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CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-23
1.1 Summary ............................................................................................................................................. 1-2
1.2 Function block diagram ....................................................................................................................... 1-3
1.3 Driver standard specifications ............................................................................................................. 1-7
1.4 Combinations of driver and servo motors ......................................................................................... 1-10
1.5 Function list ....................................................................................................................................... 1-11
1.6 Model designation ............................................................................................................................. 1-14
1.7 Structure ............................................................................................................................................ 1-17
1.7.1 Parts identification ........................................................................................................................ 1-17
1.8 Installation and removal of network card ........................................................................................... 1-19
1.9 Configuration including peripheral equipment ................................................................................... 1-22
2. INSTALLATION 2- 1 to 2- 7
2.1 Installation direction and clearances ................................................................................................... 2-3
2.2 Keep out foreign materials .................................................................................................................. 2-5
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 1000 m and up to 2000 m above sea level...
2-7
3. SIGNALS AND WIRING 3- 1 to 3-38
3.1 Input power supply circuit .................................................................................................................... 3-3
3.2 I/O signal connection example ............................................................................................................ 3-7
3.2.1 For sink I/O interface ...................................................................................................................... 3-7
3.2.2 For source I/O interface.................................................................................................................. 3-8
3.3 Explanation of power supply system ................................................................................................... 3-9
3.3.1 Signal explanations ........................................................................................................................ 3-9
3.3.2 Power-on sequence ..................................................................................................................... 3-10
3.3.3 Wiring CNP1, CNP2, and CNP3 .................................................................................................. 3-11
3.4 Connectors and pin assignment ........................................................................................................ 3-13
3.5 Signal (device) explanations ............................................................................................................. 3-15
3.5.1 Input device .................................................................................................................................. 3-15
3.5.2 Output device ............................................................................................................................... 3-17
3.5.3 Output signal ................................................................................................................................ 3-19
3.5.4 Power supply ................................................................................................................................ 3-19
3.6 Forced stop deceleration function ..................................................................................................... 3-20
3.6.1 Forced stop deceleration function ................................................................................................ 3-20
3.6.2 Base circuit shut-off delay time function ....................................................................................... 3-22
3.6.3 Vertical axis freefall prevention function ....................................................................................... 3-23
3.6.4 Residual risks of the forced stop function (EM2) .......................................................................... 3-23
3.7 Alarm occurrence timing chart .......................................................................................................... 3-24
3.7.1 When you use the forced stop deceleration function ................................................................... 3-24
3.7.2 When you do not use the forced stop deceleration function ........................................................ 3-25
3.8 Interfaces .......................................................................................................................................... 3-26
3.8.1 Internal connection diagram ......................................................................................................... 3-26
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