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Technical
Information
Direct Drive Motor <DYNASERV>

Intelligent Drive <DrvPIII>
Technical Information
TI 71M01D04-01EN
TI 71M01D04-01EN
Yokogawa Electric Corporation 14th Edition:2012.12.01
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i
 Introduction
 Overview of This Manual
This manual provides information about DYNASERV, a direct drive servo motor. Make sure to
refer to this manual when you use the motor.
 Trademark
• Windows and Windows NT are registered trademarks of Microsoft Corporation in the

United States and/or other countries.
• Adobe and Acrobat are trademarks of Adobe Systems Incorporated.
• Pentium is a registered trademark of Intel Corporation in the United States.
• Other company and product names mentioned herein may be the trademarks or
registered trademarks of their respective owners.
 Copyright
The copyright of this manual belongs to Yokogawa Electric Corporation.

No part of this document may be reproduced, or transferred, sold or distributed to the third
party.
 Strategic Goods Advisory
It is required to obtain approval from the Japanese government to export goods regulated by
the Foreign Exchange and Foreign Trade Control Law from Japan.
TI71M01D04-01EN 14th Edition: 2012.12.01

ii
 Conventions
 Symbols used in this manual
Throughout this manual, the following symbol marks are used to distinguish explained
information.
! DANGER : Describes cautions for avoiding danger in potentially hazardous

situations that may put operators' lives and bodies in danger such as
electric shock accident.
WARNING : Describes points to be noted in situations that may cause damages

to software and/or hardware or system troubles.
CAUTION : Describes important points when understanding operations and

functions.
TIP : Describes supplementary information about descriptions.
SEE ALSO : Describes items and pages that should be referenced.

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

• We assume no responsibility for damages any user or third party may incur through
use of the product, nor for any direct or indirect damages that the user or a third party
may incur due to product defects that cannot be predicted by us, etc.

iv
 Software
• We make no warranties for the software except as prescribed by the guarantees.

• Copying and use of the software for any purpose other than as intended by us, such
as for use as a backup, is strictly prohibited.
• Keep the original storage media of this software in a safe place. If you do not have the
original media, we may decline to offer our prescribed quality warranty and
maintenance services.
• Reverse engineering of the software, including reverse compilation and reverse
assembly, is strictly prohibited.
• The transfer, exchange or subleasing of any part of the software for unwarranted use
by a third party is prohibited without prior permission from Yokogawa Electric.

v
 General Precautions Regarding DYNASERV
• Never install the DYNASERV motor in reverse, i.e. fixing the rotor of the motor and
making the stator rotate.
• When removing the drive-side panel to replace consumables, etc., be sure to turn the
power OFF before doing so. It is dangerous to touch the high-voltage parts inside the
unit.
• The motor rotates at a high velocity and torque. Take the rotation radius into
consideration during operations with load attached, and be sure to take precautions to
avoid the risk of bodily injury or equipment damage.
• Be sure to ground the ground terminal to the earth.
• When mounting a load on the motor rotor, be sure to leave a clearance between the
load and the upper surface of the motor of 1mm or more in order to maintain the
intended precision.
• Never press an object into the hollow hole or apply force to it. When you lead an object
through the hollow hole, be sure to secure a clearance of 1 mm or more on both sides.
If force is applied to the hollow hole in the DM motor, the internal encoder may be
damaged. The DR or DB motor has a hollow hole in its casting, so take the
dimensional allowance into consideration and use it with sufficient margins for both
sizes and shapes.
1 mm or more
Object to be led through hollow hole
Attached part
Motor rotor
Motor's hollow hole

1 mm or more
• Do not subject the motor to strong force, impact or magnetic field. Please be aware
that the DR or DB motor is equipped with a built-in magnetic resolver.
Stator
Bottom cover
Rotor
Magnetic resolver
• Be sure the mounting screws of a load never reach or exceed the effective screw
depth of the motor unit. Depending on the model used, the functions may be impaired
and failure may occur if screws reach or exceed the effective screw depth.
• If you use the screw holes located above and below the box of the DrvPIII drive, be
certain the tips of the screws penetrate no more than 8mm for the 500W and 2kW
classes, or 6mm for the 4kW class, below the drive's surface. If this precaution is not
observed, it may cause an electric shock, short circuit and/or damage to the motor.

vi
• If you intend to use the motor in applications where the move is sliding/rotating at a
small angle (50°or less), it is necessary to perform a reciprocating move (rotate the
motor 180°from the operational range of motion) of 90°or more approximately 10 times
for every 10,000 cycles of the small-angle move in order to prevent the bearing
lubrication from becoming insufficient.
• The motor's surface is magnetized. Keep objects that are affected by magnetism away
from the motor.
• The motor and drive structures are not resistant to dust, splash or water (oil).
Therefore, choose the installation environment carefully.
• The drive should be installed on an appropriate metal cabinet, observing the safety
measures prescribed by the Low Voltage Directive and EMC Directives.
• Interchangeability between motors and drives is only possible if the drive and motor
are compatible (not every motor can be connected to every drive). To determine
compatibility, the DYNASERV motor's five digit model and suffix code must match the
drive's five digit model and suffix code. For example, using  to represent the model
and suffix code values, the motor's five digit model and suffix code (DM- or
DR- or DB-) must match the drive's model and suffix code
(UDP3- or URP3- or UBP3-), respectively. In addition,
the current of the drive must also match the motor requirements.
• The load mounting surface on the motor's upper surface and the stator's mounting
surface at the bottom surface are coated to prevent rust. Before assembling and using
the product, wipe the coating off completely. If any coating remains, the mechanical
precision may be impaired. Be careful so that the coating material and cleaning
solution do not penetrate the motor. If so, the product's internal parts may be
damaged.
Surfaces where an anti-rust coating is applied
• Do not place the motor in the manner shown below. Cables may be flattened and
ultimately disconnected due to the weight of the motor. If you install the motor with the
cable connections below the motor, be sure to include a structure that supports the
cables to avoid any potential damage.
• If the product is installed in such a way that cables are bent in the machine, etc., be
sure the minimum bend radius of the cable is 50mm or more. Moreover, do not install
cables such that they are bent repeatedly. It may cause disconnection and failure.
The minimum bending radius

must be 50 mm or more.

vii
• Do not conduct over-voltage tests. Circuitry in the drive or motor may become
damaged as a result of these types of destructive tests.
• When connecting the motor and load, be sure to align the centers of the rotating parts
sufficiently. If there is a misalignment of 10 μm or more, the bearing inside the motor
may be damaged.
Center misalignment of 10 µm or less
• Never attempt to disassemble or modify the motor or drive. We assume no

responsibility if you disassemble or modify them.
• Disconnect all power and wait 7 minutes before servicing. May cause electric shock.
The high voltage is applied to the regenerative resistor terminal. In general, it is
necessary to wait 7 minutes for 2kW and 4kW classes or 4 minutes for 500W class
until the voltage lowers to the safe level after powering off.
• Do not remove the separator attached in the regenerative resistor terminal of a drive.
The separator is attached to the model with which the regenerative resistor is not
supplied so that regenerative resistor may not be connected accidentally, and so that it
cannot touch carelessly.
• In the case of UD1B3-075- drive ; Notch filter frequency (***Hz) peculiar to a motor
is stuck and displayed on the motor. First of all please set this value as a parameter 20
(frequency notch filter #1) and a parameter 22 (frequency notch filter #2). Then, please
tune the servo.
• Prepare a fixture in the control panel or on the machine, fix the cables to the fixture
near the connectors, so that external force is not applied to the connectors.
• A part of machine parameters overwrites the related parameters when the power is
recycled, if those parameters are changed. “10.0x (Data Sum Error)” may rarely occur
in case that the control power supply is terminated before LED for RDY signal is
lighted when the power is recycled. If this error occurs, restore user data, which was
backed up beforehand, after initialization of user parameters (Backed up parameter
values are set).
• Make sure not to terminate control power supply while All-Reset function is in
execution. All-Reset needs more 5 (five) seconds for the completion. “10.0x (Data
Sum Error)” may occur in case that the control power supply is terminated in this while.
Execute All-Reset again if the error occurs.
• Utility software includes several functions, which recycle AC main power
automatically. ”10.0x (Data Sum Error)” may rarely occur in case that the control power
supply is terminated before LED for RDY signal is lighted when the power is recycled.
If this error occurs, restore user data, which was backed up beforehand, after
initialization of user parameters (Backed up parameter values are set).
• If you turn off the power after the occurrence of overload error, please turn on the
power after more than 10min. If this error occurs again, please review the operating
conditions.

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TOC-1
Table of Contents
Introduction ....................................................................................................................................................... i
Conventions ..................................................................................................................................................... ii
Precautions ..................................................................................................................................................... iii
1. Overview of the Product....................................................................................................................... 1-1

1.1 DM/DR/DB Series Motor .............................................................................................................. 1-1
1.2 DrvPIII Drive ................................................................................................................................. 1-2
1.3 Checking the Product ................................................................................................................... 1-3
2. Specifications ........................................................................................................................................ 2-1
2.1 Standard Specifications ................................................................................................................ 2-1
2.2 Torque/Velocity Characteristics .................................................................................................... 2-6
2.3 Model and Suffix Codes ............................................................................................................... 2-8
2.4 Option Cables ............................................................................................................................. 2-16
2.4.1 Option Cable Model and Suffix Code ............................................................................... 2-16
2.4.2 Recommended Cables ..................................................................................................... 2-19
2.4.3 Cable Specifications ......................................................................................................... 2-21
2.5 Outline Drawings ........................................................................................................................ 2-25
2.5.1 Motor ................................................................................................................................ 2-25
2.5.2 Drive ................................................................................................................................. 2-30
2.5.3 Regenerative Resistor ...................................................................................................... 2-31
2.5.4 Connector ......................................................................................................................... 2-31
2.5.5 Terminals .......................................................................................................................... 2-32
2.5.6 Motor Filter ....................................................................................................................... 2-32
2.6 Optional Mechanical Brake......................................................................................................... 2-33
2.6.1 General Specification ....................................................................................................... 2-33
2.6.2 Structure ........................................................................................................................... 2-33
2.6.3 Operation .......................................................................................................................... 2-33
2.6.4 Formulae for Calculation of Stop Angle ............................................................................ 2-34
2.6.5 Applied Voltage and Temperature Increase ..................................................................... 2-34
2.6.6 Power Supply Specifications and Wiring .......................................................................... 2-35
2.6.7 Diagrams of External Appearance.................................................................................... 2-35
2.7 Precautions at Installation, Moving and Storage ........................................................................ 2-36
2.7.1 Installation of the Motor .................................................................................................... 2-36
2.7.2 Installation of the Drive ..................................................................................................... 2-38
2.8 Stop Function in Error State ....................................................................................................... 2-41
2.8.1 Servo-Deceleration ........................................................................................................... 2-41
2.8.2 Dynamic Brake (with selection -1B or -1L) ....................................................................... 2-43
2.8.3 Example............................................................................................................................ 2-44
2.9 Operating Restrictions ................................................................................................................ 2-46
2.9.1 Restrictions due to Motor Characteristics (DR5B and DR5C/DB5C) ............................... 2-46
2.9.2 Restrictions due to Drive Characteristics (DR5B) ............................................................ 2-47
2.9.3 Restrictions on the Number of EEPROM Registrations ................................................... 2-48
2.10 Conformed Standards ................................................................................................................ 2-49

TOC-2
3. System Configuration........................................................................................................................... 3-1

3.1 System Configuration ................................................................................................................... 3-1
3.2 Contact I/O Interface .................................................................................................................... 3-2
3.2.1 Contact I/O ......................................................................................................................... 3-2
3.3 CC-Link Interface .......................................................................................................................... 3-3
3.3.1 What is CC-Link?................................................................................................................ 3-3
3.3.2 Network Configuration ........................................................................................................ 3-4
3.3.3 Communication................................................................................................................... 3-5
3.4 PROFIBUS-DP Interface ............................................................................................................ 3-10
3.4.1 What is PROFIBUS-DP? .................................................................................................. 3-10
3.4.2 Network Configuration .......................................................................................................3-11
3.4.3 Communication................................................................................................................. 3-12
3.4.4 Configuration .................................................................................................................... 3-15
4. Name and Function of Each Part ........................................................................................................ 4-1
4.1 Motor Unit ..................................................................................................................................... 4-1
4.1.1 DM Type ........................................................................................................................ 4-1
4.1.2. DR Type/DB Type .................................................................................................... 4-1
4.2 Drive Unit ...................................................................................................................................... 4-2
4.2.1 500W Class ........................................................................................................................ 4-2
4.2.2 2kW Class .......................................................................................................................... 4-3
4.2.3 Explanation of the Front Panel (Contact I/O) ..................................................................... 4-4
4.2.4 Explanation of the Front Panel (CC-Link) .......................................................................... 4-5
4.2.5 Explanation of the Front Panel (PROFIBUS-DP) ............................................................... 4-6
5. Wiring ..................................................................................................................................................... 5-1
5.1 Overall Connection ....................................................................................................................... 5-1
5.1.1 Connection Diagram ........................................................................................................... 5-1
5.1.2 Circuit Protector .................................................................................................................. 5-2
5.1.3 List of Recommended Parts ............................................................................................... 5-2
5.1.4 List of Cable Specifications ................................................................................................ 5-3
5.2 Main Power Supply/Control Power Supply Terminal <TB1> ........................................................ 5-4
5.3 Motor Terminal/Ground <TB2>..................................................................................................... 5-5
5.4 Regeneration Resistor Terminal <TB3> ....................................................................................... 5-6
5.5 Sensor Terminal <TB4> ............................................................................................................... 5-7
5.6 Serial Interface Connector <CN1> ............................................................................................... 5-9
5.7 Encoder/Resolver Connector <CN2> ......................................................................................... 5-11
5.8 Analog Monitor Connector <CN3> ............................................................................................. 5-15
5.9 Controller Interface Connector <CN4> ....................................................................................... 5-16
5.9.1 Contact I/O Interface ........................................................................................................ 5-16
5.9.2 CC-Link Interface.............................................................................................................. 5-20
5.9.3 PROFIBUS-DP Interface .................................................................................................. 5-22
5.10 Noise Prevention and Installation Conditions ............................................................................. 5-24
5.10.1 Line Filter ........................................................................................................................ 5-27
5.10.2 Ferrite Core 1.................................................................................................................. 5-28
5.10.3 Ferrite Core 2.................................................................................................................. 5-28

TOC-3
5.10.4 Motor Filter...................................................................................................................... 5-28

5.10.5 Shielding of Cables ......................................................................................................... 5-28
5.11 Drive Input Current ................................................................................................................... 5-29
5.11.1 How to Obtain Input Current ........................................................................................... 5-29
5.11.2 How to Obtain Input Current When Operating Multiple Drives ....................................... 5-31
5.12 Drive Inrush Current ................................................................................................................. 5-32
5.12.1 Inrush Current Waveforms (representative examples) ................................................... 5-32
5.12.2 Selecting Circuit Breaker ................................................................................................ 5-32
5.12.3 Selecting Fuse ................................................................................................................ 5-33
6. Operation ............................................................................................................................................... 6-1
6.1 Common Basic Functions............................................................................................................. 6-1
6.1.1 I/O Signals .......................................................................................................................... 6-1
6.1.2 I/O Registers..................................................................................................................... 6-17
6.1.3 #parameters/#monitors .................................................................................................... 6-19
6.1.4 Operation Privilege ........................................................................................................... 6-26
6.1.5 Process Settings in Error State ........................................................................................ 6-28
6.1.6 Methods of Issuing Servo-ON Commands ....................................................................... 6-32
6.1.7 Signal Timing when Turning the Power ON ..................................................................... 6-33
6.1.8 Coordinate Systems ......................................................................................................... 6-35
6.1.9 Velocity Profile .................................................................................................................. 6-39
6.2 Initial Operation Test .................................................................................................................. 6-45
6.2.1 Initial Operation Test Using the Utility Software ............................................................... 6-45
6.3 Jog Move .................................................................................................................................... 6-54
6.4 Table Data Operation ................................................................................................................. 6-58
6.4.1 Table Data Operation........................................................................................................ 6-58
6.4.2 Setting Operation Register ............................................................................................... 6-66
6.4.3 Auto-tuning Operation ...................................................................................................... 6-70
6.4.4 Test Operation .................................................................................................................. 6-74
6.4.5 Homing ............................................................................................................................. 6-77
(a)Homing of an Incremental Motor.................................................................................. 6-77
(b)Homing of an Absolute Motor....................................................................................... 6-89
6.4.6 ABS (Absolute) Positioning Move .................................................................................... 6-93
6.4.7 INC (Incremental) Positioning Move................................................................................. 6-96
6.4.8 Dwell ................................................................................................................................. 6-99
6.4.9 Parameter Change ......................................................................................................... 6-100
6.4.10 Conditional Branch ......................................................................................................... 6-104
6.4.11 Command ....................................................................................................................... 6-106
6.4.12 Startup Operation ........................................................................................................... 6-109
6.5 Control Using the PLC .............................................................................................................. 6-110
6.6 Position Settling Signal ............................................................................................................. 6-111
6.7 Signal Monitor Function ............................................................................................................ 6-114
6.8 Area Signal ............................................................................................................................... 6-117
6.9 Torque/thrust Control Function ................................................................................................. 6-118
6.10 Special Functions of CC-Link ................................................................................................... 6-119
6.10.1 Version V1.50 - Additional Function ............................................................................... 6-122
6.11 Special Functions of PROFIBUS-DP ....................................................................................... 6-124

TOC-4
7. Tuning .................................................................................................................................................... 7-1

7.1 How to Tune the Servo ................................................................................................................. 7-1
7.2 Resonance Prevention ................................................................................................................. 7-3
7.2.1 Prevention of Mechanical Resonance ................................................................................ 7-3
7.2.2 Filters .................................................................................................................................. 7-4
7.2.3 Filters(with FFT) ............................................................................................................... 7-10
7.2.4 If the Motor Oscillates during Auto-tuning ........................................................................ 7-14
8. Utility Software ...................................................................................................................................... 8-1

8.1 Introduction ................................................................................................................................... 8-1
8.1.1 Operating Conditions .......................................................................................................... 8-1
8.1.2 Communication Cable ........................................................................................................ 8-2
8.1.3 Installing and Uninstalling ................................................................................................... 8-3
8.2 Overview ....................................................................................................................................... 8-4
8.2.1 Function Groups ................................................................................................................. 8-4
8.2.2 Function List ....................................................................................................................... 8-5
8.3 Required Settings Prior to Connecting ......................................................................................... 8-7
8.3.1 Connecting and Reconnecting ........................................................................................... 8-7
8.3.2 Communication Settings .................................................................................................... 8-7
8.3.3 Other Settings..................................................................................................................... 8-8
8.4 Details of the Operation Group Function ...................................................................................... 8-9
8.4.1 Operation ............................................................................................................................ 8-9
8.4.2 Terminal ............................................................................................................................ 8-10
8.5 Details of the Display Group Function ........................................................................................ 8-14
8.5.1 Oscilloscope ..................................................................................................................... 8-14
8.5.2 Displaying #parameter/ #monitor ..................................................................................... 8-26
8.5.3 I/O monitor ........................................................................................................................ 8-27
8.5.4 Axis Signal Monitor ........................................................................................................... 8-28
8.5.5 Error Monitor..................................................................................................................... 8-29
8.5.6 FFT(with PROFIBUS-DP) ................................................................................................ 8-30
8.6 Details of the Data Management Group Function ...................................................................... 8-31
8.6.1 #parameters ..................................................................................................................... 8-31
8.6.2 Table Data Function.......................................................................................................... 8-36
8.6.3 I/O ..................................................................................................................................... 8-37
8.7 Details of the Maintenance Group Function ............................................................................... 8-39
8.7.1 #parameter Maintenance ................................................................................................. 8-39
8.7.2 Table Data Maintenance ................................................................................................... 8-40
8.7.3 I/O Maintenance ............................................................................................................... 8-41
8.7.4 Backup.............................................................................................................................. 8-42
8.7.5 Version Information .......................................................................................................... 8-43
8.8 FAQ Pertaining to the Utility Software ........................................................................................ 8-44

TOC-5
9. Maintenance and Inspection ................................................................................................................ 9-1

9.1 Daily Inspection ............................................................................................................................ 9-1
9.2 Backup and Restore Operations of User Data ............................................................................. 9-2
9.3 Initialization of User Data (Reset All) ............................................................................................ 9-2
Appendix 1 Parameter Description ............................................................................................ Appendix 1-1

Appendix 2 Monitor Description ................................................................................................ Appendix 2-1
Appendix 3 Detail of Main Error Codes ..................................................................................... Appendix 3-1
Appendix 4 Glossary ................................................................................................................... Appendix 4-1
Appendix 5 Description of Operation Tables and Sample Programs .................................... Appendix 5-1
Revision Record

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1-1
1. Overview of the Product

1.1 DM/DR/DB Series Motor
The DYNASERV is an outer rotor type direct drive servo motor that operates with high
velocity, high torque, and high precision.
DM Series Motors
The DM Series motors are aluminum-based, chassis-type motors with built-in optical
encoders for high precision and excellent torque-to-weight ratios.
The types available are the DM1A, DM1B, and DM1C. For the DM1B type, two models, the
-004 and the -006, have flat designs featuring a low profile. The DM1C design has a smaller
external diameter.
• DM1A type: External diameter 264mm, diameter of the hollow hole 58mm, output torque
50 to 200N-m
• DM1B type (excluding DM1B-004 and -006): External diameter 160mm, diameter of the
hollow hole 25mm, output torque 15 to 75N-m
• DM1B-004, DM1B-006: Flange 160 mm square, external diameter 158mm, diameter of
the hollow hole 25mm, output torque 4 or 6N-m
• DM1C type: External diameter 116mm, diameter of the hollow hole 25mm, output torque
4N-m
DR Series Motors
The DR series motors are steel chassis-type motors with built-in magnetic encoders. They
have excellent weather resistance characteristics and are equipped with large diameter
hollow holes.
The types available are the DR1A, DR1E, DR1B, DR5A, DR5E, DR5B and DR5C. DR5
types can be used for applications that require high-velocity rotation.
• DR1A type: External diameter 264mm, diameter of the hollow hole 150mm, output torque
50 to 400N-m
• DR1E type: External diameter 205mm, diameter of the hollow hole 76mm, output torque
30 to 250N-m
• DR1B type (excluding DR1B-008): External diameter 150mm (DR1B-008 - 145mm),
diameter of the hollow hole 56mm, output torque 8 to 60N-m
• DR1B-008: External diameter 145mm, diameter of the hollow hole 56mm, output torque 8
N-m
• DR5A type: External diameter 264mm, diameter of the hollow hole 150mm, output torque
300 to 500N-m
• DR5E type: External diameter 205mm, diameter of the hollow hole 76mm, output torque
70 or 100N-m
• DR5B type: External diameter 150mm, diameter of the hollow hole 56mm, output torque
30 to 70N-m
• DR5C type: External diameter 107mm, diameter of the hollow hole 26mm, output torque
5 to 15N-m
DB Series Motors
The DB series motors are DD servo motors with an absolute positional detection function,
which are derived from the DR series motors. The DB5C type is available.
• DB5C type: External diameter 107 mm, diameter of the hollow hole 26 mm, output torque
5 to 15N-m

1-2
1.2 DrvPIII Drive

The DrvPIII is a direct drive servo motor drive designed exclusively for positioning operation,
offering improved control performance and operability.
The DrvPIII supports motors of absolute type as well as increment type. Additionally, two
types of controller interfaces--contact I/O and CC-Link--are provided.
Three types of controller interfaces, contact I/O, CC-Link and PROFIBUS-DP, are provided.

1-3
1.3 Checking the Product

Please check the product as soon as you receive it. Please examine the label and check that
the types and quantities of the parts and products received, as well as accessories you have
ordered, are correct. Perform a visual inspection to ensure that there are no abnormalities in
their appearance.
If you received a different product than you ordered or the product does not conform to your
expectations, please contact us or the dealer from whom you purchased the product
immediately.
Name of product/accessory Shape Remarks

The shape varies, depending on
Motor unit the model and suffix code you
ordered.
The shape varies depending on
Drive
the model.
TB1 power supply terminal
connector
Standard
(231-204/026-000 WAGO)
accessories
(one piece per
TB2 motor terminal connector drive)
(231-203/026-000 WAGO)
Appending regenerative
TB3 regenerative terminal resistor series
connector (One piece per drive)
See the table on the
(231-202/026-000 WAGO) next page
Screw-less terminal lever

(231-131 WAGO) Standard
accessories
Drive unit
(one piece per

TB4 sensor terminal connector drive)
(733-106 WAGO)
Appending regenerative
Regenerative resistor resistor series
(One piece per drive)
See the table on the
next page
CN2 encoder/resolver connector Supplied when

order includes the
(PCR-S20FS, PCR-LS20LA1 additional suffix
Honda Tsushin Kogyo) code "/CN."
Supplied when the
CN4 controller interface connector order includes
(PCR-S36FS, PCR-LS36LA Honda contact I/O "XA"
Tsushin Kogyo) and additional
suffix code "/CN."
Supplied when the
CN4 controller interface connector order includes
(TMSTBP 2, 5/4-ST-5, 08 Phoenix CC-Link "C1" and
Contact) additional suffix
code "/CN."
Option cables Optional

1-4
List of Models Provided with Regenerative Resistors
A regenerative resistor is provided for the models listed in the table below. A resistor is not
attached to drives of the 2kW class, as they have built-in regenerative resistors.
Model Suffix code Regenerative resistor

-050N-A-1-N 80W 60 Ω
UD1AP3
-050N-A-2-N 80W 200 Ω
-050N-B-1-N 80W 60 Ω
UR1AP3
-050N-B-2-N 80W 200 Ω
-030N-B-1-N 80W 60 Ω
UD1EP3
-030N-B-2-N
UR5BP3 -010N-B-2-N
-010N-B-2-N
UR5CP3 80W 200 Ω
-015N-B-2-N
-010N-B-2-N
UB5CP3P3
-015N-B-2-N
Faceplate of the Motor

Motor model/suffix code
Stator
Bottom cover DM1A-050G
-1D2A1G2-003-0101/CN
203MM12345A1
Made in Japan
Displayed on the bottom cover Main faceplate Serial number

or the side of the rotor
Rotor
Faceplate of the Drive
Drive model/suffix code, style No.
Input Output
DD SERVO ACTUATOR
UD1AG3 S1.01
-050N-1 AA-2SA-N C
203MM12345A1
Made in Japan K
Serial number
Label

2-1
2. Specifications
2.1 Standard Specifications

DM1 Type Motor Note: Items with "*" indicate continuous rating of CE.
DM1A
Item Unit
DM1A-200 DM1A-150 DM1A-100 DM1A-050
Maximum torque N・m 200 150 100 50
Rated torque * N・m 67 50 33 17
Maximum velocity (100/200V) rps 1.2／1.2

Motor and drive
Rated velocity (100/200V) rps 0.5／1.0 1.0／1.0
Encoder resolution p/rev 4,096,000

Rotation
Positioning Repeatability accuracy arc-sec ±1
Absolute accuracy arc-sec ±15
Number of origin pulses p/rev 100

Maximum power consumption
(100/200V) kVA 1.5／3.0 1.5／3.0 1.35／2.7 1.2／2.4
Rated power consumption
(100/200V) * kVA 1.32／1.9 1.12／1.5 1.12／1.12 0.71／0.71
Rotor inertia kg・m2 167×10-3 142×10-3 119×10-3 96×10-3
Compression 4×104
Axial load N
Tension 2×104
Maximum overhung load N・m 400

Motor
Compression 2×10-6
Axial
stiffness mm/N
Tension 3×10-6
Moment displacement stiffness rad/N・m 4×10-7
Weight kg 29 24 19 14.5
Standard profile mm 188 163 138 113

Length L (See the
outline drawings.) With mechanical
brake mm 238 213 188 163
☆Please use it at 0.05rps or more over.

DM1B DM1C
Item Unit
DM1B-075 DM1B-060 DM1B-045 DM1B-030 DM1B-015 DM1B-006☆ DM1B-004☆ DM1C-004☆
Maximum torque N・m 75 60 45 30 15 6 4 4
Rated torque * N・m 25 20 15 10 5 2 1 1
Maximum velocity (100/200V) rps 2.4／2.4 2.5／2.5 2.5／2.5
Rated velocity (100/200V) rps 1.0／2.0 1.0／1.5 1.0／2.0 1.5／2.0 2.0／2.0 2.0／2.0 2.0／2.0
Motor and drive
Encoder resolution p/rev 2,621,440 2,621,440

Rotation
positioning Repeatability accuracy arc-sec ±1 ±3 ±3
Absolute accuracy arc-sec ±15 ±20／±60 ±20／±60
Number of origin pulses p/rev 60 124 124

(100/200V) kVA 1.25／2.5 1.1／2.2 1.0／2.0 1.0／2.0 0.8／1.6 0.35／0.5 0.3／0.4 0.25／0.4
(100/200V) * kVA 1.05／1.4 0.8／1.0 0.75／1.0 0.67／0.75 0.5／0.5 0.3／0.3 0.25／0.25 0.2／0.2
2 -3 -3 -3 -3 -3 -3 -3
Rotor inertia kg・m 27×10 23×10 19×10 15×10 12×10 7.5×10 5.5×10 2.5×10-3
4
Compression 3×10 200 50 50
Axial load N
4
Tension 1×10 200 50 50
Maximum overhung load N・m 200 50 - -

-6
Compression 2.5×10 - -
Motor
Axial
stiffness mm/N
Tension 3×10-6 - -
-6
Moment displacement stiffness rad/N・m 1×10 - -
Weight kg 14 12 9.5 7.5 5.5 5 3 3
Standard profile mm 194 168 143 118 92.5 65 45 77

Length L (See the
brake mm 233 208 183 157 132 - - -
TI 71M01D04-01EN 14th Edition : 2012.12.01

2-2
DR Type Motor
Note: Items with "*" indicate continuous rating of CE

DR1A
Item Unit
DR1A-400 DR1A-300 DR1A-200 DR1A-150 DR1A-100 DR1A-050
Maximum torque N・m 400 300 200 150 100 50
Rated torque * N・m 133 100 67 50 33 17
Maximum velocity (100/200V) rps 0.4／0.8 0.5／1.0 0.8／1.2 1.0／1.2 1.2／1.2 1.8／1.8
Rated velocity (100/200V) rps 0.25／0.5 0.5／1.0 1.0／1.0 1.5／1.5

Motor and drive

Rotation
positioning Repeatability accuracy arc-sec ±3

(100/200V) kVA 1.6／3.2 1.6／3.2 1.5／3.0 1.5／3.0 1.25／2.5 1.25／2.5
(100/200V) * kVA 1.12／1.8 0.9／1.4 1.06／1.9 0.85／1.5 1.12／1.12 1.0／1.0
2 -3 -3 -3 -3 -3
Rotor inertia kg・m 400×10 340×10 285×10 230×10 200×10 180×10-3
Compression 4×104
Axial load N
Tension 2×104
Compression 2×10-6
Motor
Axial stiffness mm/N

Tension 3×10-6
Weight kg 65 55 45 36 31 26
Standard profile mm 358 304 250 212 185 158

Length L (See the
brake mm 408 354 300 262 235 208
DR1B
Item Unit
DR1B-060 DR1B-045 DR1B-030 DR1B-015 DR1B-008
Maximum torque N・m 60 45 30 15 8
Rated torque * N・m 20 15 10 5 3
Maximum velocity (100/200V) rps 1.4／2.4 1.8／2.4 2.4／2.4
Rated velocity (100/200V) rps 1.0／1.5 1.0／2.0 1.5／2.0 2.0／2.0

Motor and drive

Rotation

(100/200V) kVA 1.15／2.3 1.05／2.1 0.9／1.8 0.7／1.4 0.5／1.0
(100/200V) * kVA 0.71／0.71 0.67／0.8 0.67／0.75 0.5／0.5 0.4／0.4
Rotor inertia kg・m2 33×10-3 26×10-3 24×10-3 21×10-3 15×10-3
Compression 3×104
Axial load N
Tension 1×104
Compression 3×10-6
Motor
Axial
stiffness mm/N
Tension 4×10-6
Weight kg 15.5 13.0 11.0 9.0 6.0
Standard profile mm 207 179 151 123 85

Length L (See the
brake mm 252 224 196 168 -

2-3
Note: Items with "*" indicate continuous rating of CE

DR1E
Item Unit
DR1E-250 DR1E-220 DR1E-160 DR1E-130 DR1E-100 DR1E-070 DR1E-030
Maximum torque N・m 250 220 160 130 100 70 30
Rated torque* N・m 83 73 53 43 33 23 10
Maximum velocity (100/200V) rps 0.7／1.2 1.0／1.2 1.2／1.2 1.5／2.4 2.0／2.4
Rated velocity (100/200V) rps 0.5／1.0 1.0／1.5 1.5／2.0

Motor and drive

Rotation

(100/200V) kVA 1.6／3.2 1.5／3.0 1.4／2.8 1.25／2.5 1.15／2.3 1.0／2.0 0.9／1.8
(100/200V) * kVA 1.25／1.8 1.12／1.6 0.9／1.5 0.75／1.25 1.06／1.5 1.0／1.4 0.71／0.9
Rotor inertia kg・m2 185×10-3 170×10-3 140×10-3 125×10-3 100×10-3 85×10-3 72×10-3
Compression 4×104
Axial load N
Tension 2×104

Motor
Compression 2×10-6
Axial
stiffness mm/N
Tension 3×10-6
Weight kg 48 44 36 32 26 22 18
Length L (See the outline drawings.) mm 355 327 271 243 210 183 156
DR5E DR5B DR5C

Item Unit
DR5E-100 DR5E-070 DR5B-070 DR5B-050 DR5B-030 DR5C-015 DR5C-010 DR5C-005
Maximum torque N・m 100 70 70 50 30 15 10 5
Rated torque* N・m 33 23 23 17 10 5 3 2
Maximum velocity (100/200V) rps -／4.0 -／5.0 -／6.0
Rated velocity (100/200V) rps -／2.0 -／4.0 -／4.0

Motor and drive
Encoder resolution p/rev 638,976 557,056 425,984

Rotation
positioning Repeatability accuracy arc-sec ±4 ±5 ±5
Absolute accuracy arc-sec ±90 ±90 ±150
Number of origin pulses p/rev 78 68 52

(100/200V) kVA -／3.4 -／3.1 -／3.4 -／3.1 -／3.1 -／1.4 -／1.2 -／0.6
(100/200V) * kVA -／1.7 -／1.25 -／1.18 -／0.95 -／0.67 -／0.3 -／0.35 -／0.3
2 -3 -3 -3 -3 -3 -3 -3
Rotor inertia kg・m 125×10 100×10 37×10 34×10 27×10 8×10 7×10 6×10-3
Compression 4×104 3×104 5×103

Axial load N
4 4
Tension 2×10 1×10 3×103
Maximum overhung load N・m 400 200 20

Motor
-6 -6
Compression 2×10 3×10 4×10-6
Axial
stiffness mm/N
Tension 3×10-6 4×10-6 8×10-6
-7 -6
Moment displacement stiffness rad/N・m 4×10 2×10 8×10-7
Weight kg 32 26 18.0 16.0 13.5 7.5 6.5 5.5
Length L (See the outline drawings.) mm 243 210 240 212 184 167 140 113

2-4
Note: Items with "*" indicate continuous rating of CE.

DB5C
Item Unit
DB5C-015 DB5C-010 DB5C-005
Maximum torque N・m 15 10 5
Rated torque * N・m 5 3 2
Maximum velocity (100/200V) rps -／6.0

Motor and drive
Rated velocity (100/200V) rps -／4.0
Encoder resolution p/rev 425,984

Rotation
positioning Repeatability accuracy 秒 ±3
Absolute accuracy 秒 ±150
Maximum power consumption (100/200V) kVA -／1.4 -／1.2 -／0.6
Rated power consumption (100/200V) * kVA -／0.3 -／0.35 -／0.3
Rotor inertia kg・m2 8×10-3 7×10-3 6×10-3
Compression 5×103
Axial load N
Tension 3×103

Motor
Compression 4×10-6
Axial stiffness mm/N
Tension 8×10-6
Weight kg 7.5 6.5 5.5
Length L (See the outline drawings.) Standard profile mm 182 155 128
Drive Interface Specifications
Motor Remarks
0 ~ 45C: Standard
Temperature 0 ~ 40C: CE continuous
Operation rating
Humidity 20～85％ RH No condensation
Temperature -20～85℃
Storage
Humidity 20～85％ RH No condensation
Must be no corrosive gasses, dust and dirt

Atmosphere Must be used at a maximum altitude of 1000
meters above sea level (CE mounting condition)

2-5
Drive General Specifications and Function Specifications
500W class 2kW class

100 ~ 115VAC / 200 ~ 230VAC +10% 50/60 Hz
-15%
Main power supply
Maximum power consumption 1.3kVA Maximum power consumption 3.4kVA
Power supply
100 ~ 115VAC / 200 ~ 230VAC +10% 50/60 Hz

Control power -15%
supply
Maximum power consumption 40VA
Temperature 0 ~ +50C (Operation) / 20 ~ +85C (Storage
Environment
Humidity 20 ~ 90%RH, No condensing (Operation and Storage)

No corrosive gases, dust-free atmosphere
Atmosphere Must be used at a maximum altitude of 1000 meters above sea level (CE mounting condition)
Installation Wall-mount
Construction
Fan N/A Built-in DC Fan

Regenerative
resistor External Built-in
Basic Specification
External Dimension 60 W×195 H×150 D（mm） 100 W×195 H×200 D（mm）

Weight 1.2 kg 2.5 kg
Low voltage (declaration) EN50178, EMC (declaration) EN55011 class A group 1, EN61800-3
Conformed standard
UL508C
HiPot Insulating resistance: 10Ω or more (500VDC), Withstand voltage 1500VAC, one minute
DYNASERV UD1AP3; 4,096,000 pulses/rev
UD1BP3; 2,621,440 pulses/rev
UD1CP3; 2,621,440 pulses/rev
UR1AP3; 1,638,400 pulses/rev
UR1BP3; 1,015,808 pulses/rev
Encoder Resolution UR1EP3; 1,228,800 pulses/rev
UR5BP3; 557,056 pulses/rev
UR5CP3, UB5CP3; 425,984 pulses/rev
UR5EP3; 638,976 pulses/rev
LINEARSERV UM1LP3-B: 0.5μm
UM1LP3-C: 0.25μm
UM1LP3-E: 0.05μm
Communication Start-stop system, binary communication
Serial Interface
(RS232C/RS485) Communication Speed 38,400 bps
Multi-channel (RS485) Max. 10 channels
Contact I/O (XA for interface type and specification)
No. of input points: 12 points, No. of output points: 6 points (with a terminal assignment function)
Host interface
CC-Link (C1 for interface type and specification)

When one occupied station is set up
Controller Interface Input registers: 4, output registers: 4
When two occupied stations are set up
Input registers: 8, output registers: 8
PROFIBUS-DP (P1 for interface type and specification)
No. of input points: 48 points, No. of output points: 48 points, Input registers: 10, Output registers: 10
Mechanical Input Signal Home sensor, End Of Travel (EOT) sensor
Pos. control I-PD control, PID control
Control part
Vel. control Proportional control, proportional integral control

Feed Forward Position, velocity, acceleration
Filter Velocity command, velocity feedback, phase delay compensation and notch (2ch) filters
Operation Functions Homing, test, auto-tuning, positioning and jog move functions
Encoder error, over voltage, over current, low bus line power voltage, power failure, over load, regen.
Protection Functions Error detection, over speed, excessive pos. deviation, hardware EOT and software EOT (for linear
coordinate)
Monitor Velocity, current instruction, analog (2ch) and digital (2ch)
Operation display panel (optional)

Operation / Display Operation display pendant (optional) (It can not be used with PROFIBUS-DP.)
Utility software
Servo deceleration function at power failure (immediate stop)

Miscellaneous
Dynamic brake (Select -1B or -1L for the model & suffix code.)

2-6
2.2 Torque/Velocity Characteristics

DM Motor
Torque values shown are peak values. Refer to the standard specifications for the continuous torque.
DM1A type DM1B type

Maximum output torque (Nm)

Velocity (rps)
200 ~ 230VAC power supply
100 ~ 115VAC power supply Velocity (rps)
DM1B-004/006, DM1C type
Velocity (rps)

2-7
DR1 Motor
Torque values shown are peak values. Refer to the standard specifications for the continuous torque.
DR1A type DR1E type


Velocity (rps)

Velocity (rps)
DR1B type
Velocity (rps)
DR5 Motor/DB5C Motoer

DR5B/DR5E type
Velocity (rps)

DR5C/DB5C type
16 DR5C-015
DB5C-015
14
12
DR5C-010
10 DB5C-010
6 DR5C-005
DB5C-005
4
0
0 1. 0 2. 0 3. 0 4. 0 5.0 6. 0
Velocity (rps)

2-8
2.3 Model and Suffix Codes
Motor
Model Suffix Code Suffix Code (Optional)
ＤＭ１Ａ－０５０Ｇ－１Ｄ２Ａ１Ｇ２－００３－０１０１／ＣＥ／ＣＮ
Motor model Suffix code (optional)

DM1A,DM1B,DM1C, /CE: Support the CE mark,
/CN: Connector attached,
DR1A,DR1B,DR1E,DR5B,DR5C,DR5E /TC1: Test result attached (standard test),
,DB5C /TC30: Test result attached (absolute accuracy 30 seconds),
/TC40: Test result attached (absolute accuracy 40 seconds),
Maximum output torque /TC90: Test result attached (absolute accuracy 90 seconds),
-050" with a torque of 50 N-m /TC300: Test result attached (absolute accuracy 300 seconds)
See the model specification code selection table.
Construction
D: With mechanical brake
F: With base Termination option (Encoder cable)
G: Standard profile
02: Open leads (core wire revealed)
Drive compatibility 03: With MR-16LM or MR-8LM made by Honda Tsushin Kogyo
05: With MS3102A18-1P made by JAE
DM□□ motor -1: Compatible 08: With MS3101B18-1P made by JAE (relay terminal)
DR□□ motor -1: Compatible with the SR drive 69: With 172162-1 and 170363-3 made by AMP (Japan)
-2: Compatible with the UR drive 73: With NJC-2012-AdM made by Nanaboshi Electric Mfg
79: With PCR-S20FS and -LS20LA1 made by Honda Tsushin Kogyo
DB5C motor -1: Compatible with the UB5CP3 drive
-2: Compatible with the UB5C drive
* The DrvPIII drive has the same compatibility
as the SR drive. Select "-1."
Drive current
A: 5A, B: 6A,
C: 15A, D: 20A
Termination option (Motor cable)
Positioning accuracy -02: Open leads (core wire revealed)
-03: With N2-4 made by J.S.T. Mfg
-05: With MS3102A20-4P made by JAE
2: 15 seconds, 3: 20 seconds, 4: 30 seconds, 5: 45 seconds -08: With MS3101B20-4P made by JAE (relay terminal)
6: 60 seconds, 7: 90 seconds, 9: 150 seconds -20: With GND cable, N1.25-M4 or N2-4 made by J.S.T. Mfg
-60: With N1.25-M4 made by J.S.T. Mfg
-68: With 172159-1 and 170363-3 made by AMP (Japan)
-71: With 3191-06P and 1190-TL made by Molex
Mechanical accuracy -72: With NCS-304-Ad made by Nanaboshi Electric Mfg
A1: Core run-out/surface run-out 5um or less,
A4: Standard accuracy (core run-out/surface run-out 100um or less
Cable length
Cable exit direction
G: Standard access (bottom surface) 3-digit display in units of 10 cm, minimum -003 (30 cm), maximum -300 (30 m)
S: Horizontal See the model specification code selection table.
Cable type
1: Robot cable
2: Fixed cable

2-9
Model and Suffix Code Selection List

Suffix code
Suffix code
output torque
Drive current
Construction
(optional)
compatibility
Mechanical
Positioning
Cable type
Cable exit
Maximum
accuracy
accuracy
direction
Termination Termination
Drive
Model
Cable length option(Motor option (Encoder
cable) Cable)
G
G [**1]
S
-050
D G [**1]
G
G [**1]
S
-003
-004
-100 -005
-008
-010
D G [**1]
-020
-030
A1
1 -031
DM1A -1 D 2 A2
2 -040
A4
-050
G -080
G [**1]
S -100
-120
-150 -150
-200
-300
D G [**1]
G
G [**1]
S
-200
D G [**1]
Sufiix code
[**1] code(optional)
option(Motor
Termination
Termination
(Enocoder
Suffix
Cable)
cable)
option
02,03,05,08,
-02,-03,-20
69,73,79
/CE
/TC1
/TC30
02,03,79
-05,-08,
-71,-72 /CE
05,08, /CN
69,73 /TC1
/TC30

2-10

Suffix code
Suffix code
output torque
Drive current
Construction
(optional)
compatibility
Mechanical
Positioning
Cable type
Cable exit
Maximum
accuracy
accuracy
direction
Drive
Model
cable) Cable)
-004 B -003,-004 [**2]

3 -005,-008
F A2 S 2
6 -010,-020
-006 A -030,-031 [**2]
G
G [**3]
S
-015
D G [**3]
G
G [**3]
A1 S
-030 A2
A4
D G [**3]
DM1B -1 -003,-004
G -005,-008
G -010,-020 [**3]
S
-030,-031
-045 C 2 1,2
-040,-050
D G -080,-100 [**3]
-120,-150
-200,-300
G
G [**3]
S
-060
D G [**3]
A2
A3
A4 G
G [**3]
S
-075
D G [**3]
-003,-004
3 -005,-008
DM1C -004 F -1 A A2 S 2 [**2]
6 -010,-020
-030,-031
Suffix code Suffix code

[**2] [**3]
Suffix code
Suffix code
(optional)
(optional)
Termination Termination Termination Termination

option(Motor option (Encoder option(Motor option (Encoder
cable) Cable) cable) Cable)
02,03,
02,
-02,-20,-60 -02,-03,-20, 05,08,
69,73,79 /CE
69,73,79 /CE
/TC1
/TC1
/TC40
/TC30
/TC120
02,79 02,03,79
-05,-08,
-68,-72 /CE
-71,-72 /CE
/CN
05,08, /CN
69,73 /TC1
69,73, /TC1
/TC40
/TC30
/TC120

2-11

Suffix code
code(optional)
option (Encoder
output torque
Drive current
Cable length
option(Motor
Construction
compatibility
Termination
Termination
Mechanical
Positioning
Cable type
Cable exit
Maximum
accuracy
accuracy
Suffix
direction
Cable)
cable)
Drive
Model
-010,-020,-030,-031,-040,-050,
1 [**4]
-080,-100,-120,-150,-200,-300
-050
-003,-004,-005,-008,-010,-020,
2 -030,-031,-040,-050,-080,-100, [**4]
-120,-150,-200,-300
-010,-020,-030,-031,-040,-050,
1 [**4]
-080,-100,-120,-150,-200,-300
A1
-100 A2
A4 -003,-004,-005,-008,-010,-020,
2 -030,-031,-040,-050,-080,-100, [**4]
-120,-150,-200,-300
-010,-020,-030,-031,-040,-050,
1 [**4]
-080,-100,-120,-150,-200,-300
-150
-003,-004,-005,-008,-010,-020,
2 -030,-031,-040,-050,-080,-100, [**4]
-120,-150,-200,-300
D
DR1A -1 D 4 G
G
-010,-020,-030,-031,-040,-050,
1 [**4]
-080,-100,-120,-150,-200,-300
-200
-003,-004,-005,-008,-010,-020,
2 -030,-031,-040,-050,-080,-100, [**4]
-120,-150,-200,-300
-010,-020,-030,-031,-040,-050,
1 [**4]
-080,-100,-120,-150,-200,-300
A3
-300
A4
-003,-004,-005,-008,-010,-020,
2 -030,-031,-040,-050,-080,-100, [**4]
-120,-150,-200,-300
-010,-020,-030,-031,-040,-050,
1 [**4]
-080,-100,-120,-150,-200,-300
-400
-003,-004,-005,-008,-010,-020,
2 -030,-031,-040,-050,-080,-100, [**4]
-120,-150,-200,-300
Suffix code
[**4]
code(optional)
Suffix
option(Motor option (Encoder
cable) Cable)
02,03,05,08,
-02,-03,-20
69,73,79
/CE
/TC1
/TC60
02,03,79
-05,-08,-71,-72
/CE
/CN
05,08,69,73
/TC1
/TC60

2-12

Suffix code
Suffix code
output torque
Drive current
Construction
(optional)
compatibility
Mechanical
Positioning
Cable type
Cable exit
Maximum
accuracy
accuracy
direction
Drive
Model
cable) Cable)
-010,-020,-030,-031,-040,-050,
1 [**5]
-080,-100,-120,-150,-200,-300
-008 G
-003,-004,-005,-008,-010,-020,
2 -030,-031,-040,-050,-080,-100, [**5]
-120,-150,-200,-300
-010,-020,-030,-031,-040,-050,
1 [**5]
-080,-100,-120,-150,-200,-300
-015
-003,-004,-005,-008,-010,-020,
2 -030,-031,-040,-050,-080,-100, [**5]
A1 -120,-150,-200,-300
A2
A4
-010,-020,-030,-031,-040,-050,
1 [**5]
-080,-100,-120,-150,-200,-300
DR1B -030 -1 C 5 G
-003,-004,-005,-008,-010,-020,
2 -030,-031,-040,-050,-080,-100, [**5]
-120,-150,-200,-300
D
G
-010,-020,-030,-031,-040,-050,
1 [**5]
-080,-100,-120,-150,-200,-300
-045
-003,-004,-005,-008,-010,-020,
2 -030,-031,-040,-050,-080,-100, [**5]
-120,-150,-200,-300
-010,-020,-030,-031,-040,-050,
1 [**5]
-080,-100,-120,-150,-200,-300
A2
-060 A3
A4 -003,-004,-005,-008,-010,-020,
2 -030,-031,-040,-050,-080,-100, [**5]
-120,-150,-200,-300
Suffix code
[**5]
Suffix code
(optional)
cable) Cable)
02,03,05,08,
-02,-03,-20
69,73,79
/CE
/TC1
/TC90
02,03,79
-05,-08,-71,-72
/CE
/CN
05,08,69,73
/TC1
/TC90

2-13

Suffix code
Suffix code
output torque
Drive current
Construction
(optional)
compatibility
Mechanical
Positioning
Cable type
Cable exit
Maximum
accuracy
accuracy
direction
Drive
Model
cable) Cable)
-010,-020,-030,-031,-040,-050,
1 [**6]
-080,-100,-120,-150,-200,-300
-030
-003,-004,-005,-008,-010,-020,
2 -030,-031,-040,-050,-080,-100, [**6]
-120,-150,-200,-300
-010,-020,-030,-031,-040,-050,
1 [**6]
-080,-100,-120,-150,-200,-300
A1
-070 A2
A4 -003,-004,-005,-008,-010,-020,
2 -030,-031,-040,-050,-080,-100, [**6]
-120,-150,-200,-300
-010,-020,-030,-031,-040,-050,
1 [**6]
-080,-100,-120,-150,-200,-300
-100
-003,-004,-005,-008,-010,-020,
2 -030,-031,-040,-050,-080,-100, [**6]
-120,-150,-200,-300
-010,-020,-030,-031,-040,-050,
1 [**6]
-080,-100,-120,-150,-200,-300
DR1E -130 G -1 D 5 G
-003,-004,-005,-008,-010,-020,
2 -030,-031,-040,-050,-080,-100, [**6]
-120,-150,-200,-300
-010,-020,-030,-031,-040,-050,
1 [**6]
-080,-100,-120,-150,-200,-300
-160
-003,-004,-005,-008,-010,-020,
2 -030,-031,-040,-050,-080,-100, [**6]
-120,-150,-200,-300
A3
A4
-010,-020,-030,-031,-040,-050,
1 [**6]
-080,-100,-120,-150,-200,-300
-220
-003,-004,-005,-008,-010,-020,
2 -030,-031,-040,-050,-080,-100, [**6]
-120,-150,-200,-300
-010,-020,-030,-031,-040,-050,
1 [**6]
-080,-100,-120,-150,-200,-300
-250
-003,-004,-005,-008,-010,-020,
2 -030,-031,-040,-050,-080,-100, [**6]
-120,-150,-200,-300
Suffix code
[**6]
Suffix code
(optional)
cable) Cable)
02,03,05,08,
-02,-03,-20
69,73,79
/CE
/TC1
/TC90
02,03,79
-05,-08,-71,-72
/CE
/CN
05,08,69,73
/TC1
/TC90

2-14

Suffix code
Suffix code
output torque
Drive current
Construction
(optional)
compatibility
Mechanical
Positioning
Cable type
Cable exit
Maximum
accuracy
accuracy
direction
Drive
Model
cable) Cable)
-010,-020,-030,-031,-040,-050,
1 [**7]
-080,-100,-120,-150,-200,-300
A1
-030 A2
A4 -003,-004,-005,-008,-010,-020,
2 -030,-031,-040,-050,-080,-100, [**7]
-120,-150,-200,-300
-010,-020,-030,-031,-040,-050,
1 [**7]
-080,-100,-120,-150,-200,-300
DR5B -050 G -1 C 7 G
-003,-004,-005,-008,-010,-020,
2 -030,-031,-040,-050,-080,-100, [**7]
-120,-150,-200,-300
A3
A4
-010,-020,-030,-031,-040,-050,
1 [**7]
-080,-100,-120,-150,-200,-300
-070
-003,-004,-005,-008,-010,-020,
2 -030,-031,-040,-050,-080,-100, [**7]
-120,-150,-200,-300
-005
A2 -003,-004,-005,-008,-010,-020,
DR5C -010 G -1 B 9 G 2 [**8]
A4 -030,-031
-015
-010,-020,-030,-031,-040,-050,
1 [**7]
-080,-100,-120,-150,-200,-300
-070
-003,-004,-005,-008,-010,-020,
2 -030,-031,-040,-050,-080,-100, [**7]
-120,-150,-200,-300
DR5E G -1 D 7 A4 G
-010,-020,-030,-031,-040,-050,
1 [**7]
-080,-100,-120,-150,-200,-300
-100
-003,-004,-005,-008,-010,-020,
2 -030,-031,-040,-050,-080,-100, [**7]
-120,-150,-200,-300
-005
A2 -003,-004,-005,-008,-010,-020,
DB5C -010 G -1 B 9 G 2 [**8]
A4 -030,-031
-015

[**7] [**8]
Suffix code
Suffix code
(optional)
(optional)
Termination Termination Termination Termination

option(Motor option (Encoder option(Motor option (Encoder
cable) Cable) cable) Cable)
02,03,05,08,
-02,-03,-20 -02,-20 02,69,73,79
69,73,79
/CE /CE
/TC1 /TC1
/TC180 /TC300
02,03,79 02,79
-05,-08,-71,-72 -60,-68,-72
/CE /CE
/CN /CN
05,08,69,73 69,73
/TC1 /TC1
/TC180 /TC300

2-15
Drive
Model Suffix code Additional specification code
ＵＤ１ＡＰ３－０５０Ｎ－１ＡＡ－２ＸＡ－Ｎ／ＣＮ
Drive mode
UD1AP3, UD1BP3, UD1CP3, UR1AP3, UR1BP3, Suffix code (optional)
UR1EP3, UR5BP3, UR5CP3, UR5EP3, UB5CP3, /CN: A set of connectors attached*1
/CN4: Only the connector for CN4 is attached*1
/BK: With mechanical brake
Combined motor rating
"-050" with a torque of 50 N-m
Supported standard
Resolution -N: Standard specification
N: Standard resolution
Basic structure Interface specification

-A: 500 W without brake, -1B: 500 W built-in brake XA: Contact I/O (12 for input, 6 for output 12 to 24V)
-1K: 2kW W without brake, -1L: 2kW built-in brake C1: CC-Link
P1: PROFIBUS-DP
Drive current
A：5A, B：6A, C：15A, D：20A
Power supply voltage

Power supply voltage
-1: 100 VAC system, -2: 200 VAC system
2 kW Class Model and Suffix Code Selection List 500 W Class Model and Suffix Code Selection List
Combined motor
Combined motor
Basic structure
Basic structure
Suffix code
Suffix code
Power supply
Power supply
Drive current
Drive current
(optional)
(optional)
specification
specification
Resolution
Resolution
Supported
Supported
I/F type &
I/F type &

standard
standard
voltage
voltage
rating
rating
Model Model
-050 UD1AP3 -050 A

-100 -004 B
UD1AP3 D
-150 -006 XA /CN
UD1BP3
-200 -015 C1 /CN4*1
XA /CN A
-015 -030
C1 /CN4
-030 UD1CP3 -004 -1
UD1BP3 -045 C UR1AP3 -050 -2
-060 -008 /CN
/CN4*1
-075 UR1BP3 -015 /BK
-050 -030
-1A
-100 N -N /CN
UR1EP3 -030 -1B
-150 /CN4*1
UR1AP3 D
-200 XA /CN
-1
-300 /CN UR5BP3 -010 B -2 C1 /CN4*1
-2
-400 /CN4*1 P1 /BK
-008 /BK -005
-1K
-015 N -N UR5CP3 -010
-1L
UR1BP3 -030 C -015 -1 /CN
-045 -005 -2 /CN4*1
-060 UB5CP3 -010
-030 XA -015
C1
-070 P1 *1: Connectors attached with /CN and /CN4 are as follows.
-100 /CN4 can not be chosen with the interface specification P1 (PROFIBUS-DP)
/CN
UR1EP3 -130 D I/F type & Suffic
/CN4*1 Attached connectors
-160 specification code
-220 /CN For CN2 (encoder/resolver) and CN4(contact I/O)
-250 XA
(Contact I/O)
-010 /CN4 For CN4 (contact I/O)
-030 /CN
UR5BP3 C /CN4*1 /CN For CN2 (encoder/resolver) and CN4(CC-Link)
-050 C1
-2 /BK
-070 (CC-Link)
/CN4 For CN4 (CC-Link)
-070 /CN
UR5EP3 D P1
-100 /CN4*1 /CN For CN2 (encoder/resolver)
(PROFIBUS-DP)
The motors and drives are compatible only among the same models.
In other words, in the case of standard models, motors and drives, whose drive current as
well as the 5-digit parts of motor model (DM□□-□□□, DR□□-□□□) and drive model
(UD□□P3-□□□, UR□□□P3-□□□) are the same, can be combined in any ways to
operate together.

2-16
2.4 Option Cables

2.4.1 Option Cable Model and Suffix Code
Encoder/Resolver Cable
Model Suffix code
C1E -E A 1 -79 62 -030

Encoder/resolver cable model
Cable length
Drive type 3-digit display in units of 10 cm, minimum -005 (50 cm), maximum -300 (30 m)
See the model and suffix code selection list
-B：UB□□P3
-E：UD□□P3
-M：UM1LP3 Termination option (Motor side)
-S：UR□□P3 01: No lead
Drive current 06: With MS3106B18-1S and MS3057-10A made by JAE
62: With 172170-1 and 170365-3 made by AMP (Japan)
A; 5A, 6A 79: With PCR-S20FS and PCR-LS20LA1 made by Honda Tsushin Kogyo
C: 15A, 20A 80: With NJC-2012-PF made by Nanaboshi Electric Mfg
90: With RM21TP-15S (HRS No. 109-0321) made by Hirose
Cable type
1: Robot cable
2: Fixed cable Termination option (Drive side)
-01: No lead
-02: Open leads (core wire revealed)
-08: With MS3101B18-4P made by JAE (for relay)
-22: With DA-15PF-N and DA-C8-J10-F4-1 made by JAE
-69: With 172162-1 and 170363-3 made by AMP (Japan) (for relay)
-73: With NJC-2012-Nanaboshi Electric Mfg (for relay)
-79: With PCR-S20FS and PCR-LS20LA1 made by Honda Tsushin Kogyo
-91: With DA-15PF-N and DA-C8-J01-F4-1 made by JAE and round terminal (J.S.T. Mfg N1.25-M4)
-92: With 172162-1, 172159-1 and 170363-3 made by AMP (Japan)
-93: With DA-15PF-N and DA-C8-J10-F4-1 made by JAE, GND cable, N1.25-M4 made by J.S.T. Mfg

Suffix code
Drive curren
Cable type
Drive type
Model Termination option Termination option Description

Cable length
(Drive side) (Motor side)
-01,-02,-79 -005,-010,-015,-020,
-025,-030,-035,-040,
A
-045,-050,-060,-070,
-08,-69,-73 -080,-090,-100 Relay cable
-E -005,-010,-015,-020,
-01,-02,-79
-025,-030,-035,-040,
C -045,-050,-060,-070,
-080,-090,-100,-150,
-08,-69,-73 -200,-250,-300 Relay cable
01,02,06,
C1E 1,2
62,80 -005,-010,-015,-020,
-01,-02,-79
-025,-030,-035,-040,
A
-045,-050,-060,-070,
-08,-69,-73 -080,-090,-100 Relay cable
-S -005,-010,-015,-020,
-01,-02,-79
-025,-030,-035,-040,
C -045,-050,-060,-070,
-080,-090,-100,-150,
-08,-69,-73 -200,-250,-300 Relay cable

2-17
Motor Cable
Model Suffix code
Ｃ１Ｍ－ＮＡ１－６０６１－０３０
Cable length
Motor cable mode
3-digit display in units of 10 cm, minimum -005 (50 cm), maximum -300 (30 m)
See the model and suffix code selection list.
Drive type
Always -N
Termination option (Motor side)
01: No lead
Drive current 02: Open leads (core wire revealed)
06: With MS3106B20-4S and MS3057-12A made by JAE
A; 5A, 6A 61: With 172167-1 and 170366-3 made by AMP (Japan)
C: 15A, 20 70: With 3191-06R and 1189ATL made by Molex
74: With NCS-304-P made by Nanaboshi Electric Mfg
Cable type
1: Robot cable
2: Fixed cable Termination option (Drive side)
-01: No lead
-02: Open leads (core wire revealed)
-03: With N2-4 made by J.S.T. Mfg
-08: With MS3106B20-4P made by JAE (for relay)
-20: With GND cable, N1.25-M4 or N2-4 made by J.S.T. Mfg
-60: With N1.25-M4 made by J.S.T. Mfg
-68: With 172159-1 and 170364-3 made by AMP (Japan) (for relay)
-71: With 3191-06P and 1190TL made by Molex (for relay)
-72: With NCS-304-Ad made by Nanaboshi Electric Mfg (for relay)

Suffix code
Drive curren
Cable type
Drive type

Cable length
(Drive side) (Motor side)
-01,-02,-20,-60 -005,-010,-015,-020,
-025,-030,-035,-040,
A 01,02,61,74
-045,-050,-060,-070,
-68,-72 -080,-090,-100, Relay cable
C1M -N 1,2
-005,-010,-015,-020,
-01,-02,-03,-20 -025,-030,-035,-040,
01,02,06,
C -045,-050,-060,-070,
70,74
-08,-71,-72 -080,-090,-100,-150, Relay cable
-200,-250,-300

2-18
Controller Cable
Model Suffix code
Ｃ１Ｐ－ＥＮＮ－２２７６－０２０
Controller cable model

Cable length
3-digit display in units of 10 cm, minimum -002 (20 cm), maximum -050 (5 m)
See the model name specification code selection table.
Drive type
Drive current Termination option (Controller side)

Always N
76: With DE-9SF-N and DE-C8-J9-F4-1 made by JAE (RS-232C for DOS)
Cable type
Always N Termination option (Drive side)
-22: With DA-15PF-N and DA-C8-J01-F4-1 made by JAE
-42: With PCR-S36FS and PCR-LS36LA made by Honda Tsushin Kogyo

Suffix code
Drive current
Cable type
Drive type

Cable length
(Drive side) (Controller side)
-22 76 -020 RS232C cable(DOS) for CN1

-002,-003,-004,-005,
C1P -E N N -006,-007,-008,-009,
-42 02 -010,-012,-015,-020, PLC cable for CN4
-022,-025,-030,-035,
-040,-045,-050,

2-19
2.4.2 Recommended Cables
Recommended Cables for DM Motors (Excluding DM1B-004, DM1B-006 and DM1C-004)
Cable Outgoing line
Connector, drive side Model and Suffix code Connector, motor side Connector Suffix code
“-20”
J.S.T. Mfg N2-4
C1M-NC-2006-□□□ Canon connector made by Canon connector made by “-08”

JAE JAE
J.S.T. Mfg N2-4
Motor cable
Connector MS3106B20-4S Connector MS3101B20-4P

Clamp MS3057-12A Clamp MS3057-12A
C1M-NC□-2070-□□□ “-71”
Connector 3191-06R Connector 3191-06P
J.S.T. Mfg N2-4 Contact 1189ATL Contact 1190TL
Made by Molex Made by Molex
C1M-NC□-2074-□□□ “-72”
Connector made by Connector made by
J.S.T. Mfg N2-4 Nanaboshi Electric Mfg Nanaboshi Electric Mfg
NCS-304-P (female) NCS-304-Ad (male)
Connector PCR-S20FS “79”

Cover PCR-LS20LA1
Made by Honda Tsushin
Kogyo
Encoder/resolver cable
Connector PCR-S20FS C1E-EC□-7906-□□□ Canon connector made by Canon connector made by “08”
Cover PCR-LS20LA1 JAE JAE
Made by Honda Tsushin Connector MS3106B18-1S Connector MS3101B18-1P
Kogyo Clamp MS3057-10A Clamp MS3057-10A
Connector PCR-S20FS C1E-EC□-7962-□□□ “69”
Connector 172170-1 Connector 172162-1
Cover PCR-LS20LA1
Contact 170365-3 Contact 170363-3
Made by AMP (Japan) Made by AMP (Japan)
Kogyo
Connector PCR-S20FS C1E-EC□-7980-□□□ “73”
Cover PCR-LS20LA1
Nanaboshi Electric Mfg Nanaboshi Electric Mfg
NJC-2012-PF (female) NJC-2012-AdM (male)
Kogyo
Numbers in parentheses in the table show terminal treatment of the suffix code.
See "Model and Suffix code" for the terminal treatment codes for motor outgoing line.
Recommended Cables for DM1B-004, DM1B-006 and DM1C-004 Motors

Cable Outgoing line
“-20”
J.S.T. Mfg N1.25-M4
Motor cable
C1M-NA□-2061-□□□ “-68”
J.S.T. Mfg N1.25-M4 Contact 170366-3 Contact 170363-3
Made by AMP (Japan) Made by AMP (Japan
C1M-NA□-2074-□□□ “-72”
J.S.T. Mfg N1.25-M4 Nanaboshi Electric Mfg Nanaboshi Electric Mfg

Cover PCR-LS20LA1

Kogyo
Connector PCR-S20FS C1E-EA□-7962-□□□ “69”
Cover PCR-LS20LA1
Kogyo
Connector PCR-S20FS C1E-EA□-7980-□□□ “73”
Cover PCR-LS20LA1
Nanaboshi Electric Mfg Nanaboshi Electric Mfg
NJC-2012-PF (female) NJC-2012-AdM (male)
Kogyo
See "Model and Suffix code" for the terminal treatment codes for motor outgoing line.

2-20
Recommended Cables for DR Motors
Cable Outgoing line
“-20”
J.S.T. Mfg N2-4
C1M-NC□-2006-□□□ Canon connector made by Canon connector made by “-08”

J.S.T. Mfg N2-4 JAE JAE
Motor cable
Connector MS3106B20-4S Connector MS3101B20-4P

Clamp MS3057-12A Clamp MS3057-12A
C1M-NC□-2070-□□□ “-71”
Connector 3191-06R Connector 3191-06P
J.S.T. Mfg N2-4 Contact 1189ATL Contact 1190TL
Made by Molex Made by Molex
C1M-NC□-2074-□□□ “-72”
J.S.T. Mfg N2-4 Nanaboshi Electric Mfg Nanaboshi Electric Mfg

Cover PCR-LS20LA1
Kogyo
Connector PCR-S20FS C1E-SC□-7906-□□□ Canon connector made by Canon connector made by “08”
Cover PCR-LS20LA1 JAE JAE
Made by Honda Tsushin Connector MS3106B18-1S Connector MS3101B18-1P
Kogyo Clamp MS3057-10A Clamp MS3057-10A
Connector PCR-S20FS C1E-SC□-7962-□□□ “69”

Cover PCR-LS20LA1 Connector 172170-1 Connector 172162-1
Made by Honda Tsushin Contact 170365-3 Contact 170363-3
Kogyo
Connector PCR-S20FS C1E-SC□-7980-□□□ “73”

Cover PCR-LS20LA1 Nanaboshi Electric Mfg Nanaboshi Electric Mfg
Kogyo NJC-2012-PF (female) NJC-2012-AdM (male)
See "Model and Suffix code" for the terminal treatment codes for motor outgoing line
Recommended Cables for DB5 Motors
Cable Outgoing line
“-20"
J.S.T. Mfg N1.25-m4
Motor cable
C1M-NA□-2061-□□□ “-68"
J.S.T. Mfg N1.25-M4 Contact 170366-3 Contact 170363-3
C1M-NA□-2074-□□□ “-72"
J.S.T. Mfg N1.25-M4 Nanaboshi Electric Mfg Nanaboshi Electric Mfg
Connector PCR-S20FS “79"

Cover PCR-LS20LA1

Kogyo
Connector PCR-S20FS C1E-BA□-7962-□□□ “69"

Cover PCR-LS20LA1 Connector 172170-1 Connector 172162-1
Made by Honda Tsushin Made by AMP (Japan) Made by AMP (Japan)
Kogyo
Connector PCR-S20FS C1E-BA□-7980-□□□ “73"

Cover PCR-LS20LA1 Nanaboshi Electric Mfg Nanaboshi Electric Mfg
Kogyo NJC-2012-PF (female) NJC-2012-AdM (male)
See "Model and Suffix code" for the terminal treatment codes for motor outgoing line

2-21
2.4.3 Cable Specifications
Motor Cable
(1) 15A and 20A Specifications, Fixed Cable

Identification of core wire
Sheath Layout number 1 2 3 4
Shield Color of insulating Black White Red Green or

material Green/Yellow
Insulating material
Cable specifications
Conductor Conductor AWG#14(2.0mm2)
Insulating material external diameter φ3.0mm
Finished external diameter φ10.1mm
(2) 15A and 20A Specifications, Robot Cable

Color of insulating
Shield material Black White Red Green
Insulating material
Conductor Conductor AWG#14(2.0mm2)
(3) 5A and 6A Specifications, Fixed Cable

Color of insulating Green or
Shield Black White Red
material Green/Yellow
Insulating material
Conductor
Conductor AWG#20(0.5mm2)
Drain wire Insulating material external diameter φ1.65mm
(4) 5A and 6A Specifications, Robot Cable
Sheath Identification of core wire

Layout number 1 2 3 4
Shield Color of insulating Black White Red Green
material
Insulating material
Conductor

2-22
(1) DM Series, Fixed Cable (Other than the types specified below)

Sheath Layout number A1 A2 B1 B2 B3 B4
Color of insulating Blue x Brown x Green x Orange x

Black Red blue/ brown / green/ orange/
Shield material white white white white
Insulating material
Conductor Cable specifications
Conductor A AWG#20 (0.5mm2)
Insulating material
Conductor Conductor B AWG#24 (0.2mm2)
Insulating material external diameter A φ1.9mm

Insulating material external diameter B φ1.05mm（twisted pair)
Finished external diameter 8.5mm
(2) DM Series, Fixed Cable (DM1B-004/006 Type, DM1C-004 Type)

Color of insulating Blue x Brown x Red x Orange x

Shield brown/ orange/
material blue/white white black white
Insulating ｍterial
Conductor
Insulating material external diameter φ1.05mm（twisted pair)
(3) DM Series, Robot Cable (Other than the types specified below)
Sheath Layout number 1 2 3 4 5 6
Color of
Shield insulating Green x Gray x Sky blue Purple x Yellow x Red x
orange black x brown pink white blue
material
Insulating
material Cable specifications
Conductor
Insulating material external diameter φ1.3mm（twisted pair）
(4) DM Series, Robot Cable (DM1B-004/006 Type, DM1C-004 Type)

Sheath Layout number 1 2 3 4 5 6 7 8 9 10
Shield Color of
insulating Green Yellow Brown Blue Orange Gray Purple Black White Red
material
Insulating
material
Conductor

2-23
(5) DR Series, Fixed Cable

Sheath Layout number A1 A2 A3 A4 B1
Color of insulating Orange/ Brown x Brown/white Orange x

Shield material
Wheitex
Green x green/white blue
Black
bule/ white
Insulating material
Conductor A AWG#24(0.2mm2)
Conductor Conductor B AWG#24(0.2mm2)
Insulating material external diameter A φ1.05mm（twisted pair）
Insulating material external diameter B φ1.05mm
(6) DR Series, Robot Cable

Sheath Layout number 1 2 3 4 5 6
Shield Color of
insulating Green x Gray x Sky blue Purple x Yellow x Red x
orange black x brown pink white blue
material
Insulating material
Conductor Cable specifications

Insulating material external diameter φ1.3mm（twisted pair）
(5) DB Series, Fixed Cable

Color of insulating Orange (red1) Gray (red1) White (red1) Brown (red1)
Shield material Orange (black1) Gray (black1) White (black1) Brown (black1)
Layout number 5 6 7
Conductor
Color of insulating Pink (red2) Orange (red2) Gray (red2)
material Pink (black2) Orange (black2) Gray (black2)
Insulating material
Conductor AWG#24 (0.2mm2)
Insulating material external diameter 1.1mm (twisted pair)
(6) DB Series, Robot Cable

Color of insulating Blue x white Yellow x black White x black Green x white
material
Shield Layout number 5 6 7
Color of insulating Brown x white Black x red Gray x white
Conductor material
Insulating material Cable specifications

Conductor AWG#25 (0.2mm2)
Insulating material external diameter 0.98mm (twisted pair)

2-24
Controller Cable
Sheath
Shield Insulating material external diameter φ1.06mm（twisted pair）
Insulating material
Conductor
Color of Print mark Color of Print mark

Pair Pair
number insulating number insulating
material Core No. 1 Core No. 2 material Core No. 1 Core No. 2
1 Orange Red 1 Blue or black 1 16 Orange Red 4 Blue or black 4
2 Gray Red 1 Blue or black 1 17 Gray Red 4 Blue or black 4
3 White Red 1 Blue or black 1 18 White Red 4 Blue or black 4
4 Yellow Red 1 Blue or black 1 19 Yellow Red 4 Blue or black 4
5 Pink Red 1 Blue or black 1 20 Pink Red 4 Blue or black 4

Continuous Continuous blue or
6 Orange Red 2 Blue or black 2 21 Orange red line black line
7 Gray Red 2 Blue or black 2 22 Gray red line black line
8 White Red 2 Blue or black 2 23 White red line black line
9 Yellow Red 2 Blue or black 2 24 Yellow red line black line
10 Pink Red 2 Blue or black 2 25 Pink red line black line
11 Orange Red 3 Blue or black 3
12 Gray Red 3 Blue or black 3
13 White Red 3 Blue or black 3
14 Yellow Red 3 Blue or black 3
15 Pink Red 3 Blue or black 3

2-25
2.5 Outline Drawings

2.5.1 Motor
DM Motors Unit in figure: mm
(1) DM1A
Standard profile L*1 (See the standard
6-M6, depth 15 (divide the circumference equally)
6-M8, depth 10 specifications.) Stator fixing screw
(divide the circumference equally)
Rotor mounting screw
Rotor
CW direction
CCW
direction Coated surface Encoder cable Motor cable

Cable length ( 9.8) ←1: Robot cable → ( 9.4)
(Specified by the suffix code)
( 8.5) ← 2: Fixed cable →( 10.1)
With mechanical brake

Motor cable
( 9.8) 1: Robot cable
L*1 (See the standard ( 10.1) 2: Fixed cable
6-M8, depth 10 specifications.) 6-M8, depth 12
Brake cable( 1.7x2) (divide the circumference equally)
Rotor mounting screw Stator mounting screw
CW
direction
CCW direction
Rotor Encoder cable
Cable length
Stator
Coated surface Cable terminal treatment varies ( 8.5) 2: Fixed cable
depending on the suffix code.
Horizontal cable access

Motor Cable
1: Robot cable ( 9.4)
2: Fixed cable ( 10.1)
6-M8, depth 10 L*1 (See the standard
(divide the circumference equally) specifications.) Encoder cable Cable length
Rotor mounting screw Rotor 1: Robot cable ( 9.8) (Specified by the suffix code)
Stator 2: Fixed cable ( 8.5)
Cable terminal treatment
Bundling band varies depending on the
suffix code.
CW
direction
CCW direction
Coated surface 6-M6, depth 15 (divide the circumference equally)
Stator fixing screw
(2) DM1B-004
4- 7 hole
Coated surface
Stator fixing screw
6-M4, depth 6
Stator fixing screw
CW
direction
25
Cable length
CCW direction
2-M4, punch-through
Motor cable Encoder cable

1.1x4 no shield Cable terminal treatment varies depending on the suffix code.
* Motor cable
( 1.22x4 no shield : Nov. 2012~
( 1.1x4 no shield : ~Nov. 2012

2-26
(3) DM1B-006
4- 7 hole Coated surface

Stator fixing screw
6-M4, depth 6
(divide the
circumference equally)
Stator fixing screw
CW direction
25
Cable length
CCW
direction
2-M4, punch-through
* Motor cable Motor cable Encoder cable

( 1.22x4 no shield : Nov. 2012~ 1.1x4 no shield 1.1x8 no shield
( 1.1x4 no shield : ~Nov. 2012 Cable terminal treatment varies depending on the suffix code.
(4) DM1B (Excluding DM1B-004 and DM1B-006)
Standard profile
6-M8, depth 8
Stator fixing screw
6-M6, depth 8
(divide the circumference equally) L*1 (See the standard
Rotor mounting screw specifications.)
Rotor
CW direction
Stator
CCW
direction
Coated surface Encoder cable Motor cable

Cable length
( 9.8) ←1: Robot cable →( 9.4)
( 8.5) ←2: Fixed cable →（ 10.1）
5A →( 6.7)
With mechanical brake

( 8.5) 2: Fixed cable
6-M6, depth 12 ( 6.7) 5A
(divide the
circumference equally) Motor cable
6-M6, depth 8 L*1 (See the standard Brake cable
Stator fixing screw
(divide the circumference equally) specifications.)
CW direction
CCW
direction
Rotor Encoder cable

Cable length
Stator Cable terminal treatment varies depending on the suffix code.
Coated surface
Cable terminal treatment varies depending on the suffix code.

Horizontal cable access Encoder cable
L*1 (See the standard Cable clearance Motor cable
6-M6, depth 8 specifications.) Width 20, Depth 10 ( 9.4) 1:Robot cable
(divide the circumference equally) ( 10.1) 2:Fixed cable
Rotor mounting screw Cable length
6-M8, depth 12
Rotor (Specified by (divide the circumference equally)
CW direction Stator
the suffix code) Stator fixing screw
CCW
Bundling band
direction
Coated surface

2-27
(5) DM1C-004
6-M4, depth 6 (divide the circumference equally) 6- 4.5 hole 8 spot facing depth 5
HELI-SERT effective screw length 4 Rotor mounting screw (divide the circumference equally)
Rotor Stator Stator fixing hole
CW direction
CCW
direction
Coated surface
Cable length
(Specified by
Encoder cable the suffix code)
Motor cable
* Motor cable
( 1.22x4 no shield : Nov. 2012~
( 1.1x4 no shield : ~Nov. 2012

2-28
■ DR□□ Motor
(1) DR1A
Standard profile L*1 (See the standard
6-M6, depth 12 specifications.) 6-M8, depth 12
(divide the circumference equally) (divide the circumference equally)
Rotor mounting screw Stator Motor cable Stator fixing screw
Rotor
( 150) hole
CW
direction
Coated surface
Encoder cable
CCW direction
Cable length
With mechanical brake 12-M8, depth 12

Stator fixing screw
Motor cable
6-M8, depth 12 (divide the L*1 (See the standard
circumference equally) specifications.) Brake cable
( 150) hole 0.2 (gap)
CW
direction Encoder cable

CCW direction Rotor
Cable length
Coated surface Cable terminal treatment varies depending on the suffix code.
(2) DR1B-008
6-M6 depth 12
6-M5, depth 5 (divide the circumference equally)
(divide the circumference equally) Stator fixing screw
Rotor mounting screw Motor cable
CW Rotor
Stator
direction
CCW direction
( 56) hole
Cable length Encoder cable

(Specified by the
Coated surface suffix code)
(3) DR1B (Excluding DR1B-008), DR5B

Standard profile
6-M5, depth 9 L*1 (See the standard 6-M6 depth 12
(divide the circumference equally) specifications.) Stator (divide the circumference equally)
Rotor mounting screw Stator fixing screw
CW Rotor Motor cable
direction
CCW direction
( 56) hole
Encoder cable
Coated surface

With mechanical brake L*1 (See the standard

6-M6 depth 12
(divide the circumference equally) Brake cable ( 1.7x2)
6-M6, depth 9 Stator fixing screw
specifications.)
(divide the circumference equally) Motor cable ( 3.2x2)
0.2 (gap)
CW
direction
CCW direction
( 56) hole
Encoder cable ( 6.8)

Rotor
Coated surface Cable terminal treatment varies depending on the suffix code.

2-29
(4) DR1E、DR5E 6-M6, depth 9 L*1 (See the standard 6-M6 depth 12
(divide the circumference equally) specifications.) Stator (divide the circumference equally)
Rotor mounting screw Stator fixing screw
Motor cable
CW Rotor
direction
CCW direction
( 56) hole
Coated surface Encoder cable
Cable length

(5) DR5C
4-M6 depth 13
6-M5, depth 7 Stator (divide the circumference equally)
(divide the circumference equally) L*1 (See the standard Stator fixing screw
Rotor mounting screw specifications.)
Motor cable
Rotor
( 26) hole
CW
direction
CCW direction Coated surface

Cable length Encoder cable

■DB5□Motor
(1) DB5C
6-M5, depth 7 4-M6, depth 13

(divide the circumference equally) L*1 (See the standard specifications.) (divide the circumference
Rotor mounting screw Stato equally)
r Stator fixing screw
Roto Motor cable
r
( 26) hole
CW
direction
CCW direction
Origin mark Coated surface Encoder cable
Cable length
(Specified by the suffix code) Cable
terminal treatment varies depending on
the suffix code.

2-30
2.5.2 Drive
500 W Class
2kW Class

2-31
2.5.3 regenerative Resistor
80 W regenerative Resistor
2.5.4 Connector
Controller Connector Encoder/Resolver Connector
Connector: PCR-S36FS (made by Honda Tsushin Connector: PCR-S20FS (made by Honda Tsushin
Kogyo) Kogyo)
Housing: PCR-LS36LA (made by Honda Tsushin Housing: PCR-LS20LA1 (made by Honda Tsushin
Kogyo) Kogyo)
Controller Connector (CC-Link)

Connector:TMSTBP 2.5/4-STF5,08 (made by Phoenix Contact)

2-32
2.5.5 Terminals
■Main power supply/control power supply terminal ■Motor terminal

Connector: 231-204/026-000 (made by WAGO) Connector: 231-203/026-000 (made by WAGO)
■regenerative resistor terminal ■Sensor terminal

Connector: 231-202/026-000 (made by WAGO) Connector: 733-108 (made by WAGO)
2.5.6 Motor Filter

Option: R7020TA (OF002C-3)

2-33
2.6 Optional Mechanical Brake
2.6.1 General Specification
Model BXM2.5-000B BXM10-000B

Applied motor types DM1B/DR□B DM1A/DR□A
Rated voltage (VDC) 24 24
Power consumption (W at 20C) 28 45
Friction torque (N-m) 20 110
Spring pressure (N) 650 2100
Clearance (mm) 0.2 0.2
2.6.2 Structure
⑦Clearance ③ ② ①
No. Name
1 Yoke ⑥
2 Coil
3 Pin ⑤
4 Spring
5 Armature ④
6 Fading
7 Friction disk
2.6.3 Operation
The mechanical brake is applied by spring pressure

and released by means of an electromagnet.
A friction disk [7] is fixed to the motor with screws. The
armature [5] and fading [6] are hooked to the pin [3] of
the yoke [1] and pressed against the friction disk [7] by
force of the spring [4].
When current is conducted through the coil [2] molded
to the yoke [1], the yoke [1] becomes magnetized and
pulls the armature [5] toward itself, thus extending the
spring [4], whereupon the brake is released.
When the current to the coil [2] is shut off, the armature
[5] is moved away from the yoke [1] by force of the
spring [4]. It slides along the pin [3] and presses the
fading [6] onto the friction disk [7], thereby activating
the brake.
Note 1: The clearance between the yoke [1] and the polar surface of the armature [5] when
the current to the coil [2] is shut off has a direct influence on brake torque and the operation
of the brake. The armature [5] is no longer pulled against the yoke if the maximum value for
the clearance is exceeded. Therefore, be careful to maintain the appropriate values.
BXM2.5-000B BXM10-000B
Maximum clearance value (mm) 0.2 0.2
Standard clearance value (mm) 0.4 0.6

2-34
2.6.4 Formulae for Calculation of Stop Angle

The stop angle of the mechanical brake is obtained through the following calculation
formulae:
: Stop angle (°)
t: Braking time (sec.)
GD 2 × 60 × n t1: Brake opening time (sec.)
t= t2: Relay delay time (sec.)
2 × 37.5 × Td
DG2: 4J
J: Moment of inertia (kg-m2)
Calculate the stop angle : n: Velocity (rps)
Td: Dynamic friction torque (Ts x 0.7) (N-m)
θ = (t + t1 + t 2 ) × 360 × n Ts: Static friction torque (N-m)
■Calculation example
Motor used: DM1B-060
Load condition: Load inertia J = 10 x JM = 0.23 kg-m
(JM = 0.023 kg-m, the rotor inertia of the motor used)
Velocity: n = 1 rps
Friction torque: Td = 14 N-m
Brake opening time: t1 = 0.06 sec. (reference value: 0.1 second in the case of BXM10)
Relay delay time: t2 = 0.082 sec. (varies with conditions of use)
4 × 0.23 × 60 × 1
t= = 0.053 sec
2 × 37.5 × 14
θ = (0.053 + 0.06 + 0.082 ) × 360 × 1 = 71°
2.6.5 Applied Voltage and Temperature Increase
When voltage of 24 VDC is applied to the brake, the motor temperature increases
approximately 10C, as shown in the graph below.
This means that if the brake is turned off (current is conducted to the solenoid) for a long
period of time, the temperature increase can be limited to approximately 3C by applying 24
VDC for the first second and then lowering the voltage to 12 VDC under the same
conditions, as shown in the graph below. It is recommended that this method be employed,
taking the influence of temperature on the motor into consideration.
Temperature increase
Temperature increase
40 Motor + brake 40 Motor + brake

30 30
10℃ 3℃
20 20
10 Motor only 10 Motor only
0 0
0 1 2 3 4 5 6 0 1 2 3 4 5 6
Time Time
Applied voltage (V)
Applied voltage (V)
30 24V 30 24V
20 20 12V
10 10
0 0
Approx. 1 sec.

2-35
2.6.6 Power Supply Specifications and Wiring
Power
supply
Operation Arc-suppressing
contact circuit (Note 1)
Power supply +
specifications
Output voltage: 24 VDC Brake

Output current: Maximum 3 A
Note 1: Since the brake is an inductive load, an extremely large reverse voltage is
generated when the operation contact is opened, which may damage the
contact. Be sure to attach an arc-suppressing circuit.
Recommended varistor: Matsushita ERZV20D470
2.6.7 Diagrams of External Appearance
■ BXM2.5-000B
60
(Divide the FEP line 0.5 mm2 length 300
circumference equally) (Lead pullout position)
6-M4 depth 8
■ BXM10-000B
90 (Divide the circumference equally)
FEP line 0.5 mm2 length 300

(Lead pullout position)
30 the lly)
ide qua
(Div nce e
re
umfe
circ
12-M6 depth 6

2-36
2.7 Precautions at Installation, Moving and Storage
2.7.1 Installation of the Motor

The motor can be used by installing it either horizontally or vertically. If the motor is not
installed properly or installed in an inappropriate location, the motor's lifetime may be
shortened or failures may occur. Observe the following instructions and install the motor
correctly.
The DYNASERV motors do not have dust-, splash, nor water (oil)-proof structures. If it is
required to protect the motor from dust, splash, water or oil, it is the customer's responsibility
to prepare and install such protection.
Never install the DYNASERV motor in reverse, i.e., fixing the rotor of the motor and making
the stator rotate.
Installation Location
The motor is intended to be used in normal
indoor conditions.
Well ventilated places with little dust Motor Remarks
and debris
Avoid installing the motor in an Temp.
0 ~ 45C: Standard
0 ~ 40C: CE continuous
atmosphere with high temperature/ Application operation rating
high humidity or which contains dust, Humidity 20～85％ RH
There must be no
dirt, metal powder, corrosive gasses, condensation.
etc. Temp -20～85℃

Average
There must be no
Humidity 20～85％ RH condensation.
There must be no corrosive gasses, dirt or dust
Atmosphere Must be used at an maximum altitude of 1000 meters
above sea level (CE mounting condition)
Mechanical Connection
Attach a load securely using screws on the load mounting surface (the upper surface) of
the motor. Allow for a clearance of 1mm or more between the upper edge of the motor
and the load, and other structures so that the load is not in contact with or does not
interfere with parts other than the load mounting surface. If it is in contact with or
interferes with other parts, the mechanical precision may be degraded.
Set the tightening torque of the motor's rotor and stator mounting screws according to the
values listed in the maximum tightening torque table. If the screws are tightened with
excessive torque, the screw threads may be broken or the motor may break down.
The motor must be mounted to a level surface, which can only vary by 0.01mm or less.
The flatness of the surface may influence the precision and performance of the motor.
Prevent the mounting screws from loosening by using Loctite 601 or equivalent thread-
locking substance.
Maximum Tightening Torque

Model Rotor Stator
1 mm or
Rotor mounting
screw DM1A 16N・m
more
DR1A
21N・m
DR1E 21N・m
DR5E
DM1B
DR1B 11N・m 11N・m
DR5B
DR5C
6N・m 11N・m
Motor DB5C
DM1B-004
DM1B-006 2N・m 2N・m
DM1C-004
Fixing platform
levelness: 0.01 mm
Stator mounting
screw

2-37
When you lead an object through the hollow hole, make sure to allow for a clearance of
1mm or more on all sides so the object and the internal surface of the hollow hole are
not in contact. Never press an object into the hollow hole or apply force to it. The
precision and functions of the motor may be impaired, causing failure.
For the DR□□/DB□□ motors, the load mounting surface on the upper surface and the
stator at the bottom surface are coated to prevent rust. When installing the product,
wipe away the coating completely using organic solvent (e.g. thinner, hydrocarbon
solvent). If any coating remains, the precision and functions of the motor may be
impaired. Prevent areas other than the load mounting surface and the stator, such as
cables and internal parts of the motor, from being subjected to the solvent and the left-
over coating.
Surfaces
where anti Hollow hole
rust coating
is applied
Be careful that the load mounting and motor mounting screws do not reach or exceed
the allowable screw depth length on the motor. Depending on the model used, the
functionality of the motor may be impaired and failures may occur if the screws reach
or exceed the maximum depth of the screw hole.
When connecting the motor and load, make sure to align the centers of the rotating
parts sufficiently and mount the load with a precision of 0.01mm or less. If the centering
precision is insufficient, abnormal noise and vibration may be generated and the
bearing inside the motor may be damaged.
Centering precision:
Within 0.01 mm

2-38
2.7.2 Installation of the Drive
Installation Location
Be sure to install the drive correctly in the control panel or on the machine.
If there are other heating elements near the drive, make sure to prevent the
temperature from becoming too high by installing a shield cover or similar protective
device. Ensure that the temperature around the drive does not exceed 50C.
If there are vibration sources near the drive, install the drive using a vibration-proof
material.
Avoid installing the drive in an atmosphere with high temperature/high humidity or
which contains dust, dirt, metal powder, corrosive gasses, etc.
Drive environment Remarks

specification
Ambient
temperature 0～50℃
At operation
Ambient There must be no
humidity 20～90％ RH condensation.
Ambient
temperature -20～85℃
At storage
Ambient There must be no
humidity 20～90％ RH condensation.
There must be no corrosive gasses, dirt or dust.
Atmosphere Must be used at an maximum altitude of 1000 meters
above sea level (CE mounting condition)
Installation Procedure
The drive is intended to be mounted on a vertical surface. Use the four mounting holes in the
die cast section, and mount the drive securely to a metal plate.
If you use flat washers, use washers whose external diameter is 8mm (ISO).
M4 screws in four places Tightening torque: 1.4N-m
Wall (metal-made)
Fan flow of 2kW class
Notch filters
In the case of UD1B 3-075 - drive ; Notch filter frequency (***Hz) peculiar to a motor is stuck
and displayed on the motor. First of all please set this value as a parameter 20 (frequency
notch filter #1) and a parameter 22 (frequency notch filter #2). Then, please tune the servo.

2-39
(1) 2kW Class Drives
This drive class utilizes a built-in fan to obtain forced air cooling.
Install the drive vertically, with the front panel facing forward. Do not install it with the
panel surface facing upward or downward, up side down or sideways (see the figures
below).
Allow a clearance of 50mm or more above and below the drive and 25mm or more on
the left and right sides for ventilation. Moreover, do not block the airflow of the fan (see
the figures below).
The power consumption used by the drive itself is based upon the "drive current" and is
defined by the suffix code. The "D" (20A) drive is 110 W and the "C" (15A) is 85 W.
25mm 25mm
50mm
50mm
Do not install up side down Do not install sideways

2-40
(2) 500W Class Drives
This drive utilizes convection (fanless) air cooling.

Install the drive with the front panel facing forward. Do not install it with the panel
surface facing upward or downward, up side down or sideways (see the figures below).
Allow a clearance of 50mm or more above and below the drive and 10mm or more on
the left and right sides for ventilation.
The power consumption used by the drive itself is 30W.
10mm 10mm
50mm
50mm
Do not install sideways

Do not install up side down

2-41
2.8 Stop Function in Error State
When an error occurs, the DrvGIII has the servo-deceleration and dynamic brake functions
(only by selecting the built-in brake option) to bring the motor to a stop.
The servo-deceleration function performs to decelerate motor by servo immediately after an
error occurs.
The dynamic brake is an optional function in case “built-in brake” (Code -1B or -1L) is
selected.
The combination of servo-deceleration and dynamic brake contributes to minimize the free
running distance.
2.8.1 Servo-Deceleration
The servo-deceleration function is executed immediately when the defined error occurs.
The servo -deceleration can be performed even in the case of a power failure because the
control power is kept alive by internal capacitors for approximately 100msec (at rated
voltage). The holding time length may be shortened by the power environment, operation
condition and connection of operation display pendant / operation display panel. Also, the
holding time length differs depending on the drive power output.
Detecting condition for the power failure is variable by the power monitoring cycle setup by
“the parameter #110. System setup register 1.”
Effective Range of Servo-Deceleration

For specified error, the reaction of drive, how to execute the servo-deceleration, is available
to set. Refer “ 6.1.4 Process Settings in Error State” for the detailed setup method. The error
process settings disclose the related #parameters on the condition that the user bears the
responsibility for any result by settings.
Errors that can use the servo-deceleration function
Error name Error code
Over speed 24.0

22.1
Overload
22.2
Excessive position error 23.0
Excessive commanded position
differential value 31.0
Coordinate error A 16.1
Bus voltage dropping 20.3
AC mains power supply voltage error 21.0

42.0
Hardware EOT
43.0
44.0
Software EOT
45.0
Monitor pulse output error 18.0
Interface emergency stop 46.2

2-42
Operation mode and error process type available for servo-deceleration
Control by External
Control by Built-in Controller Controller
Drive Mode
Table data Jog operation Position control
operation
Error
Processing Type
Servo ON sustaining after

deceleration and stop ○ ○ ○
Servo OFF after

deceleration and stop ○ ○ ○
Servo ON sustaining after

immediate stop ○ ○ ○
Servo OFF after

immediate stop ○ ○ ○
Servo OFF immediately × × ×
×：Unavailable
○：Available
DANGER
Control power may become uncontrollable or AC mains power may become below servo
OFF level under power failure. In this case, motor may run freely if dynamic brake option is
not selected. Make sure to implement safety measure such as braking by external system
(mechanism)
DANGER
If you select "Servo OFF immediately," the motor may run freely. Be sure to take steps to
secure safety, such as using an external brake system.
DANGER
Even if an error, for which the servo-deceleration is assigned, occurs, the servo is turned
OFF and servo-deceleration function is unavailable if the following errors occur before such
error or during the servo-deceleration.
4.0 Watch dog error
15.* Encoder error
20.1 Excessive voltage
20.2 IPM fault or Current transfer detected
20.4 Low voltage (servo OFF level)
20.5 Phases A and B actual current monitoring
25.* Regeneration error
30.0 Servo not ready

2-43
2.8.2 Dynamic Brake (with selection -1B or -1L)
The dynamic brake is an optional function is available only when "built-in brake" (code -1B or
-1L) is selected.
This is supplemental brake to minimize free-run distance by motor control torque generated
by shorted motor winding when an error occurs and servo is turned OFF.
CAUTION
When AC mains or control power is turned OFF, the dynamic brake is activated. When it
is necessary to cancel the dynamic brake, make sure to set safe and appropriate external
circuit so that the motor wiring is cutoff.
DANGER
Braking force of dynamic brake differs depending on motor, load and operational
conditions. Simulate under the worst conditions with the motor, and make sure to
implement safety measure such as braking by external system (mechanism).
Effective range of dynamic brake
Dynamic brake activates under the following conditions. Set System setup“ register 1 of
parameter #110 to activate the brake when error occurs.
1. Shutdown of AC mains or control power
2. Bus voltage of drive drops down to below servo OFF level
3. Servo is turned OFF if “Brake-ON during servo-OFF” option of system setup register 1 in
parameter #110 is set to “1: Enable).
CAUTION
The dynamic brake is in intended for use when servo is turned OFF by an error.
Do not use the brake for frequent stop operation in servo-OFF or power-OFF during
operation or usage to rotate the motor by an external force. Continuous activation of
dynamic brake circuit may cause degradation of element in drive and unexpected defect
or malfunction.
Make sure to control the motor by normal control mode (torque, velocity or position
command) in order to stop the motor.

2-44
2.8.3 Example
This example is a referential case on the basis of our examination conditions. The effect
differs depending on the motor, drive, load and power environmental conditions.
Test Condition
These conditions are for the simulation when the drive's AC mains and control powers are
shutdown. AC power monitoring cycle can be set between 20 msec to 170 msec, and the
effect of servo-deceleration differs depending on the range. In this case, it is set to make the
highest sensitivity.
Operational conditions for motor and drive
Item Condition
Drive UR1BG3-015N-1LC-2SA-N
Motor DR1B-015G-1C5A4G1-003-01-01
Load 0.4kg・m２
Power AC200V
Option Without operation display pendant and display panel
Control mode Position control mode
Velocity 2 rps (Jog operation)
Acceleration type Constant acceleration and deceleration
Error processing conditions
Parameter setting Setting
Brake-OFF during Servo-OFF (System setup register 1) ON
AC power monitoring cycle (System setup register 1) 20msec

Valid/Invalid (Error process setup Valid
register 1)
Main power error Servo ON
Process (Error process setup register
1) sustaining after
immediate stop
Valid/Invalid (Error process setup Valid
register 1)
Bus voltage
dropping Process (Error process setup register Servo ON
sustaining after
1) immediate stop
Deceleration time for immediate stop (#80) 350msec

2-45
Power Even within the control power holding time,

failure dynamic brake activates if the bus voltage
Control power becomes below the servo-OFF level.
holding time
Approx. 100ms
AC/Cont. power ON
OFF
AC power error Error

Normal
Bus voltage
(voltage post-AC power commutation)
Low voltage error
Servo-OFF level
AC power monitoring cycle Free-run time

20msec (Less than 15msec)
２rps
Free-run time
Motor velocity
0rps
Immediate stop Dynamic brake active
Stopping angle 260
(1100°if immediate servo-OFF after error occurs unless dynamic brake)
TIP
Sets dead zone for AC power monitoring cycle value against instant power failure.
Power failure detection delays if this setting value (time) is large although it does not
influence for an instant power failure. Consequently, the servo deceleration time becomes
long, and it takes a time to stop.
Set the value upon consideration of power environment.

2-46
2.9 Operating Restrictions
The rated velocity of DR5B and DR5C is high and thus the repetition frequency is limited.
This is due to the characteristics of the motor and drive. Please take these restrictions into
consideration when performing operations to repeat rotation and stop.
2.9.1 Restrictions due to Motor Characteristics (DR5B and DR5C)
The duty cycle restrictions described below are set by assuming that the motor is installed on
a metal platform and operated at an ambient temperature of 45C
The formulas below must be satisfied if the load conditions and operation time are set as
shown in the figures below when repeating the motor operation with a cycle of "acceleration -
constant velocity - deceleration - stop."
Moreover, if the average velocity or current squared duty is known, either of them can be
obtained from the quick-reference graph below.
The current squared duty and velocity can actually be measured by the oscilloscope function
of the utility software.
Support tool oscilloscope function monitor #342
NR＝ #303
number
#342 Actual velocity value
#385
#385 Pre-filtering current square duty ηc1,ηc2,ηc3＝
32768
#303 Velocity unit conversion coefficient
NR 1
ηB＝ (t1＋2t2＋t3)× ×100
[Maximum velocity rps] tcy
Formula (1) ηB＝velocity duty
2
ηC,ηc1,ηc2,ηc3
DR5B ηC＝(t1ηc1＋t2ηc2＋t3ηc3)×
1
×100 Formula (2) ＝current squared duty
tCY NR＝ velocity (rps)
tCY＝cycle time (msec)
ηB ＋ 2.6・ηC ＜ 103 Formula (3) t1, t2, t3＝time (mess)
NR 1
ηB＝ (t1＋2t2＋t3)× [Maximum velocity rps]tcy
×100 Formula (1)
ηB＝velocity duty
2
1 ηC,ηc1,ηc2,ηc3
ηC＝(t1ηc1＋t2ηc2＋t3ηc3)× ×100 Formula (2) ＝current squared duty
DR5C tCY
NR＝ velocity (rps)
ηB ＋ 12.5・ηC ＜ 162.5 Formula (3.1) ambient temperature 45C tCY＝ cycle time （msec）
t1, t2, t3＝time (mess)
(ηB ＋ 12.5・ηC ＜ 225 Formula (3.2) ambient temperature 35C)
Average velocity/current squared duty quick-reference graph

ηc1 ηc2
Motor current
squared duty
10
0
90 （DR5C 35℃）
80
Velocity duty B [%]
ηc3 70
60
t1 t2 t3
50 DR5B
40
45℃
Motor velocity
30
DR5C
45℃
NR 20
10
0
0 5 10 15 20 25 30 35
tcy
Current squared duty C [%]

2-47
<Example: DR5B, ambient temperature 45C>

NR = 4 (rps)
c1 = c3 = 0.36
c2 = 0.04
t1 = t2 = t3 = 1/4tcy
The velocity duty and current squared duty are calculated as below with the setting
example above.
4 1 2 1 1
ηB ＝（ tCY＋ tCY＋ tCY ）× ×100
2 4 4 4 5tCY
2
＝ ×100 ＝ 40
5
0.36 0.04 0.36 1
ηC ＝（ tCY＋ tCY＋ tCY ）× ×100
4 4 4 tCY
＝ 19
When the values above are substituted into formula (3), it is seen that the formula is satisfied.
40 + 2.6 x 19 = 98 103
It is possible to operate the motor with this condition.
2.9.2 Restrictions due to Drive Characteristics (DR5B)
The duty cycle is restricted by the heat release value of the regenerative resistor built into
the drive. When operating the drive repeatedly with the operation pattern shown in the
figure, the repetition frequency is restricted by the load inertia with the velocity as a
parameter. The graph shows the characteristics of DR5B. Please contact us if the load
inertia exceeds 1kgm2.
Motor velocity
Maximum velocity
Repetition frequency [times/minute]
tCY Time
60
Repetition frequency = [times / minute]
tcy
Load inertia [kgm2]

2-48
2.9.3 Restrictions on the Number of EEPROM Registrations
The user setting data (parameters, table data and I/O data) is stored in the EEPROM built
into the drive. There is a restriction on the number of times to overwrite the data due to the
EEPROM characteristics. The number of allowable times to overwrite each area
(parameters, table data and I/O data) is approximately 1 million times, respectively.

2-49
2.10 Conformed Standards

In order to conform to the EMC directive, it is necessary to obtain certification for the entire
equipment, including Yokogawa Electric's motor and drive, and control devices and electric
components used in the customers' equipment.
The conformity of equipment to the EMC directive varies depending on the structure of
control devices and components used in equipment, and wiring. It is the customers'
responsibility to check and certify equipment's conformity.
Motor
Low Voltage Directive (declaration) IEC34-1
EMC directive (declaration) EN55011 class A group 1, EN61800-3
■Drive
Low Voltage Directive (declaration) EN50178
EMC directive (declaration) EN55011 class A group 1, EN61800-3
UL508C
[Conformation to UL standard]
The drive is certified to conform to the following UL standard:

Conformance with standard UL508C (File No. E238911)
[UL Standard Certification Conditions and Safety Precautions]

(i) Use 60/75 degrees Celsius CU wire only.
(ii) Open Type Equipment. Be sure to install the drive in the control panel before using it.
It cannot be used if hung on a wall.
(iii) Suitable for use on a circuit capable of delivering not more than 5000 Arms
symmetrical amperes, 240V maximum.
(iv) Distribution fuse size marking is included in the manual to indicate that the unit shall
be connected with a Listed Class RK1 Fuse with the current ratings as shown in the
table below:
Model No. Class RK1 Fuse
All 500 W models 5 [A]
All 2kW models 15 [A]
(v) Maximum surrounding air temperature 50 degrees Celsius.
(vi) CAUTION - Risk of Electric Shock - Capacitor discharge time is at least 7min.
(vii) CAUTION - Risk of Electric Shock - More than one disconnect switch may be required
to deenergize the equipment before servicing.
(viii) Solid state motor overload protection is provided in each model.
(ix) Install device in pollution degree 2 environment.
(x) WARNING - Hot Surface - Risk of Burn.
(xi) Drive has no provision for motor over temperature protection.
Motor over temperature protection is required at end application.

Blank Page
3-1
3. System Configuration
3.1 System Configuration
Control
power
supply
Rush
prevention 3-phase inverter
Gate pulse
Dynamic
brake circuit
Regeneration error Voltage monitor
Regeneration
control PWM Current
Home proximity, hardware over-travel signals conversion control Current detection
Insulate
d input Test operation
Auto-tuning
Sensor input
Homing
ABS move
CPU
INC move
Table data Dwell
Table Parameter change
operation Conditional branch
Command
Jog Position, velocity, torque/thrust

External Enable/disable
Internal
feed forward
Command unit Machine Torque/thrust-
Filters
command value resonance current conversion
Acceleration/ Scaling compensation
Position Velocity 3-phase
deceleration conversion
control control control distribution
m/n
Phase delay Torque/ Commutation information
compensation thrust control
Command unit Velocity Notch filter
command value Position information (2 channels)
information Detection Encoder/resolver
Scaling
conversion signal
n/m
[XA cintact I/O]
Logic I/O
Hard I/O initial value
logical setting
Insulated Input
input
Analog monitor card
Monitor signal
Hard I/O assignment
Insulated Utility software

output
Output
Operation display panel
Hard I/O Operation display pendant
RS232C/RS485
Hard I/O logical setting Logic I/O
Hard I/O
assignment
[C1 CC-Link] [P1 PROFIBUS-DP]
Logic I/O
Hard I/O Logic I/O initial value
initial value Hard I/O
logical setting logical setting
Insulated Input Input

input
Hard I/O
Hard I/O assignment
CN4 assignment CN4
Insulated Output Output
output
Hard I/O Hard I/O

Hard I/O logical ogical setting Logic I/O logical setting Logic I/O
Hard I/O
setting Hard I/O assignment
assignment
CC-Link ROFIBUS-DP
Remote
Input
register M→R
CC-Link
Interface ROFIBUS-DP Interface chip
chip
Remote Output
register M←R
Remote register Soft register
TI 71M01D04-01EN 14th Edition: 2012.12.01

3-2
3.2 Contact I/O Interface

3.2.1 Contact I/O
The contact I/O is a contact I/O type interface for easily connecting with a general-purpose
PLC. It provides 12 input points and 6 output points. For electrical details, see Chapter 5.

3-3
3.3 CC-Link Interface

3.3.1 What is CC-Link?
CC-Link (Control & Communication Link) is a digital communication system standard

developed in Japan that supports a wide range of applications for factory automation (FA). It
is also an open fieldbus standard that does not depend on vendors.
 Features of CC-Link
The features of CC-Link are as follows:
 Saving in wiring
 Multi-vendor environment
 High-speed I/O response
 Long-distance transmission
 RAS function
 CC-Link version
CC-Link Ver. 1.10/Ver. 2.00 and CC-Link/LT are available for the CC-Link interface standard.
The DrvPIII drive supports CC-Link Ver. 1.10.
 Achieving communication reliability

To achieve a stable network environment in which multi-vendor products are used, CC-Link
supported products must pass the connectivity test (conformance test) conducted by the
CC-Link Partner Association. Therefore, the products that support CC-Link have high
communication reliability.
TIP
For more information about the specification of CC-Link and related details, refer to the
documentation issued by the CC-Link Partner Association.
CC-Link Partner Association Web site:
http://www.cc-link.org/

3-4
3.3.2 Network Configuration
The following describes an example of CC-Link network and configuration components.
Master station
With a terminator
Terminator
CC-Link communication network
Slave station 1 Slave station 2 Slave station 10 Slave station 64

Remote I/O Remote I/O Remote device Remote I/O
 Master station
Having control information, the master station manages the entire network. One master
station is required for one network. Normally, a PLC (Programmable Logic Controller) is set
as the master station. The master station number is fixed to "0."
 Slave station
General term for stations other than the master station. Slave stations include remote I/O
stations, remote device stations, intelligent device stations and local stations. Among those,
the DrvPIII drive is a remote device station.
 Terminator
An active bus terminator is connected at the first and last stations on a bus. When placing a
DrvPIII drive at an end of a network, install a terminator to the attached connector (110 Ω, 1/2
W).
 Cables and connectors

Be sure to use cables that conform to the CC-Link communication standard. A connector is
attached to the DrvPIII drive. CC-Link cables and connectors made by various manufacturers
are available. For more information, refer to the Web site of the CC-Link Partner Association.

3-5
3.3.3 Communication
Between a master station and intelligent devices, the master station cyclically reads input
data from the slave stations, and cyclically writes output data to the slave stations. Because
the specification of the DrvPIII drive is Version 1.10, cyclic transmission is supported.
 Simultaneity of data
The DrvPIII drive communicates with a master unit using bit data of 64 input points (8 bytes)
and 64 output points (8 bytes) and register data of 8 input words and 8 output words when
two stations are occupied. In these 64-point data, the simultaneity of refresh data is not
always guaranteed depending on the type of the master unit. When using a fieldbus system, it
is important to take the simultaneity of data into consideration. For more detail, refer to the
instruction manual of the master unit used.
 Delay in transmission data

When transmitting/receiving data between a master station and slave stations, data delay
may occur because of several factors. The following lists the possible major factors for delay
in transmission data until the instruction information from the master station is reflected in the
DrvPIII drive.
 Delay caused by the PLC and/or master unit such as the scan time
 Delay caused by the CC-Link bus cycle time
 Delay caused by the I/O refresh cycle of the DrvPIII drive (max. 1 ms)
 Transmission speed
The DrvPIII drive supports the transmission speeds listed below. The transmission speed can
be set by a #parameter value. The following shows the typical transmission time (link scan
time) values of CC-Link based on the number of connected units and transmission speed.
Supported transmission speed settings

10 Mbits/sec, 5 Mbits/sec, 2.5 Mbits/sec, 625 Kbits/sec, 156 Kbits/sec
Link scan time

(m se c )
6 [1] Remote I/O stations only
[2] Remote device stations only (when
5
all stations occupying one station)
4 [3] Local stations/intelligent device
stations only (when all stations
3
occupying one station)
2
0 20 40 60 No. of slave stations [units]

Guideline of CC-Link Scan Time (10 Mbps at cyclic transmission)
The transmission speed of the DrvPIII drive can be set by [#119 CC-Link setup register] (bits
7-4). The actual setting is done by using the utility software. Note that because #119 is a
machine setup parameter, changes made take effect when the power is turned on next time.
The default setting is 10 Mbps.

3-6
 Maximum transmission distance and station-to-station cable length

The maximum transmission distance refers to the length of a cable between the both ends of
a multidrop network. There are some restrictions according to the communication speed,
CC-Link version and dedicated cable type used.
The transmission speed that can be set is determined by the total extension distance. For
more information about the transmission speed and total extension distance, refer to the
CC-Link Interface User's Manual.
Also, in the case of T-branch connection, there are more restrictive rules.
The station-to-station cable length refers to the length of a cable between a station and its
adjacent station. There are some restrictions according to the station type, CC-Link version
and dedicated cable type used.
Setup Communication Ver. 1.10 supported CC-Link dedicated cable Dedicated Station-to-station
value speed CC-Link dedicated high performance cable cable cable length
0 156 Kps 1200 m 1200 m
1 625 Kps 900 m 600 m
2 2.5 Mbps 400 m 200 m
3 5 Mbps 160 m 150 m 0.2 m or more
4 10 Mbps 100 m 100 m
Other than
0 to 4
Setup error --- ---
 Setting the Number of Occupied Stations

Set the number of stations one drive will occupy. When not many I/O points are required, for
instance, a limited number of station numbers can efficiently be used by setting one occupied
station.
Set this value using [#119 CC-Link setup register] (bit 0) from the utility software.
The factory preset value is 2 occupied stations.
If this setting is performed incorrectly, and thus the number of occupied station of this drive set
up on the master side differs from the number of occupied station set up on the drive side,
communication errors may not be detected under the following condition. Please be careful
as it looks like a communication is established normally on appearance.
• [2 occupied stations] is erroneously set up on the master side, and [1 occupied

station] is erroneously set up on the drive side.
 Setting Station Numbers

According to the CC-Link interface specification, each remote station can freely set 1 to 64
stations. For example, if upper "0" and lower "1" are set using the station number setting
switch when 2 occupied stations are set, station numbers 1 and 2 will be occupied. When
setting station numbers, avoid setting station 0 (station number dedicated to the master).
Moreover, set station numbers so that there will be no conflict with other station numbers on
the network.
Station No. Upper Lower Remark
0 0 Station number dedicated to the master

Stations 1 and 2 are occupied when 2 occupied stations
1 0 1 are set.
Stations 2 and 3 are occupied when 2 occupied stations
2 0 2 are set.
~
The last station number that can be set when 2

63 6 3 occupied stations are set.
This station number cannot be specified when 2
64 6 4 occupied stations are set.

3-7
 Communication status display

The DrvPIII drive displays the CC-Link communication status using LEDs as follows.
Communication status RUN (green) ERR (red)

Non-communicating state (before connection to the
Off Off
master)
Communication established state On Off
If the station number settings are different from the
Off Off
settings on the master side
If a station number is invalid, examples: 99, 65 Off On
If the communication speed setting is different from the
Off Off
setting on the master side
If the communication speed is invalid, examples: 5, 15 Off On
If any of the communication cables is disconnected Off Off
If a station number is changed at startup Off Flashing
 Unit Connection Method

The following shows an example of typical configuration when connecting via CC-Link. The
transmission path method employed is the bus method (EIA RS-485 compliant). The system
configuration varies with customers. For more information, refer to user's manuals or other
documents for the CC-Link master station main unit and CC-Link interface.
Dedicated cable Dedicated cable
DA DA DA
DB DB DB
Terminator DG DG DG Terminator
SLD SLD SLD
FG FG FG
Master unit Remote unit Remote unit

3-8
 Fieldbus communication error

The DrvPIII drive periodically detects communication errors at each I/O refresh timing. If the
DrvPIII drive detects a communication error, it does not refresh the input of the current cycle
and holds the previous input state. However, it refreshes the output from the drive itself.
If the communication error detection count exceeds the value specified, the DrvPIII drive
outputs [ERR47.0 IFB_C_ERR] and places itself in the error state. The type of processing to
be performed after error detection is in accordance with the setting of [#39 Error process
setup register 2].
Essentially, there should be no communication error. Perform communication after
implementing appropriate measures against the noise source. However, limited to the use for
debugging, for instance, it is possible to set a lower communication error detection sensitivity
temporarily. Using [#119 CC-Link setup register] (bits 14-12), set how many communication
errors are allowed to be successively detected. By setting "0," when a communication error is
detected even once, it is determined as a communication error and error process operation is
activated immediately. The setting range is from 0 to 5. The default setting is "0."
Using [#119 CC-Link setup register] (bits 24-16), the error detection frequency that can be
allowed per second can be set. By setting this parameter, communication errors that may
occur irregularly can also be processed properly. The setting range is from 1 to 500. The
default setting is "1."

3-9
Settings from the Utility Software
Various settings of CC-Link are performed on special setup screens. Select [Data
Management] and then [#parameter] from the main menu. Next, select the [CC-Link setup
register] option button on the [Register parameter] tab. After performing necessary settings,
save the settings by selecting the [Regist] button.
For more information about the utility software, see the chapter on the utility software.
Monitoring the CC-Link Communication Status Using the Utility Software
Display the CC-Link monitor screen by selecting the [I/O display] button from the main menu,
and then selecting the [CC-Link] button on the I/O display screen. Wile the [START] button is
being pressed down, the CC-Link communication status is updated.
For more information about the utility software, see the chapter on the utility software.

3-10
3.4 PROFIBUS-DP Interface

3.4.1 What is PROFIBUS-DP?
PROFIBUS-DP is a fieldbus standard that is most widely used among the three types of
standards for the PROFIBUS family, as listed below. A general description of each bus
standard is as follows:
 PROFIBUS
PROFIBUS is a digital communication system that supports a wide range of applications for
factory automation (FA) and process automation (PA). It is also an open fieldbus standard that
does not depend on vendors (international standard: IEC61158, IEC61784).
 PROFIBUS-DP
PROFIBUS-DP (Decentralized Periphery) is used for communication among PLC, remote
I/O and motor drives, for example, and enables high-speed data transfer among field units.
The DrvPIII drive also conforms to this bus standard.
 PROFIBUS-FMS
PROFIBUS-FMS (Fieldbus Message Specification) is used for communication among
intelligent stations, such as PCs and PLCs, in factory automation.
 PROFIBUS-PA
PROFIBUS-PA (Process Automation) is a solution for process automation that requires
explosion proof, and has enhanced features of PROFIBUS-DP. It allows the supply of
electric power to each node using a communication bus cable.
TIP
For more information about the specification of PROFIBUS and related details, refer to the
documentation issued by the PROFIBUS International as well as the Japanese PROFIBUS
Organization.
PROFIBUS International
http://www.profibus.com/
Japanese PROFIBUS Organization:
http://www.profibus.jp/

3-11
3.4.2 Network Configuration
The following describes an example of PROFIBUS-DP network and configuration

components.
Master station ID 0
Terminator ON
RS-232C
Configurator Terminator ON Terminator ON

Terminator
PROFIBUS-DP communication network
Repeater
PLC made by station 31
Yokogawa Electric Slave Slave Slave Slave
FA-M3 station 1 station 2 station 30 station 32
PROFIBUS-DP master unit
F3LB01-ON
 Stations
Devices that compose a network is collectively called a station. A unique ID number is
assigned to each station. The ID number of the master station is "0."
If there is no repeater, up to 32 stations including one master station can be connected. If
there is a repeater, up to 126 stations can be connected. Because a repeater is also assigned
with a unique ID, the maximum number of slave units that can be connected is 121.
 Class 1 DP master (DPM1)

This is a controller that periodically exchanges information with slave stations within the
defined message cycle time. Typical devices include a PLC (programmable logic controller)
and a PC. The PROFIBUS-DP master unit (F3LB01-ON) made by Yokogawa Electric is
categorized as a class 1 DP master.
 Slaves
Slaves refer to peripheral devices (I/O devices, drives, valves, etc.). They acquire input
information and transmit output information to peripheral devices. The DrvPIII drive is
categorized as a slave device.
 Repeaters
A repeater is a line amplifier. To connect 32 or more stations, or to expand a network area,
repeaters can be used to link individual bus segments.
 Cables and connectors

Be sure to use cables and connectors that conform to the PROFIBUS standard. PROFIBUS
cables and connectors made by various manufacturers are available. For more information,
refer to the Web site of the PROFIBUS Organization.
 Configurator
PROFIBUS-DP must register the device configuration on a bus in the master device in
advance. Configuration software that runs on a PC is normally used for this purpose.

3-12
3.4.3 Communication
Between a master station and slave stations, the master station cyclically reads input data
from the slave stations, and cyclically writes output data to the slave stations. The master
station multi-casts control commands to the slave stations of a predefined group.
 Simultaneity of data
The DrvPIII drive communicates (exchanges data) with a master unit using 32 input points (4
bytes) and 32 output points (4 bytes). In these 32-point data, the simultaneity of refresh data
is not always guaranteed depending on the type of the master unit.
If the simultaneity of these data is not guaranteed depending on the type of data to be
received/transmitted, proper control cannot be performed. For more information, refer to the
instruction manual of the master unit used.
 Delay in transmission data

When transmitting/receiving data between a master station and slave stations, data delay
may occur because of several factors. The following lists the possible major factors for delay
in transmission data until the instruction information from the master station is reflected in the
DrvPIII drive.
 Delay caused by the PLC and/or master unit such as the scan time
 Delay caused by the PROFIBUS-DP bus cycle time
 Delay caused by the I/O refresh cycle of the DrvPIII drive (max. 2 ms)
 Transmission speed
The DrvPIII drive supports the transmission speeds listed below. It is not especially necessary
to set the transmission speed. With PROFIBUS-DP, the speed required to distribute and
transfer 512-bit input data and output data to 32 stations is 12 Mbit/s or approximately 1 ms.
The following shows the typical transmission time values for PROFIBUS-DP based on the
number of stations and transmission speed.
Supported transmission speed settings

12 Mbit/s, 6 Mbit/s, 3 Mbit/s, 1.5 Mbit/s, 500 kbit/s, 187.5 kbit/s,
93.75 kbit/s, 19.2 kbit/s, 9.6 kbit/s
Bus cycle time

(ms)
Slaves
Bus cycle times of PROFIBUS-DP mono-master system

3-13
 Maximum cable length

The maximum cable length for PROFIBUS-DP is determined by the transmission speed. The
specification listed in the table below is when a type A PROFIBUS cable with the following
parameter values is used.
 Impedance: 135 to 165 Ω

 Capacity: 30 pF/m
 Loop resistance: 110 Ω/km
 Wire diameter: 0.64 mm or more
 Cross sectional area: 0.34 mm2 or more
Transmission speed 12, 6, 3 Mbit/s 1.5 Mbit/s 500 kbit/s 187.5 kbit/s 93.75, 19.2, 9.6 kbit/s
Max. length per
100 200 400 1000 1200
segment [m]
 Station number setting

Any number from 1 to 99 can arbitrarily be set as a station number using the 2-digit rotary
switch on the front panel. Complete the setting before turning on the power.
 Communication status display

The DrvPIII drive displays the PROFIBUS communication status using the two LEDs on the
front panel.
Communication status RUN (green) ERR (red)

Non-communicating state Off Off
Normal communication On Off
Communication error Off On
Drive initialization error Off Blinking
 Terminators
An active bus terminator is connected at the beginning and end of each segment on a bus.
The DrvPIII drive has a built-in terminator. When placing the DrvPIII drive at an end of a
segment, activate a built-in terminator.

3-14
 Fieldbus communication error

The DrvPIII drive periodically detects communication errors at each I/O refresh timing. If the
DrvPIII drive detects a communication error, it does not refresh the input of the current cycle
and holds the previous input state. If the DrvPIII drive detects a communication error, it
outputs a fieldbus communication error [ERR47.0 IFB_C_ERR] and places itself in the error
state. The type of processing to be performed after error detection is in accordance with the
setting of [#39 Error process setup register 2].
Watch Dog Timer (WDT) of PROFIBUS-DP is set to detect communication errors, and it is set
by Configuration Software normally. When the value is inappropriate, it may happen that a
fieldbus communication error is detected even within the normal scanning time, or a wire
break is not detected. Communication error detection setup is released to users.
It is necessary to set the appropriate value considering the transmission rate or number of
slave channels which are connected to the network.
Concerning the specific setup method, refer to the user's guide of the Configuration Software
you use.
TIP
The initial setting for '#39 Error process setup register 2' is as followed.
Interface immediate stop Stop abruptly, and turn servo OFF
Controller interface communication error Stop abruptly, and maintain servo ON

3-15
3.4.4 Configuration
It is necessary to perform an operation to register the characteristics of stations that will

participate in a PROFIBUS network before starting its operation. This process is called
configuration. For more information about actual configuration procedures, refer to the
instruction manuals of the master unit and configuration tool used.
 GSD file (Generic Station Description file)

To achieve a simple plug and play configuration in a PROFIBUS network, electronic data
(GSD file) in text file format describing information specific to each station is provided. The
GSD file is defined for the communication functions of PROFIBUS devices, allowing to easily
set a PROFIBUS network to be configured with PROFIBUS devices made by various
manufacturers.
TIP
The GSD file for PROFIBUS devices that conform to the PROFIBUS standard can be
downloaded free of charge from the PROFIBUS International's Web site. As for the GSD file
for the DrvPIII drive, download it from our Web site or contact our sales representative.

Blank Page
4-1
4. Name and Function of Each Part

4.1 Motor Unit
4.1.1 DM Type
Load mounting screw Encoder cable

Hollow hole
Rotor Motor cable
Stator mounting
screw
Stator
Load mounting
surface
Bottom
cover
Label
(Side or bottom)
(Bottom surface)
(Upper surface)
Load mounting surface Load mounting screw Hollow hole Load mounting surface
Hollow hole
Rotor
Mounting
plate (stator)
Label
Motor cable
Encoder cable DM1B - 004
DM1C - 004 DM1B - 006
4.1.2. DR Type/DB Type Motor cable

Resolver cable
Load mounting screw Stator
mounting
Hollow hole
Rotor screw
Stator
Bottom
cover
Load
mounting
surface
Lavel (side or bottom)
(Upper surface) (Bottom surface)

4-2
4.2 Drive Unit

4.2.1 500W Class
<CN1> Serial interface connector

RS232C/RS485 connector
<RS-ID> Rotary switch
<RDY/ERR> Status display LED
<SRV-DS> Servo disable switch
<CN3> Analog monitor connector
<TB4> Sensor terminal
<CHARGE> Main power supply charge LED
<TB1> Main power supply/ control

power supply terminal
<CN4> Controller interface connector
<TB3> Regenerative resistor terminal
<TB2> Motor terminal
<GND> Ground terminal
<CN2> Encoder/resolver connector
Label
Caution label

4-3
4.2.2 2kW Class
<CN1> Serial interface connector

RS232C/RS485 connector
<CN3>
Analog monitor connector
<CHARGE>
Main power supply charge LED
<TB1>
Main power supply/ control
power supply terminal
<TB3>
Regenerative resistor terminal
Label
Caution label

4-4
4.2.3 Explanation of the Front Panel (Contact I/O)

<CN1> Serial interface connector RS 232C/RS485
Connect the operation display panel, operation display pendant and
PCs to this connector.

A slave station ID of multi-channel communication via RS485 is set
according the status when the power supply is turned on.
The number of the rotary switch indicates a slave station ID.

The servo is turned off only while this switch is being pressed.

It displays the status of the drive.
Green: RDY No error
Red: ERR Error occurred

It is possible to observe torque and velocity waveform with an
oscilloscope. The analog monitor card
(optional, part number R7041WC) is available.

It is a sensor input and error output.
Input Home sensor
EOT signals
Output Regeneration error
It displays the status of the main power supply. The internal electrolyte
capacitor is being charged when it is lit.
<TB1> Main power supply/control power supply terminal

It is an input terminal for the main power supply/control power supply.

Connect a controller such as PLC to this connector.

Connect a regenerative resistor to this terminal.
500 W Connect the attached regenerative resistor.
2 kW External regenerative resistors will be required if you rotate
the motor with external force (please consult us separately).

Connect the encoder/resolver cable of the motor to this connector.

Connect the power cable of the motor to this terminal.

This is a ground terminal. Make sure to connect the motor ground and power
supply ground.

4-5
4.2.4 Explanation of the Front Panel (CC-Link)

<STATION NO> Station number setting switch

It sets the station number of CC-Link.
x1: Lower x10: Upper


Green: RDY No error

oscilloscope. The analog monitor card (optional, part number R7041WC)
is available.
Input Home sensor
EOT signals
<RUN/ERR>Transmission monitor display
It monitors the communication status of CC-Link.
Green: RUN
Red: ERR

<CN4> CC-Link interface connector


2 kW External regenerative resistors will be required if you rotate the
motor with external force (please consult us separately).

This is a ground terminal. Make sure to connect the motor ground and

4-6
4.2.5 Explanation of the Front Panel (PROFIBUS-DP)

<STATION NO> Station number setting switch

It sets the station number of PROFIBUS-DP.
x1: Lower x10: Upper


Green: RDY Normal

oscilloscope. The analog monitor card (optional, part number R7041WC)
is available.
Input Home sensor
EOT signals
<RUN/ERR>Transmission monitor display
It monitors the communication status of PROFIBUS-DP.
Green: Data_Exchange status
Red: Communication_err status
<TRM> Terminator switch
"Up" position to activate the built-in Terminator.

<CN4> PROFIBUS-DP interface connector



2 kW External regenerative resistors will be required if you rotate the
motor with external force (please consult us separately).

<GND> Protective grounding terminal
This is a ground terminal.
Be sure to connect the protective earth to prevent electric shock.
And make sure to connect the motor ground.

5-1
5. Wiring
5.1 Overall Connection
5.1.1 Connection Diagram
Utility Software
Power
Operation display
pendant (optional)
Circuit Protector or Operation Display PC
Circuit Breaker Panel (optional)
DrvGIII Drive
Line Filter
Control Power RS232C Cable

Supply Cable
Sensors/Relays
• Home Sensor
Analog Monitor • ± over-travel
Card (optional) (End of Travel (EOT) Limits)
• Regeneration Error
Electromagnetic
Contactor
Sensor Cable
Main Power Supply Cable
Regen. Resistor Controller Cable

(attached)
PLC
Motor Cable
Ground
Motor
(DM/DR series)
*Motor Filter (optional)
* Insert between the motor and the drive as necessary.

5-2
5.1.2 Circuit Protector
Circuit protector
Drive
Model Specification
CP32FM/5W
250VAC, 5A
500W (Fuji Electric)
class CP30-BA2P1M5A
250VAC, 5A
(Mitsubishi Electric)
CP32FM/15W 250VAC,
(Fuji Electric) 15A
2kW class
CP30-BA2P1M15A 250VAC,
(Mitsubishi Electric) 15A
! DANGER
The drive does not have a built-in ground protection circuit. Install a ground-fault interrupt
circuit with short-circuit protection or a ground-fault interrupt circuit for ground protection
together with a circuit breaker if safety is of high priority in the system.
5.1.3 List of Recommended Parts
Electromagnetic Line filter

Drive Motor filter
contactor Model Specification
SC11AA-M10
500W (Fuji Electric) FN2070-6/06 Single-phase AC
class S-N11 (SCHAFFNER) 250V, 6A R7020TA
(Mitsubishi Electric) (OF002C-3
SC18AA-M10 Yokogawa
(Fuji Electric) FN2070-10/06 Single-phase AC Electric)
2kW class
S-N18 (SCHAFFNER) 250V, 10A
(Mitsubishi Electric)
Sensors (EOT
Drive Relay
Limits and Home)
Common
MY2-D
for 500W EE-SX670
DC24V
and 2kW (Omron)
(Omron)
classes
Notes: 1. Make sure to select parts that accommodate the total capacity of the system if two
or more drives are used in the system.
2. Insert a motor filter as necessary.

5-3
5.1.4 List of Cable Specifications
2kW Class Drive Connection Cables
Cable Specification Current

Main power supply AWG#14 (2.0mm2) or more, length 30 m or less 20A
Control power supply AWG#20 (0.5mm2) or more, length 10m or less 1A
Motor AWG#14 (2.0mm2) or more, length 30m or less 20A
AWG#14 (2.0mm2) or more
Ground (Use as thick a cable as possible.)
Class 3 ground (ground resistance 100 Ω or less)
Sensors
AWG#28 ~ 20 (0.08 ~ 0.5mm2)
(Limits and Home)
AWG#24 (0.2mm2) twisted pair cable with a common
Encoder/resolver shield, external diameter ∅9mm or less, length 30m or 0.1A
less
AWG#28 ~ 20 (0.08 ~ 0.5mm2) cable with a common
Controller shield, external diameter ∅14mm or less, length 3m or 0.5 A
less
RS232C Dedicated cable: C1P-ENN-2276-020 (2.0 m)
500 W Class Drive Connection Cables
Cable Specification Current

Main power supply AWG#20 (2.0mm2) or more, length 30 m or less 6A
Control power supply AWG#20 (0.5mm2) or more, length 10 m or less 1A
Motor AWG#20 (0.5mm2) or more, length 10 m or less 6A
Ground (Use as thick a cable as possible.)
Class 3 ground (ground resistance 100 Ω or less)
Sensors (Limits and
AWG#28 ~ 20 (0.08 ~ 0.5mm2)
Home)
AWG#24 (0.2mm2) twisted pair cable with a common
Encoder/resolver shield, external diameter ∅9mm or less, length 10 m or 0.1A
less
AWG#28 ~ 20 (0.08 ~ 0.5mm2) cable with a common
Controller shield, external diameter ∅14mm or less, length 3m or 0.5 A
less
RS232C Dedicated cable: C1P-ENN-2276-020 (2.0 m)

5-4
5.2 Main Power Supply/Control Power Supply Terminal <TB1>
Connector: 231-204/026-000
Control power
supply AWG#20: (made by WAGO)
Main power supply

AWG#14:
Insulation stripping length: 8mm
The attached lever can be installed by snapping it on. Cables can

be connected simply by inserting them with your fingers; tools
are not necessary.
CAUTION
Set up a sequence circuit similar to the one shown below in order to avoid accidents where
the drive burns out in case of over-voltage errors and regeneration errors.
Example of power supply sequence circuit

Drive
Power Circuit Line

supply protector filter
Keep the ON switch in the ON status until the drive enters the RDY status.

5-5
5.3 Motor Terminal/Ground <TB2>
Yokogawa's motor cables are twisted pair cables with a common

shield with the motor ground cable. The shield is connected to
the ground by connecting the motor ground cable to the ground
terminal.
If you provide your own cable, make sure to connect the shield
to the ground terminal. Connect the ground cable and motor
ground cable to one terminal and the shield to another terminal,
separately.
Connector: 231-203/206-000 (made by WAGO)
Insulation stripping length: 8 mm
Motor cable
Red
500W class: AWG#20
White
2kW class: AWG#14
Black
Green or green/yellow
Crimp terminal: N2-4

(made by J.S.T.)
Ground: AWG#14
Cable Specifications
Specification
Cable
500W class 2kW class
AWG#20 (0.5mm ) or more, length 10 AWG#14 (2.0mm2) or more, length
2
m or less 30m or less

Motor terminal processing code "20" Motor terminal processing code "20"
(N1.25-M4 made by J.S.T.) (N2-4 made by J.S.T.)
Motor

(Use as thick a cable as possible.)
Ground Class 3 ground (ground resistance 100Ω or less)
Tightening torque of the terminal screws:
1.2N-m (12kgf-cm) (terminal screws: M4 x 0.7)
! DANGER
Make sure to perform ground in order to avoid electric shock accidents. Moreover, make sure
to connect the GND terminals of the motor and the drive.

5-6
5.4 Regenerative Resistor Terminal <TB3>
Regenerative resistor
(attached)
• Make sure to connect the regenerative resistor supplied with the

product according to the figure.
See the list below for the models to which a regenerative resistor is
attached.
• Use AWG#20 to AWG#16 to extend the cable.
List of Models Provided with Regenerative Resistors
Model Suffix code Regenerative resistor

-050N-A-1-N 80W 60Ω
UD1AP3
-050N-A-2-N 80W 200Ω
-050N-B-1-N 80W 60Ω
UR1AP3
-050N-B-2-N 80W 200Ω
-030N-B-1-N 80W 60Ω
UD1EP3
-030N-B-2-N
UR5BP3 -010N-B-2-N
-010N-B-2-N
UR5CP3 80W 200Ω
-015N-B-2-N
-010N-B-2-N
UB5CP3
-015N-B-2-N
CAUTION
If the motor is rotated by external force, etc., additional large regenerative resistors will be
required, regardless of whether or not a regenerative resistor is supplied with the model.
When you replace attached regenerative resistors by the thing of other capacity, or when you
connect regenerative resistors to the drive to which regenerative resistor is not appended,
inquire at our sales department for more information.
! DANGER Disconnect all power and wait 7 minutes, before servicing. Do not remove the separator
attached in the regenerative resistor terminal of a drive. May cause electric shock. The high
voltage is applied to the regenerative resistor terminal.
! DANGER A regenerative resistor generates high temperatures. Do not touch the regenerative resistor
while operating the motor and the drive until the temperature has cooled down sufficiently.

5-7
5.5 Sensor Terminal <TB4>
Connector: 733-106 (made by WAGO)
Wire size: AWG#28 to AWG#20
Insulation stripping length: 5mm
The connector can be attached through one-touch operation by pulling

down the spring in the slot in the upper part of the connector using a drive.
(The size of the tip of a drive is 2.0 x 0.4mm.)
Pin No. Signal name Definition Sensor input specification

1 COMP0 Sensor power Rated voltage 12 to 24VDC (±10%)
2 XORG Home input B-contact 4.1 mA/point (at 12VDC)
Rated input current
3 XOTD - EOT input B-contact 8.5 mA/point (at 24VDC)
4 XOTU + EOT input B-contact Input impedance 3.0 kΩ
Regen. Resistor error Operating voltage (relative Off: Less than 3.0VDC
5 ERR+
output + to COMP0) On: 9.0VDC or more
Regen. Resistor error Guarantee OFF at 1.0
6 ERR- Allowable leak current
output - mA or less
Regeneration error output

Maximum service voltage 30VDC
Maximum output current 50 mA
CAUTION
Make sure to set up a sequence circuit as shown in Section 5.2, "Main Power Supply/Control
Power Supply Terminal <TB1>" in order to avoid accidents where the drive fails due to
over-voltage errors and/or regeneration errors.

5-8
Example of sensor connection (Sensor: EE-SX670 made by Omron)

The sensor logic is connected to B-contact.
The sensor output must be set to switch OFF when the light is blocked.
The sensor of the type described above is turned off when the light is blocked by
connecting cables as shown below.
Home input B-contact
- EOT input B-contact
+ EOT input B-contact
*
Regen. Resistor error output
* See Section 5.2, "Main Power Supply/Control Power Supply Terminal " for more
information about wiring the regeneration alarm outputs.

5-9
5.6 Serial Interface Connector <CN1>
Connector: DA-15PF-N (made by JAE)

Housing: DA-C8-J10-F4-1 (made by JAE)
Pin No. Signal name Definition

1 FG Frame GND terminal (Shield)
2 RxD RxD terminal RS232C single channel communication
3 TxD TxD terminal RS232C single channel communication
4 A Rx (+) side terminal RS485 multi-channel communication
5 Y Tx (+) side terminal RS485 multi-channel communication
6 485SW Busy condition bit RS485 multi-channel
Terminator terminal RS485 multi-channel communication (short
7 TRMP
circuited to #14 TRMN)
8 CN1SW Busy condition bit CN1
9 +5V +5V power (operation display panel and pendant)
10 SG/LG Signal GND terminal
11 B Rx (-) side terminal RS485 multi-channel communication
12 Z Tx (-) side terminal RS485 multi-channel communication
Terminator - terminal RS485 multi-channel communication (short
14 TRHN
circuited to #7 TRMP)
RS232C Cable (Optional)
C1P-ENN-2276-020 (2.0 m)

5-10
RS232C Cable Wiring
RS232C connector on the PC side <CN1> connector

1 5 8 1
6 9 15 9
Soldered surface Soldered surface

Signal name Signal name
PC side Drive side
Connector: DE-9SF-N (made by JAE)

Housing: DE-C8-J9-F4-1 (made by JAE)
WARNING
Do not connect any line to pins that are not specified.
Wrong connections may cause the drive and/or PC to breakdown.
RS485 Cable Wiring
Pin No Signal name

Send (+) 4 A
Send (-) 11 B
Host master side Receive (+) 5 Y
Receive (-) 12 Z
Drive side
SG 10 SG/LG
6 485SW
13 SG/LG
8 CN1SW
15 SG/LG
Pin No Signal name

4 A
11 B
5 Y
12 Z
10 SG/LG Drive side
6 485SW
13 SG/LG
7 TRMP
* Connect a terminators only at the ends of the network. * 14 TRMN
8 CN1SW
15 SG/LG
WARNING Connector: DA-15PF-N (made by JAE)
Do not connect any line to pins that are not specified.
Wrong connections may cause the drive and/or PC to breakdown.

5-11
5.7 Encoder/Resolver Connector <CN2>

<CN2> connector
11 20
1 Insertion surface 10
Case ground
(shielded cable) 1 2 3
Connector: PCR-S20FS 11 12 13 20
(made by Honda Tsushin Kogyo) Soldered surface
Housing: PCR-LS20LA1
(made by Honda Tsushin Kogyo)
Cable Specification
500 W class 2kW class
AWG#24 (0.2mm2), twisted pair
AWG#24 (0.2mm2), twisted pair cable
cable with a common shield,
with a common shield, external diameter
external diameter ∅9mm or less,
∅9mm or less, length 30m or less
length 10m or less
Encoder terminal processing code: 79 (PCR-S20FS and PCR-LS20LA1 made
Encoder/
by Honda Tsushin Kogyo)
resolver

5-12
Table of Connector Signal Names and Wire Colors
DM1B-004/006 type DM series motor

Pin No. DM1C-004 type (other than the types in the left column)
Signal name Fixed cable Robot cable Signal name Fixed cable Robot cable
1 +10V Red Red/gray +10V Red Red/gray
2
3 θSIG 0 Blue Purple θSIG 0 Blue Purple
4 ECLK+ (10V) Orange Yellow
5 θSIG 1 Brown Orange θSIG 1 Brown Sky blue
6
7 ECLK+(3V) Orange Yellow
8
9 ZERO+ Green Green
10
11
12 GND Black Blue/black GND Black Blue/black
13 ECLK- (10V) Orange/white White
14 GND Blue/white Green GND Blue/white Pink
15
16 GND Brown/white Brown GND Brown/white Brown
17
18 ECLK- (3V) Orange/white White
19 ZERO- Green/white Orange
20
Case Shielded cable
DR series motor DB series motor

Pin No.
Signal name Fixed cable Robot cable Signal name Fixed cable Robot cable
1 -1XS0 Orange (red 1) Blue (white)
2 +S0 Brown/white Yellow +S0 White (red 1) Red (black)
3 -1XS180 Orange (black 1) White (blue)
4
5 -1XC0 Gray (red 1) Green (white)
6 -S0 Brown Red -NXS0 Pink (red 1) Brown (white)
7 -1XC018 Gray (black 1) White (green)
8 -C0 Orange Purple -NXC0 Orange (red 2) Gray (white)
9
10 +C0 Orange/white Green +C0 Brown (red 1) Yellow (black)
11 +S180 Green/white White +S180 White (black 1) Black (red)
12
13
14
15 -S180 Green Blue -NXS180 Pink (black 1) White (brown)
16
17 -C180 Blue Pink -NXC180 Orange (black 2) White (gray)
18
19
20 +C180 Blue/white Orange +C180 Brown (black 1) Black (yellow)
Shielded Gray (red 2) Black
Case Black/shielded cable
cable Gray (black 2) White

5-13
Wiring between the Motor and the Drive
(1) DM1C-004 Type, DM1B-004/006 Type Motors
Specification of fixed cable Specification of robot cable

(CIE-EA2-) (CIE-EA1-)
Drive side Motor unit Motor side
<CN2>
+10V/ 1 Red 1 Red/gray
GND/12 Black 12 Blue/black
θSIG0/3 Blue 3 Purple
GND/14 Blue/white 14 Green
θSIG1/5 Brown 5 Orange
GND/16 Brown/white 16 Brown
ECLK+/ 7 Orange 7 Yellow
ECLK-/18 Orange/white 18 White
Case ground
Twisted pair cable
with shielding
(2) DM Series Motors (Models Other than Above)

(CIE-EC2-) (CIE-EC1-)
Drive side Motor side Motor side
Twisted pair cable

with shielding
(3) DR Series Motors

(CIE-S2--) (CIE-S1--)
＜CN2＞
+S0/ 2 Brown/white 2 Yellow
+S180/11 Green/white 11 White
-S0/6 Brown 6 Red
-S180/15 Green 15 Blue
+C0/10 Orange/white 10 Green
+C180/20 Blue/white 20 Orange
-C0/ 8 Orange 8 Purple
-C180/17 Blue 17 Pink
Case ground Black Black
Case ground
Twisted pair cable
with shielding

5-14
(4) DB Series Motors

(CIE-B2--) (CIE-B1--)
White (red 1) Red

White (black 1) Black
Brown (red 1) Yellow
Brown (black 1) Black
Pink (red 1) Brown
Pink (black 1) White
Orange (red 2) Gray
Orange (black 2) White
Orange (red 1) Blue
Orange (black 1) White
Gray (red 1) Green
Gray (black 1) White
Case ground Gray(red 2) Gray Black/white
Twisted pair cable (black 2) Case ground
with shielding

5-15
5.8 Analog Monitor Connector <CN3>
<CN3> connector
Analog monitor card (optional, R7041WC)
Pin No. Signal name Definition

1 VEL Velocity monitor terminal
2 AM1 Analog monitor terminal 1 (general purpose monitor 1)
3 AM2 Analog monitor terminal 2 (general purpose monitor 2)
4 DM1 Digital monitor terminal 1 (general purpose monitor 1)
5 DM2 Digital monitor terminal 2 (general purpose monitor 2)
6 T-R Current command
7 T-T Reserved
8 T-S Reserved
9 <Prohibited> Reserved. Do not connect any line.
10 GND GND terminal for monitor
It is possible to monitor various states of the drive using the analog monitor
card (optional).
CAUTION
These signals are used for observation and troubleshooting only! Do not use them as
feedback data to controllers. Make sure to use the analog monitor card (optional) to observe
these signals.

5-16
5.9 Controller Interface Connector <CN4>

5.9.1 Contact I/O Interface
Connector: PCR-S36FS (made by Honda Tsushin Kogyo)

Hosing: PCR-LS36LA (made by Honda Tsushin Kogyo)
<CN4> connector
19 36
1 Insertion surface 18
Case ground (shielded cable)
1 2 3
19 20 21 Soldered surface 36
2
AWG#28 to AWG#20 (0.08 ~ 0.5mm ), cable with a common
shield, external diameter ∅14mm or less, length 3m or less
Option cable: C1P-ENN-4202-
Interface
Cable: UL2464 AWG28X25P

5-17
Table of Connector Signal Names and Wire Colors
Signal Wire color

Pin No. Definition Comment
name Color Mark
1 COMP1 White Blue or black 3 Interface power supply + Input appropriate power according to
2 COMN1 Orange Blue or black 1 Interface power supply - the interface spec.
3 DO_0 Orange I/O output 0
4 DO_1 Gray I/O output 1
5 DO_2 White Red 1 I/O output 2 The definition is assigned by the hard
6 DO_3 Yellow I/O output 3 I/O assignment function.
7 DO_4 Pink I/O output 4
8 DO_5 Orange Red 2 I/O output 5
9 ~ 12 (reserve) Do not connect any line.
13 Z_OUT+ Red 2 Z-pulse +

Yellow Outputs the Z-pulse of the motor.
14 Z_OUT- Blue or black 2 Z-pulse -
19 DI_0 Gray I/O input 0

20 DI_1 White I/O input 1
Red 3
21 DI_2 Yellow I/O input 2
22 DI_3 Pink I/O input 3
23 DI_4 Orange I/O input 4 The definition is assigned by the hard
I/O assignment function.
24 DI_5 Gray I/O input 5
25 DI_6 White Red 4 I/O input 6
26 DI_7 Yellow I/O input 7
27 DI_8 Pink I/O input 8
28 DI_9 Orange I/O input 9
Continuous red
29 DI_10 Gray line I/O input 10
30 DI_11 White I/O input 11
Shield Shield treatment terminal Make sure to connect this.

5-18
DI/DO Initial Setting
DO_0 to DO_5 initial setting

Logic I/O signal
Pin No. Signal name Logic I/O signal name Logic
abbreviation
3 DO_0 OUT_SRDY Servo ready Positive
4 DO_1 OUT_ERR Error Positive
5 DO_2 OUT_MODE_EXE Executing Positive
6 DO_3 OUT_POS Positioning signal Positive
7 DO_4 OUT_AREA_0 Area signal 0 Positive
8 DO_5 OUT_AREA_1 Area signal 1 Positive
DI_0 to DI_11 initial setting

Logic I/O signal
Pin No. Signal name Logic I/O signal name Logic
abbreviation
19 DI_0 IN_EMG Immediate stop Positive
20 DI_1 IN_SERVO Servo Positive
21 DI_2 IN_START Start table operation Positive
22 DI_3 IN_STOP Stop table operation Positive
Stop motion & table
23 DI_4 IN_ABORT Positive
operation
24 DI_5 IN_ERR_RESET Error reset Positive
25 DI_6 IN_JOG_UP Jog up Positive
26 DI_7 IN_JOG_DN Jog down Positive
27 DI_8 IN_1_CODE. 0 Code input 0 Positive
DI/DO Contact Specifications

[Contact output] DO_0 to DO_5
Interface suffix
A B
code
12 ~ 24VDC 5VDC
Rated voltage
(±10%) (±10%)
Maximum load
0.1A/point, 0.5A/common
current
Turn-On voltage 0.5VDC or less
12-24V specification: 8.2 kΩ Leakage current
5V specification: 1 kΩ 0.1mA or less
at off
Positive logic: The output transistor switches on when the conditions for the signal
are satisfied.
[Example] OUT_SRDY: The output transistor switches on when the servo is ready.
[Contact input] DI_0 to DI_11
Interface suffix
A B
code
12 ~ 24VDC 5VDC
Rated voltage
(±10%) (±10%)
Rated input 4.1mA (at 12VDC)
4.0mA (at 5VDC)
current 8.5mA (at 24VDC)
Impedance 3.0kΩ 1.0kΩ
Operating voltage
12-24V specification: 2.7 kΩ ON: 9.0VDC or less ON: 4.0VDC or less
(relative to
5V specification: 1 kΩ OFF: 3.0VDC or more OFF: 1.0VDC or more
COMP*)
Allowable
Guarantee off at 1.0mA or less
leakage current
Positive logic: Current is conducted into the input photo-coupler when the conditions for the
signal are satisfied.
[Example] IN_SERVO: Current is conducted into the photo-coupler when the servo is turned
on.

5-19
ZERO Pulse Output Specification Z_OUT±
Connect a differential line receiver equivalent to the AM26LS32 that conforms to the RS422A
standard.
Output is on when the positive

terminal has a higher voltage
than the negative terminal.
AM26LS32 equivalent AM26LS31
Controller
Connection Example
Controller Drive
PS2805 or equivalent
Photo-coupler, contact, etc.
MA8330 or equivalent
PS2805 or equivalent
Photo-coupler, relay, etc.
MA8330 or equivalent
2AD1820 or equivalent
AM26LS32 or equivalent AM26LS31 or equivalent
Connect the shield to the case of the connector.

5-20
5.9.2 CC-Link Interface
Connector: TMSTBP 2, 5/4-STF-5, 08 (made by Phoenix Contact)
Pin No. Signal name Wire color

4 SLD -
3 DG Yellow
2 DB White
1 DA Blue
<CN4> CC-Link connector
Bit: 0.6 x 3.5 mm

Tightening torque: 0.5 - 0.6 Nm
Insulation stripping
length: 7 mm
Wiring of Communication Cable
CAUTION
In order to reduce problem of noise interference, make sure to keep the shield less than 20
mm.
Unit Connection Method
The following shows an example of typical configuration when connecting via CC-Link. The
transmission path method employed is the bus method (EIA RS-485 compliant). The system
configuration varies with customers. For more information, refer to user's manuals or other
documents for the CC-Link master station main unit and CC-Link interface.
Dedicated cable Dedicated cable
DA DA DA
DB DB DB
Terminator DG DG DG Terminator
SLD SLD SLD
FG FG FG
Master unit Remote unit Remote unit

5-21
FANC-SBH and FANC-SB can be used as dedicated CC-Link cables in a CC-Link system.
The terminator that can be used depends on which type of the dedicated CC-Link cables is
used.
Please be aware that performance cannot be guaranteed if you use any cables other than
these dedicated CC-Link cables.
For more information about the dedicated CC-Link cables, refer to the CC-Link Interface
User's Manual.
FANC-SBH and FANC-SB are manufactured by KURAMO ELECTRIC CO., LTD.
Cable FANC-SBH FANC-SB

Terminator 130 Ω, 1/2 W 110 Ω, 1/2 W
Use the cable terminators attached to the master station.

5-22
5.9.3 PROFIBUS-DP Interface
Recommended Connecter Type: 6GK1 500-0FC00 (made by SIEMENS)
CAUTION
Please use a “reverse angled pull-out type connector”. Cable may interfere with TB4 if 90°or
35° angled type are used.
 Network Connection
The following shows an example of typical configuration when connecting via PROFIBUS-DP.
A terminator is required for the unit at the beginning and end of each segment on a bus. The
DrvGIII has a built-in terminator. When placing the DrvPIII at an end of a segment, activate a
built-in terminator.
Master station ID 0
Terminator ON
RS-232C
Configurator Terminator ON Terminator ON

Terminator
PROFIBUS-DP communication network
Repeater
PLC made by station 31
Yokogawa Electric Slave Slave Slave Slave
FA-M3 station 1 station 2 station 30 station 32
PROFIBUS-DP master unit
F3LB01-ON

5-23
 Cable Specifications
PROFIBUS-DP uses RS485 transmission technology. PROFIBUS-DP achieved national

standardization in EN 50170.
Datails of cable specifications are indicated below.
Cable type A for PROFIBUS-DP

Impedance 135 to 165 Ω / 3 to 20 MHz
Capacity 30 pF/m
Loop resistance 110 Ω/km
Wire diameter 0.64 mm or more
Cross sectional area 0.34 mm2 or more
 Cable cross section

Cable Outer :
PVC (Polyvinyl Chloride)
Cable Core : Copper
Mesh shield : Copper
Alminum Skin
Cable Outer : Plastic Membrane
PE (Polyethylene)
Filler
 End Treatment
The connector mentioned in the previous page complies to Fast Connect Striping Method. It
is easier to use Fast Connect Stripper for remove Cable Cover and Mesh Shield.
Fast Connect Stripper (made by SIEMENS) End Treatment

5-24
5.10 Noise Prevention and Installation Conditions

A CE Declaration of Conformity (declaration) regarding EMC has been made for the DrvPIII
drive under the following installation conditions.
For Contact I/O Interface
Power
DrvPIII Drive
Line Filter
FN2070-6/06
(for 500W model)
FN2070-10/06
(for 2kW model) Operation Display Panel
Sensor/Alarm
Terminatig
Cable (1.2m)
Control Power Cable
jig
Controller
Main Power Cable Cable (3m)
Terminatig
jig
Ferrite Core
Ground
Motor Filter
R7040ZK
Mounted on an Aluminum Plate
Motor Unit
(DM/DR series)
Motor Cable (5m) Encoder/Resolver Cable (6m)
CAUTION
This installation guideline does not guarantee the performance. The installation conditions
vary depending on the device used.

5-25
For CC-Link Interface
Power
DrvPIII Drive
Line Filter
FN2070-6/06
(for 500W model)
FN2070-10/06 Operation Display Panel
(for 2kW model) PC100G3
Sensor/Alarm Cable
Terminating
(1.2m)
jig
Control Power Cable
Main Powe Cable

Controller
Cable (3m)
Terminating
Regeneretive
jig
Resistance
Ferrite Core
ZCAT3035-1330
Protective Earth Grounding

Motor Filter
R7040ZK
Motor Unit
(DM/DR series)
* Regenerative Resistance is needed for all 500 W models in order to comply with EN
61800-3 for immunity.
CAUTION

5-26
For PROFIBUS-DP Interface
Power
DrvPIII Drive
Line Filter
FN2070-6/06
(for 500W model)
FN2070-10/06
(for 2kW model) Operation Display Panel
PC100G3
Sensor/Alarm
Terminating
Cable (1.2m)
jig
Control Power Cable
Main Power Cable Controller

Cable (3m)
Terminating
jig
Regeneretive
Resistance
Ferrite Core
ZCAT3035-1330
Ground
Motor
Motor Filter
Filter
R7040ZK
R7040ZK
Ferrite Core
ZCAT3035-1330
Motor Unit
(DM/DR series)
* Regenerative Resistance is needed for all 500 W models in order to comply with EN
61800-3 for immunity.
CAUTION

5-27
5.10.1 Line Filter
A line filter is effective as a means of suppressing any inverter noise that is conducted back
into the power supply line. Because inverter noise may cause nearby devices to malfunction,
be sure to insert a line filter.
Selecting Line Filter

The switching frequency of the inverter part is 10 kHz. Because inverter noise is caused by
harmonic components when switching, select a line filter with good damping characteristics in
the frequency band of 100 kHz to 1 MHz.
(Line filters with common mode coils of 5 mH or more)
Please use the recommended line filter or an equivalent product.
Obtaining Current Capacity

Please see Section 5.11, "Drive Input Current."
Mounting Filter
Secure the filter to a metal plate. If rust proofing is required for the metal plate, apply
electrically conductive plating. If the filter has to be mounted on a coated surface, be sure to
remove the coating before mounting the filter. (The same holds for the mounting surface of
the drive.)
If you connect the wires for filter inputs and outputs, the noise will transfer between the wires
and the effect of the filter will be lost. Be sure the wires are kept separate.
Power supply side Load side
Bundling
Power supply side Load side
Bundling Bundling

5-28
5.10.2 Ferrite Core 1
The ferrite core 1 is effective as a means of suppressing noise radiating from motor cables.
Mount it on a motor cable as close to the drive as possible.
The ferrite core 1 is not required if the drive is installed in a metal control panel/equipment and
does not affect devices located within the same equipment.
Ferrite core 2 is effective as a means of suppressing motor vibration caused by noise

conducted into the motor cables and encoder/resolver cable. Conductive noise is caused by
the capacitive and inductive coupling that occurs when cables are wired in parallel, thereby
acting as noise sources.
Mount it on a motor cable as close to the drive as possible.
Ferrite core 2 is not required if there is no noise source that may cause motor vibration in the
same equipment.
5.10.4 Motor Filter
A motor filter is effective as a means of suppressing the common mode noise generated by
an inverter.
Common mode noise is caused by high-frequency harmonic components in the current due
to switching in the inverter, which is conducted via the coupling capacity between motor cable
and motor coil and ground. A motor filter effectively suppresses high-frequency common
mode noise current.
If a CCD camera or measurement instrument is mounted on a platform where the length of a
motor cable exceeds 10m, in particular, the ground may become unstable due to the common
mode noise current, leading to a device malfunction.
Attach the filter to a motor cable as close to the drive as possible. Secure it to a metal plate in
the same way as for a line filter. However, be careful not to connect the input and output wires
of a filter. A motor filter is not required if the motor cables are short or there is no effect on
other devices located within the equipment.
5.10.5 Shielding of Cables
The shielding of cables is effective as a means of suppressing motor malfunction due to

external noise and inverter noise, and in suppressing the influence on other devices resulting
from the inverter harmonic components and noise irradiated from the CPU clock.
The shielding of motor cables and encoder/resolver cables must be securely connected to
grounds on the drive and motor sides. Such shielding lowers the high-frequency impedance
to the ground between the motor and drive, and it suppresses the malfunctioning of the
encoder due to external noise and inverter noise.
For a controller cable, securely connect the shielding to the ground on both the drive and
controller sides. Such shielding lowers the impedance to the ground between the controller
and drive, and it suppresses the malfunction of pulse position command input and analog
velocity command.

5-29
5.11 Drive Input Current

To select a circuit breaker, line filter and others in the device design, it is necessary to know
the input current of the drive. This section explains how to estimate the drive input current
from the motor’s operation pattern.
Use the drive current thus calculated only as a reference value. Be sure to verify the actual
drive current with the actual drive.
5.11.1 How to Obtain Input Current
The rated current of a circuit breaker and line filter should be chosen to match the actual
current value. If the motor is operated in a cycle of "acceleration - constant velocity -
deceleration - stop," the drive input current changes as shown in the graph below in each
interval. For this reason, it is necessary to obtain the effective current value for one cycle from
one acceleration to the next acceleration.
In the case of a circuit breaker and fuse, it is necessary to check the maximum input current
Ip, and that the time is within the operation characteristic curve.
When the motor is accelerating, the input current increases proportionally to the increase of
velocity. When the motor is at constant velocity, the constant input current is conducted
according to drive loss, bearing friction torque and external load torque. When the motor is
decelerating, no input current is conducted because regeneration energy is returned.
Constant velocity
N (maximum velocity)
Acceleration Deceleration Acceleration
Velocity waveform
Stop
Ip
Input current
I1
I2
t1 t2
Cycle time tcy
The drive loss under acceleration and at constant velocity can be obtained from the graph
below, which shows drive loss as a function of motor torque. Normally, 70% to 80% of the
maximum torque is used for torque during acceleration and deceleration. The torque at
constant velocity is the value obtained by adding motor bearing friction torque and load torque.
Here, the drive loss is calculated by setting the bearing friction torque to 10% of the maximum
torque.
Drive current “D: 20A”
160
140
Drive current “C: 15A”
120
Drive loss (W)
100
80
60 Drive current “B: 6A”
40 Drive current “A: 5A”
20
0 20 40 60 80 100
Motor torque (%)

5-30
Obtain the maximum current lp at acceleration from the motor torque and maximum velocity.
The motor efficiency varies with the velocity and torque. Here it is estimated at 60%. Note that
80% of the maximum torque is used for the motor torque.
2πN × T × 0.8 D L1
Ip = +
η m × Pf × E in Pf × E in
Obtain the effective current at acceleration I1 (rms):

Ip N: Maximum motor velocity (rps)
I1( rms ) = T: Motor torque (N-m)
3 DL1: Drive loss at acceleration (W)
DL2: Drive loss at a constant velocity (W)
Obtain the current I2 at a constant velocity:
ηm: Motor efficiency 60%
2πN × (TLB + TLL ) DL 2 Pf: Power factor 0.5
I2 = + Ein: Power supply input voltage (V)
η m × Pf × E in Pf × E in TLB: Bearing torque Torque/10 (N-m)
TLL: Load torque (N-m)
Obtain the effective input current Iin (rms):
2 2
I1( rms ) × t 1 + I 2 × t 2
I in ( rms ) =
t cy
Example of Calculation
The rated currents of a circuit breaker and filter are calculated under the following operating
conditions:
Obtain the maximum current lp:
2π × 1.0 × 100 × 0.8 135

Ip = + = 8.46 A Motor operation condition
0.6 × 0.5 × 230 0.5 × 230
Drive current: 20 A
Obtain the effective current at acceleration l1 (rms) : Motor torque: 100 N-m
Maximum velocity: 1.0 rps
Acceleration/deceleration time: 50 ms
8.46 Constant velocity time: 100 ms
I1( rms ) = = 4.88 A
3 Stop time: 100 ms
Cycle time: 300 ms
Power supply input voltage: 230 V
Obtain the current at a constant velocity l2: Load friction: 0 N-m
2π ×1.0 × (10 + 0) 30
I2 = + = 1.17 A
0.6 × 0.5 × 230 0.5 × 230
Obtain the effective input current lin (rms) :
8.46 2 × 0.05 + 1.17 2 × 0.1

I in ( rms ) = = 3.52 A
0.3
Thus, the rated current is "4A."
Be sure to verify that the value of lp is within the operation characteristic curve for the selected
circuit breaker and fuse.

5-31
5.11.2 How to Obtain Input Current When Operating Multiple Drives
If multiple drives are to share one circuit breaker and line filter, obtain the effective input
current for each drive from the motor operation pattern and add all the values to obtain the
required rated current.
Motor 1 Operation pattern
Constant velocity
N1 (maximum velocity)
Velocity waveform
Stop
I1 p
I 11
Input current I 12
t11 t12
Cycle time t1cy
Motor 2 Operation pattern N2 Constant velocity

(maximum velocity)
Velocity waveform
Stop
I2p
I 21
Input current I 22
t21 t22
Cycle time t 2 cy
I p(max)
Motor 1 + motor 2
Combined input
current
Obtain the effective input current l1in (rms), l2in (rms) and so on of each drive from the motor
operation pattern using the procedure in Section 5.12.1, "How to Obtain Input Current."
Obtain the total current of each drive input current, lin (rms), and then select a circuit breaker
and line filter that satisfy this value.
Iin(rms) = I1in(rms) + I2in(rms) + …
Be sure to verify that the value of the maximum current of the combined drive input current lp
(max) is within the operation characteristics curve for the selected circuit breaker and fuse.

5-32
5.12 Drive Inrush Current

Drive inrush current is an important factor in selecting a circuit protector and fuse in the
device design. This section illustrates some typical inrush current waveforms of the drive.
Please use them as references when selecting a circuit breaker and fuse.
5.12.1 Inrush Current Waveforms (representative examples)
The following graphs show the inrush current waveforms of the control power supply and
main power supply during a cold start at room temperature (25°C). The waveforms vary with
the power supply line impedance, input voltage and ambient temperature.
When multiple drives are connected, the inrush current is not necessarily simply n times the
waveforms below, due to existing power supply line impedance. Be sure to verify using the
actual drives.
500 W class, 115 VAC input 500 W class, 230 VAC input
11.6Ao-p 5A/div 24.4Ao-p 10A/div
2k W class, 115 VAC input 2k W class, 230 VAC input
17.8Ao-p 10A/div 41.6Ao-p 20A/div
Example of operation
5.12.2 Selecting Circuit Breaker characteristics curve
Select a circuit breaker where the drive's inrush current

peak value is within the curve of operation
Minutes
characteristics. A correction coefficient is applied to the
characteristics curve according to the ambient
temperature and posture. Please refer to the
manufacturer's catalog. Maximum
value
In the case of a 500 W class drive with input voltage of
230 V, the input current is 24.4 A. Since the horizontal Minimum
axis of the characteristic curve (scale factor relative to Seconds
value
the rated current) gives a value of approximately five

times, the rated current is: Maximum total
interrupt time
24.4
Rated current = = 4.88 A
5
Thus, a breaker of 5 A or more should be selected. Current (multiples of rated current)

5-33
5.12.3 Selecting Fuse
Verify that the inrush current is within the range Example of meltdown characteristics curve
of the meltdown characteristics curve. Note,
however, that this characteristics curve is
created based on average data values.
Therefore, a certain margin must be taken into
account.
Moreover, since a fuse melts down due to joule
Meltdown time (seconds)

heat, the nominal rated value of l2t is specified
in the catalog. Check that the value of l2t due to
inrush current is less than the rated value. Since
the nominal rated value of l2t decreases in the
case of repetitive inrush current, if the number of
inrushes is 10,000 times, a margin factor of three
to four is required. Please confirm with the
manufacturer regarding the reduction in the
nominal rated value of l2t in the case of repetitive
inrush current.
The value for l2t is as follows in the case of
Section 5.12.1, "Inrush Current Waveforms."
Calculate l2t until the peak current of lp becomes Current (A)
the rated current of the fuse or less, and then
add all the values.
In the case of 500 W input and 115 VAC

2 2 2
IP1 × t 2 I P 2 × t 2 I P 3 × t 3
I 2 t (115 ) = + +
3 2 2
11.6 2 × 5 ×10 −3 7 2 × 8 ×10 −3 52 × 8 ×10 −3
= + + = 0.52
3 2 2
In the case of 500 W input and 230 VAC
I ×t I × t 2 I P 3 × t3
2 2 2
I 2t( 230 ) = P1 2 + P 2 +
3 2 2
24.4 2 × 5 ×10 −3 9 2 × 8 ×10 −3 52 × 5 ×10 −3
= + + = 1.38
3 2 2
In the case of 2k W input and 115 VAC
I ×t I × t 2 I P 3 × t3
2 2 2
I 2t(115) = P1 2 + P 2 +
3 2 2
−3
17.8 × 5 ×10
2
10.5 × 8 ×10 −3 9 2 × 7 ×10 −3
2
= + + = 1.25
3 2 2
In the case of 2k W input and 230 VAC
I P1 × t 2 I P 2 × t 2 I P 3 × t3
2 2 2
I 2t( 230 ) = + +
3 2 2
41.6 2 × 5 ×10 −3 212 × 8 ×10 −3 17 2 × 7 × 10 −3
= + + = 5.66
3 2 2

Blank Page
6-1
6. Operation
6.1 Common Basic Functions
6.1.1 I/O Signals
(1) Configuration of I/O Contact Signals
In the case of Contact I/O Interface
The contact I/O signals on CN4 are called physical (hard) I/O, consisting of 12 inputs and 6
outputs. When shipped from the factory, hard I/O is assigned as shown in " Hard I/O
Assignment, Default Settings" in 6.1.1 (4), "Physical (Hard) I/O Assignment, Logic Setting
Method."
Hard I/O can be assigned from any virtual logic contact signal, called logic I/O (48 contact
inputs and 32 contact outputs) (using the hard I/O assignment function).
Logic I/O contact inputs, 48 points

"Negative logic"
COMP
I/O input signals,

12 points "Positive logic"
nternal drive controller

(Setting at shipment)
Photo-coupler
Hard I/O l
ogical setting
Controller Hard I/O
interface inputs, assignment
Logic I/O
12 points (12 points can
be selected)
I/O display and
oscilloscope display Oscilloscope
of the input/output display of the
signal status signal status Logic I/O contact outputs, 32 points
COMP
"Negative logic"
I/O output signals,

6 points
"Positive logic"
Photo-coupler
COMN Hard I/O
logical setting
Controller interface Hard I/O
outputs, 6 points assignment
(6 points can be
selected)
Internal CPU processing
DrvPIII
Configuration of I/O Signals

Number of input Number of output
points/number of blocks points/number of blocks
Phisical (Hard) I/O 12 points/2 blocks 6 points/1 block
Logic (Soft) I/O 48 points/6 blocks 32 points/4 blocks

6-2
In the case of CC-Link Interface
Remote I/O at the CC-Link master station is called hard I/O on the drive. The number of
contact I/O varies with the number of stations occupied (see the table below).
When shipped from the factory, hard I/O is assigned as shown in " Hard I/O Assignment,
Default Settings" in 6.1.1 (4), "Physical (Hard) I/O Assignment, Logic Setting Method."
Hard I/O can be assigned from any virtual logic contact signal, called logic I/O (48 contact
inputs and 32 contact outputs) (using the hard I/O assignment function).
Logic I/O contact inputs, 48 points

"Negative logic"
Remote output
RY (n+*).*
"Positive logic"
Hard I/O
ogical setting
CC-Link
Hard I/O
interface chip
assignment
Internal drive controller

(16 or 48 points
I/O display and can be selected)
oscilloscope display Oscilloscope
of the input/output display of the
Logic I/O
signal status signal status
Logic I/O contact outputs, 32 points

"Negative logic"
Remote input
RX (n+*).*
"Positive logic"
Hard I/O
logical setting
Hard I/O
assignment
(16 or 48 points
can be
DrvPIII
Configuration of I/O Signals

Number of input Number of output
points/number of blocks points/number of blocks
With 1 occupied station 16 points/2 blocks 16 points/2 blocks
Physical (Hard) I/O
With 2 occupied stations 48 points/6 blocks 48 points/6 blocks
Logic I/O 48 points/6 blocks 32 points/4 blocks

6-3
Relationship between remote outputs and hard I/O inputs
[Remote outputs] [Hard I/O inputs]

With 1 occupied With 2 occupied
station stations Block No.
!Relationship between remote inputs and hard I/O outputs
[Remote inputs] [Hard I/O outputs]

With 1 occupied With 2 occupied
station stations Block No.

6-4
(2) Types of I/O Signals
Physical (Hard) I/O
Physical (Hard) I/O refers to contact signals on the controller interface (CN4). The number of
hard I/O points and number of blocks vary with the type of the interface used. Each block
consists of 8 bits (8 different signal types).
 Hard I/O Assignment Function

I/O contact signals can freely be assigned from a group of signals called logic I/O signals.
Perform the optimal assignment according to the application to avoid unnecessary signal
wiring. See Section 6.1.1 (4), "Physical (Hard) I/O Assignment, Logic Setting Method" for how
to set hard I/O and settings at shipment from the factory.
<Usage example>
It is desired to use the logic I/O signal OUT_JOG_EXE (in jog operation), which is not
assigned in the factory presetting, in the contact I/O interface. Therefore, the OUT_AREA 0
(area signal 0) signal, which will not be used, is removed from the assignment, and
OUT_JOG_EXE (in jog operation) will be assigned instead.
 Hard I/O Logical Setting

It is possible to set the logic for each bit of I/O signals.
See Section 6.1.1 (4), "Physical (Hard) I/O Assignment, Logic Setting Method" for how to set
the logic.
The logic of all input contacts of the controller interface is set to positive logic at the time of
shipment from the factory.
When it is set to positive logic, a signal turns ON in the state where “current is conducted into
the photo-coupler” in the contact I/O interface.
The I/O output logic is set so that the transistor is turned ON when a signal turns ON.
<Usage example>
When it is desired to turn ON an immediate stop with the IN_EMG (immediate stop) signal
while a current is flowing into a photo-coupler in the contact I/O interface
 Set the hard I/O logical setting to "positive logic."
When it is desired to turn the immediate stop ON while current is not conducted into the
photo-coupler
 Set the hard I/O logical setting to "negative logic."

6-5
Logic I/O
Logic I/O signals are host signals of hard I/O and comprised of 8 input blocks and 8 output
blocks. Each block consists of 8 bits (8 different signal types). See Section 6.1.1 (3), "Types of
Logic I/O" for the signal names and definition of each bit.
 Logic I/O Initial Value Setting

It is possible to fix the input status of signals that are not assigned to hard I/O inputs by setting
their status to the initial value. This way, it is possible to reduce the number of points in the
limited number of hard I/O points. See Section 6.1.1 (5), "How to Change Logic (Soft) I/O
Initial Value Setting" for how to make this setting.
<Usage example>
It is desired to assign a new hard I/O input signal, but all the hard I/O points are used by
assigned signals and there is no empty point.
The IN_SERVO (servo on) signal is always set to ON unconditionally after turning the power
ON. Therefore, IN_SERVO is set to ON with the logic I/O initial value setting and not assigned
to hard I/O.
I/O Signal Monitor Function
The "I/O display" and "oscilloscope" functions can be used to check signal status of I/O
inputs/outputs.
 I/O Display
This function is used to display the status of hard I/O signals.
 Oscilloscope
The oscilloscope function installed in the utility software can be used to display waveforms of
the #parameters/ #monitor values. The status of the hard I/O and logic I/O signals, velocity
waveforms, position deviation waveforms, etc. can also be captured at the same time. See
Section 8.5.1, "Oscilloscope" for how to use the oscilloscope. This function displays the
input/output status of the hard I/O signals with monitor numbers #310 to #313 and the
input/output status of the logic I/O signals with #314 to #317.

6-6
(3) Types of Logic I/O
The table below lists the types and functions of the logic I/O signals. Whether or not they
function depends on the control mode and operation privilege. Also, there are high speed
processing (H) performed in a cycle of 1 ms and low speed processing (L) performed in a
cycle of 10 ms as the cycle (I/O processing cycle) to refresh each piece of I/O information.
List of Logic I/O Contact Input Signals (Block 0 ~ Block 1)
: Frequently used signals

Δ: Signals assigned as necessary
No mark: Not applicable
Logic I/O
Table data operation
I/O processing cycle

Contact input
Jog move
Abbreviated signal
Signal name Description
name
Block bit
Drive start
0 IN_START  Table data operation is started when this signal is turned ON. H
command
Drive end When this signal is turned ON, the current table operation is
1 IN_STOP Δ L
command completed. The next table operation is not performed.
When this signal is turned ON, the execution of the current
table data is immediately interrupted. If axis operation is being
Drive end
2 IN_ABORT Δ performed, the motor is decelerated and stopped. This signal L
command
is normally used for the following purposes. [1] To stop test
Block 0 operation [2] To stop execution of a table data operation
3 (reserve) (Reserved)
4 IN_JOG_UP Jog + command * 
Jog operation is performed while these signals are turned ON. L
5 IN_JOG_DN Jog - command * 
Assign this signal when the M function is used.
6 IN_M_ANS M answer Δ L
This signal turns ON when an M answer is sent.
0 IN_I_CODE.0 Code input 0 
1 IN_I_CODE.1 Code input 1  These signals are used in table data operation.
2 IN_I_CODE.2 Code input 2  Specify the table number to be executed in the binary format.
Depending on the table number to be executed, it is possible H
3 IN_I_CODE.3 Code input 3  to reduce the number of hard I/O points used by setting
Block 1
4 IN_I_CODE.4 Code input 4  appropriate logic I/O input initial values.
5 IN_I_CODE.5 Code input 5 
* To execute jog operation from the serial communication side, select "serial communication side" in the "selection of jog feed
operation serial communication side" setting of parameter #110 [System setup register 1].

6-7
List of Logic I/O Contact Input Signals (Block 2)

Logic I/O

Contact input
Jog move
Abbreviated signal
name
Block bit
Use this signal if there are large fluctuations in the load or it is

desired to use different servo gains for different cases.
When this signal is turned ON, the position control band,
position control integration time and position integral limiter
#parameters are switched to their alternative values.
IN_POSFREQ_SEL input status

Position control OFF ON
0 IN_POSFREQ_SEL Δ Δ H
bandwidth select Position control #8 [position control #9 [position control
bandwidth bandwidth #1] bandwidth #2]
frequency
Position control #10 [Integral time for #11 [Integral time for
integration time position control #1] position control #2]
Position integral #12 [Position integral #13 [position integral
limiter limiting value #1] limiting value #2]
Pos. control
Integral action for position control is not performed while this
1 IN_POSINT_INH integration Δ Δ H
signal is turned ON.
prohibited
Reset position The integrator information is reset in position control when this
2 IN_POSINT_RST Δ Δ H
control integrator signal is turned ON.
Block 2 Use this signal if there are large fluctuations in the load or it is
desired to use different servo gains for different cases.
When this signal is turned ON, the velocity control band,
velocity control integration time and velocity integral limiter
#parameters are switched to their alternative values.
Velocity control IN_VELFREQ_SEL input status

4 IN_VELFREQ_SEL Δ Δ OFF ON H
bandwidth select
Velocity control #2 [Velocity control #3 [Velocity control
band frequency bandwidth 1] bandwidth 2]
Velocity control #4 [Integral time for #5 [Integral time for
integration time velocity control #1] velocity control #2]
Velocity integral #6 [Velocity integral #7 [Velocity integral
limiting limiting value #1] limiting value #2]
Integral action for velocity control is not performed while this

Prohibit velocity
signal is turned ON. It functions only when the "velocity control
5 IN_VELINT_INH control integral Δ Δ H
method setting" is set to "proportional integral control" in
action
system setup register 1.
The velocity integrator information is reset in velocity control
Reset velocity while this signal is turned ON. It functions only when the
6 IN_VELINT_RST Δ Δ H
control integrator "velocity control method setting" is set to "proportional integral
control" in system setup register 1.

6-8
List of Logic I/O Contact Input Signals (Block 3)

Logic I/O

Contact input
Jog move
Abbreviated signal
name
Block bit
See Section “6.1.5 Process Settings in Error State" for

0 IN_EMG Immediate stop Δ Δ explanation about error processing when the immediate stop is H
performed.
1 IN_SERVO Servo command   The servo is turned ON when this signal is turned ON. H
While this signal is turned ON, the velocity override value is set
to zero. (When this signal is turned ON, positioning operation
Interlock
2 IN_INTERLOCK Δ Δ is interrupted and the motor is decelerated and stopped. H
command
Movement toward the target position is resumed when it is
turned OFF again.)
Block 3 This signal switches velocity override values.
ON: The scale factor of #45 is selected.
Velocity override
3 IN_OVERRIDE_SEL Δ Δ OFF: The scale factor of #44 is selected. H
selection
Set this signal to off and set parameter #44 to 10000 (default
setting ) if the velocity override function is not used.
All errors that have occurred at the time of the rising edge of
4 IN_ERR_RESET Error reset Δ Δ L
this signal are reset, if they can be reset.

6-9
List of Logic I/O Contact Input Signals (Block 4 ~ Block 5)

Logic I/O

Contact input
Jog move
Abbreviated signal
name
Block bit
This signal selects the coin width. The table below lists valid
#parameters corresponding to the setting status of IN_POSW.
When performing table data operation, the settling width set in
Coin width
0 IN_POSW.0 Δ the table data becomes valid and the input status from this
selection 0
signal is not reflected.
Selected #parameter IN_POSW. 

No. Name 2 1 0
#90 Coin width #0 OFF OFF OFF
Coin width L
1 IN_POSW.1 Δ #91 Coin width #1 OFF OFF ON
selection 1
#92 Coin width #2 OFF ON OFF
Block 4 #93 Coin width #3 OFF ON ON
#94 Coin width #4 ON OFF OFF
#95 Coin width #5 ON OFF ON
Coin width
2 IN_POSW.2 selection 2 Δ #96 Coin width #6 ON ON OFF
#97 Coin width #7 ON ON ON
#parameter write This signal is used for the #parameter write function in the
0 IN_PRM_WR_REQ L
request input CC-Link interface.
#parameter/#monit
This signal is used for the #parameter/#monitor read function
1 IN_PRM_RD_REQ or read request L
in the CC-Link interface.
input
#parameter/#monit
or display A This signal is used for the #parameter/#monitor display A
2 IN_MON_A_CHNG_REQ L
change request function in the CC-Link interface when 2 stations are occupied.
input
Block 5 #parameter/#monit
or display B This signal is used for the #parameter/#monitor display B
3 IN_MON_B_CHNG_REQ L
change request function in the CC-Link interface when 2 stations are occupied.
input

6-10
List of Logic I/O Contact Output Signals (Block 0 ~ Block 1)

Logic I/O

Contact input
Jog move
Abbreviated signal
name
Block bit
This signal turns ON if no error occurs after turning the power

0 OUT_DRDY Drive (CPU) ready   ON. It is used in the sequence when the power is turned ON. H
(see Section 6.1.7 Signal Timing when Turning the Power ON)
1 OUT_SRDY Servo ready   This signal turns ON when the servo is turned ON. H
2 OUT_ERR Error   This signal turns ON if an error occurs. H
3 OUT_AXIS_EXE Axis operating Δ Δ This signal turns ON when the motor is being operated. H
Block 0 4 OUT_OVER Over speed Δ Δ This signal turns ON if an over speed error occurs. H
This signal turns ON if an overload error occurs. The hard I/O
logical setting of this signal is set to "negative logic" at
5 OUT_OVL Overload signal Δ Δ H
shipment from the factory. In this status, the output transistor is
turned OFF if an overload error occurs.
This signal turns ON during table operation or while executing
6 OUT_BUSY Busy Δ Δ H
jog movement.
7 OUT_JOG_EXE Executing jog Δ This signal turns ON while executing jog movement. H
0 OUT_O_CODE.0 Code output 0 Δ Δ
These signals output M codes in the binary format.
Block 1 L
4 OUT_O_CODE.4 Code output 4 Δ Δ OUT_M_EN is turned ON while an M code is being output.

6-11
List of Logic I/O Contact Output Signals (Block 2 ~ Block 3)

Logic I/O

Contact input
Jog move
Abbreviated signal
name
Block bit
0 OUT_MODE_EXE Operating  This signal is turned ON while executing table operation. H

Assign this signal when the M function is used. It turns ON
1 OUT_M_EN Outputting M code Δ Δ L
while an M code is output using OUT_0_CODE.
This signal is turned ON until the power is shut down if homing
is completed after turning the power ON.
3 OUT_ORG_FINISH Homing completed Δ L
(This signal turns OFF once until homing is completed if
homing is performed again.)
Position settling This signal turns ON when the position deviation is within the
4 OUT_COIN Δ H
signal range specified by the coin width.
Block 2 This signal turns OFF when a position command is sent to the
motor. The positioning signal turns ON when the position
settling signal turns ON after the position command is
completed if position settling wait is set to valid during table
5 OUT_POS Positioning signal Δ Δ H
data operation.
The signal turns ON after 10ms upon the internal command
buffer becomes empty for external pulse command “Coin
wait ”is always invalid for the external pulse command.
This signal is used in the area signal function. It turns ON when
6 OUT_AREA.0 Area signal 0 Δ Δ H
area signal 0 is turned ON.
This signal is used in the area signal function. It turns ON when
7 OUT_AREA.1 Area signal 1 Δ Δ H
area signal 1 is turned ON.
#parameter writing This signal is used for the #parameter write function in the
0 OUT_PRM_WR_END L
completed CC-Link interface.
#parameter/
1 OUT_PRM_RD_END #monitor reading L
completed
#parameter/ This signal is used for the #parameter/#monitor display A
2 OUT_MON_A_CHNG_END #monitor display A function in the CC-Link interface when using 2 occupied L
change completed stations.
#parameter/ This signal is used for the #parameter/#monitor display B
3 OUT_MON_B_CHNG_END #monitor display B function in the CC-Link interface when using 2 occupied L
change completed stations.
Block 3
#parameter writing This signal is used for the #parameter write function in the
4 OUT_PRM_WR_OK L
normal CC-Link interface.
#parameter/
5 OUT_PRM_RD_OK #monitor reading L
normal
#parameter/ This signal is used for the #parameter/#monitor display A
6 OUT_MON_A_CHNG_OK #monitor display A function in the CC-Link interface when using 2 occupied L
change normal stations.
#parameter/ This signal is used for the #parameter/#monitor display B
7 OUT_MON_B_CHNG_OK #monitor display B function in the CC-Link interface when using 2 occupied L
change normal stations.

6-12
[For PROFIBUS-DP]
When the CN4 controller interface is PROFIBUS-DP, the following logic I/O functions can be
used.
I/O Input Signals (Additional)

Drive input

Abbreviated signal
Block bit name
Drive is rebooted by software at on-edge.

Block 0 7 IN_REBOOT Drive reboot command Internal processing equivalent to recycling main power is L
performed.
5 IN_ERRCODE_REQ ErrorCode request To command to retrieve error code. L
Use at writing sequence of table data.

Block 3 6 IN_TBL_WR_REQ Table data writing request H
Writing of table data is commanded.
Use at reading sequence of table data.

7 IN_TBL_RD_REQ Table data reading request H
Reading of table data is commanded.
Use at reading/writing sequence of #parameters.

Block 4 3 IN_FRAM_SEL FRAM select H
Select the object if it is internal RAM or EEPROM.

0 IN_PRM_WR_REQ Parameter writing request H
Command writing #parameters.
Block 5
1 IN_PRM_RD_REQ Parameter reading request H
Command reading #parameters.
Use at user data reading/writing sequence.

Block 15-6 Data transfer area H
Refer to the sequence charts for the detail.
I/O Output Signals (Additional)

Drive input

Abbreviated signal
Block bit name
It turns on while ErrorCode is at put using

Block 2 2 OUT_ERRCODE_OUT Outputting Error Code L
OUT_O_CODE.

0 OUT_WR_END User data writing completed H
Notify the writing completed.

1 OUT_RD_END User data reading completed H
Notify the reading completed.
Block 4
2 OUT_WR_OK User data writing successful H
Output 1 if writing is completed successfully.
User data reading Use at user data reading/writing sequence.

3 OUT_RD_OK H
successful Output 1 if reading is completed successfully.

Block 15-6 Data transfer area H
Refer to the sequence charts for the detail.

6-13
(4) Physical (Hard) I/O Assignment, Logic Setting Method
Follow the procedure below to change the hard I/O assignment. Note that it is not allowed to
assign the same logic I/O signal to several hard I/O signals. See the next page for the pin
numbers of the controller interface corresponding to each block and bit.
STEP 1 Select [I/O] in Data Management of the utility software to display the I/O Setting
window.
STEP 2 Select [Physical I/O] in Type.
STEP 3 Select [IN] to change I/O inputs in I/O, and select [OUT] to change I/O outputs.
STEP 4 Change an assigned signal in the Assigned Logic I/O Name field corresponding to
the block/bit to be changed.
STEP 5 Change the logic setting as necessary.
STEP 6 Click the [Regist] button to register the settings in the drive.
Note that registration must be performed for each block.
3 To assign I/O inputs: Select IN
2 Select [Physical I/O]. To assign I/O outputs: Select OUT
6 Register the settings in

the drive.
5 Set the logic.

Checked: Positive logic
Unchecked: Negative logic
* Only the OVL signal is set to
negative logic at shipment
from the factory.
4 Change an assigned
signal under the Assigned
Logic I/O Name field.
TIP
The setting logic and signal status in the contact I/O interface have the following relationship.
<I/O inputs>
Positive logic: The current is conducted into the input photo-coupler when the conditions for
the signal are to be satisfied.
(Example) IN_SERVO: The current is conducted into the photo-coupler to turn the servo ON.
<I/O outputs>
Positive logic: The output transistor switches ON when the conditions for the signal are
satisfied.
(Example) OUT_DRDY: The output transistor switches ON when the drive is ready.

6-14
Physical (Hard) I/O Logical Settings (Factory default settings)
All settings are positive logic.

When the CN4 controller interface is PROFIBUS-DP, all settings are fixed to be positive logic.
Physical (Hard) I/O Assignment (Factory default settings)
[Contact I/O XA Input contact: 12 points, output contact: 6 points]

Block 7 6 5 4 3 2 1 0
Hard I/O input = contact input IN_ IN_ IN_ IN_ IN_ IN_ IN_ IN_
0
JOG_DN JOG_UP ERR_RESET ABORT STOP START SERVO EMG
IN_ IN_ IN_ IN_
1 - - - -
I_CODE.3 I_CODE.2 I_CODE.1 I_CODE.0
Hard I/O output = contact output
OUT_ OUT_ OUT_ OUT_ OUT_ OUT_
0 - -
AREA.1 AREA.0 POS MODE_EXE ERR SPDY
[CC-Link C1 1 or 2 stations occupied Input contact: 48 points, output contact: 48 points]
Hard I/O input = Remote output
With 1 With 2
occupied occupied Block 7 6 5 4 3 2 1 0
station stations
IN_ IN_ IN_ IN_ IN_ IN_ IN_ IN_
RY(n+0) 7..0 RY(n+0) 7..0 0
JOG_DN JOG_UP ERR_RESET ABORT STOP START SERVO EMG
IN_ IN_ IN_ IN_ IN_ IN_ IN_ IN_
RY(n+0) F..8 RY(n+0) F..8 1
OVERRIDE_SEL M_ANS I_CODE.5 I_CODE.4 I_CODE.3 I_CODE.2 I_CODE.1 I_CODE.0
IN_
- RY(n+1) 7..0 2 - - - - - - -
INTERLOCK
IN_ IN_ IN_ IN_ IN_ IN_
- RY(n+1) F..8 3 - -
VELNT_RST VELNT_INH VELFREQ_SEL POSINT_RST POSINT_INH POSFREQ_SEL
IN_ IN_
- RY(n+2) 7..0 4 - - - - - -
CHNG_REQ PRM_WR_REQ
- RY(n+2) F..8 5 - - - - - - - -
RY(n+1) 7..0 RY(n+3) 7..0 - - - - - - - - -
RY(n+1) F..8 RY(n+3) F..8 - - - - - - *1 *1 *1

*1: The initial data processing complete flag, initial data setup request flag and error reset request flag defined in
the CC-Link system specifications are not supported.
Hard I/O output = Remote input
With 1 With 2
occupied occupied Block 7 6 5 4 3 2 1 0
station stations
OUT_ OUT_ OUT_ OUT_ OUT_ OUT_ OUT_ OUT_
RX(n+0) 7..0 RX(n+0) 7..0 0
M_EN DRDY AREA.1 AREA.0 POS MODE_EXE ERR SRDY
OUT_ OUT_ OUT_ OUT_ OUT_ OUT_ OUT_ OUT_
RX(n+0) F..8 RX(n+0) F..8 1
O_CODE.7 O_CODE.6 O_CODE.5 O_CODE.4 O_CODE.3 O_CODE.2 O_CODE.1 O_CODE.0
OUT_ OUT_ OUT_ OUT_
- RX(n+1) 7..0 2 - - - -
ORG_FINISH JOG_EXE AXIS_EXE COIN
OUT_MON_ OUT_MON_ OUT_MON_ OUT_MON_ OUT_ OUT_ OUT_ OUT_
- RX(n+1) F..8 3
B_CHNG_OK B_CHNG_END A_CHNG_OK A_CHNG_END PRM_RD_OK PRM_RD_END PRM_WR_OK PRM_WR_END
- RX(n+2) 7..0 4 -
- RX(n+2) F..8 5 - - - - - - - -
RX(n+1) 7..0 RX(n+3) 7..0 - - - - - - - - -

OUT_REMOTE_
RX(n+1) F..8 RX(n+3) F..8 - - - - - *2 *2 *2
READY-
*2: The initial data processing complete flag, initial data setup request flag and error reset request flag defined in
the CC-Link system specifications are not supported.

6-15
[PROFIBUS-DP Input contact: 128 points, output contact: 128 points]
When the CN4 controller interface is PROFIBUS-DP, 128 inputs and 128 outs are located as
indicated below.
All logic I/O are assigned to hard I/O.
DI
Block 7 6 5 4 3 2 1 0
0 IN_REBOOT IN_M_ANS IN_JOG_DN IN_JOG_UP - IN_ABORT IN_STOP IN_START
1 - - IN_CODE.5 IN_CODE.4 IN_CODE.3 IN_CODE.2 IN_CODE.1 IN_CODE.0

IN_VELINT IN_VELINT IN_VELFRQ IN_POSINT IN_POSINT IN_POSFREQ
2 - -
_RST _INH _SEL _RST _INH _SEL
IN_TBL_RD IN_TBL_WR IN_ERRCODE IN_ERR IN_OVERRIDE IN_INTER
3 IN_SERVO IN_EMG
_REQ _REQ _REQ _RESET _SEL LOCK
IN_EEPROM
4 - - - - IN_POSW.2 IN_POSW.1 IN_POSW.0
_SEL
IN_PRM_RD IN_PRM_WR
5 - - - - - -
_REQ _REQ
6 IN_NUMBER_H
7 IN_NUMBER_L
8 IN_VALUE.0_H
9 IN_VALUE.0_L
10 IN_VALUE.1_H
11 IN_VALUE.1_L
12 IN_VALUE.2_HH
13 IN_VALUE.2_HL
14 IN_VALUE.2_LH
15 IN_VALUE.2_LL
DO
Block 7 6 5 4 3 2 1 0
OUT_JOG OUT_AXIS
0 OUT_BUSY OUT_OVL OUT_OVER OUT_ERR OUT_SRDY OUT_DRDY
_EXE _EXE
1 OUT_CODE.7 OUT_CODE.6 OUT_CODE.5 OUT_CODE.4 OUT_CODE.3 OUT_CODE.2 OUT_CODE.1 OUT_CODE.0
OUT_ORG OUT_ERRCODE OUT_MODE
2 OUT_AREA.1 OUT_AREA.0 OUT_POS OUT_COIN _OUT
OUT_M_EN
_FINISH _EXE
3 - - - - - - - -
OUT_WR
4 - - - - OUT_RD_OK OUT_WR_OK OUT_RD_END
_END
5 - - - - - - - -
6 -
7 -
8 OUT_VALUE.0_H
9 OUT_VALUE.0_L
10 OUT_VALUE.1_H
11 OUT_VALUE.1_L
12 OUT_VALUE.2_HH
13 OUT_VALUE.2_HL
14 OUT_VALUE.2_LH
15 OUT_VALUE.2_LL

6-16
(5) How to Change Logic (Soft) I/O Initial Value Setting
Set the initial values for logic I/O inputs using the utility software.
At shipment from the factory, the initial values of all logic I/O inputs are set to off. To change
the initial values of logic I/O inputs, perform the following operation.
STEP 1 Select [I/O] in Data Management of the utility software to display the I/O setting
window.
STEP 2 Select [Logic I/O initial value] in Type.
STEP 3 Select the logic I/O block to be changed from [Block].
STEP 4 Check the check box under the Initial value setting field for each item to be
changed (check the box to turn the signal ON).
STEP 5 Click the [Regist] button to register the settings in the drive.
Drive software is rebooted automatically.
2 Select [Logic I/O 3 Select a logic

Initial Value]. I/O block.
5 Register the settings

in the drive.
4 Set the initial value.

Checked: On
Unchecked: Off
* All signals are set to OFF at

shipment from the factory.

6-17
6.1.2 I/O Registers
I/O registers are provided in addition to I/O contact signals in the CC-Link interface. The I/O
registers can be used for the functions specific to the CC-Link interface. (See Section 6.10,
"Special Functions of CC-Link.")
(1) Configuration of I/O Registers
The remote registers (M →R, M ← R) of a CC-Link master station are directly connected with
soft registers (input, output) that are virtual registers on the drive. However, unlike the I/O
contact signals, their assignments cannot be changed. The number of registers varies with
the number of occupied stations. Each register is 16-bit long.
Internal drive controller

Remote register M → R Soft register inputs
RWw(n+*)
CC-Link interface chip Soft registers
Remote register M ← R
RWw(n+*) Soft register outputs
DrvPIII
Number of I/O registers

Number of input registers Number of output registers
Remote register With 1 occupied station 4 points 4 points
Soft register With 2 occupied stations 8 points 8 points
Relationship between remote registers and soft registers
[Remote register M → R] [Soft register inputs] [Remote register M ← R] [Soft register outputs]
With 1 occupied With 2 occupied Signal abbreviation With 1 occupied With 2 occupied
Block No. station stations Block No. Signal abbreviation
station stations

6-18
(2) Types of Soft Registers
Soft register input list

Soft register
Signal abbreviation Signal name Description
No.
#parameter write This signal sets the #parameter numbers to be written with
0 IN_WR_PRM_NO
#parameter number the #parameter write function.
#parameter/#monitor read This signal sets the #parameter/#monitor numbers to be

1 IN_RD_PRM_NO
#parameter/#monitor number read with the #parameter/#monitor read function.
IN_WR_PRM_DATA #parameter write This signal sets data (lower 16 bits) to be written with the
2
(Low) Write data (lower) #parameter write function.
IN_WR_PRM_DATA #parameter write This signal sets data (upper 16 bits) to be written with the
3
(High) Write data (upper) #parameter write function.
This signal sets the #parameter/#monitor number when
#parameter/#monitor display A
4 IN_MON_A_PRM_NO changing #parameter/#monitor to be read with the
#parameter/#monitor number
#parameter/#monitor display A function.
This signal sets the #parameter/#monitor number when
#parameter/#monitor display B
5 IN_MON_B_PRM_NO changing #parameter/#monitor to be read with the
#parameter/#monitor number
#parameter/#monitor display B function.
Soft register output list

Soft register
Signal abbreviation Signal name Description
No.
OUT_RD_PRM_DATA #parameter/#monitor read This signal outputs data (lower 16 bits) read with the
0
(Low) Read data (lower) #parameter/#monitor read function.
OUT_RD_PRM_DATA #parameter/#monitor read This signal outputs data (upper 16 bits) read with the
1
(High) Read data (upper) #parameter/#monitor read function.
This signal outputs the current error code with the error
2 OUT_ERR_CODE Error code code acquisition function. The main code and subcode are
output to the upper 8 bits and lower 8 bits, respectively.
OUT_MON_A_PRM_DA #parameter/#monitor display A This signal outputs data (lower 16 bits) read with the
4
TA (Low) Read data (lower) #parameter/#monitor display A function.
OUT_MON_A_PRM_DA #parameter/#monitor display A This signal outputs data (upper 16 bits) read with the
5
TA (High) Read data (upper) #parameter/#monitor display A function.
OUT_MON_B_PRM_DA #parameter/#monitor display B This signal outputs data (lower 16 bits) read with the
6
TA (Low) Read data (lower) #parameter/#monitor display B function.
OUT_MON_B_PRM_DA #parameter/#monitor display B This signal outputs data (upper 16 bits) read with the
7
TA (High) Read data (upper) #parameter/#monitor display B function.

6-19
6.1.3 #parameters/#monitors
The group of variables called #parameters/#monitors is expressed using the format #***.
#parameters/#monitors are classified as listed in the table below according to their numbers.
#parameter/
#monitor number Classification Writing/backup Description
(#***)
It is always possible to read and write these parameter

#0 ~ #99 #parameters Possible
values.
These are variables to which no definition is assigned. User
can set them freely. It is always possible to read and write
these parameter values. They are mainly used when
conditional branching is used in table data operation.
It is always possible to read and write these parameter
values.
* The settings are restricted in functions when the power is
cycled.
They are variable only for readout on order to refer the state
#300 ~ #427 #monitors Not possible
of motor and drive changing at every moment.
All #parameters/#monitors are expressed using the format #***. The values can be
referenced (read) during table data operation or using commands. Writing (changing setting)
is allowed within the allowable setting range.
Status Output of #parameters/#monitors
Value of #parameters/#monitors can be checked by[#parameter monitor] and [oscilloscope]

functions in the utility software.See Appendix, "Detailed #parameters" and "Detailed
#monitors" for the types and settings of #parameters/#monitors.
The #parameter/#monitor Display Window
Display Example of the Oscilloscope Function Window

6-20
(1) #parameters
#parameters are used in various settings, including operation patterns of the motor and error
processing, and adjustment of the control system. Change the setup values of #parameters
as required. In addition to writing and checking setup values, it is possible to upload all the
#parameters from the drive to a PC and download them from a PC to the drive.
Register Parameters
Register parameters are classified into two types: system setup registers and error setup
registers. Several setup items can be expressed in one #parameter number by encoding the
information in a 32-bit binary value.
#parameter number #parameter name

#38 Error process setup register 1
#39 Error process setup register 2
#98 System setup register 2
<Setup example> #98 [System setup register 2]
Disable M-function when an error occurs

Valid for Velocity feed back Filter
Enable first lag compensation filter
(motion control table operation)

Valid for Current Position Filter
Enable start up operation

Enable notch filter #2
Enable notch filter #1
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
Signal
name
Bit
In the case of the setting above

#98 [System setup register 2]: 00030002 (hexadecimal notation)

6-21
How to Write to #parameters
Values can be written to #parameters using one of the following three methods.
Method 1: Changing values in the #parameter window of the utility software
This method is mainly used at startup. This method is the easiest to use, as
setup windows are provided, allowing direct access to each item.
Method 2: Changing values in the terminal window of the utility software.
This method is mainly used at startup. Enter the setup values of #parameters
directly.
Method 3: Changing values by a table data operation
In this method, values of #parameters are changed by executing the table data
operation prepared by the controller instrument in advance. See Section 6.4.9,
"Parameter Change" for the detailed information.
TIP
Changing values of #parameters can refer to both "saving" and "registration." These two
concepts are different in the following way.
Saving: This means changing #parameter values in RAM. Changed data returns to
the status it had before changing once the power is turned OFF. Use this
method when you want to change #parameter values temporarily.
Registration: This means changing #parameter values in both the EEPROM and RAM.
The changed settings are maintained even if the power is turned OFF. Use
this method to commit the settings. Note that "registration" is not accepted
while the motor is operating. Perform registration while the motor is stopped
* The drive loads the #parameters from the EEPROM into RAM once at startup. Afterward,
the drive operates based on the #parameter settings in RAM.
CAUTION
When #parameters are registered, their values are written in the EEPROM. There is a limit on
the allowable number of times the EEPROM can be written to (approximately 1 million times).
If this limit was exceeded, the EEPROM may be damaged and the drive may not start up.
If you select "specify registration" for #parameters in the #parameter change function during
table operation, this limit may be exceeded depending on the pattern used.

6-22
Method 1: How to change values in the #parameter window of the utility software
Click the [#parameter] button in the utility software to open the #parameter Setting window.
Select the appropriate setting window and change the necessary #parameter values.
Make sure to click the [Regist]button after changing values.
See Section 8.6.1, "#parameters" for the detailed explanation of the setting windows.
Register #parameter Setting Window Function #parameter Setting Window

Use this window to change values of #parameters related to
Use this window to change and register #parameter values. the following functions.
• Jog
• Homing
• Test operation
• Auto-tuning
• Incremental/absolute positioning move
• Basic settings
Servo Tuning Window Signal Monitor Terminal Setting Window
Use this window to adjust the servo. Use this window to select a waveform to be output using the
analog monitor card and change the output gain.
* The analog monitor card R7041WC (optional) is required to
use the signal monitor function.

6-23
Method 2: How to change values in the terminal window
Open the Terminal window of the utility software and enter the following in the input edit box in
the #parameter window. Enter using single-byte alphanumeric characters.
To "save" a #parameter
# =  (change the value temporarily)
To "register" a #parameter
## =  (register a #parameter in the EEPROM)
To "register" several "saved values" in a batch

@16 (register all data in the RAM to the EEPROM)
Entry examples:
#1=5 (saving)
##1=5 (registration)
@16 (register all #parameters that have been changed)
TIP
How to check #parameters

To check saved values or registered values of #parameters, enter the following in the input
edit box; the relevant values are returned.
To check "parameter #1 saved value": #1
To check "parameter #1 registered value": ##1
Enter a #parameter and

press the return key.
When the #parameter data

is "saved" or "registered,"
the drive returns "R00."
Example of a return value when

an illegal value is entered
Example of checking
a #parameter

6-24
Method 3: How to change values by a table data operation

See Section 6.4.9, "Parameter Change."
How to Back up #parameters

See the item in Section 8.7.4, "Backup."

6-25
(2) #monitors
#monitors output the status of the motor and drive acquired by the drive.
They can be used to observe the conditions of the motor and drive using the
#parameter/#monitor Display, Axis Signal Monitor and Oscilloscope functions, or operate the
motor by referencing #monitor values in table data operation.
Writing to the monitors is not allowed.
Register Monitors
Register monitors can express several #monitor settings in one #monitor number by encoding
the information in a 32-bit binary value (see the table below). Moreover, it is possible to
display the status with status registers by clicking [Axis Signal Monitor] in the utility software.
#monitor number (#***) #monitor name

#300 Drive version
#301 Motor specifications
Physical (Onboard)
#310 ~ #313
input/output blocks
Logic (Virtual) input/output
#314 ~ #317
blocks
#320 ~ #322 Status register
Position control selection status (0: 1 side, 1: 2 side)
Velocity control selection status (0: 1 side, 1: 2 side)
(0: Select #44, 1: Select #45, 2: Interlock)
Position control integrator operating
Command position pulse s overflow

Velocity control integrator operating
Neg. hardware EOT limit active
Pos. hardware EOT limit active
Coin window selection status 2

AC main voltage out of range

Excessive AC mains voltage
Velocity % override select
Excessive position error
Excessive regeneration
Home sensor active
Area signal 1 status
Area signal 2 status
Over speed status

Over load status
Z-pulse status
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
(Reserve)
Signal
name
Bit
The coin window is set to 3.

6-26
6.1.4 Operation Privilege
Two types of interfaces, a controller interface and a serial interface, are provided. For the
serial interface, the utility software, an operation display panel (optional) and an operation
display pendant (optional) are available.
The items that can be operated are different for these two types of interfaces, but the main
operations are possible via both interfaces. Note, however, that if the user is operating the
system via one of the interfaces and an operation command contrary to that is given via
another interface, devices connected to the interfaces being operated can no longer manage
the correct status. In order to prevent such situations, it should be selected which interface
will have the operation privilege before the interfaces are used. The table below lists the
relationship between the items that can be operated via each interface and operation modes.
: Can be instructed
Main Operation Privilege and Functions that can be Instructed X: Operation not allowed
-: Operation not allowed regardless
of the operation mode
Main operation privilege: Serial Main operation privilege:

Command name interface side Controller interface side
Controller Controller
Serial interface Serial interface
Operated device interface interface
M function -  - 
Select an operation privilege by setting the jog feed selection, RS side
Jog move command
selection bit of parameter #110 [System setup register 1].
Abort    
Stop  x x 
Start  x x 
Reset velocity control integrator -  - 
Prohibit velocity control integral action -  - 
Velocity control bandwidth select -  - 
Reset position control integrator -  - 
Pos. control integration prohibited -  - 
Position control bandwidth select -  - 
Error code acquisition  -  -
Error reset    
Error reset with history clear  -  -
Velocity override selection -  - 
Interlock -  - 
Servo command  x x 
Immediate stop command -  - 
Coin window selection -  - 
Home offset position setting  x   *1
Coordinate system setting  x   *1
Integral limiter self-adjustment  x   *1
#parameter writing   *2   *2
#parameter/#monitor reading   *2   *2
*1: Can be instructed using table data

*2: Possible only if the CC-Link interface is used.

6-27
(1) How to Select Operation Privilege
The main operation privilege is always set to the controller interface when the power is turned
ON.
[1] There are three ways to switch the main operation privilege from the controller
interface side to the serial communication side.
Method 1: It can be switched when opening the Operation window in the utility
software.
Method 2: It can be switched by the switch button in the Operation window.
Method 3: It can be switched by issuing the command @5:0 from the terminal window.
[2] There are two ways to switch the operation privilege from the RS communication side
to the controller interface side.
Method 1: It can be switched by the switch button in the Operation window in the utility
software.
Method 2: It can be switched by issuing the command @5:1 from the terminal window.
CAUTION
When opening the Operation window from the utility software, a message box asking whether
or not to select the serial communication side appears if the main operation privilege is on the
controller side.
Note that the main operation privilege is not returned to the original setting automatically
when the Operation window is closed. Make sure to switch the privilege back to the controller
interface if it is necessary to continue operating the system via the controller interface.

6-28
6.1.5 Process Settings in Error State
The way an error is processed varies depending on the error code (see Appendix 3, "Detailed
Main Error Codes"). Moreover, for some errors, it is possible to select how the drive behaves
when an error occurs.
Specify the correct form of error process according to the specifications of the device, and set
#parameters by referring to Section 2.8, "Stop Function in Error State."
Regarding errors for which error process types can be set, see the tables in the next page,
"#parameters Related to Error Process" and "Error Process Types."
The parameters for setting error process are released under the condition that the customer
bears all responsibility in the event of unanticipated behavior.
Set error process
Enable/disable errors
Enable/disable errors
Set error range
End of setting
Enabling/disabling errors
If errors are set to invalid, an error is not generated even when the error conditions are
satisfied.
Setting of error process type

This set up behavior of drive after detecting an error.
In the velocity control mode and torque/thrust control mode, analog command inputs are
interrupted and the velocity instruction value or torque instruction value to the drive is set
to zero in case the error is set for ”enabling”, regardless of type of the setting.
The same error handling process as [immediate stop] is carried in order to shut off the input.
The servo state setting after the stop is subject to the error handling process set up.
Setting of error range

Set the velocity and position ranges in which errors are generated.

6-29
#parameters Related to Error Process

Error Error valid/ invalid Error process type
Error name Error range setting
code setting setting
Error process setup Error process setup

Over speed 24.0
register 1 register 1
22.1 Error process setup Error process setup

Overload -
22.2 register 1 register 1
Error process setup Error process setup #18 (Forward direction)

Excessive position deviation 23.0
register 1 register 1 #19 (Reverse direction)
Excessive position command Error process setup

31.0 Always valid -
difference value register 1

Coordinate system error A 16.1 -

Bus voltage drop 20.3 -

Main power supply error 21.0 -
Set to generate an error
42.0 Error process setup Error process setup
Hardware EOT at the position of the
43.0 register 2 register 2
proximity sensor.
44.0 Error process setup Error process setup #42 (Forward direction)
Software EOT
45.0 register 2 register 2 #43 (Reverse direction)
Controller interface Error process setup Error process setup

47.0 -
communication error register 2 register 2

Interface immediate stop 46.2 -
Error Process Types

Error process type Behavior
Decelerate and stop, and maintain The drive instructs the motor to decelerate and stop. The servo is kept turned
servo ON ON after stopping.
Decelerate and stop, and turn The drive instructs the motor to decelerate and stop. The servo is turned OFF
servo OFF after stopping.
Stop abruptly, and maintain servo The drive stops the motor abruptly and keeps the servo turned ON. The
ON deceleration time is determined by #80 [Deceleration time for immediate stop].
The drive stops the motor abruptly and turns the servo OFF. The deceleration
Stop abruptly, and turn servo OFF
time is determined by #80 [Deceleration time for immediate stop].
Turn servo OFF immediately The drive turns the servo OFF immediately.
! DANGER
If you select "Turn servo OFF immediately," the motor may run freely. Make sure to take steps
to secure the safety, such as using an external brake system.
! DANGER Even if the motor is set to perform servo deceleration in the case of a given error, the servo is
immediately turned off if the following errors occur before the error or during servo
deceleration. If any such error should occur, servo deceleration can no longer be used.
4.0 Watch dog error
15.* Encoder error
20.1 Overvoltage
20.2 IPM fault, current transformer detection
20.4 Low voltage (servo-off level)
20.5 A-phase, B-phase actual current monitoring
25.* Regeneration error
30.0 Servo not ready

6-30
(1) #parameter Settings
STEP 1 Select [#parameter] from the main menu of the utility software.
STEP 2 Select the Register parameter tab.
STEP 3 Select [Error setup register 1] to display the setting window.
STEP 4 Select valid or invalid for each error.
STEP 5 If you are setting an error to valid, select the error process type.
STEP 6 Perform the same settings for [Error setup register 2] as well.
STEP 7 Click the [Regist] button when the settings have been completed.
[2] Select the

Register
parameter tab.
3 Click [Error setup

register 1].
[6] Perform the same [4] Select valid or

settings for [Error setup invalid for each
register 2] as well. error.
[5] If you enable an

error, select the error
process type.

6-31
Stop Method at Error Occurrence in Each Control Mode
Table data operation Jog operation
Set by #80 [Deceleration Set by #80 [Deceleration time for
Immediate
Deceleration time
time for immediate stop]. immediate stop].
Deceleration method
stop
Deceleration profile set in Deceleration type set using #parameter
Deceleration profile
table data system setup register 3
Deceleration
Deceleration time set in Deceleration time set using #parameter

Deceleration time
and stop
Deceleration profile set in Deceleration type set using #parameter

Deceleration profile
#111 [maximum velocity limit]

Velocity
[axis command unit/sec]
Deceleration type
It is possible to choose either
constant acceleration or an
S-curved profile.
Velocity at error occurrence
Time
Actual deceleration time
Deceleration time setup value

Specified by the deceleration time relative to
#111 [maximum velocity limit].
TIP
Guidelines for setting abrupt stop deceleration time (#80)
Set the deceleration torque to 100% and calculate the shortest time that can be achieved for
decelerating to a stop.
(Use the formula below for the calculation.)
Moreover, multiply the value achieved for constant acceleration by 1.5 and enter this for the
S-curved acceleration/deceleration profile.
t: Deceleration time [sec]

JM: Rotor inertia of the motor (See Section 2.1, "Standard Specifications") [kgm^2]
JL: Load inertia [kgm^2]
v: Velocity [rps]
T: Maximum torque of the motor [Nm]

6-32
6.1.6 Methods of Issuing Servo-ON Commands
There are two ways to turn the servo ON: turning the IN_SERVO signal of the controller
interface ON and sending the servo-on command via a serial interface. See Section 6.1.7,
"Signal Timing when Turning the Power ON" for how to shift the servo status when
IN_SERVO is turned ON at the time of turning the power ON.
(1) Issuing Servo Commands via the Controller Interface
Approx. 500msec
IN_SERVO OFF ON OFF
OUT_SRDY OFF ON OFF
Note: If the servo is not adjusted, the motor maintains a very low torque even when the servo is
turned ON.
(2) Issuing Servo Commands from the Utility Software
The servo is turned ON by clicking the [Servo-ON] button in the Operation window in the utility
software. Press the [Servo-OFF] button to turn the servo OFF.

6-33
6.1.7 Signal Timing when Turning the Power ON
Make sure that the signals observe the sequence shown in the following timing diagram when
the power is turned ON.
Control power supply input

External circuit delay
Main power supply input *2

1sec or less
Main power supply status Rush interval Constant supply status

(TB4)
4sec or less
Main power supply on switch

50msec or more
(external circuit)
I/O operation start
1.2sec 0.5sec
I/O input signals are ignored during this period.
IN_
(CN4 I/O input)
OUT_DRDY*1
(CN4 drive (CPU) ready)
*1 Waveform when the logic setting is positive and no error occurs when the power is turned ON
*2 The timing diagram shows the timing for the circuit configuration shown in the figure below.
Example of power supply sequence circuit

Drive
Power Circuit Line

supply protector filter *2
Note
Note: Main power supply on switch

6-34
 Sequence at Startup Operation
To start up using table data operation, make sure the signals observe the sequence shown in
the following timing diagram when the power is turned ON.
External circuit delay

Main power supply input
1sec or less
Main power supply status Rush interval Constant supply status

(TB4)
4sec or less
50 msec or more
Main power supply on switch

(external circuit) I/O operation start
1.2sec
Normal operation starting
I/O input signals are ignored during this period. point of CN4 I/O
inputs/outputs (IN_SERVO
IN_ should be turned ON
(CN4 I/O input) before this timing.)
IN_SERVO
(CN4 servo command)
Software delay
OUT_SRDY 500ms
(CN4 servo ready)
OUT_DRDY*1
(CN4 drive (CPU) ready)
OUT_MODE_EXE
(Executing CN4 contact output)

6-35
6.1.8 Coordinate Systems
(1) Rotation Coordinate System and Linear Coordinate System
Two coordinate systems, a rotation coordinate system and a linear coordinate system, are
provided. Select the coordinate system to be used according to the system specifications.
The rotation coordinate system is selected at shipment from the factory.
When the rotation coordinate system is used, the software EOT function is set to invalid.
In the rotation coordinate system, coordinates are expressed as "(scaling data -1)" starting
from 0. When the motor has completed a full rotation and returns to the home position, the
coordinate value returns to 0. In the linear coordinate system, the coordinate values do not
return to 0 when the motor rotates more than one rotation from the home position, and the
position is integrated.
<How to switch between the rotation coordinate system and linear coordinate system>
STEP 2 Open the Register parameter tab and then the System Setup Register 1 panel.
STEP 3 Select from [Select Coordinate System] in the [System Setup Register].
Rotation Coordinate System
The coordinate range of the rotation coordinate system is as follows:
Command unit: From 0 (value of #112 - 1)

Pulse: From 0 (value of #113 - 1)
#112: Scaling data ratio denominator (on the command unit)

#113: Scaling data ratio numerator (on the pulse unit)
Linear Coordinate System
There are the following restrictions on the coordinate range of the linear coordinate system.
Command unit: #112

Limit value on the + side: The smaller value of 2147483647 x #113 and 999999998
#112
Limit value on the - side: The greater value of -2147483647 x and –999999998
#113
Pulse: #112
Limit value on the + side: The smaller value of 2147483647 #113 and 999999998
#113
Limit value on the - side: The smaller value of -2147483647 and -999999998
#112
TIP
When using the linear coordinate system, a software EOT error occurs if the command unit
instruction value exceeds the coordinate system limit range (ERR44.0: + direction software
EOT, ERR45.0: - direction software EOT).

6-36
(2) Setting the Direction of Coordinate Systems
It is possible to reverse the rotation direction of the motor.
<Setting method>
STEP 2 Open the Register parameter tab and then the System Setup Register 1 panel.
STEP 3 Set the rotation direction in Coordinate System Forward Direction Setting from the
System Setup Register 1 panel.
CW direction
CCW direction
Rotation Direction Corresponding to the Coordinate System Forward Direction Setting Status (Output Torque
Direction in the Torque/Thrust Control Mode)
Coordinate system forward direction Coordinate system forward direction

setting: Forward direction setting: Backward direction
CW direction CCW direction CW direction CCW direction
Jog move IN_JOG_UP IN_JOG_DN IN_JOG_DN IN_JOG_UP
Table data operation + direction - direction - direction + direction
Coordinate system forward direction setting is preset to "Valid" at shipment from the factory.
(3) Scaling Conversion
By using the scaling conversion function, it is possible to freely set the ratio of the amount of
motor movement relative to the instructed amount.
The unit system consists of two types of coordinate systems: command unit coordinate
system and pulse unit coordinate system.
The command unit coordinate system is used for the commands by the built-in controller, and
the pulse unit coordinate system is used for the coordinate system between the drive and the
motor.
The conversion rate of these two unit systems is set in scaling conversion.
Scaling Conversion Formula

#113 [Scaling data ratio numerator (on the pulse)
Pulse unit = #112 [Scaling data ratio denominator (on the command unit) x command unit(s)

6-37
<Example of Scaling Conversion Data Setting>
Maximum resolution
Angle command Equal division index Roll feeder
command
Tension roller
Purpose
Table , arm, etc.

Feed drum DD motor
#112 [Scaling data ratio
Peripheral length of the feed
denominator (on the 360000 Motor resolution 500000
drum [μm]
command unit)]
Motor resolution Motor resolution Motor resolution Motor resolution
numerator (on the pulse)]
1 command unit: 1 command unit: 1 pulse 100,000 command

Amount of motor movement 1 command unit: 1 μm
1/1000 degree of motor resolution unit: 72 degrees
The scaling conversion setting data is set as shown in the table below at shipment from the
factory. Adjust the settings according to the system used.
Scaling Conversion Data Values at Shipment from the Factory
#113 [Scaling data ratio #112 [Scaling data ratio
Motor model Encoder resolution denominator (on the pulse numerator (on the
unit)] command unit)]]
DM1A- 4096000 4096000
DM1B- 2621440 2621440
DM1C- 2621440 2621440
DR1A- 1638400 1638400
DR1B- 1015808 1015808
360000
DR1E- 1228800 1228800
DR5B- 557056 557056
DR5C- 425984 425984
DR5E- 638976 638976
DB5C- 425984 425984
If #112 or #113 is changed, the changed data becomes valid the next time the drive power is
cycled.

6-38
(4) Coordinate Values when Turning the Power ON
In the Case of Incremental Motors: DM/DR Series Motors
The coordinate value when turning the power ON is 0 for both command units (#376) and
pulse (#371).
In the Case of Absolute Motors: DB Series Motors
[For Rotation Coordinates]

For both command units (#376) and pulse (#371), the coordinate value when turning the
power ON is initialized to the value normalized using [Scaling data ratio denominator (on the
command unit)] (#112) and [Scaling data ratio numerator (on the pulse)] (#113) as one
rotation, based on the value detected from the absolute encoder/resolver.
[For Linear Coordinates]

For both command units (#376) and pulse (#371), the coordinate value when turning the
power ON is initialized to the value normalized to the area (C1 - C2) defined by [Absolute
linear coordinate limit #1] (#116) and [Absolute linear coordinate limit #2] (#117) using
[Scaling data ratio denominator (on the command unit)] (#112) and [Scaling data ratio
numerator (on the pulse)] (#113) as one rotation, based on the value detected from the
absolute encoder/resolver.
If the position when the power is turned ON is the C1-B area or A-C2 area, an error that
cannot be reset other than by cycling the power will occur. Cycle the power in the C1-C2 area.
One rotation of the motor
Position B is the smaller of

#116 or #117.
Position A is the larger of #116 or #117.
Position C is the intermediate position

between position A and position B.

6-39
6.1.9 Velocity Profile
The setup items of velocity profile include the acceleration time, deceleration time, feeding
velocity, acceleration type and deceleration type. Register them in #parameters or table data
according to the table below.
Moreover, by using the velocity override function, it is possible to change the velocity in real
time while moving (real-time velocity override function).
The maximum velocity of the motor can be specified by #111 [Maximum velocity limit], but the
upper velocity limit is restricted by the motor's intrinsic velocity limit value (see Section 2.1,
"Standard Specifications"). The restricted value is displayed in #305 [User defined maximum
velocity].
Maximum velocity limit (#111) Feeling velocity setting #64

Set in the Parameter by Function tab. [Feeling velocity #0] ~ #71
[Feeling Velocity #7]
Velocity
Acceleration type setting

Select either constant Deceleration type setting
acceleration or Select either constant acceleration
S-curved profile. or S-curved profile.
Time
Actual acceleration time Actual deceleration time
Acceleration time setting Deceleration time setting

#72 [Acceleration time #0] to #75 #76 [Deceleration time #0] to #79
[Acceleration time #3] [Deceleration time #3]
[Velocity Profile Setup Items]

Jog move (absolute positioning, incremental positioning
and homing)
Select either constant acceleration or S-curved Select either constant acceleration or S-curved
Deceleration type
profile in system setup register 3. profile in table data.
Select either constant acceleration or S-curved Select either constant acceleration or S-curved
Acceleration type
profile in system setup register 3. profile in table data.
It is possible to save/register up to 4 settings in It is possible to save/register up to 4 settings in
the Function parameter tab (#76 [Deceleration the Function parameter tab (#76 [Deceleration
time #0] ~ #79 [Deceleration time #3]). time #0] ~ #79 [Deceleration time #3]).
Deceleration time
Select one of the #parameters (#76 Select one of the #parameters (#76
[Deceleration time #0] ~ #79 [Deceleration [Deceleration time #0] ~ #79 [Deceleration
time# 3]) in system setup register 3. time #3]) in table data.
the Function parameter tab (#72 [Acceleration the Function parameter tab (#72 [Acceleration
time #0] ~ #75 [Acceleration time #3]). time# 0] ~ #75 [Acceleration time #3]).
Acceleration time
Select one of the #parameters (#72 Select one of the #parameters (#72
[Acceleration time #0] ~ #75 [Acceleration time [Acceleration time #0]to #75 [Acceleration time
#3]) in system setup register 3. #3]) in table data.
the Function parameter tab (#64 [Feeling the Function parameter tab (#64 [Feeling
Velocity #0] ~ #71 [Feeling Velocity # 7]). Velocity #0] ~ #71 [Feeling Velocity #7]).
Feed velocity
Select one of the #parameters (#64 [Feeling Select one of the #parameters (#64 [Feeling
Velocity # 0] ~ #71 [Feeling Velocity # 7]) in Velocity #0] ~ #71 [Feeling Velocity #7]) in
system setup register 3. table data.

6-40
(1) Function Explanation
Feed velocity (#64 [Feeding velocity #0] ~ #71 [Feeding velocity #7])
Set the feed velocity. Depending on the moving distance and acceleration/deceleration time,
the actual velocity may not reach the set feed velocity. Set a value smaller than the value of
#305 [User defined maximum velocity].
Acceleration/deceleration time (#72 [Acceleration time #0] ~ #75 [Acceleration time #3]/#76
[Deceleration time #0] ~ #79 [Deceleration time #3])
Set the acceleration time/deceleration time relative to the maximum velocity.
The fact that the acceleration time/deceleration time is set relative to the maximum velocity
means that if an operation that does not reach the maximum velocity is carried out, the actual
acceleration/deceleration time will be different from the set acceleration/deceleration time.
The acceleration/deceleration time is set as the “time till reaching the max velocity”.
Therefore acceleration/deceleration does not change even the feeding velocity is changed.
Guidelines for setting acceleration/deceleration time

Use the following formula to calculate the acceleration/deceleration time to be set.
(In the case of an S-curved acceleration/deceleration profile, the acceleration/deceleration time
should be set to approximately 1.5 times the value calculated from the formula below.)
t: Acceleration/deceleration time [sec]
JM: Rotor inertia of the motor (See Section 2.1, "Standard Specifications") [kgm2]
(JM + JL) *2πv JL: Load inertia [kgm2]
t=
0.8* (T-Tx) v: Feed velocity [rps]
T: Maximum torque of the motor [Nm]
Tx: Disturbance torque in the direction opposite to the motor output torque [Nm]
08:Margin

6-41
Acceleration/deceleration type
Set the acceleration/deceleration type using system setup register 3 in the case of jog and
homing and using table data in the case of incremental positioning move and absolute
positioning move.
Select either constant acceleration or S-curved profile for the acceleration/deceleration type.
The figures below show the velocity characteristics and torque/thrust characteristics of each
type. If you select constant acceleration, fast acceleration is possible, but the motor tends to
induce larger vibrations into the mechanical system. If you select an S-curved
acceleration/deceleration profile, the movement becomes smooth and the vibrations induced
in the mechanical system can be reduced. For this reason, the settling time is shorter in most
cases, but the acceleration/deceleration time becomes longer.
Velocity and Acceleration Profiles for Each Acceleration Type
Velocity profiles Torque/thrust profiles

Torque/thrust
Velocity
Time Time
S-curved profile
Constant acceleration
CAUTION
If the maximum value of the torque/thrust profile exceeds the maximum torque of the motor, a
position deviation is generated, which may cause instability phenomena such as hunting in
the control.
See "Guidelines for setting acceleration/deceleration time" and set the
acceleration/deceleration time correctly.

6-42
(2) #parameter Setting
STEP 2 Click "Function #parameter" to display the setting window.
STEP 3 Select the function you want to set.
STEP 4 Click the #parameter you want to set.
STEP 5 Enter the setup value in the Data edit box, and press the return key.
STEP 6 Overwrite all the #parameters you want to set, and click the [Regist] button to
register the #parameters.
STEP7 Set #parameters intended to use.
Number of #parameter needs to be designated for each motion in case of
#parameter that has more than one setting, such as feeding velocity(#64 to #71).
Set in the System setup register 3 window in the case of jog move and each table
data window in the case of table data operation.
Setting Window for Velocity Profile Related #parameters
[2] Select "Function [6] Register the values

#parameter." after overwriting
[3] Select a function.
necessary #parameters.
[5] Check that the data of the

selected #parameter is
displayed.
Click this edit box.
Enter the setup value of the
#parameter, and press the
return key.
[4] Click the line for the #parameter you

want to change.
Check that the line is highlighted in blue.

6-43
Velocity Override/Interlock Function
The velocity override function allows changing the feed velocity in real time.
In order to use this function, set the velocity override percentage #parameters (#45 and #46)
and select the either of then by the IN_OVERRIDE_SEL signal of the controller interface. The
velocity override value can be set by a #parameter in the range from 0% to 200% in
increments of 0.01%.
Note that if you set the IN_INTERLOCK signal of the controller interface to ON, the velocity
override percentage is set to 0 regardless of the status of IN_OVERRIDE_SEL and the
override percentage #parameters (#44 and #45) (the motor will decelerate and stop).
Note that if a value exceeding 100% is specified, the velocity while moving may exceed the
maximum velocity and an error may occur (ERR31.0: Excessive position command difference,
ERR24.0: Over speed).
Velocity override function performs all table data operations and jog moves.
Interlock Velocity override selection

Feed velocity
IN_INTERLOCK IN_OVERRIDE_SEL
OFF Velocity override percentage 1 (#44) x feed velocity
OFF
ON Velocity override percentage 2 (#45) x feed velocity
OFF
ON 0
ON
Waiting for trigger Waiting for trigger

200ms/div 200ms/div
200ms/div
200ms/div NORM:5kS/s
NOR M:5kS/s
NORM:5kS/s NORM:5kS/s
Set acceleration time Set deceleration time
Actual acceleration time Maximum velocity Maximum velocity Actual deceleration time
[S-curved profile]
Feed velocity Feed velocity
[Acceleration] [Deceleration]
The resulting feed velocity while moving becomes the velocity obtained by multiplying the
specified velocity with the velocity override value.
If the velocity override value is changed while moving, the motor accelerates with the same
acceleration profile and rate as specified by the acceleration settings of Table "Velocity Profile
Setup Items" in Section 6.1.9, "Velocity Profile" if it is increase Motor decelerates accordingly
if it is decreased.
Waiting for trigger Waiting for trigger
500ms/div 500ms/div
500ms/div 500ms/div
NORM:2kS/s N ORM:2kS/s
NORM:2kS/s NORM:2kS/s
150% 150%
100% 100%
0% 0%
[Acceleration: S-curved profile, Deceleration: Constant acceleration]

6-44
<Sequence example>
#44 = 10000 [1/100%]: Velocity override percentage 1 = 100%

#45 = 5000 [1/100%]: Velocity override percentage 2 = 50%
Velocity waveform
Feed velocity setup value x 100%
Feed velocity setup value x 50%
Feed velocity 0 (motor stop)

6-45
6.2 Initial Operation Test

Unless specifically noted, you should always conduct an initial operation test without
changing #parameters, hard I/O assignment and logic I/O initial value setting from the time of
shipment from the factory before using the drive and motor for the intended application.
Wiring of controller interface is not indispensably needed.
6.2.1 Initial Operation Test Using the Utility Software
Perform an initial operation test using the utility software without load.
Connection
PC on which the utility software is installed

To the control power supply
To the main power supply
Home sensor
(Not required in DB series motors)
Motor unit (DM/DR/DB series) DrvPlll drive

6-46
Initial Operation Test Procedure
Start of initial operation test
(1) Check before operation Check that the motor is properly installed and wired.
(2) Turn the power supplies ON Turn the power supplies ON to check that an error does not occur.
(3) Turn the servo ON Turn the servo ON.
(4) Auto-tuning
Perform auto-tuning to adjust the gains of the position and
velocity control loops.
(5) Jog operation

Perform jog operation.
(6) Homing Perform homing.
(7) Execute positioning operation Execute positioning operation using the utility software.
End of initial operation test

6-47
(1) Check before Operation
Items to be Prepared
• Motor, drive
• Home sensor, DC power supply (Not required in DB series motors)
• PC on which the utility software is installed
• Level block for fixing the motor
• Various cables
Installation and Wiring

Utility software
Not required in DB series motors (DrvX3 Support Tool) (software)
Level block
Items to be Checked
Check
• Is the motor unit fixed to the level block?
• Is the motor interfering mechanically with peripheral components?
• Is the AC power supply cable properly wired (LINE and GND)?
• Is the motor cable properly wired (VA, VB, VC and GND)?
• Is the encode/resolver cable properly wired?
• Is the home sensor properly wired?

(Not required in DB series motors)
• Is the serial interface communication cable properly wired?

6-48
(2) Turning the Power Supplies ON
Turn both the main and control power supplies ON. After turning the power supplies ON,
check that the[RDY/ERR] LED on the front panel turns ON in green. If it turns ON in red, an
error has occurred. Check the error code and take an action to solve the problem.
RDY/ERR
Ready: Green
Error: Red
When the control power supply
is not turned ON: Not lit
(3) Turning the Servo ON
Online Operation
STEP 1 Start the utility software.

STEP 2 Select the connection port number (specify the COM port number of the PC).
STEP 3 Select [Online] in Communication Port.
STEP 4 Establish communication between the drive and a PC by clicking the [Connect]
button.
Click the [Connect] button.

(When the communication is
established, the button label
changes to [Disconnect].)
Select a communication port and click

[Online]. The button cannot be clicked if a
proper communication port was not selected.

6-49
Servo ON Operation
STEP 1 Select [Operation] from Control.

(Click the [Yes] button when the message shown in the figure below is displayed.)
STEP 2 Select the Auto-tuning operation tab.
STEP 3 Select the [Servo-ON] button.
TIP
The servo is turned OFF while the SRV DS switch on the front panel of the drive is pressed. It
is advisable to place a finger on the SRV DS switch when instructing to turn the servo ON;
that way, you can turn the servo OFF immediately if instability or oscillations occur.
2 Select the
Auto-tuning
operation tab.
Execute auto-tuning. 3 Select the

[Servo-ON] button.
(4) Auto-tuning
Auto-tuning is started by clicking the [Drive] button. After the auto-tuning is completed, click
the [Regist] button to write the data resulting from the auto-tuning to the drive.
CAUTION
When the motor is started, it moves in the clockwise (CW) direction. Make sure that there is
no mechanical interference with the rotor (the rotor swings approximately up to 30 degrees).
Check the wiring (encoder cable and motor cable) if the motor begins to vibrate or oscillate
during auto-tuning. The motor may vibrate if it is installed on a platform that is not rigid
enough, or if the motor is not securely fixed as well.
(5) Jog Move

STEP 1 Select the Jog tab from the Operation window.
* Click the [Servo-ON] button to turn the servo ON if it was turned OFF.
STEP 2 Execute jog move using the [+ direction], [- direction] and [Stop] buttons.
Load mounting surface
CW CCW
Rotation direction of the motor
TIP
At shipment from the factory, the motor rotation direction is set so that the + direction
corresponds to the CW direction and the - direction to the CCW (counterclockwise) direction.
The motor rotation direction (CW or CCW) is the direction viewed from the load mounting
surface.

6-50
(6) Homing
In the Case of Incremental Motors: DM/DR Series Motors
Checking On/Off Status of the Home sensor
STEP 1 Select [Axis signal monitor] from Display of the utility software, and start the monitor
by clicking the [START] button.
STEP 2 Turn the servo OFF if it was turned ON (servo ready).
STEP 3 Move the motor manually and check [Z-pulse status] of the Axis signal monitor
window.
Check that the indicator turns ON when the home sensor is within the designated
area. If the sensor is not properly connected, it is turned ON regardless of the
position of the motor.
STEP 4 Stop the monitor by clicking the [STOP] button.
The indicator turns green The home sensor

when homing operation is status is monitored.
completed.

6-51
 Executing Homing Operation

STEP 1 Select the Homing operation tab in the Operation window.
STEP 2 Turn the servo ON if it was turned OFF by clicking the [Servo-ON] button.
STEP 3 Execute the homing operation by clicking the [Drive] button.
3 Execute the homing operation.
After the homing operation is

2 Turn the servo ON. completed, #392 [Final home
location from sensor edge] is
displayed.
If the location from edge value is outside the range of the target value when the homing operation is
completed, ERR49.1/ALM49.1 home sensor tap position error is generated; it becomes necessary to
adjust the sensor tap position (see Section 6.4.5 (5), "Adjusting Sensor Tap Installation Position)."
In the Case of Absolute Motors: DB Series Motors
 Executing Homing Operation

STEP 1 Select the Homing operation tab in the Operation window.
STEP 3 Execute the homing operation by clicking the [Drive] button.
3 Execute the homing operation.
After the homing operation is

2 Turn the servo ON. completed, #392 [Final home
location from sensor edge] is
displayed.
If the location from edge value is outside the range of the target value when the homing operation is
completed, ERR49.1/ALM49.1 home sensor tap position error is generated; it becomes necessary to
adjust the sensor tap position (see Section 6.4.5 (5), "Adjusting Sensor Tap Installation Position)."

6-52
(7) Executing Sample Table Data Operation
Execute a 90° incremental positioning move using the sample table data (table number 7) for
table data operation.
Setting the Amount of Movement
STEP 1 Close the Operation window.

STEP 2 Open the Terminal window from the Control window.
STEP 3 Check that the following parameter/monitor values have not been changed since
shipment from the factory in the Terminal window. (See the table below for the
values for each motor model.)
#302 [Motor resolution]
#112 [Scaling data ratio denominator (on the command unit)]
#113 [Scaling data ratio numerator (on the pulse)]
Scaling Data Values at Shipment from the Factory

Motor model Encoder resolution numerator (on the
denominator (on the pulse)]
command unit)]
DM1A- 4096000 4096000
DM1B- 2621440 2621440
DM1C- 2621440 2621440
DR1A- 1638400 1638400
DR1B- 1015808 1015808
360000
DR1E- 1228800 1228800
DM5B- 557056 557056
DR5C- 425984 425984
DR5E- 638976 638976
DB5C- 425984 425984

6-53
STEP 4 In table number 7, the value of #100 [variable 0] is set as the amount of movement.
To move 90 degrees, enter the following in the Terminal window.
STEP 5 Close the Terminal window.
Executing the Sample Table Data Operation
STEP 1 Open the Operation window from the Control window.

STEP 2 Select the Table operation tab.
STEP 3 Select "No. 07 INC positioning" in the Table Number box.
STEP 5 Click the [Drive] button to start the incremental positioning operation move.
5 Click the [Drive]
button to execute the 2 Open the Table
operation. operation tab.
3 Select the
table number.

6-54
6.3 Jog Move

When you execute the jog move command in the idle status, it is possible to move the motor
in the + direction or - direction. The acceleration/deceleration time, acceleration/deceleration
type and jog feed velocity can be specified individually.
(1) I/O Signals to be Used
The I/O signals for jog move operation are used to give instructions via the controller interface.
If signals have not been assigned, assign them with the hard I/O assignment function as
needed.
(To operate via the serial interface, proceed to (2) Parameter Settings.)
Logic I/O signal

I/O Logic I/O signal name
abbreviation
IN_SERVO Servo
Input IN_JOG_UP Jog up
IN_JOG_DN Jog down
OUT_DRDY Drive ready
Output OUT_SRDY Servo ready
OUT_JOG_EXE Executing jog operation

6-55
(2) Parameter Settings
STEP 1 Select [#parameter] from [Data Management] of the utility software.

STEP 2 Select "System setup register 1" to display the setting window.
STEP 3 Check the rotation direction in the Coordinate system forward direction setting.
The settings and the rotation directions have the following relationship.
Coordinate Command Direction Setup and Rotation Directions of the Motor

Jog move command CW direction
IN_JOG_UP IN_JOG_DN
(+ direction) (- direction)
Forward Rotates in the Rotates in the

Status of direction CW direction CCW direction CCW direction
coordinate
Command
Direction Setup Reverse Rotates in the Rotates in the
direction CCW direction CW direction
Note: This #parameter also effects the rotation direction in operations other than jog move.
STEP 4 In "Jog feed operation, serial Interface side selection," Select [Valid] to instruct the
jog move operation from the utility software and [Invalid] to instruct the jog move
operation from the controller interface.
STEP 5 Register the #parameters by clicking the [Regist] button.
STEP 6 Specify the feed velocity, acceleration time, deceleration time, acceleration profile
and deceleration profile in the Function #parameter window (see Section 6.1.9 for
the detailed explanation of the velocity profile).
STEP 7 Select the feeding velocity, acceleration time, deceleration time, acceleration profile
and deceleration profile in the System setup register 3 window.
7 Select the
velocity profile.

6-56
(3) Jog Operation Method (Utility Software)
Complete the servo tuning before you start jog operation.
STEP 1 Select [Operation] in the utility software.

STEP 2 Select the Jog tab in the Operation menu.
STEP 3 Click the [Servo-ON] button to turn the servo ON.
STEP 4 Click a button ([+ Direction] or [- Direction]) corresponding to the direction in which
you want to start jog move.

6-57
(4) Jog Operation Method (Controller Interface)
The table below shows the correspondence between jog move commands and rotation
directions.
IN_JOG_DN IN_JOG_UP
Jog move command
(- direction) (+ direction)
OFF Stop command
OFF + direction jog move
ON
command
- direction jog move
OFF
ON command
ON Stop command
Starting Jog Move
STEP 1 Turn IN_SERVO ON.

STEP 2 Check that OUT_SRDY is turned ON.
STEP 3 Turn IN_JOG_UP ON to move in the + direction, or turn IN_JOG_DN ON to move in
the - direction.
Stopping Jog Move
Turn IN_JOG_UP OFF if moving in the + direction, or turn IN_JOG_DN OFF if moving in the -
direction.
Example of Jog Move Timing
+ direction
operation + direction
Velocity waveform Stop Stop Stop Stop
operation
-direction
operation

6-58
6.4 Table Data Operation

6.4.1 Table Data Operation
Table data operation employs the controller built into the drive, which is used for servo tuning,
homing and positioning operations. The types of operations (operation codes) are listed in the
table below.
By supplementary tables, it is possible to branch to prescribed operations when given
conditions are satisfied as well as change #parameters.
Table data is composed by operation register, operation data 0 and operation data 1, which
are created using the utility software. Table data operation can be started via either the serial
interface or controller interface.
Moreover, use of the "continue function" that concatenates several tables allows continuous
movement. It is possible to specify table data No.'s 0 to 63. Operation codes have been
determined for No.'s 60 to 63 in advance; the operation data can be changed, but the
operation register cannot be changed.
Table data operation is executed by

specifying a table number via the serial
interface or controller interface.
PLC
Operation Codes and Actions
Operation code Action
Table related to The motor moves to return to the home position using the built-in
Homing
homing controller.
Auto-tuning Used for adjusting the servo
Table related to Used for adjusting the servo. Useful when auto-tuning cannot be
adjustment performed. Pperforming manual tuning while checking the step response
Test operation
waveform (to a position command with a frequency of 2.5 Hz) using the
oscilloscope function.
Incremental
The motor performs incremental (relative position) positioning.
Table related to positioning move
positioning Absolute positioning
The motor performs absolute (absolute position) positioning movement.
move
Dwell Used to set the dwell time (wait time)
Parameter change Used to change #parameters

Supplementary
table
Conditional branch Used to change the branching target according to the specified condition
Command Used to issue some of the @commands

6-59
Operation Code of Each Table

Continue after
Table number Action setting
execution setting
0 ~ 58 Can be selected freely in the utility software
Can be selected freely in the utility software Valid
59
*
60 Test operation (cannot be changed)
61 Auto-tuning (cannot be changed)
Invalid
62 Reserve (cannot be changed)
63 Homing (cannot be changed)
* Assigned as the starting number when the startup operation function is used. It is
treated in the same way as table No.'s 0 to 58 if this function is not used.
List of Operation Codes Set at Shipment from the Factory
Table
Default operation code setting
number
0 Test operation
1 Auto-tuning
2 Blank
3 Homing
4~5 Sample program 1 (absolute positioning)
6~7 Sample program 2 (incremental positioning)
8~29 Blank
30~35 90° ”N” times(Incremental positioning)
36~39 Blank
40~51 Sample program 3 (example of slightly complex operation pattern)
52~59 Blank
60 Test operation (cannot be changed)
61 Auto-tuning (cannot be changed)
62 Dwell (0 msec) (cannot be changed)
63 Homing (cannot be changed)
Note: See Appendix for the detailed explanation of the sample programs.

6-60
(1) I/O Signals to be Used

The I/O signals for table data operation are used to give instructions via the controller
interface. If signals have not been assigned, assign them with the hard I/O assignment
function as needed.
(To operate via the serial interface, proceed to (2) Table Data Setting Procedure.)
I/O Logic I/O signal abbreviation Logic I/O signal name

IN_SERVO Servo
IN_START Start table operation
IN_STOP Stop table operation
IN_ABORT Stop motion & table operation
IN_I_CODE. 0 Code input 0
Input
OUT_DRDY Drive ready
OUT_SRDY Servo ready
OUT_MODE_EXE In operation
OUT_M_EN Outputting M code
OUT_0_CODE. 0 Code output 0
Output

6-61
(2) Table Data Setting Procedure
Start setting
[1] Check the coordinate

system setting
[2] Select a table number

Table number setting window
[3] Set an operation register
[4] Set operation data
[5] Register table data
[6] Set #parameters Table setting window
Use this window to select an table

register, set a code and register the
NO table data.
[7] Setting
completed
YES
End setting

6-62
STEP 1 Checking the coordinate system setting

Check that the three setting items related to the coordinate system to be used, selection of
rotation coordinate system/linear coordinate system, rotation direction and scaling, are
specified correctly. See Section 6.1.8, "Coordinate System" for more information.
STEP 2 Selecting a table number

1 Click the [Table Data] button in the utility software.
2 Select the table data you want to edit and click the [Edit] button. The setup window
appears.
STEP 3 Setting a table register

Select an table register in the setup window.
Then set the operation code, M function, coin waiting function and continue function for the
selected operation register.
4 Specify "Valid" to use the

3 Select a code. M function.
4 Specify "Valid" for the continue function and set the 4 Set the coin waiting function. The timing
table number to be executed next if you want to of the OUT_MODE_EXE and OUT_POS
perform the next table operation after the operation of signals output at the end of the operation is
this table data is completed. changed according to this setting.
STEP 4 Setting table data

The setting items for table data vary depending on the operation code. See the explanation
sections for each operation (6.4.3 to 6.4.11).
STEP 5 Registering table data

Click the [Regist] button to commit the edited settings.
Click the [Cancel] button to discard the edited settings; the table data is not changed.
STEP 6 Setting #parameters

Set #parameters as necessary. See the explanation sections for each operation, 6.4.3 to
6.4.11.

6-63
(3) How to Perform Table Data Operation (Control Interface)

This method is valid when the controller interface has the main operation privilege according
to the operation mode.
Table data operation cannot be executed while an error has been encountered in the drive or
the servo is turned off.
How to Start up
Complete servo tuning before starting the operation.
STEP 1 Enter the table number you want to execute in IN_I_CODE [5..0]. (binary assignment)
STEP 2 Set the status of IN_START to ON to execute the table data set with IN_I_CODE
[5..0].
STEP 3 Check that the status of OUT_MODE_EXE has become ON and turn IN_START
OFF.
STEP 4 When the operation is completed, the status of OUT_MODE_EXE becomes OFF.
If the continue function is used, the status of OUT_MODE_EXE becomes OFF after
all the table operations are completed.
While IN_START is ON, the status of OUT_MODE_EXE is kept ON even after the
operation is completed.
IN_START
IN_I_CODE [5.0]
Not considered Not considered
(Specify the table to be
executed as a binary value.)
IOUT_MODE_EXE
Depends on the selection of operation start high-velocity signal processing interface:

Valid: Signal-to-signal skew time or more
Invalid: 0 [msec] or more

6-64
Pausing/Ending Operation
 IN_ABORT
The IN_ABORT command interrupts table data operation.

Use this command to end a test operation or to interrupt an operation and decelerate and
stop the motor. Even during an operation involving movement, this command immediately
decelerates and stops the motor, and terminates the operation.
When it is turned ON, a command to stop operation is issued.
If the M function is being executed, it interrupts the execution and stops the operation.
0 ms or more
IN_ABORT
OUT_MODE_EXE
 IN_STOP
Use this command only when the continue function is set to valid.
If you issue the IN_STOP command, table data operation is ended at the same time as the
operation of the table data currently being executed is completed.
When it is turned ON, a command to stop operation is issued.
If the M function is being executed, OUT_MODE_EXE turns OFF after the M function is
completed.
0 ms or more
IN_STOP
OUT_MODE_EXE

6-65
(4) How to Perform Table Data Operation (Utility Software)
Table Data Operation Window
Complete servo tuning before starting the operation.

STEP 2 Select the Table operation tab in the Operation menu.
STEP 3 Click the [Servo-ON] button to turn the motor's servo ON.
STEP 4 Select the table number of the table data you want to execute.
STEP 5 Click the [Drive] button to execute the selected table data.
Special Tab for Each Operation
A special tab is prepared for homing, test operation and auto-tuning. Select an operation in
the Operation menu. The table below shows the table number executed when each of the
special tabs is selected.
Operation tab Table number

Test operation 60
Auto-tuning 61
Homing 63
Homing Operation Special Tab (Example shown below is for incremental motors)

6-66
6.4.2 Setting Table Register
The following functions are set commonly for table data operations. They are called table
registers.
The settings should be specified for each table data.
(1) Setting of code
(2) Setting of the M function
(3) Setting of the coin waiting function
(4) Setting of the continue function
(1) M Function
This signal is used for sequence operation, in order to coordinate the operation of other
devices interlocked with positioning operation of the direct drive motor.
The table below shows the relationship between settings of the M function and output timings
of OUT_M_EN.
If OUT_M_EN is turned ON, the table number of the table data currently being executed is
output to OUT_0_CODE.
If IN_M_ANS is turned ON, OUT_M_EN is turned off and the table data operation currently
being executed is ended. (If the continue function is set to valid, the next table data operation
is executed.)
See the next page for a sequence example.
States of Operation Register Setting and Types of M Code Executed

M function Parallel M function Action of M function
Valid OUT_M_EN turns ON at the same time as the start of table data operation.
OUT_M_EN turns ON at the timing when the table data operation currently being
Valid executed is completed.
Invalid
If the coin waiting function is set to valid, OUT_M_EN turns ON after OUT_COIN
turns ON.
Valid The M function is not executed.
Invalid
Invalid The M function is not executed.
TIP
If OUT_M_EN is not assigned with the hard I/O assignment function, the M function is not
executed even if the M function is set to valid with the operation register at executing table
data operation.

6-67
Make sure that the signals observe the following sequence when using the M function.
When the OUT_M_EN signal turns ON, the table number currently being executed is output
to OUT_0_CODE [5..0] as a binary value. The M function is terminated when IN_M_ANS
turns ON while OUT_M_EN is being output.
 Signal Timing of the M Function In the case of non-parallel operation
IN_START
OUT_MODE_EXE
M function terminated
IN_M_ANS
OUT_O_CODE Undetermined The table number currently being

executed is output. Undetermined
[5..0]
OUT_M_EN
5 ms or more 5 ms or more
* If IN_M_ANS is not assigned, the M function is automatically terminated after OUT_M_EN turns ON for
10msec.
 Signal Timing of the Parallel M Function In the case of parallel operation
IN_START OFF ON OFF
OUT_MODE_EXE OFF ON OFF
M function terminated * Whichever occurs later
OFF ON OFF
IN_M_ANS
Undetermined The table number currently being Undetermined

OUT_O_CODE executed is output.
[5..0]
OUT_M_EN ON OFF
5 ms or more
5 ms or more
* If IN_N_ANS is not assigned, the M function is automatically terminated after OUT_M_EN turns ON for
10msec.
TIP
Operation of the M function at error occurrence

If [Stop the M function at error] is set to [Valid] in [System register 2] of the #parameter window,
the execution of the M function stops when an error occurs. If it is set to [Invalid], the
execution of the M function continues even if an error occurs.

6-68
(2) Setting Coin Waiting to Valid / Invalid
Coin waiting functions when moving by INC positioning or ABS positioning. Coin waiting is not
performed during a test operation or auto tuning operation regardless of the setting. Coin
waiting is performed at locations necessary for operation during a homing operation
regardless of the setting.
The timing at which the OUT_AXIS_EXE and OUT_POS signals are output at the completion
of an operation varies depending on the setting of the coin waiting function.
See Section 6.6, "Position Settling Signal" for the explanation related to the positioning
settling signal.
Invalid: The OUT_AXIS_EXE signal is turned OFF upon completion of the position
command. It turns OFF as soon as the position command is completed even if the
position settling signal is turned OFF.
The OUT_POS signal is turned ON upon completion of the position command.
Valid: The OUT_AXIS_EXE signal is turned OFF after the position command is complete
and the position settling signal (OUT_COIN) is turned ON.
The OUT_POS signal is turned ON after the position command is complete and
the position settling signal (OUT_COIN) is turned ON
Position
Target position
OUT_COIN
Setting time
 If the coin waiting function is set to invalid
OUT_AXIS_EXE ON OFF
If the coin waiting function is set to invalid,

OUT_AXIS_EXE is turned OFF and OUT_POS is
turned ON when the position
command is completed.
OFF ON
OUT_POS
 If the coin waiting function is set to valid
OUT_AXIS_EXE
ON OFF
If the coin waiting function is set to valid
OUT_AXIS_EXE is turned OFF and OUT_POS is
turned ON after the position settling status signal
is turned ON.
OFF ON
OUT_POS

6-69
(3) Continue Function
This function is used to perform two or more table data operations consecutively.
In the table setting window, enable [Continue after execution] and select the table numbers to
be executed subsequently from [Next table number].
When operating using the continue function, the OUT_MODE_EXE signal is not turned OFF
when the operation switches to the next table data.
Usage Example 90-degree Reciprocal Operation

<Table Data Setting>
Table No. No.8 No.9
Table number Start Setting of operation register
Absolute Absolute
Operation code
positioning positioning
M function Valid Invalid
Parallel M function Invalid Invalid
Settling wait Valid Valid
Execute table No. 8
No.8: (90-degree absolute Continue after
Valid Invalid
positioning operation) execution
Next table number No.9 -
M function Setting of operation data 0
OUT_M_EN Constant Constant

Acceleration type
acceleration acceleration
IN_M_ANS Constant Constant
Deceleration type
acceleration acceleration
Execute table No. 9 Movement direction in
Type 0 (short Type 0 (short way
No.9: (0-degree absolute the rotation coordinate
way around) around)
positioning operation) system
Value setting Direct Direct
Setting of operation data 1
Target position setting 90000 0
End operation <#parameter Setting>

Scaling data ratio numerator
#112 360000
(on the command)
<Timing chart> No.8 No.9
IN_START OFF ON OFF
IN_I_CODE No.8
OUT_MODE_EXE OFF ON OFF
OFF
Speed waveform
OUT_POS ON OFF ON OFF ON
OUT_M_EN OFF ON OFF
IN_M_ANS OFF ON OFF
Setting time Setting time

6-70
6.4.3 Auto-tuning Operation
In order to tune the servo properly, it is necessary to register the load inertia in #0 [Load
inertia/Load mass]. When auto-tuning is performed, the load inertia is estimated and the
control # parameters are set automatically. Perform auto-tuning when starting up the system
and when the load inertia changes significantly.
The motor reciprocates several times and
the lord inertia is estimated
The estimated load inertia is automatically

set in #0
Position feed forward,
velocity feed forward,
acceleration feed forward
and various filters
are not adjusted
The control #parameters corresponding to
#1 [Servo stiffness setup] (see the table below)
are set automatically.
#parameters Set Automatically by Auto-Tuning
The #parameters set automatically by auto-tuning vary depending on the specified control
mode, control method and states of IN_POSFREQ and IN_VELFREQ_SEL (see the table
below).
#parameters Set Automatically by Auto-Tuning

#parameters automatically set by auto-tuning
Position control parameter (*1) Velocity control parameter (*2)
#1 [servo stiffness
setup] Velocity control
Position control Position integral limiting Velocity integral limiting
bandwidth
bandwidth #8/#9 value #12/#13 value #6/#7(*3)
#2/#3
13 39 150
12 38 140
Servo stiffness
11 36 130
(response)
10 34 120
9 32 110
Higher A value that specifies
8 30 A value that specifies the 100 the maximum torque
maximum torque that may
7 28 90 that may be output by
be output by the integrator
the integrator in the
6 26 in the controller to remove 80
controller to remove a
a small position deviation
5 24 70 small velocity deviation
(the value changes
(the value changes
4 22 depending on the motor 60
depending on the motor
3 19 model, load inertia and 50
Default setting model, load inertia and
servo rigidity setting
2 16 40 servo rigidity setting
value).
value).
1 14 30
0 9 20
-1 8 15
-2 6 12
Lower
-3 5 10
*1 Set to #8and #12 if IN_POSFREQ_SEL is OFF and to #9 and #13 if it is ON.

*2 Set to #2 and #6 if IN_VELFREQ_SEL is OFF and to #3 and #7 if it is ON.
*3 Set only when the velocity control method is set to proportional integral control in
system setup register 1 (0 is set in the case of proportional control).

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(1) How to Set Auto-Tuning Operation
Set the data according to the flowchart showing the procedure for creating table data in
Section 6.4.1, "Table Data Operation." See the following for how to set operation data and
#parameters, corresponding to steps 4 and 6 in the flowchart.
Setting Operation Data
No operation data is used for the auto-tuning operation
Setting #parameters Related to Auto-tuning
 Setting Auto-tuning Operation Width
STEP 1 Select [Data Management], [#parameter] and then [Function parameter] from the
utility software.
STEP 2 Select the Auto-tuning tab from the Parameter by Function window.
STEP 3 Check that the auto-tuning operation width is sufficiently narrower than the movable
range required for normal operation.
STEP 4 Set and register #parameters.
 Selecting Control Mode and Control Method
The #parameters set by auto-tuning vary depending on the control mode and control method.
Perform auto-tuning after registering the control mode and control method used with the
corresponding #parameters.
STEP 1 Select [#parameter] and then [Register parameter ] in the utility software.
STEP 2 Select [System setup register 1].
STEP 3 Select a control mode.
STEP 4 Select a control method with [Position control method setting].
STEP 5 Select a control method with [Velocity control method setting].
 Setting of Other #parameters
See the table on the next page for the #parameters related to auto-tuning.
Change the setup values of the #parameters as necessary.
WARNING
The operation direction of auto-tuning is the + direction with respect to the position before
starting the operation. Nonetheless, secure sufficient space in the - direction as well before
starting the operation. (#0)
CAUTION
Make the auto-tuning operation width narrower if you cannot secure a sufficient movable
range. Note, however, that the inertia estimation accuracy may become lower if the
auto-tuning operation width is made narrower.
TIP
If you cannot perform auto-tuning, calculate the inertia moment of the load, and enter the
inertial moment value directly in the corresponding #parameter. (#0)

6-72
#parameters Related to Auto-tuning Operation
#parameter No. #parameter name Description
This parameter specifies the auto-tuning operation width.

This parameter can be used without changing the initial value under normal
circumstances.
Make this value larger (two to five times) if the auto-tuning is not completed
Operation range under auto-tuning normally, and perform the auto-tuning again.
#51
mode
At shipment from the factory, this parameter is set to a value equivalent to 2%
of the rated velocity.
Example: If the rated velocity is 2rps
2 x 0.02 x 360 degrees → Equivalent to 14.4 degrees
Maximum acceleration/deceleration This parameter can be used without changing the initial value set at shipment
#52
time under auto-tuning from the factory under normal circumstances.
Initial acceleration/deceleration time This parameter can be used without changing the initial value set at shipment
#53
under auto-tuning from the factory under normal circumstances.
This parameter specifies the servo rigidity after the auto-tuning operation.
#1 Servo stiffness setup Make this value smaller if the auto-tuning is not completed normally, or if
oscillation or instability occurs.
This parameter can be used without changing the initial value set at shipment
#54 Repetition number for auto-tuning
from the factory (#54 = 6) under normal circumstances.
#parameters Set Automatically after Executing Auto-tuning Operation
The load inertia value is set automatically in this parameter after auto-tuning.
#0 Load inertia/Load mass If the load inertia value is known, it is all right to write the load inertia value
directly in this #parameter without performing auto-tuning.
This parameter is set automatically after auto-tuning. The velocity control
Velocity control bandwidth #1
band frequency is set automatically in the #parameter selected by
#2 or #3 or
IN_VELFREQ_SEL according to the setting status of #1 [servo stiffness
setup].
This parameter is set automatically after auto-tuning. The position control
Position control bandwidth #1
#8 or #9 or
IN_POSFREQ_SEL according to the setting status of #1 [servo stiffness
setup].
This #parameter is used only when the velocity control method is set to
proportional integral control in system setup register 1. It is automatically set
Velocity integral limiting value #1 in the #parameter selected by IN_VELFREQ_SEL when you perform
#6 or #7 or auto-tuning. The value specifies the maximum torque that may be output by
Velocity integral limiting value #2 the integrator in the controller to remove a small velocity deviation (the value
varies depending on the motor model, load inertia and servo stiffness setup
value).
This limiter restricts the amount of position integration of the position control
loop. This #parameter is used only when the control mode is set to position
control and the velocity control method is set to proportional control in system
Position integral limiting value #1
setup register 1. It is automatically set in the #parameter selected by
#12 or #13 or
IN_POSFREQ_SEL when you perform auto-tuning. The value specifies the
maximum torque that may be output by the integrator in the controller to
remove a small velocity deviation (the value varies depending on the motor
model, load inertia and servo stiffness setup value).

6-73
(2) How to Perform Auto-tuning
Starting from the Auto-tuning Dedicated Operation Window
STEP 1 Select [Operation] from [Control] in the utility software.

STEP 2 Select the Auto-tuning tab from the Operation window.
STEP 3 Move the motor to the position at which the auto-tuning should be started.
STEP 4 Click the [Servo-ON] button.
STEP 5 Click the [Drive] button to start the auto-tuning operation.
STEP 6 To store the #parameter values set automatically, click the [Regist] button.
2 Select the
Auto-tuning tab.
4 Turn the
servo ON.
5 Perform auto-tuning.
WARNING
The operation direction of auto-tuning is the + direction with respect to the position before
starting the operation. Ensure that there is sufficient space in the direction. Secure sufficient
space in the - direction as well, as overshoot may occur.
CAUTION
Do not change the states of the IN_POSFREQ_SEL and IN_VELFREQ_SEL signals during
the auto-tuning operation. It will prevent obtaining correct settings.
When you perform auto-tuning, the obtained

load inertia moment value is displayed.

6-74
6.4.4 Test Operation
It is possible to observe step response characteristics by performing a test operation.
When you perform the test operation, a rectangular wave-shaped position command signal
with a frequency of 2.5Hz is issued to be used for adjusting the control part.
Observe the waveform with parameter #393 [Test operation monitor] using the oscilloscope
function of the utility software.
During the test operation, position feed forward, velocity feed forward and acceleration feed
forward are internally set to 0.
Settling wait is not performed at the end of the test operation.

6-75
(1) How to Set Test Operation
#parameters, corresponding to steps (4) and (6) in the flowchart.
No operation data is used for the test operation.
Setting #parameters Related to Test
 Setting Test Operation Width
utility software.
STEP 2 Select the Test Operation tab from the Parameter by Function window.
STEP 3 Check that #50 [Operation range under test mode] is sufficiently narrower than the
movable range required for normal operation. If the test operation width is set too
large, the motor cannot complete the response and errors such as excessive
position deviation occur.
 Setting of Other #parameters
See the table on the next page for #parameters related to test operation.
Change the setup values of the #parameters as necessary.
(2) How to Perform Test Operation (Utility Software)

STEP 2 Select the Test Operation tab from the Operation window.
STEP 3 Move the motor to the position at which the test operation should be started.
STEP 5 Click the [Drive] button to start the test operation.
STEP 6 Select [Oscilloscope] from [Display] to display the test operation response on the
oscilloscope. (See Chapter 8 for how to set the oscilloscope. For the response to be
displayed, select [Test operation] from EASY SETTING.)
STEP 7 Select [#parameter] from [Data Management], and set #parameters (servo tuning)
in the [Servo Tuning] window.
2 Select the Test
operation tab.
5 Perform test
operation.
4 Turn the servo on.
(3) How to Perform Test Operation (Control Interface)

See Section 6.4.1 (3), "How to Perform Table Data Operation (Control Interface)."

6-76
#parameters Related to Test Operation
Set test operation width. Use this parameter without changing the initial value
#50 Operation range under test mode
under normal circumstances.
#parameters Related to Servo Tuning
The load inertia value is set automatically in this parameter after auto-tuning.
#0 Load inertia/Load mass If the load inertia value is known, it is all right to write the load inertia value
directly in this #parameter without performing auto-tuning.
This parameter is set automatically after auto-tuning. The velocity control
#2 or #3 or
IN_VELFREQ_SEL according to the setting status of #1 [servo stiffness
setup].
This #parameter is used only when the control mode is velocity control and
the velocity control method is set to proportional integral control. The valid
Integral time for velocity control #1
parameter is switched by the status of the IN_VELFREQ_SEL I/O input.
#4 or #5 or
If the IN_VELFREQ_SEL I/O input is turned off, #4 [Integral time for velocity
Integral time for velocity control #2
control #1] is selected. If it is turned ON, #5 [Integral time for velocity control
#2] is selected.
This #parameter is used only when the velocity control method is set to
proportional integral control in system setup register 1. It is automatically set
Velocity integral limiting value #1 in the #parameter selected by IN_VELFREQ_SEL when you perform
#6 or #7 or auto-tuning. The value specifies the maximum torque that may be output by
Velocity integral limiting value #2 the integrator in the controller to remove a small velocity deviation (the value
varies depending on the motor model, load inertia and servo stiffness setup
value).
This parameter is set automatically after auto-tuning. The position control
#8 or #9 or
IN_POSFREQ_SEL according to the setting status of #1 [servo stiffness
setup].
This #parameter is used only when the control mode is position control and
the position control method is set to proportional integral control. The valid
Integral time for position control #1
parameter is switched by the status of the IN_POSFREQ_SEL I/O input.
#10 or #11 or
If the IN_POSFREQ_SEL I/O input is turned off, #10 [Integral time for position
Integral time for position control #2
control #1] is selected. If it is turned ON, #11 [Integral time for position control
#2] is selected.
This limiter restricts the amount of position integration of the position control
loop. This #parameter is used only when the control mode is set to position
control and the velocity control method is set to proportional control in system
setup register 1. It is automatically set in the #parameter selected by
#12 or #13 or
IN_POSFREQ_SEL when you perform auto-tuning. The value specifies the
position integral limiting value #2
maximum torque that may be output by the integrator in the controller to
remove a small velocity deviation (the value varies depending on the motor
model, load inertia and servo stiffness setup).

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6.4.5 Homing
The homing method is different between incremental motors (DM/DR series motors) and
absolute motors (DB series motors).
For more information about incremental motors, see Section 6.4.5 (a), "Homing of an
Incremental Motor." And, for more information about absolute motors, see Section 6.4.5 (b),
"Homing of an Absolute Motor."
(a) Homing of an Incremental Motor

In homing of an incremental motor, the motor moves to establish a coordinate system
according to the home search method set in advance.
After the motor moves to the home position determined by the home proximity signal and
Z-pulse, it further moves by the value set in parameter #56 [Offset distance from home
position], and an operation coordinate command value is set as the setup value of parameter
#57 [Coordinate value in command units after homing] at that position.
The homing operation is processed in the order described in Section 6.4.5 (1), "Homing
Operations." It is possible to set the acceleration/deceleration profile for movement. Velocity
override also functions in real time.
Home sensor signal "ON" area
The pulse pitch of Z-pulse varies with the motor type.

ON
Home sensor
OFF
ON
Z-pulse
OFF
CW direction CCW direction

Edge when [Inside] is Edge when [Outside] is
selected selected
These are Z-pulse edges used as the home.

Set which signal edge is used as the home by specifying
[Select home sensor inside] of [Table data 0] of [Table
data]. The homing movement method is different
between the inside and outside edges of the Z-pulse.

6-78
(1) Homing Operations
Homing is performed in the order from step 1 to step 8.
STEP 1 EOT search movement

This step is only performed when [Hardware EOT limit active in homing operation] is set to
[Enable] for the table data. It can be used when the direction of homing is not determined.
The motor is moved in the direction opposite of the homing direction until the EOT sensor is
detected, and the motor then moves in the direction of the home sensor until it reaches the
home position. In this way, it is possible to prevent the motor from entering an area where
operation is prohibited.
Moreover, if [Enables the home sensor during EOT search] is set to [Enable] for the table data,
the hard EOT search movement is stopped, and the operations in STEP 3 and onward are
performed in case the home sensor is detected during the hard EOT search movement.
STEP 2 Home sensor search movement

The motor is moved until the home sensor is detected in the homing direction.
If [Enable home sensor] is set to [Disable] for table data, the home sensor search movement
is not performed. Set it to [Enable] under normal circumstances.
STEP 3 Moving outside the home sensor area

This is a preliminary movement carried out before performing STEP 4, first home detection
movement. The motor is moved in the CW direction until it passes the home sensor area
regardless of the setting of the #parameter for determining the coordinate system forward
direction.
If the home sensor is at the edge of the movable range in the CW direction, it is possible to
avoid performing this operation and prevent the motor from moving in the CW direction upon
detection of the motor proximity signal by setting [Select home sensor inside] to [Outside].
STEP 4 First home detection movement

The motor moves in the CCW direction until it detects the rising edge of the Z-pulse,
regardless of the setting of the #parameter for determining the coordinate system forward
direction.
If [Select home sensor inside] is set to [Inside]: inside home position
The motor stops when the rising edge of the first Z-pulse after the motor enters the ON area
of the home sensor, is detected.
If [Select home sensor inside] is set to [Outside]: outside home position
The motor stops when the rising edge of the first Z-pulse after the motor leaves the ON area
of the home sensor in the CCW direction, is detected.
STEP 5 Second and onward home detection movement (preliminary movement)

The motor moves in the CW direction for the amount set in #55 [Overshoot distance in
homing operation] relative to the Z-pulse edge.
STEP 6 Second and onward home detection movement (Z-pulse edge search movement)
The motor is moved in the CCW direction until the Z-pulse edge is detected.
After STEP 6 is completed, the operations of STEPs 5 and 6 are repeated for the number of
times set by #58 [Z-Pulse sensing iterations during homing].
The final home position is determined by averaging the data obtained during all the home
detection movements.

6-79
STEP 7 Home movement

The motor is moved to the detected Z-pulse edge position. In the case of a motor equipped
with software Z-pulse, correction movement is performed twice as well.
STEP 8 Home offset movement

The motor is moved an amount given by the value set in parameter #56 [Offset distance from
home position]. Then, at that position the coordinate value in command units is set in the
setup value of parameter #57 [Coordinate value in command units after homing].
Acceleration/
Step No.
Execution Moving deceleration type

Operation Operation overview Feed velocity
condition direction Acceleration/
deceleration time
Performed only
when [Hardware
The motor Opposite to
EOT limit active #60 [Homing EOT
EOT search decelerates and stops the homing
1 in homing sensor search
movement after detecting the direction (set
operation] is set velocity]
hardware EOT signal. in table data)
to [Enable] for
table data
Performed
The motor
when [Enable] is Homing #61 [Home sensor
Home sensor search decelerates and stops
2 selected for direction set in search velocity in
movement after detecting the
[Enable home table data homing operation]
home sensor signal.
sensor]
Depends on #parameter
[homing, select home
Depends on
sensor inside]
Inside: The motor #parameter Set using "Select
decelerates and stops [homing, acceleration type,"
after moving outward select home "Select deceleration
Moving outside the Always #62 [Initial Z-pulse
3 from the home sensor sensor inside] type," "Select
home sensor area performed area. search velocity]
Inside: CW acceleration time" and
Outside: The motor direction "Select deceleration time"
performs step 4 without
Outside: CCW in the table data.
stopping after passing
through the home sensor direction
area.
The motor searches
CCW direction
First home detection Always for the rising edge of #62 [Initial Z-pulse
4 (cannot be
movement performed the Z-pulse, and search velocity]
changed)
decelerates and stops
The motor moves in
the [CCW] direction
Second and onward
from the home
home detection CW direction
Repeated for position for the #62 [Initial Z-pulse
5 movement (cannot be
the number of amount set in #55 search velocity]
(preliminary changed)
movement) times set by #58 [overshoot], and
[Z-Pulse decelerates and
sensing stops.
Second and onward iterations during
homing] The motor searches
home detection CCW direction #63 [Z-pulse search
for the rising edge of
6 movement (Z-pulse (cannot be velocity after 2nd
the Z-pulse, and
edge search changed) iteration]
decelerates and stops
movement)
The motor stops after
Always Home #62 [Initial Z-pulse
7 Home movement moving to the home
performed direction search velocity]
position.
#56 > 0:
Performed if the
Forward
amount of home The motor moves to
Home offset direction System setup
8 offset the offset coordinate System setup register 3
movement #56 < 0: register 3
movement is position set in #56.
Reverse
different from 0
direction
EOT search movement is set to invalid until the motor settles during homing. All other steps are Valid.
The settling width can be set in the homing table.

6-80
- Operation example 1 -
The numbers in the figure indicate step numbers.
Homing from outside the proximity area
CW, + direction Home proximity signal CCW, - direction
Z-pulse
Homing from inside the proximity area
(Initial value settings)

<Table operation data 0, 1>
Homing direction - direction
Hardware EOT limit active in homing operation Disable
Select home sensor inside Inside
Enable home sensor Enable
Enables the home sensor during EOT search Invalid
<#parameter>
• Parameter by Function
Homing, amount of home offset movement #56 = 0
• System setup register 1
Coordinate system forward direction setting Forward direction
Numbers in the figure indicate step numbers.
- direction over- travel signal
CW, + direction Home proximity signal CCW, - direction

Z-pulse

Homing direction + direction
Hardware EOT limit active in homing operation Enable
<#parameter>

6-81
CW - direction Home proximity signal CCW + direction
Z-pulse

<#parameter>
Coordinate system forward direction setting Reverse direction
3 and 4
Home proximity signal CCW, -direction

CW, +direction
Outside the Z-pulse
Inside the Z-pulse

Select home sensor inside Outside
<#parameter>
Homing, amount of home offset movement 0

6-82
(2) How to Set Homing Operation


Set operation data to be used for the homing operation as necessary by referring to the list of
homing table operation data (explained later).
Setting #parameters Related to Homing

See #parameters related to the homing function for the items to be set.
 Setting of Parameter by Function

utility software.
STEP 2 Select the Homing, incremental motor operation tab.
STEP 3 Set #parameters as necessary.
 Setting of system setup register

STEP 1 Select [Data Management], [#parameter], [Function parameter] and then [Register
#parameter 3] from the utility software.
Points of Note when Setting #parameters according to the System
Set #parameters using the following pattern as reference when there are system restrictions,
such as when there are restrictions on the homing direction and the home sensor is at the
edge of the movable range.
 Setting the Homing Direction

When the motor can be rotated several times  Position of the motor's dog
Home proximity sensor Home proximity sensor

<Setting items>
Select [Homing direction] in [Operation data 0] of [Table Data].
When there is an area where operation is prohibited

It is possible to perform homing regardless of the position of the dog relative to the home
sensor, by selecting [Hardware EOT limit active in homing operation].
 Position of
the motor's dog
<Setting items>
Set [Hardware EOT limit active in homing operation] to [Enable] in [Operation data 0] of [Table
Data].

6-83
 When the Home Sensor is Mounted at the Edge of the Movable Range
When the home sensor is at the edge of the movable range in the CW direction
Area where operation is prohibited

Area where operation is
 Position of the motor's dog
prohibited
Home proximity sensor
CW direction
CCW direction
<Setting item>
Set [Select home sensor inside] to [Outside] in [Operation data 0] of [Table Data].
When the home sensor is at the edge of the movable range in the CCW direction
Area where operation is

Area where operation is prohibited
prohibited
 Position of the motor's dog

CW direction CCW direction
<Setting item>
Set [Select home sensor inside] to [Inside] in [Operation data 0] of [Table Data].
WARNING
If the homing velocity is high, the motor may enter the area where operation is prohibited; be
careful to avoid such situations.

6-84
List of Homing Operation Data 0

Default setting of
Name Description table numbers 3
and 63
Homing direction Set the homing direction at homing operation - direction
Select the settling width at homing operation from coin widths 0 to 7 (#90 ~ Position settling
Coin width
#97). width 0
Select acceleration Acceleration

Select the acceleration time from acceleration times 0 to 3 (#72 ~ #75).
time time 0
Select deceleration Deceleration

Select the deceleration time from deceleration times 0 to 3 (#76 ~ #79).
time time 0
Select acceleration Constant

Select either "constant acceleration" or "S-curved profile."
type acceleration
Select deceleration Constant

type acceleration
Hardware EOT limit Set to [Enable] to perform hard EOT signal search movable using the EOT
active in homing sensor (connected to TB4) at the start of homing movement. [Disable]
operation Set to [Disable] if the EOT sensor is not used.
Specify [Enable] under normal circumstances. If it is set to [Disable], home
Enable home sensor sensor search movement is not performed. The home position is set to the [Enable]
position at which the rising edge of the Z-pulse is detected.
Only valid when [Hardware EOT active] is set to [Valid]. This parameter
Enables the home
specifies whether or not to switch to home search movement if the home
sensor during EOT [Invalid]
sensor is detected during hardware EOT signal search movement during
search
the homing operation.
Select the edge of the Z-pulse to be set as the home position.
ON
Home
OFF
proximity
sensor ON
Select home sensor OFF
Z-pulse [Inside]
inside Edge when Edge when
[Inside] [Outside]
is selected is selected
⇐ CW direction CCW direction

6-85
#parameters Related to the Homing Function
Only valid when [Enable] is selected for [Homing, hardware EOT limit active
#60 Homing EOT sensor search velocity
in homing operation]
Home sensor search velocity in
Set the velocity to be used when searching for the home sensor during the
#61 homing operation
homing operation. Use the initial value under normal circumstances.
#62 Initial Z-pulse search velocity Use the initial value under normal circumstances.
Z-pulse search velocity after 2nd

#63 Use the initial value under normal circumstances.
iteration
Overshoot distance in homing

operation
Z-Pulse sensing iterations during

homing
Enter the amount of home offset.
The offset movement is only performed for the amount specified by this
#56 Offset distance from home position
#parameter after homing, and the position is set as the origin of the
coordinate system.
Use the initial value under normal circumstances (#57 = 0).
Coordinate value in command units
#57 This parameter specifies the command unit command coordinate value after
after homing
the completion of homing.
It is not necessary to set this parameter if #56 = 0.
System setup Homing, home offset movement feed
This parameter sets the feed velocity at which the motor should move to the
register 3 velocity selection
offset position after the completion of homing operation.
System setup
Homing, enable dog position error Use the initial value under normal circumstances (Enabled).
register 3

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(3) How to Perform Homing Operation (Utility Software)

STEP 2 Select the Homing Operation tab from the Operation window.
STEP 3 Move the motor to the position at which the homing should be started.
STEP 5 Click the [Drive] button to start the homing operation.
STEP 6 If the home dog position error (error code: 49.1) occurs, the relationship between
the home sensor position and dog position is not appropriate. Adjust the dog
position so that the homing measurement value is within the target value range,
reset the error, and perform the homing operation again.
* Table data No. 63 is executed from the Homing window. The M function, continue
function, and coin waiting function cannot be set.
5 Perform the homing 2 Select the Homing

operation. operation tab.
4 Turn the servo on.
#392 [Final home location from

sensor edge] is displayed after the
completion of homing.
If the homing measurement value is not in the target value

range at the completion of the homing operation, a home
dog position error (ERR49.1) occurs. (See (5), "Adjusting
Dog Installation Position.")
(4) How to Perform Homing Operation (via Command from the Controller Interface)
TIP
With an incremental motor, the OUT_ORG_FINISH signal is OFF after the power. When a
homing operation is complete, the OUT_ORG_FINISH signal is turned ON. Afterward, it is not
turned OFF until the power is turned OFF regardless of servo ON/OFF.
However, if a homing operation is performed, it is turned OFF when starting a homing
operation, and then turned ON when the homing operation is complete.

6-87
(5) Adjusting Dog Installation Position
The Z-pulse can be generated in two ways (hardware Z-pulse and software Z-pulse). Which
method is used depends on the motor.
In order for the homing movement to be completed normally, it is necessary that the distance
between the ON area of the home sensor and the Z-pulse edge is within a certain range set
based on monitor #306 [Z-pulse interval]. The reference values vary depending on how the
Z-pulse is generated (hardware Z-pulse or software Z-pulse).
At the first home detection movement, the distance (number of pulses) from the edge of the
home sensor to the first edge of the Z-pulse is measured after the motor goes through the
home sensor area, and this value is set in monitor #392 [homing measurement value]. An
error or alarm is generated if this value does not satisfy the following expressions. In case an
error or alarm is generated, adjust the home sensor dog position and perform the homing
movement again, and repeat the operations until the homing operation is completed normally.
#392 [homing measurement value]

[Unit: Encoder resolution pulses]
Z-pulse
⇐ CW direction CCW direction 

Home edge when [Inside] is Home edge when [Outside]
selected for homing is selected for homing
[Hardware Z-pulse]
#392 value < 0.05 x #306 value Error (error code 49.1)
0.05 x #306 value ≤ #392 value < 0.1 x #306 value Alarm
0.1 x #306 value ≤ #392 value ≤ 0.7 x #306 value Normal
0.7 x #306 value < #392 value ≤ 0.75 x #306 value Alarm
0.75 x #306 value < #392 value Error (error code 49.1)
[Software Z-pulse]
#392 value < 0.05 x #306 value Error (error code 49.1)
0.05 x #306 value ≤ #392 value < 0.1 x #306 value Alarm
0.1 x #306 value ≤ #392 value ≤ 0.4 x #306 value Normal
0.4 x #306 value < #392 value ≤ 0.45 x #306 value Alarm
0.45 x #306 value < #392 value Error (error code 49.1)
Normal value range

Z-pulse generation Number of ZERO
Drive model Z-pulse interval for #392 [homing
method pulses [1/rotation]
measurement value]
UD1A- 100 40960 4096 ~ 28672
Hardware
UD1B- (*1) 60 43690 4396 ~ 30583
UD1B-004/UD1B-006 Software 124 21140 2114 ~ 8456
UD1C- Software 124 21140 2114 ~ 8456
UR1A- 200
UR1B- 124
UR1E- 150
Software 8192 819 ~ 3276
UR5B- 68
UR5E- 78
UR5C- 52
*1 Excluding UD1B-004 and UD1B-006

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TIP
If a home dog position error alarm is generated it is recommended to adjust the dog position
to within the normal range, even though this alarm status does not affect the homing
accuracy.
In the alarm status, the homing result display indicator lamp on the Operation window of the
utility software lights in yellow (see the figure below).
The alarm status can be checked by the utility software but is not output to the controller
interface.
Homing result display indicator lamp

Green: Normal range
Yellow: Homing alarm range
Red: Homing error
(6) Setting the Current Position as the Position after a Homing Operation
Set parameter #57 [Coordinate value in command units after homing] to 0, and perform a
homing operation. Then, after moving the current position to the position desired after a
homing operation, set a home offset position. Do not set the coordinate system again while
performing a series of operations. For more information about the operation to set the home
offset position, see Section 6.4.11, "Command" and Section 8.4.2, "Terminal."

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(b) Homing of an Absolute Motor

The homing method is different between incremental motors (DM/DR series motors) and
absolute motors (DB series motors).
Here, only the homing method of absolute motors is described. For more information about
the homing method of incremental motors, see Section 6.4.5 (a), "Homing of an Incremental
Motor."
In homing of an absolute motor, the motor establishes a coordinate system by moving to a

position away from the motor's home position by the home offset amount, and setting the
command unit command value to the value set in parameter #57 [Coordinate value in
command units after homing] at the position to which the motor has moved.
It is possible to set the acceleration/deceleration profile for movement. Velocity override also
functions in real time.
(1) How to Set Absolute Positioning Move
Set the data according to the flowchart showing the procedure for creating table data in 6.4.1,
"Table Data Operation." See the following for how to set operation data and #parameters,
corresponding to steps 4 and 6 in the flowchart.
STEP 1 Select the settling width from #parameters 90 to 97 [Coin window].

The setup value of #parameters [Coin window] can be changed by selecting
[Homing, absolute motor] in [Function parameter] of [#parameter].
STEP 2 Set the acceleration/deceleration time.
Select the acceleration/deceleration time from #parameters (#72 to #79).
The setup value of #parameters [acceleration/deceleration time] can be changed by
selecting [Homing, absolute motor] in [Function parameter] of [#parameter].
STEP 3 Select either constant acceleration or S-curved profile as the acceleration
type/deceleration type.
STEP 4 Select the movement direction type if the rotation coordinate system is chosen as
the coordinate system.

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Setting #parameters Related to Homing

See #parameters related to the homing function for the items to be set.
 Setting Parameters by Function

utility software.
STEP 2 Select [Homing, absolute motor].
 Setting of system setup register

STEP 1 Select [Data Management], [#parameter], [Function parameter] and then [Register
#parameter 3] from the utility software.
List of Homing Table Data 0

Name Description Default Setting
Select the coin window for homing move from coin windows 0 to 7 (#90
Coin window Coin windows 0
- #97).
Select acceleration
Select the acceleration time from acceleration times 0 to 3 (#72 - #75). Acceleration time 0
time
Select deceleration
Select the deceleration time from deceleration times 0 to 3 (#76 - #79). Deceleration time 0
time
Select acceleration
Select either "constant acceleration" or "S-curved profile." Constant velocity
type
Select deceleration
Select either "constant acceleration" or "S-curved profile." Constant velocity
type
It is not necessary to set this parameter when the linear coordinate
Optional move
system is used. (Either the linear coordinate system or rotation Type 0 [short way
direction for rotation
coordinate system can be selected for the coordinate system using around]
coordinate
system setup register 1.) See the table below.
Movement Direction Setting Types and Rotation Directions for Rotation Coordinates
Movement direction setup value
Motor rotation direction
for rotation coordinates
The motor rotates in the direction that yields the shortest distance to the target
position from the current position command value. (The motor rotates in the +
Type 0 [short way around] direction if it is rotated exactly 180 degrees.) Even if a target position that would
cause the motor to rotate 360 degrees or more is set, the amount of movement
will be less than 360 degrees.
The motor moves in the same direction as the sign of the target position set in
Type 1 [do not cross the home table data relative to the home position. If the motor performs an operation to
position] cross the home position, it will move in the opposite direction. The motor will
never rotate 360 degrees or more.
The motor moves in the same direction as the sign of the target position set in
the table data relative to the home position. If a target position that would cause
Type 2 [multiple-rotation]
the motor to rotate 360 degrees or more is set, the motor may rotate multiple
times.
The motor always moves in the + direction. Even if a target position that would
Type 3 [fixed rotation direction +] cause the motor to rotate 360 degrees or more is set, the amount of movement
The motor always moves in the - direction. Even if a target position that would
Type 4 [fixed rotation direction -] cause the motor to rotate 360 degrees or more is set, the amount of movement

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#parameters Related to the Homing Function

Enter the amount of home offset. The position away from the motor's home
#56 Offset distance from home position position by the amount specified in this #parameter is set as the coordinate
origin.
Generally, use the initial value (#57 = 0). This parameter specifies the
Coordinate value in command units
#57 command unit command coordinate value after the completion of a homing
after homing
operation.
System setup
Select offset move velocity This parameter sets the move velocity of a homing operation.
register 3
(3) How to Perform Homing Operation (Utility Software)

STEP 2 Select the homing operation tab in the operation window.
STEP 3 Move the motor to the homing start position.
STEP 5 Click the [Drive] button to start a homing operation.
* Table data No. 63 is used for execution in the homing window. The M function, continue
function, and coin waiting function cannot be set.
5 Perform a homing
operation.
2 Select the Homing
operation tab.
4 Turn the
servo ON.
(4) How to Perform Homing Operation (Controller Interface)


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TIP
The OUT_ORG_FINISH signal is turned ON after the power to an absolute motor is turned
ON even without performing a homing operation. This signal is not turned OFF until the power
is turned OFF regardless of servo ON/OFF. However, if a homing operation is performed, it is
turned OFF when starting a homing operation, and then turned ON when the homing
operation is complete.
(5) Setting the Current Position as the Position after a Homing Operation
Set parameter #57 [Coordinate value in command units after homing] to 0, and perform a
homing operation. Then, after moving the current position to the position desired after a
homing operation, set a home offset position. Do not set the coordinate system again while
performing a series of operations. For more information about the operation to set the home
offset position, see Section 6.4.11, "Command" and Section 8.4.2, "Terminal."

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6.4.6 ABS (Absolute) Positioning Move
In this operation, the motor is moved to the specified position by entering an absolute position
relative to the home position in table data.
(1) How to Set Absolute Positioning Move
Set the data according to the flowchart showing the procedure for creating table data in 6.4.1,
"Table Data Operation." See the following for how to set operation data and #parameters,
corresponding to steps 4 and 6 in the flowchart.
STEP 1 Select the settling width from #parameters 90 to 97 [position settling width].
[INC/ABS move] in [Function parameter] of [#parameter].
selecting [INC/ABS move] in [Function parameter] of [#parameter].
STEP 4 Select the feed velocity.
STEP 6 If [Direct] is selected for [Direct or indirect], enter the target position in [Table data 1].
If [Indirect] is selected for [Value specification], enter the #parameter or #monitor
number to be used as the target position in [Table data 1].

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Setting #parameters Related to Absolute Positioning Move
 Setting #parameters Related to Absolute Positioning Move
utility software.
STEP 2 Select [ABS/INC move] from [Function parameter].
STEP 3 Set the feed velocity, acceleration time, deceleration time, position settling width,
maximum velocity and velocity override percentage.

STEP 2 Select the Table operation tab in the Operation menu.
(3) How to Perform Absolute Positioning Move (Controller Interface)


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Absolute Positioning Move Operation Data 0 and 1
Position settling
Coin width Select the coin width from coin windows 0 to 7 (#90 to #97).
width 0
Select acceleration
Select the acceleration time from acceleration times 0 to 3 (#72 ~ #75). Acceleration time 0
time
Select deceleration
Select the deceleration time from deceleration times 0 to 3 (#76 ~ #79). Deceleration time 0
time

type acceleration

type acceleration
Constant
Select velocity Select the feed velocity from feed velocities 0 to 7 (#64 ~ #71).
acceleration
Optional move system is used. (Either the linear coordinate system or the rotation
Type 0 (short way
direction for rotation coordinate system can be selected for the coordinate system in system
around)
coordinate setup register 1.)
See the table below.
If [Direct] is selected: The target position is set in operation data 1. The
unit is axis command unit.
If [Indirect] is selected: Select #parameter/#monitor and
Direct or indirect 0 (Disabled)
#parameter/#monitor numbers in operation data 1. The value of the
selected #parameter/#monitor is set as the target position. The unit is
axis command unit.
Movement Direction Setting Types in Rotation Coordinate System and Rotation Directions
in rotation coordinate system
The motor rotates in the direction that yields the shortest distance to the target
position from the current position command value. (The motor rotates in the +
Type 0 (short way around) direction if it is rotated exactly 180 degrees.) Even if the target position is set in
such a way as to cause the motor to rotate 360 degrees or more, the amount of
movement will be less than 360 degrees.
The motor moves in the same direction as the sign of the target position set in table
Type 1 [do not cross the home
data relative to the home position. If the motor crosses the home position, it is
position]
moved in the opposite direction. The motor never rotates 360 degrees or more.
The motor moves in the same direction as the sign of the target position set in the
table data relative to the home position. If the target position is set in such a way as
to cause the motor to rotate 360 degrees or more, the motor may rotate several
times.
The motor always moves in the + direction. Even if the target position is set in such
Type 3 [fixed rotation direction +] a way as to cause the motor to rotate 360 degrees or more, the amount of
The motor always moves in the - direction. Even if the target position is set in such
Type 4 [fixed rotation direction -] a way as to cause the motor to rotate 360 degrees or more, the amount of

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6.4.7 INC (Incremental) Positioning Move
In this operation, the motor is moved to the specified position by entering a position relative to
the current position command value in table data.
(1) How to Set Incremental Positioning Move
STEP 1 Select the settling width from #parameters 90 to 97 [position settling width].
[INC/ABS move] in [Function parameter] of [#parameter].
selecting [INC/ABS move] in [Function parameter] of [#parameter].
STEP 4 Select the feed velocity.
STEP 6 If [Direct] is selected for [Direct or indirect], enter the relative target position in [Table
data 1].
If [Indirect] is set for [Direct or indirect], enter the #parameter or #monitor number to
be used as the relative target position in [Table data 1].

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Setting #parameters Related to Increment Positioning Move
 Setting #parameters Related to Increment Positioning Move

utility software.
STEP 2 Select [ABS/INC move] from [Function parameter].
STEP 3 Set the feed velocity, acceleration time, deceleration time, position settling width,
maximum velocity and velocity override percentage.

STEP 2 Select the Table Operation tab in the Operation menu.
(3) How to Perform Increment Positioning Move (Controller Interface)


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Increment Positioning Move Operation Data 0 and 1
Select the settling width at homing operation from coin widths 0 to 7 (#90 Position settling
Coin width
~ #97). width 0
Select acceleration
Select the acceleration time from acceleration times 0 to 3 (#72 ~ #75). Acceleration time 0
time
Select deceleration
Select the deceleration time from deceleration times 0 to 3 (#76 ~ #79). Deceleration time 0
time

Select either "constant acceleration" or "S-curved."
type acceleration

Select either "constant acceleration" or "S-curved."
type acceleration
Constant
Select velocity Select the feed velocity from feed velocities 0 to 7 (#64 ~ #71).
acceleration
Optional move system is used. (Either the linear coordinate system or the rotation
Type 0 (short way
direction for rotation coordinate system can be selected for the coordinate system in system
around)
coordinate setup register 1.)
See the table below.
If [Direct] is selected: The relative target position is set by operation data
1. The unit is axis command unit.
If [Indirect] is selected: Select #parameter/#monitor and
Direct or indirect 0 (Disabled)
#parameter/#monitor numbers in operation data 1. The value of the
selected #parameter/#monitor is set to the relative target position. The
unit is axis command unit.
Movement Direction Setting Types at Rotation Coordinates and Rotation Directions

in rotation coordinate system
Rotate in the direction that yields the shortest distance to the relative target position
from the current position command value. (The motor rotates in the + direction if it
Type 0 (short way around) is rotated exactly 180 degrees.) Even if the target position is set in such a way as to
cause rotation of 360 degrees or more, the amount of movement will be less than
360 degrees.
The motor moves in the same direction as the sign of the relative target position set
Type 1 [do not cross the home
in table data relative to the home position. If the motor crosses the home position, it
position]
is moved in the opposite direction. The motor never rotates 360 degrees or more.
The motor moves in the same direction as the sign of the relative target position set
in the table data relative to the home position. If the relative target position is set in
such a way as to cause the motor to rotate 360 degrees or more, the motor may
rotate several times.
The motor always moves in the + direction. Even if the target position is set in such
Type 3 [fixed rotation direction +] a way as to cause rotation of 360 degrees or more, the amount of movement will
be less than 360 degrees.
The motor always moves in the - direction. Even if the target position is set in such
Type 4 [fixed rotation direction -] a way as to cause rotation of 360 degrees or more, the amount of movement will
be less than 360 degrees.

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6.4.8 Dwell
The dwell time provides a means for making the motor wait for a specified amount of time
before executing a new command.
The dwell time that can be set is in the range from 0 to 65,535msec and can be entered in
increments of 1msec.
Normally, it is used as a pause time when performing a continue after execution operation
where two or more tables are concatenated.
(1) How to Set Dwell
STEP 1 Select [Table Data] from the main menu in the utility software.
STEP 2 Double-click the table number you want to specify.
STEP 3 Set the dwell time (wait time) in the Setting window. (The setting unit is msec.)
STEP 4 Select the M function, coin waiting function and continue function as necessary.

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6.4.9 Parameter Change
It is possible to change the values of #parameters during table operation. This function is
mainly used to change the feed velocity parameter sequentially and set a #parameter value in
one of the variables (#100 to #109), for instance to use it as a counter to count the number of
operations during table operation.
See the sample table included in the drive at shipment from the factory for specific ways to
use this function (see Appendix "Details of #parameters").
(1) How to Set Parameter Change
This function is set using the utility software. Select [Parameter change] in [Code] in the Table
Setting window and specify necessary items. The setting items in [Table data 1] change
according to the calculation type selected in [Table data 0].
Select "Parameter change."
The setting status

is displayed.
The setting items change

according to the calculation type.

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(2) Common Setting Items
 Type
Specify the calculation type if new values are assigned to #parameters. See the next section
for more information.
 Changed #parameter number
Specify the #parameter whose value is to be changed on the left side.
 Operator code
Specify an operator for operation/assignment. The setting is ignored in the case of direct or
indirect assignment. The following types of operators are provided.
Type of operation that can be

Operator name Operator symbol
specified
Addition + Binary operation
Subtraction - Binary operation, unary operation
Multiplication * Binary operation
Division / Binary operation
Remainder at division % Binary operation
Bit AND & Binary operation
Bit EXOR ^ Binary operation
Bit OR | Binary operation
Bit NOT ~ Unary operation
List of Operators that can be Specified
 Specify registration
Select [Do not regist] if the #parameter whose value should be changed is a normal
#parameter stored in RAM. Select [Regist] if it is a #parameter to be registered in the
EEPROM. (Select [Do not regist] if the parameter is used temporarily, for instance if it is used
as a counter.)
CAUTION
When #parameters are registered, their values are written in the EEPROM. There is a limit on
the allowable number of times the EEPROM can be written to (approximately 1 million times).
If this limit is exceeded, the EEPROM may be damaged and the drive may not start up.
If you select "specify registration" for #parameters in the "#parameter change function" during
table operation, this limit may be exceeded depending on the pattern used.

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(3) Explanation of Each Operation Type
With the parameter change function, it is possible not only to change the values of the
specified #parameters to simple values, but also to results of calculation operations.
Direct Assignment
The value (signed 32-bit value) specified by operation data 1 is assigned directly to the
specified target #parameter. At this point, the setting of operator code is ignored.
Examples: #100 = 123

#100 = -123
##100 = 123
Indirect Assignment
The value of the #parameter/#monitor number specified by table data 1 is assigned to the
specified target #parameter. The specified #parameter number is a #parameter in RAM. At
this point, the setting of operator code is ignored.
Example: #100 = #101
Unary Operation Assignment 1
The value (signed 32-bit value) specified by table data 1 is assigned directly to the specified
target #parameter after carrying out an operation. Only "subtraction (-)" and "bit NOT (~)" can
be specified as the operator. If an operator that cannot be used is specified, the specification
is rejected and a "50.5 not executable error" is generated.
Example: #100 = ~123
Unary Operation Assignment 2
The value of the #parameter/#monitor number specified by table data 1 is assigned to the
specified target #parameter after carrying out an operation. Only "subtraction (-)" and "bit
NOT (~)" can be specified as the operator. If an operator that cannot be used is specified, the
specification is rejected and a "50.5 not executable error" is generated.
Example: #100 = ~#101
Binary Operation Assignment 1
The result of an operation between the direct value (signed 24-bit value) and the value of the
#parameter/#monitor number specified by table data 1 is assigned to the specified target
#parameter. If an operator that cannot be used is specified, the specification is rejected and a
"50.5 not executable error" is generated.
Example: #100 = 123 + #101

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Binary Operation Assignment 2
The result of an operation between the value of the #parameter/#monitor number and the
direct value (signed 24-bit value) specified by table data 1 is assigned to the specified target
#parameter. If an operator that cannot be used is specified, the specification is rejected and a
"50.5 not executable error" is generated.
Example: #100 = #101 + 123
Binary operation substitution 3
The result of an operation between the values of the two #parameter/#monitor numbers
specified by table data 1 is assigned to the specified target #parameter. If an operator that
cannot be used is specified, the specification is rejected and a "50.5 not executable error" is
generated.
Example: #100 = #101 + #102

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6.4.10 Conditional Branch
The conditional branch function is used to change the flow of operation according to a given
condition. The conditional branch function is thus not an actual function by itself.
It supports only indirect comparison between #parameter/#monitor values. If it is desired to
compare a #parameter/monitor value with a fixed value, it is necessary to set the value in
question in a variable #parameter.
See the sample table default setting for specific ways to use this function (see Appendix
"Details of #parameters").
(1) How to Set Conditional Branch
This function is set using the utility software. Select [Conditional branch] in [Code] in the Table
setup window and specify necessary items.
Select [Conditional branch]. The table number to which the

operation jumps in case the
branch condition does not hold
The table number to which the operation

jumps in case the branch condition holds.
This is always executed when the condition
holds.
Note: If settings are made as shown in the example above, the operation sequence can be
represented using the flowchart below.

6-105
(2) Comparison Operator Codes
The table below lists comparison operators that can be specified.

Operator symbol Name
> Greater than
< Smaller than
≥ Greater than or equal to
≤ Smaller than or equal to
= Equal
≠ Not equal
&& Logical multiplication
|| Logical addition
& Bit AND
^ Bit EXOR
| Bit OR
List of Comparison Operators

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6.4.11 Command
By using the command function, it is possible to execute some of the @commands that can
be issued from the serial interface (see Section 8.4.2, for the explanation about the
@commands).
(1) How to Set Command
This function is set using the utility software. Select the command in [Code] in the Table setup
window and specify necessary items.
Select the command.
Select a command code.
Nothing is displayed for a command that has no

argument specified in operation data 1.

6-107
(2) Details of Commands
Home Offset Position Setting
The home offset position setup command is used to automatically calculate the value of
parameter #56 [homing, amount of home offset movement] in such a way that the current
motor position is set as the position after the completion of subsequent homing operations.
Specify how to determine parameter #56 with the argument. Note that the calculation method
differs depending on whether the coordinate system selected at execution is the linear
coordinate system or the rotation coordinate system.
This command has the same function as the @10 command of the serial interface.
 When the Rotation Coordinate System is Used
When the rotation coordinate system is used, the home offset position is calculated as A =
current command unit current value + #56.
The calculation method varies depending on the setting method specified by the argument.
If the setting method is 0 (offset to the closer position):
0 ≤ A ≤ (#112 [scaling command unit coordinate system] / 2 #56 = A
Other than above #56 = A - #112
If the setting method is 1 (offset in the + direction):
#56 = A
If the setting method is 2 (offset in the - direction):
#56 = A - #112
 When the Linear Coordinate System is Used
When the linear coordinate system is used, the argument is ignored and the home offset
position is always set as follow.
#56 = current command unit current value + value set in #56
CAUTION
Use this command after a homing operation is completed with parameter #57 [command unit
command value after homing completion] set to 0. If the command is issued when the
parameter is other than 0, the setting will not be made correctly.
Make sure to execute this command after performing a homing operation.

6-108
Coordinate System Setting
The coordinate system setup command is used to set the current command unit command
value to the value specified by the argument. The value can either be specified by direct value
specification or indirect value specification (to the current command unit command value is
set to the value of another #parameter). If it is attempted to set a negative value when the
rotation coordinate system is used, a "17.2 coordinate system abnormal B error" occurs.
Integral Limiter Self-adjustment
The integral limiter self-adjustment command is used to recalculate and set the values of the
velocity integral limiter and position integral limiter set on the side selected by the controller
interface (1 or 2).
The following #parameters are re-set according to the logic I/O input status.
IN_VELFREQ_SEL OFF: #6 [velocity integral limiter value 1]
ON: #7 [velocity integral limiter value 2]
IN_POSFREQ_SEL OFF: #12 [position integral limiter value 1]
ON: #13 [position integral limiter value 2]
#parameters to be re-set must be #parameters in RAM. Save the values of the registered
parameters in the EEPROM as necessary.

6-109
6.4.12 Startup Operation
Startup operation is a function that allows executing table data automatically immediately after
turning the power ON. It is necessary to enable the startup operation in the parameter
settings in order to use this operation.
(1) How to Set Startup Operation
STEP 1 Select [Parameter] in the utility software.

STEP 2 Select [System setup register 2].
STEP 3 Select [Startup Operation] to [Enable].
STEP 4 Click the [Regist] button.
STEP 5 Create startup table in table data No. 59.
 Sequence of Startup Operation

Use the following timing diagram as a reference for the sequence when the power is turned
ON.
Main power supply input
Main power supply status
Regeneration error output (TB4)
Main power supply on switch (external circuit)
IN_***
Logic I/O contact input
IN_SERVO
(CN4 I/O input)
OUT_SRDY
(CN4 servo ready)
OUT_DRDY*1
(CPU) ready)
OUT_MODE_EXE
(CN4 I/O output)

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6.5 Control Using the PLC

The DrvPIII does not have the position control mode, velocity control mode, and torque/thrust
control mode.

6-111
6.6 Position Settling Signal
Position Settling Signal (OUT_COIN)
The position settling signal is used for notifying the PLC whether or not the motor is in the
proximity of the command position.
This signal is turned ON when (position command value - current position value) is within the
settling width set by the parameter (see the figure below). The settling width should be set
according to the required accuracy of the device. If the position deviation is small or the
settling width is set large, this signal may be turned ON even while the motor is operating.
Moreover, chattering may occur when the motor is close to stopping. If chattering occurs, it is
possible to set #29 [Cycle count for coin signal activation] so that the settling signal is not
turned ON until after the motor position settles.
Position Actual
command value position value Settling width setup value
- (Settling width setup value)
- direction + direction
Motor
coordinate
Position deviation
axis
Area where OUT_COIN is turned ON
The applicable coin window parameter varies with the setup status of input contacts
IN_POSW.0 to IN_POSW.2 while not in a table data operation.
In table data operation, it is possible to select which position settling width parameter to apply
for each table data.
I/O Input States and Selected Coin width Parameters while not in a table data operation
Parameter Selection of I/O input coin width
No. Name IN_POSW.2 IN_POSW.1 IN_POSW.0
#90 Coin width #0 OFF OFF OFF
#91 Coin width #1 OFF OFF ON
#92 Coin width #2 OFF ON OFF
#93 Coin width #3 OFF ON ON
#94 Coin width #4 ON OFF OFF
#95 Coin width #5 ON OFF ON
#96 Coin width #6 ON ON OFF
#97 Coin width #7 ON ON ON
TIP
Selection of unit setting

Select whether the unit of the coin width parameters (#90 to #97) is set to pulse unit or
command unit in system setup register 1.

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Cycle Count for Coin Signal Activation
The position settling status signal is turned ON if the condition where the absolute value of the
position deviation is equal to the coin width or less continues for the duration specified by the
setup value of parameter #29 [Cycle count for coin signal activation] (counted at 1ms cycle).
Set the number of chattering processing times large if chattering occurs in the position settling
signal (OUT_COIN) due to overshoot at position settling caused by the conditions of servo
tuning, etc. This way, an absolute position settling indication can be obtained. The position
settling signal is immediately turned OFF if the absolute value of the position deviation
exceeds the coin width.
#330 [Command torque/force value]
#342 [Actual velocity value]
#372 [Position error (pulse)]
Position settling signal
Chattering of the coin width signal can be

suppressed by setting the number
of chattering processing times parameter
appropriately.
#330 [Command torque/force value]
#342 [Actual velocity value]
#372 [Position error (pulse)]
Position settling signal

6-113
Parameters Related to the Position Settling Signal
Parameter number Parameter name Description
The OUT_COIN signal is turned ON when the position deviation is within the
setup value range of this parameter. Set this parameter according to the required
accuracy of the device.
While performing table data operation, the coin width set by the parameter
#90 ~ #97 Coin width
selected at creating table data becomes valid.
Under other conditions, the coin width is set by entering a coin width number in
IN_POSW.0 to IN_POSW.2 as a binary value. This means that if IN_POSW.0 to
IN_POSW.2 are all turned OFF, the setup value of #90 is selected.
This parameter is valid only when the current position value filter is set to valid in
system setup register 2. The current position value is filtered by a linear low-pass
Actual position value filter
#28 filter. This parameter is used for the purpose of preventing chattering of the COIN
frequency
signal. Using the filter does not cause any changes to the motor operation, but
may cause the output of the OUT_COIN signal to be delayed.
This parameter is used to prevent chattering of the OUT_COIN signal.
Cycle count for coin signal
#29 The position settling status signal is turned ON if the position deviation is in the
activation
range set by the coin width for duration of (setup value of #29) x 1 [msec].
System setup register 1, settling This parameter selects the unit of the settling width set by the parameter.
#110 bit17
width unit pulse selection 0: Command unit, 1: Pulse unit
Monitors Related to the Position Settling Signal
This monitor monitors the amount of position deviation. The pulse position
#372 Position error (pulse) deviation is the value obtained by subtracting the current pulse position value
from the pulse position command value.
Inputs/Outputs Related to the Position Settling Signal
Name Logic I/O Hard I/O Monitor (*2) Description
Position settling This output is turned ON when the position deviation is within the
Block2 #320 status register
status output CN4-8 setup range. It is turned ON as far as the position deviation is in the
Bit4 1, bit 16
(OUT_COIN) setup range, even if the motor is still operating.
Positioning status The positioning status refers to the status in which no
Block2 #320 status register
output (*1) acceleration/deceleration operation is being performed to move the
Bit5 1, bit 17
(OUT_POS) motor.
This signal turns ON during table data operation and jog movement.
Busy signal Block0
CN4-5 --- If the position coin waiting function is set to "enable" in table data, the
(OUT_BUSY) Bit6
OUT_BUSY signal turns OFF after the position of the motor settles.
This signal turns ON during table data operation (when an operation
Operating Block2 #320 status register started with IN_START is being executed). If the position coin
(*1)
(OUT_MODE_EXE) Bit0 1, bit 12 waiting function is set to "valid" in table data, the OUT_MODE_EXE
signal turns OFF after the position of the motor settles.
This signal turns ON while the motor is operating. If the position coin
Axis operating Block0 #320 status register
(*1) waiting function is set to "valid" in table data, the OUT_AXIS_EXE
OUT_AXIS_EXE Bit3 1, bit 10
signal turns OFF after the position settles.
*1: The status can also be checked with the Axis Signal Monitor, Parameter Monitor and Oscilloscope
functions of the utility software.

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6.7 Signal Monitor Function

* The R7041WC analog monitor card (optional) is required to use the signal monitor
function.
By using the analog monitor card, it is possible to observe velocity and monitor waveforms
generated inside the drive using an oscilloscope.
Analog monitor card

(optional) R7041WC
Oscilloscope DrvPIII Motor
Signal Signal name Wiring Output signal level Remarks
Output voltage [V] This signal outputs the velocity

waveform as an analog voltage
signal. It is also possible to output
#parameter/# an AC-coupled waveform. The
monitor value output range can be adjusted
VEL Velocity monitor CN3-1 using the utility software.
Gain setup range

±3.07V VS ±2 raised to the nth power
(8 ≤ n ≤ 24)
Maximum output: 4.8V
Output voltage [V] These signals output selected
#parameter/#monitor values (#0 to
Analog monitor
AM1 CN3-2 #427) as analog voltage signals.
1
#parameter/# The output range can be adjusted
monitor value using the utility software.
Gain setup range

Analog monitor ±3.07V VS ±2 raised to the nth
AM2 CN3-3 power
2
(8 ≤ n ≤24)
Maximum output: 4.8V
DM1 Digital monitor 1 CN3-4 These signals select

Output voltage
#parameter/#monitor values (#0 to
If the value is 1: Approx. 5V
#427) and bit numbers, and output
If the value is 0: Approx. 0V
DM2 Digital monitor 2 CN3-5 as digital voltage signals.
Commanded
T-R CN3-6 ± maximum current = ±4.3V
current value
GND Ground CN3-10 --- This is a common ground pin for

signal monitoring.

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(1) Parameter Setting
STEP 1 Select the [#parameter] from [Data Management] in the utility software.
STEP 2 Select the Signal Monitor Terminal tab and select a terminal whose setting you want
to change.
STEP 3 Select a monitor signal.
STEP 4 Adjust the monitor gain (except for digital monitor signals).
* At this point, the output range relative to the gain setting is displayed.
STEP 5 Click the [Regist] button.
Set the monitor signal

and monitor gain.
The input range is displayed.
Select the monitor signal

you want to monitor.
<Example of output waveform>
Output waveform at positioning operation
VEL speed waveform
AM1 #372
[Position error (pulse)] waveform
AM2 #325
[Command current value] waveform
DM1 #320
[Status register #3, bit 12 operation
being executed] waveform

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#parameters Related to the Signal Monitor Function
This parameter switches between different types of velocity monitor output.

0: Velocity monitor
#30 Velocity monitor select
1: Velocity monitor AC (waveform from which frequency components of 1Hz or
less are eliminated)
This parameter sets the monitor gain in the velocity monitor. If the setup value is
#31 Velocity monitor gain n, the gain is ±3.07V VS 2 raised to the nth power.
The maximum output voltage is ±4.8V.
This monitor selects what should be output to analog monitor 1. Set the
#32 Analog monitor select #1
#parameter/#monitor number you want to observe.
This parameter sets the monitor gain in analog monitor 1. If the setup value is n,
#33 Analog monitor gain #1 the gain is ±3.07V VS 2 raised to the nth power.
This monitor selects what should be output to analog monitor 2. Set the
#34 Analog monitor select #2
#parameter/#monitor number you want to observe.
This parameter sets the monitor gain in analog monitor 2. If the setup value is n,
#35 Analog monitor gain #2 the gain is ±3.07V VS 2 raised to the nth power.
This monitor selects what should be output to digital monitor 1. Set the
#36 Digital monitor 1select #1
#parameter/#monitor number and bit number you want to observe.
This monitor selects what should be output to digital monitor 2. Set the
#37 Digital monitor select #2
#parameter/#monitor number and bit number you want to observe.

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6.8 Area Signal

Two area signal channels are provided. When a position range is specified by certain
parameter values in advance, these signals indicate whether or not the motor position is
within the indicated range. The status is output to the OUT_AREA_0 and OUT_AREA_1
signals of the controller interface and parameter #321 [Status register 2 (bits 26 and 27)] of
the utility software.
The area signal range is set by specifying the coordinate value at which the signal is turned
ON in parameters #46 [Area signal 0 ON] and #48 [Area signal 1 ON] in command units, and
specifying the coordinate value at which the signal is turned OFF in parameters #47 [Area
signal 0 OFF] and #49 [Area signal 1 OFF] in command units. The signal output as a function
of the motor position, #376 [Actual position value in command units], varies with the greater of
the coordinate values whereby the signal is turned ON or OFF. The figures below show how
the signal is output in case the linear coordinate system or the rotation coordinate system is
selected, respectively.
The area signal is ON.
#46 (#48) setup value #47 (#49) setup value

ON position < OFF position
#47 (#49) setup value #46 (#48) setup value

OFF position < ON position
[Linear coordinate system]
ON position < OFF position OFF position < ON position
[Rotation coordinate system]
Parameter Setting
STEP 1 Select [Terminal] from [Control].

STEP 2 Set the parameters for the area signal range in the Terminal window.
Hard I/O Assignment Setting
STEP 1 Select [I/O] from [Data Management] in the utility software.

STEP 2 Assign area signal 0 or area signal 1 in the hard I/O contact output assignment
window.

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6.9 Torque/thrust Control Function

Select this function when you want to restrict the output torque. The torque can be restricted
by setting a value in parameter #59 [Torque/Force limit percentage].
How to Restrict Torque by Parameter #59 [Torque/Force Limit Percentage]
STEP 1 Select the [Terminal#59] from [Control].

STEP 2 Set the limit value in the text box of the Terminal window.
The setting unit is [1/100%]. 100% allows the maximum output torque/thrust
(Example) To restrict the output torque to 60%

#59 = 6000 (when registration is not performed)
##59 = 6000 (when registration is performed)

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6.10 Special Functions of CC-Link

If the CN4 controller interface is CC-Link, the following functions can be used via the CN4
controller interface.
Error code acquisition function

#parameter write function
#parameter/#monitor read function
#parameter/#monitor display A, B function Only when the number of occupied stations is 2 stations
Use the above functions after assigning necessary signals using the hard I/O assignment
function.
Error Code Acquisition Function
The error code acquisition function operates regardless of the operating mode.
The drive notifies the current error code to OUT_ERR_CODE. The main code and subcode
are notified to the upper 8 bits and lower 8 bits of OUT_ERR_CODE, respectively, in binary
notation. If no error has occurred, the error code is output as 0.
#parameter Write Function
The #parameter write function operates regardless of the operating mode.

The CC-Link master station turns ON the IN_PRM_WR_REQ signal after setting the
#parameter number to be written into the IN_WR_PRM_NO signal and the #parameter data
to be written into the IN_WR_PRM_DATA signal. The drive performs #parameter write
processing, turns ON the OUT_PRM_WR_END signal, and notifies that the processing has
been complete. If the write processing completed normally, the drive turns ON the
OUT_PRM_WR_END signal as well as the OUT_PRM_WR_OK signal. If the write
processing did not complete normally, the OUT_PRM_WR_OK signal stays OFF when the
drive turns ON the OUT_PRM_WR_END signal.
No inquiry No inquiry
When write processing completed normally: ON

When write processing did not complete normally: OFF

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#parameter/#monitor Read Function
The #parameter/#monitor read function operates regardless of the operating mode.

The CC-Link master station turns ON the IN_PRM_RD_REQ signal after setting the
#parameter/#monitor number to be read into the IN_RD_PRM_NO signal. The drive performs
#parameter/#monitor read processing, turns ON the OUT_PRM_RD_END signal, and notifies
that the processing has been complete. If the read processing completed normally, the drive
turns ON the OUT_PRM_RD_END signal, sets the data it read in the OUT_RD_PRM_DATA
(High, Low) signal, and turns ON the OUT_PRM_RD_OK signal. If the read processing did
not complete normally, the OUT_PRM_RD_OK signal stays OFF and the
OUT_RD_PRM_DATA (High, Low) is set to 0 when the drive turns ON the
OUT_PRM_RD_END signal.
When write processing completed normally: ON

When write processing did not complete normally: OFF
Undefined Undefined

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#parameter/#monitor Display A, B Function
The #parameter/#monitor display A, B function operates regardless of the operating mode.

The #parameter/#monitor display A, B function periodically notifies #parameter/#monitor
values that are set. The refresh cycle is approximately 10 msec. The parameter/monitor
numbers when the power is turned ON are 375 for A and 376 for B.
To change the #parameter/#monitor numbers to be displayed, first the CC-Link master station
turns ON the IN_MON_A_CHNG_REQ or IN_MON_B_CHNG_REQ signal after setting the
#parameter/#monitor number to be changed in the IN_MON_A_PRM_NO or
IN_MON_B_PRM_NO signal. The drive performs processing to change #parameter/#monitor
numbers to be displayed, turns ON the OUT_MON_A_CHNG_END or
OUT_MON_B_CHNG_END signal, and notifies that the change processing has been
complete. If the change processing completed normally, the drive turns ON the
OUT_MON_A_CHNG_END or OUT_MON_B_CHNG_END signal as well as the
OUT_MON_A_CHNG_OK or OUT_MON_B_CHNG_OK signal. If the change processing did
not complete normally, the OUT_MON_A_CHNG_OK or OUT_MON_B_CHNG_OK signal
stays OFF when the drive turns ON the OUT_MON_A_CHNG_END or
OUT_MON_B_CHNG_END signal.
ON
IN_MON_*_CHNG_REQ
OFF
IN_MON_*_PRM_NO No inquiry No inquiry
ON
OUT_MON_*_CHNG_END
OFF
ON When write processing completed normally: ON
OUT_MON_*_CHNG_OK When write processing did not complete normally: OFF
OFF
OUT_MON_*_DATA (High,Low)
Notify the values corresponding to Notify the values corresponding to

#parameter/#monitor numbers #parameter/#monitor numbers
before change after change

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6.10.1 Version V1.50 - Additional Function
In this section, specifications added from V1.50 of firmware for DrvPIII are outlined. All of
functions below are upper level compatible since these are using reserved storage and
mounted. DYNASERV and LINEARSERV driven with DrvPIII having older firmware version is
possible to be drive with the version V1.50 also.
(1) Additional Function for Software I/O

"Register Parameter Select” and “Software Reboot” functions are added to Software I/O
signals. These are not configured with hardware I/O at default setting. Configure the software
I/O through software when using.
Refer to “Chapter 6: I/O Contact Signals” for configuration.
Title block bit Functions

Register [Register] or [Set] is selectable at sequence
Parameter IN_EEPROM_SEL 5 5 of parameter writing. Value can be wrote to
Select nonvolatility memory by selecting [Register].
Software Drive is rebooted from controller by detecting
IN_REBOOT 0 7
Reboot rising edge of the signal.
Processing Sequence
1) Register Parameter Select
IN_EEPROM_SEL No inquiry No inquiry
ON
IN_PRM_WR_REQ
OFF
IN_WR_PRM_NO No inquiry No inquiry
IN_WR_PRM_DATA No inquiry No inquiry
ON
OUT_PRM_WR_END
OFF
ON
OUT_PRM_WR_OK
OFF
If not wrote properly OFF
If wrote properly ON
2) Software Reboot
Over 20ms
ON
IN_REBOOT
OFF

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(2) CC-Link Communication Auto-Recovering Function (only for CC-Link option)
Stability of CC-Link communication have tremendous significance for actuator's normal

performance. It is undesirable that CC-Link communications becomes down to error state
from any cause. Therefore, DrvPIII with CC-Link option is designed to hold error status and
block off the communication, which is lack creditability, for safety purpose when detecting an
abnormal communication.
Recycling main power is necessary after removing cause of the error.
This function is used when performing the power recycling from controller through CC-Link
communication. This function allows the drive to automatically return to network after normal
communication state is confirmed even after a communication error is detected. However
even in this case, error reset command is not valid to cancel communication error state
because drive recognizes that the error is non-recoverable error. It is necessary to recycle
main power of drive after removing communication error factor in order to recover the drive.
This function is invalid at default setting (same as previous versions)
This function is exclusively for CC-Link option of DrvPIII.
Parameter Setup
The function becomes valid by setting bit 31 of #119 CC-Link setup register to 1 through
software, and recycling power of drive. The detailed procedure is as below.
(1) ##119 = ##119 | H80000000

(2) Recycling main power of drive

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6.11 Special Functions of PROFIBUS-DP

If the CN4 controller interface is PROFIBUS-DP, the following additional functions can be
used via the CN4 controller interface.
Parameter read function

Parameter write function
Table data read function
Table data write function
Error code acquisition function
Soft reboot function
#parameter Read Function (Block 5 - bit 1)
The PROFIBUS-DP master station turns ON the IN_PRM_RD_REQ signal after setting the
#parameter/#monitor number to be read into the IN_NUMBER (Block 6, 7). The drive
performs #parameter/#monitor read processing, turns ON the OUT_RD_END signal, and
notifies that the processing has been complete. If the read processing completed normally,
the drive turns ON the OUT_RD_OK signal, sets the type of #parameter/#monitor it read in
the OUT_VALUE1_L (Block 11), sets the data it read in the OUT_VALUE2 (Block 12, 13, 14,
15). If the read processing did not complete normally, the OUT_RD_OK signal stays OFF and
the OUT_VALUE1 and the OUT_VALUE2 are set to 0 when the drive turns ON the
OUT_RD_END signal.
Parameter values for OUT_VALUE.1_L of bit0-bit3 are defined in binary code.

Decimal code: 0 hexadecimal: 6

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#parameter Write Function (Block 5 - bit 0)
The PROFIBUS-DP master station turns ON the IN_PRM_WR_REQ signal after setting the
#parameter number to be written into the IN_NUMBER (Block 6, 7) and the #parameter data
to be written into the IN_VALUE2 (Block 12, 13, 14, 15). The drive performs #parameter write
processing, turns ON the OUT_WR_END signal, and notifies that the processing has been
complete. If the write processing completed normally, the drive turns ON the OUT_WR_OK
signal. If the write processing did not complete normally, the OUT_WR_OK signal stays OFF
when the drive turns ON the OUT_WR_END signal.

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Table data Read Function (Block 3 - bit 7)
The PROFIBUS-DP master station turns ON the IN_TBL_RD_REQ signal after setting the
table number to be read into the IN_NUMBER_L (Block 7). The drive performs table data read
processing, turns ON the OUT_RD_END signal, and notifies that the processing has been
complete. If the read processing completed normally, the drive turns ON the OUT_RD_OK
signal, sets the table data it read in the OUT_VALUE0 (Block 8, 9), OUT_VALUE1 (Block 10,
11), OUT_VALUE2 (Block 12, 13, 14, 15). If the read processing did not complete normally,
the OUT_RD_OK signal stays OFF and the OUT_VALUE0, OUT_VALUE1 and the
OUT_VALUE2 are set to 0 when the drive turns ON the OUT_RD_END signal.
IN_TBL_RD_REQ
IN_FRAM_SEL H: from FRAM L: from RAM
IN_NUMBER_L Table number (0 - 59)
IN_PRM_RD_REQ The Level is maintained during the sequence.
IN_PRM_WR_REQ The Level is maintained during the sequence.
IN_TBL_WR_REQ The Level is maintained during the sequence.
OUT_RD_END
OUT_RD_OK Not determined H: OK L:NG Not determined
OUT_VALUE.0_H Not determined Table register High Not determined
OUT_VALUE.0_L Not determined Table register Low Not determined
OUT_VALUE.1_H Not determined Table data.0 High Not determined
OUT_VALUE.1_L Not determined Table data.0 Low Not determined
OUT_VALUE.2_HH Not determined Table data.1 High-High Not determined
OUT_VALUE.2_HL Not determined Table data.1 High-Low Not determined
OUT_VALUE.2_LH Not determined Table data.1 Low-High Not determined
OUT_VALUE.2_LL Not determined Table data.1 Low-Low Not determined

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Table data Write Function (Block 3 - bit 6)
The PROFIBUS-DP master station turns ON the IN_TBL_WR_REQ signal after setting the
table number to be written into the IN_NUMBER_L (Block 7) and the table data to be written
into the IN_VALUE0 (Block 8, 9), the IN_VALUE1 (Block 10, 11), the IN_VALUE2 (Block 12,
13, 14, 15). The drive performs table data write processing, turns ON the OUT_WR_END
signal, and notifies that the processing has been complete. If the write processing completed
normally, the drive turns ON the OUT_WR_OK signal. If the write processing did not complete
normally, the OUT_WR_OK signal stays OFF when the drive turns ON the OUT_WR_END
signal.
IN_TBL_WR_REQ
IN_FRAM_SEL H: to FRAM L: to RAM
IN_NUMBER_L Table number (0 - 59)
IN_VALUE.0_H Table register High Not determined
IN_VALUE.0_L Table register Low Not determined
IN_VALUE.1_H Table data.0 High Not determined
IN_VALUE.1_L Table data.0 Low Not determined
IN_VALUE.2_HH Table data.1 High-High Not determined
IN_VALUE.2_HL Table data.1 High-Low Not determined
IN_VALUE.2_LH Table data.1 Low-High Not determined
IN_VALUE.2_LL Table data.1 Low-Low Not determined
IN_PRM_RD_REQ The Level is maintained during the sequence.
IN_PRM_WR_REQ The Level is maintained during the sequence.
IN_TBL_RD_REQ The Level is maintained during the sequence.
OUT_WR_END
OUT_WR_OK Not determined H: OK L:NG Not determined

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Error Code Acquisition Function (Block 3 - bit 5)
The drive notifies the current error code when the PROFIBUS-DP master station turns ON the
IN_ERRCODE_REQ signal. The drive performs error code acquisition processing, turns ON
the OUT_ERRCODE_OUT and the OUT_RD_END signals, and notifies that the processing
has been complete. If the acquisition processing completed normally, the drive turns ON the
OUT_RD_OK signal, sets the main code it read in the OUT_CODE and the OUT_VALUE0_H
(Block 8), sets the sub code it read in the OUT_VALUE0_L (Block 9). If the acquisition
processing did not complete normally (if the no error had occurred), the OUT_RD_OK signal
stays OFF and the error code is output as 0 when the drive turns ON the OUT_RD_END
signal.

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Cautiousness in the Reading/Writing Process of Parameter/Table data
Correlation of Request/Process/Result
Request Process Result
IN_PRM IN_PRM IN_TBL IN_TBL IN_ERR

OUT_WR_ OUT_RD_ OUT_WR_ OUT_RD_
_WR _RD _WR _RD CODE
END END OK OK
_REQ _REQ _REQ _REQ _REQ
parameter TRUE
ON OFF OFF OFF OFF -> -> TRUE FALSE FALSE
writing /FALSE
parameter TRUE
OFF ON OFF OFF OFF -> -> FALSE TRUE FALSE
reading /FALSE
table data TRUE

OFF OFF ON OFF OFF -> -> TRUE FALSE FALSE
writing /FALSE
table data TRUE

OFF OFF OFF ON OFF -> -> FALSE TRUE FALSE
reading /FALSE
error code TRUE

OFF OFF OFF OFF ON -> -> FALSE TRUE FALSE
reading /FALSE
request signal ON more than 2 -> - -> TRUE TRUE FALSE FALSE
OFF OFF OFF OFF OFF -> - -> FALSE FALSE FALSE FALSE
TIP
The following process can not be executed if more than 2 Request in ON status.
Writing Parameter
Reading Parameter
Writing Table data
Reading Table data
Acquisitioning Error code
The following signals will be ON at the same time if more than 2 Request in ON status.
OUT_WR_END (Writing end)
OUT_RD_END (Reading end)
TIP
If the undefined #parameter number or the undefined table number is set to be written, the
OUT_WR_OK is set to FALSE when the write processing completed.
TIP
If the undefined #parameter number or the undefined table number is set to be read, the
OUT_RD_OK is set to FALSE when the read processing completed.
TIP
If the no error had occurred, the OUT_RD_OK is set to FALSE when the error code
acquisition processing completed.

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IN_REBOOT (Block 0 - bit 7)
Function of Soft Reboot

Signal rising edge is detected and the driver is restarted from the host controller.
Turn on the soft reboot signal, after holding it more than 20 ms, be turn off the signal.
More than 20 ms
IN_REBOOT ON
OFF
After holding more than 20 ms, be turn off the signal.

6-131
Detail of Table data
 The format of Table data
Table data is being managed as the following figure inside the driver.
The table number is established by 16 bit (use 6 bit domain).
Table data consists of 64 bit (16 bit of an operation register, 16 bit of operation parameter 0
and 32 bit of operation parameter 1).
(1) Table No (16 bits, 6 bits domain)
(2) Operation resister (16 bits)
(3) Operation parameter 0 (16 bits)
(4) Operation parameter 1 (32 bits)

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Establishing the Table data from a host controller
To establish table data from the host controller, alter Block 6 to Block 15.
(1) the related Table numbers are allocated to Block 6 and Block 7
(2) the operation register is located within Block 8 and Block 9
(3) the operation parameter is defined by Block 10 and Block 11
(4) the operation parameter I is managed in Block 12, Block 13, Block 14, Block 15
In the case of establishing table data from the host controller, a bit of Block 6 to Block 15 must
be in operation. The value that is used is a binary form.
(1) Table No (Block 6, Block 7)
(2) Operation resister (Block 8, Block 9)
(3) Operation parameter 0 (Block 10, Block 11)

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(4) Operation parameter 1 (Block 12, Block 13, Block 14,Block 15)

6-134
The operation code
The operation code are as follows.
Test operation (0x00)

Auto tuning operation (0x01)
Homing operation (0x03)
ABS positioning operation (0x04)
INC positioning operation (0x05)
Dwell (0x10)
Parameter change operation (0x18)
Condition bifurcation (Only indirect comparing) (0x1E)
Command (0x1F)
These codes is set by the operation code in the operation register (bit 0 to bit 4 in Block 9).
The set value of each operation code will be the value in the parenthesis above-mentioned
(hexadecimal indication).
CAUTION
Dwell (0x10) will be established if an undefined code be set as an operation code.

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Setting operation code from controller
 Test operation (0x00)

Operation parameter area 0 : Nonuse
 Auto-tuning operation (0x01)

 Homing operation (0x03)

Operation parameter area 0 : as per figure below
A. Incremental motor
B. Absolute motor

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 Absolute positioning (0x04)

Operation parameter area 0: See below figure
Operation parameter area 1: See below figure (differ with set value)
Settling width of position selection Block10 Block11
0 : #90 settling width of position 0
3 : #93 settling width of position 3 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
4 : #94 settling width of position 4 Select Select
5 : #95 settling width of position 5 decelera accelera Select
6 : #96 settling width of position 6 COIN window
-tion -tion velocity
7 : #97 settling width of position 7 time time
Select acceleration type (0: constant, 1: S-curve)
Speed selection Acceleration time selection Movement direction setting types in
0 : #64 feed speed 0 0 : #72 acceleration time 0 rotating coordinate system and Select deceleration type (0: constant, 1: S-curve)
1 : #65 feed speed 1 1 : #73 acceleration time 1 rotation directions
2 : #66 feed speed 2 2 : #74 acceleration time 2 0 : short way around Direct or indirect (0: direct, 1: indirect)
3 : #67 feed speed 3 3 : #75 acceleration time 3 1 : do not cross the home position
4 : #68 feed speed 4 2 : multiple-rotation
3 : fixed rotating direction+ Optional move direction for rotation coordinate
5 : #69 feed speed 5
6 : #70 feed speed 6 4 : fixed rotating direction-
7 : #71 feed speed 7 Deceleration time selection 5 : reservation
0 : #76 deceleration time 0 6 : reservation
1 : #77 deceleration time 1 7 : reservation
2 : #78 deceleration time 2
3 : #79 deceleration time 3
A. For direct
B. For indirect
Parameter no. of target
－ position
Monitor no. of target position
Type 1: (0: parameter, 1: monitor)
A sample of ABS positioning set Block10 Block11

・speed selection： #68 feed speed 4
・settling width selection： #95 settling 5 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
・the type of acceleration： constant acceleration
・the type of deceleration： S character 0 1 1 0 0 1 1 0 1 0 1 0 1 1 0 0
・the value set： direct

・set the movement direction of rotating coordinate：
fix the direction of rotating+
・the acceleration time selection： #74 acceleration time 2
・the deceleration time selection： #77 deceleration time 1
・target position： 100pls movement
Block12 Block13 Block14 Block15
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 0

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 Incremental positioning (0x05)

Operation parameter area 1: See below figure (differ with set value)
Speed selection
Block10 Block11
3 : #67 feed speed 3 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Select Select
decelera accelera Select
6 : #70 feed speed 6 COIN window
-tion -tion velocity
time time
Select acceleration type (0: constant, 1: S-curve)
Settling width selection
Acceleration time selection Select deceleration type (0: constant, 1: S-curve)
0 : #72 acceleration time 0
1 : #73 acceleration time 1 Direct or indirect (0: direct, 1: indirect)
2 : #74 acceleration time 2
3 : #93 settling width of position 3 3 : #75 acceleration time 3
4 : #94 settling width of position 4 Optional move direction for rotation coordinate
5 : #95 settling width of position 5 Deceleration time selection
6 : #96 settling width of position 6 Movement direction setting types in
0 : #76 deceleration time 0 rotating coordinate system and rotation
7 : #97 settling width of position 7 1 : #77 deceleration time 1 directions
2 : #78 deceleration time 2 0 : short way around
3 : #79 deceleration time 3 1 : do not cross the home position
2 : multiple-rotation
3 : fixed rotating direction+
4 : fixed rotating direction-
5 : reservation
6 : reservation
7 : reservation
A. For direct
B. For indirect

6-138
 Dwell (0x10)
Operation parameter area 0: dwell time [ms]
Operation parameter area 1: Nonuse
 Parameter changing (0x18)

Operation parameter area 1: See below figure (differ with the type)
A. Direct substitution, monadic operation substitution 1
B. Indirect substitution, monadic substitution 2
C. Binomial operation substitution 1, binomial operation substitution 2
D. Binomial operation substitution 3
Parameter Parameter Parameter

Operator Value
Example Type no. no. 1 no. 2
code operated
eg eg substituted operated operated
#12=34 Direct substitution 0 0 12 34 - -
don't care
#12=#34 Indirect substitution 1 0 12 - 34 -
#12=~34 Monadic operation substitution 1 2 Need setting C 12 34 - -

(monadic
#12=-#34 Monadic operation substitution 2 3 operation 1 12 - 34 -
code)
#12=34+#56 Binomial operation substitution 1 4 Need setting 0 12 34 56 -
(binomial
#12=#34&56 Binomial operation substitution 2 5 8 12 56 34 -
operation
#12=#34/#56 Binomial operation substitution 3 6 code) 3 12 - 34 56

6-139
 Conditioal blanch (0x1E)

Block10
Block11
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Table no. in case Comparative

－－
conditions are met operator code
0x00 : > 0x06 : && AND operation

Note: 0x01 : < 0x07 : || OR operation
If an undefined code is set for 0x02 : ≧ 0x08 : & bit AND
0x03 : ≦ 0x09 : ^ bit EXOR
“comparative operator code”, “>” is 0x04 : ＝
0x05 : ≠ 0x0A : | bit OR
set automatically.
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
Criterial parameter no. 2 Criterial parameter no. 1

－
Criterial monitor no. 2 Criterial monitor no. 1
Type 2: (0: parameter, 1: monitor) Type 1: (0: parameter, 1: monitor)
A sample of setting a condition bifurcation

・comparison operator code：> Condition failure
#100 > #101
・table No. of condition formation： NO.12 ABS
positioning
Condition formation Execution of perpetual
・compared parameter 1： #100 variable 0 function
・basis parameter number2： #101 variable 1 No12 ABS No11 ABS
positioning positioning
Block10 Block11
15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
0 0 0 0 1 1 0 0 0 0 0 0 0 0 0 0
31 30 29 28 27 26 25 24 23 22 21 20 19 18 17 16 15 14 13 12 11 10 9 8 7 6 5 4 3 2 1 0
0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 0 1 1 0 0 1 0 1 0 1 1 0 0 1 0 0

6-140
 Command (0x1F)
Operation parameter area 1: Command parameter 1
A. For direct
B. For indirect

7-1
7. Tuning
7.1 How to Tune the Servo
Adjustment of #parameters Related to Control
When you tune the servo, set #parameters related to the position and velocity control loops in
good balance to prevent oscillation, vibration and runaway. Typically, the servo can be
adjusted by performing auto-tuning, which estimates load inertia, and automatically adjust
#parameters related to control.
The flowchart below shows an example of how the servo can be adjusted.
If the motor oscillates while adjusting the servo, take actions by referring to "Main Causes of
Motor Oscillation and Actions to be Taken" on the next page.
Start adjustment See Section 6.4.3, "Auto-tuning Operation.

" If the motor oscillates while performing
auto-tuning, see Section 7.2.3, "If the Motor
Oscillates during Auto-tuning."
Perform
auto-tuning
Execute the
operations used in
the system
YES
Does the motor
oscillate?
Prevent NO
resonance
NO Is the servo
rigidity
insufficient?
YES
Take actions against resonance
by referring to Section 7.2, Increase the
"Resonance Prevention." servo rigidity
Increment the current
value of #1 [servo
rigidity setting status]
by 1
Does the motor
oscillate?
YES Take actions against
resonance by referring to
NO Section 7.2, "Resonance
Prevent Prevention."
resonance
End setup
CAUTION
If the setting of the control system is inappropriate, the motor may begin to oscillate or even
become unstable in some cases. Take enough precautions with respect to the motor's
operation range and its safety when you tune the servo.

7-2
Main Causes of Motor Oscillation and Actions to be Taken

Type of Phenomenon at
Cause of oscillation and action to be taken
vibration oscillation
Cause of Oscillation
Oscillation occurs when the ratio between the position control frequency
bandwidth and the velocity control frequency bandwidth is inappropriate
The motor may oscillate if the velocity control bandwidth is less than 3
times the position control bandwidth.
Low-frequency oscillation
Vibration Oscillation may also occur if the inertia moment value estimated by
Hunting frequency: up to auto-tuning is not appropriate or if there are large load fluctuations (1.5
several Hz times or more).
Operation angle: Action to be Taken
several degrees • Repeat auto-tuning several times and check the inertia value
to several tens of afterward. Check that the accuracy of the inertia value estimated by
degrees (run out auto-tuning is 20% or less in repeated auto-tuning operations.
of control in • Lower the setup value of #0 [servo stiffness setup].
some cases) Cause of Oscillation
The motor may oscillate if the value of the position integral limiter is too
large; the position deviation becomes too large and the control system
Windup
becomes unstable.
Action to be Taken
Adjust the "integral limiter value."
Vibration • If the frequency at which the phase of the velocity output signal lags
frequency: 180° behind the phase of the velocity input signal (180° phase shift) is
several tens of denoted fr, the motor oscillates with a frequency of fr when fr < fv.
Phase shift
Hz to 200Hz • Oscillation may occur if various filters use the same frequency or the
High-frequency oscillation
oscillation
Operation angle: velocity control bandwidth and the filter frequency bandwidth are the
up to several same.
degrees Action to be Taken
Lower the setup value of #1 [servo stiffness setup].
Vibration • The motor may oscillate if disturbance from the mechanical
frequency: resonance of the load enters into the velocity control loop.
several tens of In many cases, there are several resonance frequencies.
Resonance Hz to 2kHz Action to be Taken
Operation angle: • Set the mechanical rigidity of the device higher (see Section 7.2.1,
up to a few "Prevention of Mechanical Resonance").
degrees • Dampen the gain at the resonance point by filtering (see Section
7.2.2, "Filters").

7-3
7.2 Resonance Prevention

7.2.1 Prevention of Mechanical Resonance
The DYNASERV drives the load directly without using reduction gears. Mechanical
resonance characteristics of the load and the mounting surface may cause disturbances to
the velocity control loop, causing the velocity control system to resonate.
In general, resonance phenomena can be prevented by the following three countermeasures.

(1) Increase the rigidity of the mechanical system and the resonance frequency and
decrease the peak gain value at the resonance points.
(2) Lower the servo rigidity (position control bandwidth and velocity control bandwidth).
(3) Insert a filter (first-order lag compensator, notch filter, velocity feedback filter) and
lower the peak gain value of the resonance.
Each countermeasure has the following effects.

(1) If the rigidity of the mechanical system is increased, the servo rigidity becomes higher
and the control system stabilizes.
(2) If the servo rigidity is lowered, the resonance is improved, but the response becomes
slower. Settling takes longer in the case of the position control mode.
(3) If a filter is inserted, the servo rigidity can be set high with countermeasure (2) and the
response is likely to be improved. However, the usage of the filter causes an extra
phase shift, and the control system may become unstable. Use this countermeasure
with care.
Increase the mechanical rigidity as much as possible first, and then perform the
countermeasures involving the servo rigidity and filter.
Example of structure with low mechanical rigidity
Long arm
Slim/long
shaft
Slim/thin arm
Low stiffness
motor fixture

7-4
7.2.2 Filters
(1) Procedure for Tuning Filters
Set filters using the flowchart below as reference.
Adjust filters
Set the notch frequency of notch filter 1 to the frequency at

Adjust notch filter 1 which vibration noise is minimized.
Note: Set notch filter 1 to "Disable" if the vibration noise is not
decreased.
Set the notch frequency of notch filter

Adjust notch filter 2 2 to the frequency at which vibration noise is minimized if the
resonance is not eliminated by notch filter 1 alone.
Note: Set notch filter 2 to "Disable" if the vibration noise is not
decreased.
YES Was the resonance

suppressed?
NO Set the phase lag compensation filter according to the following

standards:
#24 [First lag compensation frequency #1]
= n x #2 [Velocity control bandwidth #1]
Adjust the phase = 4 x #24 [First lag compensation frequency #1]
lag compensation Set parameter #24 with n = 3. Set it with n = 2 or n =1 if the vibration
filter does not stop.
Note: Set the first-order lag compensation filter to "Invalid" if the
vibration noise is not decreased.
Was the NO
resonance
suppressed?
YES
Lower the
servo stiffness
Decrement the current

setup value of #1 [Servo
Readjust the stiffness setup] by 1.
servo stiffness
End filter adjustment
CAUTION
operation range and its safety when you adjust the servo.

7-5
(2) Types and Characteristics of Filters
The three types of filters listed in the table below are provided for resonance
countermeasures. Use them for their respective best purposes according to the
characteristics of the resonance.
Characteristics of Various Filters

Application Precaution
Oscillation caused by phase shift

This is a first-order delay filter. Since it can adjust the
tends to occur if the velocity control
Phase lag bandwidth frequency and amount of damping, it can
bandwidth and the frequency setting
compensation filter suppress the amount of phase shift better than the
of the first-order compensator filter
velocity feedback filter.
are close to one another.
This filter can significantly dampen the gain at any Resonance remains in case the
Notch filter frequency. Use this filter when there is resonance with resonance gain is high in a wide
a high peak gain in a narrow frequency band. frequency band.
This is a first-order delay filter that allows lowering the Since the phase shifts up to 90
Velocity feedback gain at high frequencies dramatically. Use this filter degrees when this filter is used,
filter when there are several resonance points among the phase shift oscillation tends to
high frequencies. occur.

7-6
Notch Filters 1 and 2
Notch filters decrease the gain value to almost zero at a certain frequency. Moreover, by
changing the Q value, it is possible to make the filter characteristics sharp or gradual. The
range of frequencies that can be set is from 50 to 1500Hz and the Q value can be set in the
range from 0.1 to 5.0 (the default value is 1.5).
The figures below show the frequency characteristics of the notch filters.
Gain [dB]
Notch filter setting frequency
Frequency [Hz]
Phase [deg]
Notch filter setting frequency
Frequency [Hz]
CAUTION
In the case of UD1B3-075- drive ; Notch filter frequency (***Hz) peculiar to a motor is
stuck and displayed on the motor. First of all please set this value as a parameter 20
(frequency notch filter #1) and a parameter 22 (frequency notch filter #2). Then, please tune
the servo.

7-7
Phase Lag Compensation Filter
The phase lag compensation filter is a first-order delay filter. Set the -3 dB bandwidth
frequency in #24 and set the frequency at which the maximum damping gain becomes +3 dB
in #25.
Compared to the velocity feedback filter, the frequency of the maximum damping gain can be
set freely for this filter. It can thus minimize the amount of phase lag.
Moreover, this filter is effective when the resonance frequency is high in a wide range.
However, compared to the notch filters, the damping amount is small; it is not suitable when
the gain of the resonance peak is high.
The figures below show the frequency characteristics of the phase lag compensation filter.

7-8
Velocity Feedback Filter
The velocity feedback filter is a first-order delay filter. The gain of the filter becomes -3 dB at
the specified bandwidth frequency. The bandwidth frequency can be set in the range from 50
to 1000Hz. Care must be taken because the phase is shifted up to 90 degrees.
Gain [dB]
Phase [deg]

7-9
(3) How to Set #parameters
STEP 1 Select the [#parameter] from the Main Menu window of the utility software.
STEP 2 Select [Servo Tuning].
STEP 3 Select [Filter] to display the following window.
STEP 4 Click the filter you want to enable.
STEP 5 Adjust the filter bandwidth frequency and Q value by dragging the slider bars with
the mouse cursor.
STEP 6 Select [Display] to check the filter characteristics.
STEP 7 Click the [Regist] button to register the filter settings.
[7] Click the [Regist] button to

register the #parameters.
6 It is possible to display
frequency characteristics
for the combination of the
5 Drag the slider bars with the mouse notch filters, phase lag
cursor to change the bandwidth compensation filter and
4 Set to a filter
frequency setting and Q value. velocity feedback filter.
Valid/Invalid.
6 It is possible to check the frequency

characteristics of the filters.
CAUTION

7-10
7.2.3 Filters (with FFT)
(1) Procedure for Tuning Filters with FFT
Set filters using the flowchart below as reference.

Adjust filters
FFT analyzes and identify particular frequency of machine

FFT vibration that is damaging.
Set the notch frequency and Q factor of notch filter 1 to the values at
Adjust notch filter 1 which vibration noise is minimized.
Set the notch frequency and Q factor of notch filter 2 to the values at
Adjust notch filter 2
which vibration noise is minimized.
YES Was the resonance

suppressed?
Set the phase lag compensation filter according to the following
NO standards:
= n x #2 [Velocity control bandwidth #1]
Adjust the phase = 4 x #24 [First lag compensation frequency #1]
lag compensation Set parameter #24 with n = 3. Set it with n = 2 or n =1 if the vibration
filter does not stop.
Note: Set the first-order lag compensation filter to "Invalid" if the
vibration noise is not decreased.
Was the
resonance NO
suppressed?
YES Decrement the current setup value of #1 [Servo stiffness

Lower the
servo stiffness setup] by 1.
Readjust the
servo stiffness In some case it may be possible to increase the
servo stiffness after the resonance is suppressed
End filter adjustment
CAUTION

7-11
(2) Example of Tuning Filters
If the motor vibrates, please follow the following procedure.

STEP 1 Connect the drive and PC using RS232C and start the utility software.
STEP 2 Select the [#parameter] from the Main Menu window.
STEP 3 Select [Servo Tuning].
STEP 4 Change the value of [#008 Position control bandwidth 1] to be “1” and save the
change.
STEP 5 Select the [FFT] from the Main Menu window.
STEP 6 Set the Maximum Amplitude Voltage for 1 Hz to be 3000, and also that of 1 kHz to
be 1000.
STEP 7 Switch on the Servo.
STEP 8 Press [Start]
This makes the servo to oscillate and graphs appears on the screen.
CAUTION
When starting FFT, make sure not to leave anything close to the servo.
CAUTION If the setting of the control system is inappropriate, the motor may begin to oscillate or even

7-12

STEP 10 Select a tab titled [Filter Setup].
STEP 11 Alter Frequency Notch Filter and Q value according to the result of FFT and save
the change. This should reduce the vibration.
CAUTION

7-13
If the vibration does not subside even after the above alternation to Notch Filter setting,
please proceed to the further alteration indicated below.

STEP 13 Select the tab titled [Filter Setup].
STEP 14 Alter [Lag Compensation Frequency] #1 and #2 and save the change.
For the alternation of Lag Compensation Frequency, please refer to Filter Setup.
Once Filter Setup is corrected using the result from FFT (shown below),the
sensibility to high frequency will be reduced.
STEP 15 If the vibration occurs when the servo is switch on, go to [Servo Tuning] and reduce
[Servo Stiffness] by one. At the point when the vibration stopped, then save that
setting.
CAUTION

7-14
7.2.4 If the Motor Oscillates during Auto-tuning
Perform auto-tuning again according to the procedure shown in the following flowchart if the
motor oscillates while performing auto-tuning.
See Section 4.6.3, "Auto-tuning Operation" for how to perform this operation and how to set
#parameters.
Start adjustment
Perform
auto-tuning
Does an YES
error occur?
Repeat auto-tuning 2 to 3
NO times. There will be little
influence on the motor
Set the load operation if the fluctuation
inertia to 0 of the estimated inertia
value is 20% or less.
Does the motor
oscillate?
YES
Error reset
Lower the servo
NO stiffness until the
level at which
resonance stops Increase the setup value of #51 [Operation
Set the servo range under auto-turning mode]
stiffness in #1 (make it as wide as possible if there are
[Servo stiffness restrictions on the motor operation range).
setup]
Increase the
auto-tuning
operation width
Execute
auto-tuning again
NO Does the
motor
oscillate?
YES
Adjust filters Take measures against

resonance according to the
flowchart in Section 7.2.2,
"Filters."
End
TIP
If auto-tuning cannot be completed normally even if you try the adjustment above, it may be
suspected that the mechanical rigidity of the system is very low. Try to modify the system to
increase the mechanical rigidity.

8-1
8. Utility Software
This chapter describes the software used to operate the DrvGIII series (hereafter called the
utility software) on a PC.
8.1 Introduction
8.1.1 Operating Conditions
• Hardware
Processor: Celeron 300MHz (equivalent) or higher, or Pentium III 500MHz or
higher is recommended.
Memory: 64MB minimum
Hard disk capacity: 10MB minimum
Serial port: 1 port exclusive
• Operating systems
Windows 98 Second Edition, Windows Me, Windows 2000 Professional and Windows XP
have been verified as to their compatibility.
Windows 2000 Professional or higher is recommended.
• Display
Resolution 800 x 600 or higher, 256 color display minimum
• Communication cable
A dedicated cable is required for connection. Either prepare a cable according to the
connection diagram shown in the next section, or purchase a manufactured cable.
• Serial port setting

Normally no setting is required as the serial port is controlled on the application side.
However, if a special converter or other device is used, set the serial port as follows if
necessary.
Communication speed: 38,400 bits/sec
Data bits: 8
Parity: None
Stop bit: 1
Flow control: None
• Operation verified RS485 card

Manufactured by Interface Co., Ltd.
PCI card: PCI-4142PE

8-2
8.1.2 Communication Cable
Prepare a communication cable according to the connection method used. RS-232C cables
and RS-485 cables, which are mainly used for multi-channel communications, can be used as
communication cables, depending on the communication method used.
 Cable Wiring when RS-232C Cables are Used

Pin No. Signal name Pin No. Signal name
02 RxD 03 TxD
03 TxD 02 RxD
05 SG 10 SG/LG
08 CN1SW
PC side
D-SUB 9-pin receptacle 15 SG/LG
Drive side CN1

D-SUB 15-pin plug
WARNING
Do not connect anything to unspecified pins.

An erroneous connection may damage the drive and the PC.
 Cable Wiring when RS-485 Cables are Used

Pin No. Signal name
Send (+) 04 A
Send (-) 11 B
Receive (+) 05 Y
Receive (-) 12 Z
SG 10 SG/LG
PLC side 06 485SW
13 SG/LG
08 CN1SW
15 SG/LG
Drive side CN1

D-SUB 15-pin plug
Pin No. Signal name
04 A
11 B
05 Y
12 Z
10 SG/LG
06 485SW
13 SG/LG
*Wire the terminator only
07 TRMP at the end of a network.
14 TRMN
08 CN1SW
15 SG/LG
WARNING Drive side CN1

D-SUB 15-pin plug
Do not connect anything to unspecified pins.

An erroneous connection may damage the drive and the PC.

8-3
8.1.3 Installing and Uninstalling
• Installing
Start setupj.exe, and follow the instructions given by the installer.
• Uninstalling
Be sure to execute from [Control Panel] - [Add or Remove Programs].
 Description of Main File Extensions Defined by the Utility Software.
*.prm For saving #parameter settings

*.ioc For saving I/O settings
*.tbl For saving operation tables
*.wha For backing up all user data in the drive in batch mode
*.cnd For oscilloscope display setting data and waveform data
*.csv For internal settings of the utility software
*.pdf For Help

8-4
8.2 Overview
8.2.1 Function Groups
The utility software is divided into the following function groups:

[Main Settings] A function group that sets up the connection method between the
drive and the utility software prior to connecting as well as the
operating mode of the drive
[Operation] A function group that instructs operations to the motor connected
[Display] A function group that acquires and displays information from the
drive
[Data Management] A function group that reads, edits and writes the setup data in
various drives
[Maintenance] A function group pertaining to maintenance such as backing up the
information in the drive onto the PC side or writing the backup
information into the drive
 Exclusive Control of Each Dialog Box
Exclusive control is used to display dialog boxes in each function group. Dialog boxes of
different groups can be operated simultaneously; however, dialog boxes within the same
group cannot be operated simultaneously. Also, the Maintenance function group cannot be
operated with other groups simultaneously.
Displays the PDF technical information. It is possible to
perform keyword search, etc.
Displays the Option Setup dialog box.
Exits the support tool.
These are the main settings for various connection settings.
Operation function group

Display function group
Data management function group
Maintenance function group

8-5
8.2.2 Function List
 Main Settings
 Language Selection
It is possible to switch between Japanese and English. The language switching takes place
after [Disconnect] is selected once.
 Online/Offline Selection
Select [Online] to actually connect to the drive, and select [Offline] to browse or edit the drive
data without connecting to the drive. When offline, operations such as creating table data,
browsing waveform data using the oscilloscope function, and browsing backup data can be
performed.
 Connection Port Selection

Select the COM port number of the PC used.
 Single/Multichannel Selection
If two or more drives are connected via RS485, select the drive station number to be
connected after selecting multichannel connection. Only one drive can be connected at a time
during multichannel communication using the utility software.
 Operating Mode Setting (motorless operation/powerless operation setting)

This setting is used when the drive's built-in emulation function is used to check the motor
operation while the motor is not actually connected.
 Host Communication Cycle Setting

This sets a basic cycle when connecting the drive and a PC in series. Communication may be
stabilized by setting this to a larger value if the communication load on the PC side is heavy.
Normally set this to 10ms.
 Operation Group
 Drive
The operation group function issues operating commands to the drive.
 Terminal
The operation group function references and changes command inputs and parameters in
text format.
 Display Group
 Oscilloscope
This group function displays the drive status as if operating an actual oscilloscope.
 #parameter monitor
This group function displays the specified #parameter values continuously.
 I/O monitor
This group function displays the hard I/O status continuously.
 Axis Signal monitor

This group function displays the information pertaining to axis operation continuously.
 Error monitor
This group function acquires the current error information of the drive and past error history
continuously.

8-6
 Data Management Group
 #Parameter
This group function sets up the required main parameters for the drive. The parameters are
classified by purpose.
 Table data
This group function creates and changes operation table data.
 I/O
This group function assigns hard I/O, performs logical settings, and the initial value settings of
logic I/O.
 Maintenance Group
 Parameter viewer
This group function backs up the #parameters that are currently being set in the drive, and
performs restore operation using the files saved.
 Table viewer
This group function backs up the table data that is currently being set in the drive, and
performs restore operation using the file saved.
 I/O viewer
This group function backs up the I/O that is currently being set in the drive, and performs
restore operation using the file saved.
 Backup
This group function backs up all user data (data whose settings can be changed by users)
that is currently being set in the drive, and performs batch restore operation using the file
saved.
 Version information
The connected drive information, contact information and other information are displayed.
 Help Display
This displays Help in Adobe Acrobat PDF. It is possible to perform keyword search, etc.

8-7
8.3 Required Settings Prior to Connecting

Perform the basic settings of the utility software according to the actual operating
environment before connecting to the drive. The previous settings are used when the utility
software is started again from the second time on, so there is no need for setting up the utility
software again.
8.3.1 Connecting and Reconnecting
The status where the utility software and corresponding drive are connected via host
communication is called [Connected state]. The communication status between the utility
software and the drive is always monitored in order to improve reliability. Therefore, to use
this utility software, start with [Connect] and end with [Disconnect] after completing an
operation. [Disconnect] is automatically executed when the utility software is closed, so it is
not necessary to select it.
If the power is cycled after the power to the drive side is disconnected when using the utility
software, or if the communication cable is disconnected, [Connect] is disconnected. In this
case, it is necessary to execute [Connect] again. However, the connection may be recovered
simply by pressing the [Initialize Communication] button. In such a case, please note that the
utility software runs as if the drive prior to the disconnection is being connected, because the
drive information is not acquired again.
8.3.2 Communication Settings
 Connection Port Selection
By choosing [Communication Port] - [Online], select the number of the serial port to be
actually connected to the drive among the serial ports installed to the PC.
At this time, if the specified port is found on the PC and the correct drive is connected to that
port, a motor model code is displayed, notifying the connection valid status.
 Connection Format Selection
 Single Channel Connection

This is a basic connection method. A dedicated cable is used to perform communication by
connecting one serial port to one drive. Select [Single] from [Connection Method] in option
settings, and execute [Connect].
 Multichannel Connection
The multichannel connection function is used to connect one serial port to multiple drives
connected in a multidrop RS485 communication.
Select [Multi] from [Connection Method] in option settings, and execute [Connect]. The utility
software acquires the information of all drives currently being connected. The result is
displayed in a pull-down box, so execute [Connect] after selecting a desired drive ID.
Be aware that the utility software and the drive are always performing one to one
communication even when two or more drives are connected. If it is necessary to
communicate with a drive of other station, execute [Disconnect] once, and then change the
drive ID and reconnect.
 Offline Connection
Parts of the utility software function can be used without connecting a port to the drive by
selecting [Offline] in communication port settings.
Part of the maintenance function and oscilloscope function can be used offline. Files
pertaining to existing drives can be browsed.

8-8
 Communication Cycle Setting
The sets up the minimum communication gap when communicating continuously between the
drive and the PC. This setting is reflected by specifying [Communication cycle setting] in
option settings. The initial value is set to 10msec, and normally it is not necessary to change
the value. If the utility software is used on a PC with insufficient CPU memory, communication
may be stabilized by setting a greater value here. However, be aware that if a value other
than 10msec is specified, the oscilloscope function cannot be used.
8.3.3 Other Settings
 Motor Type Selection
Select [DYNASERV] if the type of the motor to be connected is a rotary motor, and
[LINEARSERV] if it is a linear motor.
 Language Selection
It is possible to select Japanese display or English display using [Option…] on the [File] menu.
The language set here is used at the next startup. The language switching is possible only if it
is done before executing [Connect] with the drive. Execute [Disconnect] first before switching
the display language.
 Operation Mode Setting
It is possible to set motorless operation or main powerless operation that uses the emulation
function in the drive. It is possible to check parameters, table operation and other operations
using only the drive without actually connecting the motor together with the oscilloscope
function provided.
2
The unit of virtual load to be set is 1/1000kgm for a rotary motor, and 1/1000kg for a linear
motor.
If the drive has already reconnected the utility software in the motorless operating state, it
starts as the motorless operating state. Once a motorless operation is set, the emulation state
is maintained until the power to the drive's main unit is cycled.
WARNING
If main powerless operation is executed, the main power supply error detection function will
not work. Be sure to check that the main power supply voltage exceeding the rating is not
input before operating.
Motorless operation selection

Main powerless operation selection
Virtual load setting during motorless

operation

8-9
8.4 Details of the Operation Group Function

This section mainly describes the Operation group that has the function to issue operation
commands to the drive.
8.4.1 Operation
The Operation group has the functions for instructing operations to the motor from the utility
software. Select a tab suited for the target operation, and issue a command.
If you wan to change the parameter group pertaining to the target operation, start the
Parameters dialog box of the Data Management group at the same time and change
parameters, or if you want to monitor the status of the monitor, start the dialog box of the
Display group at the same time and monitor the status.
If the controller side has the main operation privilege of the connected drive when this dialog
box is opened, there is an inquiry as to whether or not the operation privilege will be granted
to the serial interface side. Check security and switch accordingly.
Operation selection tabs
Command instruction buttons
Homing result display lamp

Green: Normal range
Yellow: Homing alarm range
Red: Homing error
Error status display lamp

Green: Normal
Red: Error
Monitor area (not displayed on all tabs)
TIP
“Having the main operation privilege” signifies that a specific interface has the privilege to
issue operation commands.

8-10
8.4.2 Terminal
The utility software has been designed to enable a series of drive control without a need for
the operator to directly enter cumbersome commands from the terminal.
However, if this utility software is used by persons familiar with the drive, or if special
operations are required, it may be more beneficial to use [Terminal].
Most of the commands that are used by other dialog functions are embedded in [Terminal] as
[Character string commands] that can easily be understood by users. Therefore, parts of
other dialog functions can be realized by using [Terminal] even with manual entry.
! DANGER
If the terminal function is used together with other dialog functions, some commands may
conflict. Especially if you are issuing operation commands from the terminal, please be aware
that the motor may perform unexpected operations.
Command entry edit box

Transmission/reception record edit box
Sends the same command.
Send button (Enter)
Clears transmission/reception record.
Various Help items

8-11
(1) Character String Command Method
Enter a command in the format described later into the command entry edit box from the
keyboard. The command is issued to the drive being connected when the [Enter] key is
pressed. Replies from the drive are displayed in the transmission/reception history edit box.
Replies consist of immediate replies, replies at the completion of processing, and replies after
the issuance of the stop command.
(2) Command Character String/Reply Character String Format
 @Command Format
The following commands are used to operate the drive. The number of arguments is
predetermined for each command number. A column (:) is used to delimit arguments.
Command name No. Argument Format (example)

Abort 1 0 @1
Stop 2 0 @2
Start 3 1 @3:10 (10: Table No.)
Error reset 4 0 @4
Switch main operation privilege 5 1 @5:0
Servo ON/OFF 8 1 @8:0 (0: Servo-off/1: Servo-on.)
Set origin offset position 10 1 @10:90000 (90000: Offset pos. value)
Jog move command 11 1 @11:1 (1: + direction/0: Stop/-1: - direction)
Set coordinate system 13 1 @13:10000
Self-adjust differential limiter 14 0 @14
Write updated parameters 16 0 @16
Error reset with history clear 19 0 @19
Reset all 90 1 @90:password * Password: [2003]
Reset drive software 96 0 @96
 Format of #parameter and ##parameter Operation Commands
• Parameter reference (examples)

#1: References the content of parameter No.1
##1: References the content of parameter No. 1 that is already written
(in EEPROM)
• Parameter substitution (examples)

#100=1: Substitutes value 1 for parameter No. 100
#100=habcd: Substitutes 0xABCD in hexadecimal notation
##100=-1: Substitutes -1 for the parameters already written (in EEPROM)
#100=#101: Substitutes the content of parameter No. 101 for parameter No.
100

8-12
• Parameter calculation substitution

#100=1+1: Substitutes the calculation result of two numeric values for
parameter No. 100
#100=#101+1: Substitutes the calculation results of a referenced value (#101)
and numeric value for parameter No. 100
##100=#101+#102: Substitutes the calculation results of two referenced values for
parameter No. 100 already written
[Operators that can be used]

Addition (+), subtraction (-), multiplication (*), division (/), reminder at division (%), bit
AND (&), bit OR (|)
 Reply Character String Format
The reply character string consists of the following:
Reply character string Header Prompt : Argument 1 : Argument 2 : Argument 3 . . .
1 space character
The reply character string is classified into the following:
Header
 section  section Description
structure
Normal reply character string for a
Argument
No. of transmission character string
General R representation method
arguments The number of arguments changes according
See Note..
to the reply content.
Reply character string when an error/warning
Error ERR . 
Error/alarm occurs with respect to a transmission
Error/alarm code (sub)
code (main) character string
Alarm ALM . 
Arguments do not always exist.
Note: Argument representation method in  section for general replies

O: No argument
D: Decimal notation character string
B: Binary notation (8 digits, 16 digits, 32 digits)
H: Hexadecimal notation (2 digits, 4 digits, 8 digits)
S: Character string
Z: Other than the above (character string, etc.)
Examples of reply character strings are as follows:
R00
R1D ServoRigid:3
R1H StatusReg1:039B00C1
ERR25.3 RegenError
ALM66.0 IlgDevice

8-13
 Useful Operations
 Reusing Transmission Record
The record of the commands previously sent is displayed again in the command entry area by
operating the Up/Down keys on the keyboard. The same command can be instructed
repeatedly by pressing the [Enter] key.
 Parameter list/Monitor list display
The parameter list and monitor list dialog boxes can be displayed during terminal operation.
More detailed information is displayed by selecting each parameter using the mouse.
 Command list display

The command list dialog box can be displayed during terminal operation.

8-14
8.5 Details of the Display Group Function

This section describes the Display group that has the function for mainly displaying the drive
information.
8.5.1 Oscilloscope
The oscilloscope function implemented by the utility software acquires the

#parameter/#monitor information, which is updated inside the drive in a sequential manner, in
time series.
Also, its operation system has been designed according to an actual oscilloscope. The
oscilloscope window consists of a main dialog box, a setup dialog box, and a waveform
display dialog box.
CAUTION
Compared to other functions, the oscilloscope function requires more CPU power of a PC. If
this function is used, please use a PC that at least satisfies [Recommended conditions]. Also,
see items in “Troubleshooting.”
 Specification
Item Specification
No. of input channels 4 (CH1 ~ CH4)
Highest sample rate 10kS/s
Analog trigger: CH1, CH2, CH3, CH4
Trigger source
Digital trigger: Any of bit 0 to bit 7 of monitor data
Trigger function Edge trigger: Trigger at the edge of a single trigger source
Auto: Loads a buffered waveform sequentially at less than 100msec/div
Trigger mode Normal: Loads a waveform only when triggered
Single: Loads only once when triggered
Trigger slope Rising, falling
Trigger position 10-point position of 0div to 9div within a waveform display frame
Up to 10 times the ±UNIT/div setting (e.g., range of ±10000 with a setting of 1000
DC offset setup range
UNIT/div)
Time setup range 1ms/div to 5s/div
Graph refresh cycle 100ms to 1s
Analog display: 4CH
No. of display waveforms
Digital display: 8 x 4CH
No. of waveform configuration
100
data
Waveform calculation Calculation of +, -, *, and / among channels, and waveform display
Measures the values and time of the vertical cursor and horizontal cursor, the
Cursor measurement
difference between the cursors, and the time difference
Measures the time, maximum value, minimum value, average value and effective
Auto waveform measurement
value between the cursors of any one waveform
Calibration Automatic sets up the vertical axis, time axis, etc.
Screen hardcopy Prints the Waveform Display dialog box window to the printer connected
Saves and browses the waveform data measured. Saves and reloads the
File function
measurement conditions.
Easy setup Simply sets typical representative measurement conditions

8-15
(1) Names and Usage of Component Parts
 Operation Keys
 Main Dialog Box

Displays the cursor measurement
dialog box.
Displays the auto waveform
measurement dialog box.
Executes calibration.
Exit the oscilloscope.

Easy Setup
File operation/print function
 Setup Dialog Box

Display/hide button for each channel
* Channels without waveform settings are not displayed.
Vertical axis grand position setup combo box
Waveform setup dialog display button

Displays a dialog box for specifying the parameter/monitor
number to be displayed for each channel.
Time axis setup combo box

Graph display refresh cycle setup combo box
Trigger setting
Trigger mode selection
Trigger slope selection
Trigger source selection combo box

Trigger level setup edit combo box
Trigger position selection combo box
Start/stop button
Trigger lamp

8-16
 Screen Display
 Waveform Display Dialog Box

Grand position display icon (for each channel)
Trigger channel display icon
This icon is displayed for a channel that has been set in the trigger source.
Offset display icon
This icon is displayed for a channel for which an offset has been set.
Trigger position display
Cursor
Date and time
Time axis setting
Each channel vertical

axis setting
Trigger setting
Cursor reading value
Value for each channel
Edit box for memo

Use this as a memo such as writing measurement conditions.
Channel setup information

This displays at which parameter/monitor number each channel is set.

8-17
(2) Basic Usage
The basic usage is the same as for a general oscilloscope. The following describes the actual
operating procedure using a basic usage as an example.
 Loading a Waveform with a Single Trigger
The following describes the procedure for loading a waveform with the most basic single
trigger.
Wave Setting dialog box

4
(1) Display the Wave Setting dialog box.

(2) Select the #parameter/#monitor number
you want to monitor. Select an analog
mode.
(3) Set up trigger conditions.
Single trigger
Rising edge
(4) Set up a trigger source.
Source channel: 1
Trigger level: 10000 UNIT/div
Trigger position: 2
(5) Start.

8-18
 Displaying a Waveform in Digital Format
All #parameters/#monitor numbers are managed in units of 32 bits inside the drive. Generally,
one #parameter/#monitor number has one definition. However, some #parameters/#monitor
numbers are broken into 32 bits, each of which is then assigned with a unique definition (e.g.,
#320 (Status register 1)).
[Digital waveform display function] can be used to display #parameters/#monitor numbers
using an oscilloscope. The following describes the digital display method and the trigger
setup method using digital values.
2
3
(1) Select [DIGITAL] in the channel you want to

display digitally, and set up display bits.
(2) Add a check mark at the left of the numbers
of bits you want to display.
(3) Select bit No.'s you want to assign to. In this
example, bits 10, 12 and 16 of status
register 1 are assigned to No. 0 (top
waveform in display), No. 1 and No. 2
waveforms, respectively. The bits that are
unchecked are not displayed.
(4) If a digitally set channel is set as a trigger
4 source, a combo box for setting which the
bit to be used as the source is displayed.
Select a trigger source bit.
(5) Start.
5

8-19
(6) A trigger is applied at the rise of the bit set in No. 0. In this example, a trigger is
applied at the rise of the axis-in-operation signal, #320 bit 10.
(7) The status of each bit is expressed by 1: H and 0: L while in digital display.
TIP
A maximum of eight bits can be displayed per channel. To monitor more than eight bits at the
same time, a maximum of 32 bits can be displayed by assigning multi-channels to digital
display.

8-20
 Understanding an Overview of Motor Operation in AUTO Trigger Mode
It is possible to understand a rough behavior of the motor by setting a long range time axis
and monitoring waveforms by AUTO trigger while the motor is operating.
4 5
(1) Position command differential value (velocity profile) to be generated by the

controller
(2) Actual velocity information. Because there are four peaks within the range indicated
by a bracket, it shows that the motor moved triangularly four times.
(3) [Axis operation active], [Drive operation active] and [In position status] are assigned
from the top in digital waveform display.
(4) It can be observed that the rise of the axis operation signal and the rise of #359 have
the same timing.
(5) It can be observed that the positioning status signal rises at almost the same time as
the move completion.
CAUTION
If the time axis is set to display a long range (200 msec/div) as shown in the screen above,
due to sampling issues the display may show waveforms that differ from the actual operation
waveforms and timing. Always take aliasing problems into account before using the
equipment.

8-21
 Using the Cursor Function
The following describes a method to measure a loaded waveform using the cursor function.
Note that the cursor function can be used only while in the [STOP] state. Measure a waveform
after it has been loaded.
 Using the Time Axis Cursor
(1) The cursor can be

moved when dragging
a line with the mouse.
1
(2) The T1 and T2 values
and their difference are
displayed.
(3) The display format is
2
switched between
digital display and
analog display.
3
 Using the Vertical Axis Cursor
3
1
(1) The cursor can be

moved when dragging
a line with the mouse.
(2) The V1 and V2 values
2 and their difference are
displayed.
(3) Specify to which
channel the value to be
displayed is applicable.

8-22
 Making the Display Easier to See by Applying an Offset to Waveforms
Waveform data can be observed in a fine range by setting an appropriate offset value in the
waveform display in advance.
In this example, the command unit current position is monitored when it is at a position away
from the origin. By setting a value from which the away distance (in this example, 1000000) is
subtracted as an offset, the actual moving segment can be displayed in enlarged view.
(1) Set an offset.

(2) [OFF] is displayed as the reference icon, indicating that an offset has been set.
(3) The offset value is displayed.
(4) The value to be read by the cursor function is a raw data value (value not added with an
offset).

8-23
 Saving Measured Waveform Data
 Browsing the Waveform Data Measured in the Field Offline
Saving measured waveform data, measurement conditions and so forth as PC files is useful
when creating documents or performing troubleshooting. Waveform data can be saved in
BMP format or printed directly. Saved data can be browsed offline (not connected to the
drive).
(1) To save waveform data, check [Save]. However, this can be skipped to save only
measurement conditions.
(2) A waveform data file has an extension of *.cnd, and is saved in text format.

8-24
 Loading Typical Parameters/Monitor Waveforms Using the Easy Setup
The utility software provides typical measurement conditions as [Easy Setup] in advance
when observing the operation of a direct drive motor.

8-25
 Obtaining a Rough Waveform Range Using the Calibration Function
When observing an initial operation pattern or a parameter/monitor number, waveforms may

not fit within the Oscilloscope window. In such a case, it is possible to easily observe
waveforms by getting a rough display range using [Calibration], and then perform a fine
adjustment.
(1) After selecting the parameter/monitor number you want to measure, operate the motor
once. Press [START] on the oscilloscope to display waveform data in the window. After
stopping the oscilloscope, execute a calibration. The vertical axis of each waveform is
displayed in the center of the window after adjusting automatically.
(2) After performing a fine adjustment manually, press [START] on the oscilloscope again.

8-26
8.5.2 Displaying #parameter/ #monitor
A maximum of four #parameters/#monitor numbers can be updated and displayed

continuously. Use this feature if you want to periodically monitor the #monitor values that are
likely to change according to the operation of the motor.
However, if other dialog function is used, update may be stopped once. In such a case,
resume the operation by pressing the [START] button.
Up to four values can be selected.
Information is updated while the lamp is lit.

8-27
8.5.3 I/O monitor
The hard I/O status of the connected drive is updated and displayed periodically. Assigned
logic I/O names and the logic setup status of hard I/O are also displayed at the same time.
Bit address
Status display lamp; Hard I/O is

ON when lit.
Block selection combo box
Updates information while the

lamp is lit.
Logic I/O name
Hard I/O logic setup status

P: Positive logic
N: Negative logic
The I/O bits are managed using 8 points as one block in the drive. According to the example
above, the input side has hard I/O of 0 blocks 8 bits and 1 block 4 bits, and the output side
has hard I/O of 0 blocks 6 bits.
The number of points that can be monitored at a time is a 2-block unit for both input and
output. For a drive that has more hard I/O, select the block you want to monitor from [Block
selection combo box].
The I/O monitor is used to check whether or not a command signal has actually been entered
into the drive when the motor does not operate as expected.

8-28
8.5.4 Axis Signal Monitor
The content of the monitor (status registers 1 to 3) that displays the main status of the motor
axis is updated and displayed periodically. However, if other dialog function is used, update
may be stopped once. In such a case, resume the operation by pressing the [START] button.
Status display of status register 1 Status display of status register 2
Status display of status register 3 Updates information

while the lamp is lit.
TIP
Information to be output to the status register includes each sensor signal to be input to the
drive and the signal status of logic I/O. For more information about a description of each
signal, see the chapter on "Operation."

8-29
8.5.5 Error Monitor
The drive acquires the history of errors that are currently being generated (hereafter referred
to as status) and errors that were generated in the past (hereafter referred to as history). The
drive retains history information retains even if its power is off. The drive stores a maximum of
16 statuses and history information. If an error number being displayed is selected, a detailed
description pertaining to that error is displayed.
Switches between status and history information
For status display, a list of generated errors is

displayed.
For history display, the past error history stored is
displayed.
Updates information while the lamp is lit.
This is an area used to display detailed information

about the error selected. It is useful for
troubleshooting.
If the drive is in the error state, two or more error numbers may be generated from one error
factor. In the status display, errors are displayed in the order they are generated. Therefore,
the error displayed at the beginning may represent the main cause. In the status display, if the
number of errors that are generated at once exceeds the maximum number of errors that can
be stored (16), excessive errors are not displayed.
In history display, the date and time when errors are generated are displayed starting from the
oldest date and time. The history information exceeding the maximum number of errors that
can be stored (16) is deleted starting from the oldest history.
TIP
A numerical value in one hexadecimal byte length is displayed next to an error code when in
history display. This value is a free-run counter value inside the drive at the time of an error
occurrence. Although this drive does not have the calendar function, displayed errors can be
grouped by error occurrence time by referencing this value.

8-30
8.5.6 FFT (with PROFIBUS-DP)
FFT is a function of the utility software that analyzes frequency of machine vibration. This
function can be used when altering [Servo Tuning] and [Filter Setup]. FFT displays 2 graphs
as shown below. The top graph indicates Gain Characteristics (Horizontal: Frequency (Hz)
and Vertical: Gain (dB)). The bottom graph shows Phase Characteristics (Horizontal:
Frequency (Hz) and Vertical: Phase (deg)).
Signal to vibrate Motor can be altered using The Maximum Amplitude Voltage for 1 Hz and 10
Hz.
By pressing [Start], The Servo starts working to measure Gain and Phase characteristics.
Please make sure not to leave anything near the servo when starting FFT.
CAUTION
CAUTION
Please avoid altering Input Signal Frequency for 1 Hz and 10 Hz and use default value. (Input
Signal Frequency for 1 Hz: 3000, for 10Hz: 1000)

8-31
8.6 Details of the Data Management Group Function

This section mainly describes the Data Management group that has the function of setting
and changing internal drive data.
8.6.1 #parameters
A character string command from [Terminal] can also be used to set #parameters in the drive.
However, in such a case, it is necessary to identify which #parameter of the function
corresponds to which number.
The #parameter function provides #parameter Setting window that is classified by purpose
and function. Therefore, #parameters for desired purposes can easily be set up.
 Registering the Parameter Setting Window
Although each parameter of system setup registers 1 to 3 and error processing setup
registers 1 and 2 is managed in 32-bit length, it has assigned a unique definition in units of
bits internally. It is possible to perform similar settings from [Terminal]; however, settings can
be made easily by using this setting window.
Regist: Sets up the parameters in RAM

Select a register to be set and EEPROM. The settings are
retained even if the power is OFF.
This display changes for each selected register. After

changing required items, execute [Save] or [Regist].
! DANGER
The utility software may issue a software reset to the drive in order to reflect changes when
[Regist] is executed. As the servo is set to OFF during a reset operation, be sure to check
safety before operating.

8-32
 Function Parameter Setting Window
The Function parameter setting window contains the main #parameters that need to be set up
when performing various motor operations. If it is necessary to change #parameters other
than those listed in this window, use the terminal function.
Select a motor operation.
Regist: Sets up the parameters in RAM

and EEPROM. The settings are
retained even if the power is OFF.
Writes a value into the [Data] edit box after selecting the parameter you
want to change.
TIP
The setup items pertaining to motor operations are found in [Operation table] data and
[System register] settings in addition to the items that can be changed in this window. Set up
these items as necessary.
CAUTION
Machine setup parameters above #110 require a reset or power cycle before they take effect.

8-33
 Servo Tuning Window
The Servo tuning window contains a #parameter group mainly pertaining to servo
characteristics. If it is necessary to change #parameters other than those listed in this window,
use the terminal function.
Recalculates integral limiter values.
Parameters pertaining to unselected control methods cannot be changed.
Regist: Sets up the parameters in RAM and EEPROM.

The settings are retained even if the power is OFF.
This is a slide bar that sets up various

filter frequencies. The parameters are
continuously updated while dragging.
The frequencies are stored in
EEPROM by pressing the [Regist]
button.
Visually displays the filter characteristics you set up. Filter characteristics can be displayed for individual
filters or combined filters. Please note that these waveforms are the characteristics of only the filters you
set up.

8-34
 Filter Tuning Window
This window is used to tune the various digital filters of the drive. Since the actual filter tuning
operation is linked with the servo tuning window in the previous section, both tunings are
performed together. For more information about the tuning methods, see Chapter 7.
By registering, the adjusted #parameter will be

Use/Nonuse setting checkboxes held even in the event of power shutdown.
Typical setting
patterns
Displays a board diagram that

When a numeric value is entered
combines the characteristics
directly, the value at the time of
unique to each filter and the
pressing the Enter key is sent.
characteristics of the filter in use.
The [Display] button visually displays the filter characteristics that have been set. The display of individual filters and
the display of combined filter characteristics can be performed. Please note that these waveforms merely show the
characteristics of the filters that have been set.

8-35
 Signal Monitor Terminal Setting Window
This drive is equipped with various monitor terminals on the front panel in order to observe
the drive status using an actual oscilloscope. The Signal Monitor Terminal Setting window is
used to set up #parameter/#monitor numbers to be output as well as the output gain.
Select the monitor terminal to be set up. The status of the right setup area changes
according to the selected terminal.
Regist: Sets up the parameters in RAM and
EEPROM. The settings are retained even if the
power is OFF.
Displays the voltage level output from an actual monitor terminal to the
gain you set up. Adjust the gain setting according to the range in which
the #parameters/#monitor numbers you want to monitor fluctuate

8-36
8.6.2 Table Data Function
The table data function is used to set and correct the operation table data of No.'s 0 to 63
stored in the drive. Each table of the internal table data consists of 8 bytes (16 bits + 16 bits +
32 bits). Table data can be created by a comprehensive wizard by using the table data
function. Also, the move, copy and delete functions can easily be executed in units of tables
by pressing the [Table copy] & [Table paste] button.
The selected table number can be edited.
The contents of operation parameters 0 and 1 change

according to the operation code selected.
TIP
Three data indicated by “*” is raw operation table data. They are called “operation register,”
“table data 0” and “table data 1” from the top. “Operation register” is common in each
operation. The use of “table data 0 and 1” vary depending on the operation code selected.

8-37
8.6.3 I/O
This section describes the settings of the following items pertaining to logical I/O inside the
drive (hereafter called logic I/O) and physical I/O actually embedded in the drive (hereafter
called hard I/O).
[1] Hard I/O assignment
[2] Hard I/O logical setting
[3] Logic I/O initial value setting
 Hard I/O Assignment and Hard I/O Logical Setting Window
Select a setting to hard I/O.
Select I/O to be set.
Up to 16 bits can be displayed at a time. If there are

more than 16 bits, switch using this combo box.
Indicates that hard I/O with a check mark has been

set to positive logic (Active High).
Select the logic I/O name to be assigned from the list for each hard I/O.However,
the logic I/O names that are already selected by other bits cannot be selected.

8-38
 Logic I/O Initial Value Setting Window
The initial status of logic I/O at startup can be predetermined for each bit. For example, in the
case of an application you want to turn the servo ON unconditionally at power on, you can do
so after the power is turned ON by setting the applicable bit to ON when setting up logic I/O
initial value, instead of assigning [Servo ON command] to hard I/O. This will save some hard
I/O points.
Select logic I/O initial value setting.
Initial value setting is set to valid only for input bits.
Up to 16 bits can be displayed at a time. If there are more

than 16 bits, switch using this combo box, and register for
each page.
For bits with a check mark, initial values are set to ON.
A blank bit is a reserved bit, and thus not setting is allowed
! DANGER
The utility software issues a software reset to the drive in order to reflect settings after
executing [Regist]. The drive is set to the servo OFF state during a reset operation. Therefore,
be sure to check safety before operating.

8-39
8.7 Details of the Maintenance Group Function

This section mainly describes the Maintenance group that has the function to browse,
download and upload (*) the internal data of the drive.
TIP
Download: Processing to send data from a PC to the drive (restore work)

Upload: Processing to store the drive information to a PC (backup work)
8.7.1 #parameter Maintenance
The #parameter maintenance function is used to save and browse the #parameters set up by
users and the user #parameters that are saved as files in the drive. Downloading/uploading of
only #parameters can be performed with the drive connected.
(1)
(2)
(3)
A #parameter file is saved as a text file. Although it is not necessary to be aware of the file
format, a brief description of the file format is given below:
(1) It contains drive information, and is processed as comments.
(2) It is a group of machine setup parameters that requires cycling of the power to
reflect it.
(3) It is followed by a group of regular parameters.
! DANGER
The utility software issues a software reset to the drive after downloading of a group of
machine setup parameters listed in (2) above as a download sequence to the drive. The drive
is set to the servo OFF state during a reset operation. Therefore, be sure to check safety
before operating.

8-40
8.7.2 Table Data Maintenance
The table data maintenance function is used to save and browse the setup data that is saved
as table data or files in the drive. Downloading/uploading of only table data can be performed
with the drive connected.
(1)
(2)
(3)
A table data file is saved as a text file. Although it is not necessary to be aware of the file
(2) Data is saved in the order of the table No., operation register, table data 0 and table
data 1 from the left.
(3) It contains comments, which are the translations of the contents of the operation
registers.
CAUTION
This function translates data obtained as post-processing of upload from the drive. This
processing may take some time depending on the PC used.

8-41
8.7.3 I/O Maintenance
The I/O maintenance function is used to save and browse the I/O related settings defined in
the drive or a definition file saved in the drive. Download/uploading of only I/O definition data
can be performed with the drive connected.
(1)
(2)
An I/O data file is saved as a text file. Although it is not necessary to be aware of the file
(2) It consists of hard I/O assignments, hard I/O logical settings, logic I/O initial value
setup information and translated comments.
! DANGER
The utility software issues a software reset to the drive after downloading all I/O settings in
order to reflect the settings as a download sequence. The drive is set to the servo OFF state
during a reset operation. Therefore, be sure to check safety before operating.

8-42
8.7.4 Backup
The backup function is used to perform the batch backup/batch restore operation of all user
setup data set up in the drive. Backed up data is saved as one file.
This function is useful for backup work for maintenance and when creating a copy of drive
data with the same settings.
Writes all user data into the drive.
Reads all user data from the drive.
A backup file is saved as a text file. Its format is equivalent when the parameter file, operation
table file and I/O setup file explained in the previous sections are connected.
! DANGER
The utility software issues a software reset to the drive as a download sequence. At this time,
the servo is set to OFF, causing unexpected movements. When a reset confirmation message
is displayed, be sure to check safety before operating.
CAUTION
Utility software includes several functions, which recycle AC main power automatically.
[10.x Data Sum Error] may rarely occur in case that the control power supply is terminated
before LED for RDY signal is lighted when the power is recycled.
If this error occurs, restore user data, which was backed up beforehand, after initialization of
user parameters (Backed up parameter values are set).

8-43
8.7.5 Version Information
The currently connected drive's version information, motor type and other information are
obtained and displayed. If you have any questions or inquiries about the product, contact our
support desk shown in Version Information.
This is the email address of our support staff and URL. When
making inquiries, please attach the following drive information.

8-44
8.8 FAQ Pertaining to the Utility Software

This section describes the frequently asked questions (FAQ) pertaining to the utility software.
 Updated Parameters are not Stored.
Writing data to a parameter (e.g., #1=2) changes only that value in RAM of the drive.
Therefore, that data is erased when the power is turned OFF. If you want to store updated
data, rewrite the parameter in EEPROM (e.g., ##1=2), or write all parameters using the @16
command.
 The Utility Software Stops during Waveform Display due to a Communication Error.
Insufficient performance of your PC may be the cause. Check if the operating conditions are
met. Close all other applications if possible. Especially, if you are using the oscilloscope
function, it uses up more CPU power than any other functions.
If a communication error still occurs, change the communication cycle to a slower cycle.
However, in such a case, the oscilloscope function cannot be used.
 A Communication Error Occurs while Using the Oscilloscope Function for an Extended Period in
Windows 98.
Particularly in Windows 98, it seems there is a time contention problem between the power
supply monitor interrupt and the communication port interrupt. When using the oscilloscope
function, disable all power supply monitor related functions.
 Waveforms Different from Expected Waveforms were Obtained when the Time Axis was set to a
Long Range.
Especially when the time axis is set to a long range, waveforms different from actual
waveforms may be obtained especially relating to sampling. Always take account of an
aliasing problem before using.
 Communication Errors Occur Frequently on a USB-RS232C Converter.
Some converters may not operate correctly in this system. In particular, failure to receive data
occurs with the frequently communicated oscilloscope function. Also, an error may occur
during communication with the drive connected to the COM port of a PC due to the effect of
the drive software's in the converter.
 How can I Control the Drive from a PC Using an RS232C/485 Port?
We have control DLL for this purpose. You can create an application that controls multiple
drives in Visual Basic from your PC by installing this control DLL. For more information,
contact our Support Desk.
 Installation Failed in Windows 98.
The utility software is supported in Windows 98 Second Edition or higher.
 How can I Update Various Resource Files?
We periodically update the PDF and CSV files referenced from the utility software. To update
these files on your system, download the latest versions from our Web site and overwrite
them into the install folder.

9-1
9. Maintenance and Inspection

Do not disassemble the motor and the drive.
Make sure to conduct an overall inspection at least every 20,000 hours of operation or every
5 years. Depending on the operating environment and operating conditions, it is appropriate
to carry out inspections at shorter intervals.
Depending on the result of inspection, the motor or the drive may require servicing or
replacing.
If there are any problems with the external wiring or usage environment/operating conditions,
solve such problems first and then repair or replace the motor or the drive.
Accumulated dust and dirt may cause failure; clean the motor and drive regularly to maintain
good usage conditions.
9.1 Daily Inspection

Inspect the motor and the drive before the start of operation to check that there are no
problems.
If you find any abnormalities, remove the causes and solve the problems before the start of
operation. The daily inspection check list covers the minimum items that should be checked
to ensure that there are no problems at the start of operation. Make sure the motor and the
drive are in good conditions when using them, so that the operation will be stable and
problem free.
Check item Inspection Judgment criteria

Is the input voltage within the standard 200 ~ 230V + 10 to15% (200VAC system)
Power supply
range? 100 ~ 115V + 10 to15% (100VAC system)
Interface power Is the input voltage within the standard
Depends on the interface specification
supply range?
0 ~ 40°C (motor)
Is the ambient temperature appropriate?
0 ~ 50°C (drive)
Peripheral 20 ~ 85% RH (motor)
Is the humidity appropriate?
environment 20 ~ 90% RH (drive)
Is there dust? There must be no dust.
Is there any condensation? There must be no condensation.
Are all connectors fixed securely? The connectors must not be loosened.
Are all screws of external wiring fixed? The screws must not be loosened.
Wiring condition Are there any cables that are close to getting There must be no abnormality in appearance
cut? and current conduction.
Is there any interference between a cable
There must be no contacts.
and moving part?
Is the main body fixed securely? The main body must not be loosened.
Installation condition Is the load fixed securely? The load must not be loosened.
There must not be any worse sounds or
Are the driving sound and vibration normal?
vibrations than during usual operation.
Are all bearings normal? Bearings must rotate smoothly without play.
Conditions of internal
mechanical parts There must not be any worse sounds than
Are the driving sound and vibration normal?
usual operation.
Are there any scratches, damages, dirt, There must be no scratches, damages, dirt,
Appearance
deformation or discoloration? deformation and discoloration.

9-2
9.2 Backup and Restore Operations of User Data

It is recommended to back up user data to avoid data loss in case of accidents.
Backed up data is useful when startup new devices. For example, it is possible to restore
particular backed up data on several drives to use the same settings for each of them.
Backup and restore operations can be performed using the following methods.
Backup and Restore Operations Using the Utility Software
By backing up user data using the utility software, the data can be saved as electronic files.
See Section 8.7.4, "Backup" for more information.
Backup and Restore Operations Using the Operation Display Pendant (Optional)
By backing up user data using the operation display pendant, the data can be saved in the
embedded EEPROM of the operation display pendant. User data for multiple drives can be
stored without using other external devices. See the technical document of the operation
display pendant for more information.
9.3 Initialization of User Data (Reset All)

[Reset All] refers to returning all user data to the settings at the time of shipment from the
factory. Perform [Reset All] when you want to redo the drive settings from the scratch.
Operating Procedure
The reset all operation can be performed only by entering the designated command in
[Terminal Function] of the utility software or [Terminal Function] of the operation display panel
in order to prevent an erroneous operation. Erroneous operation can also be prevented by
requiring a password with command. The command format is as follows.
@90 : 2003
Password
CAUTION
A part of machine parameters overwrites the related parameters when the power is recycled,
if those parameters are changed. [10.x Data Sum Error] may rarely occur in case that the
control power supply is terminated before LED for RDY signal is lighted when the power is
recycled.
If this error occurs, restore user data, which was backed up beforehand, after initialization of
user parameters (Backed up parameter values are set).

㪬㫇㪻㪸㫋㪼㪻㩷㫆㫅㩷㫇㫆㫎㪼㫉㩷㪺㫐㪺㫃㪼
Blank Page
Appendix 3-1
 Details of Main Error Codes
Action
Error
Name Recovery Cause and condition detected taken at Countermeasure
code
occurrence
Memory error
 Cycle the power.
ROM error 1.1 Initial
 If all uploading has been
Not processing
An error was detected during memory check complete, initialize the drive.
possible not
 It is necessary to repair the
RAM error 1.2 completed
drive board.
Contact I/O or CC-Link :
 It is necessary to repair the
drive board.
Contact I/O or CC-Link : It failed during the
PROFIBUS-DP :
interface board initialization. Initial
 Set an appropriate number
Not PROFIBUS-DP : It was detected that an incorrect processing
Interface board error 2.0 (other than "0") and cycle the
possible ID number was assigned. (The ID "0" (the not
power.
number for master station) is assigned.) or it completed
 If the error occurs after
failed during the interface board initialization.
performing the action above, it
is necessary to repair the drive
board.
Initial
processing
not
Not An error was detected in EEPROM that stores
EEPROM error 3.0 completed
possible data
or
deceleratio
n stopped
Reset the
CPU
Not (communic
Watchdog error 4.0 The drive CPU is not operating properly
possible ation
operation
set to valid)
Data checksum error  Cycle the power.
 If all uploading has been
Parameter checksum error 10.1 complete, initialize the drive.
Initial  It is necessary to repair the
Operation table checksum It was detected that the stored data was
10.3 Not processing drive board.
error destroyed during processing when the power
possible not
I/O setup data checksum was turned ON.
10.5 completed
error
Data error
Motor/drive data error 11.1
System data error 11.3
Power module mismatch 11.4 Initial
It was detected that the setup data could not be
Not processing
Old coordinate system processed during processing when the power
11.5 possible not
setup data error was turned ON.
completed
Error history data error 11.6
Hardware version mismatch 11.7

Appendix 3-2
Action
Error
code
occurrence
ABS encoder error
 Execute the same
Abnormal absolute position signal was detected. countermeasure for the error
Excessive detection error 14.1
Inappropriate configuration (matching with motor) 14.3.
 Correct configuration.
 Turn on the power while motor
is stopped.
Excessive velocity at Motor moves when the power was turned on.
14.2  Execute the same
detection Abnormal resolver signal was detected.
countermeasure for the error
14.3.
 Repair or replacement of
SIG0 1X signal error 14.3 connector
 Replacement of cable
 Denoising or re-configuration of
wiring upon checking source of
Initial noise
Abnormal resolver signal was detected.
Not  Contact failure or damage of connector processing  Put apart encoder-resolver
possible not cable from electric power line or
 Breaking of wire
completed high frequency line
 Irruption of noise into encoder/resolver cable
 Change of grounding of shield
SIG0 NX signal error 14.4  Malfunction of motor
 Shortest encoder cable
 Malfunction of drive
Note: Be careful not to deforming
or damaging contact section by
tester equipment when
checking conduction of cable.
 Replacement of motor
 Replacement of drive
 Re-set motor position when the
power is turn on so that it can
Motor position when the power is turned on was
be within the coordination
Linear coordinate range out of coordination range set by #116, Limit of
14.5 range.
error absolute linear coordination 1 and #117, Limit of
 Change value(s) of limit of
absolute linear coordination 2
absolute linear coordination
range.
Encoder error
SIG0 edge disengaged 15.1 An error was detected in an encoder/resolver
SIG1 edge disengaged 15.2 signal.
 Check the connector section,
 Contact failure or breakdown of a connector
SIG0 cycle error 15.3 repair or replace if necessary.
 Cable disconnection
 Replace the cable.
Noise is generated in an encoder/resolver
Not  Eliminate the noise generating
cable. Servo OFF
possible source, and review the wiring
 A problem inside the motor
route.
SIG1 cycle error 15.4  A problem in the drive
 Replace the motor unit.
* Check the conductivity of the cable by using
 Replace the drive.
a tester. The contact area must not be
deformed or damaged.
Coordinate system error A
It was detected that the slit plate deviated from
the center and exceeded the allowable eccentric  Remove the load, and also
volume in a DM series motor unit (except DM1B- remove the one that is giving
004/006, DM1C-004). force.
 A moment load was applied to the rotation  Adjust the support and cable
Error setup
section. so that they are not in contact
Eccentric compensation Not register 1
16.1  A support and cable made contact with the with the hollow hole.
error possible dependent,
hollow hole and therefore force was applied.  Repair the motor unit if an
bits 11 to 8
 A substantial impact was applied to the error occurs while in the no-
motor. load state.
 An abnormal encoder signal was generated.  Check the items pertaining to
* A low velocity (0.05rps or less) was used for the encoder errors.
detection.
Coordinate system error B
The setup value to be used for coordinate system
operation (coordinate value setting) was less
Outside of command None in
17.2 Possible than 0 or more than the scaling command unit
coordinate area particular
value when the rotation coordinate system was
used.

Appendix 3-3
Action
Error
code
occurrence
 Check the wiring of the motor
Attempted to generate a pulse of 3MHz or more, cable and encoder cable.
Error setup
which exceeded an allowable monitor pulse  Take an action against
Not register 2
Monitor pulse error 18.0 output. resonance, and set an
possible dependent,
 The motor overran. appropriate adjustment value.
bits 11 to 8
 Resonating and hunting.  Set the scaling data to an
appropriate value.
Tandem error
 Remove the cause of the
Slave drive error 19.1 The master has detected an error in the slave.
abnormality on the slave side.
Error setup
register 1  Check the connection status of
Possible the communication cable.
Tandem communication Tandem communication abnormality has dependent,
19.2 bits 11 to 8  Anti-noise in the
error occurred due to noise.
communication cable.
 Remov the cause of the noise.
Power module error
Servo OFF  Check the main power supply
Regenerati voltage level.
Over-voltage 20.1 Over-voltage level  main line voltage value
on error  Verify that the motor is not
output rotated by an external force.
 High ambient temperature and
Temperature: 150C or more high current duty
Control current: 12.5V or less  The GND of the motor cable is
Over-current: 27A or more at 500W, 5s wrongly wired to one of phase
IPM fault
54A or more at 2kW, 5s A, B or C.
Output short-circuited  Verify that the motor is not
With 1msec chattering process rotated at a high velocity by an
20.2 Servo OFF external force.
 The GND of the motor cable is
wrongly wired to one of phase
Detection level: 15A at 500 W, 1s
Current transformer Possible A, B or C.
45A at 2kW, 1s
detection  Verify that the motor is not
With 1msec chattering process rotated at a high velocity by an
external force.
Error setup
Low voltage (servo OFF) level  main line voltage register 1
Low voltage 20.3
value < low voltage level dependent, Check the main power supply
bits 7 to 4 voltage level.
Low voltage (servo OFF Main line voltage value < low voltage (servo OFF)
20.4
level) level
Phases A and B actual current vector lengths
Phases A and B actual
20.5 (after bandwidth 10 Hz filter processing) Servo OFF
current monitoring  It is necessary to repair the
exceeded 110% of the maximum motor current.
drive board.
Error monitoring amplifier Error was detected on the control board amplifier
20.6
constant substrate constant substrate.
Main power supply error
Check the main power supply
XMPSIG output threshold: 70VAC Error setup voltage level.
XMPSIG from the power module maintained the register 1  The main power supply is
Main power supply error 21.0 Possible
OFF state exceeding the value set up in system dependent, momentary shut down.
setup register 1. bits 3 to 0  Fluctuations of the main power
supply are substantial.
Error setup
Main power supply errorAC Check wiring of every phase of AC
AC Main Power was detected open-phase or low register 1
(Open-Phase or Low 21.1 Possible Main Power and the AC Main
voltage over 1 second. dependent,
Voltage) Power Voltage.
bits 2 to 0

Appendix 3-4
Error Action taken

Name Recovery Cause and condition detected Countermeasure
code at occurrence
Overload
 Review the operation
The power-squared duty is calculated from the cycle.
current command value, but it exceeded the  Set a longer
Error setup
designated value. acceleration/deceleration
Perform current control without monitoring register 1 time.
Motor coil line overload 22.1 setting. dependent,  Eliminate an external force
bits 27 to 24 that is constantly being
Current
Possible Limited current when the value became lower applied.
control was
than the cancellation current-squared duty
executed
value. The current-squared duty can
regardless
be checked by #386.
of its
Detected a heat generation of 85C or more
setting. Check the ambient
inside the drive.
Heat sink over-heat 22.2 temperature and installation
Limited current while detecting, and cancelled it
environment of the drive.
when not detecting.
 Set a longer
acceleration/deceleration
time.
The position deviation exceeded the user setup Error setup
 Perform a servo tuning
value when position control was executed. register 1
Excessive position deviation 23.0 Possible again, and set an
 Acceleration/deceleration time is too short. dependent,
appropriate value.
 Servo tuning failure bits 23 to 20
 Eliminate an external force
that interferes with the
motor's rotation.
 Set a longer
The absolute value of the current velocity value
Error setup acceleration/deceleration
detected from SIG0 was more than the
register 1 time.
Over-speed 24.0 Possible maximum velocity of the motor.
dependent,  Perform a servo tuning
The velocity exceeding the monitor #305 value
bits 31 to 28 again, and set an
was detected.
appropriate value.
Regeneration error
Excessive electric power was applied to a

Regenerative resistor regenerative resistor, and thus the allowable
25.1
over-load electric power of the regenerative resistor was  If a regenerative resistor is
exceeded. not installed, install one.
 If this error occurs when a
Excessive electric power was applied to a regenerative resistor is
Servo Off
Regeneration FET over- regeneration FET, and thus the allowable already installed, review
25.2 Not Regeneratio
load electric power of the regeneration FET was the
possible n error
exceeded. acceleration/deceleration
output
time and the operation
The RGN_FET status and RGN_ANS status cycle.
sampled at every msec were verified at every  The motor unit is rotated
Regeneration circuit error 25.3 32msec. This error occurred when a difference by an external force.
exceeding 2 digits was detected in each on-
duty.
 Check the wiring, power
supply and PLC software
so that the IN_SERVO
The Servo OFF state occurred during an axis
signal does not change
Servo not ready 30.0 Possible operation by internal control, or during an axis Servo OFF
during an operation.
operation by an external position command.
 Execute an axis operation
command after turning the
servo on.
Set maximum rate of pulse
input so that it is less than the
Attempted to execute an axis operation at a speed monitored by #305
velocity exceeding the maximum motor velocity (Maximum speed).
set by the user during an axis operation by Set the commanded speed
internal control, or during an axis operation by Error setup from controller lower so that
Excessive position command an external position command. register 1 the pulse input rate does not
31.0 Possible
differential value If the number of commanded pulses per 1msec dependent, reach the maximum
exceeds the rate of maximum command bits 18 to 16 command frequency.
frequency, the excessive position command (If the pulse output frequency
differential value error (31.0 for error code) of controller is unstable, it is
appears. impossible to command pulses
at the maximum
command frequency.)
A + direction EOT signal was detected during Error setup  Reduce the amount of
an axis operation by internal control, during an register 2 movement so that it does
+ direction hardware EOT 42.0 Possible
axis operation by an external position dependent, not exceed the hardware
command, or while moving in the + direction. bits 31 to 28 EOT sensor.
 Change the conversion of
pulse units.
A - direction EOT signal was detected during Error setup Is the sensor operating
an axis operation by internal control, during an register 2 normally? Is any noise
- direction hardware EOT 43.0 Possible generated on the sensor
axis operation by an external position dependent,
command, or while moving in the - direction. bits 27 to 24 power supply?
 Check the wiring
connection of the sensor.

Appendix 3-5
Action
Error
code
occurrence
The target axis operation position by internal
control is within the + direction software limit
area. Error setup
register 2
+ direction software EOT (only for The command unit instruction value is within the
44.0 Possible dependent,
linear coordinates) - direction software limit area during an axis bits 23 to
operation by internal control, during an axis 20
operation by an external position command, or Check the motor's instructed
while moving in the + direction. movement amount against the
current position.
The target axis operation position by internal Is the position exceeded the set
control is within the - direction software limit software over-limit area?
area. Error setup
register 2
- direction software EOT (only for The command unit instruction value is within the
45.0 Possible dependent,
linear coordinates) - direction software limit area during an axis bits 19 to
operation by internal control, during an axis 10
operation by an external position command, or
while moving in the - direction.
 Set the immediate stop signal
to OFF, and reset the error.
Error setup
 If the error status still remains
An immediate stop input signal from the user register 2
Immediate stop 46.2 Possible even if the error is reset:
was set ON. dependent,
1. Check the wiring.
bits 7 to 4
2. Check the internal
parameters.
 Check the communication
settings.
 Check the termination.
Error setup  Check the connector section,
Controller interface communication A communication error occurred in the controller register 2 and repair or replace it if
47.0 Possible
error interface. dependent, necessary.
bits 11 to 8  Replace the cable.
 Remove the noise generating
source and re-examine the
wiring route.
Homing error
The distance between the origin proximity signal
Stop the
Origin dog position error 49.1 Possible edge and Z-pulse edge is out of the designated Adjust the dog position.
operation
range.
Not executable
Execute the next operation
A command that could not be executed during
Executing 50.2 command after the current
an operation was issued.
operation is complete.
A command that could not be executed when an
An error is being generated 50.3 Clear the error and then operate.
error occurred was issued.
Invalid data 50.5 Data that could not be processed was included. Deny the
Possible
A command was issued while in the invalid command
state, such as issuing a parameter registration
Access timing 50.6
command while parameter registration was
being processed.
A command that could not be executed in the
Drive mode 50.7
drive mode during an operation was issued.
Data was requested while data to be sent to the Deny the
Data not ready 51.2 Possible
built-in logger was not ready. command
Timeout was generated during internal
processing. Stop
Time out 52.0 Possible
Waveform capture during an auto-tuning operation
operation failed.
Not calculable
A condition in which computations could not be
performed occurred in internal processing Stop
Auto-tuning 53.1 Possible
The range of the waveform capture time during operation
an auto-tuning operation was exceeded.

Appendix 3-6
Action
Error
code
occurrence
A command that could not be translated was
Command translation Invalid 60.0 Possible
issued.
A command that did not match the command
Command format error 61.0 Possible
format was issued.
A command using data that exceeds the Deny the
Out of range data 62.0 Possible
allowable range was issued. command
A command that specified a parameter/monitor
Invalid parameter/monitor number 65.0 Possible
having a non-existent number was issued.
A command was issued by an interface that did
Invalid device 66.0 Possible
not have an operation privilege.

Over-speed Main line power Main power
Error process setup register 1 Over-load Excessive position Position command Tandem error Coordinates error A
supply supply
deviation differential value
Invalid setting disable Invalid setting
Initial value
Error process setup register 2 + direction hardware EOT - direction hardware EOT Interface emergency
+ direction soft OT - direction soft OT (reserve) (reserve)
P III CC-Link communication

error
0: Maintains servo ON after deceleration and stop
1: Servo OFF after deceleration and stop
2: Maintains servo ON after sudden stop
3: Servo OFF after sudden stop
Processing at error occurrence 4: Servo OFF immediately
(0 to 4) Valid/Invalid
Initial value
DrvP III
Appendix 3-7

Appendix 3-8
How to Check Error Codes
When an error occurs, the [RDY/ERR] LED on the drive's front panel is illuminated red. In
the event of an error, check the error code using the utility software and following the steps
below. For more information about the error windows, see Section 8.5.5, “Error Display.”
How to check an error

STEP1 Select [Error display] in the utility software.
STEP2 Select [Status] from the [Status/History] switch field.
STEP3 Select [START] to display an error list.
STEP4 Select [STOP], and click the error you want to display in detail. An error detail is
displayed.
Status and history information switching

If [Status] is selected, the information of the errors
that are currently being generated is displayed. If
[History] is selected, the information of the errors
that were previously generated is displayed.
If the drive is placed in the error state, two or more error numbers may be generated from
one error factor. The errors are displayed in the order generated in status display. The error
that is displayed first may likely be the main cause. If the number of errors that is generated
at a time exceeds the maximum number of errors (16) that can be stored, excessive errors
are not displayed in status display.
Conversely, in history display, the date and time of errors generated are displayed in the
order beginning from the oldest date/time. If the past errors exceed the maximum number of
errors (16) that can be stored, they are deleted in the order beginning from the oldest one.

Appendix 4-1
 Glossary
This glossary lists the terms used in this document.
 Symbols
#
Indicates the number of a parameter stored on RAM. Example: #100
##
Indicates the number of a parameter stored on EEPROM. Example: ##100
@
Indicates a command number. Example: @3:10
@Command
A general term for operation commands issued from a PC to the drive. Example: @3:10
A
ABS
Absolute position, or a motor built in with an absolute position detector called the ABS motor
Absolute Accuracy
The difference between the angle at which the motor should be rotated (instructed value) and
the angle at which the motor actually rotates. This value is displayed after adding a sign to
a half of the maximum value for the entire circumference of one rotation.
Absolute Positioning
Operation to position at an absolute coordinate position
Alarm
A warning whose level is lower than an error
Aliasing
A phenomenon in which waveforms cannot be displayed accurately when the sampling
velocity becomes half (Nyquist frequency) or below the input signal. Generally, in order to
display accurate waveforms on a digital oscilloscope, a sampling velocity about 4 to 10 times
the frequency of the input signal as well as a frequency band at least three times the
frequency of the input signal are required.
All Reset
An operation to return all user data to the factory preset values.
Analog Monitor Card

A board that is inserted into a connector of the front panel section of the drive and used to
monitor the velocity and other information using an oscilloscope (optional).
Analog Monitor Terminal

General-purpose monitor terminals AM1 and AM2 on the analog monitor card
Argument
An option to be added to an operation command. Some commands have no argument or
have multiple arguments.
Auto Start Table

Set [Auto Start Function] to [Valid] to perform automatic operation after the power is turned
ON. By this setting, the table having the number that has been set up starts.

Appendix 4-2
Auto Tuning
A series of operations to rotate the motor, measure the load inertia/load mass, and set up the
parameters of the control section on its own.
Axial load (Forward, Reverse)

The motor is fastened to the base and a uniform dead load is applied to the rotor's load
mounting area in the axial direction. The "axial load" is the maximum load when all
component parts of the motor are within the elastic deformation zone. When the load is
removed, all the component parts must be restored to their original states. Note that the
forward axial load refers to contracting the motor in its axial direction, and the reverse axial
load refers to adding a load to the motor in its expansion direction.
Axial stiffness (Forward, Reverse)

This refers to the axial displacement per unit axial load when the motor is fastened to the
base and a uniform dead load is added to the rotor's load mounting area in the axial direction
within the axial load. "Axial displacement/axial load" must be linear. Forward Axial stiffness
refers to contracting the motor in its axial direction, and the reverse Axial stiffness refers to
adding a load to the motor in its expansion direction.
AXIS
Motor axis
Axis Command Unit

The common unit set up by the #112 parameter
B
Backup
Storing data from the drive to an upper device (PC, operation display pendant). Same as
upload.
Basic Data
Maker information of the drive/motor, which cannot be manipulated by users. This data
cannot be erased by all reset operations.
BCD
Binary coded decimal
BIN
Binary
Binary Code
A numerical code in binary notation
Bit AND
AND for each bit. This is used to extract several bits.
Bit EXOR
Exclusive OR for each bit
Bit OR
OR for each bit. This is used to turn ON several bits.
Block
Logic I/O and physical (hard) I/O are internally managed in 8-bit units, each of which is called
a block. I/O settings are also performed in block units.
Branching
To branch. Table operation - condition branching

Appendix 4-3
Bus Voltage
Main power supply voltage after rectification
C
CC-Link
Open network standard - fieldbus
CCW
Counterclockwise - Counterclockwise direction when the motor is viewed from the load
mounting plane
Chattering Processing
In this document, it refers to the processing to give hysteresis for eliminating unnecessary
ON/OFF when generating a position settling signal. The number of processing to be
performed can be set up using a parameter.
COIN
Coincidence signal (position settling signal) - A signal that is output when the motor is within
the coin window that has been set up
Coin Waiting
In motor operation, this refers to a wait until the motor is positioned within the coin window
before moving to the next operation upon completion of a position command.
Control Power Supply

A power supply for the control board
Current Transformer
A transformer built in the power module for detecting current. It monitors the current of the
bus.
CW
Clockwise - Clockwise direction when the motor is viewed from the load mounting plane
D
DEC
Decimal
Decimal Code
A numerical code in decimal notation
Digit
Unit of calculations used by firmware inside the drive
Digital Monitor Terminal

Dedicated digital monitor terminals DM1 and DM2 on the analog monitor card
DM series
Motors built in with an optical encoder
Download
Writing data from an upper device (PC, operation display pendant) to the drive
DR series
Motors built in with a magnetic encoder (resolver)

Appendix 4-4
E
EEPROM
Nonvolatile memory built in the drive that stores mechanical data and user data. There is a
limit on the number of times it can be rewritten.
Encoder Resolution
Number of pulses output from the encoder when the motor makes one rotation.
EOT
EOT signal - there are hardware EOT and software EOT.
Error
An abnormality whose level is higher that an alarm. Errors are classified by error number. For
some errors, the behavior of the motor after an error occurrence can be defined using the
error setup register.
F
Filter
A function to remove unwanted signal components from signals
Firmware
A program code of the CPU in the drive
Function Key
General-purpose keys on the operation display pendant. The functions of these keys change
depending on the screen displayed.
G
H
Heat Sink
Radiating fins on the side of the drive. Equipped only on 2kW drives.
HEX
Hexadecimal
Hexadecimal Code
A numerical code in hexadecimal notation
Hollow Hole Structure

A motor structure in which a hollow hole is provided in the center of the motor axis so that
piping, a wiring, shaft and ball screws can be fed through in the DYNASERV.
Host
An upper device that sends instructions to the drive
I
ID
Drive station number set up by the rotary switches on the front panel
Idle State
A state in which no operation is being performed
INC

Appendix 4-5
Increment (relative position notation)
Increment Positioning
A relative move command from the current position
Interlock
The velocity override value is set to 0% internally.
Invalid
Invalid state. To not use a specific function in parameter settings, etc., set to invalid (0).
IPM fault signal

An error signal output by the IPM unit built in the power module
IPM fault signal

An error signal output by the IPM unit built in the power module
J
K
kpulse
Unit of pulses obtained by raising 10 to the third power
L
Linear Coordinate System

A coordinate system that manages coordinates within a range of -999999999 to 999999999
linearly. If this range is exceeded, a software EOT error occurs.
LM series
Linear motors
Load Inertia
The moment of inertia of load attached to the motor
Load Scale Factor

Load scale factor [K] = load inertia/rotor inertia
Logic I/O
A virtual I/O of firmware in the drive. Some of logic I/O are assigned to actual I/O (hard I/O).
Logic I/O Initial Value

Initial values (ON or OFF) at power-on start can be set up for logic I/O (inputs only). Setting
initial values to logic I/O actually assigned to hard I/O has no significance as they are
initialized to external commands at startup.
M
Machine Resonance
Since the DD motor directly drives load, the characteristics of the load may affect the control
system, causing oscillations. These oscillations include hunting and windup phenomenon at a
relatively low frequency (several Hz), an oscillation around a high frequency phase, and a
mechanical oscillation. To take appropriate countermeasures, it is necessary to know the
accurate resonance frequency.
Machine Setting Parameter

If these parameters are changed, the changes made take effect when the power is turned ON
next time (parameters starting from #110).

Appendix 4-6
Main Power
A power supply for operating the motor
Maker Data
Internal data set up by Yokogawa. This data cannot be set up by users. It cannot be erased by
all reset operation. (Basic data, adjustment data)
Manual Tuning
An operation for adjusting each control parameter by operating the motor via a test operation
and then using an oscilloscope and the utility software functions.
Master
Indicates the master motor/drive in a master and slave relation in tandem operation.
Maximum Output Torque

The motor's output torque when driving at the drive's maximum output current. The maximum
output torque is generated at startup (the velocity is zero) in the case of DD motors.
Maximum overhung load

The motor is fastened to the base and a moment dead load is applied to the rotor's load
mounting area in the direction where the rotor's rotation axis core is tilted. The "maximum
overhung load" is the maximum load when all component parts of the motor are within the
elastic deformation zone. When the load is removed, all the component parts must be
restored to their original states. In addition, the gap between the rotor and the stator core
must not be zero (the core makes contact) in the worst condition.
Maximum Velocity
The maximum velocity a motor can rotate.
Moment displacement stiffness

The motor is fastened to the base and a moment dead load is applied to the rotor's load
mounting area in the direction where the rotor's rotation axis core is tilted within the maximum
overhung load. Moment displacement stiffness is the axis core tilt displacement angle per unit
moment load at this time. "Displacement angle/moment load" must be linear.
Monitor Pulse
Current position value pulse output from the drive
Motorless Operation (Emulation Mode)

A mode for simulating the operations of the motor using only the drive without connecting the
actual motor. This feature is convenient to check general operations of the motor before
starting the system. The utility software is used for simulation.
Mpulse
Unit of pulses obtained by raising 10 to the sixth power
Multichannel Connection
A connection to connect multiple drives to a party line using RS485 communication. A
dedicated DLL is required for control from a PC.
N
O
Operation Display Panel

A separately sold device that is connected to the drive, which displays/edits parameters and
issues commands.

Appendix 4-7
Operation Display Pendant

A separately sold device that is connected to the drive, which displays/edits parameters and
issues commands. It has the backup/restore function.
Operation Privilege
A right to issue major commands. Available on the PLC interface side or RS232C interface
side.
ORG
Origin proximity signal
Outer Rotor Mechanism

A mechanism that rotates the outer part of the motor. A load can be installed directly.
P
Parameter Reflected at Power On

See Machine Setting Parameter.
Parameter Setting Value

Generally, parameter values set up on the drive's internal RAM (example: #100). The
operation of the drive is determined based on these parameter values.
Physical (Hard) I/O

I/O actually mounted to the drive (physical I/O)
Physical (Hard) I/O Logical Setting

Setting regarding whether I/O input/output is positive logic (internally ON when a I/O is ON) or
negative logic (internally OFF when a I/O is OFF)
PLC
Programmable logic controller, generally called the sequencer. Yokogawa offers the FA-M3
range free controller.
Position Command Differential Value

Difference among position command values per sampling cycle (1msec)
Product Dependency
The initial value of a parameter takes a different value according to the type of the
motor/drive.
Prompt
A character string, parameter name, error name and so forth included in a response from the
drive when a communication is made with the drive using the utility software, display panel,
etc.
Pulse Direct
A weighted signal of an external pulse. If this signal is ON, the motor operates one pulse of
motor resolution by an external one pulse command, ignoring the scale setting.
R
Reboot
Restarting the drive by cycling the power or using a software reset command.
Registered Parameter Value

Parameter values stored on the drive's internal EEPROM (example: ##100). The drive loads
these values as parameter setup values at startup. If these parameter values are changed,
the parameter setup values are also changed at the same time.

Appendix 4-8
Repeatability Accuracy
Positioning is repeated seven times from the same rotation direction. This value is displayed
after adding a sign to a half of the maximum width value of variations of the seven
positions.
Restore
Writing backed up data from an upper device (PC, operation display pendant) to the drive.
Same as download.
Rotation Coordinate System

A coordinate system in which the coordinate values after one motor rotation becomes equal
to the coordinate values before movement. The coordinate system does not overflow even if
the motor is continuously rotated in the same direction.
Rotor Core
A magnetic circuit provided in the motor's rotating part
Rotor Inertia
Inertial moment around the rotor's rotation axis of the motor. Self-inertia.
RxD
Receive signal during host communication
S
Scaling
Scale factors specified by the #112 and 113 parameters, which are used for conversion
between pulse units and command units.
Settling Time
A delay occurs in the actual motion of the motor in response to a position command. Upon
executing a position command, the difference in time until a settling signal is output is
specifically called the settling time.
Setup Dependency
The allowable setup range of the maximum and minimum values of a parameter changes
according to the setup values of other parameters
SIG0 and SIG1 signals

Analog velocity signals generated by an encoder signal
Skew
Variations in the phases among signals
Slave
It refers to the driven motor/drive in a master and slave relation in tandem operation.
Software Drive Reset

Restarting the drive by a command issued by the utility software, operation display
panel/pendant, etc. This function is equivalent to cycling of the power.
Start Option
Command arguments
Startup Operation
Table operation executed automatically when the power is turned ON according to settings.

Appendix 4-9
Station Number
A drive number set up by the rotary switches on the front panel section when connecting
multichannels.
Stator Core
A magnetic circuit provided in the motor fastening section
Status Register
#320, 321 and 322 monitors. They constantly display the status of the motor/drive. Just like
the system registers, each bit is assigned with a unique definition.
Sum Value
Firmware and data embedded in the drive are managed using sum values.
System Register
#98, 99 and 110 parameters. These parameters set up the drive's main operations. The
system register parameters are 32-bit wide data, and each bit is assigned with a unique
definition.
T
Table Data
Operation command data contained within the drive, total of 64
Tandem Operation
An operation method for obtaining large torque and thrust by connecting multiple motors and
drives using a multi-drop connection
Tuning
An operation for adjusting each servo parameter to an appropriate value. This drive is
installed with the auto tuning function by which tuning is performed automatically.
TxD
Transmit signal during host communication
U
Unit
Unit refers to a command unit in this document.
Upload
Moving data from the drive to an upper device (PC, operation display pendant)
User Data
Internal data, such as parameters, table data and I/O setup values, which can be rewritten
using the utility software/operation display pendant, etc.
V
Valid
Permitted state. To use a function by setting its parameters and other items, set to valid (1).

Appendix 4-10
Velocity - Torque Characteristic Curve (T-N Curve)

A graph representing the relationship between the velocity and torque when a DD motor is
driven. The horizontal axis shows the velocity (rpm) and the vertical axis shows torque (N-m).
Maximum output torque
Torque (N-m)
Maximum number of rotations
Number of rotations (rpm)
Velocity Override
A velocity scale in which the feed velocity set up by a parameter is 100%, which can be set in
a range from 0% and 200%.
Velocity Profile
A time differential waveform of the position command. The ideal operation path generated in
the drive.
W
Watchdog Timer
A mechanism for preparing for a situation where programs cannot be executed normally due
to uncontrollable running and other reasons. This timer functions just like a watchdog. A
minimum communication can be performed even if a watchdog timer error occurs in this
drive.
X
Y
Z
ZERO
Motor origin signal. Software and hardware Z-pulses are available depending on the
generation method. There are several of them in one rotation or one stroke.

Appendix 5-1
 Descriptions of Operation Tables and Sample Programs

Sample programs are included in a part of the operation tables at shipment from the factory.
These sample programs can be useful as a reference when creating operation tables. You
can delete or overwrite sample programs that are not used.
Sample programs for the DYNASERV are different from those for the LINEARSERV.
Be sure to check peripheral safety before starting the system.
(1) Sample Programs for the Rotary Motor
 No. 4 ~ No. 5 ABS Positioning to 90° Position
This program substitutes 1/4 of the #112 scaling data ratio numerator (on the command) for
#100 (user variable) at table No. 4. ABS positioning is performed by referencing the #100
parameter at next table No. 5. To start from Terminal in the utility software, use @3:4.
 No. 6 ~ No. 7 INC Positioning to 180° Position
This program substitutes 1/2 of the #112 scaling data (command unit side) for #100 (user
variable) at table No. 6. INC positioning in the + direction is performed by referencing #100 at
next table No. 7. To start from Terminal in the utility software, use @3:6.
 No. 30 ~ No. 35 90° N times INC Positioning
This program performs 90° INC positioning in the + direction by the count preset in #101. This
sequence is as shown in the flowchart below. To start from Terminal in the utility software, use
@3:30.
Table No. @3:30
No.30: #100 = 0
No.31: #102 = #112/4
NO
No.32: #100 < #101
YES END
INC positioning
Amount of
No.33:
movement: #102
No.34: Dwell (200msec)
No.35: #100 = #100+1

Appendix 5-2
 No. 40 ~ No. 51 Example of a Slightly Complicated Operation Pattern
This example shows a slightly complicated operation pattern of the motor. This operation
pattern may not be used as is; use it as a sample when utilizing an operation table.
Operation pattern
+ direction 2 rotations + direction 90° 4 times
- direction 90° 4 times - direction 2 rotations
Table No. @3:40
No.40: #102 = #112*2
No.41: #103 = #112/4
No.42: #101 = 4
A
INC positioning
No.43: Amount of
movement: #102
No.44: Dwell (300 msec)
No.45: #100 = 0
NO
No.46: #100 < #101
YES
No.47: #100 = #100+1 No.50: #102 = -#102
INC positioning No.51: #103 = -#103

No.48: Amount of
movement: #103
A

Appendix 5-3
(2) Sample Programs for the Linear Motor
 No. 4 ABS Positioning
This sample program performs ABS positioning to the command unit position specified by
#100 (user variable) at table No. 4. Specify the value of #100 by taking account of the stroke
amount. To start from Terminal in the utility software, use @3:4.
 No. 6 INC Positioning
This sample program performs INC positioning in the + direction by the command unit value
specified by #100 (user variable) at table No. 6. Specify the value of #100 by taking account of
the stroke amount. To start from Terminal in the utility software, use @3:6.
 No. 40 ~ No. 57 Example of a Slightly Complicated Operation Pattern
This example shows a slightly complicated operation pattern of the motor. This operation
pattern may not be used as is; use it as a sample when utilizing an operation table. Specify
the value of #100 by taking account of the stroke amount.
Operation pattern
: INC positioning for the stroke amount specified by #100
: 4-divided INC positioning
Table No. @3:40

* Specify the value of #100 by taking account of the stroke amount before starting.
No.40: #101 = -#100
No.41: #102 = #100/4

No.51: #105 = 0
No.42: #103 = #101/4
NO
No.43: #104 = 4 No.52: #105 < #104
A YES
INC positioning No.53: #105 = #105+1
No.44: Amount of
movement: #100 INC positioning
No.54: Amount of
No.45: Dwell (300msec) movement: #102
No.46: #105 = 0 No.55: Dwell (100msec)
NO
No.47: #105 < #104
YES
INC positioning
No.48: #105 = #105+1 No.56: Amount of
movement: #101
INC positioning
No.49: Amount of No.57: Dwell (300msec)
movement: #103
A
CAUTION
A pattern may collide with the stroke end depending on the operation starting position. Check
the starting position before executing.

Blank Page
i
 Revision Record
Document name: Direct Drive Motor <DYNASERV> Intelligent Drive <DrvPIII> Technical Information
Document number: TI 71M01D04-01EN
January, 2004 1st Edition
New issuance:
Drive's main unit version: R7040DA:1.07
Utility software version: R1.01.06
May, 2004 2nd Edition
These chapters were added.
2.5.5 Terminals
2.6 Optional Mechanical Brake
After this, the page number, and the section number were changed.
These chapters were added.
5.10.1 Line Filter
5.10.4 Motor Filter
5.10.5 Shield Process of Cables
5.11 Drive Input Current
5.12 Drive Rush Current
Technical terms were revised. Errors in edition were corrected.
June, 2004 3rd Edition
Added and edited descriptions of PROFIBUS-DP: Pages 1-2 and 2-15
Added Sections 3.1, "System Configuration," 3.2, "Contact I/O Interface," 3.3, "CC-Link
Interface" and 3.4, "PROFIBUS-DP Interface" to Chapter 3, "System Configuration."
Added Section 4.2.5, "Explanation of the Front Panel (PROFIBUS-DP)" to Chapter 4,
"Name and Function of Each Part."
Added Section 5.9.3, "PROFIBUS-DP Interface" to Chapter 5, "Wiring," and deleted
pages 5-21, 5-22 and 5-23.
July,2004 4th Edition
Edited descriptions of Checking the Product:Page1-3
Edited of Model and Suffix Code Selection List:Pages 2-9,2-10,2-11,2-12,2-13,2-14,2-16
Added page 6-18, after this, the page number, and the section number were
changed.
Corrected descriptions of Standard Specifications “DB5C Type Motor”:Page 2-4
Errors in edition were corrected.
September,2004 5th Edition
Description of the Fieldbus communication error was added.Page 3-15
Edited descriptions.Page 6-5,6-11,6-14,6-17,6-26,6-38,6-40,6-41
Corrected "set up example" chart. Page 6-18
Corrected the value in "Linear Coordinate Systems". Page 6-33
Corrected tables.Page 6-57
Corrected “Timing chart”. Page 6-67
Corrected tables.Page 6-111
Errors in edition were corrected. Pages
6-19,6-23,6-24,6-34,6-43,6-46,6-47,6-50,6-51,6-56,6-59,6-61,6-64,6-68,6-76,6-84,
6-85,6-86,6-88,6-91,6-93,6-96,6-110,8-5,8-11,8-29,Appendix3-1, Appendix3-6
October,2004 6th Edition
Correction typographical errors. Pages 2-4,2-8,5-13
January, 2005 7th Edition
Added descriptions of 2.5.6 Motor Filter : Page 2-32
Edited descriptions of CAUTION, Connector (5.4 Regeneration Resistor Terminal
<TB3>):Page 5-6
Edited descriptions of TIP (8.6.2 Table Data Function):Page 8-34
February, 2005 8th Edition
Added descriptions of the notch filter setting for DM1B-075 : Page vii, 2-38, 7-6
Edited drawings of lavel : Page 1-4, 2-30, 2-38, 4-1
Added descriptions of CAUTION for terminal and separator : Page vii, 5-6
June, 2005 9th Edition
Added descriptions of precautions for fixing the cables : Page vii
Corrected Mechanical dimensions : Page 2-25, 2-26, 2-27, 2-28, 2-29
Deleted Cable Termination Option "-01", "01" : Page 2-8, 2-9, 2-10, 2-11, 2-12, 2-13, 2-14
Changed Cable Termination Option "-05" to "-08" : Page 2-19, 2-20
Corrected Contact type : Page 2-19, 2-20
Corrected Connector type : Page 2-31, 5-16
Corrected table of Maximum Tightening Torque : Page 2-36
Corrected Graph : Page Appendix 4-13
TI71M01D04-01E 14th Edition: 2012.12.01

ii
July, 2006 10th Edition

Drive's main unit version: R7040CA: v1.24
Support tool version: R1.03.03
Corrected "regenerative resistor" : Page vii, TOC1, TOC2, 1-2, 1-3, 2-5, 2-30, 2-31, 2-43,
4-2, 4-3, 4-4, 4-5, 4-6, 5-6, Appendix3-2
Added descriptions of maximum rate of pulse input : Appendix3-3
Corrected discriptions in tables : Page 2-1, 2-2, 2-4, 2-5, 2-49, 5-13, 5-14, 5-18
Added specification of control power supply : Page 2-5
Changed Cable Termination Option : Page 2-16, 2-19, 2-20
Changed tables : Page 2-19, 2-20, 2-35
Corrected outline drawings : Page 2-25
Corrected unites : Page 2-34
Corrected position of "tcy" in a graph: Page 2-46
Edited parts number of motor fitler, line filter : Page 5-2, 5-22, 5-23, 5-24
Edited descriptions of recommended cables : Page 5-13, 5-14
Added discriptions : Page 6-35, 8-41, 9-2
Added a section for Filter Tuning : Page 8-33
Edited descriptions of URL : Page revision record
Jan, 2007 11th Edition
Added 6.10.1 Version V1.50 - Additional Function : Page 6-120, 6-121
Revised ParameterDescription, Monitor Description
Sep, 2007 12th Edition
Changed descriptions of Details of ABS encoder error : Appendix3-1
Edited table : Appendix3-1 to 3-5
Changed URL : ii
Drive's main unit version: R7040DA:1.50
Nov, 2008 13th Edition
Changed descriptions of Details of Drive Specifications : Page 2-5
Edited table : Page 2-15
Added PROFIBUS-DP : Page 2-30
Changed descriptions of PROFIBUS-DP : Page 3-10, 3-11, 3-12, 3-13, 3-14, 3-15
Changed descriptions of CC-Link : Page 5-20, 5-21
Changed descriptions of PROFIBUS-DP : Page 5-22, 5-23
Changed descriptions : Page 5-25, 5-26
Changed descriptions : Page 6-14
Added PROFIBUS-DP : Page 6-124 to 6-140
Added FFT : Page 7-10, 7-11, 7-12, 7-13
Added FFT : Page 8-30
Added Error code 2.0 : Appendix 3
Drive's main unit version: R7040DB:1.62
Dec. 2012 14th Edition
Change of Document Number TI 71M01D04-01E> TI 71M01D04-01EN
Added General Precautions Regarding DYNASERV : Page vii
Added UL Standard Certification Conditions and Safety Precautions : Page 2-49
Change of department name : Page revision record
Changed Motor cable size : Page 2-25, 2-26, 2-27
Added Error code 11.7,18.0, 19.1, 19.2, 20.6, : Appendix 3
Copyright Yokogawa Electric Corporation

Motion Control Center
Publisher Yokogawa Electric Corporation
2-9-32, Nakacho, Musashino-shi, Tokyo, 180-8750
URL: http://www.yokogawa.com/ddm/
TI71M01D04-01E 14th Edition: 2012.12.01

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Direct Drive Motor <DYNASERV>

• Windows and Windows NT are registered trademarks of Microsoft Corporation in the

The copyright of this manual belongs to Yokogawa Electric Corporation.

 Strategic Goods Advisory

TI71M01D04-01EN 14th Edition: 2012.12.01

! DANGER : Describes cautions for avoiding danger in potentially hazardous

WARNING : Describes points to be noted in situations that may cause damages

CAUTION : Describes important points when understanding operations and

TIP : Describes supplementary information about descriptions.

SEE ALSO : Describes items and pages that should be referenced.

TI71M01D04-01EN 14th Edition: 2012.12.01

 Precautions Regarding Protection, Safety and Product Modification

• We make no warranty for the product except as prescribed by the guarantees.

TI71M01D04-01EN 14th Edition: 2012.12.01

• We make no warranties for the software except as prescribed by the guarantees.

TI71M01D04-01EN 14th Edition: 2012.12.01

 General Precautions Regarding DYNASERV

Motor's hollow hole

TI71M01D04-01EN 14th Edition: 2012.12.01

Surfaces where an anti-rust coating is applied

The minimum bending radius

TI71M01D04-01EN 14th Edition: 2012.12.01

Center misalignment of 10 µm or less

• Never attempt to disassemble or modify the motor or drive. We assume no

TI71M01D04-01EN 14th Edition: 2012.12.01

1. Overview of the Product....................................................................................................................... 1-1

TI71M01D04-01EN 14th Edition: 2012.12.01

3. System Configuration........................................................................................................................... 3-1

TI71M01D04-01EN 14th Edition: 2012.12.01

5.10.4 Motor Filter...................................................................................................................... 5-28

TI71M01D04-01EN 14th Edition: 2012.12.01

7. Tuning .................................................................................................................................................... 7-1

8. Utility Software ...................................................................................................................................... 8-1

TI71M01D04-01EN 14th Edition: 2012.12.01

9. Maintenance and Inspection ................................................................................................................ 9-1

Appendix 1 Parameter Description ............................................................................................ Appendix 1-1

TI71M01D04-01EN 14th Edition: 2012.12.01

1. Overview of the Product

TI71M01D04-01EN 14th Edition: 2012.12.01

1.2 DrvPIII Drive

TI71M01D04-01EN 14th Edition: 2012.12.01

1.3 Checking the Product

Name of product/accessory Shape Remarks

Screw-less terminal lever

(one piece per

CN2 encoder/resolver connector Supplied when

TI71M01D04-01EN 14th Edition: 2012.12.01

List of Models Provided with Regenerative Resistors

Model Suffix code Regenerative resistor

Faceplate of the Motor

Displayed on the bottom cover Main faceplate Serial number

Faceplate of the Drive

Drive model/suffix code, style No.

TI71M01D04-01EN 14th Edition: 2012.12.01

2.1 Standard Specifications

Maximum torque N・m 200 150 100 50

Rated torque * N・m 67 50 33 17

Maximum velocity (100/200V) rps 1.2／1.2

Rated velocity (100/200V) rps 0.5／1.0 1.0／1.0

Encoder resolution p/rev 4,096,000

Absolute accuracy arc-sec ±15

Number of origin pulses p/rev 100

Rotor inertia kg・m2 167×10-3 142×10-3 119×10-3 96×10-3

Maximum overhung load N・m 400

Moment displacement stiffness rad/N・m 4×10-7

Standard profile mm 188 163 138 113

☆Please use it at 0.05rps or more over.

Maximum torque N・m 75 60 45 30 15 6 4 4

Rated torque * N・m 25 20 15 10 5 2 1 1

Maximum velocity (100/200V) rps 2.4／2.4 2.5／2.5 2.5／2.5

Encoder resolution p/rev 2,621,440 2,621,440

Absolute accuracy arc-sec ±15 ±20／±60 ±20／±60

Number of origin pulses p/rev 60 124 124

Maximum overhung load N・m 200 50 - -

Weight kg 14 12 9.5 7.5 5.5 5 3 3