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Table of Contents
Introduction ...................................................................................... 1
Terms and Conditions Agreement ...................................................2
Precautions for Safe Use................................................................. 4
Items to Check When Unpacking .................................................... 11
About This Manual...........................................................................17
Chapter 1 Features and System Configuration
1-1 Overview........................................................................................... 1-1
1-2 System Configuration ....................................................................... 1-2
1-3 Names of Parts and Functions ......................................................... 1-3
1-4 System Block Diagrams ................................................................... 1-5
1-5 Applicable Standards........................................................................ 1-10
Chapter 2 Standard Models and Dimensions
2-1 Standard Models .............................................................................. 2-1
2-2 External and Mounting Hole Dimensions ......................................... 2-25
Chapter 3 Specifications
3-1 Servo Drive Specifications................................................................ 3-1
3-2 Servomotor Specifications................................................................ 3-17
3-3 Decelerator Specifications................................................................ 3-32
3-4 Cable and Connector Specifications ................................................ 3-45
3-5 Parameter Unit Specifications .......................................................... 3-83
3-6 External Regeneration Resistor Specifications ................................ 3-84
3-7 Reactor Specifications...................................................................... 3-86
3-8 MECHATROLINK-II Repeater Specifications................................... 3-87
Chapter 4 System Design
4-1 Installation Conditions ...................................................................... 4-1
4-2 Wiring ............................................................................................... 4-13
4-3 Wiring Conforming to EMC Directives.............................................. 4-28
4-4 Regenerative Energy Absorption...................................................... 4-48
Chapter 5 Operating Functions
5-1 Position Control ................................................................................ 5-1
5-2 Speed Control................................................................................... 5-4
5-3 Torque Control.................................................................................. 5-7
5-4 Forward and Reverse Drive Prohibit ................................................ 5-10
5-5 Brake Interlock.................................................................................. 5-11
5-6 Torque Limit...................................................................................... 5-16
5-7 Soft Start........................................................................................... 5-18
5-8 Acceleration/Deceleration Time Settings.......................................... 5-19
5-9 Moving Average Time....................................................................... 5-20
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