1.

DESIGNATION AND PRECAUTIONS

1.1. DESIGNATION

Designations of AC servo motor and driver are as follows.

Reference for a system design and A/S.

① ENCODER CONNECTOR ② MOTOR CONNECTOR ③ NAMEPLATE ④ OUTPUT SHAFT ⑤ FLANGE ⑥ FRAME

⑦ ENCODER ⑧ FRAME SUPPORT ⑨ TERMINAL BLOCK ꊉ ꊒ CONTROLLER CONNECTOR ꊉꊓ ENCODER CONNECTOR
ꊔ OP PANEL CONNECTOR ꊉ
ꊉ ꊕ BODY LED DISPLAY ꊉ
ꊖ OP PANEL ꊉ
ꊗ OP PANEL DISPLAY ꊉ
ꊘ SETTING SWITCHES

1.2. PRECAUTIONS FOR MOUNTING MOTOR

ꏗ Warning
This product is a precision instrument, which equipped encoder made of glass on the back of
motor. Especially avoid using excessive force to motor shaft which may damage the motor.
When the speed command voltage is positive, the motor rotate as follows. (CCW viewed from the
motor shaft)
2. SPECIFICATIONS FOR AC SERVO MOTOR AND DRIVER
2.1. STANDARD SPECIFICATIONS FOR SERVO MOTOR

ITEM DS-C SERIES DS-P

MODEL NAME Z5CA 01CA 02CA 03CA 05CA 07CA 08CA 10CA 15CA
RATED OUTPUT (watt) 50 100 200 300 500 750 750 1.0k 1.5k
RATED TORQUE (kgcm) 1.62 3.25 6.50 9.74 16.2 24.4 36.6 48.7 73.1
INSTANTANEOUS PEAK
4.86 9.75 19.5 29.4 48.6 73.1 109.8 146.1 219.3
TORQUE (kgcm)
RATED ROTATION
3000 3000 2000 2000
SPEED (rpm)
MAXIMUM ROTATION SPEED
4500 3000 2000 3000
(rpm)
ROTOR INERTIA (kgm2) 0.076 0.125 0.507 0.826 2.72 3.72 4.10 16.26 22.49
POWER RATE (w/s) 3.30 8.09 8.01 11.0 9.30 15.3 25.4 14.0 22.8

RESOLUTION DETECTOR (PPR) Optical Encoder : 2000PPR

INSULATION CLASS B Class F Class

WITHSTAND VOLTAGE AC 1500V, One minute
INSULATION RESISTANCE DC 500V 10MΩ or more

2.2. TYPE DESIGNATION FOR SERVO DRIVER

◆ AC Servo Motor

DAEWOO AC SERVO MOTOR Brake Type

P / C Series STRAIGHT KEY Type

REVISION NO.
Type Z5 01 02 03 05 07 08 10 15
ENCODER 2000PPR
Watt 50 100 200 300 500 750 750 1.0k 1.5k

◆ AC Servo Driver

DAEWOO AC SERVO DRIVER REVISION NO.

P/ C Series ENCODER 2000PPR

S : Speed Control
Type Z5 01 02 03 05 07 08 10 15 P : Position Control

Watt 50 100 200 300 500 750 750 1.0k 1.5k

2.3. STANDARD SPECIFICATIONS FOR SERVO DRIVER

ITEM DASD-C Series

MODEL NAME Z5SPC 01SPC 02SPC 03SPC 05SPC 07SPC 08SPC 10SPC 15SPC
Capacity(watt) 50 100 200 300 500 750 750 1.0k 1.5k

MOTOR Rate/Max Speed 3000/4500 3000 2000 2000/3000

Combina-
tion Inertia(g‧cm‧s2) 0.078 0.128 0.517 0.843 2.775 3.80 4.20 16.6 22.95
Spec
Rated Current (Arms) 0.75 1.23 2.42 3.44 5.06 5.5 5.5 8.6 11.0

Max Current (Arms) 2.25 3.69 7.26 10.32 15.18 16.5 16.5 25.8 33.0

Main Input Voltage 1Φ AC200～220V +10～-15%, 50/60 Hz 3Φ 200～220V

Control Function Position control, Speed control, Torque control Mode

Control Method Sinusoidal PWM Control

Basic Control Method Incremental Encoder 2000 PPR
Spec.
Load Inertia Not more than 10 times the motor rotor inertia 5 times

Mounting RACK MOUNT Type

Frame Size (mm) 75(W) x 200(H) x 185(D) 85(W) x 200(H) x 185(D) 115(W) x 200(H)
x 185(D)
Torque Control Spec. DC 0～±9V (Torque:0～±
300%) Command

Speed Control Range 1 : 3000

F r e q u e n c y
100 Hz
Characteristics (AM=EL)
Speed Load 0～100% : ±
0.03% or less (at Rated Speed), ±
0.015% or less (at Rated Speed/3000))
Control
Spec. Speed Voltage 0～±
10% : ±
0.1% or less (at Rated Speed), ±
0.05% or less (at Rated Speed/3000))
Regulation
25 ±
25˚C : ±
0.5% or less (at Rated Speed), ±
0.2% or less (at Rated
Temperature Speed/3000))
Speed Reference Voltage ±
2～±
10V DC(forward run at plus reference) at Rated Speed

Input Type Sign/pulse , CAW/AW, A/B(2-Phase)

Command Pulse Type +5V level(open collector, line driver)
Pulse
Position Max Input
Control 400 Kbps
Spec. Frequency
Position Feedback Pulse 9999

Electronic Gear 1/9999 ～ 9999

SERVO ON, PROHIBIT OF POSITIVE/NEGATIVE ROTATION, ALARM RESET,
Sequence Input COUNTER CLEAR, PROPORTIONAL CONTROL MODE SELECTION, INTERNAL SPEED
Input/ SELECTION(3-TYPE)
Output
SERVO READY, SERVO ALARM, SPEED DETECTION, SPEED/TORQUE LIMIT STATE, UNSPEED /
Sequence Output
INPOSITION
OVER CURRENT, OVER VOLTAGE, UNDER VOLTAGE, OVER SPEED,
Protection
OVER HEAT, OVER LOAD, PG ERROR, REGENERATION ERROR, DEVIATION OVERFLOW
Parameter Setting,
Status Display 7 SEG LED x 6 or PUSH BUTTON SWITCH x 4 (OPTION)
Internal
Function Monitor Speed : 2V/1000RPM, Torque : 3V/100%
TEST DRIVE, JOG DRIVE, DI/DO STATUS DISPLAY, DO TEST, PARAMETER RESET, ROTOR
Other Function POSITION DISPLAY, VCMD/TCMD OFFSET AUTOSET, S-CURVE ACCELERATION/DECELERATION,
FEEDFORWARD
3. EXTERNAL CONNECTION DIAGRAM

3.1. EXTERNAL CONNECTION DIAGRAM FOR POSITION CONTROL

POWER
POWER
ON
OFF RY1

MC1
SERVO
MC1 SERVO DRIVER MOTOR
MCCB
MC1
NOISE FILTER

1 or 3 R
MC1 ** U
AC200 S
~ 220V MC1
V

50/60Hz
T
W M
r FG
t

CN1
PPA 13 CN2
PPA 14 5 A
PULSE REFERENCE INPUT
A
+5V PPB 11 6 B
0V 7 C
PPB 12 B
8 D
+24V 9 E
Z
SVON 21 10 F
SERVO ON 14 K
PDRV 24 U
PROPORTIONAL GAIN 15 L
ALMRST 20 16 M
ALARM RESET V PG
P-OT 22 17 N
FORWARD RUNNING PROHIBIT
18 P
N-OT 23
W
REVERSE RUNNING PROHIBIT
19 R
CLR 3
DEVIATION COUNTER CLEAR +5V 1 H
CMS 4
CONTROL MODE SELET 11 G
STOP 5 2
STOP
1 24GND 12
SVRDY 27
3
SERVO READY
COM2 26 13
VPF 25
INPOSITION
COM2 FG 20 J
SHIELD
TGON 6
ROTATION DETECTION COM1 7
ALM 8
SERVO ALARM RY1
DC24V COM1
PLA 9

PLA 10
PLB 28
(26LS31)
Note :
PLB 29 LINE DRIVER
ENCODER OUTPUT
OUTPUT
SIGNAL PLZ 30 1. Relay contact

PLZ 31 NORMALLY OPEN

NORMALLY CLOSED
PCZ 2 2. Turn on inposition, current limit, rotation
OPEN COLLECTOR
detection, servo ready photocoupler ON
DGND 32 Z PHASE OUTPUT 3. If servo alarm is generated,
photocoupler OFF
+15V 36 4. Make sequence to assure that the
+15V
-15V 35 main circuit power should be cut off
-15V
33 by a servo alarm signal.
VMO
MONITOR OUTPUT 5. Twisted pair shielded cable
AGND 34
**. For Power 3 phase 220V(R,S,T)
SHIELD 19
FG
3.2. EXTERNAL CONNECTION DIAGRAM FOR SPEED/TORQUE CONTROL

POWER POWER
OFF ON RY1

MC1
SERVO
MCCB MC1 SERVO DRIVER MOTOR
MC1
NOISE FILTER

1 or 3 R
MC1 ** U
AC200 S
~ 220V MC1
V

50/60Hz
T
W M
r FG
t

CN1
VELCMD 17 CN2
SPEED REFERENCE INPUT 5
(DC + 10V) VELCMD 18 A
A
6 B
TORCMD 15
TORQUE REFERENCE INPUT 7 C
B
(DC + 10V) TORCMD 16
8 D
+24V 9 E
Z
SVON 21 10 F
SERVO ON
14 K
PDRV 24 U
PROPORTIONAL GAIN
15 L
ALMRST 20 16 M
ALARM RESET
V PG
P-OT 22 17 N
FORWARD RUNNING PROHIBIT
18 P
N-OT 23
REVERSE RUNNING PROHIBIT W
19 R
INTERNAL SPEED COMMAND VS1 3
SELECT 1 +5V 1 H
INTERNAL SPEED COMMAND VS2 4
SELECT 2 11 G
STOP 5 2
STOP
1
24GND 12
SVRDY 27
3
SERVO READY
COM2 26 13
VPF 25
INSPEED
COM2 FG 20 J
SHIELD
TGON 6
ROTATION DETECTION
COM1 7
ALM 8
SERVO ALARM RY1
DC24V COM1
PLA 9

PLA 10
PLB 28
(26LS31)
LINE DRIVER Note :
ENCODER OUTPUT PLB 29
OUTPUT
SIGNAL PLZ 30 1. Relay contact

PLZ 31 NORMALLY OPEN

NORMALLY CLOSED
PCZ 2 2. Turn on inposition, current limit, rotation
OPEN COLLECTOR
detection, servo ready photocoupler ON
DGND 32 Z PHASE OUTPUT 3. If servo alarm is generated,
photocoupler OFF
+15V 36 4. Make sequence to assure that the
+15V
-15V 35 main circuit power should be cut off
-15V
VMO 33 by a servo alarm signal.
MONITOR OUTPUT 5. Twisted pair shielded cable
AGND 34
**. For Power 3 phase 220V(R,S,T)
SHIELD 19
FG
4. I/O SIGNAL
4.1. LAYOUT OF CONNECTOR TERMINAL

4.1.1. Layout of Connector CN1

SPEC : 10236-52A2 (Driver Side), 10136-3000VE (Combined Side) , 3M Products

19 21 23 25 27 29 31 33 35

FG SVON N-OT VPF SVRDY PLB PLZ VMO -15V

20 22 24 26 28 30 32 34 36

ALMRST P-OT PDRV COM2 PLB PLZ DGND AGND +15V

1 3 5 7 9 11 13 15 17

VS1
24GND STOP COM1 PLA PPB PPA TORCMD VELCMD
(CLR)

2 4 6 8 10 12 14 16 18

VS2
PCZ TGON ALM PLA PPB PPA TORCMD VELCMD
(CMS)

4.1.2. Layout of Connector CN2

SPEC : 10220-52A2 (Driver side), 10120-3000VE (Combined side) , 3M Products

11 13 15 17 19

DGND DGND PU PV PW

12 14 16 18 20

DGND PU PV PW FG

1 3 5 7 9

+5VE +5VE PA PB PZ

2 4 6 8 10

+5VE - PA PB PZ
4.2. INPUT/OUTPUT SIGNALS FOR CONNECTOR CN1

Control
PIN No. Signal Name Description I/O Mode

1 24GND Ground of P,S,T

Signal

Meanings of signal to the control mode are as follows.

꠆ꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠇꠏꠏꠏꠏꠏꠏꠇꠏꠏꠏꠏꠏꠏꠏꠏꠇꠏꠏꠏꠏꠏꠏꠇꠏꠏꠏꠏꠏꠏꠇꠏꠏꠏꠏꠏꠏꠇꠏꠏꠏꠏꠏꠏꠏꠏꠏꠈ
ꠐ ꠐposit-ꠐPositionꠐSpeed ꠐSpeed ꠐTorqueꠐ Torque ꠐ
ꠐ ꠐion ꠐ Speed ꠐ ꠐTorqueꠐ ꠐPosition ꠐ
3 /( ) ꠉꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠏꠏꠏꠋ
ꠐVS1/(CLR/)ꠐ CLR/ ꠐ CLR/ ꠐ VS1/ ꠐ - ꠐ VS1/ ꠐ CLR/ ꠐ
ꠉꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠏꠏꠏꠋ
ꠐVS2/(CMS/)ꠐ - ꠐ CMS/ ꠐ VS2/ ꠐ CMS/ ꠐ VS2/ ꠐ CMS/ ꠐ
ꠌꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠍꠏꠏꠏꠏꠏꠏꠍꠏꠏꠏꠏꠏꠏꠏꠏꠍꠏꠏꠏꠏꠏꠏꠍꠏꠏꠏꠏꠏꠏꠍꠏꠏꠏꠏꠏꠏꠍꠏꠏꠏꠏꠏꠏꠏꠏꠏꠎ
- Internal speed command selection
;When using as internal speed command selection
/( Rotate at the speed set in the parameter No 20,21,22 according to
4 ) the combination.
꠆ꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠇꠏꠏꠏꠏꠏꠏꠇꠏꠏꠏꠏꠏꠏꠇꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠈ
ꠐ ꠐ VS1/ ꠐ VS2/ ꠐ Parameter No. ꠐ I P,S,T
ꠉꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠋ
ꠐ - ꠐ OFF ꠐ OFF ꠐ external speed command ꠐ
ꠉꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠋ
ꠐspeed select 1ꠐ ON ꠐ OFF ꠐ 20 (internal speed command 1)ꠐ
ꠉꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠋ
ꠐspeed select 2ꠐ ON ꠐ ON ꠐ 21 (internal speed command 2)ꠐ
ꠉꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠊꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠋ
ꠐspeed select 3ꠐ OFF ꠐ ON ꠐ 22 (internal speed command 3)ꠐ
ꠌꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠍꠏꠏꠏꠏꠏꠏꠍꠏꠏꠏꠏꠏꠏꠍꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠎ
- Deviation counter clear
; Turn on this signal under the position control, the value of
accumulated deviation counter is cleared.
- Control mode selection
; The Control mode in the running status is switched over.

Closed inter-G24, in the S/W, the command is changed into "zero" by

5 I P,S,T
force. Open inter-G24,Runs to the setting command.

6 Turns on when the motor speed exceeds setting value parameter No.18. O P,S,T
7

8 Turns off when servo error is detected. (normal status: turns on) O P,S,T
7

9,10 These are A, B and Z pulses of the encoder by line driver (26LS31).
28,29 O P,S,T
It must received by line receiver(26LS32).
30,31

Z pulses of the encoder by open collector(74LS07).

2 O P,S,T
Max operating voltage : DC30V, Max input current : DC20mA

Positioning Pulse Input : Maximum input frequency is 400kHz

- PULSE/SIGN (PULSE/DIR)TYPE
PPA,PPA/ : COMMAND PULSE
13 PPB,PPB/ : RUNNING DIRECTION(‘H’: CCW, ‘L’: CW)
14 - FORWARD/REVERSE (CCW/CW) TYPE I P
11 PPA,PPA/ : FORWARD (CCW) PULSE
12 PPB,PPB/ : REVERSE (CW) PULSE
- 2PHASE PULSE TYPE
B-PHASE Lead : CCW, A-PHASE Lead : CW
 Control
PIN No. Signal Name Description I/O
Mode
15 Torque Command Input(0～± 10Vdc): the motor generates the rated
I T
16 torque when the voltage in the Parameter No.29 is given.

Speed Command Input(0～± 10Vdc): The motor runs to Rated Speed

17
when the voltage in the Parameter No.28 is given. I S,T
18
Under the torque control, it is used to external speed limit command.
19 FG FRAME GROUND (Connect for Shield cable) P,S,T
Alarm Reset:
20 When it turns on over 50msec it resets servo alarm in alarm I P,S,T
state.(except for over current error detection)
This signal makes the driver ready to receive the speed command input.
21 I P,S,T
Dynamic brake is cleared.
Motor runs only to CCW if the P-OT turns on and only to CW if the
N-OT turns on. In case of linear motion system, etc.,connect limit
switch
22 P-OT
signal lines to these pins according to the running direction. I P,S,T
23 N-OT
These signals are "closed" in running. When limit switches are
tripped,
they become "open".
Proportional drive Command to prevent drifting when the motor is left
24 motionless without command input, while the main circuit is kept I P,S,T
energized.

At position control mode, turns on when the position reaches the

25 inposition range set by parameter No.13.
O P,S,T
26 At speed control mode, turns on when the motor speed reaches the
Inspeed range set by parameter No.19.

27 Turns on when main power supply is on and no servo alarm is detected.

O P,S,T
26 The driver is ready to run.

32 DGND Signal ground of open collector. P,S,T

Speed Monitoring (±6V / Rated speed),Refer the Parameter No.30.
33 VMO O P,S,T
Current Monitoring (±3V / Rated torque),Refer the Parameter No.31.
34 AGND Signal ground of Speed/Torque monitoring P,S,T
35 -15V
Power supply for Speed command(Max current : 20mA) P,S,T
36 +15V

* I : Input, O : Output, P : Position Control, S : Speed Control, T : Torque Control

4.3. INPUT/OUTPUT TYPE

① DI - 1 ② DI - 2

AC SERVO DRIVER
AC SERVO DRIVER
+24V
4.4K +5V
PPA(PPB)

5mA 150 ohm

TLP521 or EQ.
26LS31 PPA/(PPB/)
TR SW
or

24GND
TR

③ DO - 1 ④ DO - 2

AC SERVO DRIVER AC SERVO DRIVER

+24V
R

L
O
A
D

50mA max

26LS31 26LS32
COM1 or COM2

It must be configured a surge absorber in

induction load and a current limit resister
* Line Driver Encoder Pulse Output
in lamp load(Max current 50mA)

NOTE
5. ALARM DETECTION FUNCTIONS AND CONTENTS

Body OP Panel
ALARM DETECTION FUNCTION Contents
LED LED Display
1 ALP-UU UNDER VOLTAGE DC Link voltage is below 250[v]
2 ALP-dg WATCHDOG ALARM WATCHDOG ALARM
3 ALP-OU OVER VOLTAGE DC Link voltage exceed 400[v] or more
4 ALP-oC DC LINK OVER CURRENT Over current status of DC Link
5 ALP-FL FEEDBACK LOSS Encoder pulse error or encoder connection error
6 ALP-AS ARMSHORT TR lag is short
7 ALP-OS OVER SPEED Motor speed exceed the rotational limit
Motor exceed the pre-assigned time continuously
over Load Limitation
( 298% - 3sec, 274% - 6sec, 244% - 12sec, 219%
8 ALP-OL OVER LOAD
- 24sec, 199% - 48sec, 174% - 96sec, 159% -
192sec, 149% - 384sec, 139% - 768sec, 129% -
1536sec)
9 ALP-SE SOFTWARE ERROR CPU Error
An error such as damage data occurs when
A ALP-PE PARAMETER DATA ERROR
reading the data from EEPROM
Residual pulse exceed the allowance value set
b ALP-rP RESIDUAL PULSE ERROR
on Parameter No.14
PULSE INPUT Input pulse frequency exceed 400 KPPS or
C ALP-Fq
FREQUENCY ALARM more
d ALP-OC OVER CURRENT Over current status
ALP-no ALARM NOT OCCURRED No error

Body LED Display Control Main Servo

Power Power ON
6. DISPLAY/SETTING SWITCHES (OPTION)
6.1. FUNCTION
▶ The 6 digits 7segment display in front of the driver indicates parameter setting, diagnosis, and
alarm, and address and data can be selected by 4 display mode.

MODE SET

DAOP - 01S

PRO-MOTIOM
OPERATOR

DAEWOO

( OP Panel Display )

▶ When power off, pre-set DATA is stored in a Driver.

* Turning power is off under the alarm, it is stored, and If power is on, it is can be
certified.

6.2. STATUS SETTING SWITCHES AND DISPLAY FLOWCHART

6.2.1. Outline
▶ After turning on the main power,7-segment LED is displayed in status mode, Changing
mode can be selected by MODE button.

Initializing after
Main Power On

Status mode display

MODE

Diagnosis mode display

MODE

Alarm mode display

MODE

Parameter setting
MODE
 ① After turning the control power, P r o - C - is displayed in status mode.

② After turning on the main power, P r o. 0 7 5 (capacity display) and

U - - C O N (control mode) is displayed, initial values set in parameter

No.32.(example: r 0 0 0 0 )is displayed.

③ Increment/Decrement of ADDRESS and DATA can be selected by UP DOWN button,

Storage of DATA can be selected by SET button.

6.2.2. Display Flowchart

Initializing after
turn on power DOWN UP

Accumulated
Accumulated electronic gear Accumulated Residual
Status display
command pulses command pulses feedback pulses pulses

Command pulses
Max load ratio
frequency

Effective load Torque command Speed command

Running speed
MODE ratio voltage voltage

Diagnosis
Sequence DI-DO status S/W version Rotor position
display

Parameter reset DO TEST

TCMD OFFSET VCMD OFFSET JOG DRIVE TEST DRIVE

ALARM HISTORY 1 2 3 4
Alarm Display
DISPLAY MODE trace back trace back trace back trace back

9 8 7 6 5
trace back trace back trace back trace back trace back

Parameter
setting NO. 00 NO. 01 NO. 02 NO. 03

NO. 20

NO. 35 NO. 34 NO. 33 NO. 32

6.3. STATUS DISPLAY CONTENTS

6.4. Status Display Description

NAME SYMBOL DISPLAY RANGE CONTENTS

COMMAND PULSE -600000 ～ 600000 Display input pulse counting before electronic
P
ACCUMULATION [PULSE] gear input.
ELECTRONIC GEAR 600000 or more, resume from "0"
-600000 ～ 600000
COMMAND PULSE C Reset "0" by pressing SET key.
[PULSE]
ACCUMULATION
Display amount of rotary the count 4 times as
FEEDBACK PULSE -600000 ～ 600000 large as value of encoder pulse.
b
ACCUMULATION [PULSE] 600000 or more, resume from "0"
Reset "0" by pressing SET key.
-600000 ～ 600000 Display residual pulse of position deviation
RESIDUAL PULSE E
[PULSE] counter.

-400.0 ～ 400.0 Display position command input pulse frequency

COMMAND PULSE FREQUENCY F
[KPPS] before electronic gear input

MOTOR RUNNING SPEED r -4500 ～ 4500 [RPM] Display running speed

-10.00 ～ 10.00 Display analog external speed command or speed

SPEED COMMAND VOLTAGE U
[VOLT] limit command

-10.00 ～ 10.00
TORQUE COMMAND VOLTAGE t Display analog torque command
[VOLT]

-300.0 ～ 300.0 Continuous effective load torque is displayed " % "

EFFECTIVE LOAD FACTOR L
[%] (rated torque/100%)
Max load torque under acceleration/deceleration is
-300.0 ～ 300.0
MAX LOAD FACTOR H displayed " % " (rated torque/100%)
[%]
Reset "0" by pressing SET key

6.4.1. Description
(1) Command pulse accumulation [symbol P, -600000 pulse～600000 pulse]
- Display counter of the position command input pulse.
- As this is a value before pulse multiplying factor is set(EGN/EGD, parameter No.03,04)
it can not be coincide with feedback pulse accumulation.
- If the set button pressed, Reset in “0”.
- Accumulated values of the reverse pulses light up all dot mark.

P 6. 0. 0. 0. 0. P 0 P 6 0 0 0 0

CW CCW
(2) Electronic gear command pulse accumulation[symbol C, -600000 pulse～600000 pulse]
- Display count amount of the position command input pulse after electronic gear is adapted.
- If the set button pressed, Reset in “0”.
- Accumulated values of the reverse pulses light up all dot mark.

C 6. 0. 0. 0. 0. C 0 C 6 0 0 0 0

CW CCW

(3) Feedback Pulse accumulation [symbol b, -600000 Pulse～600000 Pulse]

- After servo ready, Display count amount of the moving of the motor. If count excess
600000, Resume from " 0 ".
- If the set button pressed, Reset in “ 0 ”.
- Accumulated values of the reverse pulses light up the dot mark.

b. 6. 0. 0. 0. 0. b 0 b 6 0 0 0 0

CW CCW

(4) Residual pulse [symbol E, -600000 pulse～600000 pulse]

- Display residual pulse of the position deviation counter.
- Reverse pulses light up the dot mark.

E 6. 0. 0. 0. 0. E 0 E 6 0 0 0 0

CW CCW

(5) Command pulse frequency [symbol F, -400Kpps～400Kpps]

- Display frequency of the position command input pulse[min units: 100 pps ( 0.1 Kpps )]
- This is a value before select electronic gear (pulse multiplying factor)[CW pulse:(-)]

F - 2 0 0. F .1 F 2 0 0.

CW 200Kpps CCW 100pps CCW 200Kpps

(6) Rotation speed of the motor [symbol r, -3000 rpm～3000 rpm]

- Display rotation speed of the motor( CW : (-), CCW : (+) )

r - 3 0 0 0 r 0 r 3 0 0 0

CW CCW
 (7) Speed command voltage [symbol U, 0～± 10V]
- Display external speed command voltage or speed limit command voltage.

U - 1 0. 0 0 U 0 U 1 0. 0 0

CW CCW

(8) Torque command voltage [symbol t, 0～±

10V]
- Display torque command voltage.

t - 1 0. 0 0 t 0 t 1 0. 0 0

CW CCW

(9) Effective load factor [symbol L, -300～300%]

- Display continuous effective load torque.
- Display 100 percent at a rated torque.

L 1 0 0

(10) Max load factor [symbol H, -300～300%]

- Display peak torque under Acceleration/Deceleration,
it is able to alter to the largest value.
- Display 100 percent at a rated torque.
- If the set button pressed, Reset in “ 0 ”.

H 1 0 0

6.5. ALARM HISTORY DISPLAY DESCRIPTION

NAME DISPLAY CONTENTS

A L 0 - U U
A L 1 - U U
․ - Display alarm history to 9-rotates recently.
Alarm History
․ - Reset alarm history by pressing SET key.
․
A L 9 - U U
6.6. DIAGNOSIS DISPLAY DESCRIPTION

▶ Diagnosis Status of the External Sequence

6.6.1. Servo on, off Status Display

r d - o F F ; Display under system initialization at servo on (before/after)

r d - o n - ; After initialization completion, display at operating on

6.6.2. Digital Input/Output Signal

; Display On/Off status of external input signal from the 7-segment.

; Display On/Off status of external output signal from the 7-segment.

STOP ALMRST NC TGON

VS2 SVON NC ALM
VS1 P-OT NC VPF
PDRV N-OT NC SVRDY

< External Input Signal > < External Output Signal>

6.6.3. Software Version Display

S O F t. 0 1 ; Display for maker management, and S/W version.

6.6.4. Rotor Position Display

r o t o r -

- Display UVW signal of the encoder and one times of the A,B phase in a circulation in order of
the pulse, electrical angles, mechanical angles from the Z phase pulse.

(1) One times pulse of encoder

; 0 ～ 1999 PULSE

(2) Electrical angle

; 0°
～ 1079°
(POLEPAIR=6)

; 0°
～ 1439°
(POLEPAIR=8)
(3) Mechanical angle

; 0°
～ 359°
 ( Note )

r o t o r - SET ꏮ

SET ꏮ One times pulse of encoder

SET ꏮ Electrical angle of encoder

SET ꏮ Mechanical angle of encoder

r o t o r -

6.6.5. Digital Output Signal Test

d o - t S t

- Check wiring and sequence during output to the external terminal each digital output signal,
forcedly.

( Note )

d o - t S t SETꏮ
TGON OFF TGON ON
DOWNꏮ t n - o F F UPꏮ t n - o n - SETꏮ
VPF OFF VPF ON
DOWNꏮ P F - o F F UPꏮ P F - o n - SETꏮ
SVRDY OFF SVRDY ON
DOWNꏮ S r - o F F UPꏮ S r - o n - SETꏮ
d o - t S t

6.6.6. Test Drive

t S t. r u n ;

- Test S-curve and linear Acceleration/Deceleration drive at ±2000 RPM (1 test)

( Note )

t S t. r u n SETꏮ
r u n - - - ; SERVO ON
UPꏮ
r u n - P - ; 0 rpm -> 2000 rpm -> 0 rpm
DOWNꏮ
r u n - n - ; 0 rpm -> -2000 rpm -> 0 rpm
r u n - - -
SETꏮ
t S t. r u n ; SERVO OFF
6.6.7. Jog Drive
J O g. r u n

- Run Jog drive by internal speed(IVC1) command.

( Note )

J O g. r u n SETꏮ

J r 0 0 0 0 ; SERVO ON
UPꏮ
J r 0 1 0 0 ; +100 RPM
DOWNꏮ
J r 0. 1. 0. 0. ; -100 RPM

J r 0 0 0 0

SETꏮ
J O g. r u n ; SERVO OFF

6.6.8. Voltage Command Offset

U - o F S t

- Adjust offset of the analog speed command voltage automatically.

6.6.9. Torque Command Offset

t - o F S t

- Adjust offset of the analog torque command voltage automatically.

6.6.10. Parameter Initialization

P A r A - -

- After reset parameter in setting value, save initialization parameter in EEPROM

6.7. USER PARAMETER MODE

6.7.1. Parameter Setting

Turn on Control Power

Turning on the control power, P r o - C - is displayed.

Turn on Main Power

Turning on the Main power, After Capacity display (example:

P r o. 0 7 5 ) and Control display mode (example:

U - - C O N )is selected Status display mode (example:

r 0 0 0 0 ) is displayed.

By pressing UP , Display contents can be changed from Left

to Right. By pressing DOWN , Display contents can be changed

from Right to Left.(at Display flowchart)
For change initial display contents into desired status, it must
be changed parameter No.32.(Status Display Mode)
Select Parameter Mode

0. 0. 0 0 0 2 (Parameter composed ADDRESS and DATA)

can be display by pressing MODE

DATA of Parameter (Parameter contents)

ADDRESS of Parameter (Parameter No.)
Select ADDRESS Selects Parameter No. by pressing UP DOWN

UP : Accelerate Parameter No.

DOWN : Decelerate Parameter No.
After select desired ADDRESS No,

As soon as SET button is selected, it's dot mark light up.

Rewrite DATA At ADDRESS No's dot mark light up Input desired DATA

by pressing UP : Accelerate DATA. DOWN : Decelerate DATA.

After select desired DATA, when SET is pressed, it's dot

mark flickers, then DATA setting is completed

Completion
6.7.2. List of Setting Parameter
Standard Specification Parameter set by user to match the mechanical system ; as follows.

DATA LIMIT
No. NAME SYMBOL FUNCTION CLASS NOTE[UNIT]
(DEFAULT)
1:100W,2:200W,3:300W,
0～3
00 MOTOR POWER CAPACITY MPC Choose the rated Motor Capacity A,B 4:500W,5:750W,6:750W,
(0)
7:1KW,8:1.5KW,9:2.0KW
Select Position, Speed, Torque 0～5 0:P, 1:P/S, 2:S,
01 SERVO CONTROL TYPE CTY A,B
Control mode (2) 3:S/T 4:T, 5:T/P
0～2 0:PULSE/SIGN,
02 PULSE TYPE PTY Set one of 3-pulse Command A,B
(1) 1:F/R, 2:A/B
Command pulse electronic gear 1～9999
03 ELECTRONIC GEAR NUMERATOR EGN A,B No limit Range
numerator (1)
(Recommend Range :
Command pulse electronic gear 1～9999
04 ELECTRONIC GEAR DENOMINATOR EGD A,B 1/50<EGN/EGD<32)
denominator (1)
Select running direction under (+) 0～1 0:(+)=CCW, (-)= CW
05 MOTOR ROTATION DIRECTION MRD A,B
command voltage (0) 1:(+)= CW, (-)=CCW
POSITION LOOP Set Proportional gain of the 0～2048
06 PKP B,C
P GAIN position control loop (256)
VELOCITY LOOP Set Proportional gain of the speed 0～2048
07 VKP B,C
P GAIN control loop (250)
VELOCITY LOOP Set Integral gain of the speed 0～2048
08 VKI B,C
I GAIN control loop (300)
-800～800
09 VELOCITY COMMAND OFFSET VCO Set Speed Command Offset B,C VCO×
10/8092 [V]
(0)
-200～200
10 TORQUE COMMAND OFFSET TCO Set Torque command Offset B,C TCO×
10/2048 [V]
(0)
VELOCITY or TORQUE MONITOR -12～12
11 VTO Set Speed or TORQUE monitor Offset B,C VTO×
10/128 [V]
OFFSET (0)
VELOCITY or TORQUE MONITOR 0～1 0:VELOCITY MONITOR
12 VTM Set Speed or TORQUE monitor Setting B,C
SETTING (0) 1:TORQUE MONITOR
Set In-position Range under Position 1～ 9999
13 INPOSITION INP B [PULSE]
Control (100)
Set Residual Pulse Allowance under 1～ 6000
14 RESIDUAL PULSE ALLOWANCE RPA B RPA×
100 [PULSE]
Position Control (6000)
1～ 4500
15 VELOCITY LIMIT VLS Set Velocity Limit B [RPM]
(4500)
Set Feed-forward Control gain under 0～100
16 FEEDFORWARD CONTROL GAIN FFG B [%]
Position Control (0)
Set 1st low pass filter time constant 0～500
17 FEEDFORWARD TIME CONSTANT FTC B FTC×
2.4 [mSEC]
of feed-forward command (0)
0～3000
18 VELOCITY ON DETECTION VOD Set Velocity ON of TGON Pin B [RPM]
(50)
0～3000
19 ZERO CLAMP ZCS Set Zero Clamp Setting B [mV]
(0)
Internal Velocity or Speed limit -3000～3000
20 INTERNAL VELOCITY COMMAND 1 IVC1 B [RPM]
Command 1 (100)
Internal Velocity or Speed limit -3000～3000
21 INTERNAL VELOCITY COMMAND 2 IVC2 B [RPM]
Command 2 (1000)
Internal Velocity or Speed limit -3000～3000
22 INTERNAL VELOCITY COMMAND 3 IVC3 B [RPM]
Command 3 (1500)
0～300
23 POSITIVE TORQUE LIMIT TLP Set Torque Limit Positive B [%] (Rated=100%)
(300)
0～300
24 NEGATIVE TORQUE LIMIT TLN Set Torque Limit Negative B [%] (Rated=100%)
(300)
Set Acceleration Time Constant from 0～6000
25 ACCELERATION TIME CONSTANT ATC B ATC×
10 [mSEC]
Stop to Max Speed (5)
Set Deceleration Time Constant from 0～6000
26 ACCELERATION TIME CONSTANT DTC B DTC×
10 [mSEC]
Max Speed to Stop (5)
 DATA LIMIT
No. NAME SYMBOL FUNCTION CLASS NOTE[UNIT]
(DEFAULT)
Set S-curve Speed Acceleration / 0～1000
27 S CURVE TIME CONSTANT STC B [mSEC]
Deceleration Time Constant (0)
Set Speed command voltage under 1000～5000
28 VOLTAGE AT RATE SPEED VRS B VRS×
2 [mVOLT]
Rated 1500 RPM Rotation (3000)
Set Torque command voltage under 500～5000
29 VOLTAGE AT RATE TORQUE VRT B VRT×
2 [mVOLT]
Rated Torque running (1500)
Set Velocity output voltage under
1000～5000
30 MONITOR AT RATE VELOCITY MRV Rated 1500 RPM Rotation B MRS×
2 [mVOLT]
(3000)

Set Torque monitor output voltage 500～5000

31 MONITOR AT RATE TORQUE MRT B MRT×
2 [mVOLT]
under Rated Torque running (1500)
0 : Command Pulse
accumulation
1 : Electronic Pulse
accumulation
2 : Feedback Pulse
accumulation
3 : Residual Pulse
0～9 4 : Command Pulse
32 INITIAL STATUS DISPLAY ISD Set Initial Status Display Item B
(5) Frequency
5 : Rotation speed
6 : Speed command
Voltage
7 : Torque command
Voltage
8 : Effective load factor
9 : Max load factor
Set Proportional gain of current 0～2048
33 CURRENT LOOP P GAIN IKP D at the factory
control loop (900)
Set Integral gain of current 0～2048
34 CURRENT LOOP I GAIN IKI D at the factory
control loop (600)
ENCODER PULSE PER ONE 1500～6000
35 EPN Encoder pulse per one rotation D at the factory
ROTATION (2000)
0～1 at the factory
36 MOTOR POLES MPP Motor Poles Numbers D
(0) 0:6 Poles, 1:8 Poles
Motor manufacture Select motor manufacture a 0 ~ 1 0:Doosan motor
37 MOT (0) D 1:Tamagawa motor
a factory factory
38 ENCODER CABLE ECN Select Encoder Cable Number 0 ~ 1 D 0:15 wire
NUMBER (0) 1:9 wire
0:1 Divide, 1:1/2 Divide
0 ~ 7 2:1/4 Divide. 3:1/8 Divide
39 Encoder Output Divide DEO Select Encoder Output Divide D
(0) 4:1/16 Divide, 5:1/32 Divide
6:1/64 Divide, 7:1/128 Divide
0:Forward/Reverse running
prohibit
0 ~ 2
40 P_OT, N_OT FUNCTION IOS Select P_OT, N_OT fUNCTION D 1:Forward/Reverse running
(0)
command
2:Don't care
Select output of servo alarm 0 ~ 1 0:Closed
41 Servo alarm signal ALB D
signal (0) 1:Open

☞ Note. Adjusted parameter operated as follows.

A Adjusted parameter is only valid when power is off → on

B You can adjust the parameters under the servo is off.
C You can adjust the parameters under the servo is on.
D You can never adjust the parameters for Maker management.
6.8. DESCRIPTION SET FUNCTION

6.8.1. Base Setting

(1) Motor Power Capacity (MPC )
; initial value 0. 0. x x 0 0

Parameter Watt Parameter Watt

0 0 50 0 5 750(Rated Speed 3000RPM)

0 1 100 0 6 750(Rated Speed 2000RPM)
0 2 200 0 7 1.0 KW
0 3 300 0 8 1.5 KW
0 4 500 0 9 2.0 KW

(2) Servo loop control type ( CTY )

; Initial value 0. 1. x x 0 2 (Speed mode)

Control Between -
Function Input Type
Mode Open Closet
0 0 Position control pulse train
Position/Speed Position Speed
0 1 pulse train/Voltage
Switchover Control Control
0 2 Speed control Analog, 3 Mode Speed
Speed Torque
0 3 Speed/ torque Switchover Analog.Voltage/Analog
Control Control
0 4 Torque control Analog
Torque/Position Torque Position
0 5 Analog/pulse train
Switchover Control Control

( Note )
In case of the mode Switchover combination such a Position/Speed,
Speed/Torque, Torque/Position of the servo loop control
type(6-combination). After parameter is set, control mode is Switchover
as a Close/Open between
external terminal CMS/ and G24.

(3) Motor Running Direction(MRD)

; Initial value 0. 5. x x x 0 ( CCW )
This is a motor Running Direction of the speed command and pulse command.
DIRECTION SPEED COMMAND POWER

External Analog at Speed Command

External + DC
CCW (CN1 pin 17,18 )
MRD = 0 Internal Speed Command IVC1, IVC2, IVC3
Internal +
(Parameter no.20~ 22)
External Analog at Speed Command
External - DC
CW (CN1 pin 17,18 )
MRD = 1 Internal Speed Command IVC1, IVC2, IVC3
Internal +
(Parameter no.20~ 22)
Pulse Pulse Command
CCW CW
Command mode (PTY)
꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ
Sign A ꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏ A ꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏ PTY = 00
Pulse ꠏꠈ "L" ꠆ꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏ
B ꠌꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏ B ꠏꠎ "H"
Absolute ꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏ
MRD = 0 Value
A ꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏ A ꠏꠎ "H" PTY = 01
꠆ꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏ ꠆ꠈ ꠆ꠈ ꠆ꠈ
Pulse B ꠏꠎ "H" B ꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏ
꠆ꠏꠏꠏꠈ ꠆ꠏꠏꠏ ꠆ꠏꠏꠏꠈ ꠆ꠏꠏꠏꠈ
2 Phase A ꠏꠏꠏꠎ ꠌꠏꠏꠏꠎ A ꠏꠎ ꠌꠏꠏꠏꠎ ꠌꠏ PTY = 02
Pulse ꠆ꠏꠏꠏꠈ ꠆ꠏꠏꠏꠈ ꠆ꠏꠏꠏꠈ ꠆ꠏꠏꠏ
B ꠏꠎ ꠌꠏꠏꠏꠎ ꠌꠏ B ꠏꠏꠏꠎ ꠌꠏꠏꠏꠎ
꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ
Sign A ꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏ A ꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏ PTY = 00
Pulse ꠆ꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏ ꠏꠈ "L"
B ꠏꠎ "H" B ꠌꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏ
Absolute ꠆ꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏ ꠆ꠈ ꠆ꠈ ꠆ꠈ
MRD = 1 Value
A ꠏꠎ "H" A ꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏ PTY = 01
꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏ
Pulse B ꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏ B ꠏꠎ "H"
꠆ꠏꠏꠏꠈ ꠆ꠏꠏꠏꠈ ꠆ꠏꠏꠏꠈ ꠆ꠏꠏꠏ
2 Phase A ꠏꠎ ꠌꠏꠏꠏꠎ ꠌꠏ A ꠏꠏꠏꠎ ꠌꠏꠏꠏꠎ PTY = 02
Pulse ꠆ꠏꠏꠏꠈ ꠆ꠏꠏꠏ ꠆ꠏꠏꠏꠈ ꠆ꠏꠏꠏꠈ
B ꠏꠏꠏꠎ ꠌꠏꠏꠏꠎ B ꠏꠎ ꠌꠏꠏꠏꠎ ꠌꠏ

※ The Motor rotate as follows. (CCW viewed from the motor shaft)

ꠐ ꠐ 90°
→ꠊꠏꠏꠏꠏꠊ←ꠏꠏ
ꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠓ ꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠓ ꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠓ
A Phase ꠛ ꠛ ꠛ ꠛ ꠛ ꠛ
ꠚꠚꠚꠚꠚꠚꠚꠙ ꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠙ ꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠙ ꠗꠚꠚꠚ
ꠏ ꠚꠚꠚꠚꠚꠚꠚꠓ ꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠓ ꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠓ ꠑꠚꠚꠚ
A Phase ꠛ ꠛ ꠛ ꠛ ꠛ ꠛ
ꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠙ ꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠙ ꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠙ
ꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠓ ꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠓ ꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠓ
B Phase ꠛ ꠛ ꠛ ꠛ ꠛ ꠛ
ꠚꠚꠙ ꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠙ ꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠙ ꠗꠚꠚꠚꠚꠚꠚꠚꠚ
ꠏ ꠚꠚꠓ ꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠓ ꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠓ ꠑꠚꠚꠚꠚꠚꠚꠚꠚ
B Phase ꠛ ꠛ ꠛ ꠛ ꠛ ꠛ
ꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠙ ꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠙ ꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠙ
ꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠓ
Z Phase ꠛ ꠛ
ꠚꠚꠚꠚꠚꠚꠚꠚꠙ ꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚ
ꠏ
Z Phase ꠚꠚꠚꠚꠚꠚꠚꠚꠓ ꠑꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚ
ꠛ ꠛ
ꠗꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠚꠙ

< Encoder wave forms at motor forward running (CCW) >

6.8.2. Offset Setting
- Set analog command offset adjustment of the external speed and torque.

Reference Voltage (V)

Reference Voltage (V)

Tuning Offset
Offset

Speed/Torque Command

- When offset generate and the motor rotates abnormally in spite of the speed command "0",
Set this value and press [set] Switch to stop the motor.

(1) Speed Command Offset ( VCO )

; Initial value 0. 9. 0 0 0 [x1.22 mV]
- Range : -800 ～ 800
- Unit : Setting Value ×10/8192 [V]
(2) Torque Command Offset ( TCO )
; Initial value 1. 0. 0 0 0 [x4.88 mV]
- Range : -200 ～ 200
- Unit : Setting Value ×10/2048 [V]

(3) Speed or Torque Monitor Offset ( VTO )

; Initial value 1. 1. x x 0 0

- Range = -12 ～ 12
- Unit : Setting Value ×10/128 [V]
Set offset adjustment of the speed analogue monitor or torque analog monitor (CN1 pin33, VMO)
In case the offset adjustment is required, Connect Oscilloscope or DC voltage meter to VMO
terminal in the servo OFF, and adjust monitor output to required level with setting this value.

(4) Speed or Torque Monitor Select ( VTM )

; Initial value 1. 2. x x x 0

- Range = 0 ～ 1
Set parameter “0” is speed monitor, and parameter “1” is torque monitor.
In case the offset adjustment is required, Connect Oscilloscope or DC voltage meter to VMO
terminal in the servo OFF, and adjust monitor output to required level with setting this value.
6.8.3. Gain Setting

(1) Proportional Gain of the Speed Loop ( VKP )

; Initial value 0. 7. 0 1 0 0

- Range = 0 ～ 2048
This is the parameter which determines response of speed control loop.
External characteristics determines stiffness. If it increases, the response is going better.
Therefore, The larger the setting, the faster is the response, but the larger are the vibration
and the hunting.
Set it as large as you can under the stable state.
The load inertia converted to the motor shaft equal to motor inertia(GDL2=GDM2)[unit:Hz]

(2) Integral Gain of Speed Loop ( VKI )

; Initial value 0. 8. 0 3 0 0

- Range = 0 ～ 2048
This is the parameter which reduces steady state error in order to improve the response.
If it increase, the response is going better. however, if it set too large, the system may be
unstable.
The load inertia converted to the motor shaft equals to motor inertia(GDL2=GDM2)

(3) Proportional Gain of the Position Loop ( PKP )

; Initial value 0. 6. 0 2 5 6

- Range = 0 ～ 2048
This is the parameter which determines response of position control loop.
If it increases, mechanical response is going better. However, mechanical impact on the system
may occur when the motor start or stops.
If decreases, mechanical response is going worse and position error increases by remaining
pulse.

(4) Feed-forward Control Gain ( FFG )

; Initial value 1. 6. 0 0 0 0 [%]
- Range : 0 ～ 100 [%]

(5) Current loop proportional gain ( IKP )

; Initial value 3. 3. 0 9 0 0

User is not to alternate a parameter No.33,34,35 (Adjustment at the factory)

(6) Current loop integral gain ( IKI )

; Initial value 3. 4. 0 6 0 0

User is not to alternate a parameter No.33,34,35 (Adjustment at the factory)

6.8.4. Position Mode Setting

(1) Pulse Command Mode ( PTY )

; Initial value 0. 2. x x 0 0 (pulse / sign)
This is a signal type( /terminal and /terminal)of the pulse command.
If the driver runs under position control type, select a type of the 3 signal.

Pulse type
Forward direction(CCW ) Reverse direction (CW)
Terminal signal
꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ
0 0 : A ꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏ A ꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏ
Pulse / Sign ꠏꠈ "L" ꠆ꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏ
B ꠌꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏ B ꠏꠎ "H"
꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏ
0 1 : A ꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏ A ꠏꠎ "H"
CCW / CW ꠆ꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏ ꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ ꠆ꠈ
B ꠏꠎ "H" B ꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠎꠌꠏꠏꠏꠎꠌꠏ
꠆ꠏꠏꠏꠏꠏꠈ ꠆ꠏꠏꠏꠏꠏꠈ ꠆ꠏꠏꠏꠏꠏꠈ ꠆ꠏꠏꠏꠏꠏꠈ ꠆ꠏꠏ
0 2 : A ꠏꠏꠏꠏꠏꠏꠎ ꠌꠏꠏꠏꠏꠏꠎ ꠌꠏꠏꠏꠏ A ꠏꠏꠎ ꠌꠏꠏꠏꠏꠏꠎ ꠌꠏꠏꠏꠏꠏꠎ
2 Phase Pulse ꠆ꠏꠏꠏꠏꠏꠈ ꠆ꠏꠏꠏꠏꠏꠈ ꠆ꠏꠏ ꠆ꠏꠏꠏꠏꠏꠈ ꠆ꠏꠏꠏꠏꠏꠈ
B ꠏꠏꠏꠎ ꠌꠏꠏꠏꠏꠏꠎ ꠌꠏꠏꠏꠏꠎ B ꠏꠏꠏꠏꠏꠎ ꠌꠏꠏꠏꠏꠏꠎ ꠌꠏꠏꠏꠏꠏ

(2) In-position Range ( INP )

; Initial value 1. 3. 0 1 0 0 [Pulse]
- Range : 1 ～ 9999 [PULSE]
Set Inposition range under position control.
[Pulse] = motor encoder ×4 times
When residual pulse reaches the range set, output the VPF(CN1 pin 25,26,Inposition)

Example)
2000 Pulse, 2Phase Encoder
- 2000 X 4 = 8000Pulse/rev
- 360°/ (4 X 2000) = 0.045°/ Pulse
Set the 5 Pulse (0.225°), and if it will complete the in-position range in case of
a residual pulse of the deviation counter is less ±6 pulse.
Turn on the external output terminal VPF, COM2 (In-position)

(3) Position deviation allowance ( RPA )

; Initial value 1. 4. 6 0 0 0 [x100 Pulse]
- Range : 1 ～ 60000
- Unit : Setting Value ×100 [pulse]
Set position deviation allowance under position control. [Pulse] = Encoder ×4 times

Example)
When position deviation allowance is set 1000 Pulse.
If residual pulse of the deviation counter is ±1000 pulse, or more, produces
position deviation excess error.
 (4) Position filter time constant ( FTC )
; Initial value 1. 7. 0 0 0 0 [msec]
- Range : 0 ～ 500
- Unit : Setting Value ×2.4 [msec]
Set lst low pass filter time constant of feedforward command.

2 1. Command rotation speed

2. External position command input
(pulse train frequency)
3 3. lst delay position command
throughthe filter
1
* FTC = Position filter time constant

SEC
FTC FTC

6.8.5. Speed Mode Setting

(1) Speed Command voltage under rated speed rotation ( VRS )

; Initial value 2. 8. 3 0 0 0 [ ×2mV]
- Range : 1000 ～ 9999
- Unit : Setting Value ×2 [mV]
Set command voltage under rated speed rotation

(2) Speed Monitor output voltage under rated speed rotation ( MRS )
; Initial value 3. 0. 3 0 0 0

- Range : 1000 ～ 5000

- Unit : Setting ×2 [mV]
Set monitor output voltage under rated speed rotation.

(3) Speed Monitor output voltage under rated speed rotation ( MRT )
; Initial value 3. 1. 1 5 0 0

- Range : 1000 ～ 5000

- Unit : Setting Value ×2 [mV]
Set monitor output voltage under rated speed rotation.
(4) Set output speed of the TGON ( VOD )
; Initial value 1. 8. 0 0 5 0 [rpm]
- Range ; 0 ～ 3000 [rpm]
Turn on the TGON(6,7) signal of the CN1 when the motor rotation speed exceed setting values.
Hysteresis characteristics (hysteresis band : 40rpm)

(5) Internal speed command 1 ( IVC1 )

; Initial value 2. 0. 0 1 0 0 [rpm]

(6) Internal speed command 2 ( IVC2 )

; Initial value 2. 1. 1 0 0 0 [rpm]

(7) Internal speed command 3 ( IVC3 )

; Initial value 2. 2. 1 5 0 0 [rpm]
- Range : 0 ～ 3000rpm
Set internal speed command or speed limit command.
Turn on internal speed command under speed control, and internal speed limit command under
torque control. Speed limit command turn on the absolute value.
After select one of the 3 type (parameter settings, Closed/open between pin 3(vs1) of the CN1 and
pin 4(vs2), Internal speed command and analog command from external terminals), it is switchover.

Selected internal command or Speed

of the CN! of the CN! limit command

CLOSED OPEN Internal speed command IVC1

CLOSED CLOSED Internal speed command IVC2

OPEN CLOSED Internal speed command IVC3

OPEN OPEN External speed command VELCMD

Example) Switchover VS1, VS2 : as follows.

rpm rpm

sec sec
 (8) Set Inspeed range ( VAS )
; Initial value 1. 9. 0 0 1 5 [%]
- Range ; 1 ～ 100 [%]
- Valid under speed control.
Turn on the VPF(pin25) and COM2₩(pin26)signals of the CN1 when the motor rotation Speed
reaches setting value of the command speed.

(9) Acceleration time constant ( ATC )

; Initial value 2. 5. 0 0. 5 0 [x10 msec]

(10) Deceleration time constant ( DTC )

; Initial value 2. 6. 0 0. 5 0 [x10 msec]
- Range : 0.000 ～ 60.000
- Unit : Setting Value x 10 [msec]
If Speed is Accelerated/Decelerated linearly, Set Accelerated/Decelerated time to arrive
Max Speed under speed command.(external command, internal 3 speed)
(This is able to use at the speed limit command under torque control).

▶ Setting time constant is time reaching from 0 rpm to 4500 rpm.

rpm

1
① Max rotation speed
4500
② Acceleration/Deceleration time is
2
shorten under low speed command
ATC = Acceleration speed time constant
DTC = Deceleration speed time constant

sec
ATC DTC

Example) Acceleration time = 3sec ( ATC=300 ), Speed command = n (rpm)

rpm

4500 rpm

n rpm

sec
3sec

If speed Acceleration time constant is too large under pulse train position control,
control is unstable.
 (11) S-curve characteristics speed ( STC )
; Initial value 2. 7. 0. 0 0 0 ( No S-curve characteristics )
- Range : 0.000 ～ 1.000 - Unit : [msec]
It may be add a circled curve to a time constant of the speed Acceleration/Deceleration,
therefore, it can be obtain Acceleration/Deceleration characteristics os of the S-curve.
When the S-curve Acceleration/Deceleration characteristics will be required.
At first, Set a time constant of the speed Acceleration/Deceleration, and then determine
a polarization of the linear part.
Set Acceleration/Deceleration time constant of the S-curve characteristics add the circled curve.
If STC is increase, curve dimension is small, and Acceleration/Deceleration is soft, however, the
response is late.
When this characteristic is used under position pulse train control, if STC is larger, control may
be unstable.

sec
STC msec STC msec

(12) Maximum Speed Setting (VLS )

; Initial value 1. 5. 4 5 0 0 ( 4500 RPM )
- Range : 0 ～ 4500
- Unit : [RPM]

6.8.6. Torque Mode Setting

(1) Torque Command voltage under rated torque running ( VRT )

; Initial value 2. 9. 1 5 0 0 [×2mV]
- Range : 500 ～ 5000 - Unit : Setting Value ×2 [mV]
Set command voltage under rated torque running.

(2) Torque Monitor output voltage under rated torque running ( MRT )
; Initial value 3. 1. 1 5 0 0

- Range : 500 ～ 5000 - Unit : Setting Value ×2 [mV]

Set monitor output voltage under rated torque running.
 (3) Positive Torque limit value ( TLP )
; Initial value 2. 3. x 3 0 0 [%]

(4) Negative Torque limit value ( TLN )

; Initial value 2. 4. x 3 0 0 [%]
- Range : 0 ～ 300 [%]
0 % → Torque "0" , 300 % → Rated "300"

Example) In case of parameter No.23 = 0 %,

parameter No.24 = 200 %
Positive Torque : 0 , Negative Torque : rated 200% or less

6.8.7. The other Setting

(1) Command pulse Electronic Gear Numerator ( EGN )

; Initial value 0. 3. 0 0 0 1

- Range = 1 ～ 9999
(2) Command pulse Electronic Gear Denominator ( EGD )
; Initial value 0. 4. 0 0 0 1

- Range = 1 ～ 9999

￭ Set a Electronic Gear Numerator/Denominator.

꠆ꠏꠈ ꠆ꠏꠈ
ꠏꠎ ꠌꠏꠎ ꠌꠏ ꠆ꠏꠏꠏꠏꠏꠏꠏꠏꠈ ꠆ꠏꠏꠏꠏꠏꠏꠏꠏꠈ
ꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏ→ꠋEGN/EGD ꠉꠏꠏꠏꠏꠏꠏꠏ→ꠋ Count ꠉꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏꠏ→
ꠌꠏꠏꠏꠏꠏꠏꠏꠏꠎ ꠌꠏꠏꠏꠏꠏꠏꠏꠏꠎ
Command Pulse Input ꠐ ꠆ꠈ꠆ꠈ
ꠐ ꠏꠎꠌꠎꠌꠏ꠆ꠏꠏꠏꠏꠏꠈ
ꠌꠏꠏꠏꠏꠏꠏꠏꠏꠋ x 4 ꠐ←ꠏꠏꠏꠏꠏꠏ
ꠌꠏꠏꠏꠏꠏꠎ
Encoder Feedback Pulse

￭ △L(mm) : Moving per one rotating , △l(mm) : Moving per a pulse

(2000ppr encoder)
△L = 5mm, △l = 0.001mm

￭ N(rpm) = motor speed, command frequency = f* (Pulse/sec)

Standard Encoder : 2000(PPR)
◆ Pulse/Sign or CCW / CW

◆ 2 Phase pulse

￭ EGN ( EGD ) Range : 1～9999 ( 1～9999 )

(3) Status Display Initial Mode ( ISD )

; Initial value 3. 2. x x 0 5

After turning on the power, Select a initial status display.

00 Command pulse accumulation 05 Running speed(Rotary speed)

Electronic gear pulse
01 06 Analog speed command voltage
accumulation
02 Feedback pulse accumulation 07 Torque command voltage

03 Residual pulse 08 Effective load factor

04 Command pulse frequency 09 Max load factor

(4) Encoder pulse per one rotation ( EPN )

; Initial value 3. 5. 2 0 0 0

※ User is not to alternate a parameter No.33,34,35 (Adjustment at the factory)

(5) Motor Poles ( MPP )

; Initial value 3. 6. 0 0 0 0

- 0 : 6 poles (3-poles pair)

- 1 : 8 poles (4-poles pair)
※ User is not to alternate a parameter No.36 (Adjustment at the factory)
7. DIMENSIONS OF THE SERVO MOTORS AND DRIVERS
7.1. DIMENSIONS OF THE SERVO MOTORS

■ DS-C01CA-1

■ DS-C02CA-1
■ DS-C03CA-1
■ DS-C05CA-1
■ DS-C07CA-1
■ DS-C08CA-1

■ DS-P10CA-1
■ DS-P15CA-1
■ DS-P20CA-1

MODEL L LM LR KL LA LB LC LE LZ S QK W T
DS-C01CA-1 165 85 30 67 80 50 65 2.5 5 8 12.5 3 3
DS-C02CA-1 174 93 30 86 90 70 82 3 6 14 13.5 5 5
DS-C03CA-1 198 117 30 86 90 70 82 3 6 14 13.5 5 5
DS-C05CA-1 222 124 40 100 130 110 120 3 9 16 24.5 5 5
DS-C07CA-1 245 147 40 100 130 110 120 3 9 16 24.5 5 5
DS-C08CA-1 280 182 40 100 130 110 120 3 9 16 24.5 5 5
DS-P10CA-1 228 121 55 110.6 145 110 130 6 9 24 31.5 7 7
DS-P15CA-1 253 146 55 110.6 145 110 130 6 9 24 31.5 7 7
DS-P20CA-1 278 171 55 110.6 145 110 130 6 9 24 31.5 7 7
7.2. DIMENSIONS OF THE SERVO DRIVERS
7.3. CONNECTOR SPECIFICATIONS

■ Motor receptacle

POWER LINE ENCODER CONNECTION

CONNECTOR DIAGRAM DIAGRAM

M A B
D A
N
L C
P
T
K D
S R
C B J E
H F
G

MS CONNECTOR ENCODER CABLE MS CONNECTOR

WINDING TERMINAL
(14S-2P, 18-10P, 20-4P) (20-29P)
TERMINAL A A PHASE U CHANNEL A GREEN A CHANNEL A
CHANNEL A WHITE\GREEN B CHANNEL A
TERMINAL B B PHASE V CHANNEL B GRAY C CHANNEL B
CHANNEL B WHITE\GRAY D CHANNEL B
TERMINAL C C PHASE W CHANNEL Z YELLOW E CHANNEL Z
CHANNEL Z WHITE\YELLOW F CHANNEL Z
FRAME GROUND D FRAME GROUND 0V BLACK, WHITE\BLACK G 0V
+5V DC RED, WHITE\RED H +5V DC
FRAME GROUND J FRAME GROUND
CHANNEL U BROWN K CHANNEL U
CHANNEL U WHITE\BROWN L CHANNEL U
CHANNEL V BLUE M CHANNEL V
CHANNEL V WHITE\BLUE N CHANNEL V
CHANNEL W ORANGE P CHANNEL W
CHANNEL W WHITE\ORANGE R CHANNEL W

■ Driver receptacle

POWER LINE ENCODER CONNECTION

CONNECTOR DIAGRAM DIAGRAM

A
A D B M
N
C L
P T
D K
R S
B C E J
F H
G

MS CONNECTOR ENCODER CABLE MS CONNECTOR

WINDING TERMINAL
(14S-2S, 18-10S, 20-4S) (20-29S)

TERMINAL A A PHASE U CHANNEL A GREEN A CHANNEL A

CHANNEL A WHITE\GREEN B CHANNEL A
TERMINAL B B PHASE V CHANNEL B GRAY C CHANNEL B
CHANNEL B WHITE\GRAY D CHANNEL B
TERMINAL C C PHASE W CHANNEL Z YELLOW E CHANNEL Z
CHANNEL Z WHITE\YELLOW F CHANNEL Z
FRAME GROUND D FRAME GROUND 0V BLACK, WHITE\BLACK G 0V
+5V DC RED, WHITE\RED H +5V DC
FRAME GROUND J FRAME GROUND
CHANNEL U BROWN K CHANNEL U
CHANNEL U WHITE\BROWN L CHANNEL U
CHANNEL V BLUE M CHANNEL V
CHANNEL V WHITE\BLUE N CHANNEL V
CHANNEL W ORANGE P CHANNEL W
CHANNEL W WHITE\ORANGE R CHANNEL W
7.4. TORQUE-SPEED CHARACTERISTICS

6 DS-CZ5CA
(0.6)
Torque[kgcm(Nm)]

4.5
(0.45)
B 12 DS-C01CA
3 (1.2)
(0.3)

Torque[kgcm(Nm)]
9
1.5 (0.9)
(0.15) B
A 6
(0.6)
0 1000 2000 3000 4000 5000
Speed [rpm] 3
20 DS-C02CA (0.3)
(2.0) A
Torque[kgcm(Nm)]

15 0 1000 2000 3000 4000 5000

(1.5) Speed [rpm]
B 40 DS-C03CA
10 (4.0)
(1.0) Torque[kgcm(Nm)]
30
5 (3.0)
(0.5)
A 20 B
(2.0)
0 1000 2000 3000 4000 5000
Speed [rpm] 10
60 DS-C05CA (1.0)
(6.0)
A
Torque[kgcm(Nm)]

45 0 1000 2000 3000 4000 5000

(4.5) Speed [rpm]
B 80 DS-C07CA
30 (8.0)
(3.0)
Torque[kgcm(Nm)]

60
15 (6.0)
(1.5) B
A 40
(4.0)
0 1000 2000 3000 4000 5000
Speed [rpm] 20
120 DS-C08CA (2.0)
(12.0) A
Torque[kgcm(Nm)]

90 0 1000 2000 3000

(9.0) Speed [rpm]
B 200 DS-C10CA
60 (20)
(6.0)
Torque[kgcm(Nm)]

150
30 (15)
(3.0)
A 100 B
(10)
0 500 1000 1500 2000 2500
Speed [rpm] 50
240 DS-C15CA (5)
(24) A
Torque[kgcm(Nm)]

180 0 1000 2000 3000

(18) Speed [rpm]
B
120
(12)
A : Continuous Duty Zone
60 B : Intermitent Duty Zone
(6)
A
0 1000 2000 3000
Speed [rpm]
8. PRECAUTIONS FOR APPLICATION
8.1. MINUS LOAD

When the motor is run by load, it means that the servo system is continuously running on
regenerative brake.
Example) Driving a motor to lower objects(with no counterweight)
Since servo driver has the regenerative brake capability for short time corresponding to the motors
stopping time, do not use minus load running on regenerative brake continuously.

8.2. LOAD INERTIA(Load )

The allowable load inertia converted to the motor shaft must be within five times as large as the
inertia of AC servo motor. If the allowable inertia is exceeded, regeneration alarm may be given
from the driver during deceleration.

If this occurs, take the following action;

- Reduce the current limit.
- Slow down the deceleration time.
- Decrease the maximum speed.

8.3. HIGH VOLTAGE LINE

If the supply voltage is three phase 400/440V, the voltage must be dropped to single-phase
200/220V by using a power transformer.
When selecting transformer, you refer to the power capacity per a driver.

8.4. NOISE TREATMENT

The wiring or grounding method of servo driver have to be minimized effect of switching noise or
external noise occurred power TR

▷ Grounding Method
Since the servo driver supply the power for the motor through switching operation of the power TR,

Cf current flows through the floating capacity of the motor.

To prevent this effect, motor frame terminal should be connected to FG terminal of the driver, and
FG terminal of the driver should be directly grounded.

▷ Noise Filter
To prevent noise from the power line, noise filter is connected. So observing the precautions,
carefully connect them as follows.

(a) Separate the input and output line and don't bundle or run them in the same duct.
(b) Don't bundle the ground line with the filter output line or other signal lines, or run them
in the same duct.
 (c) Connect the ground line single to the ground panel.
(d) If the unit contains the filter, connect the filter ground and the equipment ground to the
base of the control unit.

8.5. PRECAUTION BEFORE OPERATION

(a) Internal voltage source of the driver is a high voltage(DC 250 ～ 340V).Don't touch it for
your safety.
(b) Take notice that the charged voltage in the driver stay about 5-minutes even if the main
power is off.
(c) Avoid location where corrosive, inflammable or explosive fluid and gas.
(d) Environmental conditions are as follows.
- Motor : Ambient temperature 0 ～ 40℃, Humidity 20 ～ 80％
- Driver : Ambient temperature 0 ～ 55℃, Humidity below 90％

8.6. INSTALLATION
▷ Servo Motor
AC servo motor can be installed either vertically or horizontally.
(a). Before mounting : Wash out anticorrosive paint on shaft extension and flange surface with
thinner before connection the motor to the driven machine.
(b). Location and environmental conditions
- Free from corrosive and/or explosive gases or liquids.
- Well-ventilated place.
- Accessible for inspection maintenance and cleaning.
- Ambient Temperature : 0 ～ 40˚C
- Storage Temperature : -20 ～ 80˚C
- Humidity : 20 ～ 80% RH
(c). Load Coupling
True alignment of the motor and driven machine is essential to prevent vibration, reduced
bearing and coupling life, or shaft and bearing failures.
① Measure the gap between the straight edge and coupling halves at four equidistant point
of the coupling. The each reading should not exceed 0.03mm.
② Align the shafts.(motor and load shaft)
(d). Allowable bearing load
Avoid both excessive thrust and radial loads to the motor shaft when mounting the gear,
coupling and pulley. Avoid excessive force on the bearing(10 G Max)

▷ Servo Driver
(a) When installed in a panel : The panel temperature take a panel size, Refrigeration(cooling),
and wiring into consideration to keep at 5℃ or below as around temperature according to
heater value of equipped instrument and Box Size.
(b) When installed near a heat source : Keep the temperature around driver at 55℃ or below.
(c) If subjected to vibration : Mount the unit on shock absorbing material.
 (d) If corrosive gases are present for a long time : Avoid locations where corrosive gases
exist as it may cause the contact errors on the relay, and circuit braker used in the
command and main circuits.
(e) Select a location with minimum exposure to hot air, high humidity excessive dust or
metallic particles.

8.7. WIRING
A servo driver is a high performance device for speed and position control. The following
precautions should be taken for transferring the signal level of several milli-volts or less.
(a) For signal lines and encoder feedback lines, use multi-core shielded twisted-pair cables.
Cable length should not be exceeded by 3m(20m for encoder feedback lines).
The wiring connect in the most shortly length, and spare length use in a cutting.
(b) For ground line, cables should be as heavy as possible to provide the class 3(ground
resistance 100Ω or less). Make sure to ground at one point.
(c) To prevent malfunction due to noise, take the following precautions.
- Place the noise filter, driver and Input/Output reference as near as possible to each other.
- Make sure to mount a surge absorbing circuit into the relay, electromagnetic contactor and
the solenoid coils.
- Power(AC input, motor input line)and signal lines, holding the distance to 30cm or more ;
don't put them in the same duct or in a bundle.
- When the same power is used for the driver, as far an electric welder or electrical discharge
machine, or when a high frequency noise source is present in the vicinity, use noise filters
in the power and input circuits.
- A servo driver using switching Amp is to be occurred noise in signal lines ; Analog input
wiring have not to be opened in the terminal.
- The signal lines use cables whose core is extremely fine( 0.2 ～ 0.3 mm2 ). Avoid using
excessive force which may damage these cables.

8.8. CHECK ITEMS BEFORE TEST RUN

Before test run, check the following to correct any deficiency.
(a) Bolts and nuts are not loose.
(b) Wiring and grounding leads are firmly connected.
(c) The terminals and the connector leads are firmly connected.
(d) Main and control power supplied to the driver are AC 200 to AC 220V.
(e) The power supply is cut off by the servo alarm.
(f) The speed command is 0V. The pulse command is 0 pps.