1
CONTENTS
1. FUNCTIONS AND CONFIGURATION 1- 1 to 1-10
1.1 Introduction..............................................................................................................................................1- 1
1.2 Function block diagram ..........................................................................................................................1- 2
1.3 Servo amplifier standard specifications ................................................................................................1- 3
1.4 Function list............................................................................................................................................. 1- 4
1.5 Model code definition ..............................................................................................................................1- 6
1.6 Combination with servo motor............................................................................................................... 1- 6
1.7 Parts identification.................................................................................................................................. 1- 7
1.8 Servo system with auxiliary equipment................................................................................................ 1- 9
2. INSTALLATION 2- 1 to 2- 4
2.1 Environmental conditions.......................................................................................................................2- 1
2.2 Installation direction and clearances ....................................................................................................2- 2
2.3 Keep out foreign materials .....................................................................................................................2- 3
2.4 Cable stress.............................................................................................................................................. 2- 3
3. SIGNALS AND WIRING 3- 1 to 3- 48
3.1 Standard connection example ................................................................................................................3- 2
3.1.1 Position control mode .......................................................................................................................3- 2
3.1.2 Internal speed control mode ............................................................................................................3- 8
3.2 Internal connection diagram of servo amplifier ...................................................................................3- 9
3.3 I/O signals................................................................................................................................................3-10
3.3.1 Connectors and signal arrangements............................................................................................ 3-10
3.3.2 Signal explanations .........................................................................................................................3-13
3.4 Detailed description of the signals........................................................................................................ 3-19
3.4.1 Position control mode ......................................................................................................................3-19
3.4.2 Internal speed control mode ...........................................................................................................3-24
3.4.3 Position/internal speed control change mode................................................................................ 3-26
3.5 Alarm occurrence timing chart .............................................................................................................3-28
3.6 Interfaces................................................................................................................................................. 3-29
3.6.1 Common line ....................................................................................................................................3-29
3.6.2 Detailed description of the interfaces ............................................................................................3-30
3.7 Input power supply circuit.....................................................................................................................3- 34
3.7.1 Connection example.........................................................................................................................3-34
3.7.2 Terminals..........................................................................................................................................3-35
3.7.3 Power-on sequence........................................................................................................................... 3-36
3.8 Connection of servo amplifier and servo motor ...................................................................................3-37
3.8.1 Connection instructions ..................................................................................................................3-37
3.8.2 Connection diagram.........................................................................................................................3-37
3.8.3 I/O terminals.................................................................................................................................... 3-39
3.9 Servo motor with electromagnetic brake .............................................................................................3-41
3.10 Grounding .............................................................................................................................................3-44
3.11 Servo amplifier connectors (CNP1, CNP2) wiring method
(When MR-ECPN1-B and MR-ECPN2-B of an option are used.) ................................................... 3-45
3.12 Instructions for the 3M connector....................................................................................................... 3-48