Instruction manual

1
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1 - 1 to 1 -18
1.1 Introduction............................................................................................................................................... 1 - 1
1.2 Function block diagram............................................................................................................................ 1 - 2
1.3 Servo amplifier standard specifications................................................................................................... 1 - 4
1.4 Function list ..............................................................................................................................................1 - 5
1.5 Model code definition...............................................................................................................................1 - 6
1.6 Combination with servo motor................................................................................................................. 1 - 7
1.7 Structure................................................................................................................................................... 1 - 8
1.7.1 Parts identification.............................................................................................................................1 - 8
1.7.2 Removal and reinstallation of the front cover..................................................................................1 -12
1.8 Configuration including auxiliary equipment...........................................................................................1 -14
2. INSTALLATION 2 - 1 to 2 - 4
2.1 Installation direction and clearances ....................................................................................................... 2 - 1
2.2 Keep out foreign materials.......................................................................................................................2 - 2
2.3 Cable stress .............................................................................................................................................2 - 2
2.4 Inspection Items .......................................................................................................................................2 - 3
2.5 Parts Having Service Lives...................................................................................................................... 2 - 3
3. SIGNALS AND WIRING 3 - 1 to 3 -60
3.1 Input power supply circuit ........................................................................................................................ 3 - 2
3.2 I/O Signal Connection Example...............................................................................................................3 - 6
3.2.1 Position control mode........................................................................................................................3 - 6
3.2.2 Speed control mode..........................................................................................................................3 - 8
3.2.3 Torque control mode.........................................................................................................................3 - 9
3.3 Explanation of Power Supply System ....................................................................................................3 -10
3.3.1 Signal explanations ..........................................................................................................................3 -10
3.3.2 Power-on sequence .........................................................................................................................3 -11
3.3.3 CNP1, CNP2, CNP3 wiring method ................................................................................................ 3 -12
3.4 Connectors and signal arrangements .................................................................................................... 3 -17
3.5 Signal explanations.................................................................................................................................3 -20
3.6 Detailed description of the signals..........................................................................................................3 -30
3.6.1 Position control mode.......................................................................................................................3 -30
3.6.2 Speed control mode.........................................................................................................................3 -34
3.6.3 Torque control mode........................................................................................................................3 -36
3.6.4 Position/speed control change mode .............................................................................................. 3 -39
3.6.5 Speed/torque control change mode ................................................................................................3 -41
3.6.6 Torque/position control change mode .............................................................................................3 -43
3.7 Alarm occurrence timing chart................................................................................................................3 -44
3.8 Interfaces.................................................................................................................................................3 -45
3.8.1 Internal connection diagram ............................................................................................................3 -45
3.8.2 Detailed description of interfaces.....................................................................................................3 -46
3.8.3 Source I/O interfaces .......................................................................................................................3 -50
3.9 Instructions for the 3M connector ...........................................................................................................3 -51