input signal for switching the control mode or gain.
7 6 5 4 3 2 1 0
CN1-35 Pin Input Select
bit 1 bit 0 Position Velocity/Torque

0 0 PCON PCON
0 1 ECLR ECLR
1 0 PMUL VCS2
1 1 INH ZCMD
CN1-36 Pin Input Select

bit 3 bit 2 Position Velocity/Torque
0 0 PCON PCON
0 1 ECLR ECLR
1 0 PMUL VCS1
1 1 INH ZCMD
Input Signal Select for Switching of Gain

0 Enables CN1-36 pin
Input Signal Select for Switching Contol Mode
· Bit 7 is enabled when the switching mode is selected for the control mode.
· Bit 6 is enabled when the gain-switching mode is selected.
· Setting bits 3, 2, 1, and 0 to “1010” in the velocity control mode enables the internal velocity command.
Setting bits 3 and 2 “ON”, or 1 and 0 alone does not make this command valid.
· As long as the input signal for control mode or gain switching is assigned to the CN1-35 pin, input
signal selection with Func3 Bits 1 and 0 is disabled except for the internal velocity select function.
When the input signal for control mode or gain switching is assigned to the CN1-36 pin, input signal
selection with Func3 bits 3 and 2 is disabled except for the internal velocity select function. If the
internal velocity select function is enabled (Func3, Bits 2 and 0 are set at “1010”), the internally
velocity set with the CN1-35 and CN1-36 pins are enabled. At the same time, control mode and gain
switching are made valid. This, however, is only effective when the velocity control mode including
the control mode-switching mode is selected.
· When the same signal is selected for CN1-35 and CN1-36 pins, the 36 pin take precedence.

92

Description:
· This parameter allows you to set the CN1-39 and CN1-40 pins to the desired terminals.
7 6 5 4 3 2 1 0
bit 2 bit 1 bit 0 CN1-39 Pin Output Terminal

0 0 0 ILM: Current Limit Status
0 0 1 LTG: Low Speed
0 1 0 HTG: High Speed
0 1 1 SPE: Speed Matching
1 0 0 INP: Positioning Complete
1 0 1 CMD: Command Accept Permit
bit 5 bit 4 bit 3 CN1-40 Pin Output Terminal

0 0 0 ILM: Current Limit Status
0 0 1 LTG: Low Speed
0 1 0 HTG: High Speed
0 1 1 SPE: Speed Matching
1 0 0 INP: Positioning Complete
1 0 1 CMD: Command Accept Permit
CN1-39 Pin Output Logic Select

0 On at Status Output
1 OFF at Status Output
CN1-40 Pin Output Logic Select

0 On at Status Output
1 OFF at Status Output
· The standard value is set at 00000100 in the position control mode.

93

Description:
· This parameter is used select the encoder output format or the command input polarity.
7 6 5 4 3 2 1 0
Current Command Polarity Reversing Bit

0 Forward Revolution at Positive Input
1 Backward Revolution at Positive Input
Velocity Command Polarity Reversing Bit

Position Command Polarity Reversing Bit

Divided Output Signal Switching

0 Motor Encoder
1 Fully Closed Encoder
Motor Encoder A / B Phase Signal Output

0 A-Phase Signal Not Reversed
1 A-Phase Signal Reversed
Encoder C-Signal Output Logic Select

0 H Active
1 L Active
Serial Signal Output Method Select

0 Asynchronization (9600 bps)
Manchester coding Synchronization
1
(1 Mbps or 2 Mbps)
· Even if you choose the fully closed encoder using the Func0, Bit 7 parameter, the divided output
remains the same.
· The “Fully Closed Encoder” setting can be used only on a servo system that supports the fully closed
design.
· Before changing the settings of bits 7, 6, 5, and 4, you must turn off the control power once.
· Forward revolution means counterclockwise revolution as viewed from the load (motor shaft) side.

94

Description:
· This parameter is used for changing the contents of parameters or permiting execution of the test mode.
7 6 5 4 3 2 1 0
Paramter Setup Status

0 Set
1 Not Set
Test Mode Alarm Setting

0 Alarm Enabled
1 Alarm Disabled
Test Mode Execution

0 Not Permitted
1 Permitted
Test Mode Execution

0 Not Permitted
1 Permitted
· After operation, Bits 7 and 6 must be set at “0” again.

· Turning “OFF” the control power returns bits 7, 6, and 4 back to “0”.
· If Bit 0 is set to “1”, and alarm (memory error) will be indicated. After the necessary parameter setting
is completed, set Bit 0 to “0”, then turn power “ON”.

95
Position Loop Gain Kp

Function: Tune Setting Range: 1 to 1000 rad/s
Description:
· Proportional gain of the position controller.
· Parameter can also be changed from Mode 0 Page 0.
Velocity Loop, Proportional Gain Kvp

Function: Tune Setting Range: 10 to 3,000 Hz
Description:
· Parameter can also be changed from Mode 0 Page 2.
Velocity Loop, Integral Time Constant Tvi

Function: Tune Setting Range: 1 to 1000mS
Description:
· Integration time constant of the velocity controller (PI control).

· Parameter can also be changed from Mode 0, Page 3

96
Velocity Command Zero Adjustment Vzero
Remote Operator Mode: 3 Page: 3 Default Value: $$$$

Function: Tune Setting Range: +/- 16383
Description:
· Offset of the velocity command (adjustment).
· The value varies according to the adjustments done at shipment. You can change the setting by executing
offset adjustment of the test mode (Page 2 and 3).
Torque Command Zero Adjustment Tzero

Function: Tune Setting Range: +/-16383
Description:
· Offset of the torque command (adjustment).
· The value varies according to the adjustments done at shipment. You can change the setting by executing
offset adjustment of the test mode (Page 2 and 3).

97
Monitor Output Select #1 M1
Remote Operator Mode: 4 Page: 0 Default Value: Vm2mV/min-1

Function: Setting Range: 12 types
Description:
· This parameter allows you to specify a desired output from 12 types of data from the monitor 1 output
(CN1-15 pin and check pin M1) as shown below.
Indication Contents
Im 2V/IR Current Monitor 2 V/IR Peak
Ic 2V/IR Current Command 2 V/IR Peak
-1
Vm 2mV/min-1 Velocity Monitor 2 mV/min
-1
-1
-1
Vc 2mV/min-1 Velocity Command 2 mV/min
-1
-1
Per 50mV/P Position Deviation 50 mV/1 Pulse
Rm 1V/Full Regenerative Load Factor 1 V/Full
· IR is the “Rated Armature Current”.

· Full is the “allowable power of the built-in regenerative resistor”.
Monitor Output Select #2 M2
Remote Operator Mode: 4 Page: 1 Default Value: Ic2V/IR

Function: Setting Range: 12 Types
Description:
This parameter allows you to specify a desired output from 12 types of data from the M1 (monitor 1) for the
monitor 2 output (CN1-16 pin and check pin M2) as shown above.

98
Gain Switching Select GAIN
Remote Operator Mode: 4 Page: 2 Default Value: Fix

Function: Setting Range: 2 Choices
Description:
· Enables gain switching by an external input.
Indication Contents
Fix Gain Switching Enabled
Select Gain Switching Disabled
· Choosing “Select” allows you to switch between Kp, Kvp, and Tvi from screen Mode 8 (use CN1-36 or
CN1-35 pin for switching).
Control Mode TYPE

Function: Setting Range: 6 choices
Description:
· Allows you to choose a desired control mode (position, velocity, and torque).
Indication Contents
Position Position Control Type
Velocity Velocity Control Type
Torque Torque Control Type
Velocity / Torque Velocity-to-Torque "Switch-On-the-Fly"
Position / Torque Position-to-Torque "Switch-On-the-Fly"
Position / Velocity Position-to-Velocity "Switch-On-the-Fly"
· You can specify a desired control mode from CN1-36 and CN1-35 pins. When Func3, Bit 7 is “0”, pin
CN1-36 is enabled. When Bit 7 is “1”, pin CN1-35 is enabled.
· Parameter can also be changed from Mode 0, Page 3.

99
Encoder Type ENKD

Function: Setting Range: 3 types
Description:
· Allows the selection of encoder type used.
Indication Contents
INC.E Incremental Encoder with Reduced Wiring
ABS.E (1M) Absolute Encoder (1 Mbps)
ABS.E (2M) Absolute Encoder (2 Mbps)
ABS Sensor Format ABSF

Function: Setting Range: 11 Formats
Description:
· A desired format can be selected from the following.
2048 FMT
4096 FMT
8192 FMT
16384 FMT
32768 FMT
65536 FMT
131072 FMT
262144 FMT
524288 FMT
1048576 FMT
2097152 FMT
· You must turn “OFF” the control power before making the change.
· Your change is effective only after Func6, Bit 7 has been set a “1”.
· If the above operation (Func6, Bit 7 to “1”) is ignored, the parameter change is invalid, thus, does not take
place.

100
Motor Type MOT.

Function: Setting Range: A motor from the
P1, P2, P3, P5,
P6, and P8 series.
Description:
Position Loop Gain #2 Kp2

Description:
· Proportional Gain of the Position Controller
Velocity Loop Proportional Gain #2 Kvp2

Description:

101
Velocity Loop Integral Time Constant #2 Tvi2

Description:
· Integration time constant of the velocity controller (PI control).


102
Amplifier Tuning
Auto-Tuning General
The auto-tuning function operates the motor using the Remote Operator and estimates the
load inertia by moving the load and measuring amplifier currents. With this information,
the tuning parameters are automatically set. The four (4) parameters that are set include
position loop gain (Kp), velocity loop gain (Kvp), velocity loop integration time constant
(Tvi) and current command low pass filter (ILPF).
Precautions
! § When auto-tuning is performed, a 60Hz peak torque command is applied for 0.5
seconds. This results in forward and backward motion of one or more turns
depending on the load. Use this function only when motor vibrations will not
damage the machine.
§ If the motor starts vibrating before auto-tuning is performed, reduce the velocity loop
gain (Kvp) and increase the integral time constant (Tvi).
§ The presence of external current limits may adversely affect the auto-tuning results.
Best Results
Auto-tuning algorithms work best under the following conditions; under other conditions,
manual tuning may be required.
§ The load inertia, reflected to the motor shaft, is similar to the inertia of the motor
shaft.
§ The variations in load inertia and friction are small, i.e., the load is not dynamic.
§ The system backlash including motor coupling, gear reductions, ball screws, etc., is
small. Backlash is typically measured in degrees and is the distance that the motor
shaft can turn while the load is locked in position.
§ Results are best when the mechanical system is rigid. Low rigidity systems,
including the coupling, may cause mechanical resonance.
Auto-tuning operation
1. Enable test mode operations by setting Func6 bit 6 in mode 2 on page 7 to “1”.
2. Set the command input to 0.
3. The remote operator internally controls the brake release.
4. Turn ON the bus power (R, S, and T).

103
Enter Tuning, Page 7
Enter Test Mode Before SANYO DENKI
*Test 1
ON Tune Set Low
MODE 2 Next
REMOTE OPERATOR
Set Rigidity
Inc.
SANYO DENKI
*Test 1
Tune Set Low Save Setting
WR
Dec.
REMOTE OPERATOR
SANYO DENKI Abort

*Test 1
Tune Rdy Y=3,N=0 0
REMOTE OPERATOR C Start Auto-Tuning
3
Successful
Error Completion
SANYO DENKI SANYO DENKI
*Test 1 *Test 1
Tune Error Tune Completed
REMOTE OPERATOR REMOTE OPERATOR

0
Disable
5. Enter test mode, press [ON / Mode] and then press 7.

6. On page 1, choose the desired level of performance: high, medium, or low. For the
longest mechanical life, and quietest operation, choose the lowest performance
setting that will still meet the application requirements. High performance settings
require rigid mechanical systems and cause the highest stresses and strains to the
mechanical components.
7. To abort auto-tuning, press 0. To start auto-tuning, press 3.
8. At the conclusion of auto-tuning, the proper parameter values are automatically

stored into nonvolatile memory.
9. If an error occurs during auto-tuning, the word ERROR appears on the Remote
Operator. Mechanical problems are the most common cause of an error during auto-
tuning (drivetrain backlash or compliance).
Operations after Auto-Tuning
§ Upon exiting the Test Mode, an OVF (Deviation Over) alarm occurs. However, this
alarm is not entered into the alarm history.

104
§ If a position controller is being used, a position error in that controller may have
accumulated during the jogging operation. This error results in a command signal
from the position controller to the amplifier. Clear this position error before starting
normal operation; otherwise, the amplifier will make a sudden move in the direction
to eliminate the position error.
Manual Tuning In applications where auto-tuning is not suitable, the servo loops may be tuned manually.
If you are not familiar with the operation of PI (Proportional and Integral) controls,
please review our Handbook of AC Servo Systems which is available as a PDF file from
our website.
If you are in position mode, refer to the diagram on page 68 for a complete list of
parameters that affect tuning. If you are using Velocity Control refer to page 69 for a
complete list of parameters that affect tuning.

105
Jogging
The motor can be rotated forward and backward using the Remote Operator. The jogging
speed may also be set using the Remote Operator. Jogging is one of two operations that
can be performed in the test mode. The other is auto-tuning. Jogging is on page 0 and
tuning is on page 1.
Operations before Entering the Test Mode
§ Enable test mode operations by setting Func6 bit 6 in mode 2 on page 7 to “1”.
§ Set the command input to 0.
§ The Brake release is internally controlled by the Remote Operator.
§ Turn ON the bus power (r and t).
Precautions
§ Jogging is performed in the velocity control mode.
§ Forward motion is performed by pressing the ► key. “Fwd Running” is displayed

when the motor revolves in the counter clockwise direction when looking at the
motor shaft.
§ Reverse motion is performed by pressing the ◄ key. “Rvs Running” is displayed

when the motor revolves in the clockwise direction when viewed looking at the
motor shaft.
§ If a load is attached to the motor, secure enough operating range before jogging the
motor. In particular, when load inertia or jogging speed is high, consider the
deceleration distance.
§ During the JOG operation, current is limited by the sequence current limit value. The
default value is 120%. It can be changed using the Remote Operator.
§ During JOG operations, the overtravel limits are effective. For example, if a forward
overtravel alarm occurs while jogging in the forward direction, the motor speed will
reduce to zero and no forward motion will be permitted. The acceleration/
deceleration time setting is used when an overtravel limit alarm occurs. Therefore,
consider the distance traveled during deceleration when setting these positions.
§ Since a position loop deviation may remain after a JOG operation, be sure to perform
a “deviation clear” before returning to normal operation.

106
Jogging Operation Procedure
Enter Jogging, Page 0

Enter Test Mode Before SANYO DENKI
*Test 0
ON Jog Set 10min -1
MODE 7 Next
REMOTE OPERATOR
Set Jog Speed

SANYO DENKI 7 8 9
*Test 0
D E F
Save Setting
Jog Set 10min -1
4 5 6
A B C Inc.
WR
REMOTE OPERATOR 1 2 3
Dec.
SANYO DENKI
*Test 0
Jog Rdy 10min -1
0
Inc. Jog Positive
REMOTE OPERATOR
SANYO DENKI SANYO DENKI

Dec. Jog Negative *Test 0 *Test 0
Jog Rvs Running Jog Fwd Running
ON
MODE REMOTE OPERATOR REMOTE OPERATOR
Dec. Inc.
Release to
Deviation Overflow
Stop Jogging
(OVF) Alarm

107
Monitor Screen
The Remote Operator may be used to monitor inputs, outputs, velocity, current, etc., of
the servo amplifier. The monitor mode is mode 5.
SANYO DENKI
*Monitor 1
Input : 00100000
ON E
MODE 5 REMOTE OPERATOR
Table 19: Monitor Mode Page Descriptions
Page Abbrev Description

▼▲
0 STATUS Indicates the internal status of the amplifier. Power OFF, Servo
Ready, Servo ON, Alarms.
1 INPUT Indicates the input status of CN1 inputs, [1=ON, 0=OFF] and
setting status.
Bit 7 6 5 4 3 2 1 0
Name HOME 0 1 PROB2 PROB1 CW CCW EXOH
Limit Limit
Pin 16 - - 15 14 13 12 11
2 OUTPUT Indicates the output status of CN1 outputs, [1=ON,0=OFF] and

internal drive status.
Bit 7 6 5 4 3 2 1 0
Name 0 0 0 0 0 0 OUT1 OUT2
Pin - - - - - - 19 17
3 VCMD Indicates the commanded velocity [RPM]

4 VFBK Indicates the actual velocity [RPM]
5 ICMD Indicates the commanded current as a percent [IP/IR x 100%]
6 IFBK Indicates the actual current as a percent [IP/IR x 100%]
7 POS. E Indicates the position error deviation counter value [Pulses]
8 CSU Indicates the electric angle of phase U [Degrees]
9 PCMD F Indicates the position command frequency [Pulses/sec]
10 PS Indicates the absolute position (Hexadecimal)
11 FCCNT Indicates the position free-run counter value (Hexadecimal)
12 Trms Indicates the effective torque (Trma/Tr x 100%)
13 KpM Indicates the position loop gain (rad/s)
14 KvpM Indicates the velocity loop proportional gain (Hz)
15 TviM Indicates the velocity loop integral action time (ms)

108
Alarm Trace Screen
This mode permits you to view a history of the last eight faults that have occurred on the
amplifier. Using the Remote Operator, you may view the current alarm and the previous
7 alarms. Refer to Maintenance and Troubleshooting on page 110, for assistance
determining and correcting the conditions that led to the alarms.
The monitor mode is mode 6.
SANYO DENKI
*Alarm 1
Last1 : EXOH
ON F
MODE 6 REMOTE OPERATOR
Table 20: Alarm Mode Page Descriptions
Page Switch Description

▼▲ Position
0 0 Current Status or Alarm

1 1 Previous Alarm
2 2
3 3
4 4
5 5
6 6
7 7 Oldest Alarm

109
Table 21: Amplifier Alarm Codes
7-Segment Abbreviation Description

1 OC Overcurrent
2 OL Overload
3 AOH Amplifier Overheating
5 OV Overvoltage
6 OS Overspeed
7 PE Control Power Supply Error
8 DE Detector Error – Encoder Error
9 MPE Bus power (R, S, and T) Error
A FP Fail Phase - bus power (R, S, and T) is missing a
phase
C SE Speed Control Error
D OVF Position Deviation Overflow
E EXOH External Regen Resistor Overheating
F DSPE DSP Error
H RGOH Internal Regen Resistor Overheating
J RGOL Resistor Overload
P MEME Memory Error
U AEE Absolute Encoder Error (Not available at this time)
No Light CPUE CPU Error

Maintenance and
Troubleshooting
Chapter Overview
This chapter contains a maintenance and troubleshooting guide for installation of
amplifiers and matching motors.
Chapter Overview .......................................................................................................110

Maintenance................................................................................................................111
Troubleshooting ..........................................................................................................111
Power Element Error 111
Overload 112
Amplifier Overheating 112
Overvoltage 113
Overspeed 113
Control Power Supply Error 114
Sensor Error 114
Bus Power (R, S, and T) Supply Failure 115
Bus Power (R, S, and T) Phase Missing 115
Velocity Control Error 116
Deviation Overflow (Position) 116
External (Regeneration Resistor) Overheating 117
DSP Error 117
Internal Regeneration Resistor Overheating 118
Regeneration Error 118
Memory Error 119
Absolute Encoder Battery Alarm (not available at this time) 119
CPU Error 119
Acceleration and Deceleration Time...........................................................................121
Dynamic Brake ...........................................................................................................122
Stopping Time 122
Miscellaneous Servo Motor Specifications.................................................................124
Direction of Rotation 124
Holding Brake Specification 124

111
Maintenance
§ Normally, the only maintenance required is the removal of superficial dust and dirt
from the amplifier. To clean the amplifier, use low-pressure, oil-free compressed air.
§ Periodically inspect all cables, verifying they are free from damage and ensuring that
the connections to the amplifier are tight.
§ Investigate any unusual vibrations or noises immediately.
Troubleshooting
Upon the occurrence of an alarm, the 7-segment display on the amplifier will flash an
alarm code. The alarm code or bit will also be set on the output pins on CN1-43, 44, 45,
46 and reported in the alarm trace mode of the Remote Operator. The table below
outlines possible causes and corrective actions for each alarm.
Power Element Error

Symbol 7-Segment Display Alarm code
CN1- [46,45,44,43]
OC 1 0001
Operating Condition Cause Corrective Action

Alarm occurs when the · Faulty PC board · Replace the servo
control power supply is amplifier
turned ON
Alarm occurs when the · Faulty PC board · Replace the servo
Start Ready Complete amplifier
output (SRDY, CN1-41)
turns ON, after turning ON
the bus power (R, S, and T)
Alarm occurs when Servo · Faulty motor ground · Check ground circuits
On input (SON, CN1-37) · Replace motor
turns ON
· Faulty Power Module · Replace the servo
· Faulty current amplifier
feedback circuit
· Incorrect motor power · Check and correct
wiring motor wiring
Alarm occurs when the · Improper combination · Use the Remote
motor starts or stops of motor and amplifier Operator to check and
set parameter MOT.

112
Overload
CN1- [46,45,44,43]
OL 2 0010

Alarm occurs when the · Faulty PC board · Replace servo
turned ON
Alarm occurs while the · The motor is operating · Review the load
motor is in operation over the rated torque requirements and the
motor specifications
· The holding brake is · Release the brake
not released
The motor turns but has · Incorrect wiring of the · Correct the wiring
very little torque or the motor power circuit
Alarm occurs after the · Intermittent failure in
motor is operated for a motor power circuit
while
· Improper combination · Use the Remote
of motor and amplifier Operator to check and
set parameter MOT.
Load conditions have been · Faulty PC board · Replace the servo
verified to be under rated amplifier
conditions and the alarm · Faulty motor encoder · Replace servo motor
occurs
Amplifier Overheating
CN-1 [46,45,44,43]
AOH 3 0011
Alarm occurs when the · Faulty temperature · Replace servo
control power supply is sensor on PC board amplifier
turned ON
Alarm occurs while the · The ambient · Take measures to
motor is in operation temperature of the lower the ambient
servo amplifier is temperature
greater than 55C
· Excess heat generated · Replace servo
due to an amplifier amplifier
failure

113
Overvoltage
CN1- [46,45,44,43]
OV 5 0101

turned ON
Alarm occurs after the bus · The input power · Lower the line voltage
power (R, S, and T) supply voltage is high below the specification
is turned ON for a while (high-line)
· The input power
waveform is distorted
Alarm occurs while the · The load inertia is too · Lower the load inertia
motor is in operation large for the existing · Add or increase the
regeneration resistor size of the external
regen resistor.
Overspeed
CN1- [46,45,44,43]
OS 6 0110

turned ON · Faulty motor encoder · Replace servo motor
Alarm occurs while the · Improper velocity scale · Reset the velocity scale
motor is in operation setting
· The velocity command · Reduce the command
is too high below the system
specification
· Incorrect encoder · Correct encoder wiring
wiring
· Faulty encoder · Replace servo motor
Alarm occurs when the · Velocity overshoot is · Reset servo tuning
motor starts excessive · Increase the
acceleration time

114
Control Power Supply Error
CN1- [46,45,44,43]
PE 7 0111

Alarm occurs when the · The input power · Raise the line voltage
control power supply is supply is below to within the
turned ON 170VAC specification
· The ±15V power is · Replace servo
abnormal amplifier
Alarm occurs while the · Too large of an input · Bring input power
motor is in operation power variation within specification
Sensor Error
CN1- [46,45,44,43]
DE 8 1000

Alarm occurs when the · Faulty Encoder · Replace servo motor
control power supply is · Faulty PC board · Replace servo
turned ON amplifier
· Incorrect or · Correct encoder wiring
disconnected encoder
wiring
· Incorrect parameter · Use the Remote
setting of encoder type Operator to check and
set parameter ENKD
Alarm occurs after the · Faulty encoder · Replace servo motor
motor has moved slightly · Incorrect or · Correct encoder wiring
disconnected encoder
wiring

115
Bus Power (R, S, and T) Supply Failure
CN1- [46,45,44,43]
MPE 9 1001

turned ON
Alarm occurs when the bus · The bus power (R, S, · Bring input power
power (R, S, and T) supply and T) voltage is too within specification
is turned ON low
· The internal bridge · Replace servo
rectifier or fuse is amplifier
damaged
Alarm occurs while the · Too large of a input · Bring input power
motor is in operation power variation within specification
· Faulty PC board · Replace servo
amplifier
Bus Power (R, S, and T) Phase Missing

CN1- [46,45,44,43]
FP A 1010

turned ON
Alarm occurs when the bus · The three phase power · Bring input power
power (R, S, and T) is has a phase missing within specification
turned ON · Bus power (R, S, and · Tighten terminals R, S,
T) connections are not and, T on main
tight terminal strip

116
Velocity Control Error

CN1- [46,45,44,43]
SE C 1100

turned ON
Alarm occurs with Servo · The motor oscillates · Perform servo tuning
ON (vibrates) · Replace servo
amplifier
· Replace servo motor
Alarm occurs when a · Incorrect motor power · Correct motor power
velocity command is wiring wiring
entered
Deviation Overflow (Position)

CN1- [46,45,44,43]
OVF
P 1101

turned ON · Command pulses are · Stop inputting
being sent before the command pulses and
amplifier is ready enter deviation clear
Alarm occurs during motor · The maximum · Review the deviation
operation deviation value is set over value and position
too low loop gain
· The load inertia is too · Lower the load inertia
large
· The holding brake is · Release the brake
not released
· Incorrect encoder · Correct encoder wiring
wiring
· High command pulse · Lower the frequency
frequency, resulting in within specification
high acceleration rate · Make the commanded
velocity lower

117
External (Regeneration Resistor) Overheating
CN1- [46,45,44,43]
EXOH E 0011

turned ON · The H1 and H2 · Correct wiring
terminals are open
· Faulty external · Replace external
regeneration resistor regeneration resistor
thermostat
Alarm occurs during motor · External regeneration · Review working
operation resistor thermostat condition
open
· Capacity of the · Review application
external regeneration requirements and
resistor is too small regeneration resistor
sizing.
DSP Error
CN1- [46,45,44,43]
DSPE F 1111

control power supply is · The 5V power supply amplifier
turned ON is low
· The DSP is
malfunctioning
Alarm occurs during motor · The 5V power supply · Replace servo
operation is low amplifier
· The DSP is
malfunctioning

118
Internal Regeneration Resistor Overheating
CN1- [46,45,44,43]
RGOH H 0101

turned ON · Faulty Thermostat · Replace servo
amplifier
Alarm occurs during motor · Capacity of the internal · Review application
operation regeneration resistor is requirements and
too small regeneration resistor
sizing
· Faulty Thermostat · Replace servo
amplifier
Regeneration Error
CN1- [46,45,44,43]
RGOL J 0101

turned ON
Alarm occurs after the bus · Faulty regeneration · Replace servo
power (R, S, and T) is transistor amplifier
turned ON
Alarm occurs during motor · The regeneration · Install an external
operation capacity is exceeded regeneration resistor
· The load inertia is too · Reduce the load inertia
large within specification
· Make the deceleration
time longer
· If possible, lower the
current limit

119
Memory Error
CN1- [46,45,44,43]
MEME P 1111

control power supply is · Memory IC failure amplifier
turned ON
· Improper combination · Use the Remote
of motor and amplifier Operator to check and
set parameter Func6,
Bit 0 to “0”
Absolute Encoder Battery Alarm (not available at this time)

CN1- [46,45,44,43]
AEE U 1000

Alarm occurs when the · The battery has less · Replace battery
control power supply is than 20 hours of
turned ON operation remaining
and the absolute
encoder position is
unreliable
· Faulty PC board · Replace servo
amplifier
CPU Error
CN1- [46,45,44,43]
CPUE No Lights 1111

Light remains OFF after the · The CPU has failed · Replace servo
control power is applied · The 5V power supply amplifier
is low
· Faulty PC board
Lights go off during motor · The CPU has failed · Replace servo
operation · The 5V power supply amplifier
is low

120
Specifications
Chapter Overview
This chapter contains specifications for the system, amplifiers and motors that are not in
the Product Catalog and Business Policies.

Acceleration and Deceleration Time...........................................................................121
Dynamic Brake ...........................................................................................................122
Stopping Time 122
Miscellaneous Servo Motor Specifications.................................................................124
Direction of Rotation 124
Holding Brake Specification 124

121
Acceleration and Deceleration Time
The acceleration time (ta) and deceleration time (td) of the motor under certain conditions
are calculated by the following expressions. These expressions are for rated speed (or
less). Ignore viscosity torque and friction torque(s) of the motor.
(2 p ) .N 2 N1
Acceleration time ta JM JL .
60 T P TL
(2 p ) .N 2 N1
Deceleration Time td JM JL .
60 T P TL
ta Acceleration Time [sec]

tb Deceleration Time [sec]
N1 Initial Speed [RPM]
N2 Final Speed [RPM]
TP Maximum Stall Torque [Nm]
TL Load Torque [Nm]
JM Motor Inertia [kg m 2 ]
JL Load Inertia [kg m2 ]
N2
N1
Time
ta tb

122
Dynamic Brake
The PY servo amplifier is designed with an internal dynamic brake for stopping. The
brake is activated when an alarm is detected. The following explains the dynamic brake
characteristics and allowable operating frequency.
Stopping Time
Speed
w1
N
w2
0
Time
tD
2 p .N . t D JM JL . . 2
w 1 w 2 JM J L . a .N
3
b .N w 3 . 2p N
60 2.T L 60
No Load Torque With Load Torque

w 2 .w 3
w t1 w 1 w 2 w t2 w 1
w 2 w 3
N Motor speed [RPM]

JM Motor inertia [kg m2]
JL Load inertia [kg m2]
TL Load torque, acting to slow the motor [N m]
w1 Distance traveled during processing delay (assume TL=0)
w2 Distance travel while slowing from N to a stop (assume TL=0)
w3 Reduction in distance traveled as a result of a load torque TL
wt1 wt2 Total distance traveled [revolutions]
a Motor Constant
b Motor Constant

123
Dynamic Brake Constants
Drive Model Motor Model tD [sec]
a b JM [kg m2]
-7
PY2A015 P30B04010D 0.0100 25 12.2´10 0.051´10-4
PY2A015 P50N05020D 0.0100 9.78 3.86´10-7 0.173´10-4
PY2A030 P30B06040D 0.0100 4.32 6.8´10-7 0.255´10-4
PY2A030 P30B08075D 0.0100 2.97 3.68´10-7 0.635´10-4
PY2A050 P50N08100D 0.0100 2.99 0.30´10-7 2.66´10-4
PY2A050 P60B13150H 0.0100 1.08 0.60´10-7 8.30´10-4
PY2A050 P20B10150D 0.0240 2.19 1.05´10-7 2.04´10-4
PY0A015 P30B04010D 0.0065 25 12.2´10-7 0.051´10-4
PY0A015 P50N05020D 0.0065 9.78 3.86´10-7 0.173´10-4
PY0A030 P30B06040D 0.0065 4.32 6.8´10-7 0.255´10-4
PY0A030 P30B08075D 0.0065 2.97 3.68´10-7 0.635´10-4
PY0A050 P50N08100D 0.0100 2.99 0.30´10-7 2.66´10-4
PY0A050 P60B13150H 0.0100 1.08 0.60´10-7 8.30´10-4
PY0A050 P20B10150D 0.0240 2.19 1.05´10-7 2.04´10-4
PY0A100 P20B10250D 0.0240 2.87 0.26´10-7 3.71´10-4
PY0A100 P20B13300D 0.0240 2.02 0.25´10-7 7.14´10-4
PY0A150 P20B13500D 0.0240 1.54 0.07´10-7 12.58´10-4

124
Miscellaneous Servo Motor Specifications
Direction of For the standard setting, the servomotor revolves counterclockwise, as viewed from the
Rotation shaft when a positive velocity command or forward position (pulse) command is applied.
By changing parameters with the Remote Operator, the direction of rotation with the
same positive command can be reversed (Func5, Bit 1 for Velocity Command. Func5,
Bit 2 for Position Command).
When looking at the motor shaft,

counterclockwise rotation is defined as:
• Forward, or
• Positive
when a forward or positive command

signal is applied to the drive.
Holding Brake The optional brake is for holding only and should not be used to stop the motor. Turn
Specification “ON” and “OFF” the brake using the holding brake signal output HBON, CN1-42. The
specifications for the holding brake are in the table below.
Table 22: Holding Brake Specifications
Motor Model Static friction Torque Release time Set Time

[N m] varistor (diode) [mS] [mS]
P60B13150H 9.0 30 (140) 100
P50N05020D 0.353 10 (100) 15
P50N08100D 2.94 20 (200) 30
P30B04010D 0.32 15 (100) 25
P30B06040D 1.274 20 (120) 30
P30B08075D 2.38 20 (200) 40
P20B10150D 7.84 50 (200) 60
P20B10250D 9.4 30 (140) 100
P20B13300D 11.4 30 (140) 100
P20B13500D 18.1 50 (150) 120

125
Index
7 C
7-Segment Display ................................... 55 C Encoder Input CN2-7............................ 45
Cable Routing
Orientation ........................................... 23
A Cables ....................................................... 12
A Encoder Input CN2-3 ........................... 45 Clear Deviation Error ............................... 43
A Encoder Output CN1-3 ......................... 41 Clearance Requirements ........................... 16
Absolute Encoder Battery Alarm............ 120 CN1-35 Program .................... 92, 93, 94, 95
AC Power ..............................See Bus Power CN1-36 Program .................... 92, 93, 94, 95
Acceleration/Deceleration Time79, 80, CN3 Terminal Board Connector............... 38
121 CN4 Terminal Board Connector............... 38
AEE Error Code ..................................... 120 CN5 Terminal Board Connector............... 38
Alarm Combustible Gas Environment................. 15
7-Segment Display..................... 110, 112 Command Direction ................................. 88
Codes ................................................. 110 Connection Diagram
History Trace Screen.......................... 109 Drive with P2 Motor ...................... 34, 36
Output .................................................. 44 Connectors
Output Active High or Low ........... 89, 90 Bus Power (R, S, and T)....................... 38
Output Bit ...................................... 89, 90 CNA Control Connector....................... 41
Output Code................................... 89, 90 CND Internal Circuits .......................... 40
Reset .................................................... 42 CNB Motor Encoder ............................ 45
Troubleshooting ................................. 112 Control Power ...................................... 38
Alarm Reset Sequence.............................. 61 Motor Connector Orientation ............... 23
ALOG Bit Parameter.......................... 89, 90 Motor Power ........................................ 38
AMOD Bit Parameter......................... 89, 90 Regen Resistor ..................................... 38
Amplifier Remote Operator Terminal................... 46
Clearance Requirements....................... 16 TB Connector....................................... 38
Enclosure Size...................................... 19 Control Power
Environmental Requirements............... 18 Supply Error....................................... 115
Humidity .............................................. 18 TB Connections.................................... 38
Input Power.......................................... 33 Wire Size.............................................. 32
Installation ........................................... 15 Corrosive Gas Environment ..................... 15
Leakage Current................................... 33 CPU Error............................................... 120
Maintenance....................................... 112 CPUE Error Code ................................... 120
Overheating........................................ 113 Current Command
Parameters............................................ 68 Band Eliminate Filter................... 77, 78
Power Dissipation ................................ 18 BEF Enable .................................... 89, 90
Shock ................................................... 18 Low Pass Filter ................................... 76
Status Display ...................................... 55 Current Limit
Temperature ......................................... 18 Control Source ............................... 89, 90
Tuning................................................ 103 Internal Value..................................... 85
Vibration .............................................. 18 Negative Input, Analog ........................ 42
AOH Error Code .................................... 113 Parameters............................................ 71
Permit................................................... 42
Positive Input, Analog.......................... 42
B Sequence.............................................. 86
B Encoder Input CN2-5............................ 45
Bus Power (CNA and CNA) D
TB Connections ................................... 38
Bus Power (R, S, and T) DE Error Code........................................ 115
Capacity Requirements ........................ 33 Deviation, Position
Phase Missing .................................... 116 Clear............................................... 89, 90
Supply Failure.................................... 116 Error ..................................................... 43
Wire Size.............................................. 32 Overflow ............................................ 117

126
Direction of Rotation.............................. 124 I
Drive....................................... See Amplifier
Drive Systems, Valid Combination .......... 11 IBEF Bit Parameter ............................ 89, 90
DSP Error ............................................... 118 IBEF Parameter................................ 77, 78
DSPE Error Code ................................... 118 IILM Parameter ..................................... 85
Dust And Oil Environments ..................... 15 ILPF Parameter...................................... 76
Dynamic Brake....................................... 122 IMOD Bit Parameter .......................... 89, 90
INH Bit Parameter .................. 92, 93, 94, 95
INP Parameter .................................. 80, 81
E In-Position Window.......................... 80, 81
ECLR Bit Parameter................92, 93, 94, 95 Input Power .............................................. 33
EGER Parameter ................................... 82 Input sequence power supply.................... 42
Electrical Noise Environments ................. 15 In-Rush Current........................................ 33
Electronic Gear Ratio............................. 82 Inspection Procedure ................................ 14
Enable System Parameter Changes92, 93, Installation
94, 95 Drive .................................................... 15
Enclosure Size .......................................... 19 Motor ................................................... 20
Encoder Interface Circuits ...................................... 40
5 Volt Power ........................................ 45 Internal Regeneration Resistor Overheating
C Channel Open Collector Output ....... 41 ........................................................... 119
CN2 Connector .................................... 45 IP Rating................................................... 23
Preventing Damage .............................. 25
Pulse Number ..................................... 87 J
Type..................................................... 87
ENCR Parameter ................................... 83 Jogging ........................................... 106, 107
ENKD Parameter ................................... 87
ENPL Parameter .................................... 87
Environmental Requirements ................... 18
K
EXOH Error Code .................................. 118 KAO Bit Parameter ............................ 89, 90
Explosive Gas Environment ..................... 15 Kff Parameter ......................................... 74
External (Regeneration Resistor) Kp Parameter.................................... 74, 96
Overheating........................................ 118 Kvp Parameter75, 96, 97, 98, 99, 100, 101,
102
F
Feed Forward Gain ................................ 74
L
Feed Forward, Low Pass Filter ............. 76 Leakage Current ....................................... 33
FLPF Parameter..................................... 76 List of Tables.............................................. 4
Fluids, Prevention Against ....................... 23 Low Velocity ............................... 83, 84, 85
Following Error Limit............................ 81 LTG Parameter .......................... 83, 84, 85
FP Error Code......................................... 116
Func1 Parameter .............................. 89, 90
Func2 Parameter .................................... 91 M
Func3 Parameter ...................92, 93, 94, 95 M1 Bit Parameter...................................... 91
Function Switch 1 ............................. 89, 90 M1R Bit Parameter................................... 91
Function Switch 2 ................................... 91 M2 Bit Parameter...................................... 91
Function Switch 3 ..................92, 93, 94, 95 M2R Bit Parameter................................... 91
Maintenance ........................................... 112
G Manual Tuning ....................................... 105
MEME Error Code ................................. 120
Gearbox .................................................... 24 Memory Error......................................... 120
Gears and Pulleys ..................................... 26 MON2 Output CN1-16 ............................. 41
Monitor
H Output 1 ............................................... 41
Output 1 Absolute Value...................... 91
HOFF Bit Parameter................................. 91 Output 1 Polarity.................................. 91
Holding Brake Output 2 ............................................... 41
Output .................................................. 44 Output 2 Absolute Value...................... 91
Specification ...................................... 124 Output 2 Polarity.................................. 91
Time ..................................................... 91 Remote Operator Screen .................... 108
Motor

127
Ambient Temperature .......................... 20 Type ..................................................... 88
Bearing Specifications ......................... 27 Position Loop Gain ........................... 74, 96
Connecting the Load ............................ 24 Positive Current Limit Input..................... 42
Couplings ............................................. 24 Positive Pulse Command .......................... 42
Encoder .................................See Encoder Positive Rotation Overtravel..................... 43
Environmental Requirements............... 20 Power Dissipation..................................... 18
Humidity .............................................. 20 Power Element Error .............................. 112
Installation ........................................... 20 Power On Sequence.................................. 56
IP Rating .............................................. 23 PPC Bit Parameter .................................... 88
Leakage Current................................... 33 Product Support.........See Technical Support
Maintenance....................................... 112 Proportional Control Input........................ 43
Orientation ........................................... 23 Pulleys and Gears ..................................... 26
P2 Mounting Dimensions............... 21, 22
P3 Mounting Dimensions..................... 21
Power Connection ................................ 38
R
Radial and Thrust Loads ...................... 27 Radial Load Limits ................................... 27
Motor Power Regeneration Resistor
Wire Size.............................................. 32 Connections.......................................... 51
MPE Error Code..................................... 116 Error ................................................... 119
Mounting.............................................. 52
N Over Load time selection ..................... 91
Power Connections............................... 38
National Electric Code ............................. 31 Selection............................................... 50
Negative Current Limit Input ................... 42 Thermostat Wire Size........................... 32
Negative Pulse Command ........................ 42 Regeneration Resistors
Negative Rotation Overtravel................... 43 External ................................................ 47
NOB Bit Parameter ............................ 89, 90 Remote Operator ...................................... 11
NPC Bit Parameter ................................... 88 Modes................................................... 65
Operation.............................................. 64
Remote Operator Terminal ....................... 46
O REV Bit Parameter ............................. 89, 90
OC Error Code ....................................... 112 RGOH Error Code.................................. 119
Oil And Dust Environments ..................... 15 RGOL Bit Parameter ................................ 91
OL Error Code........................................ 113 RGOL Error Code .................................. 119
OS Error Code........................................ 114 RV Bit Parameter...................................... 88
Output Pulse Divide Ratio ..................... 83
Output sequence power common.............. 42 S
Output Sequence Power Supply ............... 43
OV Error Code ....................................... 114 Safety.......................................................... 7
Overload ................................................. 113 SE Error Code ........................................ 117
Overspeed............................................... 114 SEIH Bit Parameter .................................. 91
Overtravel Sensor Error............................................ 115
Negative Rotation ................................ 43 Servo OFF Sequence ................................ 59
Positive Rotation.................................. 43 Servo ON.................................................. 43
Overvoltage ............................................ 114 SILM Parameter..................................... 86
OVF Error Code ..................................... 117 SPC Bit Parameter .................. 92, 93, 94, 95
OVF Parameter ...................................... 81 Speed control Error (SE) Detection .......... 91
Start Ready Complete Output................... 44
Status Display........................................... 55
P Step and Direction Command Type.......... 88
PCON Bit Parameter ...............92, 93, 94, 95 Stop Sequences......................................... 57
PE Error Code ........................................ 115 Support ......................See Technical Support
PM1 Bit Parameter ................................... 88 Syntax, Manual........................................... 6
PM2 Bit Parameter ................................... 88
PMOD Parameter................................... 88 T
PMUL Bit Parameter...............92, 93, 94, 95
PMUL Parameter ................................... 82 Tacc Parameter................................. 79, 80
Position Command TCOP Bit Parameter................................. 91
Edge or Level Sensitive ................. 89, 90 Technical Support
Low Pass Filter Time Constant......... 78 E-Mail Support....................................... 9
Pulse Multiplier.................................. 82 Field Service .......................................... 9
Pulse Train Pattern............................ 88 Online Support ....................................... 9

128
Telephone Support ................................. 9 Velocity Clamp....................... 92, 93, 94, 95
TEST Bit Parameter ................92, 93, 94, 95 Velocity Command................................... 42
Test Mode Enable....................92, 93, 94, 95 Clamp................................. 92, 93, 94, 95
Thrust Load Limits ................................... 27 Fine Scale Adjustment ................. 86, 87
Torque Command..................................... 42 Low Pass Filter ................................... 76
Torque Command Polarity ................. 89, 90 Low Pass Filter Enable................... 89, 90
Torque Comp Input (CN1-22) effectiveness Polarity........................................... 89, 90
............................................................. 91 Velocity Control Error............................ 117
Torque Compensation .............................. 42 Velocity Control Parameters............... 69, 70
Tpcm Parameter..................................... 78 Velocity Loop, Integral Time Constant75,
Transformer Size ...................................... 33 96, 99
Troubleshooting ..................................... 112 Velocity Loop, Proportional Gain75, 96,
Tuning .................................................... 103 97, 98, 99, 100, 101, 102
Auto ................................................... 103 VLPF Bit Parameter ........................... 89, 90
Manual ............................................... 105 VLPF Parameter..................................... 76
Tvi Parameter ............................. 75, 96, 99 Vscal Parameter................................ 86, 87
Typefaces ................................................... 6
W
U
Wire Sizes................................................. 32
Unpacking ................................................ 14
Z
V
ZCLP Bit Parameter ............... 92, 93, 94, 95
Valid Drive Systems................................. 11

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Your First Online Resource for

Controls, Drives, and Motors

Sales & Technical Support

Toll Free: 1.888.531.8213

2855 Premiere Parkway, Suite A

PY Manual Copyright © 2001 Automation Intelligence, Inc. Issued: 16-Jul-01

INDEX ......................................................................................................................... 125

PY Manual Copyright © 2001 Automation Intelligence, Inc. Issued: 16-Jul-01

Table 1: Manual Syntax.................................................................................................................................................6

PY Manual Copyright © 2001 Automation Intelligence, Inc. Issued: 16-Jul-01

About this Guide

About this Guide.............................................................................................................5

Manual This guide consists of the following chapters:

PY Manual Copyright © 2001 Automation Intelligence, Inc. Issued: 16-Jul-01

Chapter 5. Operation chapter provides a detailed description of the sequence and

Chapter 6. Maintenance and Troubleshooting provides you with a recommended

Chapter 7. Specification section includes detailed specifications for PY drive

This symbol is used to identify important information of which you

DANGER, WARNING or CAUTION require accompanying information

! notices to prevent potential personal injury and equipment damage.

PY Manual Copyright © 2001 Automation Intelligence, Inc. Issued: 16-Jul-01

! Avoid damaged cables. Cables may be damaged by applying excessive stress,

PY Manual Copyright © 2001 Automation Intelligence, Inc. Issued: 16-Jul-01

! Observe all installation directions. Failure to do so may result in injury, damage

1. Make sure nothing obstructs or impedes ventilation around the amplifier.

PY Manual Copyright © 2001 Automation Intelligence, Inc. Issued: 16-Jul-01

· Telephone: 770-497-8086 or Toll Free 1-888-531-8213

PY Manual Copyright © 2001 Automation Intelligence, Inc. Issued: 16-Jul-01

· PY2A015 15A · PY0A030 30A

· P20B10150D 1.5kW 4.9Nm · P30B06040D 400W 1.37Nm

PY Manual Copyright © 2001 Automation Intelligence, Inc. Issued: 16-Jul-01

PY Manual Copyright © 2001 Automation Intelligence, Inc. Issued: 16-Jul-01

PY Manual Copyright © 2001 Automation Intelligence, Inc. Issued: 16-Jul-01

Chapter Overview .........................................................................................................13

PY Manual Copyright © 2001 Automation Intelligence, Inc. Issued: 16-Jul-01

§ Perform the Inspection Test to verify functionality of the system.

PY Manual Copyright © 2001 Automation Intelligence, Inc. Issued: 16-Jul-01

PY Manual Copyright © 2001 Automation Intelligence, Inc. Issued: 16-Jul-01

PY Manual Copyright © 2001 Automation Intelligence, Inc. Issued: 16-Jul-01

PY Manual Copyright © 2001 Automation Intelligence, Inc. Issued: 16-Jul-01

Non-operating -20 to 65C

PY Manual Copyright © 2001 Automation Intelligence, Inc. Issued: 16-Jul-01

T = Temperature difference between inside air (130 °F maximum) and outside

Q = Total amount of heat generated in the enclosure [W]

A = Surface area of the enclosure in ft2 = (2DW + 2DH + 2WH) / 144

PY Manual Copyright © 2001 Automation Intelligence, Inc. Issued: 16-Jul-01

Non-operating -20 to 65C

PY Manual Copyright © 2001 Automation Intelligence, Inc. Issued: 16-Jul-01

Motor Mounting P3/P5 Motor Dimensions Diagram (all dimensions in mm)

PY Manual Copyright © 2001 Automation Intelligence, Inc. Issued: 16-Jul-01

Motor Mounting P2/P6 Motor Dimension Diagram (all dimensions in mm)

SHAFT END THREADED HOLE W OPTIONAL

w/o brake w/ brake

Type LL KB2 LL KB2 KB1 KL1 KL2 LG LA LB LE LH LC LZ2 LR S Q QK W

P20B10150 172 216 105 +0.000 +0.000 +0.000

PY Manual Copyright © 2001 Automation Intelligence, Inc. Issued: 16-Jul-01

Motor Orientation Cable and Motor Orientation

Prevention Against Fluids

Motor Rating Conditions