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CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-16
1.1 Summary ............................................................................................................................................. 1-2
1.2 Function block diagram ....................................................................................................................... 1-3
1.3 Driver standard specifications ............................................................................................................. 1-5
1.4 Combinations of driver and servo motors ........................................................................................... 1-7
1.5 Function list ......................................................................................................................................... 1-8
1.6 Model designation ............................................................................................................................. 1-11
1.7 Structure ............................................................................................................................................ 1-14
1.7.1 Parts identification ...................................................................................................................... 1-14
1.8 Configuration including peripheral equipment ................................................................................... 1-15
2. INSTALLATION 2- 1 to 2- 7
2.1 Installation direction and clearances ................................................................................................... 2-3
2.2 Keep out foreign materials .................................................................................................................. 2-4
2.3 Encoder cable stress ........................................................................................................................... 2-5
2.4 Inspection items .................................................................................................................................. 2-5
2.5 Parts having service lives .................................................................................................................... 2-6
2.6 Restrictions when using this product at altitude exceeding 1000m and up to 2000m above sea level2-6
3. SIGNALS AND WIRING 3- 1 to 3-69
3.1 Input power supply circuit .................................................................................................................... 3-3
3.2 I/O signal connection example ............................................................................................................ 3-6
3.2.1 Position control mode ................................................................................................................... 3-6
3.3 Explanation of power supply system ................................................................................................. 3-15
3.3.1 Signal explanations ..................................................................................................................... 3-15
3.3.2 Power-on sequence .................................................................................................................... 3-16
3.3.3 Wiring CNP1, CNP2, and CNP3................................................................................................. 3-17
3.4 Connectors and pin assignment ........................................................................................................ 3-19
3.5 Signal (device) explanations ............................................................................................................. 3-22
3.6 Detailed explanation of signals.......................................................................................................... 3-32
3.6.1 Position control mode ................................................................................................................. 3-32
3.6.2 Speed control mode ................................................................................................................... 3-37
3.6.3 Torque control mode .................................................................................................................. 3-39
3.6.4 Position/speed control switching mode ...................................................................................... 3-42
3.6.5 Speed/torque control switching mode ........................................................................................ 3-44
3.6.6 Torque/position control switching mode ..................................................................................... 3-46
3.7 Forced stop deceleration function ..................................................................................................... 3-47
3.7.1 Forced stop deceleration function .............................................................................................. 3-47
3.7.2 Base circuit shut-off delay time function ..................................................................................... 3-49
3.7.3 Vertical axis freefall prevention function ..................................................................................... 3-50
3.7.4 Residual risks of the forced stop function (EM2) ........................................................................ 3-50
3.8 Alarm occurrence timing chart .......................................................................................................... 3-51
3.8.1 When you use the forced stop deceleration function ................................................................. 3-51
3.8.2 When you do not use the forced stop deceleration function ...................................................... 3-52
3.9 Interfaces .......................................................................................................................................... 3-53
3.9.1 Internal connection diagram ....................................................................................................... 3-53
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